CN101513928A - Omnibearing active vector propulsion underwater screw propeller device based on spherical gear mechanism - Google Patents
Omnibearing active vector propulsion underwater screw propeller device based on spherical gear mechanism Download PDFInfo
- Publication number
- CN101513928A CN101513928A CNA2009100430032A CN200910043003A CN101513928A CN 101513928 A CN101513928 A CN 101513928A CN A2009100430032 A CNA2009100430032 A CN A2009100430032A CN 200910043003 A CN200910043003 A CN 200910043003A CN 101513928 A CN101513928 A CN 101513928A
- Authority
- CN
- China
- Prior art keywords
- spherical gear
- spherical
- flexible shaft
- gear
- screw propeller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Transmission Devices (AREA)
Abstract
The invention discloses an omnibearing active vector propulsion underwater screw propeller device based on a spherical gear mechanism. The device comprises a screw propeller, a flexible shaft and a drive mechanism. The flexible shaft comprises more than two pairs of spherical gears which are connected in series, an anodic spherical gear of each pair of the spherical gears is connected to a primary universal joint by cylindrical face fit, cathodic spherical gears of two adjacent pairs of the spherical gears are connected to a secondary universal joint by the cylindrical face fit, an anodic spherical gear in the front end of the flexible shaft is connected with the screw propeller, an anodic spherical gear in the rear end of the flexible shaft is connected with the drive mechanism, the anodic spherical gear and the cathodic spherical gear of each pair of the spherical gears are intermeshed to form a planet gear mechanism; the primary universal joint connected with the anodic spherical gear at the rear end of the flexible shaft is jointed with a cross thrust collar, the cross thrust collar is connected with the drive mechanism, and the drive mechanism comprises two bidirectional movement controllable linear motor and an electric rotating machine. The device has the advantages of simple and compact structure, low cost, wide application range, good controllability and the like.
Description
Technical field
The present invention is mainly concerned with the design field of underwater propulsion unit, refers in particular to a kind of omnibearing active vector propulsion underwater screw propeller device based on spherical gear mechanism.
Background technology
Present domestic and international many scientific research institutions carrier under water that succeeded in developing or that developing, its Powerpush Unit all adopts the propeller arrangement of fixed axis, rotating speed by changing screw propeller and turn to the size and Orientation of adjusting propulsive force, when realizing multiple underwater manoeuvre navigation function, must overlap propelling unit more in the different parts configuration of carrier, thereby increase the complexity of system greatly.Finish when motor-driven navigation such as moving forward and backward, the propelling unit that is configured in the side also will become the obstacle of carrier motion, thereby reduce propulsion coefficient.
Summary of the invention
The technical problem to be solved in the present invention just is: the technical matters at prior art exists the invention provides a kind of good omnibearing active vector propulsion underwater screw propeller device based on spherical gear mechanism simple and compact for structure, with low cost, applied widely, handling.
For solving the problems of the technologies described above, the present invention by the following technical solutions.
A kind of omnibearing active vector propulsion underwater screw propeller device based on spherical gear mechanism, it comprises screw propeller, flexible shaft and driver train, described flexible shaft comprises series connected successively spherical gear more than two pairs, anode spherical gear in the every pair of spherical gear is connected on the one-level universal-joint by cylindrical fit, negative electrode spherical gear in adjacent two pairs of spherical gears together is connected on the secondary universal-joint by cylindrical fit, being positioned at flexible shaft anode spherical gear foremost links to each other with screw propeller, the anode spherical gear that is positioned at the flexible shaft extreme end links to each other with driver train, anode spherical gear in the every pair of spherical gear and the negative electrode spherical gear formation sun and planet gear that is meshing with each other; The described one-level universal-joint that is positioned at flexible shaft extreme end anode spherical gear that is used for fixing links to each other with the cross thrust collar, the cross thrust collar links to each other with driver train, but described driver train comprises two bidirectional-movement controlled linear motors and a rotating machine, the output shaft of described rotating machine links to each other with the anode spherical gear that is positioned at the flexible shaft extreme end, but the mouth of two bidirectional-movement controlled linear motors links to each other with two contacts on the cross thrust collar by push rod respectively.
As a further improvement on the present invention:
Described anode spherical gear all adopts sphere valvular structure with the negative electrode spherical gear with the fitting surface that is connected of secondary universal-joint with the fitting surface that is connected of one-level universal-joint.
Compared with prior art, advantage of the present invention just is:
1, the flexible shaft based on spherical gear and universal-shaft drive among the present invention not only can be realized beat in 360 ° of spatial dimensions, and can realize the rotation around flexible shaft self geometric centre axes under any spatial attitude of maintenance.Flexible shaft with this motion characteristics can be used to adjustable the rotatablely moving of transmitter shaft space of lines attitude, if screw propeller is installed on output shaft, just can produce the space vector propulsive force, thereby realizes the motor-driven navigation of underwater research vehicle;
2, the present invention can control the spatial attitude of screw propeller quickly and accurately by controlling the stroke of linear electric motors simply.Simultaneously, be under any spatial attitude, drive screw propeller around self axis axis straight line not necessarily of flexible shaft (this moment) spin, thereby produce the space vector power of different directions by the control rotating machine at screw propeller.By the installation of sphere valvular structure, can keep whole device to have very high rigidity and load-carrying capacity, therefore be well suited for underwater propulsion.This apparatus structure compactness, control be simple, have very strong transplantability.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is that master of the present invention looks the sectional structure scheme drawing;
Fig. 3 is the structural representation of flexible shaft among the present invention;
Fig. 4 is the mesh schematic representation of anode spherical gear and negative electrode spherical gear;
Fig. 5 is one-level universal-joint and an anode spherical gear bonded assembly structural representation among the present invention;
Fig. 6 is the structural representation of one-level universal-joint among the present invention.
Marginal data:
1, screw propeller 2, one-level anode spherical gear
3, one-level universal-joint 4, one-level support
5, one-level negative electrode spherical gear 6, secondary anode spherical gear
7, secondary negative electrode spherical gear 8, secondary support
9, cross thrust collar 10, push rod
But 11, bidirectional-movement controlled linear motor 12, rotating machine
13, base 14, secondary universal-joint
15, driver train
The specific embodiment
Below with reference to specific embodiment and Figure of description the present invention is described in further details.
As Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and shown in Figure 6, the present invention is based on the omnibearing active vector propulsion underwater screw propeller device of spherical gear mechanism, it comprises screw propeller 1, flexible shaft and driver train 15, flexible shaft comprises series connected successively spherical gear more than two pairs, anode spherical gear in the every pair of spherical gear is connected on the one-level universal-joint 3 by cylindrical fit, negative electrode spherical gear in adjacent two pairs of spherical gears together is connected on the secondary universal-joint 14 by cylindrical fit, and one-level universal-joint 3 and secondary universal-joint 14 mainly play the effect of supporting and transfer torque.Be positioned at flexible shaft anode spherical gear foremost and link to each other with screw propeller 1, the anode spherical gear that is positioned at the flexible shaft extreme end links to each other with driver train 15, anode spherical gear in the every pair of spherical gear and the negative electrode spherical gear formation sun and planet gear that is meshing with each other.The one-level universal-joint 3 that is positioned at the flexible shaft extreme end links to each other with cross thrust collar 9, and cross thrust collar 9 links to each other with driver train 15, finishes the swing of flexible shaft by 15 pairs of cross thrust collar 9 application of forces of driver train.But driver train 15 comprises two bidirectional-movement controlled linear motors 11 and a rotating machine 12, and the output shaft of rotating machine 12 links to each other with the anode spherical gear that is positioned at the flexible shaft extreme end, is used for driving this anode spherical gear rotation; But the mouth of two bidirectional-movement controlled linear motors 11 links to each other with two contacts on the cross thrust collar 9 by push rod 10 respectively, is used for cross thrust collar 9 application of forces are finished the swing of flexible shaft.
At this flexible shaft of forming with two pairs of spherical gears is example, this flexible shaft is made up of one-level anode spherical gear 2, one-level negative electrode spherical gear 5, secondary anode spherical gear 6 and secondary negative electrode spherical gear 7, one-level anode spherical gear 2 and one-level negative electrode spherical gear 5 are fixed on the one-level support 4 and the formation sun and planet gear that is meshing with each other, and secondary anode spherical gear 6 and secondary negative electrode spherical gear 7 are fixed on the secondary support 8 and the formation sun and planet gear that is meshing with each other.Wherein, one end of one-level anode spherical gear 2 is installed on the base 13, drive and can only be by rotating machine 12 around self axis rotation, one-level anode spherical gear 2 links to each other with one-level universal-joint 3, in the present embodiment, one-level universal-joint 3 also is fixed on the one-level support 4, and cross thrust collar 9 is fixed on the one-level support 4, but the mouth of two bidirectional-movement controlled linear motors 11 links to each other with two contacts on the cross thrust collar 9 by push rod 10 respectively.But, can drive push rod 10 and make cross thrust collar 9 drive the spherical gear rotation by the control of bidirectional-movement controlled linear motor 11.One-level negative electrode spherical gear 5 and secondary negative electrode spherical gear 7 together are fixed on the secondary universal-joint 14, and secondary anode spherical gear 6 is fixed on the one-level universal-joint 3 and with screw propeller 1 and links to each other, and can drive spiral fashion 1 and rotate.Referring to Fig. 5 and shown in Figure 6, the anode spherical gear all adopts sphere valvular structure with the negative electrode spherical gear with the fitting surface that is connected of secondary universal-joint 14 with the fitting surface that is connected of one-level universal-joint 3.By the installation of sphere valvular structure, can keep whole device to have very high rigidity and load-carrying capacity, therefore be well suited for underwater propulsion.This apparatus structure compactness, control be simple, have very strong transplantability.The sphere valvular structure is also adopted in the place that one-level sun spherical gear 2 is installed the universal-joint pin, is installed in by improved universal-joint retainer structure on the one-level support 4 of the 2nd joint.When mounted, at first in 45 ° of retainers with one-level sun spherical gear 2 insertion one-level universal-joints 3 of axial offset, circle round 45 ° then, installation is used for spacing pin, and same installation method is installed to this assembly set in other parts.This valvular structure and mounting means thereof can guarantee that two bonded blocks have bigger the sphere contact surface and the rigidity of structure, can carry effectively vertically again and load radially simultaneously.
The driving of the spatial attitude of screw propeller 1 and maintenance are to realize by the spatial attitude of controlling flexible shaft.The flexible shaft attitude drives and keeps, and realize two contact space positions that are installed in the cross thrust collar 9 on the one-level support 4 by control.These two contacts are on the normal plane with one-level support 4 axis normal, and this normal plane is crossed the geometric centre of the one-level universal-joint 3 of 4 on one-level sun spherical gear 2 and one-level support, and is apparent, this normal plane thus 3 uniquely determine.But come to control independently respectively this two contact space positions by the fore and aft motion that is installed in the bidirectional-movement controlled linear motor 11 on the base 13, it is the locus of may command normal plane, thereby reach the purpose of control flexible shaft attitude, be installed in the corresponding change of spatial attitude of the screw propeller 1 of flexible shaft end this moment.
The above only is a preferred implementation of the present invention, and protection scope of the present invention also not only is confined to the foregoing description, and all technical schemes that belongs under the thinking of the present invention all belong to protection scope of the present invention.Should be pointed out that for those skilled in the art in the some improvements and modifications that do not break away under the principle of the invention prerequisite, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (2)
1, a kind of omnibearing active vector propulsion underwater screw propeller device based on spherical gear mechanism, it is characterized in that: it comprises screw propeller, flexible shaft and driver train, described flexible shaft comprises series connected successively spherical gear more than two pairs, anode spherical gear in the every pair of spherical gear is connected on the one-level universal-joint by cylindrical fit, negative electrode spherical gear in adjacent two pairs of spherical gears together is connected on the secondary universal-joint by cylindrical fit, being positioned at flexible shaft anode spherical gear foremost links to each other with screw propeller, the anode spherical gear that is positioned at the flexible shaft extreme end links to each other with driver train, anode spherical gear in the every pair of spherical gear and the negative electrode spherical gear formation sun and planet gear that is meshing with each other; The described one-level universal-joint that is positioned at the flexible shaft extreme end links to each other with the cross thrust collar, the cross thrust collar links to each other with driver train, but described driver train comprises two bidirectional-movement controlled linear motors and a rotating machine, the output shaft of described rotating machine links to each other with the anode spherical gear that is positioned at the flexible shaft extreme end, but the mouth of two bidirectional-movement controlled linear motors links to each other with two contacts on the cross thrust collar by push rod respectively.
2, the omnibearing active vector propulsion underwater screw propeller device based on spherical gear mechanism according to claim 1 is characterized in that: described anode spherical gear all adopts sphere valvular structure with the negative electrode spherical gear with the fitting surface that is connected of secondary universal-joint with the fitting surface that is connected of one-level universal-joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2009100430032A CN101513928A (en) | 2009-03-31 | 2009-03-31 | Omnibearing active vector propulsion underwater screw propeller device based on spherical gear mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2009100430032A CN101513928A (en) | 2009-03-31 | 2009-03-31 | Omnibearing active vector propulsion underwater screw propeller device based on spherical gear mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101513928A true CN101513928A (en) | 2009-08-26 |
Family
ID=41038571
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2009100430032A Pending CN101513928A (en) | 2009-03-31 | 2009-03-31 | Omnibearing active vector propulsion underwater screw propeller device based on spherical gear mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101513928A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102069902A (en) * | 2010-12-16 | 2011-05-25 | 沈阳工业大学 | Small oil-filled full-scale deflection vector propeller thruster |
| CN102501950A (en) * | 2011-11-17 | 2012-06-20 | 沈阳航空航天大学 | Hydrofoil bicycle |
| CN102887217A (en) * | 2012-09-24 | 2013-01-23 | 天津大学 | Autonomous underwater vehicle (AUV) vector thrust device |
| CN103523189A (en) * | 2013-10-28 | 2014-01-22 | 岑溪市东正新泵业贸易有限公司 | Submarine revolving flapping wing propeller |
| CN103569343A (en) * | 2013-10-24 | 2014-02-12 | 浙江大学 | Underwater oscillating propeller |
| CN107244403A (en) * | 2017-05-31 | 2017-10-13 | 哈尔滨工业大学（威海） | The parallel vector propulsion device of two-freedom |
| CN109080800A (en) * | 2018-08-24 | 2018-12-25 | 中国人民解放军国防科技大学 | Underwater vector propulsion device and unmanned underwater vehicle |
| WO2021139677A1 (en) * | 2020-01-09 | 2021-07-15 | 王芳华 | Aircraft propeller device |
-
2009
- 2009-03-31 CN CNA2009100430032A patent/CN101513928A/en active Pending
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102069902A (en) * | 2010-12-16 | 2011-05-25 | 沈阳工业大学 | Small oil-filled full-scale deflection vector propeller thruster |
| CN102501950A (en) * | 2011-11-17 | 2012-06-20 | 沈阳航空航天大学 | Hydrofoil bicycle |
| CN102887217A (en) * | 2012-09-24 | 2013-01-23 | 天津大学 | Autonomous underwater vehicle (AUV) vector thrust device |
| CN102887217B (en) * | 2012-09-24 | 2014-08-13 | 天津大学 | Autonomous underwater vehicle (AUV) vector thrust device |
| CN103569343A (en) * | 2013-10-24 | 2014-02-12 | 浙江大学 | Underwater oscillating propeller |
| CN103523189A (en) * | 2013-10-28 | 2014-01-22 | 岑溪市东正新泵业贸易有限公司 | Submarine revolving flapping wing propeller |
| CN103523189B (en) * | 2013-10-28 | 2016-04-20 | 岑溪市东正新泵业贸易有限公司 | Submarine revolving flapping wings propelling unit |
| CN107244403A (en) * | 2017-05-31 | 2017-10-13 | 哈尔滨工业大学（威海） | The parallel vector propulsion device of two-freedom |
| CN109080800A (en) * | 2018-08-24 | 2018-12-25 | 中国人民解放军国防科技大学 | Underwater vector propulsion device and unmanned underwater vehicle |
| CN109080800B (en) * | 2018-08-24 | 2019-08-16 | 中国人民解放军国防科技大学 | Underwater vector propulsion device and unmanned underwater vehicle |
| WO2021139677A1 (en) * | 2020-01-09 | 2021-07-15 | 王芳华 | Aircraft propeller device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101513928A (en) | Omnibearing active vector propulsion underwater screw propeller device based on spherical gear mechanism | |
| CN101519113B (en) | Wave energy-based gliding propeller | |
| CN105501422A (en) | All deflection propeller vector boost mechanism and underwater navigation vehicle | |
| CN102785542A (en) | Amphibious robot with deformable foot-web compounded propulsion mechanism | |
| CN103754344A (en) | Novel underwater vehicle parallel vectored thruster and attitude determination method therefor | |
| CN103538709A (en) | Parallel vector propulsion mechanism of autonomous underwater vehicle | |
| CN113320665B (en) | Bionic underwater robot propelled by long fin fluctuation | |
| CN110774277A (en) | Snake-shaped arm three-degree-of-freedom wrist joint and movement method | |
| CN102303492B (en) | Small-sized variable-structure propulsion device with amphibious function | |
| CN109693772B (en) | Multi-joint hybrid driving underwater vehicle | |
| CN102773856A (en) | Space five-FOD (Degree of Freedom) mechanism for independently controlling rotational motion and translational motion | |
| CN102848375A (en) | Spatial six-degree-of-freedom mechanism capable of separately controlling rotation motion and translation motion | |
| CN105270585B (en) | A kind of submarine navigation device | |
| CN103991089A (en) | Body segment unit for multi-body-segment S-shaped robot | |
| CN103129724A (en) | Propulsion system for underwater robot | |
| CN113928518B (en) | Underwater vector propulsion device with variable gesture | |
| CN110937093A (en) | Underwater equipment vector propeller | |
| CN103754342B (en) | The rudder type transfer device of a kind of " X " word rudder and " ten " word rudder | |
| CN202368775U (en) | Propulsion system for underwater robot | |
| CN109866902B (en) | Single-propeller vector propulsion device | |
| CN213768926U (en) | Flapping wing type bionic steering mechanism | |
| CN202825823U (en) | Space six-freedom-degree mechanism capable of independently controlling rotating movement and translation movement | |
| CN211336395U (en) | Underwater equipment vector propeller | |
| CN113815857B (en) | Amphibious robot device | |
| CN115352552A (en) | Bionic mechanical snake and control method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Open date: 20090826 |