CN106741778A - A kind of rotatable propeller system in deep-sea - Google Patents
A kind of rotatable propeller system in deep-sea Download PDFInfo
- Publication number
- CN106741778A CN106741778A CN201510829854.5A CN201510829854A CN106741778A CN 106741778 A CN106741778 A CN 106741778A CN 201510829854 A CN201510829854 A CN 201510829854A CN 106741778 A CN106741778 A CN 106741778A
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- China
- Prior art keywords
- propeller
- steering wheel
- oil pipe
- rudder
- deep
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Classifications
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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
-
- 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
The present invention relates to a kind of power propulsion system of underwater robot, specifically a kind of rotatable propeller system in deep-sea, including propeller, rudder plate, rudder stock, steering wheel, controller and framework, wherein controller and steering wheel are separately fixed on the framework, the propeller is installed on the rudder plate, the steering wheel is connected by rudder stock with the rudder plate, the rudder plate is rotated by the servo driving, the thrust output angle of the propeller rotates with the rudder plate and changes, and the propeller and steering wheel control start and stop by the controller.The present invention can realize that propulsion plant is exported in the thrust of different angles, and output loss is less, and control algolithm is simple, drastically increases mobility and the flexibility of underwater robot.
Description
Technical field
It is specifically a kind of deep the present invention relates to a kind of power propulsion system of underwater robot
The rotatable propeller system in sea.
Background technology
With the proposition of national marine strategy, underwater robot is taken seriously more and more,
And be widely applied in ocean scientific investigation, investigation.The propulsion dress of the underwater robot of prior art
Put many installation forms using fixed angles, can only single angle thrust output, when realizing certain
When planting the motion of angle, it usually needs the vector controlled of multi-thruster, thrust is easily set to occur damaging
Consume, and mobility, flexibility are greatly reduced, it is impossible to it is well adapted on Complex Sea bottom ground
The detection of shape needs.
The content of the invention
It is an object of the invention to provide a kind of rotatable propeller system in deep-sea, can realize pushing away
The thrust for entering device in different angles is exported, and output loss is less, and control algolithm is simple, greatly
Improve mobility and the flexibility of underwater robot.
The purpose of the present invention is achieved through the following technical solutions：
A kind of rotatable propeller system in deep-sea, including propeller, rudder plate, rudder stock, steering wheel,
Controller and framework, wherein controller and steering wheel are separately fixed on the framework, the propulsion
Device is installed on the rudder plate, and the steering wheel is connected by rudder stock with the rudder plate, the rudder plate
Rotated by the servo driving, the thrust output angle of the propeller rotates with the rudder plate
Change, the propeller and steering wheel control start and stop by the controller.
Oily chamber is provided with the controller, the oily chamber passes through the first oil pipe and the steering wheel
Inner chamber is connected, and the oily chamber is connected by the second oil pipe with a needle-like connector, described to push away
Enter device and be provided with poroid connector, the needle-like connector is connected with the poroid connector, institute
State oily chamber, steering wheel inner chamber, the first oil pipe and the second oil pipe and form the closing oil full of oil medium
Road, controls the wire of the steering wheel to be arranged in first oil pipe, controls the propeller
Wire is arranged in second oil pipe and is connected with the needle-like connector.
The controller is provided with driver element, seal casinghousing and isolation socket, the seal casinghousing
Internal to be divided into air chamber and oily chamber by dividing plate, the driver element is arranged at the air chamber
In, the isolation socket is arranged on the dividing plate and is connected with the driver element, the control
The wire of the wire of steering wheel processed and the control propeller is connected with the socket of isolating respectively,
The propeller includes propeller, propeller housing, propulsion electric machine, the 3rd oil pipe and turns
Moving axis, the propulsion electric machine is arranged in the propeller shell body, the output of the propulsion electric machine
End be connected with the rotary shaft, the rotary shaft extend out to the propeller shell in vitro with the spiral shell
Rotation oar is connected, and the poroid connector is by the 3rd oil pipe with the propeller housing away from described
One end of propeller is connected, and the 3rd oil pipe and propeller shell intracoelomic cavity are formed and be full of oil medium
Closing oil path, the poroid connector is connected with the propulsion electric machine by wire and described led
Line is arranged in the 3rd oil pipe.
The rotary shaft is provided with the restriction propeller shaft to shifting away from described propulsion electric machine one end
Dynamic nut.
The inner hollow of the rudder stock, the needle-like connector enters into rudder plate through the rudder stock
In be connected with the poroid connector on the propeller.
The rudder plate and rudder stock form cantilever, away from the cavity of the rudder stock side inside rudder plate
In be provided with buoyant mass.
The steering wheel includes power output shaft, pedestal, steering gear electric-machine, worm gear and worm screw, described
Power output shaft is installed in rotation on the pedestal, and the steering gear electric-machine is perpendicular to the base
Seat is set, and the worm gear and worm screw may be contained within the pedestal, and the worm gear is packed in described
On power output shaft, the output end of the worm screw and the steering gear electric-machine is connected, the worm gear and
Worm screw is meshed, and the steering gear electric-machine controls start and stop by the controller.
One end of the power output shaft is connected with the rudder stock, the power output shaft it is another
End is provided with potentiometer.
Advantages of the present invention is with good effect：
1st, propeller of the invention is fixed on rudder plate, and rudder plate is connected by rudder stock with steering wheel,
Therefore when servo driving rudder plate is rotated around the rudder stock, propeller also can be as rudder plate be around described
Rudder stock occur with angle rotation, then the thrust output angle of propeller also change, from
And reach the ability of the thrust output of multi-angle.
2nd, steering wheel of the invention is by the driver element in the wire and controller in the first oil pipe
Electrical connection is completed, propeller is by the driver element in the wire and controller in the second oil pipe
Completion is electrically connected, inside propeller and steering wheel and in first oil pipe and the second oil pipe
Portion is full of oil medium, and when ambient pressure increases, the present invention relies on the first oil pipe and the second oil pipe
Compression compensation make propeller and steering wheel internal oil pressure equal with extraneous seawater pressure so that
Propeller and steering wheel adapt to deep sea pressure.
3rd, worm-and-wheel gear, thus the function with self-locking are provided with steering wheel of the invention,
Fixed attitude angle can be kept when thrust is exported.
4th, potentiometer is provided with steering wheel of the invention, ensure that the accurate of thrust output angle.
Brief description of the drawings
Fig. 1 is structural representation of the invention,
Fig. 2 is the sectional view of controller in Fig. 1,
Fig. 3 is the sectional view of propeller in Fig. 1,
Fig. 4 is the sectional view of steering wheel in Fig. 1,
Fig. 5 is the A-A sectional views in Fig. 4.
Wherein, 1 is propeller, and 2 is rudder plate, and 3 is rudder stock, and 4 is steering wheel, and 5 is controller,
6 is framework, and 7 is propeller, and 8 is propeller housing, and 9 is propulsion electric machine, and 10 is the 3rd
Oil pipe, 11 is poroid connector, and 12 is rotary shaft, and 13 is power output shaft, and 14 is pedestal,
15 is potentiometer, and 16 is steering gear electric-machine, and 17 is worm gear, and 18 is worm screw, and 19 is capsul
Body, 20 is isolation socket, and 21 is needle-like connector, and 22 is the first oil pipe, and 23 is the second oil
Pipe, 24 is air chamber, and 25 is oily chamber, and 26 is driver element, and 27 is buoyant mass, 28
It is dividing plate.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As shown in figure 1, the present invention includes propeller 1, rudder plate 2, rudder stock 3, steering wheel 4, control
Device processed 5 and framework 6, wherein the framework 6 is installed in underwater robot equipment for the present invention
Skeleton, the controller 5 and steering wheel 4 be separately fixed on the framework 6, the propulsion
Device 1 is embedded into the cavity of rudder plate 2, and the one end wider of the rudder plate 2 passes through rudder stock 3 and institute
State steering wheel 4 to be connected, and be driven using flat key between the steering wheel 4 and rudder stock 3, the rudder stock
3 by pin with the power output shaft 13 of the steering wheel 4 through being joined after the through hole on framework 6
Connect.As shown in Fig. 2 the controller 5 includes seal casinghousing 19, isolation socket 20 and drives
Moving cell 26, wherein the seal casinghousing 19 is divided into air chamber 24 and oil by dividing plate 28
Chamber 25, the driver element 26 is arranged in air chamber 24, and isolation socket 20 is arranged on institute
State on dividing plate 28, the driver element 26 is connected with the socket 20 of isolating, by the control
23 two branch roads of the first oil pipe 22 and the second oil pipe are drawn in the oily chamber 25 of device processed 5, wherein
The oily chamber 25 of the controller 5 is connected by the first oil pipe 22 with the inner chamber of steering wheel 4, institute
The oily chamber 25 for stating controller 5 is connected by the second oil pipe 23 with a needle-like connector 21,
As shown in figure 3, the propeller 1 is provided with poroid connector 11, the needle-like connector 21
It is connected with the poroid connector 11, oily chamber 25, steering wheel 4, of the controller 5
The envelope that oil medium constitutes whole device is each filled with inside one oil pipe 22 and the second oil pipe 23
Oil circuit is closed, wire is equipped with the oil pipe 23 of first oil pipe 22 and second, such as Fig. 4 institutes
Show, the steering wheel 4 is provided with steering gear electric-machine 16, the steering gear electric-machine 16 passes through the first oil pipe
Wire in 22 is connected with the socket 20 of isolating, the poroid connector 11 of the propeller 1
It is connected with the needle-like connector 21, the needle-like connector 21 is by the second oil pipe 23
Wire with it is described isolate socket 20 be connected, it is described isolation socket 20 again with air chamber 24 in
Driver element 26, thus the steering wheel 4 and propeller 1 are completed in a closing oil path
With the electrical connection of the driver element 26 simultaneously so that the driver element 26 can be controlled
The rotation of steering wheel 4 and the thrust output of propeller 1, steering wheel 4 are rotated by the connection of rudder stock 3
The rudder plate 2 that is fixed thereon of drive with angle rotation, and propeller 1 is to be installed in rudder plate
In 2, therefore propeller 1 also follows the angle of steering wheel 2 to export same angular turn, so that
Originally can only single direction, the propeller 1 of fixed-direction thrust output realize the thrust of multi-angle
Output.
The inner hollow of the rudder stock 3, the needle-like connector 21 draws second oil pipe
23 enter into the cavity of rudder plate 2 through the rudder stock 3, in the rudder plate 2 be in rudder together
The poroid connector 11 of the propeller 1 of the cavity of plate 2 is docked, the needle-like connector 21 with push away
Enter the poroid connector 11 of device 1 for a pair are matched the watertight electrical connection arrangement for using, itself
With pressure-resistant characteristic and can reverse pressure-bearing, this is known in the art technology.
As shown in figure 3, the propeller 1 also includes spiral in addition to the poroid connector 11
Oar 7, propeller housing 8, propulsion electric machine 9, the 3rd oil pipe 10 and rotary shaft 12, it is described to push away
Stepper motor 9 is coaxially fixed in propeller housing 8, the output end of the propulsion electric machine 9 with turn
Moving axis 12 is connected, and the rotary shaft 12 is extend out to outside the propeller housing 8, propeller 7
It is fixed in the rotary shaft 12, the propeller 7 and rotary shaft 12 are driven by flat key,
Nut is provided with away from the one end of the propulsion electric machine 9 in the rotary shaft 12, it is described by locking
Nut can the limitation propeller 7 axial movement, the poroid connector 11 is by the
Three oil pipes 10 are connected with propeller housing 8, in the 3rd oil pipe 10 and propeller housing 8
Inner chamber in be full of oil medium, form another closing oil path so that whole propeller 1 can
Normal work under pressure in deep-sea, big, wire is provided with the 3rd oil pipe 10,
The propulsion electric machine 9 is by the wire and the phase of poroid connector 11 in the 3rd oil pipe 10
Even.
As shown in Figures 4 and 5, the steering wheel 4 also includes that power is defeated in addition to the steering gear electric-machine 16
Shaft 13, pedestal 14, potentiometer 15, worm gear 17 and worm screw 18, the power output shaft
13 are supported on the pedestal 14 by bearing, and the steering gear electric-machine 16 is perpendicular to institute
Pedestal 14 is stated to set, one end of the power output shaft 13 extend out to the pedestal 14 it is outer with
The rudder stock 3 is connected, and the worm gear 17 and worm screw 18 may be contained within the pedestal 14,
The worm gear 17 is packed on the power output shaft 13, the worm screw 18 and the steering wheel
The output end of motor 16 is connected, and the worm gear 17 and worm screw 18 are meshed, and can be real
Existing self-locking, the potentiometer 15 is arranged on the one end of the power output shaft 13 away from rudder stock 3,
The potentiometer 15 exports different magnitudes of voltage in company with the rotation of power output shaft 13, represents
The different angles output of power output shaft 13.The potentiometer 15 is known in the art technology.
The rudder plate 2, rudder stock 3 and framework 6 form the load bearing manner of cantilever, the appearance of rudder plate 2
It is made up of fiberglass, fluid molded line of fitting sets inside rudder plate 2 away from the side of the rudder stock 3
There is cavity, buoyant mass 27 is provided with the cavity, in the present embodiment, the buoyant mass 27
The pressure-resistant material of 1/2nd water densities is equal to for density, the pressure at deep-sea can be born without protecting
Hold intact, buoyant mass 27 can cause that whole rudder plate 2 is in floating state in water so that rudder
The contact position pressure reduction of bar 3 and framework 6, so as to reduce frictional resistance, the buoyant mass in addition
27 be arranged at rudder plate 2 near propeller 7 positions, can greatly improve rudder plate 2 and
Relative to the bias of rudder stock 3, therefore the output loss of steering wheel 4 be reduced propeller 1.
Operation principle of the invention is：
The propeller 1 is fixed on rudder plate 2, and rudder plate 2 is connected by rudder stock 3 with steering wheel 4,
Therefore when steering wheel 4 drives rudder plate 2 to rotate, propeller 1 also can be as rudder plate 2 be around rudder stock 3
Occur with angle rotation, then the thrust output angle of propeller 1 also change so that
Reach the ability of the thrust output of multi-angle.The controller 5 is fixed on framework 6, can
Control propeller 1 to be acted with steering wheel 4 simultaneously, drawn by the oily chamber 25 of the controller 5
23 two branch roads of first oil pipe 22 and the second oil pipe, in the oil of first oil pipe 22 and second
Wire is equipped with pipe 23, the steering gear electric-machine 16 on the steering wheel 4 passes through the first oil pipe 22
Interior wire completes electrical connection, the propulsion with the driver element 26 in the controller 5
Device 1 is completed by the wire in the second oil pipe 23 with the driver element 26 in the controller 5
It is electrically connected, in order to adapt to the pressure at deep-sea, propeller 1 and the inside of steering wheel 4 and described the
Closing space inside one oil pipe 22 and the second oil pipe 23 is full of oil medium, when ambient pressure increases
When big, other knots of the first oil pipe 22 and the second oil pipe 10 relative to propeller 1 and steering wheel 4
Component is softer, therefore produces deformation by compression first, causes the oil medium of inside to be compressed,
After pressure balance, propeller 1 and the inside of steering wheel 4 and first oil pipe 22 and second
The oil pressure of the inner space of oil pipe 23 is equal everywhere, and identical with extraneous seawater pressure, so that
So that propeller 1 and steering wheel 4 adapt to deep sea pressure.
Claims (9)
1. the rotatable propeller system in a kind of deep-sea, it is characterised in that：Including propeller (1),
Rudder plate (2), rudder stock (3), steering wheel (4), controller (5) and framework (6), wherein controlling
Device (5) processed and steering wheel (4) are separately fixed on the framework (6), the propeller (1)
It is installed on the rudder plate (2), the steering wheel (4) is by rudder stock (3) and the rudder plate
(2) it is connected, the rudder plate (2) is driven by the steering wheel (4) and rotated, the propulsion
The thrust output angle of device (1) rotates with the rudder plate (2) and changes, the propeller (1)
Start and stop are controlled by the controller (5) with steering wheel (4).
2. the rotatable propeller system in deep-sea according to claim 1, it is characterised in that：
Oily chamber (25) is provided with the controller (5), the oily chamber (25) is by the first oil
Pipe (22) is connected with the steering wheel (4) inner chamber, and the oily chamber (25) is by the second oil
Pipe (23) is connected with a needle-like connector (21), and the propeller (1) is provided with hole
Shape connector (11), the needle-like connector (21) and poroid connector (11) phase
Even, the oily chamber (25), steering wheel (4) inner chamber, the first oil pipe (22) and the second oil pipe
(23) closing oil path full of oil medium is formed, controls the wire of the steering wheel (4) to set
In first oil pipe (22), control the propeller (1) wire be arranged at it is described
It is connected in second oil pipe (23) and with the needle-like connector (21).
3. the rotatable propeller system in deep-sea according to claim 2, it is characterised in that：
The controller (5) is provided with driver element (26), seal casinghousing (19) and isolation socket (20),
The seal casinghousing (19) is internal to be divided into air chamber (24) and oily chamber by dividing plate (28)
(25), the driver element (26) is arranged in the air chamber (24), the isolation
Socket (20) is connected on the dividing plate (28) and with the driver element (26),
It is described control steering wheel (4) wire and the control propeller (1) wire respectively with institute
Isolation socket (20) is stated to be connected,
4. the rotatable propeller system in deep-sea according to claim 2, it is characterised in that：
The propeller (1) including propeller (7), propeller housing (8), propulsion electric machine (9),
3rd oil pipe (10) and rotary shaft (12), the propulsion electric machine (9) are arranged at the propulsion
In device housing (8), output end and the rotary shaft (12) phase of the propulsion electric machine (9)
Even, the rotary shaft (12) extend out to the propeller housing (8) outward with the propeller
(7) it is connected, the poroid connector (11) is by the 3rd oil pipe (10) and the propulsion
Device housing (8) is connected away from one end of the propeller (7), the 3rd oil pipe (10)
The closing oil path full of oil medium is formed with propeller housing (8) inner chamber, it is described poroid to patch
Part (11) is connected by wire with the propulsion electric machine (9) and the wire be arranged at it is described
In 3rd oil pipe (10).
5. the rotatable propeller system in deep-sea according to claim 4, it is characterised in that：
The rotary shaft (12) is provided with the restriction propeller away from the propulsion electric machine (9) one end
(7) nut of axial movement.
6. the rotatable propeller system in deep-sea according to claim 2, it is characterised in that：
The inner hollow of the rudder stock (3), the needle-like connector (21) is through the rudder stock (3)
Enter into rudder plate (2) and be connected with the poroid connector (11) on the propeller (1).
7. the rotatable propeller system in deep-sea according to claim 1 or 6, its feature
It is：The rudder plate (2) and rudder stock (3) form cantilever, rudder plate (2) it is internal away from
Buoyant mass (27) is provided with the cavity of rudder stock (3) side.
8. the rotatable propeller system in deep-sea according to claim 1 and 2, its feature
It is：The steering wheel (4) includes power output shaft (13), pedestal (14), steering gear electric-machine
(16), worm gear (17) and worm screw (18), the power output shaft (13) are rotationally pacified
On the pedestal (14), the steering gear electric-machine (16) is perpendicular to the pedestal (14)
Set, the worm gear (17) and worm screw (18) may be contained within the pedestal (14), institute
State worm gear (17) to be packed on the power output shaft (13), the worm screw (18) and institute
The output end for stating steering gear electric-machine (16) is connected, and the worm gear (17) is mutually nibbled with worm screw (18)
Close, the steering gear electric-machine (16) controls start and stop by the controller (5).
9. the rotatable propeller system in deep-sea according to claim 8, it is characterised in that：
One end of the power output shaft (13) is connected with the rudder stock (3), the power output
The other end of axle (13) is provided with potentiometer (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510829854.5A CN106741778B (en) | 2015-11-23 | 2015-11-23 | A kind of rotatable propeller system in deep-sea |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510829854.5A CN106741778B (en) | 2015-11-23 | 2015-11-23 | A kind of rotatable propeller system in deep-sea |
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| Publication Number | Publication Date |
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| CN106741778A true CN106741778A (en) | 2017-05-31 |
| CN106741778B CN106741778B (en) | 2018-07-20 |
Family
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| CN201510829854.5A Active CN106741778B (en) | 2015-11-23 | 2015-11-23 | A kind of rotatable propeller system in deep-sea |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108928453A (en) * | 2018-07-05 | 2018-12-04 | 杨平 | A kind of rotary locking type rudder stock peculiar to vessel |
| CN110386239A (en) * | 2018-04-19 | 2019-10-29 | 中国科学院沈阳自动化研究所 | A kind of rudder plate system of underwater robot |
| CN110386238A (en) * | 2018-04-19 | 2019-10-29 | 中国科学院沈阳自动化研究所 | A kind of complete extra large depth ARV underwater robot structure |
| CN110588927A (en) * | 2019-10-23 | 2019-12-20 | 中国科学院沈阳自动化研究所 | Light rudder plate system |
| CN112557696A (en) * | 2020-12-08 | 2021-03-26 | 中国人民解放军海军工程大学 | Pneumatic piston type micro-flow speed measuring device and method thereof |
| WO2022033210A1 (en) * | 2020-08-11 | 2022-02-17 | 中国科学院沈阳自动化研究所 | Body structure of autonomous underwater robot with high mobility and great submerging depth |
| CN114933005A (en) * | 2022-06-06 | 2022-08-23 | 中国科学院沈阳自动化研究所 | Self-locking steering engine of autonomous underwater robot in deep sea |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110386239A (en) * | 2018-04-19 | 2019-10-29 | 中国科学院沈阳自动化研究所 | A kind of rudder plate system of underwater robot |
| CN110386238A (en) * | 2018-04-19 | 2019-10-29 | 中国科学院沈阳自动化研究所 | A kind of complete extra large depth ARV underwater robot structure |
| CN108928453A (en) * | 2018-07-05 | 2018-12-04 | 杨平 | A kind of rotary locking type rudder stock peculiar to vessel |
| CN110588927A (en) * | 2019-10-23 | 2019-12-20 | 中国科学院沈阳自动化研究所 | Light rudder plate system |
| CN110588927B (en) * | 2019-10-23 | 2021-02-19 | 中国科学院沈阳自动化研究所 | Light rudder plate system |
| WO2022033210A1 (en) * | 2020-08-11 | 2022-02-17 | 中国科学院沈阳自动化研究所 | Body structure of autonomous underwater robot with high mobility and great submerging depth |
| CN112557696A (en) * | 2020-12-08 | 2021-03-26 | 中国人民解放军海军工程大学 | Pneumatic piston type micro-flow speed measuring device and method thereof |
| CN112557696B (en) * | 2020-12-08 | 2022-09-06 | 中国人民解放军海军工程大学 | Pneumatic piston type micro-flow speed measuring device and method thereof |
| CN114933005A (en) * | 2022-06-06 | 2022-08-23 | 中国科学院沈阳自动化研究所 | Self-locking steering engine of autonomous underwater robot in deep sea |
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| CN106741778B (en) | 2018-07-20 |
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