CN107161309A - A kind of deflector type vector propeller and submarine navigation device - Google Patents
A kind of deflector type vector propeller and submarine navigation device Download PDFInfo
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- CN107161309A CN107161309A CN201710180989.2A CN201710180989A CN107161309A CN 107161309 A CN107161309 A CN 107161309A CN 201710180989 A CN201710180989 A CN 201710180989A CN 107161309 A CN107161309 A CN 107161309A
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- propeller
- universal joint
- ball
- motor
- screw
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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
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
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- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The invention discloses a kind of deflector type vector propeller and the submarine navigation device with the propeller, belong to submarine navigation device technical field.A kind of deflector type vector propeller, which includes being provided with below the disk as silent flatform, the support above support, the support, is provided with the universal joint as moving platform, wherein：Propeller and propulsion electric machine are provided with the moving platform, the propeller is connected with propulsion electric machine constitutes afterbody propeller；Deflection mechanism and slew gear are provided between the moving platform and silent flatform.The present invention is synthesized by the motion of deflection mechanism and the relatively independent or completely self-contained kinematic chain of slew gear two, and afterbody propeller can realize the all-direction rotation under any deflection angle.Facilitated with installing, easy to control, the features such as low speed steering behaviour is good.
Description
The application is division, the applying date of original application：2016.01.18, application number：201610028766X, innovation and creation
Title：All deflect propeller vector propulsion mechanism and submarine navigation device.
Technical field
The present invention relates to submarine navigation device technical field, a kind of deflector type vector propeller and underwater navigation are particularly related to
Device.
Background technology
The development work of China's underwater robot is at present also in the starting stage.Although having developed some products,
Still there is a very long segment distance from practical application.On the other hand, China is in ocean development, offshore oil exploitation and military field
In underwater human needs increasingly increased and seem increasingly urgent.
Propulsion plant is used as using screw propeller more than current underwater robot.One one-dimensional screw propeller can only
The variable propulsive force of direction, a size is produced, and when robot needs to carry out multiple directions guiding maneuvering motion, such as is bowed
Face upward and deflect, it is necessary to multiple one-dimensional screw propellers are installed to produce multi-dimensional direction propulsive force.With general one-dimensional propeller
Propeller is different, and vector propeller is in addition to it can provide advance, retreat propulsive force, moreover it is possible to be oriented to manipulation task need according to robot
The propulsive force produced on multi-dimensional direction is sought, the steering capability of underwater robot and positioning energy when can be greatly enhanced lowsteaming
Power.The installation form of multiple screw propellers, destroys the structural continuity of ROV, and the structure for reducing ROV is strong
Degree, increases ROV weight, adds cost, while also being limited to the arrangement inside ROV.
It is to change thrust side by changing whole propulsion system direction with reference to the screw propeller of Thrust Vectoring Technology
To.It can be divided into two kinds, all partially deflected (propeller) mode and deflection (propulsion electric machine and propeller) mode.Part is partially
Rotating propeller propeller structure is complicated, volume is big, and whole deflection propeller vector propulsion mechanisms based on lower-mobility will be
Vector propulsion mode provides new design concept, to realize the vector Push Technology of unit structure multidimensional pose adjustment.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of deflector type vector propeller and submarine navigation device, to realize list
The vector Push Technology of mechanism multi-pose adjustment, improves the low speed steering capability and stationkeeping ability of underwater robot.
In order to solve the above technical problems, present invention offer technical scheme is as follows：
On the one hand there is provided a kind of all deflection propeller vector propulsion mechanisms, including support, the top of the support is set
Have and be provided with the universal joint as moving platform below the disk as silent flatform, the support, wherein：
It is provided with propeller and propulsion electric machine on the moving platform, the propeller composition afterbody that is connected with propulsion electric machine is pushed away
Enter device；
Deflection mechanism and slew gear are provided between the moving platform and silent flatform, the deflection mechanism uses ball wire
Thick stick and slider nut coordinate transmission and drive slider-crank mechanism to drive the propeller to occur partially by the slider nut
Pendulum, the slew gear drives the propeller to turn round by the motion of space multi-bar linkage.
On the other hand there is provided a kind of submarine navigation device, including above-mentioned whole deflection propeller vector propulsion mechanisms.
The invention has the advantages that：
In the present invention, all deflection propeller vector propulsion mechanism includes moving platform and silent flatform.It is provided with moving platform
Propeller and propulsion electric machine, propeller is connected with propulsion electric machine constitutes afterbody propeller, and propulsion electric machine is fixed on moving platform, directly
Transmit rotary movement to propeller.Silent flatform is disk, and silent flatform includes two groups of movement branched chains, is deflection mechanism respectively
And slew gear.Two groups of movement branched chains and afterbody propeller collectively form Three Degree Of Freedom all deflection propeller vector pushers
Structure.In deflection mechanism, the motion of a kind of motor driven ball screws and slider nut is applied, and one kind is made with slider nut
For the slider-crank mechanism of driving.In slew gear, a kind of motion of space multi-bar linkage, and one kind are applied in universal joint
The technology of afterbody propeller installed above.By deflection mechanism and the routing motion of slew gear, universal joint is realized in space
Comprehensive rotation, the afterbody propeller connected firmly thereon is also achieved that the rotation in space omnidirectional.
The present invention changes the spatial movement posture of propeller using all deflection propeller vector propulsion mechanisms, so that real
The adjustment of the spatial attitudes such as the deflection and pitching of underwater robot action is showed；All deflect answering for propeller vector propulsion mechanism
With, it is to avoid partially deflected screw propeller is complicated, bulky problem；The vector propulsion mechanism is in three servo electricity
Under the Collaborative Control of machine, accurate control can be realized, while fast response time, realizes the motor function of unit structure multi-pose,
The complicated supplementary structure configuration such as fin rudder is eliminated, makes the structure of underwater robot compacter；The afterbody that the present invention is used is pushed away
Enter device to be fixed on universal joint this platform, propeller, propulsion electric machine have install, change, simple advantage easy to maintenance；Together
When the mechanism can singly cover and install and use, there are modular applications, be easy to batch production.
Brief description of the drawings
Fig. 1 deflects the general structure schematic diagrams of propeller vector propulsion mechanism embodiments one for the whole of the present invention；
Fig. 2 is the part-structure schematic diagram of embodiment illustrated in fig. 1 one；
Fig. 3 is the principle sketch of embodiment illustrated in fig. 1 one；
Fig. 4 deflects the general structure schematic diagrams one of propeller vector propulsion mechanism embodiments two for the whole of the present invention；
Fig. 5 is the general structure schematic diagram two of embodiment illustrated in fig. 4 two；
Fig. 6 is the part-structure schematic diagram of embodiment illustrated in fig. 4 two；
Fig. 7 is the principle sketch of embodiment illustrated in fig. 4 two；
Fig. 8 deflects the general structure schematic diagrams of propeller vector propulsion mechanism embodiments three for the whole of the present invention；
Fig. 9 is the part-structure schematic diagram of embodiment illustrated in fig. 8 three；
Figure 10 is the principle sketch of embodiment illustrated in fig. 8 three；
Figure 11 is the structural representation of the submarine navigation device of the present invention.
Embodiment
To make the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.
On the one hand, the present invention provides a kind of all deflection propeller vector propulsion mechanisms, as Figure 1-10 shows, including support
10th, 10 ', 10 ", be provided with the disk 11,11 ', 11 " as silent flatform above support 10,10 ', 10 ", support 10,10 ',
The universal joint as moving platform is provided with below 10 ", wherein：
Be provided with propeller 12,12 ', 12 " and propulsion electric machine 13,13 ', 13 " on moving platform, propeller 12,12 ', 12 " and
Propulsion electric machine 13,13 ', 13 ", which is connected, constitutes afterbody propeller；
Deflection mechanism and slew gear are provided between moving platform and silent flatform, deflection mechanism uses ball-screw and sliding block
Nut coordinates transmission and drives slider-crank mechanism by slider nut to drive propeller 12,12 ', 12 " to occur beat, revolution
Mechanism drives propeller 12,12 ', 12 " to turn round by the motion of space multi-bar linkage.
In the present invention, all deflection propeller vector propulsion mechanism includes moving platform and silent flatform.It is provided with moving platform
Propeller and propulsion electric machine, propeller is connected with propulsion electric machine constitutes afterbody propeller, and propulsion electric machine is fixed on moving platform, directly
Transmit rotary movement to propeller.Silent flatform is disk, and silent flatform includes two groups of movement branched chains, is deflection mechanism respectively
And slew gear.Two groups of movement branched chains and afterbody propeller collectively form Three Degree Of Freedom all deflection propeller vector pushers
Structure.In deflection mechanism, the motion of a kind of motor driven ball screws and slider nut is applied, and one kind is made with slider nut
For the slider-crank mechanism of driving.In slew gear, a kind of motion of space multi-bar linkage, and one kind are applied in universal joint
The technology of afterbody propeller installed above.By deflection mechanism and the routing motion of slew gear, universal joint is realized in space
Comprehensive rotation, the afterbody propeller connected firmly thereon is also achieved that the rotation in space omnidirectional.
The present invention changes the spatial movement posture of propeller using all deflection propeller vector propulsion mechanisms, so that real
The adjustment of the spatial attitudes such as the deflection and pitching of underwater robot action is showed；All deflect answering for propeller vector propulsion mechanism
With, it is to avoid partially deflected screw propeller is complicated, bulky problem；The vector propulsion mechanism is in three servo electricity
Under the Collaborative Control of machine, accurate control can be realized, while fast response time, realizes the motor function of unit structure multi-pose,
The complicated supplementary structure configuration such as fin rudder is eliminated, makes the structure of underwater robot compacter；The afterbody that the present invention is used is pushed away
Enter device to be fixed on universal joint this platform, propeller, propulsion electric machine have install, change, simple advantage easy to maintenance；Together
When the mechanism can singly cover and install and use, there are modular applications, be easy to batch production.
Technical scheme is described in detail with three specific embodiments below.
It should be noted that the present invention three embodiments include propeller rotary motion transmission mechanism, deflection mechanism,
Slew gear.Propeller is connected with propulsion electric machine constitutes afterbody propeller.Propeller rotary motion transmission mechanism is by installing
In the afterbody propeller on universal joint, propulsive force is provided for underwater robot.Deflection mechanism mainly realizes propeller around central shaft
Beat motion in line plane.After beat certain angle, slew gear can be such that propeller is realized around central axis in space
Comprehensive rotation.By the motion of both mechanisms, the rotation axis of propeller can be made at some position of space, so that
Realize the change of the direction of propulsion of propeller.The present invention is synthesized by the motion of this two driving-chains of beat and revolution, makes tail
Portion's propeller realizes the all-direction rotation under any deflection angle.
Embodiment one：
As Figure 1-3, in the present embodiment, universal joint includes universal joint a 14 and the universal joint being hinged with universal joint a 14
B 15, propulsion electric machine 13 is arranged on universal joint a 14, and universal joint b 15 is hinged in the middle part of the lower section of support 10；So, spiral
Oar rotary motion transmission mechanism includes propulsion electric machine 13, propeller 12 etc..Propeller 12 is connected with propulsion electric machine 13 constitutes afterbody
Propeller, is fixed on outside universal joint a 14.Propulsion electric machine 13 directly communicates rotational motion to propeller 12, it is produced rotation
Transhipment is dynamic, and propulsive force is provided for underwater robot.Afterbody propeller is using universal joint a 14 as platform, by described below inclined
Swinging mechanism and slew gear realize the rotation in space omnidirectional.
Beat motor 16 and turning motor 17 are provided with silent flatform, ball-screw 18 and slider nut 19 are arranged on quiet flat
Below the middle part of platform, connecting rod 110, rotating disk 111 and leading screw base 112 are additionally provided between moving platform and silent flatform；
Deflection mechanism includes beat motor 16, ball-screw 18, slider nut 19, connecting rod 110, rotating disk 111, universal joint a
14 and universal joint b 15, the wherein drive connection ball-screw 18 of beat motor 16 (can specifically pass through the He of a pair of engaged gears 113
Gear 114), slider nut 19 is used as drive rod successively drive connection connecting rod 110, the rotating disk 111, (Hes of rotating disk 111 of universal joint a 14
Universal joint a 14 is used as crank) and universal joint b 15 so as to constitute slider-crank mechanism in plane, propeller is adjusted with this and existed
Deflection in plane.Around central axis beat motion occurs for universal joint a 14, and the afterbody propeller connected firmly thereon is also accordingly sent out
Raw beat motion, deflection angle scope for example may be about 0 °~45 °；
Slew gear includes turning motor 17, leading screw base 112, ball-screw 18, slider nut 19, connecting rod 110, rotating disk
111st, universal joint a 14 and universal joint b 15, the wherein drive connection leading screw base 112 of turning motor 17 (can specifically pass through a pair
Meshing gear 115 and gear 116), it is leading screw base 112, ball-screw 18, slider nut 19, connecting rod 110, rotating disk 111, universal
Save a 14 and the Special composition multi-bar linkages of universal joint b 15.
In the present embodiment, when the driving leading screw of turning motor 17 base 112 is rotated, while driving slider nut 19, connecting rod
110th, rotating disk 111 does space gyration around central axis, and axis of the rotating disk 111 also around universal joint itself rotates (i.e. empty
Between five bars move), rotation of the universal joint in space omnidirectional is realized with this, the afterbody propeller connected firmly thereon is also achieved that
In the rotation of space omnidirectional.In view of doing when gyration, slider nut 19 can have relative fortune along ball-screw 18
It is dynamic, cause the angle of propeller 12 to change (motion for carrying out deflection mechanism), ball-screw 18 also will be around the axis of itself
The space gyration of equal angular is done, to make up this change.
Further, in above-mentioned slider-crank mechanism, it is contemplated that slider nut 19 is dead to prevent as drive rod
Point position, connecting rod 110 is preferably designed to angled with the central axis of whole vector propulsion mechanism at the very start.In addition,
For convenience of the movement of guide shoe nut 19, it is also provided with being used to lead around ball-screw 18 on leading screw base 112
Rail 117.
Fig. 3 is the principle sketch of the present embodiment.P is prismatic pair, represents the relative shifting of slider nut 19 and ball-screw 18
It is dynamic.R1、R2、R3、R4、UR5、UR6It is 6 revolute pairs of mechanism, wherein U respectivelyR5、UR6Two revolute pairs under U pairs can be equivalent to.
R1It is revolute pair of the slider nut 19 around axis of rotation；R2It is the revolute pair that slider nut 19 and connecting rod 110 are constituted；R3It is connecting rod
110 and rotating disk 111 constitute revolute pair；R4It is the revolute pair that rotating disk 111 is constituted with universal joint.Universal joint a 14 and b 15, ten thousand
U has been separately constituted to section b 15 and support 10R5、UR6Two revolute pairs.
Deflection mechanism includes the slider-crank mechanism in a plane, i.e. PR2R3UR5Movement branched chain.Beat motor driving one
To meshing gear, transmitted motion to by prismatic pair P on slider nut 19, slider nut 19 passes through revolute pair R2Drive link
110 rotate, and connecting rod 110 passes through revolute pair R again3Driving rotating disk 111 is with universal joint (being used as an entirety) around revolute pair UR5Rotate.
Slew gear is a R1R4U movement branched chains.Turning motor 17 is by driving a pair of engaged gears to drive leading screw base
Revolute pair R at 1121Rotate, slider nut 19, connecting rod 110 and rotating disk 111 as an entirety around center axis thereof,
And pass through revolute pair R in the other end4Rotation make the U secondary motions on universal joint a 14, realize two, the space free degree (full side
Position) rotation.
Embodiment two：
As shown in figs. 4-7, the present embodiment two has more similarity with embodiment one.Wherein, universal joint includes universal joint a
14 ' and the universal joint b 15 ' that is hinged with universal joint a 14 ', propulsion electric machine 13 ' is arranged on universal joint a 14 ', universal joint b
15 ' are hinged in the middle part of the lower section of support 10 '；So, propeller rotary motion transmission mechanism includes propulsion electric machine 14, propeller
17th, universal joint a 14 ' etc..Propulsion electric machine 13 ' is placed on universal joint a 14 ', it is possible to will be moved by a pair of engaged gears
It is delivered on propeller.
It is provided with the middle part of beat motor 16 ' and turning motor 17 ', silent flatform and is provided with by beat motor on silent flatform
The first annular connectors 210 ' (can specifically be driven by a pair of engaged gears 113 ' and gear 114 ') of 16 ' drivings and by
The second circular connector 212 ' that turning motor 17 ' drives (specifically can by a pair of engaged gears 115 ' and gear 116 ' come
Driving, first annular connector 210 ' can be set through the second circular connector 212 '), ball-screw 18 ' and sliding block spiral shell
Mother 19 ' is arranged on below the middle part of silent flatform, and the upper end of ball-screw 18 ' is provided with U-shaped connector 213 '；
Connected between first annular connector 210 ' and U-shaped connector 213 ' by cross coupler 214 ', so that the
Inner gimbal c is formed between one circular connector 210 ' and cross coupler 214 ', and is connected in cross coupler 214 ' and U-shaped
Inner gimbal d is formed between fitting 213 '；A pair of bar shaped connectors 215 ' of side connection of second circular connector 212 '
One end, the other end of a pair of bar shaped connectors 215 ' is provided with a countershaft 216 ', and the both sides of slider nut 19 ' are provided with being somebody's turn to do
The chute that one countershaft 216 ' is engaged；
The lower end of slider nut 19 ' is sequentially connected rotating disk 111 ' and universal joint a 14 '；
Deflection mechanism include beat motor 17 ', first annular connector 210 ', ball-screw 18 ', slider nut 19 ', turn
Disk 111 ', universal joint a 14 ' and universal joint b 15 ', wherein slider nut 19 ', rotating disk 111 ', universal joint a 14 ' and universal joint b
15 ' constitute slider-crank mechanism；Beat motor 17 ' drives first annular connector 210 ' to rotate, so that ball-screw 18 ' turns
Dynamic, the driving counter ball of slider nut 19 ' leading screw 18 ' is mobile, and rotating disk 111 ', universal joint a 14 ' (being used as an entirety) occur
Deflection, finally deflects propeller 12 '.
Slew gear includes turning motor 17 ', the second circular connector 212 ', a pair of bar shaped connectors 215 ', sliding block spiral shells
Mother 19 ', rotating disk 111 ', universal joint a 14 ' and universal joint b 15 ', wherein the second circular connector 212 ', a pair of bar shaped connectors
215 ', slider nut 19 ', rotating disk 111 ', universal joint a 14 ' and the Special composition multi-bar linkages of universal joint b 15 '.Turning motor
When 17 ' the second circular connectors 212 ' of driving are rotated, then pass through a pair of bar shaped connectors 215 ', the driving slider nuts of rotating shaft 216 '
19 ' rotate, and make universal joint a 14 ' in the rotation of 360 ° of space finally by rotating disk 111 ', so as to change pushing away for the face of being placed on it
The direction of stepper motor 13 ' and propeller 12 '.Slew gear is when gyration is done, and slider nut 19 ' can be around ball
Leading screw 18 ' is rotated, therefore to make up this change, it is necessary to which beat motor 16 ' drives first annular connector 210 ' to drive rolling
Ballscrew 18 ' does the gyration of equal angular.
For convenience of the direction for adjusting propeller 12 ', it is preferred that be provided with sleeve between rotating disk 111 ' and universal joint a 14 '
217 ', one end of sleeve 217 ' connects rotating disk 111 ' by revolute pair, and the other end of sleeve 217 ' is fixedly connected with universal joint a
14 ', the end of propeller 12 ' is plugged in sleeve 217 '.Further, for convenience of driving propeller 12 ', propulsion electric machine 13 '
It is preferred that by gear (being specifically as follows a pair of engaged gears 218 ' and gear 219 ') from side drive connection propeller 12 '.
Fig. 7 is the principle sketch of the present embodiment two.Wherein, R1Represent turning between first annular connector 210 ' and support
Dynamic pair；R2Represent the revolute pair between the second circular connector 212 ' and support；R3Represent slider nut 19 ' and rotating disk 111 ' it
Between revolute pair；R4It is the revolute pair between rotating disk 111 ' and sleeve 217 '；P is between ball-screw 18 ' and slider nut 19 '
Revolute pair；U1It is the U pairs between first annular connector 210 ' and ball-screw 18 '；U2It is universal joint a 14 ' and universal joint b
U pairs between 15 '.
Turning motor 17 ' drives the second circular connector 212 ' to rotate by a pair of external gear pumps, a pair of bar shapeds connection
Part 215 ', slider nut 19 ', rotating disk 111 ' and rotating shaft 216 ' are in the lump in revolute pair R4Rotate, a pair of bar shaped connectors 215 ', the
Second ring connector 212 ' is therewith in universal joint secondary U2Locate the rotation of 360 ° of space.
Beat motor 16 ' drives the revolute pair R at the first annular place of connector 210 ' by a pair of external gear pumps1Motion,
Pass through universal joint secondary U again1The prismatic pair P of slider nut 19 ' is moved, and by revolute pair R3Rotate, sleeve 217 ' and universal joint
A 14 ' is deflected in universal joint pair therewith.Deflection angle scope for example may be about 0 °~45 °.
Embodiment three：
As seen in figs. 8-10, in the present embodiment, afterbody propeller also includes motor box 310 ", and propulsion electric machine is located at motor box
In 310 "；
The intermediate plate 32 " of C-shaped is provided between disk 11 " and the bottom of support 10 ", the lower surface of intermediate plate 32 " is provided with
Cylindrical protrusions, cylindrical protrusions are plugged in the suitable circular through-hole of the lower shape of support 10 ", and both form a rotation
It is secondary；The lower inside of intermediate plate 32 " is provided with rotating shaft 311 ", and the lower end of motor box 310 " is hinged in rotating shaft 311 "；Cylinder
Being hinged between raised and cooperation, motor box 310 " and the intermediate plate 32 " of circular through-hole was collectively forming as the universal of moving platform
Section；
The lower end of motor box 310 ", the lower end of intermediate plate 32 " are provided with for opening that the end of propeller 12 " is passed through
Mouthful；
So, propeller rotary motion transmission mechanism includes motor box 310 ", propulsion electric machine 13 ", propeller 12 " etc..Push away
Stepper motor 13 " is fixed on the inside of motor box 310 ", and the composition afterbody propeller that is connected with propeller 12 ", directly will motion transmission
To propeller 12 " above.The change in afterbody propeller direction is realized by the change in the direction of motor box 310 ".
Beat motor 16 " and turning motor 17 " are provided with silent flatform, ball-screw 18 " and slider nut 19 " are arranged on
Below the middle part of silent flatform, connecting rod 110 " and leading screw base 112 ", leading screw base are additionally provided between moving platform and silent flatform
112 " are located at the middle part of intermediate plate 32 "；
Deflection mechanism include beat motor 16 ", ball-screw 18 ", slider nut 19 ", connecting rod 110 ", motor box 310 " and
Universal joint, wherein the drive connection ball-screw 18 " of beat motor 16 ", slider nut 19 " connect as drive rod successively drive connection
Bar 110 ", motor box 310 " and universal joint are so as to constitute slider-crank mechanism；So, beat motor 16 " transmits motion to rolling
Ballscrew 18 " (specifically can be by a pair of engaged gears 113 " and 114 ").Ball-screw 18 ", connecting rod 110 " and motor box
310 " constitute slider-crank mechanism.Slider nut 19 ", which is used as to be driven through, makes motor box 310 " occur beat.
Slew gear includes turning motor 17 ", intermediate plate 32 ", leading screw base 112 ", ball-screw 18 ", slider nut
19 ", the upper end of connecting rod 110 " and universal joint, the wherein drive connection of turning motor 17 " intermediate plate 32 ", intermediate plate 32 ", leading screw bottom
Seat 112 ", ball-screw 18 ", slider nut 19 ", connecting rod 110 " and universal joint Special composition multi-bar linkage.
So, turning motor 17 " transmit rotary movement on intermediate plate 32 " (specifically can by gear 115 " and
116 ") slider nut 19 ", connecting rod 110 ", motor box 310 ", ball-screw 18 ", the motor box, and on intermediate plate 32 " placed
310 ", propulsion electric machine 13 ", propeller 12 " etc. realize rotation together.
Because slider nut 19 " is as driving, to avoid occurring dead point, setting at the beginning in this slider-crank mechanism
Connecting rod 110 " is not just on central axis, i.e. connecting rod 110 " and the central axis of whole vector propulsion mechanism is angled；Separately
Outside, for convenience of the movement of guide shoe nut 19 ", guide rail is additionally provided with around ball-screw 18 " on leading screw base 112 "
312”。
Fig. 9 is the structural representation of intermediate plate 32 ".There is the rotation of ball-screw 18 " at wherein A；There is intermediate plate 32 " at B
Rotation；There is placement guide rail 312 " at C；D places ball-screw 18 "；It is motor box 310 " and turning that intermediate plate 32 " is constituted at E
Dynamic pair；Cylinder is shaped as at F, a revolute pair is constituted with support 10 ".
Figure 10 is the principle sketch of embodiment three.Wherein, R1 is the rotation of intermediate plate 32 " and support 10 " in upper and lower ends
It is secondary；R2, R3 are the revolute pair that connecting rod 110 " is constituted with slider nut 19 " and motor box 310 " respectively；R4Motor box 310 " with
The revolute pair that intermediate plate 32 " is constituted.P is the prismatic pair that slider nut 19 " is constituted with guide rail 312 ".
Turning motor 17 " can be driven by a pair of external gear pumps intermediate plates 32 " around central axis the R at two1Do
360 ° of gyrations, change the direction of afterbody propeller with this.
Slider nut 19 ", connecting rod 110 ", motor box 310 " and guide rail 312 " (being used as frame) are a slider-crank mechanisms
Mechanism.Beat motor 16 " drives slider nut 19 " mobile by a pair of external gear pumps, so that drive link 110 ", motor box
310 " in R2、R3、R4Revolute pair is rotated at three, motor box 310 " is deflected with this, the deflection of afterbody propeller.Deflection angle
Scope for example may be about 0 °~45 °.
On the other hand, the present invention provides a kind of submarine navigation device, as shown in figure 11, including above-mentioned whole deflection propellers
Vector propulsion mechanism.Wherein, 41 be ROV body, and 42 be handle, and 43 be chassis, and 44 be vector propulsion device, and 45 be support
Frame.Due to all deflection propeller vector propulsion mechanisms structures with it is upper identical, here is omitted.
To sum up, the present invention changes the spatial movement posture of propeller using all deflection propeller vector propulsion mechanisms,
It is achieved thereby that the adjustment of the spatial attitude such as deflection and pitching of underwater robot action；All deflect propeller vector pusher
The application of structure, it is to avoid partially deflected screw propeller is complicated, bulky problem；The vector propulsion mechanism is at three
Under the Collaborative Control of servomotor, accurate control can be realized, while fast response time, realizes the motion of unit structure multi-pose
Function, eliminates the complicated supplementary structure configuration such as fin rudder, makes the structure of underwater robot compacter；The tail that the present invention is used
Portion's propeller is fixed on universal joint this platform, propeller, propulsion electric machine have install, change, it is easy to maintenance simple excellent
Point；The mechanism, which can singly cover, simultaneously installs and uses, and has the advantages that modular applications, is easy to batch production.
Described above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, on the premise of principle of the present invention is not departed from, some improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (7)
1. a kind of deflector type vector propeller, it is characterised in that including support, is provided with as silent flatform above the support
Disk, be provided with the universal joint as moving platform below the support, wherein：
Propeller and propulsion electric machine are provided with the moving platform, the propeller is connected with propulsion electric machine constitutes afterbody propulsion
Device；
Be provided with deflection mechanism and slew gear between the moving platform and silent flatform, the deflection mechanism using ball-screw and
Slider nut coordinates transmission and drives slider-crank mechanism to drive the propeller to occur beat, institute by the slider nut
State slew gear and drive the propeller to turn round by the motion of space multi-bar linkage.
2. a kind of deflector type vector propeller according to claim 1, it is characterised in that the universal joint includes universal joint
The a and universal joint b being hinged with the universal joint a, the propulsion electric machine is arranged on the universal joint a, and the universal joint b is hinged
In the middle part of the lower section of the support；
It is provided with the middle part of beat motor and turning motor, the silent flatform and is provided with by the beat motor on the silent flatform
The first annular connector of driving and the second circular connector driven by the turning motor, ball-screw and the sliding block spiral shell
Mother is arranged on below the middle part of the silent flatform, and the upper end of the ball-screw is provided with U-shaped connector；
Connected between the first annular connector and U-shaped connector by cross coupler, second circular connector
Side connects one end of a pair of bar shaped connectors, and the other end of the pair of bar shaped connector is provided with a countershaft, the cunning
The both sides of block nut are provided with the chute being engaged with the pair of rotating shaft；
The lower end of the slider nut is sequentially connected rotating disk and universal joint a；
The deflection mechanism includes the beat motor, first annular connector, ball-screw, slider nut, rotating disk, universal joint
A and universal joint b, wherein the slider nut, rotating disk, universal joint a and universal joint b constitute the slider-crank mechanism；
The slew gear include the turning motor, the second circular connector, a pair of bar shaped connectors, slider nut, rotating disk,
Universal joint a and universal joint b, wherein second circular connector, a pair of bar shaped connectors, slider nut, rotating disk, universal joint a
The space multi-bar linkage is constituted with universal joint b.
3. a kind of deflector type vector propeller according to claim 2, it is characterised in that rotating disk and the universal joint a it
Between be provided with sleeve, one end of the sleeve connects the rotating disk by revolute pair, and the other end of the sleeve is fixedly connected with institute
Universal joint a is stated, the end of the propeller is plugged in the sleeve.
4. a kind of deflector type vector propeller according to claim 3, it is characterised in that the propulsion electric machine passes through gear
From propeller described in the drive connection of side.
5. a kind of deflector type vector propeller according to claim 1, it is characterised in that the afterbody propeller also includes
Motor box, the propulsion electric machine is located in the motor box；
The intermediate plate of C-shaped is provided between disk and the support bottom, the lower surface of the intermediate plate is provided with circular cylindrical projection
Rise, the cylindrical protrusions are plugged in the suitable circular through-hole of support lower shape, and both form a revolute pair；
The lower inside of the intermediate plate is provided with rotating shaft, and the lower end of the motor box is hinged in the rotating shaft；The circular cylindrical projection
Play being hinged between cooperation, the motor box and the intermediate plate of circular through-hole and be collectively forming and described be used as the ten thousand of moving platform
Xiang Jie；
The lower end of the motor box, the lower end of intermediate plate are provided with the opening passed through for the end of the propeller；
Beat motor and turning motor are provided with the silent flatform, the ball-screw and slider nut are arranged on described quiet flat
Below the middle part of platform, connecting rod and leading screw base are additionally provided between the moving platform and silent flatform, the leading screw base is located at institute
State the middle part of intermediate plate；
The deflection mechanism includes the beat motor, ball-screw, slider nut, connecting rod, motor box and universal joint, wherein institute
Ball-screw described in beat motor drive connection is stated, the slider nut is used as connecting rod, electricity described in drive rod successively drive connection
Machine box and universal joint are so as to constitute the slider-crank mechanism；
The slew gear includes the turning motor, intermediate plate, leading screw base, ball-screw, slider nut, connecting rod and universal
Section, wherein the upper end of intermediate plate described in the turning motor drive connection, the intermediate plate, leading screw base, ball-screw, sliding block
Nut, connecting rod and universal joint constitute the space multi-bar linkage.
6. a kind of deflector type vector propeller according to claim 5, it is characterised in that the connecting rod is pushed away with whole vector
The central axis for entering mechanism is angled；It is additionally provided with the leading screw base around the ball-screw for guiding
The guide rail of the slider nut movement.
7. a kind of submarine navigation device, it is characterised in that promoted including any described a kind of deflector type vector in claim 1-6
Device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710180989.2A CN107161309B (en) | 2016-01-18 | 2016-01-18 | A kind of deflector type vector propeller and submarine navigation device |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610028766.XA CN105501422B (en) | 2016-01-18 | 2016-01-18 | All deflect propeller vector propulsion mechanism and submarine navigation device |
| CN201710180989.2A CN107161309B (en) | 2016-01-18 | 2016-01-18 | A kind of deflector type vector propeller and submarine navigation device |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610028766.XA Division CN105501422B (en) | 2016-01-18 | 2016-01-18 | All deflect propeller vector propulsion mechanism and submarine navigation device |
Publications (2)
| Publication Number | Publication Date |
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| CN107161309A true CN107161309A (en) | 2017-09-15 |
| CN107161309B CN107161309B (en) | 2019-02-22 |
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| CN201610028766.XA Expired - Fee Related CN105501422B (en) | 2016-01-18 | 2016-01-18 | All deflect propeller vector propulsion mechanism and submarine navigation device |
| CN201710180989.2A Expired - Fee Related CN107161309B (en) | 2016-01-18 | 2016-01-18 | A kind of deflector type vector propeller and submarine navigation device |
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| CN201610028766.XA Expired - Fee Related CN105501422B (en) | 2016-01-18 | 2016-01-18 | All deflect propeller vector propulsion mechanism and submarine navigation device |
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| CN108045538A (en) * | 2017-12-07 | 2018-05-18 | 浙江海洋大学 | A kind of new energy ship of high flexibility |
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| CN110481739A (en) * | 2019-09-03 | 2019-11-22 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Deep-sea all-rotation thrust unit |
| CN110539865A (en) * | 2019-09-19 | 2019-12-06 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | ROV coordinated type vector adjustment propulsion system |
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| CN108045538A (en) * | 2017-12-07 | 2018-05-18 | 浙江海洋大学 | A kind of new energy ship of high flexibility |
| CN108045538B (en) * | 2017-12-07 | 2019-11-05 | 浙江海洋大学 | A kind of new energy ship of high flexibility |
| CN110155288A (en) * | 2019-05-13 | 2019-08-23 | 姬臣兴 | A kind of orientation power device |
| CN110155288B (en) * | 2019-05-13 | 2020-12-15 | 姬臣兴 | Directional power device |
| CN110481739B (en) * | 2019-09-03 | 2020-12-01 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Deep sea full-rotation propelling device |
| CN110481739A (en) * | 2019-09-03 | 2019-11-22 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Deep-sea all-rotation thrust unit |
| CN110539865A (en) * | 2019-09-19 | 2019-12-06 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | ROV coordinated type vector adjustment propulsion system |
| CN110953443A (en) * | 2019-11-15 | 2020-04-03 | 北京机械设备研究所 | Miniature sonar two-degree-of-freedom servo mechanism based on crank-slider mechanism |
| CN110953443B (en) * | 2019-11-15 | 2021-05-04 | 北京机械设备研究所 | Miniature sonar two-degree-of-freedom servo mechanism based on crank-slider mechanism |
| CN112554264A (en) * | 2020-12-04 | 2021-03-26 | 王成双 | Pond rubbish cleaning equipment |
| CN112572742A (en) * | 2020-12-21 | 2021-03-30 | 中国船舶重工集团有限公司第七一0研究所 | Underwater propeller vector deflection device based on shape memory alloy driver |
| CN112722224A (en) * | 2021-01-22 | 2021-04-30 | 燕山大学 | Over-constrained double-branch two-rotating spherical parallel vector propeller |
| CN113697078A (en) * | 2021-09-26 | 2021-11-26 | 河北科技师范学院 | Underwater robot |
| CN113697078B (en) * | 2021-09-26 | 2022-06-07 | 河北科技师范学院 | Underwater robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107161309B (en) | 2019-02-22 |
| CN105501422B (en) | 2017-06-23 |
| CN105501422A (en) | 2016-04-20 |
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