CN106741778B - A kind of rotatable propeller system in deep-sea - Google Patents
A kind of rotatable propeller system in deep-sea Download PDFInfo
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- CN106741778B CN106741778B CN201510829854.5A CN201510829854A CN106741778B CN 106741778 B CN106741778 B CN 106741778B CN 201510829854 A CN201510829854 A CN 201510829854A CN 106741778 B CN106741778 B CN 106741778B
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- propeller
- steering engine
- 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
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
Abstract
The present invention relates to a kind of power propulsion systems of underwater robot, specifically a kind of rotatable propeller system in deep-sea, including propeller, rudder plate, rudder stock, steering engine, controller and frame, wherein controller and steering engine are separately fixed on the frame, the propeller is installed on the rudder plate, the steering engine 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 is rotated with the rudder plate to be changed, and the propeller and steering engine control start and stop by the controller.The present invention can realize that propulsion device is exported in the thrust of different angle, and output loss is less, and control algolithm is simple, greatly improves mobility and the flexibility of underwater robot.
Description
Technical field
The present invention relates to a kind of power propulsion system of underwater robot, specifically a kind of rotatable propeller in deep-sea
Device.
Background technology
With the proposition of national marine strategy, underwater robot is taken seriously more and more, and is widely applied to
In ocean scientific investigation, investigation.The propulsion device of the underwater robot of the prior art mostly uses the installation form of fixed angle, Zhi Nengdan
The thrust output of angle, when to realize the movement of certain angle, it usually needs the vector controlled of multi-thruster is easy to make thrust
It is lost, and mobility, flexibility are greatly reduced, the detection needs in complicated sea-floor relief cannot be well adapted for.
Invention content
The purpose of the present invention is to provide a kind of rotatable propeller systems in deep-sea, and propulsion device can be realized at different angles
The thrust of degree exports, and output loss is less, and control algolithm is simple, greatly improves the mobility and flexibly of underwater robot
Property.
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 engine, controller and frame, wherein
Controller and steering engine are separately fixed on the frame, and the propeller is installed on the rudder plate, and the steering engine passes through rudder stock
It is connected with the rudder plate, the rudder plate is rotated by the servo driving, and the thrust output angle of the propeller is with the rudder
Plate rotation changes, and the propeller and steering engine control start and stop by the controller.
Oily chamber is equipped in the controller, the oil chamber is connected by the first oil pipe with the steering engine inner cavity, described
Oily chamber is connected by the second oil pipe with a needle-shaped connector, and the propeller is equipped with poroid connector, described needle-shaped to connect
Plug-in unit is connected with the poroid connector, and the oil chamber, steering engine inner cavity, the first oil pipe and the second oil pipe form and be full of oil medium
Closing oil path, the conducting wire for controlling the steering engine is set in first oil pipe, and the conducting wire for controlling the propeller is set to
It is connected in second oil pipe and with the needle-shaped connector.
The controller is equipped with driving unit, seal casinghousing and isolation socket, passes through partition board point inside the seal casinghousing
At air chamber and oily chamber, the driving unit is set in the air chamber, and the isolation socket is mounted on the partition board
And be connected with the driving unit, the conducting wire of the conducting wire of the control steering engine and the control propeller is isolated with described respectively
Socket is connected,
The propeller includes propeller, propeller housing, propulsion electric machine, third oil pipe and rotation axis, the propulsion electricity
Machine is set in the propeller shell body, and the output end of the propulsion electric machine is connected with the rotation axis, and the rotation axis is stretched out
It is connected in vitro with the propeller to the propeller shell, the poroid connector passes through third oil pipe and the propeller housing
One end far from the propeller is connected, and the third oil pipe and propeller shell intracoelomic cavity form the closing oil full of oil medium
Road, the poroid connector is connected with the propulsion electric machine by conducting wire and the conducting wire is set in the third oil pipe.
The rotation axis is equipped with the nut for limiting the propeller axial movement far from described propulsion electric machine one end.
The inner hollow of the rudder stock, the needle-shaped connector across the rudder stock enter in rudder plate with the propeller
On poroid connector be connected.
The rudder plate and rudder stock form cantilever, and buoyant mass is equipped in the cavity far from the rudder stock side inside rudder plate.
The steering engine includes power output shaft, pedestal, steering gear electric-machine, worm gear and worm screw, and the power output shaft is rotatable
Ground is mounted on the pedestal, and the steering gear electric-machine is arranged perpendicular to the pedestal, and the worm gear and worm screw may be contained within described
In pedestal, the worm gear is packed on the power output shaft, and the worm screw and the output end of the steering gear electric-machine are connected, described
Worm gear and worm screw are 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, and the other end of the power output shaft is equipped with potentiometer.
Advantages of the present invention is with good effect：
1, propeller of the invention is fixed on rudder plate, and rudder plate is connected by rudder stock with steering engine, therefore works as servo driving rudder
When plate is rotated around the rudder stock, also with rudder plate around the rudder stock rotation with angle can occur for propeller, then propeller
Thrust output angle also changes, the ability that the thrust to reach multi-angle exports.
2, steering engine of the invention completes electrical connection by the driving unit in the conducting wire and controller in the first oil pipe, pushes away
Be electrically connected into device by the completion of driving unit in the conducting wire and controller in the second oil pipe, inside propeller and steering engine with
And oil medium is full of inside first oil pipe and the second oil pipe, when ambient pressure increases, the present invention by the first oil pipe with
The compression compensation of second oil pipe keeps propeller and steering engine internal oil pressure equal with extraneous seawater pressure, so that propeller and rudder
Functional adaptation deep sea pressure.
3, it is equipped with worm gear mechanism in steering engine of the invention, thus has the function of self-locking, can exported in thrust
When the attitude angle that is kept fixed.
4, it is equipped with potentiometer in steering engine of the invention, can ensures the accurate of thrust output angle.
Description of the drawings
Fig. 1 is the structural diagram of the present 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 engine in Fig. 1,
Fig. 5 is the A-A sectional views in Fig. 4.
Wherein, 1 is propeller, and 2 be rudder plate, and 3 be rudder stock, and 4 be steering engine, 5 devices in order to control, and 6 be frame, and 7 be propeller, 8
It is propulsion electric machine for propeller housing, 9,10 be third oil pipe, and 11 be poroid connector, and 12 be rotation axis, and 13 be power output
Axis, 14 be pedestal, and 15 be potentiometer, and 16 be steering gear electric-machine, and 17 be worm gear, and 18 be worm screw, and 19 be seal casinghousing, and 20 insert for isolation
Seat, 21 be needle-shaped connector, and 22 be the first oil pipe, and 23 be the second oil pipe, and 24 be air chamber, and 25 is single for driving for oily chamber, 26
Member, 27 be buoyant mass, and 28 be partition board.
Specific implementation mode
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 engine 4, controller 5 and frame 6, wherein described
Frame 6 is the skeleton that the present invention is installed in underwater robot equipment, and the controller 5 and steering engine 4 are separately fixed at the frame
On frame 6, the propeller 1 is embedded into the cavity of rudder plate 2, and the wider one end of the rudder plate 2 passes through rudder stock 3 and the steering engine 4
Be connected, and between the steering engine 4 and rudder stock 3 using flat key be driven, the rudder stock 3 pass through frame 6 on through-hole after with the rudder
The power output shaft 13 of machine 4 is coupled by pin.As shown in Fig. 2, the controller 5 includes seal casinghousing 19, isolation socket 20
With driving unit 26, wherein the seal casinghousing 19 is divided into air chamber 24 and oily chamber 25, the driving unit by partition board 28
26 are set in air chamber 24, and isolation socket 20 is mounted on the partition board 28, and socket is isolated with described in the driving unit 26
20 are connected, and 23 two branches of the first oil pipe 22 and the second oil pipe are drawn by the oily chamber 25 of the controller 5, wherein the control
The oily chamber 25 of device 5 is connected by the first oil pipe 22 with the inner cavity of steering engine 4, and the oily chamber 25 of the controller 5 passes through the second oil
Pipe 23 is connected with a needle-shaped connector 21, as shown in figure 3, the propeller 1 is equipped with poroid connector 11, it is described needle-shaped to patch
Part 21 is connected with the poroid connector 11, oily chamber 25, steering engine 4, the first oil pipe 22 and the second oil pipe 23 of the controller 5
Inside is each filled with the closing oil path that oil medium constitutes whole device, in first oil pipe, 22 and second oil pipe 23
Equipped with conducting wire, as shown in figure 4, the steering engine 4 is equipped with steering gear electric-machine 16, the steering gear electric-machine 16 passes through in the first oil pipe 22
Conducting wire is connected with the socket 20 of being isolated, and the poroid connector 11 of the propeller 1 is connected with the needle-shaped connector 21, described
Needle-shaped connector 21 is connected by the conducting wire in the second oil pipe 23 with the socket 20 of being isolated, the isolation socket 20 and and air
Driving unit 26 in chamber 24, thus the steering engine 4 and propeller 1 are completed and the driving unit 26 in a closing oil path
Electrical connection so that the driving unit 26 can control simultaneously steering engine 4 rotation and propeller 1 thrust output, steering engine 4
Rotation drives the rudder plate 2 being fixed thereon with the rotation of angle by the connection of rudder stock 3, and propeller 1 is to be installed in rudder plate 2
It is interior, therefore propeller 1 also follows the angle of steering engine 2 to export same angular turn, so that originally can only single direction, fixation side
The thrust output of multi-angle is realized to the propeller 1 of thrust output.
The inner hollow of the rudder stock 3, the needle-shaped connector 21 draw second oil pipe 23 across the rudder stock 3 into
Enter into the cavity of rudder plate 2, is docked with the poroid connector 11 for the propeller 1 for being in 2 cavity of rudder plate together in rudder plate 2, it is described
The poroid connector 11 of needle-shaped connector 21 and propeller 1 is the watertight electrical connection arrangement that a pair of of pairing uses, itself has
Pressure resistance characteristic and can reverse pressure-bearing, this is known in the art technology.
As shown in figure 3, the propeller 1 further includes propeller 7 in addition to the poroid connector 11, propeller housing 8, pushes away
Stepper motor 9, third oil pipe 10 and rotation axis 12, the propulsion electric machine 9 are coaxially fixed in propeller housing 8, the propulsion electricity
The output end of machine 9 is connected with rotation axis 12, and the rotation axis 12 is extend out to outside the propeller housing 8, and propeller 7 is fixed on institute
It states in rotation axis 12, the propeller 7 and rotation axis 12 are driven by flat key, in the rotation axis 12 far from the propulsion electric machine
9 one end are equipped with nut, and the axial movement of the propeller 7, the poroid connector 11 can be limited by locking the nut
It is connected with propeller housing 8 by third oil pipe 10, is situated between full of oil in the inner cavity of the third oil pipe 10 and propeller housing 8
Matter forms another closing oil path so that entire propeller 1 can work normally under the pressure in deep-sea, big, described the
It is equipped with conducting wire in three oil pipes 10, the propulsion electric machine 9 is connected by the conducting wire in third oil pipe 10 with the poroid connector 11.
As shown in Figures 4 and 5, the steering engine 4 further includes power output shaft 13, pedestal 14, electricity in addition to the steering gear electric-machine 16
Position meter 15, worm gear 17 and worm screw 18, the power output shaft 13 are mounted on by bearing bearing on the pedestal 14, the steering engine
Motor 16 is arranged perpendicular to the pedestal 14, and one end of the power output shaft 13 is extend out to outside the pedestal 14 and the rudder stock
3 are connected, and the worm gear 17 and worm screw 18 may be contained in the pedestal 14, and the worm gear 17 is packed in the power output shaft 13
On, the worm screw 18 and the output end of the steering gear electric-machine 16 are connected, and the worm gear 17 and worm screw 18 are meshed, and can be real
Existing self-locking, the potentiometer 15 are mounted on the one end of the power output shaft 13 far from rudder stock 3, and the potentiometer 15 is in company with power
The rotation of output shaft 13 and export different voltage values, represent power output shaft 13 different angle output.The potentiometer 15
It is known in the art technology.
The rudder plate 2, rudder stock 3 and frame 6 form the load bearing manner of cantilever, and 2 appearance of rudder plate is made of fiberglass, fitting stream
Build line is equipped with cavity far from 3 side of the rudder stock in 2 inside of rudder plate, buoyant mass 27, the present embodiment is equipped in the cavity
In, the buoyant mass 27 is the pressure-resistant material that density is equal to half water density, can bear the pressure at deep-sea without keeping
Intact, it is in floating state that buoyant mass 27, which can make entire rudder plate 2 in water, so that rudder stock 3 and 6 contact position pressure drop of frame
Low, to reduce frictional resistance, the buoyant mass 27 is set to rudder plate 2 close to the position of propeller 7 in addition, can greatly change
Therefore the output loss of the kind bias of rudder plate 2 and propeller 1 relative to rudder stock 3, steering engine 4 is reduced.
The operation principle of the present invention is that：
The propeller 1 is fixed on rudder plate 2, and rudder plate 2 is connected by rudder stock 3 with steering engine 4, therefore when steering engine 4 drives rudder
When plate 2 rotates, also with rudder plate 2 around rudder stock 3 rotation with angle, then the thrust output angle of propeller 1 can occur for propeller 1
Degree also changes, the ability that the thrust to reach multi-angle exports.The controller 5 is fixed on frame 6, can be simultaneously
It controls propeller 1 to act with steering engine 4, the first oil pipe 22 and 23 two, the second oil pipe is drawn by the oily chamber 25 of the controller 5
Branch is equipped with conducting wire in first oil pipe, 22 and second oil pipe 23, and the steering gear electric-machine 16 on the steering engine 4 passes through first
Conducting wire in oil pipe 22 is completed to be electrically connected with the driving unit 26 in the controller 5, and the propeller 1 passes through the second oil pipe
Conducting wire in 23 is electrically connected with the completion of driving unit 26 in the controller 5, in order to adapt to the pressure at deep-sea, propeller 1
It is full of oil medium with the enclosure space inside 4 inside of steering engine and first oil pipe, 22 and second oil pipe 23, works as ambient pressure
When increase, the first oil pipe 22 and the second oil pipe 10 are softer relative to the other structures part of propeller 1 and steering engine 4, thus first by
Compression generates deformation, and internal oil medium is caused to be compressed, inside propeller 1 and steering engine 4 and described after pressure balance
The oil pressure of 23 inner space of first oil pipe 22 and the second oil pipe is equal everywhere, and identical as extraneous seawater pressure, so that
Propeller 1 and steering engine 4 adapt to deep sea pressure.
Claims (8)
1. a kind of rotatable propeller system in deep-sea, it is characterised in that：Including propeller (1), rudder plate (2), rudder stock (3), steering engine
(4), controller (5) and frame (6), wherein controller (5) and steering engine (4) are separately fixed on the frame (6), the propulsion
Device (1) is installed on the rudder plate (2), and the steering engine (4) is connected by rudder stock (3) with the rudder plate (2), the rudder plate (2)
It is driven and is rotated by the steering engine (4), the thrust output angle of the propeller (1) is rotated with the rudder plate (2) to be changed, described
Propeller (1) and steering engine (4) control start and stop by the controller (5)；Oily chamber (25), institute are equipped in the controller (5)
It states oily chamber (25) by the first oil pipe (22) to be connected with the steering engine (4) inner cavity, the oil chamber (25) passes through the second oil pipe
(23) it is connected with a needle-shaped connector (21), the propeller (1) is equipped with poroid connector (11), the needle-shaped connector
(21) it is connected with the poroid connector (11), the oil chamber (25), steering engine (4) inner cavity, the first oil pipe (22) and the second oil
It manages (23) and forms the closing oil path full of oil medium, the conducting wire for controlling the steering engine (4) is set in first oil pipe (22),
The conducting wire for controlling the propeller (1) is set in second oil pipe (23) and is connected with the needle-shaped connector (21).
2. the rotatable propeller system in deep-sea according to claim 1, it is characterised in that：The controller (5), which is equipped with, drives
Moving cell (26), seal casinghousing (19) and isolation socket (20), the seal casinghousing (19) is internal to be divided into sky by partition board (28)
Air cavity (24) and oily chamber (25), the driving unit (26) are set in the air chamber (24), the isolation socket (20)
It is connected on the partition board (28) and with the driving unit (26), the conducting wire of the control steering engine (4) and the control
The conducting wire of propeller (1) processed is connected with the socket (20) of being isolated respectively.
3. the rotatable propeller system in deep-sea according to claim 1, it is characterised in that：The propeller (1) includes spiral shell
Rotation paddle (7), propeller housing (8), propulsion electric machine (9), third oil pipe (10) and rotation axis (12), the propulsion electric machine (9) set
It is placed in the propeller housing (8), the output end of the propulsion electric machine (9) is connected with the rotation axis (12), the rotation
Axis (12) extend out to the propeller housing (8) and is connected outside with the propeller (7), and the poroid connector (11) passes through third
Oil pipe (10) is connected with the one end of the propeller housing (8) far from the propeller (7), the third oil pipe (10) and propulsion
Device shell (8) inner cavity forms the closing oil path full of oil medium, and the poroid connector (11) passes through conducting wire and propulsion electricity
Machine (9) is connected and the conducting wire is set in the third oil pipe (10).
4. the rotatable propeller system in deep-sea according to claim 3, it is characterised in that：The rotation axis (12) is far from institute
It states propulsion electric machine (9) one end and is equipped with the nut for limiting propeller (7) axial movement.
5. the rotatable propeller system in deep-sea according to claim 1, it is characterised in that：In the inside of the rudder stock (3)
Sky, the needle-shaped connector (21) pass through the rudder stock (3) to enter in rudder plate (2) and are connect with poroid on the propeller (1)
Plug-in unit (11) is connected.
6. the rotatable propeller system in deep-sea according to claim 1 or 5, it is characterised in that：The rudder plate (2) and rudder stock
(3) cantilever is formed, buoyant mass (27) is equipped in the internal cavity far from the rudder stock (3) side of rudder plate (2).
7. the rotatable propeller system in deep-sea according to claim 1, it is characterised in that：The steering engine (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 rotatable
Ground be mounted on the pedestal (14) on, the steering gear electric-machine (16) perpendicular to the pedestal (14) be arranged, the worm gear (17) and
Worm screw (18) may be contained in the pedestal (14), and the worm gear (17) is packed on the power output shaft (13), the snail
Bar (18) and the output end of the steering gear electric-machine (16) are connected, and the worm gear (17) and worm screw (18) are meshed, the steering engine electricity
Machine (16) controls start and stop by the controller (5).
8. the rotatable propeller system in deep-sea according to claim 7, it is characterised in that：The power output shaft (13)
One end is connected with the rudder stock (3), and the other end of the power output shaft (13) is equipped 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 CN106741778A (en) | 2017-05-31 |
| CN106741778B true CN106741778B (en) | 2018-07-20 |
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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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Families Citing this family (6)
| 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 |
| 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 |
| CN111994238A (en) * | 2020-08-11 | 2020-11-27 | 中国科学院沈阳自动化研究所 | High-mobility large-submergence-depth autonomous underwater robot body structure |
| 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 |
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| CN106741778A (en) | 2017-05-31 |
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