CN102358410A - Three-dimensional vector thrusting device for submersible - Google Patents
Three-dimensional vector thrusting device for submersible Download PDFInfo
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- CN102358410A CN102358410A CN2011102105112A CN201110210511A CN102358410A CN 102358410 A CN102358410 A CN 102358410A CN 2011102105112 A CN2011102105112 A CN 2011102105112A CN 201110210511 A CN201110210511 A CN 201110210511A CN 102358410 A CN102358410 A CN 102358410A
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Abstract
The invention relates to a three-dimensional vector thrusting device for a submersible. The three-dimensional vector thrusting device for the submersible comprises a prime motor, a base, and at least three groups of thrusting mechanisms which have the same structure and are uniformly distributed on the periphery of the base, wherein a main shaft is driven by the prime motor, and is in rotational fit with the base; the outer end of the main shaft penetrates the outer wall of the base and is fixedly connected with the inner bottom surface of a rotating disc; the main shaft is hollow; a transmission shaft is inserted into the main shaft in an axial direction; the inner end of the transmission shaft extends out of the main shaft and the inner wall of the base and is connected with a thrust direction controller; the other end of the transmission shaft penetrates the inner bottom of the rotating disc, is linked with a center gear and is arranged on the outer bottom of the rotating disc in a rotatable way; the center gear is positioned inside the rotating disc; a plurality of paddle shafts are in rotational fit inside the rotating disc; the paddle shafts penetrate and are linked with a paddle gear; the paddle gear is connected with the center gear through a transmission component; the paddle shafts extend out of the outer bottom of the rotating disc and are fixedly connected with one end of each of paddles; and when the rotating disc rotates a circle, the paddles rotate half a circle around the axes of the paddles. The size and direction of thrust can be arbitrarily changed within a three-dimensional space.
Description
Technical field
The invention belongs to that submersible advances and the manipulation technology field, particularly a kind of effective power that main frame is sent converts submersible into and advances and turn to the submersible of required thrust to use the trivector propelling unit.
Background technology
The propulsive control device that relates to boats and ships at present mainly contains: screw propeller-rudder system, full circle swinging screw propeller (rudder oar), waterjet propulsor, voith schneider propeller etc.But the propelling and the actuating force of said apparatus only limit in the two dimensional surface.And for equipment such as Submarine, torpedo, submersible, robot, underwater exploration, need install the above-mentioned propelling unit of many covers additional and could satisfy the power operated demand of underwater 3 D.Therefore, existing propelling unit makes the complex structure of submersible, and has increased manufacturing cost.
Summary of the invention
The invention discloses a kind of submersible and use the trivector propelling unit, it can solve existing submersible effectively and advance and handled the high problem of complex structure, cost that exists.This propelling unit not only has rudder oar unification function, can also make the three-dimensional arbitrary orientation of making a concerted effort to point to of thrust.Adopt the submersible of trivector propelling unit of the present invention can accomplish maneuver in the water of various complicacies; Comprise advance, retreat, turn to up and down, sidesway is motor-driven etc. in the water; Can also under the situation of zero speed of a ship or plane, adjust the position and the attitude of submersible freely.
For achieving the above object; The present invention takes following technical scheme: submersible is used the trivector propelling unit; Comprise primary mover, support, at least three group thrust mechanisms, the structure of thrust mechanism is identical, and is distributed in the periphery of support; Every group of thrust mechanism comprises main shaft, thrust direction controller, transmission shaft, rolling disc, sun gear, Transmission, blade gear, blade spindle, blade; Described main shaft is rotated by described prime mover driven, main shaft and support normal-running fit, and the main shaft outer end is passed behind the outer wall of support affixed with the inner bottom surface of rolling disc; Main shaft is hollow form; Its inside transmission shaft that stretches through vertically; Stretch out outside the inwall of main shaft and support the inner of transmission shaft; And link to each other with the thrust direction controller, the other end passes behind the inner bottom part through hole of rolling disc affixed with the middle part of sun gear, and this end rotary type be loaded on the outer bottom of rolling disc; Sun gear is in rolling disc inside; The several blade spindles that along the circumferential direction are uniformly distributed with of normal-running fit in the rolling disc; Blade spindle and main shaft parallel; Blade spindle passes the middle part of blade gear and affixed, and the blade gear links to each other with sun gear through Transmission, and blade spindle stretches out behind the outer bottom of rolling disc affixed with an end of blade; In one week of turn disc, blade is around self axis rotation half cycle.
Described submersible is used the trivector propelling unit, and primary mover is a main motor, and its output shaft drives the main shaft of respectively organizing thrust mechanism through reduction gearing mechanism.
Described submersible is used the trivector propelling unit, and reduction gearing mechanism comprises coupler, driving gear, planetary wheel, interior engaging tooth-umbrella shape tooth linkage gear, and interior engaging tooth-umbrella shape tooth linkage gear is provided with inner gear and outer crowngear; The output shaft of main motor is through the driving gear interlock in coupler and the support; Driving gear and planetary wheel engagement; Planetary wheel is meshed with the inner gear of interior engaging tooth-umbrella shape tooth linkage gear; The outer crowngear of interior engaging tooth-umbrella shape tooth linkage gear all is meshed with the main gear of each group thrust mechanism, and the middle part of main gear is passed and affixed described main shaft.
Described submersible is used the trivector propelling unit; Reduction gearing mechanism comprises coupler, driving gear, planetary wheel, crowngear; The output shaft of main motor is through the driving gear interlock in coupler and the support, and driving gear and planetary wheel mesh, planetary wheel and crowngear interlock; Crowngear all is meshed with the main gear of each group thrust mechanism, and the middle part of main gear is passed and affixed described main shaft.
Described submersible is used the trivector propelling unit, and every group of thrust mechanism is respectively by single described prime mover driven, and primary mover adopts the direct-driving electric motivation, and its output shaft directly drives described main shaft.
Described submersible is used the trivector propelling unit, and Transmission adopts flute profile band or chain, and sun gear links to each other with the blade gear through flute profile band or chain.
Described submersible is used the trivector propelling unit, and Transmission is a carrier gear, and each blade gear respectively is meshed with sun gear through carrier gear, and carrier gear is through bearing and bridge gear shaft normal-running fit, and bridge gear shaft is positioned in the rolling disc.
Described submersible is used the trivector propelling unit, and the number of teeth of sun gear is 1/2 of the blade gear number of teeth.
Described submersible is used the trivector propelling unit, and support is the square column type, and it is three-back-shaped that cross-sectional plane is; Described thrust mechanism is provided with four groups, is laid in symmetrically around the support outer wall.
Described submersible is used the trivector propelling unit, and the cross-sectional plane of blade is rectangular, fusiformis, arc or S shape.
Submersible of the present invention is used the trivector propelling unit, and the size of its thrust and direction can be in three dimensional space change arbitrarily, have the function of rudder oar unification, and have the hydrodynamic efficiency height, energy consumption is low, running is steady, plurality of advantages such as simple in structure, in light weight.
Description of drawings
Fig. 1 is the structural representation of embodiment one.
Fig. 2 is another structure cutaway view of embodiment one.
Fig. 3 is embodiment one a rolling disc inner structure scheme drawing.
Fig. 4 is the cross sectional drawing of first kind of blade.
Fig. 5 is the cross sectional drawing of second kind of blade.
Fig. 6 is the cross sectional drawing of the third blade.
Fig. 7 is the cross sectional drawing of the 4th kind of blade.
Fig. 8 is the structure cutaway view of embodiment two.
Fig. 9 is the structure cutaway view of embodiment three.
Figure 10 is another structure cutaway view of embodiment three.
Figure 11 is embodiment four rolling disc inner structure scheme drawings.
The specific embodiment
Below in conjunction with accompanying drawing the embodiment of the invention is elaborated.
Embodiment one: shown in Fig. 1-3; The present embodiment submersible comprises primary mover 1, reduction gearing mechanism, four groups of thrust mechanisms, column type support (gear case) 14 with the trivector propelling unit, and gear case 14 is the square column type, and it is three-back-shaped that cross-sectional plane is; Inner ring is claimed inwall, and outer wall is claimed in the outer ring.The structure of four groups of thrust mechanisms is identical, and is laid in symmetrically around gear case 14 outer walls.Every group of thrust mechanism comprises rolling disc main gear (drive bevel gear) 6, rolling disc main shaft 7, thrust direction controller 8, transmission shaft 9, sun gear 10, carrier gear 11, blade gear 12, rolling disc 13, blade 16, blade spindle 17, bridge gear shaft 18.Reduction gearing mechanism comprises coupler 2, driving gear 3, planetary wheel 4, interior engaging tooth-umbrella shape tooth linkage gear 5, and gear 5 is provided with inner gear and outer crowngear.
Rolling disc main shaft 7 is passed at rolling disc main gear 6 middle parts, both affixed and interlocks.The inwall of rolling disc main shaft 7 one ends and gear case 14 is through the bearing normal-running fit, and it is affixed with the inner bottom surface of rolling disc 13 that the other end passes outer wall (bearing of the packing into) back of gear case 14 between the two.Rolling disc main shaft 7 is hollow form; Its inside transmission shaft 9 that stretches through vertically; Stretch out outside the inwall of rolling disc main shaft 7 and gear case 14 the inner of transmission shaft 9; And link to each other with thrust direction controller 8, and that the other end passes behind the inner bottom part through hole of rolling disc 13 is affixed with the middle part of sun gear 10, and this end is loaded on the outer bottom of rolling disc 13 rotary type through bearing.
It is cylindric that rolling disc 13 is flat; Its inner cavity that forms, sun gear 10 is in the middle part in the rolling disc 13, the several blade spindles that along the circumferential direction are uniformly distributed with 17 of normal-running fit in the rolling disc 13; Two bottom normal-running fiies of bearing and rolling disc 13 are passed through at the two ends of blade spindle 17 respectively; Blade spindle 17 parallels with main shaft 7, and blade spindle 17 is affixed with the middle part of blade gear 12, and each blade gear 12 respectively is meshed with sun gear 10 through carrier gear 11.Carrier gear 11 is through bearing and bridge gear shaft 18 normal-running fiies, and bridge gear shaft 18 is positioned in the rolling disc 13.The number of teeth of sun gear 10 is 1/2 of blade gear 12 numbers of teeth.Blade spindle 17 stretches out behind the outer bottom of rolling disc 13 affixed with an end of blade 16.Blade 16 adopts airfoil structures, shown in Fig. 4-7, has shown four kinds of blade structures, and its cross-sectional plane is rectangular respectively, fusiformis, arc, S shape.
When center gear 10 was motionless by 8 lockings of thrust direction controller, around self axis uniform rotation, its rotating speed (rotation) was the half the of rolling disc 13 (revolution) in rolling disc 13 rotations for blade spindle 17 and blade 16.Because the asymmetry that blade 16 produces when rotating with rolling disc 13 will produce a directed thrust when current flow through blade 16, and this directional thrust can be by thrust direction controller 8 adjustment arbitrarily in its plane.The thrust direction controller 8 of primary mover 1 and the rotating speed of rolling disc 13 can be by electric control system 15 controls, through controlling four groups of thrust direction controllers 8 to adjust each propeller thrust direction and can reach the requirement that propelling unit thrust is pointed to the arbitrary orientation of three dimensional space through vectorial combination.Related thrust direction controller of the present invention and electric control system all adopt prior art to realize, no longer detail.
Embodiment two: referring to Fig. 8; The primary mover 1 of present embodiment is through driving gear 3 interlocks in coupler 2 and the gear case 14; Driving gear 3 and driven gear 4 engagements, driven gear 4 and crowngear 5 interlocks rotate thereby driven gear 4 can drive crowngear 5; And crowngear 5 all is meshed with all around four rolling disc main gears 6, thereby crowngear 5 can drive 6 rotations of four rolling disc main gears simultaneously.Other content of present embodiment is identical with embodiment one, reference implementation example one.
Embodiment three: referring to Fig. 9,10, present embodiment adopts single prime mover driven mode, i.e. one group of thrust mechanism of each prime mover driven.Primary mover 1 adopts the direct-driving electric motivation, is loaded in the gear case 14, and its output shaft directly drives rolling disc main shaft 7, thereby has save reduction gearing mechanism, further simplifies the structure of propelling unit.Because the rotating speed of each propelling unit rolling disc 13 can be adjusted arbitrarily, the present technique scheme can make the thrust size of trivector propelling unit and the change of direction have more alerting ability.Other content reference implementation example one of present embodiment.
Embodiment four: shown in figure 11, the Transmission of present embodiment adopts flute profile band or chain 19, and center gear 10 links to each other with paddle wheel 12 through flute profile band or chain 19.Present embodiment other content reference implementation example one or embodiment two or embodiment three.
Above-mentioned propelling unit structure to four groups of thrust mechanisms specifies, but thrust mechanism can be many arbitrarily groups such as three groups, five groups, six groups, its principle identical with four groups, no longer detailed description.
Those of ordinary skill in the art will be appreciated that the present invention is not limited to the foregoing description, any conversion of the present invention, modification is all fallen into protection scope of the present invention.
Claims (10)
1. submersible is used the trivector propelling unit; It is characterized in that comprising primary mover, support, at least three group thrust mechanisms; The structure of thrust mechanism is identical; And be distributed in the periphery of support, and every group of thrust mechanism comprises main shaft, thrust direction controller, transmission shaft, rolling disc, sun gear, Transmission, blade gear, blade spindle, blade, described main shaft is rotated by described prime mover driven; Main shaft and support normal-running fit, main shaft outer end pass behind the outer wall of support affixed with the inner bottom surface of rolling disc; Main shaft is hollow form; Its inside transmission shaft that stretches through vertically; Stretch out outside the inwall of main shaft and support the inner of transmission shaft; And link to each other with the thrust direction controller, the other end passes behind the inner bottom part through hole of rolling disc affixed with the middle part of sun gear, and this end rotary type be loaded on the outer bottom of rolling disc; Sun gear is in rolling disc inside; The several blade spindles that along the circumferential direction are uniformly distributed with of normal-running fit in the rolling disc; Blade spindle and main shaft parallel; Blade spindle passes the middle part of blade gear and affixed, and the blade gear links to each other with sun gear through Transmission, and blade spindle stretches out behind the outer bottom of rolling disc affixed with an end of blade; In one week of turn disc, blade is around self axis rotation half cycle.
2. submersible as claimed in claim 1 is used the trivector propelling unit, it is characterized in that: described primary mover is a main motor, and its output shaft drives the main shaft of respectively organizing thrust mechanism through reduction gearing mechanism.
3. submersible as claimed in claim 2 is used the trivector propelling unit; It is characterized in that: described reduction gearing mechanism comprises coupler, driving gear, planetary wheel, interior engaging tooth-umbrella shape tooth linkage gear, and interior engaging tooth-umbrella shape tooth linkage gear is provided with inner gear and outer crowngear; The output shaft of main motor is through the driving gear interlock in coupler and the support; Driving gear and planetary wheel engagement; Planetary wheel is meshed with the inner gear of interior engaging tooth-umbrella shape tooth linkage gear; The outer crowngear of interior engaging tooth-umbrella shape tooth linkage gear all is meshed with the main gear of each group thrust mechanism, and the middle part of main gear is passed and affixed described main shaft.
4. submersible as claimed in claim 2 is used the trivector propelling unit; It is characterized in that: described reduction gearing mechanism comprises coupler, driving gear, planetary wheel, crowngear; The output shaft of main motor is through the driving gear interlock in coupler and the support, and driving gear and planetary wheel mesh, planetary wheel and crowngear interlock; Crowngear all is meshed with the main gear of each group thrust mechanism, and the middle part of main gear is passed and affixed described main shaft.
5. submersible as claimed in claim 1 is used the trivector propelling unit, it is characterized in that: said every group of thrust mechanism is respectively by single described prime mover driven, and primary mover adopts the direct-driving electric motivation, and its output shaft directly drives described main shaft.
6. submersible as claimed in claim 1 is used the trivector propelling unit, it is characterized in that: described Transmission adopts flute profile band or chain, and sun gear links to each other with the blade gear through flute profile band or chain.
7. submersible as claimed in claim 1 is used the trivector propelling unit; It is characterized in that: described Transmission is a carrier gear; Each blade gear respectively is meshed with sun gear through carrier gear; Carrier gear is through bearing and bridge gear shaft normal-running fit, and bridge gear shaft is positioned in the rolling disc.
8. use the trivector propelling unit like claim 1 or 7 described submersibles, it is characterized in that: the number of teeth of said sun gear is 1/2 of the blade gear number of teeth.
9. submersible as claimed in claim 1 is used the trivector propelling unit, it is characterized in that: described support is the square column type, and it is three-back-shaped that cross-sectional plane is; Described thrust mechanism is provided with four groups, is laid in symmetrically around the support outer wall.
10. submersible as claimed in claim 1 is used the trivector propelling unit, it is characterized in that: the cross-sectional plane of said blade is rectangular, fusiformis, arc or S shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110210511.2A CN102358410B (en) | 2011-07-26 | 2011-07-26 | Three-dimensional vector thrusting device for submersible |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110210511.2A CN102358410B (en) | 2011-07-26 | 2011-07-26 | Three-dimensional vector thrusting device for submersible |
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| Publication Number | Publication Date |
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| CN102358410A true CN102358410A (en) | 2012-02-22 |
| CN102358410B CN102358410B (en) | 2015-05-13 |
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| CN201110210511.2A Active CN102358410B (en) | 2011-07-26 | 2011-07-26 | Three-dimensional vector thrusting device for submersible |
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| CN103112571A (en) * | 2013-03-07 | 2013-05-22 | 中国船舶重工集团公司第七○二研究所 | Propelling device for submersible |
| CN108622360A (en) * | 2017-03-22 | 2018-10-09 | 黄树坚 | Horizontal blade roller liquid propeller in duct |
| CN112152385A (en) * | 2020-11-30 | 2020-12-29 | 南京合信智能装备有限公司 | Robot driving motor |
| CN114516396A (en) * | 2022-01-26 | 2022-05-20 | 鹏城实验室 | Miniature double-speed water-air dual-purpose propeller |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112152385A (en) * | 2020-11-30 | 2020-12-29 | 南京合信智能装备有限公司 | Robot driving motor |
| CN114516396A (en) * | 2022-01-26 | 2022-05-20 | 鹏城实验室 | Miniature double-speed water-air dual-purpose propeller |
| CN114516396B (en) * | 2022-01-26 | 2023-04-25 | 鹏城实验室 | Miniature double-speed water-air dual-purpose propeller |
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| CN102358410B (en) | 2015-05-13 |
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