Multi-axis water jet propulsion using Coanda effect valves
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
B63H-011/107
B63H-011/00
B63H-011/04
B63H-011/103
출원번호
US-0366659
(2012-02-06)
등록번호
US-9205904
(2015-12-08)
발명자
/ 주소
Asada, Haruhiko Harry
Mazumdar, Anirban
출원인 / 주소
Massachusetts Institute of Technology
대리인 / 주소
Gesmer Updegrove LLP
인용정보
피인용 횟수 :
0인용 특허 :
10
초록
A propulsion system is provided that includes one or more pumps that form a jet for propulsion. A number of Coanda jet devices (CJDs) are coupled to the one or more pumps. The CJDs are arranged so to allow for a multi-axis underwater control of an underwater robot.
대표청구항▼
1. A Coanda jet propulsion system comprising: one or more pumps that form a jet for propulsion; anda plurality of Coanda jet devices (CJDs) coupled to the one or more pumps, each CJD having a single solenoid, the CJDs are arranged so to allow for a multi-axis underwater control of an underwater robo
1. A Coanda jet propulsion system comprising: one or more pumps that form a jet for propulsion; anda plurality of Coanda jet devices (CJDs) coupled to the one or more pumps, each CJD having a single solenoid, the CJDs are arranged so to allow for a multi-axis underwater control of an underwater robot, the CJDs incorporate a set of compact valves allowing an operator to choose which direction and axis to apply force and moments, said one or more pumps ingest fluid through an inlet before said fluid is ejected through an exit of said CJDs by operation of said one or more pumps and configuration of said plurality of CJDs, each of said CJDs include a plurality of control ports to switch directions of said fluid to exit through said CJDs using said single solenoid and a plastic piece coupled to a pushrod, said plastic piece covers either a first control port or a second control port while exposing the uncovered control port to ambient pressure producing a pressure differential that causes the jet to switch directions, wherein when the solenoid is inactive the first control port is covered and the jet exits out of the second control port, and when the solenoid is activated the pushrod moves the plastic piece to cover the second control port and the jet exits out of the first control port. 2. The propulsion system of claim 1, wherein the one or more pumps comprise a plurality of reversible pumps where the CJDs are coupled to each outlet of the reversible pumps. 3. The propulsion system of claim 2, wherein the CJDs allow for translation in a plurality of directions and rotation on one or more axes. 4. The propulsion system of claim 3 further comprising one more diverging nozzles that are positioned on an output of the CJDs. 5. The propulsion system of claim 1, wherein the one or more pumps comprise a plurality of one-way pumps where the CJDs are coupled to each other to form one or more tree structures. 6. The propulsion system of claim 5, wherein the tree structures comprise coupling exits of one of the CJD to at least one exit of the remaining CJDs. 7. The propulsion system of claim 6, wherein the tree structures allow for translation in a plurality of directions and rotation on one or more axes. 8. The propulsion system of claim 7 further comprising one more diverging nozzles that are positioned on an output of the CJDs. 9. A method of forming a Coanda jet propulsion system comprising: one or more pumps that form a jet for propulsion; andcoupling a plurality of Coanda jet devices (CJDs) to the one or more pumps, each CJD having a single solenoid, the CJDs are arranged so to allow for a multi-axis underwater control of an underwater robot, the CJDs incorporate a set of compact valves allowing an operator to choose which direction and axis to apply force and moments, said one or more pumps ingest fluid through an inlet before said fluid is ejected through an exit of said CJDs by direction of said one or more pumps and configuration of said plurality of CJDs, each of said CJDs include a plurality of control ports to switch directions of said CJDs using said single solenoid and a plastic piece coupled to a pushrod, said plastic piece covers either a first control port or a second control port while exposing the uncovered control port to ambient pressure producing a pressure differential that causes the jet to switch directions, wherein when the solenoid is inactive the first control port is covered and the jet exits out of the second control port, and when the solenoid is activated the pushrod moves the plastic piece to cover the second control port and the jet exits out of the first control port. 10. The method of claim 9, wherein the one or more pumps comprise a plurality of reversible pumps where the CJDs are coupled to each outlet of the reversible pumps. 11. The method of claim 10, wherein the CJDs allow for translation in a plurality of directions and rotation on one or more axes. 12. The method of claim 11 further comprising one more diverging nozzles that are positioned on an output of the CJDs. 13. The method of claim 9, wherein the one or more pumps comprise a plurality of one-way pumps where the CJDs are coupled to each other to form one or more tree structures. 14. The method of claim 13, wherein the tree structures comprise coupling exits of one of the CJD to at least one exit of the remaining CJDs. 15. The method of claim 14, wherein the tree structures allow for translation in a plurality of directions and rotation on one or more axes. 16. The method of claim 15 further comprising one more diverging nozzles that are positioned on an output of the CJDs. 17. A method of performing the operation of a propulsion system comprising: forming a jet for propulsion using one or more pumps; andproviding multi-axis underwater control using a plurality of Coanda jet devices (CJDs), the CJDs are coupled to the one or more pumps, each CJD having a single solenoid, the CJDs incorporate a set of compact valves allowing an operator to choose which direction and axis to apply force and moments, said one or more pumps ingest fluid through an inlet before said fluid is ejected through an exit of said CJDs by direction of said one or more pumps and configuration of said plurality of CJDs, each of said CJDs include a plurality of control ports to switch directions of said CJDs using said single solenoid and a plastic piece coupled to a pushrod, said plastic piece covers either a first control port or a second control port while exposing the uncovered control port to ambient pressure producing a pressure differential that causes the jet to switch directions, wherein when the solenoid is inactive the first control port is covered and the jet exits out of the second control port, and when the solenoid is activated the pushrod moves the plastic piece to cover the second control port and the jet exits out of the first control port. 18. The method of claim 17, wherein the one or more pumps comprise a plurality of reversible pumps where the CJDs are coupled to each outlet of the reversible pumps. 19. The method of claim 18, wherein the CJDs allow for translation in a plurality of directions and rotation on one or more axes. 20. The method of claim 19 further comprising one more diverging nozzles that are positioned on an output of the CJDs. 21. The method of claim 17, wherein the one or more pumps comprise a plurality of one-way pumps where the CJDs are coupled to each other to form one or more tree structures. 22. The method of claim 21, wherein the tree structures comprise coupling exits of one of the CJD to at least one exit of the remaining CJDs. 23. The method of claim 22, wherein the tree structures allow for translation in a plurality of directions and rotation on one or more axes. 24. The method of claim 23 further comprising one more diverging nozzles that are positioned on an output of the CJDs.
Meyers Scott C. (Fountain Hills AZ) Mathis David M. (Phoenix AZ) Zanelli Eugene A. (Scottsdale AZ), Underwater vehicle with improved jet pump propulsion configuration.
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