CN103895807A - Four-degree-of-freedom cavitation device mechanism capable of changing control force - Google Patents
Four-degree-of-freedom cavitation device mechanism capable of changing control force Download PDFInfo
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- CN103895807A CN103895807A CN201410117102.1A CN201410117102A CN103895807A CN 103895807 A CN103895807 A CN 103895807A CN 201410117102 A CN201410117102 A CN 201410117102A CN 103895807 A CN103895807 A CN 103895807A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T70/00—Maritime or waterways transport
- Y02T70/10—Measures concerning design or construction of watercraft hulls
Abstract
The invention aims to provide a four-degree-of-freedom cavitation device mechanism capable of changing control force. The four-degree-of-freedom cavitation device mechanism comprises an xy plane mechanism and an xz plane mechanism. The xy plane mechanism comprises a pull rod, a fixing slider, a rotating rod, a connecting rod, a curved rod, a moving slider and a horizontal moving rod. The fixing slider sleeves the pull rod, a first end of the pull rod is connected with a driving motor, a second end of the pull rod is hinged to the horizontal moving slider and the rotating rod respectively, the rotating rod is hinged to the connecting rod which is hinged to the curved rod, the curved rod is fixed at the curved point in a hinged manner and is hinged to the plane of a cavitation device, and the horizontal moving rod is hinged to the moving slider which is disposed on the plane of the cavitation device; the xz plane mechanism and the xy plane mechanism are identical in structure, and the rotating rod of the xy plane mechanism and a rotating rod of the xz plane mechanism form a 90-degree angle and are arranged in an intersected manner. The cavitation device mechanism features in four-degree-of-freedom movement, and both pitching channels and the control force of jaw channels can be increased.
Description
Technical field
What the present invention relates to is a kind of cavitation device structure.
Background technology
Control technology in water under Multiphase Flow condition is the important gordian technique of improving the motor-driven navigation ability of Multiphase Flow movable body in water.Mainly realize control by head cavitation device rudder face and afterbody rudder face for Multiphase Flow movable body in water.Because afterbody rudder face very easily changes mobile stability in the middle of manipulation process, so head cavitation device rudder face is main pitching and driftage control element.Corresponding in order to improve the speed of sail body, the area of general cavitation device rudder face is all very little.The mode producing from control effort, the control effort that the cavitation device that area is less produces is very limited, so the motor-driven navigation ability of Multiphase Flow movable body is greatly limited in water.This just makes to have inevitable contradiction between the effective avoiding barrier of movable body and maneuverability and route speed.
The existence of this contradiction just, Chinese scholars is improved from two aspects.Be on the one hand, increase the control rudder face of sail body, this mainly adopts middle part to increase the mode of guide plate and tailing rudder face.The main problem existing is in this respect, no matter is to increase guide plate or tailing rudder face, all can increase the suffered resistance of movable body, in the middle of the process of guide plate and tailing rudder face maneuvering motion body, very easily changes mobile stability simultaneously.So Chinese scholars is also to put forth effort on research how to reduce the resistance of rudder face and improve because rudder face is handled the On The Problems of Hydrodynamic Stability causing.At present, constantly go deep into for the research of these problems.On the other hand, mainly cavitation device rudder face is set about from the head, mainly contains at present the cavitation device structure that changes resistance, changes the cavitation device of side force and changes the cavitation device of lift.These cavitation device structures are all only from unilaterally changing the stressed of cavitation device, can only change from a passage maneuverability of movable body.
Summary of the invention
The object of the present invention is to provide can increase pitch channel and also can increase the four-degree-of-freedom cavitation device mechanism of the change control effort of the control effort of jaw channel.
The object of the present invention is achieved like this:
The present invention changes the four-degree-of-freedom cavitation device mechanism of control effort, it is characterized in that: comprise xy plane mechanism, xz plane mechanism, xy plane mechanism comprises pull bar, fixing slide block, dwang, connecting rod, knee, moving slider, parallel motion bar, fixing slide block set is contained on pull bar, pull bar first end connects drive motor, pull bar the second end is hinged with parallel motion bar and dwang respectively, dwang and rod hinge connection, connecting rod and knee are hinged, knee is fixed by articulated manner at its turning point, knee and cavitation device plane are hinged, parallel motion bar and moving slider are hinged, moving slider is arranged in cavitation device plane, described xz plane mechanism is identical with xy plane mechanism structure, between the dwang of xy plane mechanism and xz plane mechanism dwang, becomes an angle of 90 degrees, arranged crosswise.
Advantage of the present invention is:
1) mechanism of xy plane can rely on the parallel motion of pull bar 1 to realize cavitation device in the axial movement of y with around the rotational motion of z axle.Equally, xz plane mechanism can be realized cavitation device in the axial movement of z with around the rotational motion of y axle by the parallel motion of pull bar, has so just formed the cavitation device of four-degree-of-freedom motion.
2) mechanical characteristic of this kind of cavitation device is shown in Fig. 3, as can be seen from Figure 3, also realizes under situation of movement when cavitation device plane realizes rotation, not only can be as common cavitation device deflection due to F
yexistence produce nose-down pitching moment, and can, because mobile cause cavitation drag effect point to move down, cause F
xalso nose-down pitching moment can be produced, motor-driven climbing and the control effort of dive will be increased like this.
3) same, similar for force analysis and Fig. 3 of horizontal direction.Also realize under situation of movement when cavitation device plane realizes rotation, not only can be as common cavitation device deflection due to F
zexistence produce yawing moment, and can, because mobile cause cavitation drag effect point to move to left, cause F
xalso yawing moment can be produced, the control effort of turning when motor-driven will be increased like this.
Accompanying drawing explanation
Fig. 1 is four-degree-of-freedom cavitation device mechanism kinematic schematic diagram of the present invention;
Fig. 2 a is four-degree-of-freedom cavitation device winding machine figure a of the present invention, and Fig. 2 b is four-degree-of-freedom cavitation device winding machine figure b of the present invention;
Fig. 3 is the stressed schematic diagram of four-degree-of-freedom cavitation device of the present invention.
The specific embodiment
For example the present invention is described in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1～3, the xy plane mechanism figure of this cavitation device is shown in accompanying drawing 1, and this plane is mainly used in realizing the sail body control effort that climbs, and has identical form for realizing horizontal surface turning control effort xz plane mechanism figure with Fig. 1.Because the motion of xy and xz plane is by independent electric machine control, so the mechanism of xy and xz is independent mutually, their machinery is realized figure and is seen Fig. 2.In accompanying drawing, the concrete title of each numbering is as follows: the pull bar (driving link) of 1-connection actuating unit (motor); 2-fixing slide block; The connecting rod that 3-realization is rotated; 4-realize the connecting rod of plane motion; The knee that 5-realization is rotated; 6-cavitation device plane; 7-moving slider; 8-realize the connecting rod of parallel motion, this mechanism freedom is calculated as (calculating shows that driving link number equals the number of degrees of freedom of mechanism):
F=7 (movable part) × 3-8 (revolute pair) × 2-2 (moving sets) × 2=1 (driving link).
Take xy plane mechanism as main this cavitation device of introducing, xz plane has identical version below.This cavitation device is connected and is held drive motor by pull bar 1, and pull bar 1 is by fixing slide block 2, and assurance pull bar 1 can only be realized moving around of horizontal direction.Pull bar 1 is connected with parallel motion bar 8 and dwang 3 by hinged, and dwang 3 is connected with plane motion bar 4 is hinged, simultaneously bar 4 and hinged connection of knee 5 of rotating.The knee 5 rotating, is connected with cavitation device plane is hinged by hinged fixing at turning point simultaneously, realizes and promotes cavitation device up-and-down movement.Parallel motion bar 8 is connected with moving slider 7 is hinged, moving slider 7 is arranged in cavitation device plane 6 simultaneously, can realize the rotational motion of cavitation device.
As follows for the working process that the four-degree-of-freedom cavitation device that increases control effort is concrete:
1) control system of sail body provide the motor-driven control signal of sail body to actuating unit drive pull bar move, such as will climb (dive) or work-z(+z) to turning;
2) motor of actuating unit pushes away (drawing) moving xy planar movement bar 1 or pushes away (drawing) moving xz planar movement bar 1;
3) shifting bar 1 can push away (drawing) shifting bar 8, and dwang 3 conter clockwises (cw) are rotated;
4) dwang 3 can draw (pushing away) bar 4 to realize plane motion, and bar 4 rotates knee 5 cws (conter clockwise) simultaneously;
5) knee 5 cws (conter clockwise) rotate and can realize cavitation device plane 6-z(+z) or+y(-y) direction moves;
6) push away (drawing) shifting bar 8 and can realize cavitation device plane 6 around z axle or y axle conter clockwise (cw) rotation by moving slider;
7) like this by the pull bar 1 of two planes of motor push-and-pull, just can realize the motion of cavitation device four-degree-of-freedom, thereby realize the motor-driven control effort that increases required direction.
Claims (1)
1. change the four-degree-of-freedom cavitation device mechanism of control effort, it is characterized in that: comprise xy plane mechanism, xz plane mechanism, xy plane mechanism comprises pull bar, fixing slide block, dwang, connecting rod, knee, moving slider, parallel motion bar, fixing slide block set is contained on pull bar, pull bar first end connects drive motor, pull bar the second end is hinged with parallel motion bar and dwang respectively, dwang and rod hinge connection, connecting rod and knee are hinged, knee is fixed by articulated manner at its turning point, knee and cavitation device plane are hinged, parallel motion bar and moving slider are hinged, moving slider is arranged in cavitation device plane, described xz plane mechanism is identical with xy plane mechanism structure, between the dwang of xy plane mechanism and xz plane mechanism dwang, becomes an angle of 90 degrees, arranged crosswise.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410117102.1A CN103895807A (en) | 2014-03-27 | 2014-03-27 | Four-degree-of-freedom cavitation device mechanism capable of changing control force |
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| CN201410117102.1A CN103895807A (en) | 2014-03-27 | 2014-03-27 | Four-degree-of-freedom cavitation device mechanism capable of changing control force |
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| CN201410117102.1A Pending CN103895807A (en) | 2014-03-27 | 2014-03-27 | Four-degree-of-freedom cavitation device mechanism capable of changing control force |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108791692A (en) * | 2018-05-25 | 2018-11-13 | 哈尔滨工程大学 | A kind of disc double freedom cavitation device |
| CN108860446A (en) * | 2018-07-09 | 2018-11-23 | 哈尔滨工程大学 | A kind of parallel connection multiple degrees of freedom cavitation device |
| CN110758695A (en) * | 2019-11-27 | 2020-02-07 | 中国人民解放军国防科技大学 | Self-adaptive continuously adjustable cavitator structure |
| CN114013558A (en) * | 2021-10-29 | 2022-02-08 | 大连理工大学 | Pneumatic type multistage linkage cavitator adjustable structure |
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Patent Citations (4)
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| CN101024418A (en) * | 2007-03-29 | 2007-08-29 | 上海大学 | Under water flying-body electromag netic heating cavitation apparatus |
| US20100071605A1 (en) * | 2008-09-19 | 2010-03-25 | Robert Kuklinski | Supercavitating vehicle control |
| US8006619B1 (en) * | 2009-03-13 | 2011-08-30 | The United States Of America As Represented By The Secretary Of The Navy | Underwater acoustic tracer system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108791692A (en) * | 2018-05-25 | 2018-11-13 | 哈尔滨工程大学 | A kind of disc double freedom cavitation device |
| CN108860446A (en) * | 2018-07-09 | 2018-11-23 | 哈尔滨工程大学 | A kind of parallel connection multiple degrees of freedom cavitation device |
| CN110758695A (en) * | 2019-11-27 | 2020-02-07 | 中国人民解放军国防科技大学 | Self-adaptive continuously adjustable cavitator structure |
| CN110758695B (en) * | 2019-11-27 | 2020-09-18 | 中国人民解放军国防科技大学 | Self-adaptive continuously adjustable cavitator structure |
| CN114013558A (en) * | 2021-10-29 | 2022-02-08 | 大连理工大学 | Pneumatic type multistage linkage cavitator adjustable structure |
| CN114013558B (en) * | 2021-10-29 | 2022-12-09 | 大连理工大学 | Pneumatic multistage linkage cavitator adjustable structure |
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Application publication date: 20140702 |