Small deep-sea soft water-jet propeller and working method thereof

Abstract

The invention relates to the technical field of deep sea propellers, in particular to a small deep sea soft water-jet propeller and a working method thereof. The propeller comprises an upper machine body supporting structure which is in a hollow cylinder shape, an electromagnetic coil is wound on the outer side of the upper machine body supporting structure, a pressure balance opening is formed in the top of the upper machine body supporting structure, and a lower machine body supporting structure is arranged at the bottom of the upper machine body supporting structure. The lower machine body supporting structure is connected with the upper machine body supporting structure through cooperation of a first bolt and a first nut, a water suction opening is formed in the side face of the lower machine body supporting structure, a soft water bag is arranged at the bottom of the lower machine body supporting structure, and a water spraying opening is formed in the bottom of the soft water bag. The bottom of the soft water bag is connected with an iron core through cooperation of a second bolt and a second nut, the iron core sequentially penetrates through the soft water bag, the lower machine body supporting structure and the upper machine body supporting structure, and a spring is arranged at the top of the iron core and penetrates through the upper machine body supporting structure. The device can resist deep sea high pressure and does not need waterproof sealing.

Description

Technical Field

[0001] The present invention relates to the technical field of deep-sea propellers, and in particular to a small-sized deep-sea soft water jet propeller and a working method thereof. Background Art

[0002] Underwater robots are an important tool for human exploration of the ocean. As deep-sea resources become increasingly valued, human exploration is gradually moving deeper into the deep sea, and deep-sea robots suitable for deep-sea environments have emerged. Due to the complex deep-sea environment, miniaturization and lightweighting are the future development trends for deep-sea robots. However, most current deep-sea thrusters are large in size and heavy in weight, which hinders the miniaturization and lightweighting of deep-sea robots. Propulsion solutions commonly used in shallow waters, such as motors and pneumatic thrusters, are difficult to apply to the deep sea due to the inherent properties of the propulsion principle. Existing propulsion solutions for small deep-sea robots mostly have external limitations on the robot, making them difficult to integrate and apply as thruster modules. In summary, current deep-sea robot propulsion solutions have problems with compatibility between high pressure resistance and miniaturization, and the problem of difficulty in widespread application of propulsion solutions.

[0003] CN116215823A discloses a duct-type deep-sea propeller, comprising a housing, a propulsion motor, a driver, a counter-rotating propeller, an annular duct, a curved fairing, a sealing device and a pressure balancing device. However, its structure is complex, its volume is large, its mass is high, its cost is high, and it is suitable for large deep-sea robots. CN119568385A designs a hydraulic telescopic sliding structure for the propeller, but it focuses on the direction change of the propeller rather than the drive itself, and is an auxiliary device for large propulsion structures. CN108001651A provides a deep-sea oil-sealed propeller, the application target of which is an underwater robot. It has the advantages of compact structure, easy installation, reliable performance, easy oil filling, and reasonable design, realizing the integrated design of the deep-sea oil-sealed propeller, making the convenience of the deep-sea propeller possible. However, its structure is complex, its volume is large, its mass is high, its cost is high, and it is suitable for large deep-sea robots. The electromagnetic induction principle is widely used in valve core control and other fields due to its advantages, such as fast response and simple drive mechanism. When the electromagnetic coil is energized, the coil generates an electromagnetic force on the internal iron core, driving the iron core linearly. When the power is removed, the iron core is supported by springs and other structures to return to its original position. During this process, the current flows only through the coil, and the overall structure does not require a cavity. Therefore, electromagnetic actuators are more suitable for deep-sea applications than other drive methods such as electric motors.

[0004] The present invention proposes a small deep-sea soft water jet propulsion device and a working method thereof. The propeller as a whole is composed of two parts, the upper part is the driving part that provides driving force for the propeller, and the lower part is the soft part that generates driving force through deformation. The upper part includes an upper support structure, a spring and a copper coil, and the lower part includes a lower support structure, an iron core and a soft water bag. The present invention can withstand high pressure in the deep sea, does not require waterproofing and sealing, has a simple and efficient working principle, a simple overall structure, good stability, strong applicability, small size, light weight, low cost, short manufacturing cycle, and is easy to integrate and apply as a propeller module. The present invention can be widely used in various scenarios, provides a new propulsion solution for small deep-sea robots, and has certain application prospects in the field of deep-sea exploration. Summary of the Invention

[0005] In response to the aforementioned technical issues of existing deep-sea propulsion systems, which struggle to balance high-pressure resistance with miniaturization and lack versatility, a small-scale deep-sea soft waterjet propulsion system and its operating method are provided. This invention primarily utilizes a combination of an electromagnetic drive mechanism and a soft water bladder. By controlling the axial movement of an iron core through pulsed current, the water bladder is deformed, thereby enabling the propulsion system to withstand high deep-sea pressures while achieving efficient propulsion without requiring a waterproof or sealed structure.

[0006] The technical means adopted in the present invention are as follows:

[0007] A small deep-sea soft water jet propulsion device comprises an upper body support structure, which is in the shape of a hollow cylinder, an electromagnetic coil is wound around the outside of the upper body support structure, at least four pressure balance ports are provided on the top of the upper body support structure, a lower body support structure is provided at the bottom of the upper body support structure, the lower body support structure is connected to the upper body support structure by the cooperation of a first bolt and a first nut, at least two water suction ports are provided on the side of the lower body support structure, a soft water bag is provided at the bottom of the lower body support structure, at least three water spraying ports are provided at the bottom of the soft water bag, the bottom of the soft water bag is connected to the iron core by the cooperation of a second bolt and a second nut, the iron core passes through the soft water bag, the lower body support structure and the upper body support structure in sequence, a spring is provided on the top of the iron core, and the spring passes through the upper body support structure.

[0008] Furthermore, a first through hole is provided at the bottom of the soft water bag, the water outlet is arranged circumferentially along the first through hole, and a second bolt is fixed to the bottom of the iron core. The second bolt passes through the gasket, the first through hole, the bottom plate and the second nut in sequence to achieve a fixed connection between the iron core and the soft water bag.

[0009] Furthermore, the bottom plate has the same shape as the lower end surface of the soft water bag to suppress deformation of the lower end surface of the soft water bag.

[0010] Furthermore, the bottom plate is provided with a second through hole corresponding to the position of the water spray port to enable liquid spraying.

[0011] Furthermore, the soft water bag is composed of a circular tube and a soft water bag water storage mechanism that are connected in sequence from top to bottom. The circular tube is sleeved on the lower body support structure. The soft water bag water storage mechanism is a two identical frustum splicing structure. The internal space of the soft water bag water storage mechanism is connected, and the thickness of the soft water bag water storage mechanism gradually decreases from the top and bottom ends to the middle of the soft water bag water storage mechanism.

[0012] Furthermore, the circular tube of the soft water bag is provided with a valve structure at a position corresponding to the water suction port, forming a soft one-way valve with the water suction port.

[0013] Furthermore, the upper body support structure and the lower body support structure are both made of heat-resistant light-curing resin, and the soft water bag is made of silicone material.

[0014] The present invention also includes a working method of a small deep-sea soft water jet propulsion system, which is implemented based on the above-mentioned small deep-sea soft water jet propulsion system and includes the following steps:

[0015] S1. Supplying a pulsed current to the electromagnetic coil generates a magnetic field, exerting an electromagnetic force on the iron core, which pulls the iron core upward, compressing the soft water bladder. This decreases the volume of the thruster's interior and increases the pressure. This increased pressure seals the soft one-way valve formed by the lower body support structure and the soft water bladder, preventing liquid from entering the bladder. The liquid inside the thruster is then ejected through the water nozzle, generating the propulsion force for the thruster to move forward.

[0016] S2. When the electromagnetic coil is de-energized, the magnetic field disappears. The elastic force of the spring drives the iron core downward along the upper support structure, causing the soft water bladder to expand and return to its original shape. This causes the propeller volume to increase and the pressure to decrease. The reduced pressure opens the soft one-way valve, allowing liquid to enter the soft water bladder through the water intake and water spray holes.

[0017] S3. Repeat steps S1 to S2 in sequence to achieve continuous advancement of the propeller.

[0018] Furthermore, the formula for calculating the driving force of the propeller is:

[0019]

[0020] Among them, F T is the driving force of the propeller, C S is the energy loss coefficient, ρ f is the ambient liquid density, A pis the area of the water outlet, d is the diameter of the copper wire of the electromagnetic coil, h is half the height of the soft water bag, F is the electromagnetic force generated by the electromagnetic coil, v p is the flow rate of the water nozzle, S is the equivalent action area of water pressure, k is the elastic coefficient of the spring, x is the displacement of the iron core, x0 is the initial compression of the spring, m0 is the mass of the iron core, μ is the friction coefficient between the iron core and the supporting structure, t is the time, D2 is the outer diameter of the electromagnetic coil, D3 is the maximum diameter of the soft water bag, and D0 is the outer diameter of the iron core.

[0021] Compared with the prior art, the present invention has the following advantages:

[0022] 1. The electromagnetic coil provided by the present invention generates a magnetic field when the electromagnetic coil is energized, which generates an electromagnetic force on the iron core. The coil can generate a propulsion force by providing a pulse current. The propulsion force can be adjusted by changing the driving current signal, thus realizing the technical solution of electromagnetic drive.

[0023] 2. In the present invention, only the coil part requires simple waterproofing treatment and does not need to be sealed. The interior of the structure is connected to the external environment and is filled with environmental liquid, which effectively alleviates the situation in which the traditional structure has a cavity and cannot be used in a high-pressure environment.

[0024] 3. The present invention has a compact structure, small size, and light weight, which adapts to the development trend of miniaturization of deep-sea robots. At the same time, the present invention has a wide range of applications, a regular shape, and is easy to be integrated and applied as a thruster module.

[0025] 4. The raw materials used in the present invention are easy to obtain and low in cost, making it easy to promote the technology in the field.

[0026] Based on the above reasons, the present invention can be widely promoted in the fields of deep-sea propulsion and the like. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0028] Figure 1 This is the overall structural diagram of the propeller of the present invention.

[0029] Figure 2 It is a schematic cross-sectional view of the entire propeller of the present invention.

[0030] Figure 3 This is an exploded view of the propeller structure of the present invention.

[0031] Figure 4It is a three-dimensional diagram of the propeller of the present invention.

[0032] Figure 5 It is a bottom view of the propeller of the present invention.

[0033] Figure 6 This is a structural diagram of the base plate of the propeller of the present invention.

[0034] Figure 7 This is a structural diagram of the propeller lower body support structure of the present invention.

[0035] Figure 8 Schematic diagram of the soft one-way valve of the present invention.

[0036] Figure 9 This is the structural diagram of the soft water bag mold.

[0037] In the figure: 1. Electromagnetic coil; 2. Upper body support structure; 3. Pressure balance port; 4. Lower body support structure; 5. First bolt; 6. First nut; 7. Water suction port; 8. Spring; 9. Iron core; 10. Soft water bag; 11. Gasket; 12. Bottom plate; 13. Second nut; 14. Water outlet. DETAILED DESCRIPTION

[0038] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions 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 embodiments described 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 making creative efforts should fall within the scope of protection of the present invention.

[0039] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0040] Unless otherwise specifically stated, the relative arrangement of the parts and steps, the numerical expressions and the numerical values set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be clear that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The techniques, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed here, any specific values should be interpreted as being merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, and therefore, once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0041] In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention: the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0042] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below their position devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0043] like Figure 1-8As shown, the present invention provides a small deep-sea soft water jet propulsion device, including an upper body support structure 2, the upper body support structure 2 is in the shape of a hollow cylinder, an electromagnetic coil 1 is wound around the outside of the upper body support structure 2, the top of the upper body support structure 2 is provided with at least four pressure balance ports 3, the bottom of the upper body support structure 2 is provided with a lower body support structure 4, the lower body support structure 4 is connected to the upper body support structure 2 by the cooperation of a first bolt 5 and a first nut 6, at least two water suction ports 7 are provided on the side of the lower body support structure 4, a soft water bag 10 is provided at the bottom of the lower body support structure 4, at least three water spraying ports 14 are provided at the bottom of the soft water bag 10, the bottom of the soft water bag 10 is connected to the iron core 9 by the cooperation of a second bolt and a second nut 13, the iron core 9 passes through the soft water bag 10, the lower body support structure 4 and the upper body support structure 2 in sequence, a spring 8 is provided on the top of the iron core 9, and the spring 8 passes through the upper body support structure 2.

[0044] The thruster as a whole adopts a non-enclosed structural design, which can balance the pressure difference between the inside and outside of the thruster to meet the needs of resisting the high pressure of the deep-sea environment. At the same time, it can still operate normally even if the thruster is partially damaged, thereby increasing the stability of the thruster. The upper and lower bodies of the thruster both include support structures for maintaining the stability of the thruster's shape. Because the thruster structure is compact and the stress is not great, there is a wide range of materials to choose from for the manufacturing of the upper body support structure 2 and the lower body support structure 4. Materials such as metal, plastic, and silicone can all meet the requirements. The upper body support structure and the lower body support structure 4 are both made of heat-resistant light-curing resin. The soft water bladder 10 is made of silicone material.

[0045] The overall shape of the upper body part is similar to a hollow cylinder, with a length of about 30 mm and a cross-sectional diameter of about 10 mm. It consists of an upper body support structure 2, a copper coil wound on the outside of the support structure, and a spring 8 placed inside the support structure. During the actuation of the electromagnetic drive system, the iron core 9 moves axially along the upper body support structure 2. In order to achieve high-precision linear displacement of the iron core 9 and suppress undesired degrees of freedom movement, the inner diameter of the upper body support structure 2 and the outer diameter of the iron core 9 must follow the clearance fit design principle, that is, the inner diameter of the support structure is slightly larger than the outer diameter of the iron core 9. Under extremely small clearance fit conditions, the closed cavity formed by the top of the iron core 9 and the support structure will contain liquid, significantly increasing the resistance to the movement of the iron core 9. In order to eliminate this type of resistance, four pressure balance ports 3 are evenly distributed circumferentially on the top of the upper body support structure 2 to eliminate the pressure difference by directly connecting the internal cavity to the external environment. The copper coil evenly wound on the outside of the support structure will produce electromagnetic induction with the iron core 9 inside the support structure under the action of external current, giving the iron core 9 a pulling force to make it move directly. In this process, the copper coil will inevitably generate heat. In order to increase the contact area between the coil and the ambient liquid and effectively utilize the heat dissipation characteristics of the ambient liquid, the outer side of the thruster coil is not designed with an outer shell but is in direct contact with the outside world.

[0046] The overall shape of the lower body resembles a single-section bellows, consisting of a lower body support structure 4, a soft water bladder 10, an iron core 9, a gasket 11, a base plate 12, and a nut. From top to bottom, the soft water bladder 10 comprises a circular tube and a water storage mechanism that are sequentially connected and connected. The water storage mechanism is composed of two identical frustums spliced together, and the internal space of the water storage mechanism is continuous. The soft water bladder 10 uses silicone as its base material, with three water outlets 14 arranged in an equilateral triangle at one end. The gradient wall thickness design (the wall thickness in the bending area is 67% of the main body wall thickness) allows for significant volume changes during axial compression and expansion, with an ideal volume change rate of up to 99.3%. During the contraction and expansion of the soft water bladder 10, the end face of the bladder deforms, squeezing the water outlets 14 and changing their shape and area. To prevent this phenomenon, a bottom plate 12 with the same shape as the end face of the water outlet 14 of the soft water bladder 10 is fixed relative to the end face of the soft water bladder 10, thereby preventing deformation of the water bladder end face. A first through-hole is provided at the bottom of the soft water bladder 10, and the water outlet 14 is arranged circumferentially along the first through-hole. A second bolt is fixed to the bottom of the iron core. The second bolt passes through the gasket 11, the first through-hole, the bottom plate 12, and the second nut 13 in sequence to achieve a fixed connection between the iron core 9 and the soft water bladder 10.

[0047] The bottom plate 12 is provided with a second through hole corresponding to the position of the water spray port 14 to enable liquid to be sprayed out. Figure 3 The bottom plate 12 shown in the figure includes four holes, including a large circular hole located in the center and three small circular holes evenly distributed in a regular triangle. The small circular holes are the second through holes. After assembly, they are in the same position as the water spray holes on the water bag.

[0048] The circular tube of the soft water bag 10 is provided with a valve structure at the position corresponding to the water inlet 7, forming a soft one-way valve with the water inlet 7. Specifically, in order to increase the water absorption efficiency, a soft one-way valve with a passive flow control function is developed. The valve body is composed of a double-stage coaxial annular flange of the lower body support structure 4 (see Figure 7 ) and the soft water bladder 10. The top cylindrical portion of the soft water bladder 10 is cut open to form two rectangular valves. Two sets of water inlet ports 7 are provided on the lower body support structure 4, forming two flow channels, with the inner opening slightly smaller than the outer opening. The rectangular valves and flow channels work together to form a soft one-way valve that opens only during the water intake phase.

[0049] Specifically, Figure 7 The structure shown in the figure contains four rectangular holes, one in each direction. The upper and lower holes form the water inlet, while the left and right holes are not used for water inlet because they are located close to the bolt tightening boss, making it inconvenient to construct the water inlet. Their main function is to fix the water bag to the printing structure, effectively forming two left and right flow channels.

[0050] The water inlet is a one-way valve. Specifically, the upper end of the soft water bag is cut to form an openable and closable structure similar to a flexible door. Figure 7 The flexible door is equipped with a rectangular hole in the middle, where the outer rectangular hole is smaller in area than the flexible door, while the inner rectangular hole is larger. When the flexible door attempts to open outward, it is blocked by the size of the outer hole. However, when opening inward, the inner hole is large enough to allow it to open normally. During the water spraying process, the pressure inside the water bag is higher than the external pressure. The flexible door tends to open outward under pressure, but it cannot open due to obstruction. During the water absorption process, the pressure inside the water bag is lower than the external pressure. The external water pressure pushes the flexible door inward, thus forming a flow channel. This is the working principle of the soft one-way valve, and the entire thruster is equipped with two such one-way valves.

[0051] The present invention also includes a method for operating a small-scale deep-sea soft waterjet propulsion system, which is based on the above-mentioned small-scale deep-sea soft waterjet propulsion system. Using a battery, a square wave signal generator module, and a MOSFET, a pulse current is supplied to the electromagnetic coil 1, causing the propeller to perform periodic motion. Each cycle consists of two phases, S1 and S2. The proportion of the two phases can be changed by adjusting the pulse current. The specific steps of the operating method are as follows:

[0052] S1 (water spraying stage). A pulse current is supplied to the electromagnetic coil 1. Under the action of the current, the electromagnetic coil 1 generates a magnetic field, which generates an electromagnetic force on the iron core 9, pulling the iron core 9 upward, compressing the soft water bag 10, causing the internal volume of the propeller to decrease and the pressure to increase. The increased pressure causes the soft one-way valve formed by the lower body support structure 4 and the soft water bag 10 to be sealed, preventing liquid from entering the soft water bag 10. The liquid inside the propeller is sprayed out through the water nozzle 14, generating a propulsion force for the propeller to move forward.

[0053] S2 (water absorption stage). After the electromagnetic coil 1 is powered off, the magnetic field disappears, and the elastic force of the spring 8 drives the iron core 9 to reset downward along the upper body support structure 2, driving the soft water bag 10 to expand and restore to its original state, causing the propeller volume to increase and the pressure to decrease. The pressure reduction causes the soft one-way valve to open, and the liquid enters the soft water bag 10 through the water suction port 7 and the water spray hole.

[0054] S3. Repeat steps S1 to S2 in sequence to achieve continuous advancement of the propeller.

[0055] The specific numerical calculation of the present invention is as follows:

[0056] The calculation formula of electromagnetic force is:

[0057]

[0058] Where N is the number of turns of the electromagnetic coil, I is the current passing through the coil, μ0 is the magnetic permeability of the vacuum, which is approximately 4π×10-7H / m, A is the effective area of the electromagnet, and g is the air gap length.

[0059] When the supporting structure parameters are determined, the diameter of the copper wire that makes up the coil determines the number of turns of the coil, which is calculated as follows:

[0060]

[0061] Where n is the number of turns per coil layer, m is the number of coil layers, N is the total number of turns, H is the coil length, D1 is the coil inner diameter, D2 is the coil outer diameter, and d is the copper wire diameter. Because it's impossible for the copper wire to fit perfectly when winding the coil, an adjustment factor k, less than 1, is introduced. For a given copper wire material, resistance is related to its length and diameter, and current can be calculated based on resistance and operating voltage.

[0062]

[0063] Where R is the coil resistance, ρ is the copper wire resistivity, which increases with increasing copper wire temperature. Experimental measurements show that at the thruster's stable operating temperature, the resistivity is approximately 2.7 x 10-8 Ω·mm2 / m. L is the total wire length, and U is the operating voltage. The air gap length, which is the distance between the coil and the core, also depends on the structural parameters. The average air gap length can be used for calculations.

[0064] The calculation formula for the air gap length is:

[0065]

[0066] Where D1 is the inner diameter of the coil, m is the number of coil layers, d is the diameter of the copper wire, i is the symbol used with the summation symbol in the calculation process, that is, a natural number from 1 to m, and g is the air gap length.

[0067] Arranging the above formulas, we can get the calculation formula of electromagnetic force F:

[0068]

[0069] Where U is the operating voltage, μ0 is the vacuum permeability, H is the coil length, D1 is the coil inner diameter, D2 is the coil outer diameter, d is the copper wire diameter, A is the effective area of the electromagnet, and m is the number of coil layers.

[0070] Then the propulsion force can be calculated. The thrust generated by the propeller is approximately:

[0071]

[0072] Among them, F Tis the driving force of the propeller, C S is the energy loss coefficient, ρ f is the ambient liquid density, A p is the area of the water outlet 14, v p is the flow rate of the water outlet 14, L1 is the equivalent length of the sprayed liquid, m s is the water spray quality. The total area of the water spray port 14 is affected by the radius of the water spray port 14. According to the formula, the magnitude of the propulsion force is related to the total area of the water spray port 14 and the flow rate of the water spray port 14. The flow rate of the water spray port 14 is difficult to calculate and measure, so the flow rate v of the water spray port 14 can be used. p The equivalent replacement is:

[0073]

[0074] Among them, C S is the energy loss coefficient, A p is the area of the water outlet 14, V is the volume of the flexible water bag, v p It is the flow rate of the water spray port 14.

[0075] The volume of the flexible water bladder is calculated as follows:

[0076]

[0077] Among them, h is half of the length of the soft water bag, D3 is the maximum diameter of the soft water bag, V is the volume of the flexible water bag, D2 is the outer diameter of the coil, and v is the speed of the iron core movement.

[0078] The core movement speed can be expressed as:

[0079]

[0080] Among them, v is the velocity of the iron core, a is the acceleration of the iron core, F is the electromagnetic force, f f is the water resistance, f k is the spring force, f μ is the friction force, and m0 is the mass of the core.

[0081] Water resistance refers to the resistance of the liquid in the cavity to further compression of the flexible water bag during the compression process, which can be expressed as:

[0082]

[0083] Among them, f f is the water resistance, ρ f is the ambient liquid density, v p is the flow rate of the water nozzle 14, and S is the equivalent effective area of water pressure.

[0084] The spring force can be estimated using Hooke's law:

[0085] f k =k(x+x0)

[0086] Among them, f k is the spring force, k is the spring constant, x0 is the initial compression of the spring, and x is the displacement of the core.

[0087] Further calculations of water resistance, electromagnetic force, spring force and friction force can be performed separately, and we can finally get:

[0088]

[0089] Where k is the spring coefficient, x0 is the initial compression of the spring, and x is, ρ f is the ambient liquid density, μ is the friction coefficient between the core and the supporting structure, m0 is the mass of the core, F is the electromagnetic force generated by the electromagnetic coil, v p is the flow rate of the water nozzle 14, and S is the equivalent effective area of water pressure.

[0090] Since the volume change rate of the flexible water bag is a function of the core moving speed v, the above formulas can be combined to calculate the magnitude of the driving force during the contraction process. The formula for calculating the driving force of the propeller is:

[0091]

[0092] Among them, F T is the driving force of the propeller, C S is the energy loss coefficient, ρ f is the ambient liquid density, A p is the area of the water outlet 14, d is the diameter of the copper wire of the electromagnetic coil, h is half the height of the soft water bag, F is the electromagnetic force generated by the electromagnetic coil, v p is the flow rate of the water nozzle 14, S is the equivalent action area of water pressure, k is the elastic coefficient of the spring, x is the displacement of the iron core, x0 is the initial compression of the spring, m0 is the mass of the iron core, μ is the friction coefficient between the iron core and the supporting structure, t is the time, D2 is the outer diameter of the electromagnetic coil, D3 is the maximum diameter of the soft water bag, and D0 is the outer diameter of the iron core.

[0093] The specific production process of a small deep-sea soft water jet propulsion system of the present invention is as follows:

[0094] ①. To make the soft water bag 10, you can use silicone material and mold casting method. The mold is formed by light-curing resin additive manufacturing technology, and the structure is as follows: Figure 9As shown, an addition-type silicone rubber with a Shore hardness of 35 and a curing agent were uniformly mixed in a mass ratio of 65:1, vacuum degassed (vacuum degree -1 MPa, duration 20 minutes), injected into a mold, and cured at 23°C for 4 hours. The outer mold was then softened in a water bath to allow for the complete removal of the inner mold and the soft water bladder 10. The soft water bladder 10 was then separated from the inner mold to complete the integral molding.

[0095] ②. Wind the electromagnetic coil 1 tightly around the outside of the upper body support structure 2, and wrap the copper wires at both ends of the coil around the two bottom protrusions of the upper body support structure 2 to fix it.

[0096] ③. Cut the top cylinder of the soft water bag 10 to form two rectangular valves. Place the top cylinder of the soft water bag 10 between the inner ring and the outer ring of the lower body support structure 4. Bond the two with silicone. Match the rectangular valve on the soft water bag 10 with the water suction port 7 on the lower body support structure 4 to form a pair of soft one-way valves.

[0097] ④. Glue a bolt to the bottom of the iron core 9 and secure the iron core 9 with the gasket 11, soft water bladder 10, base plate 12, and second nut 13 to form the lower body. Insert spring 8 into the upper body support structure 2 to form the upper body. Secure the two parts with the first bolt 5 and first nut 6.

[0098] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A small deep-sea soft water jet propulsion system, characterized in that: The machine body comprises an upper body support structure, which is in the shape of a hollow cylinder, an electromagnetic coil is wound on the outside of the upper body support structure, at least four pressure balance ports are provided on the top of the upper body support structure, a lower body support structure is provided at the bottom of the upper body support structure, the lower body support structure is connected to the upper body support structure by the cooperation of a first bolt and a first nut, at least two water suction ports are provided on the side of the lower body support structure, a soft water bag is provided at the bottom of the lower body support structure, at least three water spray ports are provided at the bottom of the soft water bag, the bottom of the soft water bag is connected to the iron core by the cooperation of a second bolt and a second nut, the iron core passes through the soft water bag, the lower body support structure and the upper body support structure in sequence, a spring is provided on the top of the iron core, and the spring passes through the upper body support structure.

2. The small deep-sea soft water jet propulsion system according to claim 1, characterized in that: A first through hole is provided at the bottom of the soft water bag, and the water outlet is arranged circumferentially along the first through hole. A second bolt is fixed to the bottom of the iron core, and the second bolt passes through the gasket, the first through hole, the bottom plate and the second nut in sequence to achieve a fixed connection between the iron core and the soft water bag.

3. The small deep-sea soft water jet propulsion system according to claim 2, characterized in that: The bottom plate has the same shape as the lower end surface of the soft water bag to suppress deformation of the lower end surface of the soft water bag.

4. The small deep-sea soft water jet propulsion system according to claim 2, characterized in that: The bottom plate is provided with a second through hole corresponding to the position of the water spray port to realize liquid spraying.

5. The small deep-sea soft water jet propulsion system according to claim 1, characterized in that: The soft water bag is composed of a circular tube and a soft water bag water storage mechanism that are connected in sequence from top to bottom. The circular tube is sleeved on the lower body support structure. The soft water bag water storage mechanism is a structure of two identical frustums spliced together. The internal space of the soft water bag water storage mechanism is connected, and the thickness of the soft water bag water storage mechanism gradually decreases from the top and bottom ends to the middle of the soft water bag water storage mechanism.

6. The small deep-sea soft water jet propulsion device according to claim 5, characterized in that: The circular tube of the soft water bag is provided with a valve structure at a position corresponding to the water suction port, forming a soft one-way valve with the water suction port.

7. The small deep-sea soft water jet propulsion device according to any one of claims 1 to 6, characterized in that: The upper body supporting structure and the lower body supporting structure are both made of heat-resistant light-curing resin, and the soft water bag is made of silicone material.

8. A method for operating a small deep-sea soft water jet propulsion system, implemented based on the small deep-sea soft water jet propulsion system according to any one of claims 1 to 7, characterized in that: The following steps are involved: S1. Supplying a pulsed current to the electromagnetic coil generates a magnetic field, exerting an electromagnetic force on the iron core, which pulls the iron core upward, compressing the soft water bladder. This decreases the volume of the thruster's interior and increases the pressure. This increased pressure seals the soft one-way valve formed by the lower body support structure and the soft water bladder, preventing liquid from entering the bladder. The liquid inside the thruster is then ejected through the water nozzle, generating the propulsion force for the thruster to move forward. S2. When the electromagnetic coil is de-energized, the magnetic field disappears. The elastic force of the spring drives the iron core downward along the upper support structure, causing the soft water bladder to expand and return to its original shape. This causes the propeller volume to increase and the pressure to decrease. The reduced pressure opens the soft one-way valve, allowing liquid to enter the soft water bladder through the water intake and water spray holes. S3. Repeat steps S1 to S2 in sequence to achieve continuous advancement of the propeller.

9. The operating method of the small deep-sea soft water jet propulsion system according to claim 8, characterized in that: The calculation formula of the driving force of the propeller is: Among them, F T is the driving force of the propeller, C S is the energy loss coefficient, ρ f is the ambient liquid density, A p is the area of the water outlet, d is the diameter of the copper wire of the electromagnetic coil, h is half the height of the soft water bag, F is the electromagnetic force generated by the electromagnetic coil, v p is the flow rate of the water nozzle, S is the equivalent action area of water pressure, k is the elastic coefficient of the spring, x is the displacement of the iron core, x0 is the initial compression of the spring, m0 is the mass of the iron core, μ is the friction coefficient between the iron core and the supporting structure, t is the time, D2 is the outer diameter of the electromagnetic coil, D3 is the maximum diameter of the soft water bag, and D0 is the outer diameter of the iron core.

Images