CN107161309B - 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 PDF

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Publication number
CN107161309B
CN107161309B CN201710180989.2A CN201710180989A CN107161309B CN 107161309 B CN107161309 B CN 107161309B CN 201710180989 A CN201710180989 A CN 201710180989A CN 107161309 B CN107161309 B CN 107161309B
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China
Prior art keywords
propeller
universal joint
deflection
pair
turntable
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CN201710180989.2A
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Chinese (zh)
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CN107161309A (en
Inventor
陈原
翟龙迎
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Shandong University
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Shandong University
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Priority to CN201710180989.2A priority Critical patent/CN107161309B/en
Priority to CN201610028766.XA priority patent/CN105501422B/en
Publication of CN107161309A publication Critical patent/CN107161309A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63HMARINE PROPULSION OR STEERING
    • B63H5/00Arrangements on vessels of propulsion elements directly acting on water
    • B63H5/07Arrangements on vessels of propulsion elements directly acting on water of propellers
    • B63H5/125Arrangements 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63CLAUNCHING, 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
    • B63C11/00Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52Tools specially adapted for working underwater, not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63HMARINE PROPULSION OR STEERING
    • B63H21/00Use of propulsion power plant or units on vessels
    • B63H21/12Use of propulsion power plant or units on vessels the vessels being motor-driven
    • B63H21/17Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor

Abstract

The invention discloses a kind of deflector type vector propeller and with the submarine navigation device of the propeller, belong to submarine navigation device technical field.A kind of deflector type vector propeller includes bracket, the disk as silent flatform is provided with above the bracket, the universal joint as moving platform is provided with below the bracket, wherein: propeller and propulsion electric machine are provided on the moving platform, the propeller is connected with propulsion electric machine constitutes tail portion propeller;Deflection mechanism and swing mechanism are provided between the moving platform and silent flatform.The present invention is synthesized by the movement of deflection mechanism and swing mechanism two relatively independent or completely self-contained kinematic chains, and the all-direction rotation under any deflection angle may be implemented in tail portion propeller.It is facilitated with installation, easy to control, the features such as low speed steering behaviour is good.

Description

A kind of deflector type vector propeller and submarine navigation device
The application is division, the applying date of original application: 2016.01.18, application number: 201610028766X, innovation and creation Title: all deflection 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 technique
The development work of China's underwater robot is still in infancy at present.Although having developed some products, Still there is very long a 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 seemed be increasingly urgent to.
Underwater robot mostly uses screw propeller as propulsion device at present.One one-dimensional screw propeller can only Generate a direction, the propulsive force that size can be changed, and when robot needs to carry out multiple directions guiding maneuvering motion, for example bow It faces upward and deflects, it is necessary to multiple one-dimensional screw propellers are installed to generate multi-dimensional direction propulsive force.With general one-dimensional propeller Propeller is different, and vector propeller is other than it can provide advance, retreat propulsive force, moreover it is possible to be oriented to manipulation task need according to robot The propulsive force generated on multi-dimensional direction is sought, the steering capability of underwater robot and positioning energy when can greatly improve lowsteaming Power.The installation form of multiple screw propellers destroys the structural continuity of aircraft, and the structure for reducing aircraft is strong Degree, increases aircraft weight, increases cost, while also limited to the arrangement inside aircraft.
It is to change thrust side by changing entire propulsion system direction in conjunction with the screw propeller of Thrust Vectoring Technology To.It can be divided into two kinds, partially deflected (propeller) mode and all 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 single machine structure multidimensional pose adjustment.
Summary 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 devices, 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 solution is as follows:
On the one hand, a kind of all deflection propeller vector propulsion mechanisms, including bracket, the top setting of the bracket are provided There is the disk as silent flatform, be provided with the universal joint as moving platform below the bracket, in which:
It is provided with propeller and propulsion electric machine on the moving platform, the propeller is connected with propulsion electric machine to be constituted tail portion and push away Into device;
Deflection mechanism and swing mechanism are provided between the moving platform and silent flatform, the deflection mechanism uses ball wire Thick stick and slider nut cooperation transmission simultaneously drive slider-crank mechanism by the slider nut to drive the propeller to occur partially Pendulum, the swing mechanism drive the propeller to turn round by the movement of space multi-bar linkage.
On the other hand, a kind of submarine navigation device is provided, including above-mentioned whole deflection propeller vector propulsion mechanisms.
The invention has the following advantages:
In the present invention, all deflecting propeller vector propulsion mechanism includes moving platform and silent flatform.It is provided on moving platform Propeller and propulsion electric machine, propeller is connected with propulsion electric machine constitutes tail portion propeller, and propulsion electric machine is fixed on moving platform, directly Transmit rotary movement to propeller.Silent flatform is disk, and it is deflection mechanism respectively that silent flatform, which includes two groups of movement branched chains, And swing mechanism.Two groups of movement branched chains and tail portion propeller collectively form Three Degree Of Freedom all deflection propeller vector pushers Structure.In deflection mechanism, the movement 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 swing mechanism, a kind of movement of space multi-bar linkage, and one kind are applied in universal joint The technology of tail portion propeller is installed above.By the cooperative movement of deflection mechanism and swing mechanism, universal joint is realized in space Comprehensive rotation connects firmly tail portion propeller thereon and is also achieved that rotation in space omnidirectional.
The present invention changes the spatial movement posture of propeller using all deflection propeller vector propulsion mechanisms, thus real The adjustment of the spatial attitudes such as deflection and the pitching of underwater robot movement is showed;All deflect answering for propeller vector propulsion mechanism With avoiding partially deflected screw propeller, structure is complicated, bulky problem;The vector propulsion mechanism is in three servo electricity Under the Collaborative Control of machine, it can be realized accurate control, while fast response time, realize the motor function of single machine structure multi-pose, The supplementary structure configuration for eliminating the complexity such as fin rudder, keeps the structure of underwater robot more compact;The tail portion that the present invention uses pushes away It is fixed on this platform of universal joint into device, propeller, propulsion electric machine have the advantages that installation, replace, is easy to maintenance simple;Together When the mechanism can singly cover and install and use, have many advantages, such as modular applications, convenient for batch production.
Detailed description of the invention
Fig. 1 is the general structure schematic diagram of whole deflection propeller vector propulsion mechanism embodiments one of the invention;
Fig. 2 is the partial structure diagram of embodiment illustrated in fig. 1 one;
Fig. 3 is the principle sketch of embodiment illustrated in fig. 1 one;
Fig. 4 is the general structure schematic diagram one of whole deflection propeller vector propulsion mechanism embodiments two of the invention;
Fig. 5 is the general structure schematic diagram two of embodiment illustrated in fig. 4 two;
Fig. 6 is the partial structure diagram of embodiment illustrated in fig. 4 two;
Fig. 7 is the principle sketch of embodiment illustrated in fig. 4 two;
Fig. 8 is the general structure schematic diagram of whole deflection propeller vector propulsion mechanism embodiments three of the invention;
Fig. 9 is the partial structure 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 schematic diagram of submarine navigation device of the invention.
Specific embodiment
To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached 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 bracket 10,10 ', 10 ", be provided with disk 11 as silent flatform, 11 ', 11 " above bracket 10,10 ', 10 ", bracket 10,10 ', The universal joint as moving platform is provided with below 10 ", in which:
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 tail portion propeller;
Deflection mechanism and swing mechanism are provided between moving platform and silent flatform, deflection mechanism uses ball-screw and sliding block Nut cooperation transmission simultaneously drives slider-crank mechanism by slider nut to drive propeller 12,12 ', 12 " that beat, revolution occurs Mechanism drives propeller 12,12 ', 12 " to turn round by the movement of space multi-bar linkage.
In the present invention, all deflecting propeller vector propulsion mechanism includes moving platform and silent flatform.It is provided on moving platform Propeller and propulsion electric machine, propeller is connected with propulsion electric machine constitutes tail portion propeller, and propulsion electric machine is fixed on moving platform, directly Transmit rotary movement to propeller.Silent flatform is disk, and it is deflection mechanism respectively that silent flatform, which includes two groups of movement branched chains, And swing mechanism.Two groups of movement branched chains and tail portion propeller collectively form Three Degree Of Freedom all deflection propeller vector pushers Structure.In deflection mechanism, the movement 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 swing mechanism, a kind of movement of space multi-bar linkage, and one kind are applied in universal joint The technology of tail portion propeller is installed above.By the cooperative movement of deflection mechanism and swing mechanism, universal joint is realized in space Comprehensive rotation connects firmly tail portion propeller thereon and is also achieved that rotation in space omnidirectional.
The present invention changes the spatial movement posture of propeller using all deflection propeller vector propulsion mechanisms, thus real The adjustment of the spatial attitudes such as deflection and the pitching of underwater robot movement is showed;All deflect answering for propeller vector propulsion mechanism With avoiding partially deflected screw propeller, structure is complicated, bulky problem;The vector propulsion mechanism is in three servo electricity Under the Collaborative Control of machine, it can be realized accurate control, while fast response time, realize the motor function of single machine structure multi-pose, The supplementary structure configuration for eliminating the complexity such as fin rudder, keeps the structure of underwater robot more compact;The tail portion that the present invention uses pushes away It is fixed on this platform of universal joint into device, propeller, propulsion electric machine have the advantages that installation, replace, is easy to maintenance simple;Together When the mechanism can singly cover and install and use, have many advantages, such as modular applications, convenient for batch production.
Technical solution of the present invention is described in detail with three specific embodiments below.
It should be noted that three embodiments of the invention include propeller rotary motion transmission mechanism, deflection mechanism, Swing mechanism.Propeller is connected with propulsion electric machine constitutes tail portion propeller.Propeller rotary motion transmission mechanism is to pass through installation In the tail portion propeller on universal joint, propulsive force is provided for underwater robot.Deflection mechanism mainly realizes propeller around central axis Beat movement in line plane.After beat certain angle, swing mechanism can be such that propeller realizes around central axis in space Comprehensive rotation.By the movement of both mechanisms, it can make the rotation axis of propeller at some position of space, thus Realize the variation of the direction of propulsion of propeller.The present invention makes tail by the movement synthesis of this two transmission chains of beat and revolution Portion's propeller realizes the all-direction rotation under any deflection angle.
Embodiment one:
As shown in Figure 1-3, universal joint includes universal joint a 14 and the universal joint hinged with universal joint a 14 in the present embodiment B 15, propulsion electric machine 13 are arranged on universal joint a 14, and universal joint b 15 is hinged in the middle part of the lower section of bracket 10;In this way, spiral Paddle rotary motion transmission mechanism includes propulsion electric machine 13, propeller 12 etc..Propeller 12 is connected with propulsion electric machine 13 constitutes tail portion Propeller is fixed on external universal joint a 14.Propulsion electric machine 13 directly communicates rotational motion to propeller 12, it is made to generate rotation Transhipment is dynamic, provides propulsive force for underwater robot.Tail portion propeller is using universal joint a 14 as platform, by described below inclined Swinging mechanism and swing mechanism realize the rotation in space omnidirectional.
Beat motor 16 and turning motor 17 are provided on silent flatform, ball-screw 18 and the setting of slider nut 19 are quiet flat Below the middle part of platform, connecting rod 110, turntable 111 and lead screw pedestal 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, turntable 111, universal joint a 14 and universal joint b 15, wherein beat motor 16, which is drivingly connected ball-screw 18, (can specifically pass through 113 He of a pair of engaged gears Gear 114), slider nut 19 is successively drivingly connected connecting rod 110, turntable 111, (111 He of turntable of universal joint a 14 as drive rod Universal joint a 14 is as crank) and universal joint b 15 to constitute slider-crank mechanism in plane, propeller is adjusted with this and is existed Deflection in plane.Around central axis beat movement occurs for universal joint a 14, and the tail portion propeller connected firmly thereon is also accordingly sent out Raw beat movement, deflection angle range for example may be about 0 °~45 °;
Swing mechanism includes turning motor 17, lead screw pedestal 112, ball-screw 18, slider nut 19, connecting rod 110, turntable 111, universal joint a 14 and universal joint b 15, wherein turning motor 17, which is drivingly connected lead screw pedestal 112, (can specifically pass through a pair Meshing gear 115 and gear 116), it is lead screw pedestal 112, ball-screw 18, slider nut 19, connecting rod 110, turntable 111, universal It saves a 14 and universal joint b 15 and constitutes space multi-bar linkage.
In the present embodiment, when turning motor 17 drives lead screw pedestal 112 to rotate, while slider nut 19, connecting rod are driven 110, turntable 111 does space rotary motion around central axis, and turntable 111 itself is also (i.e. empty around the axis rotation of universal joint Between five bars move), universal joint is realized in the rotation of space omnidirectional with this, the tail portion propeller connected firmly thereon is also achieved that In the rotation of space omnidirectional.When in view of doing rotary motion, slider nut 19 can have opposite fortune along ball-screw 18 It is dynamic, cause 12 angle of propeller to change and (carry out the movement of deflection mechanism), ball-screw 18 also will be around axis itself The space rotary motion of equal angular is done, to make up this variation.
Further, in above-mentioned slider-crank mechanism, it is contemplated that slider nut 19 is used as drive rod, dead to prevent Point position, connecting rod 110 is preferably designed to angled with the central axis of entire vector propulsion mechanism at the very start.In addition, For convenience of the movement of guide shoe nut 19, it is also provided with around ball-screw 18 for leading on lead screw pedestal 112 Rail 117.
Fig. 3 is the principle sketch of the present embodiment.P is prismatic pair, indicates the opposite shifting of slider nut 19 and ball-screw 18 It is dynamic.R1、R2、R3、R4、UR5、UR6It is 6 revolute pairs of mechanism respectively, wherein UR5、UR6Two revolute pairs that can be equivalent under U pair. 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 form;R3It is connecting rod 110 and turntable 111 form revolute pair;R4It is the revolute pair of turntable 111 and universal joint composition.Universal joint a 14 and b 15, ten thousand U has been separately constituted to section b 15 and bracket 10R5、UR6Two revolute pairs.
Deflection mechanism includes the slider-crank mechanism in a plane, i.e. PR2R3UR5Movement branched chain.Beat motor driven one It to meshing gear, is transmitted motion on slider nut 19 by prismatic pair P, slider nut 19 passes through revolute pair R2Drive link 110 rotations, connecting rod 110 pass through revolute pair R again3Drive turntable 111 and universal joint (as a whole) around revolute pair UR5Rotation.
Swing mechanism is a R1R4U movement branched chain.Turning motor 17 drives lead screw pedestal by driving a pair of engaged gears Revolute pair R at 1121Rotation, slider nut 19, connecting rod 110 and turntable 111 as a whole around center axis thereof, And pass through revolute pair R in the other end4Rotation make the U secondary motion on universal joint a 14, realize two, space freedom degree (full side Position) rotation.
Embodiment two:
As shown in figs. 4-7, the present embodiment two and embodiment one have more similarity.Wherein, universal joint includes universal joint a 14 ' and the universal joint b 15 ' hinged with universal joint a 14 ', propulsion electric machine 13 ' are arranged on universal joint a 14 ', universal joint b 15 ' are hinged in the middle part of the lower section of bracket 10 ';In this way, propeller rotary motion transmission mechanism includes propulsion electric machine 14, propeller 17, universal joint a 14 ' etc..Propulsion electric machine 13 ' is placed on universal joint a 14 ', and can will be moved by a pair of engaged gears It is transmitted on propeller.
It is provided with beat motor 16 ' and turning motor 17 ' on silent flatform, is provided in the middle part of silent flatform by beat motor 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 pass through the second circular connector 212 ' and be arranged), ball-screw 18 ' and sliding block spiral shell Mother 19 ' is arranged in below the middle part of silent flatform, and the upper end of ball-screw 18 ' is provided with U-shaped connector 213 ';
It is connected between first annular connector 210 ' and U-shaped connector 213 ' by cross coupler 214 ', thus 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 ';The side of second circular connector 212 ' connects a pair of of bar shaped connector 215 ' One end, the other end of a pair of of bar shaped connector 215 ' are provided with a pair of of shaft 216 ', and the two sides of slider nut 19 ' are provided with and are somebody's turn to do The sliding slot that a pair of of shaft 216 ' matches;
The lower end of slider nut 19 ' is sequentially connected turntable 111 ' and universal joint a 14 ';
Deflection mechanism includes beat motor 17 ', first annular connector 210 ', ball-screw 18 ', slider nut 19 ', turns Disk 111 ', universal joint a 14 ' and universal joint b 15 ', wherein slider nut 19 ', turntable 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 ' be made to turn Dynamic, driving 19 ' counter ball lead screw 18 ' of slider nut is mobile, and turntable 111 ', universal joint a 14 ' (as a whole) occur Deflection finally deflects propeller 12 '.
Swing mechanism includes turning motor 17 ', the second circular connector 212 ', a pair of of bar shaped connector 215 ', sliding block spiral shell Mother 19 ', turntable 111 ', universal joint a 14 ' and universal joint b 15 ', wherein the second circular connector 212 ', a pair of of bar shaped connector 215 ', slider nut 19 ', turntable 111 ', universal joint a 14 ' and universal joint b 15 ' constitute space multi-bar linkage.Turning motor When 17 ' driving the second circular connector 212 ' rotation, then pass through a pair of of bar shaped connector 215 ', the driving slider nut of shaft 216 ' 19 ' rotations make universal joint a 14 ' in the rotation of 360 ° of space, to change pushing away for the face that is placed on it finally by turntable 111 ' Into the direction of motor 13 ' and propeller 12 '.For swing mechanism when doing rotary motion, slider nut 19 ' can be around ball Lead screw 18 ' rotates, therefore to make up this variation, beat motor 16 ' is needed to drive first annular connector 210 ' to drive rolling Ballscrew 18 ' does the rotary motion of equal angular.
For convenience of the direction for adjusting propeller 12 ', it is preferred that be provided with sleeve between turntable 111 ' and universal joint a 14 ' 217 ', one end of sleeve 217 ' connects turntable 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 being drivingly connected propeller 12 ' from side by gear (being specifically as follows a pair of engaged gears 218 ' and gear 219 ').
Fig. 7 is the principle sketch of the present embodiment two.Wherein, R1It indicates to turn between first annular connector 210 ' and bracket Dynamic pair;R2Indicate the revolute pair between the second circular connector 212 ' and bracket;R3Indicate slider nut 19 ' and turntable 111 ' it Between revolute pair;R4It is the revolute pair between turntable 111 ' and sleeve 217 ';P is between ball-screw 18 ' and slider nut 19 ' Revolute pair;U1It is the U pair between first annular connector 210 ' and ball-screw 18 ';U2It is universal joint a 14 ' and universal joint b U pair between 15 '.
Turning motor 17 ' passes through a pair of of external gear pump and drives the rotation of the second circular connector 212 ', a pair of of bar shaped connection Part 215 ', slider nut 19 ', turntable 111 ' and shaft 216 ' are together in revolute pair R4Rotation, a pair of of bar shaped connector 215 ', the Second ring connector 212 ' is therewith in universal joint secondary U2Locate the rotation of 360 ° of space.
Beat motor 16 ' passes through the revolute pair R that a pair of of external gear pump drives first annular 210 ' place of connector1Movement, Using universal joint secondary U1The prismatic pair P of slider nut 19 ' is moved, and passes through revolute pair R3Rotation, sleeve 217 ' and universal joint A 14 ' is deflected in universal joint pair therewith.Deflection angle range for example may be about 0 °~45 °.
Embodiment three:
As seen in figs. 8-10, in the present embodiment, tail portion propeller further 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 10 " lower part of disk 11 " and bracket, the lower end surface of intermediate plate 32 " is provided with Cylindrical protrusions, cylindrical protrusions are plugged in the suitable circular through-hole of 10 " lower shape of bracket, and the two forms a rotation It is secondary;The lower inside of intermediate plate 32 " is provided with shaft 311 ", and the lower end of motor box 310 " is hinged in shaft 311 ";It is cylindrical Being hingedly collectively formed as the universal of moving platform between raised and circular through-hole cooperation, motor box 310 " and intermediate plate 32 " Section;
The lower end of motor box 310 ", the lower end of intermediate plate 32 " are provided with opens for what the end of propeller 12 " passed through Mouthful;
In this way, propeller rotary motion transmission mechanism includes motor box 310 ", propulsion electric machine 13 ", propeller 12 " etc..It pushes away It is fixed on 310 " the inside of motor box into motor 13 ", and is connected with propeller 12 " and constitutes tail portion propeller, directly transmits movement Above to propeller 12 ".The change in tail portion propeller direction is realized by the change in 310 " direction of motor box.
Beat motor 16 " and turning motor 17 " are provided on silent flatform, ball-screw 18 " and slider nut 19 " are arranged Below the middle part of silent flatform, connecting rod 110 " and lead screw pedestal 112 ", lead screw pedestal 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 beat motor 16 " is drivingly connected ball-screw 18 ", and slider nut 19 " is used as the drive rod successively company of drive connection Bar 110 ", motor box 310 " and universal joint are to constitute slider-crank mechanism;In this way, beat motor 16 " transmits motion to rolling Ballscrew 18 " (can specifically pass through 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 " that beat occur.
Swing mechanism includes turning motor 17 ", intermediate plate 32 ", lead screw pedestal 112 ", ball-screw 18 ", slider nut 19 ", connecting rod 110 " and universal joint, wherein turning motor 17 " is drivingly connected the upper end of intermediate plate 32 ", intermediate plate 32 ", lead screw bottom Seat 112 ", ball-screw 18 ", slider nut 19 ", connecting rod 110 " and universal joint constitute space multi-bar linkage.
In this way, 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.
Since slider nut 19 " is as driving, to avoid occurring in this slider-crank mechanism dead point, being arranged at the beginning For connecting rod 110 " just not on central axis, i.e. connecting rod 110 " and the central axis of entire 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 lead screw pedestal 112 " 312”。
Fig. 9 is the structural schematic diagram of intermediate plate 32 ".Wherein there is the rotation of ball-screw 18 " at A;There is intermediate plate 32 " at B Rotation;Have at C and places guide rail 312 ";D places ball-screw 18 ";It is turn that motor box 310 " and intermediate plate 32 " are constituted at E Dynamic pair;Shape is cylinder at F, constitutes a revolute pair with bracket 10 ".
Figure 10 is the principle sketch of embodiment three.Wherein, R1 is the rotation of intermediate plate 32 " and bracket 10 " in upper and lower ends It is secondary;R2, R3 are the revolute pair that connecting rod 110 " and slider nut 19 " and motor box 310 " form respectively;R4Motor box 310 " with The revolute pair that intermediate plate 32 " forms.P is the prismatic pair that slider nut 19 " and guide rail 312 " form.
Turning motor 17 " can by a pair of of external gear pump drive intermediate plate 32 " around central axis the R at two1It does 360 ° of rotary motions, change the direction of tail portion propeller with this.
Slider nut 19 ", connecting rod 110 ", motor box 310 " and guide rail 312 " (as rack) are a slider-crank mechanisms Mechanism.Beat motor 16 " passes through a pair of of external gear pump and drives slider nut 19 " mobile, thus drive link 110 ", motor box 310 " in R2、R3、R4Revolute pair rotates at three, so that motor box 310 " is deflected with this, the deflection of tail portion propeller.Deflection angle Range 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 aircraft 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, details are not described herein again.
To sum up, the present invention changes the spatial movement posture of propeller using all deflection propeller vector propulsion mechanisms, To realize the adjustment of the spatial attitudes such as deflection and the pitching of underwater robot movement;All deflection propeller vector pushers The application of structure, avoiding partially deflected screw propeller, structure is complicated, bulky problem;The vector propulsion mechanism is at three Under the Collaborative Control of servo motor, it can be realized accurate control, while fast response time, realize the movement of single machine structure multi-pose Function eliminates the supplementary structure configuration of the complexity such as fin rudder, keeps the structure of underwater robot more compact;The tail that the present invention uses Portion's propeller is fixed on this platform of universal joint, and propeller, propulsion electric machine have installation, replace, is easy to maintenance simple excellent Point;The mechanism, which can singly cover, simultaneously installs and uses, and has many advantages, such as modular applications, convenient for batch production.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art For, without departing from the principles of the present invention, it can also make several improvements and retouch, these improvements and modifications It should be regarded as protection scope of the present invention.

Claims (4)

1. a kind of all deflection propeller vector propulsion mechanisms, which is characterized in that including bracket, be provided with above the bracket Disk as silent flatform is provided with the universal joint as moving platform below the bracket, in which:
Propeller and propulsion electric machine are provided on the moving platform, the propeller is connected with propulsion electric machine constitutes tail portion propulsion Device;
Be provided with deflection mechanism and swing mechanism between the moving platform and silent flatform, the deflection mechanism using ball-screw and Slider nut cooperation transmission simultaneously drives slider-crank mechanism by the slider nut to drive the propeller that beat, institute occurs It states swing mechanism and the propeller is driven to turn round by the movement of space multi-bar linkage;
The universal joint includes universal joint a and the universal joint b hinged with the universal joint a, and the propulsion electric machine is arranged described On universal joint a, the universal joint b is hinged in the middle part of the lower section of the bracket;
It is provided with beat motor and turning motor on the silent flatform, is provided in the middle part of the silent flatform by the beat motor The first annular connector of driving and the second circular connector driven by the turning motor, the ball-screw and sliding block spiral shell Mother is arranged in below the middle part of the silent flatform, and the upper end of the ball-screw is provided with U-shaped connector;
It is connected between the first annular connector and U-shaped connector by cross coupler, second circular connector Side connects one end of a pair of of bar shaped connector, and the other end of the pair of bar shaped connector is provided with a pair of of shaft, the cunning The two sides of block nut are provided with the sliding slot matched with the pair of shaft;
The lower end of the slider nut is sequentially connected turntable and universal joint a;
The deflection mechanism includes the beat motor, first annular connector, ball-screw, slider nut, turntable, universal joint A and universal joint b, wherein the slider nut, turntable, universal joint a and universal joint b constitute the slider-crank mechanism;
The swing mechanism include the turning motor, the second circular connector, a pair of of bar shaped connector, slider nut, turntable, Universal joint a and universal joint b, wherein second circular connector, a pair of of bar shaped connector, slider nut, turntable, universal joint a The space multi-bar linkage is constituted with universal joint b.
2. all deflection propeller vector propulsion mechanisms according to claim 1, which is characterized in that the turntable and universal Sleeve is provided between section a, one end of the sleeve connects the turntable by revolute pair, and the other end of the sleeve is fixed to be connected The universal joint a is met, the end of the propeller is plugged in the sleeve.
3. all deflection propeller vector propulsion mechanisms according to claim 2, which is characterized in that the propulsion electric machine is logical It crosses gear and is drivingly connected the propeller from side.
4. a kind of submarine navigation device, which is characterized in that including all deflection propeller vectors as claimed in any one of claims 1-3 Propulsive mechanism.
CN201710180989.2A 2016-01-18 2016-01-18 A kind of deflector type vector propeller and submarine navigation device Expired - Fee Related CN107161309B (en)

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