CN103538709A - Parallel vector propulsion mechanism of autonomous underwater vehicle - Google Patents
Parallel vector propulsion mechanism of autonomous underwater vehicle Download PDFInfo
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- CN103538709A CN103538709A CN201310492614.1A CN201310492614A CN103538709A CN 103538709 A CN103538709 A CN 103538709A CN 201310492614 A CN201310492614 A CN 201310492614A CN 103538709 A CN103538709 A CN 103538709A
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Abstract
The invention discloses a parallel vector propulsion mechanism of an autonomous underwater vehicle. The parallel vector propulsion mechanism comprises a static platform and a mobile platform, wherein a propeller main motor is arranged on the static platform, a propeller drive shaft system is arranged on the mobile platform, three groups of branch chains are arranged between the static platform and the mobile platform and consist of two groups of six-degree-of-freedom UPS driving branch chains and one group of two-degree-of-freedom U-shaped branch chains, the static platform, the mobile platform and the three groups of branch chains form a two-degree-of-freedom spherical three-link parallel mechanism, and the two-degree-of-freedom U-shaped branch chains are fixedly connected with the mobile platform and are perpendicular to a plane of the mobile platform; an SPS transmission branch chain is also arranged between the static platform and the mobile platform, and is used for transferring the torque and motion of the main motor into the propeller drive shaft system. The parallel vector propulsion mechanism has the advantages of being good in low-speed steering performance, high in rigidity, high in motion precision, high in motion response speed, and the like.
Description
Technical field
The present invention relates to hydrospace detection field of tool, more particularly, relate to the propeller structure of a kind of AUV.
Background technology
AUV is a kind of in under-water robot, and it is without cable formula under-water robot, traditionally it is called to Autonomous Underwater Vehicle (Autonomous Underwater Vehicle, AUV).Along with the continuous expansion of AUV field of application, designer has higher requirement to the adaptive capacity of AUV under-water operation task ability and complex environment, especially AUV road-holding property and manoevreability is had higher requirement.Under this background, traditional fin rudder formula control method can not meet complexity that AUV moves under water and the requirement of alerting ability to a certain extent, especially when low-speed motion, the effect of the manipulation of rudder obviously weakens, so development of new vector propulsion device is one of actv. solution.Vector advances the thrust deflexion technology that is also referred to as, refer to that the propulsion system of space motion object is except providing forward thrust, can also simultaneously or in the directions such as pitching, driftage, roll and reaction thrust of sail body, provide propelling force and moment individually, the power producing in order to part or all of replacement rudder face is controlled.In order to make vector propulsive mechanism guarantee that more smoothly AUV can, successfully under water according to specifying flight path operation, need to improve the rigidity of vector propulsive mechanism, kinematic accuracy and corresponding speed on existing basis.
Summary of the invention
For above-mentioned prior art, it is good that the vector propulsive mechanism ，Gai in parallel mechanism that the present invention proposes a kind of Autonomous Underwater Vehicle has low speed turning efficiency, the advantage such as rigidity is high, and kinematic accuracy is high, and motion corresponding speed is fast.
In order to solve the problems of the technologies described above, the vector propulsive mechanism in parallel of a kind of Autonomous Underwater Vehicle of the present invention, comprise silent flatform and moving platform, described silent flatform is provided with screw propeller and promotes mainly motor, described moving platform is provided with propeller drive shaft system, between described silent flatform and described moving platform, be provided with three groups of side chains, described three groups of side chains comprise two groups of six degree of freedom U
ps active branched chain and one group of two-freedom U side chain, described silent flatform, moving platform and three groups of side chains have formed two-freedom sphere three bar parallel institutions, described two-freedom U side chain and described moving platform connect firmly, and described two-freedom U side chain is perpendicular to moving platform place plane; Between described silent flatform and described moving platform, be also provided with a SPS transmission branch chain, described SPS transmission branch chain is for being delivered to described propeller drive shaft system by promoting mainly the torque of motor and motion.
Compared with prior art, the invention has the beneficial effects as follows:
(1) the present invention adopts parallel-connection structure, has improved the rigidity of mechanism, corresponding speed and kinematic accuracy.
(2) the present invention adopts two-freedom sphere mechanism, and two motor Collaborative Control can make propeller axis reach fast required angle, and does not produce degree of freedom deficiency or redundancy.
(3) in the present invention, all parts are all connected with motor sleeve, only have motor sleeve to be connected with frame, and such design has also been avoided because housing rigidity deficiency causes error in vector mechanism kinematic.
(4) the present invention adopts transmission branch chain that motion and the transmission of torque of promoting mainly motor are arrived to propeller shafting, avoids directly motor being placed on moving platform, has reduced quality and the inertia of parallel institution, has further optimized the dynamic performance of vector propulsive mechanism.
Accompanying drawing explanation
Fig. 1 is the External view of the present invention's vector propulsive mechanism in parallel;
Fig. 2 is U in the present invention's vector propulsive mechanism in parallel
ps side chain sketch;
Fig. 3 is SPS transmission branch chain sketch in the present invention's vector propulsive mechanism in parallel;
Fig. 4 is the schematic diagram of mechanism of the present invention's vector propulsive mechanism in parallel.
In figure:
1-screw propeller is promoted mainly motor, 2-motor sleeve, 3-U
ps active branched chain, 31-Hooke hinge, 32-motor sleeve attaching parts, 33-expansion link top, 34-spherical hinge, 4-propeller drive shaft system, the U side chain of 5-2 degree of freedom, 6-SPS transmission branch chain, 61-connects the constant-velocity universal joint that screw propeller is promoted mainly motor, 62-spline joint, 63-connects the constant-velocity universal joint of propeller drive shaft system.
The specific embodiment
Below in conjunction with the specific embodiment, the present invention is described in further detail.
The vector propulsive mechanism in parallel of a kind of Autonomous Underwater Vehicle of the present invention, comprise silent flatform and moving platform, described silent flatform is provided with screw propeller and promotes mainly motor, described moving platform is provided with propeller drive shaft system, between described silent flatform and described moving platform, be provided with three groups of side chains, described three groups of side chains comprise two groups of six degree of freedom U
ps active branched chain and one group of two-freedom U side chain, described silent flatform, moving platform and three groups of side chains have formed two-freedom sphere three bar parallel institutions, described two-freedom U side chain and described moving platform connect firmly, and described two-freedom U side chain is perpendicular to moving platform place plane; Between described silent flatform and described moving platform, be also provided with a SPS transmission branch chain, described SPS transmission branch chain is for being delivered to described propeller drive shaft system by promoting mainly the torque of motor and motion.
Below in conjunction with the drawings and specific embodiments, the present invention is described further.
Embodiment of the present invention structure as shown in Figure 1, is usingd motor sleeve 2 as silent flatform, and the movable parts in mechanism comprises: two groups of six degree of freedom U
ps active branched chain, this U
pthe structure diagram of S active branched chain as shown in Figure 2, one group of two-freedom U side chain and moving platform with and on propeller drive shaft system form, wherein, two-freedom U side chain and moving platform connect firmly, and above-mentioned three groups of side chains and quiet, moving platform have formed two-freedom sphere three bar parallel institutions.In order to be that to promote mainly the propeller drive shaft that motor 1 is delivered on moving platform be 4 for the screw propeller of motor sleeve 2 by torque from being arranged in silent flatform, in the present invention, between silent flatform and moving platform, increased by a SPS transmission branch chain, the structure diagram of this SPS transmission branch chain as shown in Figure 3.In the present invention's vector propulsive mechanism motion in parallel, total degree of freedom that SPS transmission branch chain does not provide force and moment also not affect mechanism for the motion of vector propulsive mechanism, is only responsible for transmitting screw propeller and promotes mainly motor movement and torque.The present invention's vector propulsive mechanism in parallel sketch as shown in Figure 4.
With specific embodiment, the present invention is described further by reference to the accompanying drawings.
In vector propulsion device overall appearance figure, 1 promotes mainly motor for screw propeller; 2 is motor sleeve, and this motor sleeve 2 is served as the effect that frame is silent flatform in whole vector propulsive mechanism in parallel, and 3 is U
ps active branched chain, 4 is propeller drive shaft system, 5 is the U side chain of two-freedom, in the present invention, two-freedom U side chain and moving platform are fixed, and guarantee that two-freedom U side chain is perpendicular to moving platform place plane, 6 is SPS transmission branch chain, and this SPS transmission branch chain 6 is responsible for that screw propeller is promoted mainly to the torque of motor 1 and motion, and to be delivered to propeller drive shaft be in 4.
Fig. 2 is U
ps active branched chain sketch, wherein 31 is Hooke hinge; 32 is motor sleeve attaching parts, the stepping motor and the guilde screw transmission being connected with this motor of promoting mainly motor is installed in motor sleeve, and is furnished with pressure compensation device as screw propeller, uses being applicable under deep water state; 33 is U
pthe expansion link of S active branched chain, its one end is threaded connection part and is connected with the nut in above-mentioned guilde screw transmission, and its one end is connected with moving platform by spherical hinge 34.In vector propulsive mechanism motion in parallel, whole U
ps side chain has six-freedom degree, wherein axial stretching
pdegree of freedom is subject to the control of stepping motor.Corner, rotating speed by control step motor can be at two groups of U
pin the situation of S active branched chain collaborative work, control corner and the rotating speed of screw propeller end, make it do the motion of two-freedom sphere, thereby meet the requirement that vector advances.
Fig. 3 shows the structure of SPS transmission branch chain, wherein 61 for connecting screw propeller, promotes mainly the constant-velocity universal joint of motor 1; 62 is spline joint part, and 63 is that connection propeller drive shaft is 4 constant-velocity universal joint.In vector propulsive mechanism in parallel motion, this SPS transmission branch chain neither provides constraint also not produce active movement to moving platform, and the transmission of torque of being only responsible for the screw propeller to promote mainly motor 1 is in 4 to propeller drive shaft.Due to the existence of this SPS transmission branch chain, can make screw propeller promote mainly motor 1 design is on silent flatform in frame, and externally resistance is not that to be delivered to propeller drive shaft be in 4 for the rotation that still can accurately screw propeller be promoted mainly to motor 1 in very large situation.Avoided like this on moving platform, equipping in prior art the excessive excessive problem of whole mechanism inertia causing of quality, simultaneously, also reduced the torque of the required output of motor in mechanism kinematic, thereby reduce the rotor inertia of torque rating, power and the rotor of required motor, not only reduced the cost of whole system, also make mechanism configuration compacter, be convenient to more reasonably plan AUV trailing space.
Fig. 4 is the structure diagram of the present invention's vector propulsive mechanism in parallel, can significantly find out the connection of each side chain and dynamic and static two platforms in this mechanism by this figure.B wherein
1b
2b
3plane is silent flatform, A
1a
2a
3plane is moving platform.Side chain B
1a
1, B
2a
2for six degree of freedom U
ps side chain, at B
1, B
2place is connected with silent flatform by Hooke hinge, and at A
1, A
2place is connected with moving platform by spherical hinge.B
3a
3for two-freedom U side chain, at B
3place is connected with silent flatform by Hooke hinge, at A
3in moving platform, be connected and B
3a
3perpendicular to moving platform.According to AUV trailing space with mechanism is symmetric need to make B
1b
2b
3with A
1a
2a
3for isosceles right triangle is α
a=α
b=45 °.B
0, A
0be respectively right-angled triangle B
1b
2b
3with A
1a
2a
3heart, at B
0a
0the castellated shaft that place connects by constant-velocity universal joint has formed SPS transmission branch chain, can be delivered to screw propeller end A promoting mainly electric machine rotation n
4place.In kinematics and the anti-solution of dynam, B
3-x
3y
3z
3for fixed coordinate system, by fixed coordinate system, can derive U
pthe position fixing of S side chain is B
n-x
ny
nz
n(n=1,2) and moving coordinate system B
n-u
nv
nw
n(n=1,2).Regulation screw propeller end is θ at perpendicular inside lock
3, at horizontal surface inside lock, be Ψ
3, two U when obtaining screw propeller end and move under prescribed condition by motion analysis and Inverse Dynamics
pthe needed corner of start motor, rotating speed and torque in S side chain.
Below schematically the present invention and embodiment thereof are described, this description does not have restricted, and shown in accompanying drawing is also one of embodiments of the present invention, and actual structure is not limited to this.So; if those skilled in the art is enlightened by it, in the situation that not departing from the invention aim, element moulding, connection mode are without creationary design; the frame mode similar to this technical scheme and embodiment, all should belong to protection scope of the present invention.
Claims (1)
1. the vector propulsive mechanism in parallel of an Autonomous Underwater Vehicle, comprise silent flatform and moving platform, described silent flatform is provided with screw propeller and promotes mainly motor, described moving platform is provided with propeller drive shaft system, between described silent flatform and described moving platform, be provided with three groups of side chains, described three groups of side chains comprise two groups of six degree of freedom U
ps active branched chain and one group of two-freedom U side chain, described silent flatform, moving platform and three groups of side chains have formed two-freedom sphere three bar parallel institutions, it is characterized in that;
Described two-freedom U side chain and described moving platform connect firmly, and described two-freedom U side chain is perpendicular to moving platform place plane;
Between described silent flatform and described moving platform, be also provided with a SPS transmission branch chain, described SPS transmission branch chain is for being delivered to described propeller drive shaft system by promoting mainly the torque of motor and motion.
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| CN201310492614.1A CN103538709A (en) | 2013-10-18 | 2013-10-18 | Parallel vector propulsion mechanism of autonomous underwater vehicle |
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| CN201310492614.1A CN103538709A (en) | 2013-10-18 | 2013-10-18 | Parallel vector propulsion mechanism of autonomous underwater vehicle |
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ID=49962661
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| CN201310492614.1A Pending CN103538709A (en) | 2013-10-18 | 2013-10-18 | Parallel vector propulsion mechanism of autonomous underwater vehicle |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104787285A (en) * | 2015-04-03 | 2015-07-22 | 山东大学（威海） | Propeller vector propelling device |
| CN105366021A (en) * | 2015-12-02 | 2016-03-02 | 山东大学（威海） | Vector propulsion plant capable of adjusting pitch and underwater vehicle having same |
| CN105539786A (en) * | 2016-02-01 | 2016-05-04 | 山东大学（威海） | Wheel-leg composite parallel leg mechanism and underwater robot |
| CN105564617A (en) * | 2016-02-22 | 2016-05-11 | 山东大学（威海） | Parallel type vectored propulsion mechanism and underwater robot provided with same |
| CN105583808A (en) * | 2016-03-07 | 2016-05-18 | 山东大学（威海） | Wheel-leg composite spherical surface parallel mechanism |
| CN106184663A (en) * | 2016-07-20 | 2016-12-07 | 张学衡 | A kind of submarine patrol BFR |
| CN106428486A (en) * | 2016-10-08 | 2017-02-22 | 西北工业大学 | Vector propelling device for small underwater vehicle |
| CN106671244A (en) * | 2016-12-05 | 2017-05-17 | 河北工业大学 | Ceramic 3D printer based on Delta structure |
| CN106904258A (en) * | 2017-03-28 | 2017-06-30 | 浙江大学 | Bi-motor is multidirectional to advance autonomous robot under water |
| CN107187571A (en) * | 2017-06-28 | 2017-09-22 | 兰州理工大学 | A kind of novel spraying pump axisymmetric vectoring exhaust nozzle |
| 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 |
| CN107985536A (en) * | 2017-11-30 | 2018-05-04 | 吉林大学 | A kind of submariner device for being equipped with space parallel mechanism vector propeller |
| CN108069015A (en) * | 2018-01-25 | 2018-05-25 | 西南石油大学 | A kind of transmission device for underwater robot |
| CN109319068A (en) * | 2018-11-09 | 2019-02-12 | 大连理工大学 | A kind of parallel vector propeller of underwater delivery equipment |
| CN109866902A (en) * | 2017-12-05 | 2019-06-11 | 中国科学院沈阳自动化研究所 | A kind of single screw vector propulsion device |
| CN111482986A (en) * | 2020-06-28 | 2020-08-04 | 中国科学院苏州生物医学工程技术研究所 | Series-parallel three-degree-of-freedom rotating mechanism |
| CN111759678A (en) * | 2020-08-06 | 2020-10-13 | 马鞍山学院 | Four-degree-of-freedom parallel robot for leg rehabilitation |
| CN112606975A (en) * | 2020-12-17 | 2021-04-06 | 哈尔滨工业大学 | Parallel vector propeller |
| CN113075932A (en) * | 2021-03-30 | 2021-07-06 | 浙江大学 | UUV vector propulsion control method based on 3-RPS parallel mechanism |
| CN113492957A (en) * | 2021-06-15 | 2021-10-12 | 深圳辛未科技有限公司 | Propelling device for underwater robot |
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Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104787285A (en) * | 2015-04-03 | 2015-07-22 | 山东大学（威海） | Propeller vector propelling device |
| CN105366021A (en) * | 2015-12-02 | 2016-03-02 | 山东大学（威海） | Vector propulsion plant capable of adjusting pitch and underwater vehicle having same |
| CN105539786B (en) * | 2016-02-01 | 2017-07-04 | 山东大学（威海） | Wheel leg combined shunt leg mechanism and underwater robot |
| CN105539786A (en) * | 2016-02-01 | 2016-05-04 | 山东大学（威海） | Wheel-leg composite parallel leg mechanism and underwater robot |
| CN105564617A (en) * | 2016-02-22 | 2016-05-11 | 山东大学（威海） | Parallel type vectored propulsion mechanism and underwater robot provided with same |
| CN105583808A (en) * | 2016-03-07 | 2016-05-18 | 山东大学（威海） | Wheel-leg composite spherical surface parallel mechanism |
| CN106184663A (en) * | 2016-07-20 | 2016-12-07 | 张学衡 | A kind of submarine patrol BFR |
| CN106428486A (en) * | 2016-10-08 | 2017-02-22 | 西北工业大学 | Vector propelling device for small underwater vehicle |
| CN106428486B (en) * | 2016-10-08 | 2018-11-27 | 西北工业大学 | A kind of vector propulsion device for small-scale underwater vehicle device |
| CN106671244A (en) * | 2016-12-05 | 2017-05-17 | 河北工业大学 | Ceramic 3D printer based on Delta structure |
| CN106904258A (en) * | 2017-03-28 | 2017-06-30 | 浙江大学 | Bi-motor is multidirectional to advance autonomous robot under water |
| CN106904258B (en) * | 2017-03-28 | 2019-03-19 | 浙江大学 | Bi-motor is multidirectional to promote underwater autonomous robot |
| 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 |
| CN107187571A (en) * | 2017-06-28 | 2017-09-22 | 兰州理工大学 | A kind of novel spraying pump axisymmetric vectoring exhaust nozzle |
| CN107985536A (en) * | 2017-11-30 | 2018-05-04 | 吉林大学 | A kind of submariner device for being equipped with space parallel mechanism vector propeller |
| CN109866902A (en) * | 2017-12-05 | 2019-06-11 | 中国科学院沈阳自动化研究所 | A kind of single screw vector propulsion device |
| CN108069015A (en) * | 2018-01-25 | 2018-05-25 | 西南石油大学 | A kind of transmission device for underwater robot |
| CN109319068A (en) * | 2018-11-09 | 2019-02-12 | 大连理工大学 | A kind of parallel vector propeller of underwater delivery equipment |
| CN109319068B (en) * | 2018-11-09 | 2020-09-29 | 大连理工大学 | Parallel vector propeller of underwater carrying equipment |
| CN111482986A (en) * | 2020-06-28 | 2020-08-04 | 中国科学院苏州生物医学工程技术研究所 | Series-parallel three-degree-of-freedom rotating mechanism |
| CN111759678A (en) * | 2020-08-06 | 2020-10-13 | 马鞍山学院 | Four-degree-of-freedom parallel robot for leg rehabilitation |
| CN111759678B (en) * | 2020-08-06 | 2022-04-26 | 马鞍山学院 | Four-degree-of-freedom parallel robot for leg rehabilitation |
| CN112606975A (en) * | 2020-12-17 | 2021-04-06 | 哈尔滨工业大学 | Parallel vector propeller |
| CN113075932A (en) * | 2021-03-30 | 2021-07-06 | 浙江大学 | UUV vector propulsion control method based on 3-RPS parallel mechanism |
| CN113075932B (en) * | 2021-03-30 | 2022-03-22 | 浙江大学 | UUV vector propulsion control method based on 3-RPS parallel mechanism |
| CN113492957A (en) * | 2021-06-15 | 2021-10-12 | 深圳辛未科技有限公司 | Propelling device for underwater robot |
| CN113492957B (en) * | 2021-06-15 | 2022-10-21 | 郑州阜豫科技有限公司 | Propelling device for underwater robot |
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Application publication date: 20140129 |