CN104369849A - Tilt rotor submersible device - Google Patents
Tilt rotor submersible device Download PDFInfo
- Publication number
- CN104369849A CN104369849A CN201410592922.6A CN201410592922A CN104369849A CN 104369849 A CN104369849 A CN 104369849A CN 201410592922 A CN201410592922 A CN 201410592922A CN 104369849 A CN104369849 A CN 104369849A
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- underwater
- motor
- computing machine
- propeller
- thruster
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Abstract
The invention discloses a tilt rotor submersible device. A device installation platform is arranged right in the middle of the interior of a pressure withstanding bin, an underwater computer is communicated with a water face computer through an umbilical cable, a motor driving plate is connected with the underwater computer through a control line, a thruster tilt mechanism is provided with a steering engine controlled by the underwater computer to rotate, wall penetrating covers are symmetrically arranged on the left side and the right side of the center of a main barrel (1) respectively, the two sides of the main barrel (1) are each provided with an underwater thruster symmetrically, a thruster lateral shaft is arranged on the outer side of the middle of each underwater thruster, and the underwater thruster lateral shafts extend into the main barrel (1) through inner holes in the wall penetrating covers to be connected with the thruster tilt mechanism. According to the tilt rotor submersible device, only two tilt propeller thrusters are used for serving as a horizontal plane thruster or a vertical face thruster respectively through corresponding tilt mechanisms or being responsible for horizontal plane maneuvering and vertical face maneuvering at the same time according control requirements.
Description
Technical field
The present invention relates to submersible field, be specifically related to a kind of configuration and vert the submersible of oar.
Background technology
The Application and Development of all kinds of Novel submarine hydrophone is indispensable for the exploitation of marine resources.Because oceanographic condition is complicated, bad environments, requires high to the maneuvering performance of submersible, under normal circumstances submersible at least should have longitudinally, laterally, the ability such as vertical motor-driven and horizontal surface revolution.For applying more low speed submersible in ocean engineering, the traditional performance of rudder face maneuverability pattern under low-speed motion is poor, tail diving rudder also easily enters inverse fast district, and vector propelling shows outstanding maneuvering performance when low-speed motion, thus obtains a lot of fortune application.On current low speed submersible, the main method adopting fixing propelling unit vector to arrange reaches the object that vector advances.
Namely propelling unit vector is arranged is fixedly mount multiple propelling unit respectively on the horizontal surface and vertical surface of submersible, usually arranges 2 to 4 propelling units at horizontal surface, and vertical surface arranges 1 to 4 propelling units.The most succinct arrangement is that 2 horizontal surface propelling units are arranged in latent device both sides, its advance axis and latent device parallel longitudinal, 1 vertical surface propelling unit is arranged in latent device medial launder, its advance axis vertical parallel with latent device.Conventional propelling unit is the screw propeller that electrical motor directly drives; protected by watertight case; the angle of rake propeller speed in two groups, level of control face, just can export longitudinal propulsive force and the steering torque of needs respectively, controls vertical surface propelling unit and exports the vertical propulsive force needed.The propelling unit number that this method needs is more, can increase the complexity of whole propulsion system, raise the cost, and part helix oar only just can start when specific operation, at ordinary times in most cases all standby need not, cause chassis resources waste.
Summary of the invention
The object of the invention: object of the present invention for provide a kind of configure novel can the submersible of tilted propeller, realize its propelling demand when assembling less screw propeller, thus reduce the complexity of propulsion system.
The technical solution used in the present invention is: the present invention includes the pressure-resistant cabin be made up of front and rear cover and main cylinder, umbilical cables port is set above main cylinder, communication umbilical cables leads on the water surface by umbilical cables port, the middle of pressure-resistant cabin inside arranges equipment erecting stage, equipment erecting stage front portion arranges pick up camera, the rear of pick up camera arranges computing machine under water, and computing machine is by umbilical cables and water surface compunication under water, and pick up camera directly connects water surface computing machine; Equipment erecting stage rear portion arranges motor drive plate, and motor drive plate connects computing machine under water by control line; The place on the upper side, middle part of equipment erecting stage is provided with propelling unit inclining rotary mechanism, and propelling unit inclining rotary mechanism is provided with the steering wheel rotated by computer controlled under water; Main cylinder center each side establish a lid through walls symmetrically, a underwater propeller is respectively arranged with in the both sides of main cylinder, in the middle part of underwater propeller, outside is provided with propelling unit side shaft, and underwater propeller side shaft stretches into main cylinder inside by the endoporus of lid through walls and is connected with propelling unit inclining rotary mechanism.
Two underwater propellers use as horizontal propeller when 0 degree of position, be responsible for advancing and turning to, when two underwater propellers be tilted to+90 or-90 spend time use as vertical pusher, be responsible for vertical drop dive and floating, when two underwater propellers are within the scope of 0 to ± 90 degree, thrust is responsible for corresponding motor-driven motor-driven respectively at the component of horizontal surface and vertical surface.
Beneficial effect after the present invention adopts technique scheme is:
1, the present invention only uses the propelling unit of 2 cover tilted propellers, makes it respectively as horizontal surface or vertical surface propelling unit by corresponding inclining rotary mechanism, or is responsible for the motor-driven of horizontal surface and vertical surface according to demand for control simultaneously.System can at least reduce a set of underwater propeller of use than orthodox method, reduces the complexity of whole propulsion system and the demand to driving power, can also reduce the labyrinth needed for the installation of orthodox method vertical thrusters.
2, the present invention controls propeller thrust by motor speed, rotate propelling unit by inclining rotary mechanism and control cardan shaft angle, thus complete the distribution of thrust at horizontal surface and vertical surface, realize the course of submersible and speeds control and eustasy, the attitude of submersible and buoyancy are realized by pressure-resistant cabin and ballast adjustment.
3, structure of the present invention is simple, economical, light, be easy to promote, and is applicable to all kinds of underwater exploration, maintenance examination.
Accompanying drawing explanation
Fig. 1 is front view of the present invention;
Fig. 2 is birds-eye view of the present invention;
Fig. 3 be in Fig. 2 horizontal propeller 4 face enlarged drawing;
Fig. 4 is that in Fig. 1, horizontal propeller 4 verts schematic diagram;
Fig. 5 is spatial structure enlarged drawing of the present invention;
Fig. 6 is control block diagram of the present invention.
In figure: 1. main cylinder; 2. front and rear cover; 3. umbilical cables port; 4. underwater propeller; 5. depth transducer; 6. equipment erecting stage; 7. pick up camera; 8. computing machine under water; 9. motor drive plate; 10. battery; 11. propelling unit inclining rotary mechanisms; 12. steering wheels; 13. lids through walls; 14. propelling unit side shafts; 15. motor cylinders; 16. bonnets; 17. protecgulums; 18. motors; 19. shrouded propellers; 20. water surface computing machines; 21. telltales.
Detailed description of the invention
As shown in Fig. 1, Fig. 5 and Fig. 6, the present invention includes the pressure-resistant cabin be made up of front and rear cover 2 and main cylinder 1, consider weight and intensity, main cylinder 1 can adopt the high specific strength such as engineering plastics, aluminum alloy material to make, consider cost, the present invention adopts engineering plastics to make; For ensureing the observability in the visual field, front and rear cover 2 adopts transparent material to make, as the making such as quartz glass, organism glass.Main cylinder 1 and front and rear cover 2 are bolted, and ensure junction watertight with O RunddichtringO, the pressure-resistant cabin of composition provides main submerged buoyancy.
Arrange umbilical cables port 3 above main cylinder 1, communication umbilical cables leads on the water surface by umbilical cables port 3, and connection water surface computing machine 20 and under water computing machine 8, to ensure required data exchange.Depth transducer 5 is set below main cylinder 1, depth transducer 5 is for detecting pressure-resistant cabin current depth, also can add dubbing if desired receives for detecting underwater topography, depth transducer 5 connects computing machine 8 under water by signal wire (SW), and related data is by reaching water surface computing machine 20 by umbilical cables after computing machine 8 collection under water.
Again see Fig. 2, the middle of pressure-resistant cabin inside arranges equipment erecting stage 6, arranges pick up camera 7, for underwater observation in equipment erecting stage 6 front portion.The rear of pick up camera 7 arranges computing machine 8 under water, for control and the acquisition of signal of subsea equipment, and is communicated with water surface computing machine 20 by umbilical cables.Equipment erecting stage 6 rear portion arranges motor drive plate 9, and motor drive plate 9 connects computing machine 8 under water by control line, is controlled the rotating speed of propelling unit motor by the signal of computing machine 8 under water.In the middle part of equipment erecting stage 6, place on the lower side arranges battery 10, and battery 10 provides power supply for whole submarine system; Equipment erecting stage 6 bottom arranges the ballast of larger quality, and the center of gravity vertical position of whole submersible is declined, and submersible has good stability.
The place on the upper side, middle part of equipment erecting stage 6 is provided with propelling unit inclining rotary mechanism 11, propelling unit inclining rotary mechanism 11 is provided with steering wheel 12, rotate by computing machine 8 control under water, twist moment is transmitted by propelling unit inclining rotary mechanism 11, drive propelling unit side shaft 14 thus underwater propeller 4 is rotated, see Fig. 3 around side shaft 14.Main cylinder 1 center each side establish a lid 13 through walls symmetrically, a underwater propeller 4 is respectively established in the outside facing lid 13 through walls, lid 13 through walls is for connecting and support the underwater propeller 4 of both sides, and make two underwater propellers 4 respectively in the both sides of main cylinder 1, entirety can be verted.It is inner that underwater propeller side shaft 14 stretches into main cylinder 1 by the endoporus of lid 13 through walls, and lid 13 through walls arranges O type circle with underwater propeller side shaft 14 cooperation place and ensures watertight.
See Fig. 4, underwater propeller 4 is made up of the shrouded propeller 19 at motor cylinder 15, bonnet 16, protecgulum 17, bonnet 16 rear portion and the motor 18 of motor cylinder 15 inside.Motor cylinder 15, bonnet 16 and protecgulum 17 form watertight inner chamber, and watertight inner cavity has motor 18, and motor 18 drives shrouded propeller 19 to rotate, and produce thrust.Motor 18 is connected to motor drive plate 9, and computing machine 8 controls the rotation of steering wheel 12 and propelling unit inclining rotary mechanism 11 and controls the rotating speed of motor 18 and shrouded propeller 19 under water.In the middle part of motor cylinder 15, outside is provided with longer propelling unit side shaft 14, propelling unit side shaft 14 is connected with propelling unit inclining rotary mechanism 11, under the effect of propelling unit inclining rotary mechanism 11, underwater propeller 4 can rotate around the axis of propelling unit side shaft 14, underwater propeller 4 is made to be assigned to horizontal surface and vertical surface as required, the longitudinal direction of the central axis of underwater propeller 4 and submersible main cylinder 1 is made to depart from certain angle, its angle can change within the scope of 0 to ± 90 degree, when angle becomes 0 degree, to be responsible for horizontal surface motor-driven for underwater propeller 4, when angle becomes ± 90 degree, to be responsible for vertical surface motor-driven for underwater propeller 4, motor-driven on two motor-driven of submersible is responsible for respectively by the corresponding component of thrust when angle is between 0 to ± 90 degree, thus reach the object of submersible vector propelling.
See verting of underwater propeller in Fig. 44, underwater propeller 4 position time initial as shown in Figure 1, two underwater propellers 4 use as horizontal propeller, be responsible for advancing and turning to, vertical propulsive force is not needed during submersible sailed onward of the present invention, so time do not need vertical thrusters, relative to traditional submersible arrangement of a layout vertical thrusters, the stand-by power consumption of vertical thrusters can be saved; When underwater propeller 4 be tilted to+90 or-90 spend time, two underwater propellers 4 use as vertical pusher, be responsible for vertical drop dive and floating, relative to the traditional arrangement mode of a layout vertical thrusters, the thrust of two underwater propellers 4 acts on simultaneously and vertical mechanomotive force is increased greatly; When underwater propeller 4 changes within the scope of 0 to ± 90 degree, position as shown in Figure 4, the thrust of underwater propeller 4 is responsible for corresponding motor-driven motor-driven respectively at the component of horizontal surface and vertical surface.
Be that the present invention operationally, needs to be connected with the operation control terminal of the water surface see Fig. 6, the operation control terminal of the water surface is made up of water surface computing machine 20 and the telltale 21 that is connected with water surface computing machine 20.Water surface computing machine 20 is connected by umbilical cables with computing machine 8 is middle under water.Rocking bar or push button signalling are communicated with computing machine 8 under water through serial communication after being changed by water surface computing machine 20.Pick up camera 7 directly connects water surface computing machine 20, and computing machine 8 connects motor drive plate 9, steering wheel 12, depth index, electronic gyroscope etc. respectively under water.Computing machine 8 is according to control signal drive motor 18 and steering wheel 12 under water, realizes the manipulation of submersible.The signal such as electronic gyroscope, depth index reaches water surface computing machine 20 through umbilical cables by computing machine 8 under water after gathering, and the signal of pick up camera 7 is directly uploaded to water surface computing machine 20 through umbilical cables, is shown after water surface computing machine 20 processes by telltale 21.
In a word, structure of the present invention is simple, economical, light, quick construction, cost are lower.Be specially adapted to the low speed submersible needing vector to advance, less propelling unit can be used to arrive the object of vector propelling, ensure the reliability of lower cost and system, good vertical maneuverability can also be ensured.
Claims (5)
1. the oar submersible that verts, comprise the pressure-resistant cabin be made up of front and rear cover (2) and main cylinder (1), main cylinder (1) top arranges umbilical cables port (3), communication umbilical cables leads on the water surface by umbilical cables port (3), it is characterized in that: the middle of pressure-resistant cabin inside arranges equipment erecting stage (6), equipment erecting stage (6) front portion arranges pick up camera (7), the rear of pick up camera (7) arranges computing machine (8) under water, computing machine (8) is communicated with water surface computing machine (20) by umbilical cables under water, pick up camera (7) directly connects water surface computing machine (20), equipment erecting stage (6) rear portion arranges motor drive plate (9), and motor drive plate (9) connects computing machine (8) under water by control line, the place on the upper side, middle part of equipment erecting stage (6) is provided with propelling unit inclining rotary mechanism (11), and propelling unit inclining rotary mechanism (11) is provided with the steering wheel (12) rotated by computing machine (8) control under water, main cylinder (1) center each side establish a lid through walls (13) symmetrically, a underwater propeller (4) is respectively arranged with in the both sides of main cylinder (1), outside, underwater propeller (4) middle part is provided with propelling unit side shaft (14), and underwater propeller side shaft (14) stretches into main cylinder (1) inside by the endoporus of lid through walls (13) and is connected with propelling unit inclining rotary mechanism (11).
2. one is verted oar submersible according to claim 1, it is characterized in that: two underwater propellers (4) use as horizontal propeller when 0 degree of position, be responsible for advancing and turning to, when two underwater propellers (4) be tilted to+90 or-90 spend time use as vertical pusher, be responsible for vertical drop dive and floating, when two underwater propellers (4) are within the scope of 0 to ± 90 degree, thrust is responsible for corresponding motor-driven motor-driven respectively at the component of horizontal surface and vertical surface.
3. one is verted oar submersible according to claim 1, it is characterized in that: underwater propeller (4) is by motor cylinder (15), bonnet (16), protecgulum (17), shrouded propeller (19) and motor cylinder (15), motor cylinder (15), bonnet (16) and protecgulum (17) form watertight inner chamber, watertight inner cavity has motor (18), and motor (18) drives shrouded propeller (19) to rotate; Motor (18) is connected to motor drive plate (9).
4. one is verted oar submersible according to claim 3, it is characterized in that: computing machine (8) controls the rotation of steering wheel (12) and propelling unit inclining rotary mechanism (11) and controls the rotating speed of motor (18) and shrouded propeller (19) under water, and under the effect of propelling unit inclining rotary mechanism (11), underwater propeller (4) can rotate within the scope of 0 to ± 90 degree around the axis of propelling unit side shaft (14).
5. one is verted oar submersible according to claim 1, it is characterized in that: main cylinder (1) adopts engineering plastics or aluminum alloy to make, front and rear cover (2) adopt transparent material make, main cylinder (10 and front and rear cover (2) be bolted, establish O RunddichtringO in junction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410592922.6A CN104369849A (en) | 2014-10-30 | 2014-10-30 | Tilt rotor submersible device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410592922.6A CN104369849A (en) | 2014-10-30 | 2014-10-30 | Tilt rotor submersible device |
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| Publication Number | Publication Date |
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| CN104369849A true CN104369849A (en) | 2015-02-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410592922.6A Pending CN104369849A (en) | 2014-10-30 | 2014-10-30 | Tilt rotor submersible device |
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| CN (1) | CN104369849A (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105151265A (en) * | 2015-10-25 | 2015-12-16 | 宁波市鄞州发辉机械科技有限公司 | Transmission device of submersible device |
| CN105223577A (en) * | 2015-10-25 | 2016-01-06 | 宁波市鄞州发辉机械科技有限公司 | The collapsible sonar unit of a kind of underwater vehicle |
| CN105564620A (en) * | 2015-12-24 | 2016-05-11 | 佛山市神风航空科技有限公司 | Submarine adopting propellers with annular flat plate blades |
| CN105620693A (en) * | 2016-01-28 | 2016-06-01 | 安阳市腾飞高分子复合材料有限公司 | Novel pressure-resistant cabin body made from carbon fiber macromolecular composite materials and manufacturing technology of novel pressure-resistant cabin body |
| CN105752301A (en) * | 2016-02-25 | 2016-07-13 | 江苏科技大学 | Self-inclination submersing device |
| CN106564577A (en) * | 2016-11-02 | 2017-04-19 | 中国海洋大学 | Multifunctional AUV based on bionic lateral line |
| CN105173039B (en) * | 2015-09-17 | 2017-07-14 | 北京工业大学 | A kind of deep-sea pressure-bearing cabin |
| CN108382546A (en) * | 2017-05-05 | 2018-08-10 | 天津深之蓝海洋设备科技有限公司 | Underwater boost motor |
| CN109436252A (en) * | 2018-12-29 | 2019-03-08 | 哈工大机器人（岳阳）军民融合研究院 | A kind of rotary type underwater propulsion unit |
| CN110185887A (en) * | 2019-05-23 | 2019-08-30 | 天津精仪精测科技有限公司 | A kind of detecting robot of pipe |
| WO2019184662A1 (en) * | 2018-03-26 | 2019-10-03 | 中国海洋大学 | Deformable underwater vehicle based on buoyancy driving and shaftless vector propulsion and operating method thereof |
| CN110341916A (en) * | 2019-07-19 | 2019-10-18 | 中国海洋大学 | A kind of vert propulsion device and the system of underwater robot |
| CN110758694A (en) * | 2019-10-31 | 2020-02-07 | 西安交通大学 | Archaeological operation-oriented underwater robot and vector control method thereof |
| CN110816795A (en) * | 2019-11-29 | 2020-02-21 | 吉林大学 | Unmanned submersible operated by multiple degrees of freedom |
| CN113277038A (en) * | 2021-04-30 | 2021-08-20 | 大连海事大学 | High maneuvering propulsion system of underwater autonomous vehicle |
| CN114475991A (en) * | 2018-10-12 | 2022-05-13 | 上海彩虹鱼深海装备科技有限公司 | Submersible |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105173039B (en) * | 2015-09-17 | 2017-07-14 | 北京工业大学 | A kind of deep-sea pressure-bearing cabin |
| CN105151265A (en) * | 2015-10-25 | 2015-12-16 | 宁波市鄞州发辉机械科技有限公司 | Transmission device of submersible device |
| CN105223577A (en) * | 2015-10-25 | 2016-01-06 | 宁波市鄞州发辉机械科技有限公司 | The collapsible sonar unit of a kind of underwater vehicle |
| CN105223577B (en) * | 2015-10-25 | 2017-07-28 | 宁波市鄞州发辉机械科技有限公司 | A kind of collapsible sonar unit of submersible |
| CN105564620A (en) * | 2015-12-24 | 2016-05-11 | 佛山市神风航空科技有限公司 | Submarine adopting propellers with annular flat plate blades |
| CN105620693A (en) * | 2016-01-28 | 2016-06-01 | 安阳市腾飞高分子复合材料有限公司 | Novel pressure-resistant cabin body made from carbon fiber macromolecular composite materials and manufacturing technology of novel pressure-resistant cabin body |
| CN105620693B (en) * | 2016-01-28 | 2019-01-29 | 河南腾飞高分子复合材料股份有限公司 | A kind of carbon fiber polymer composite compressive cabin and its manufacture craft |
| CN105752301A (en) * | 2016-02-25 | 2016-07-13 | 江苏科技大学 | Self-inclination submersing device |
| CN106564577B (en) * | 2016-11-02 | 2018-06-05 | 中国海洋大学 | A kind of multi-functional AUV based on bionical side line |
| CN106564577A (en) * | 2016-11-02 | 2017-04-19 | 中国海洋大学 | Multifunctional AUV based on bionic lateral line |
| CN108382546A (en) * | 2017-05-05 | 2018-08-10 | 天津深之蓝海洋设备科技有限公司 | Underwater boost motor |
| WO2019184662A1 (en) * | 2018-03-26 | 2019-10-03 | 中国海洋大学 | Deformable underwater vehicle based on buoyancy driving and shaftless vector propulsion and operating method thereof |
| CN114475991A (en) * | 2018-10-12 | 2022-05-13 | 上海彩虹鱼深海装备科技有限公司 | Submersible |
| CN109436252A (en) * | 2018-12-29 | 2019-03-08 | 哈工大机器人（岳阳）军民融合研究院 | A kind of rotary type underwater propulsion unit |
| CN110185887A (en) * | 2019-05-23 | 2019-08-30 | 天津精仪精测科技有限公司 | A kind of detecting robot of pipe |
| CN110341916A (en) * | 2019-07-19 | 2019-10-18 | 中国海洋大学 | A kind of vert propulsion device and the system of underwater robot |
| CN110758694A (en) * | 2019-10-31 | 2020-02-07 | 西安交通大学 | Archaeological operation-oriented underwater robot and vector control method thereof |
| CN110816795A (en) * | 2019-11-29 | 2020-02-21 | 吉林大学 | Unmanned submersible operated by multiple degrees of freedom |
| CN113277038A (en) * | 2021-04-30 | 2021-08-20 | 大连海事大学 | High maneuvering propulsion system of underwater autonomous vehicle |
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Application publication date: 20150225 |
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