CN105818949A - Novel vector thruster - Google Patents
Novel vector thruster Download PDFInfo
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- CN105818949A CN105818949A CN201610173380.8A CN201610173380A CN105818949A CN 105818949 A CN105818949 A CN 105818949A CN 201610173380 A CN201610173380 A CN 201610173380A CN 105818949 A CN105818949 A CN 105818949A
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- revolute pair
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- connecting rod
- branched chain
- lower link
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/125—Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction, e.g. podded azimuthing thrusters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/42—Steering or dynamic anchoring by propulsive elements; Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers
Abstract
A novel vector thruster mainly comprises a rack, a reversing table, a connecting rack and three moving branch chains of the reversing table. Each moving branch chain is composed of a lower connecting rod, a middle connecting rod and an upper connecting rod, the lower connecting rod is connected with the rack through a revolute pair or a spherical pair, the lower connecting rod is connected with the middle connecting rod through a revolute pair, the middle connecting rod is connected with the upper connecting rod through a revolute pair or a spherical pair, and the upper connecting rod is connected with the reversing table through a revolute pair or a spherical pair. The three moving branch chains are connected through three coupling connecting rods and a center connecting rod, one end of each coupling connecting rod is fixedly connected with the middle connecting rod of the corresponding moving branch chain, and the other end of each coupling connecting rod is connected with the center connecting rod through a revolute pair. By the adoption of the novel vector thruster, the reversing table can rotate at two freedom degrees relative to the rack, the thruster has the beneficial effects of being small in size, large in rigidity, high in accuracy, large in rotating working space and the like, and the thruster can be widely applied to ship thrusting systems.
Description
Technical field
The present invention relates to a kind of vector propulsion device, particularly to a kind of novel vector propeller.
Technical background
Be currently used for underwater observation, investigate and develop load carrier mounted mainly have manned underwater vehicle and unmanned submersible, along with variation and the complication of underwater environment of underwater performance task, maneuverability and the mobility of submersible are had higher requirement by research worker.In this context, using the submersible of traditional fin rudder formula control method the most cannot meet mission requirements, especially when low-speed motion, the maneuverability existence of rudder significantly weakens.For improving the motility of submersible, it is one of effective solution that development of new has the submersible of vector propeller.
Vector advances also referred to as thrust deflexion technology, refer to that the propulsion system of space motion object is in addition to providing forward thrust, can also provide thrust and moment on the direction such as the pitching at sail body concurrently or separately, driftage, the power produced in order to partly or entirely to replace rudder face is controlled.Traditional vector propeller mostly is serial mechanism, for making vector propeller more to stablize, accurately drives submersible under water according to specifying flight path motion, needs to improve the rigidity of vector propulsion mechanism, kinematic accuracy and response speed further.Comparing traditional tandem vector propeller, parallel vector propeller has that compact conformation, rigidity is big, precision high, is more suitable for the vector propulsion mechanism as submersible.
Summary of the invention
For solving the problems referred to above, the present invention provides a kind of novel vector propeller, and this vector propeller has space double rotation freedom degrees, and has the advantages such as volume is little, rigidity big, rotation work space is big.
Technical scheme is specific as follows:
The invention mainly comprises frame, commutation platform, connection frame, three movement branched chain of commutation platform, it has two kinds of connected modes:
The first connected mode: every movement branched chain is formed by lower link, middle connecting rod and upper connecting rod, lower link A one end in first movement branched chain A is connected by ball secondary A with frame, the lower link A other end is connected by the second revolute pair A with middle connecting rod A one end, the middle connecting rod A other end is connected by the 3rd revolute pair A with upper connecting rod A one end, and the upper connecting rod A other end is connected by the 4th revolute pair A with commutation platform；Lower link B one end in second movement branched chain B is connected by the first revolute pair B with frame, the lower link B other end is connected by the second revolute pair B with middle connecting rod B one end, the middle connecting rod B other end is connected by ball secondary B with upper connecting rod B one end, and the upper connecting rod B other end is connected by the 4th revolute pair B with commutation platform；Lower link C one end in 3rd movement branched chain C is connected by the first revolute pair C with frame, the lower link C other end is connected by the second revolute pair C with middle connecting rod C one end, the middle connecting rod C other end is connected by ball secondary C with upper connecting rod C one end, and the upper connecting rod C other end is connected by the 4th revolute pair C with commutation platform.
It is connected with each other by three coupled links and a center rod between described three movement branched chain, it is connected by a coupled links between every movement branched chain and center rod, coupled links one end connects firmly with the middle connecting rod in movement branched chain, the coupled links other end is connected by revolute pair with center rod, article three, the axis of three revolute pairs that coupled links is connected with center rod overlaps and forms an axis, if axis L centered by this axis；Described second revolute pair A axis, the first revolute pair B axis, the second revolute pair B axis, the first revolute pair C axis, the second revolute pair C axis, central axis L intersect at 1 K；Described 3rd revolute pair A axis, the 4th revolute pair A axis, the 4th revolute pair B axis, the 4th revolute pair C axis, central axis L intersect at 1 G, and G is misaligned with described some K for point.
One end of described center rod is connected with power input shaft by the first universal hinge, and the center of rotation of the first universal hinge overlaps with described some K；The other end of center rod is connected with power output shaft by the second universal hinge, and the center of rotation of the second universal hinge overlaps with described some G.Described power output shaft is connected by commutation platform bearing with commutation platform, and the outer shroud of commutation platform bearing connects firmly with commutation platform, and the internal ring of commutation platform bearing connects firmly with power output shaft, and impeller connects firmly with described power output shaft.Described power input shaft is connected by rack bearing E and rack bearing F with frame, the axis of rack bearing E and the dead in line of rack bearing F, and the outer shroud of above-mentioned two rack bearing all connects firmly with frame, and the internal ring of two rack bearings all connects firmly with power input shaft.
Described second movement branched chain is active exercise side chain, driven by linear actuator B, the take-off lever of linear actuator B is connected by the 6th revolute pair B with lower link B, the tail end of linear actuator B is connected by the 7th revolute pair B with frame, and described first revolute pair B axis, the 6th revolute pair B axis, the 7th revolute pair B axis are parallel to each other；Described 3rd movement branched chain is active exercise side chain, driven by linear actuator C, the take-off lever of linear actuator C is connected by the 6th revolute pair C with lower link C, the tail end of linear actuator C is connected by the 7th revolute pair C with frame, and described first revolute pair C axis, the 6th revolute pair C axis, the 7th revolute pair C axis are parallel to each other.
The second connected mode: every movement branched chain is formed by lower link, middle connecting rod and upper connecting rod, lower link A one end in first movement branched chain A is connected by the first ball secondary A with frame, the lower link A other end is connected by the second revolute pair A with middle connecting rod A one end, the middle connecting rod A other end is connected by the 3rd revolute pair A with upper connecting rod A one end, and the upper connecting rod A other end is connected by the 4th ball secondary A with commutation platform；Lower link B one end in second movement branched chain B is connected by the first revolute pair B with frame, the lower link B other end is connected by the second revolute pair B with middle connecting rod B one end, the middle connecting rod B other end is connected by ball secondary B with upper connecting rod B one end, and the upper connecting rod B other end is connected by the 4th revolute pair B with commutation platform；Lower link C one end in 3rd movement branched chain C is connected by the first revolute pair C with frame, the lower link C other end is connected by the second revolute pair C with middle connecting rod C one end, the middle connecting rod C other end is connected by ball secondary C with upper connecting rod C one end, and the upper connecting rod C other end is connected by the 4th revolute pair C with commutation platform.
It is connected with each other by three coupled links and a center rod between described three movement branched chain, it is connected by a coupled links between every movement branched chain and center rod, coupled links one end connects firmly with the middle connecting rod in movement branched chain, the coupled links other end is connected by revolute pair with center rod, article three, the axis of three revolute pairs that coupled links is connected with center rod overlaps and forms an axis, if axis L centered by this axis；Described second revolute pair A axis, the first revolute pair B axis, the second revolute pair B axis, the first revolute pair C axis, the second revolute pair C axis, central axis L intersect at 1 K；Described 3rd revolute pair A axis, the 4th revolute pair B axis, the 4th revolute pair C axis, central axis L intersect at 1 G, and G is misaligned with described some K for point.
One end of described center rod is connected with power input shaft by the first universal hinge, and the center of rotation of the first universal hinge overlaps with described some K；The other end of center rod is connected with power output shaft by the second universal hinge, and the center of rotation of the second universal hinge overlaps with described some G.Described power output shaft is connected by commutation platform bearing with commutation platform, and the outer shroud of commutation platform bearing connects firmly with commutation platform, and the internal ring of commutation platform bearing connects firmly with power output shaft, and impeller connects firmly with described power output shaft.Described power input shaft is connected by rack bearing E and rack bearing F with frame, the axis of rack bearing E and the dead in line of rack bearing F, and the outer shroud of above-mentioned two rack bearing all connects firmly with frame, and the internal ring of two rack bearings all connects firmly with power input shaft.
Described second movement branched chain is active exercise side chain, driven by linear actuator B, the take-off lever of linear actuator B is connected by the 6th revolute pair B with lower link B, the tail end of linear actuator B is connected by the 7th revolute pair B with frame, and described first revolute pair B axis, the 6th revolute pair B axis, the 7th revolute pair B axis are parallel to each other；Described 3rd movement branched chain is active exercise side chain, driven by linear actuator C, the take-off lever of linear actuator C is connected by the 6th revolute pair C with lower link C, the tail end of linear actuator C is connected by the 7th revolute pair C with frame, and described first revolute pair C axis, the 6th revolute pair C axis, the 7th revolute pair C axis are parallel to each other.
The present invention compared with prior art has the advantage that
(1) commutation platform is big relative to gantry rotation work space, and rotational angle, up to ± 90 degree, substantially increases the motility of vector propeller；(2) volume that this vector propeller is overall is little, compact conformation, rigidity are big；(3) commutation platform mobile decoupling, be easy to motor control；(4) intercouple between three movement branched chain in vector propeller, substantially increase overall structure mechanical property, be applicable in high speed, heavy duty propeller field.
Accompanying drawing explanation
Fig. 1 is the embodiment of the present invention 1 stereochemical structure simplified schematic diagram.
Fig. 2 is the embodiment of the present invention 1 stereochemical structure simplified schematic diagram.
Fig. 3 is the embodiment of the present invention 2 stereochemical structure simplified schematic diagram.
Fig. 4 is the embodiment of the present invention 2 stereochemical structure simplified schematic diagram.
Fig. 5 is partial structurtes simplified schematic diagram of the present invention.
Detailed description of the invention
The invention will be further described with embodiment below in conjunction with the accompanying drawings, and in all embodiments, described Rij represents a revolute pair, and Sij represents spherical pair, wherein an i, and j is natural number.
Embodiment 1
As shown in Figure 1, Figure 2 and shown in Fig. 5, it is the 1st embodiment disclosed by the invention, a kind of novel vector propeller, mainly include frame 1, commutation platform 2, connection frame 1, three movement branched chain of commutation platform 2, the concrete connected mode of three movement branched chain is as follows:
First movement branched chain is made up of lower link A4, middle connecting rod A5 and upper connecting rod A6, it is connected by ball secondary S11 between lower link A4 one end and frame 1, the lower link A4 other end is connected by revolute pair R12 with middle connecting rod A5, upper connecting rod A6 one end is connected by revolute pair R13 with middle connecting rod A5, is connected by revolute pair R14 between the upper connecting rod A6 other end with commutation platform 2；Second movement branched chain is made up of lower link B4, middle connecting rod B5 and upper connecting rod B6, and lower link B4 one end is connected by revolute pair R21 between frame 1, and the lower link B4 other end is connected by revolute pair R22 with middle connecting rod B5；Upper connecting rod B6 one end is connected by ball secondary S23 with middle connecting rod B5, is connected by revolute pair R24 between the upper connecting rod B6 other end with commutation platform 2；3rd movement branched chain is made up of lower link C4, middle connecting rod C5 and upper connecting rod C6, and lower link C4 one end is connected by revolute pair R31 between frame 1, and the lower link C4 other end is connected by revolute pair R32 with middle connecting rod C5；Upper connecting rod C6 one end is connected by ball secondary S33 with middle connecting rod C5, is connected by revolute pair R34 between the upper connecting rod C6 other end with commutation platform 2.
Article three, it is connected with each other by three coupled links and a center rod 11 between movement branched chain, it is connected by a coupled links between every movement branched chain and center rod 11, wherein first coupled links A7 one end connects firmly with the middle connecting rod A5 in the first movement branched chain, and the coupled links A7 other end is connected by revolute pair R15 with center rod 11；Second coupled links B7 one end connects firmly with the middle connecting rod B5 in the second movement branched chain, and the coupled links B7 other end is connected by revolute pair R25 with center rod 11；3rd coupled links C7 one end connects firmly with the middle connecting rod C5 in the 3rd movement branched chain, and the coupled links C7 other end is connected by revolute pair R35 with center rod 11.Described revolute pair R15 axis, revolute pair R25 axis, revolute pair R35 axis overlap and form an axis, if axis L centered by this axis.Described revolute pair R12 axis, revolute pair R21 axis, revolute pair R22 axis, revolute pair R31 axis, revolute pair R32 axis, central axis L intersect at 1 K；The axis of described revolute pair R13, revolute pair R14 axis, revolute pair R24 axis, revolute pair R34 axis, central axis L intersect at 1 G, and G is misaligned with described some K for point.
One end of described center rod 11 is connected with power input shaft 12 by universal hinge U1, and the center of rotation of universal hinge U1 overlaps with described some K；The other end of center rod 11 is connected with power output shaft 14 by universal hinge U2, and the center of rotation of universal hinge U2 overlaps with described some G.Described power output shaft 14 is connected by commutation platform bearing 10 with commutation platform 2, and the outer shroud of commutation platform bearing 10 connects firmly with commutation platform 2, and the internal ring of commutation platform bearing 10 connects firmly with power output shaft 14, and impeller 3 connects firmly with power output shaft 14.It is connected by rack bearing 9 and rack bearing 13 between described power input shaft 12 and frame 1, the axis of rack bearing 9 and the dead in line of rack bearing 13, the outer shroud of above-mentioned two rack bearing all connects firmly with frame 1, and the internal ring of two rack bearings all connects firmly with power input shaft 12.
Described second movement branched chain is active exercise side chain, driven by linear actuator B8, lower link B4 in the take-off lever of linear actuator B8 and the second movement branched chain is connected by revolute pair R26, linear actuator B8 tail end is connected by revolute pair R27 with frame 1, and described revolute pair R21 axis, revolute pair R26 axis, revolute pair R27 axis are parallel to each other.
Described 3rd movement branched chain is active exercise side chain, driven by linear actuator C8, lower link C4 in the take-off lever of linear actuator C8 and the 3rd movement branched chain is connected by revolute pair R36, linear actuator C8 tail end is connected by revolute pair R37 with frame 1, and described revolute pair R31 axis, revolute pair R36 axis, revolute pair R37 axis are parallel to each other.
Embodiment 2
As shown in Fig. 3, Fig. 4 and Fig. 5, it is the 2nd embodiment disclosed by the invention, a kind of novel vector propeller, mainly include frame 1, commutation platform 2, connection frame 1, three movement branched chain of commutation platform 2, the concrete connected mode of three movement branched chain is as follows:
First movement branched chain is made up of lower link A4, middle connecting rod A5 and upper connecting rod A6, it is connected by ball secondary S11 between lower link A4 one end and frame 1, the lower link A4 other end is connected by revolute pair R12 with middle connecting rod A5, upper connecting rod A6 one end is connected by revolute pair R13 with middle connecting rod A5, is connected by ball secondary S14 between the upper connecting rod A6 other end with commutation platform 2；Second movement branched chain is made up of lower link B4, middle connecting rod B5 and upper connecting rod B6, and lower link B4 one end is connected by revolute pair R21 between frame 1, and the lower link B4 other end is connected by revolute pair R22 with middle connecting rod B5；Upper connecting rod B6 one end is connected by ball secondary S23 with middle connecting rod B5, is connected by revolute pair R24 between the upper connecting rod B6 other end with commutation platform 2；3rd movement branched chain is made up of lower link C4, middle connecting rod C5 and upper connecting rod C6, and lower link C4 one end is connected by revolute pair R31 between frame 1, and the lower link C4 other end is connected by revolute pair R32 with middle connecting rod C5；Upper connecting rod C6 one end is connected by ball secondary S33 with middle connecting rod C5, is connected by revolute pair R34 between the upper connecting rod C6 other end with commutation platform 2.
Article three, it is connected with each other by three coupled links and a center rod 11 between movement branched chain, it is connected by a coupled links between every movement branched chain and center rod 11, wherein first coupled links A7 one end connects firmly with the middle connecting rod A5 in the first movement branched chain, and the coupled links A7 other end is connected by revolute pair R15 with center rod 11；Second coupled links B7 one end connects firmly with the middle connecting rod B5 in the second movement branched chain, and the coupled links B7 other end is connected by revolute pair R25 with center rod 11；3rd coupled links C7 one end connects firmly with the middle connecting rod C5 in the 3rd movement branched chain, and the coupled links C7 other end is connected by revolute pair R35 with center rod 11.Described revolute pair R15 axis, revolute pair R25 axis, revolute pair R35 axis overlap and form an axis, if axis L centered by this axis.Described revolute pair R12 axis, revolute pair R21 axis, revolute pair R22 axis, revolute pair R31 axis, revolute pair R32 axis, central axis L intersect at 1 K；The axis of described revolute pair R13, revolute pair R24 axis, revolute pair R34 axis, central axis L intersect at 1 G, and G is misaligned with described some K for point.
One end of described center rod 11 is connected with power input shaft 12 by universal hinge U1, and the center of rotation of universal hinge U1 overlaps with described some K；The other end of center rod 11 is connected with power output shaft 14 by universal hinge U2, and the center of rotation of universal hinge U2 overlaps with described some G.Described power output shaft 14 is connected by commutation platform bearing 10 with commutation platform 2, and the outer shroud of commutation platform bearing 10 connects firmly with commutation platform 2, and the internal ring of commutation platform bearing 10 connects firmly with power output shaft 14, and impeller 3 connects firmly with power output shaft 14.It is connected by rack bearing 9 and rack bearing 13 between described power input shaft 12 and frame 1, the axis of rack bearing 9 and the dead in line of rack bearing 13, the outer shroud of above-mentioned two rack bearing all connects firmly with frame 1, and the internal ring of two rack bearings all connects firmly with power input shaft 12.
Described second movement branched chain is active exercise side chain, driven by linear actuator B8, lower link B4 in the take-off lever of linear actuator B8 and the second movement branched chain is connected by revolute pair R26, linear actuator B8 tail end is connected by revolute pair R27 with frame 1, and described revolute pair R21 axis, revolute pair R26 axis, revolute pair R27 axis are parallel to each other.
Described 3rd movement branched chain is active exercise side chain, driven by linear actuator C8, lower link C4 in the take-off lever of linear actuator C8 and the 3rd movement branched chain is connected by revolute pair R36, linear actuator C8 tail end is connected by revolute pair R37 with frame 1, and described revolute pair R31 axis, revolute pair R36 axis, revolute pair R37 axis are parallel to each other.
Claims (10)
1. a novel vector propeller, mainly include frame, commutation platform, connection frame, three movement branched chain of commutation platform, it is characterized in that: every movement branched chain is formed by lower link, middle connecting rod and upper connecting rod, lower link A one end in first movement branched chain A is connected by ball secondary A with frame, the lower link A other end is connected by the second revolute pair A with middle connecting rod A one end, the middle connecting rod A other end is connected by the 3rd revolute pair A with upper connecting rod A one end, and the upper connecting rod A other end is connected by the 4th revolute pair A with commutation platform；Lower link B one end in second movement branched chain B is connected by the first revolute pair B with frame, the lower link B other end is connected by the second revolute pair B with middle connecting rod B one end, the middle connecting rod B other end is connected by ball secondary B with upper connecting rod B one end, and the upper connecting rod B other end is connected by the 4th revolute pair B with commutation platform；Lower link C one end in 3rd movement branched chain C is connected by the first revolute pair C with frame, the lower link C other end is connected by the second revolute pair C with middle connecting rod C one end, the middle connecting rod C other end is connected by ball secondary C with upper connecting rod C one end, and the upper connecting rod C other end is connected by the 4th revolute pair C with commutation platform；
It is connected with each other by three coupled links and a center rod between described three movement branched chain, it is connected by a coupled links between every movement branched chain and center rod, coupled links one end connects firmly with the middle connecting rod in movement branched chain, the coupled links other end is connected by revolute pair with center rod, article three, the axis of three revolute pairs that coupled links is connected with center rod overlaps and forms an axis, if axis L centered by this axis；Described second revolute pair A axis, the first revolute pair B axis, the second revolute pair B axis, the first revolute pair C axis, the second revolute pair C axis, central axis L intersect at 1 K；Described 3rd revolute pair A axis, the 4th revolute pair A axis, the 4th revolute pair B axis, the 4th revolute pair C axis, central axis L intersect at 1 G, and G is misaligned with described some K for point.
The novel vector propeller of one the most according to claim 1, is characterized in that: one end of described center rod is connected with power input shaft by the first universal hinge, and the center of rotation of the first universal hinge overlaps with described some K；The other end of center rod is connected with power output shaft by the second universal hinge, and the center of rotation of the second universal hinge overlaps with described some G.
The novel vector propeller of one the most according to claim 2, it is characterized in that: described power output shaft is connected by commutation platform bearing with commutation platform, the outer shroud of commutation platform bearing connects firmly with commutation platform, and the internal ring of commutation platform bearing connects firmly with power output shaft, and impeller connects firmly with described power output shaft.
The novel vector propeller of one the most according to claim 2, it is characterized in that: described power input shaft is connected by rack bearing E and rack bearing F with frame, the axis of rack bearing E and the dead in line of rack bearing F, the outer shroud of above-mentioned two rack bearing all connects firmly with frame, and the internal ring of two rack bearings all connects firmly with power input shaft.
The novel vector propeller of one the most according to claim 1, it is characterized in that: described second movement branched chain is active exercise side chain, driven by linear actuator B, the take-off lever of linear actuator B is connected by the 6th revolute pair B with lower link B, the tail end of linear actuator B is connected by the 7th revolute pair B with frame, and described first revolute pair B axis, the 6th revolute pair B axis, the 7th revolute pair B axis are parallel to each other；Described 3rd movement branched chain is active exercise side chain, driven by linear actuator C, the take-off lever of linear actuator C is connected by the 6th revolute pair C with lower link C, the tail end of linear actuator C is connected by the 7th revolute pair C with frame, and described first revolute pair C axis, the 6th revolute pair C axis, the 7th revolute pair C axis are parallel to each other.
6. a novel vector propeller, mainly include frame, commutation platform, connection frame, three movement branched chain of commutation platform, it is characterized in that: every movement branched chain is formed by lower link, middle connecting rod and upper connecting rod, lower link A one end in first movement branched chain A is connected by the first ball secondary A with frame, the lower link A other end is connected by the second revolute pair A with middle connecting rod A one end, the middle connecting rod A other end is connected by the 3rd revolute pair A with upper connecting rod A one end, and the upper connecting rod A other end is connected by the 4th ball secondary A with commutation platform；Lower link B one end in second movement branched chain B is connected by the first revolute pair B with frame, the lower link B other end is connected by the second revolute pair B with middle connecting rod B one end, the middle connecting rod B other end is connected by ball secondary B with upper connecting rod B one end, and the upper connecting rod B other end is connected by the 4th revolute pair B with commutation platform；Lower link C one end in 3rd movement branched chain C is connected by the first revolute pair C with frame, the lower link C other end is connected by the second revolute pair C with middle connecting rod C one end, the middle connecting rod C other end is connected by ball secondary C with upper connecting rod C one end, and the upper connecting rod C other end is connected by the 4th revolute pair C with commutation platform；
It is connected with each other by three coupled links and a center rod between described three movement branched chain, it is connected by a coupled links between every movement branched chain and center rod, coupled links one end connects firmly with the middle connecting rod in movement branched chain, the coupled links other end is connected by revolute pair with center rod, article three, the axis of three revolute pairs that coupled links is connected with center rod overlaps and forms an axis, if axis L centered by this axis；Described second revolute pair A axis, the first revolute pair B axis, the second revolute pair B axis, the first revolute pair C axis, the second revolute pair C axis, central axis L intersect at 1 K；Described 3rd revolute pair A axis, the 4th revolute pair B axis, the 4th revolute pair C axis, central axis L intersect at 1 G, and G is misaligned with described some K for point.
The novel vector propeller of one the most according to claim 6, is characterized in that: one end of described center rod is connected with power input shaft by the first universal hinge, and the center of rotation of the first universal hinge overlaps with described some K；The other end of center rod is connected with power output shaft by the second universal hinge, and the center of rotation of the second universal hinge overlaps with described some G.
The novel vector propeller of one the most according to claim 7, it is characterized in that: described power output shaft is connected by commutation platform bearing with commutation platform, the outer shroud of commutation platform bearing connects firmly with commutation platform, and the internal ring of commutation platform bearing connects firmly with power output shaft, and impeller connects firmly with described power output shaft.
The novel vector propeller of one the most according to claim 7, it is characterized in that: described power input shaft is connected by rack bearing E and rack bearing F with frame, the axis of rack bearing E and the dead in line of rack bearing F, the outer shroud of above-mentioned two rack bearing all connects firmly with frame, and the internal ring of two rack bearings all connects firmly with power input shaft.
The novel vector propeller of one the most according to claim 6, it is characterized in that: described second movement branched chain is active exercise side chain, driven by linear actuator B, the take-off lever of linear actuator B is connected by the 6th revolute pair B with lower link B, the tail end of linear actuator B is connected by the 7th revolute pair B with frame, and described first revolute pair B axis, the 6th revolute pair B axis, the 7th revolute pair B axis are parallel to each other；Described 3rd movement branched chain is active exercise side chain, driven by linear actuator C, the take-off lever of linear actuator C is connected by the 6th revolute pair C with lower link C, the tail end of linear actuator C is connected by the 7th revolute pair C with frame, and described first revolute pair C axis, the 6th revolute pair C axis, the 7th revolute pair C axis are parallel to each other.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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Application publication date: 20160803 |