CN107985536B - Submersible vehicle with space parallel mechanism vector propeller - Google Patents
Submersible vehicle with space parallel mechanism vector propeller Download PDFInfo
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- CN107985536B CN107985536B CN201711235116.3A CN201711235116A CN107985536B CN 107985536 B CN107985536 B CN 107985536B CN 201711235116 A CN201711235116 A CN 201711235116A CN 107985536 B CN107985536 B CN 107985536B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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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
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
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- Aviation & Aerospace Engineering (AREA)
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- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
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Abstract
The utility model provides a be equipped with space parallel mechanism vector propeller's ware of diving belongs to ware technical field, and aim at solves the propulsion inefficiency, the location difficulty that prior art exists, turns lack the flexibility and hover inaccurate problem. The invention comprises the following steps: a main body of the underwater vehicle; the tail pushing device is arranged at the tail part of the main body of the underwater vehicle, provides propelling force and can adjust a propelling angle; the rotatable ailerons are arranged at the rear part of the submarine vehicle main body and positioned at the front end of the tail pushing device; the sonar detection device is arranged at the front end of the main body of the underwater vehicle; a landing gear disposed below the main body of the submersible vehicle; two groups of vector thrusters based on a space parallel mechanism are arranged on two sides of the front part of the main body of the underwater vehicle; the vector thruster is connected with the underwater vehicle body through a rotatable fixed shaft and can swing within a positive and negative 70 degrees in a fixed plane connected with the fixed shaft; and the image signal identification system and the central control system are arranged in the submarine vehicle body.
Description
Technical Field
The invention belongs to the technical field of underwater vehicles, and particularly relates to an underwater vehicle provided with a space parallel mechanism vector propeller.
Background
Due to the diversity and complexity of terrain and traffic conditions, the transportation tool with single function can not meet the requirements of people, and the transportation tool with single function also causes serious resource waste; with the continuous and intensive research on marine resources in countries of the world, offshore and deep sea are regions for which countries compete. The underwater vehicle is important engineering equipment for realizing ocean development and utilization. The device can quickly float in the complex deep sea environment by carrying various electronic devices and mechanical devices, realizes exploration, scientific investigation, development, operation and the like of the sea, and the technical level marks the exploration and development of national sea resources and even the ocean equity maintenance capability to a certain extent.
China has entered large-scale and multi-mode development and utilization of oceans and advanced a new period of ocean economic development mode conversion, science and technology sea has entered a new historical stage, and ocean environment observation and detection is an important research content in the process of science and technology sea and sea defense consolidation in China.
Unmanned underwater vehicles have received high attention from military and nationwide areas as an emerging operational force in recent years. Meanwhile, higher requirements are provided for the navigation capability, maneuverability, invisibility and the like of the unmanned underwater vehicle. However, the prior art generally adopts propellers which are mainly propellers, and the conventional propulsion modes obviously have the defects of low propulsion efficiency, difficult positioning, poor turning flexibility, inaccurate hovering and the like.
Disclosure of Invention
The invention aims to provide a submarine vehicle with a space parallel mechanism vector propeller, which solves the problems of low propelling efficiency, difficult positioning, lack of flexibility in turning and inaccurate hovering in the prior art.
In order to achieve the above object, a submersible vehicle equipped with a space parallel mechanism vector thruster of the present invention comprises:
a main body of the underwater vehicle;
the group of vector thrusters are arranged at the tail part of the main body of the underwater vehicle and are based on a space parallel mechanism, and the group of vector thrusters are used as tail thrusting devices to provide propelling force for the main body of the underwater vehicle and can adjust the propelling angle;
the rotatable aileron is arranged at the rear part of the submarine vehicle main body and positioned at the front end of the tail pushing device, and the aileron is arranged on a rotating shaft fixedly connected with a servo motor through a bolt;
the sonar detection device is arranged at the front end of the underwater vehicle main body and is used for detecting obstacles and road conditions in front of the underwater vehicle;
a landing gear disposed below the submersible body;
two groups of vector thrusters based on a space parallel mechanism are arranged on two sides of the front part of the underwater vehicle main body; the vector thruster is connected with the underwater vehicle body through a rotatable fixed shaft and can swing within a positive and negative 70 degrees in a fixed plane connected with the fixed shaft;
and the image signal identification system and the central control system are arranged in the main body of the underwater vehicle, the sonar detection device transmits the collected front obstacle and terrain analog signals to the image signal identification system, the image signal identification system converts the collected front obstacle and terrain analog signals into electric signals, and the central control system outputs control current signals to control all parts of the underwater vehicle to act according to the electric signals identified by the image signal identification system.
The two groups of vector thrusters based on the space parallel mechanism and arranged on the two sides of the front part of the underwater vehicle main body are connected with the underwater vehicle main body as follows: each vector propeller is fixed in the plane of the fixed shaft through a bolt, the fixed shaft is connected with an output shaft of a servo motor through a coupler, the fixed shaft is provided with a rotating hinge, the hinge is connected with the servo motor, the servo motor controls the fixed shaft to be folded, and the rotating angle of the vector propeller is controlled by adjusting the rotating amount of the servo motor.
The vector thruster comprises a static platform, a moving branch chain, a middle spherical hinge, a moving platform and a propeller; the movable platform and the static platform are connected through a middle spherical hinge, three symmetrically arranged moving branched chains are supported between the movable platform and the static platform, a propeller is arranged on the movable platform, and the propeller is connected with a direct-drive underwater propulsion motor; the moving branched chain comprises a transmission shaft, a moving block, a lead screw nut pair and a driving motor, one end of the transmission shaft is connected with the lower end face of the moving platform through a hinge, the other end of the transmission shaft is connected with the moving block through a hinge, the moving block is fixedly connected with a nut in the lead screw nut pair, and an output shaft of the driving motor is fixedly connected with an input shaft of the lead screw nut pair.
The middle spherical hinge comprises a spherical head rod, a multi-lug spherical cover, a ball seat, a bearing and a central upright post; the multi-lug ball cover is connected with the ball seat through a screw, the ball head of the ball head rod is arranged in the multi-lug ball cover, the lower end of the ball seat is connected with one end of the central upright post through a bearing, and the other end of the central upright post is connected with the static platform through threads.
The transmission shafts of the three moving branched chains are symmetrical about a central upright post of the middle spherical hinge, and the lead screw nut pairs of the three moving branched chains are uniformly distributed on the circumference.
One end of the transmission shaft is connected with the lower end face of the movable platform through a hinge, and the other end of the transmission shaft is connected with the movable block through a hinge, wherein the hinge is particularly a Hooke hinge.
The screw nut pair is obliquely arranged, one end of the screw nut pair is connected with the upper end face of the static platform, the other end of the screw nut pair is connected with the central upright post of the middle spherical hinge, and the lower part of the screw nut pair is supported by a trapezoidal tower structure.
The vector thruster also comprises a secondary steering mechanism, the secondary steering mechanism comprises a telescopic support and a linear motor, the telescopic supports are arranged in parallel, one end of each telescopic support is connected with the upper end face of the movable platform, the other end of each telescopic support is connected with the propeller, and each telescopic support is connected with one linear motor.
The landing gear includes:
the control connecting frame is connected with the underwater vehicle main body through a revolute pair;
the diamond-shaped support frame is fixedly connected with the control connecting frame, two parallel edges of the diamond-shaped support frame are respectively and fixedly connected with the control connecting frame, the connecting positions are respectively an end part and a middle part, and the third edge is hinged with the other ends of the two edges fixedly connected with the control connecting frame;
and the main wheel and the auxiliary wheel are respectively connected with the third edge of the diamond-shaped support frame and the end part of one edge fixedly connected with the end part of the control connecting frame.
The primary wheel and the secondary wheel are independently driven.
The invention has the beneficial effects that: the underwater vehicle provided with the space parallel mechanism vector propeller disclosed by the invention applies a vector propulsion technology to the underwater vehicle, so that the underwater vehicle has stronger functions, and has the capabilities of hovering, ascending and descending in the vertical direction, advancing, retreating, yawing, turning in place and the like. The submarine vehicle is provided with the undercarriage, can be in direct contact with the underwater ground, and has the bottom-sitting capability, so that the submarine vehicle can sail more efficiently and safely. The operation of the underwater vehicle is controlled by combining a plurality of adjusting mechanisms, and the existence of the rotatable aileron enables the underwater vehicle to have high maneuverability. The sonar detection equipment is installed at the front end, and regional topographic data about to arrive in front of the underwater vehicle can be collected, so that the underwater vehicle can deal with underwater complex topography and can be adjusted in time to avoid accidents.
The underwater unmanned underwater vehicle has the characteristics of large-angle vector pushing capacity, simple and light structure, low energy consumption, short reaction time and the like, and is very suitable for an underwater unmanned underwater vehicle. At present, an underwater vehicle with the vector propeller does not appear at home and abroad. The combination of the vector propeller based on the space parallel mechanism and the underwater unmanned underwater vehicle can greatly improve the capability of the underwater vehicle and solve the complex problem of the underwater vehicle. The invention improves the defects pointed out in the background technology, further improves the underwater navigation flexibility and accuracy of the underwater vehicle, and the underwater vehicle equipped with the vector propeller not only can effectively improve the propulsion efficiency of the underwater vehicle, but also has the capabilities of hovering, ascending and falling in the vertical direction, advancing, retreating, yawing, turning in place and the like, completes complex navigation actions and has the capability of sufficiently coping with complex and severe underwater situations.
Drawings
FIG. 1 is a schematic view of the overall structure of a submersible vehicle equipped with a space parallel mechanism vector thruster according to the present invention;
FIG. 2 is a schematic structural diagram of a vector thruster in a submersible vehicle equipped with a space parallel mechanism vector thruster according to the present invention;
FIG. 3 is a schematic diagram of a middle spherical hinge structure of a submersible vehicle equipped with a space parallel mechanism vector thruster according to the present invention;
FIG. 4 is a schematic structural diagram of a landing gear of the submersible vehicle with the space parallel mechanism vector propeller;
FIG. 5 is a schematic diagram of the obstacle scale structure of the submersible vehicle equipped with the space parallel mechanism vector thruster of the present invention;
wherein: 1. the submarine vehicle comprises a submarine vehicle body, 2, a tail pushing device, 3, an aileron, 4, a sonar detection device, 5, a landing gear, 501, a control connecting frame, 502, a rhombic supporting frame, 503, a main wheel, 504, an aileron, 6, a vector thruster, 601, a static platform, 602, a moving branch chain, 6021, a transmission shaft, 6022, a moving block, 6023, a screw-nut pair, 6024, a driving motor, 603, a middle spherical hinge, 6031, a ball head rod, 6032, a multi-lug cover, 6033, a ball seat, 6034, a bearing, 6035, a central upright post, 604, a moving platform, 605, a propeller, 606, a propelling motor, 607, a secondary steering mechanism, 6071, a telescopic bracket, 6072 and a linear motor.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
Referring to fig. 1 to 5, the submersible vehicle provided with the space parallel mechanism vector thruster comprises:
a submersible vehicle body 1;
a group of vector thrusters 6 based on a space parallel mechanism and arranged at the tail part of the main body 1 of the underwater vehicle, wherein the group of vector thrusters are used as a tail thrust device 2 to provide propulsive force for the main body of the underwater vehicle and can adjust a propulsive angle; the vector propeller 6 based on the space parallel mechanism is referred to in the specific structure, and mainly has the main functions of providing main driving force for the underwater vehicle and providing a source of all forward driving force for the underwater vehicle when the underwater vehicle is in a non-seated state; when the underwater vehicle is in a bottom-seated state, the tail pushing device 2 and the undercarriage 5 provide forward driving force together; in addition, when the underwater vehicle needs to turn rapidly, the tail pushing device 2 can provide torque required by turning for the underwater vehicle, so that the underwater vehicle has high maneuverability;
the rotatable aileron 3 is arranged at the rear part of the submarine vehicle main body 1 and positioned at the front end of the tail pushing device 2, and the aileron 3 is arranged on a rotating shaft fixedly connected with a servo motor through a bolt; when the underwater vehicle is in a sailing state, the sailing posture of the underwater vehicle can be finely adjusted by controlling the rotating angle of the rotatable ailerons 3, and the rotatable ailerons 3 are controlled by a central control system; in the navigation process of the underwater vehicle, when a small obstacle needs to be avoided, the rotatable ailerons 3 can be mutually matched, and the force borne by the underwater vehicle is controlled by controlling the flow velocity of fluid flowing through the surface of the underwater vehicle, so that the attitude of the underwater vehicle can be finely adjusted;
the sonar detection device 4 arranged at the front end of the underwater vehicle main body 1 can emit and receive sonar signals and is used for detecting obstacles and road conditions in front of the underwater vehicle, and the sonar detection equipment transmits the acquired signals to the image signal identification system and then the acquired signals are processed by the central control system through the image signal identification system;
a landing gear 5 disposed below the submersible vehicle body 1;
two groups of vector thrusters 6 based on a space parallel mechanism are arranged on two sides of the front part of the underwater vehicle main body 1; the vector propeller 6 is connected with the underwater vehicle main body 1 through a rotatable fixed shaft, the fixed shaft of the vector propeller 6 is connected with an output shaft of a servo motor through a coupler, and the swing angle of the vector propeller 6 can be controlled by adjusting the rotation quantity of the servo motor; the rotatable fixed shaft is provided with a rotary hinge, and the hinge is connected with the servo motor and can be controlled to be folded by the servo motor;
and the image signal recognition system and the central control system are arranged in the underwater vehicle main body 1, the sonar detection device 4 transmits the collected front obstacle and terrain analog signals to the image signal recognition system and converts the signals into electric signals, and the central control system outputs control current signals according to the electric signals recognized by the image signal recognition system to control the actions of all parts of the underwater vehicle.
The two groups of vector thrusters 6 based on the space parallel mechanism and arranged on the two sides of the front part of the underwater vehicle main body 1 are connected with the underwater vehicle main body 1 as follows: each vector propeller 6 is fixed in the plane of the fixed shaft through a bolt, the fixed shaft is connected with an output shaft of a servo motor through a coupler, the fixed shaft is provided with a rotating hinge, the hinge is connected with the servo motor, the servo motor controls the fixed shaft to be folded, and the rotating angle of the vector propeller 6 is controlled by adjusting the rotating amount of the servo motor.
The vector thruster 6 comprises a static platform 601, a moving branched chain 602, a middle spherical hinge 603, a moving platform 604 and a propeller 605; the movable platform 604 and the static platform 601 are connected through a middle spherical hinge 603, three symmetrically arranged moving branched chains 602 are supported between the movable platform 604 and the static platform 601, a propeller 605 is arranged on the movable platform 604, and the propeller 605 is connected with a direct-drive underwater propulsion motor 606; the moving branched chain 602 comprises a driving shaft 6021, a moving block 6022, a lead screw nut pair 6023 and a driving motor 6024, wherein one end of the driving shaft 6021 is connected with the lower end face of the moving platform 604 through a hinge, the other end of the driving shaft 6021 is connected with the moving block 6022 through a hinge, the moving block 6022 is fixedly connected with a nut in the lead screw nut pair 6023, and an output shaft of the driving motor 6024 is fixedly connected with an input shaft of the lead screw nut pair 6023. When the movable platform 604 needs to be tilted in a certain direction, firstly, the computer calculates the movement amount required to be completed by each movable branched chain 602, then calculates the number of pulses or the energization time required by the driving motor 6024 where each movable branched chain 602 is located according to the calculated movement amount, immediately outputs a corresponding pulse signal to excite the corresponding driving motor 6024, the driving motor 6024 drives the lead screw to make circular motion around the axis under excitation, and the movable block 6022 connected with the lead screw also moves by the corresponding movement amount under the action of the lead screw nut pair 6023. Due to the movement of the moving block 6022, a corresponding rotation angle is generated on the spherical pair represented by the hooke joint between the moving block 6022 and the transmission shaft 6021. Since the driving shaft 6021 is also connected to the movable platform 604 by means of a hook joint, the rotation of the driving shaft 6021 is finally reflected in the rotation of the movable platform 604 around the middle spherical pair. The tilting of the movable platform 604 is then achieved. Vectorization of propulsion power can be achieved by coordinating the amount of tilt of the moving platform 604 in the 3 PSS moving branches 602.
The two groups of vector thrusters 6 based on the space parallel mechanism and arranged on the two sides of the front part of the underwater vehicle main body 1 are connected with the underwater vehicle main body 1 as follows: each vector propeller 6 is fixed in the plane of the fixed shaft through a bolt, the fixed shaft is connected with an output shaft of a servo motor through a coupler, the fixed shaft is provided with a rotating hinge, the hinge is connected with the servo motor, the servo motor controls the fixed shaft to be folded, and the rotating angle of the vector propeller 6 is controlled by adjusting the rotating amount of the servo motor.
The middle ball-type hinge 603 comprises a ball head rod 6031, a multi-lug ball cover 6032, a ball seat 6033, a bearing 6034 and a central upright column 6035; multiear ball lid 6032 through the screw with the ball seat 6033 is connected, the bulb setting of ball head pole 6031 is in the multiear ball lid 6032, the ball seat 6033 lower extreme through bearing 6034 with center pillar 6035 one end is connected, center pillar 6035's the other end passes through the screw and connects with quiet platform 601.
The transmission shafts 6021 of the three moving branched chains 602 are symmetrical about the central upright column 6035 of the middle spherical hinge 603, and the screw nut pairs 6023 of the three moving branched chains 602 are uniformly distributed on the circumference.
One end of the transmission shaft 6021 is connected with the lower end surface of the movable platform 604 through a hinge, and the other end is connected with a movable block 6022 through a hinge, specifically a hook hinge.
The screw nut pair 6023 is obliquely arranged, one end of the screw nut pair is connected with the upper end face of the static platform 601, the other end of the screw nut pair is connected with a central upright column 6035 of the middle spherical hinge 603, and the lower part of the screw nut pair is supported by a trapezoidal tower structure.
The vector thruster 6 further comprises a second-stage steering mechanism 607, the second-stage steering mechanism 607 comprises a telescopic support 6071 and a linear motor 6072, the telescopic support 6071 is arranged in parallel, one end of the telescopic support 6071 is connected with the upper end face of the movable platform 604, the other end of the telescopic support 6071 is connected with the propeller 605, and each telescopic support 6071 is connected with one linear motor 6072.
The landing gear 5 comprises:
a control connecting frame 501 connected with the underwater vehicle main body 1 through a revolute pair;
the rhombic support frame 502 is fixedly connected with the control connecting frame 501, two parallel edges of the rhombic support frame 502 are respectively and fixedly connected with the control connecting frame 501, the connecting positions are respectively an end part and a middle part, and the third edge is hinged with the other ends of the two edges fixedly connected with the control connecting frame 501;
and the main wheel 503 and the auxiliary wheel 504, the main wheel 503 and the auxiliary wheel 504 are respectively connected with the third edge of the diamond-shaped support frame 502 and the end part of one edge fixedly connected with the end part of the control connecting frame 501.
The primary wheel 503 and the secondary wheel 504 are driven independently.
There are 3 landing gears 5 mounted below the vehicle body 1. When the underwater vehicle is in the bottom sitting posture, the undercarriage 5 is put down and is in contact with the underwater ground. When the underwater ground is flat, the undercarriage 5 and the main wheel 503 are in contact with the ground; when the underwater ground is relatively uneven, the secondary wheels 504 are lowered, and the primary wheels 503 and the secondary wheels 504 simultaneously contact the ground. The lowering of the secondary wheel 504 is performed by controlling the connecting frame 501.
The sonar detection equipment arranged at the front end of the underwater vehicle collects topographic data in front of the underwater vehicle by emitting and receiving sonar signals, and then transmits the topographic data to the image signal identification system, and the image signal is transmitted to the central control system after being identified and processed. Finally, the central control system selects an optimal scheme and then sends action signals to the tail pushing device 2, the vector thruster 6, the rotatable ailerons 3 and the landing gear 5; through the unified arrangement of the central control system, the underwater vehicle can quickly react under the adjusting action of the vector propeller 6 and the rotatable ailerons 3, so that accidents are avoided.
Claims (9)
1. A submersible vehicle equipped with a space parallel mechanism vector thruster is characterized by comprising:
a submersible vehicle body (1);
the group of vector thrusters (6) are arranged at the tail part of the underwater vehicle main body (1) and are based on a space parallel mechanism, and the group of vector thrusters are used as tail thrusting devices (2) to provide propelling force for the underwater vehicle main body and can adjust the propelling angle;
the rotatable aileron (3) is arranged at the rear part of the submarine vehicle main body (1) and positioned at the front end of the tail pushing device (2), and the aileron (3) is arranged on a rotating shaft fixedly connected with a servo motor through a bolt;
the sonar detection device (4) is arranged at the front end of the underwater vehicle main body (1) and is used for detecting the obstacle and the road surface condition in front of the underwater vehicle;
a landing gear (5) arranged below the submersible vehicle body (1);
two groups of vector thrusters (6) based on a space parallel mechanism are arranged on two sides of the front part of the underwater vehicle main body (1); the vector propeller (6) is connected with the underwater vehicle body (1) through a rotatable fixed shaft, and can swing within a positive and negative 70 degrees in a fixed plane connected with the fixed shaft;
the sonar detection device transmits collected analog signals of front obstacles, terrain and the like to the image signal recognition system, the image signal recognition system converts the analog signals into electric signals, and the central control system outputs control current signals to control each part of the underwater vehicle to act according to the signals recognized by the image signal recognition system;
the two groups of vector thrusters (6) based on the space parallel mechanism and arranged on the two sides of the front part of the underwater vehicle main body (1) are connected with the underwater vehicle main body (1) as follows: each vector propeller (6) is fixed in the plane where the fixed shaft is located through a bolt, the fixed shaft is connected with an output shaft of a servo motor through a coupler, the fixed shaft is provided with a rotating hinge, the hinge is connected with the servo motor, the servo motor controls the fixed shaft to be folded, and the rotating angle of the vector propellers (6) is controlled by adjusting the rotating amount of the servo motor.
2. The submersible vehicle equipped with the space parallel mechanism vector thruster of claim 1, characterized in that the vector thruster (6) comprises a static platform (601), a moving branch (602), a middle ball-type hinge (603), a moving platform (604) and a propeller (605); the movable platform (604) is connected with the static platform (601) through a middle spherical hinge (603), three symmetrically arranged movable branched chains (602) are supported between the movable platform (604) and the static platform (601), a propeller (605) is arranged on the movable platform (604), and the propeller (605) is connected with a direct-drive underwater propulsion motor (606); the moving branched chain (602) comprises a transmission shaft (6021), a moving block (6022), a lead screw nut pair (6023) and a driving motor (6024), wherein one end of the transmission shaft (6021) is connected with the lower end face of the moving platform (604) through a hinge, the other end of the transmission shaft is connected with the moving block (6022) through a hinge, the moving block (6022) is fixedly connected with a nut in the lead screw nut pair (6023), and an output shaft of the driving motor (6024) is fixedly connected with an input shaft of the lead screw nut pair (6023).
3. The spacecraft of claim 2, wherein the mid-ball hinge (603) comprises a ball-head rod (6031), a multi-trunnion cap (6032), a ball seat (6033), a bearing (6034), and a center column (6035); multiear ball lid (6032) pass through the screw with ball seat (6033) are connected, the bulb setting of bulb pole (6031) is in multiear ball lid (6032), ball seat (6033) lower extreme pass through bearing (6034) with center pillar (6035) one end is connected, and the other end of center pillar (6035) passes through the screw and is connected with quiet platform (601).
4. The submarine vehicle equipped with a space parallel mechanism vector thruster according to claim 2, characterized in that the transmission shafts (6021) of the three moving branch chains (602) are symmetrical with respect to the central upright column (6035) of the middle ball-type hinge (603), and the lead screw nut pairs (6023) of the three moving branch chains (602) are uniformly distributed on the circumference.
5. The submarine vehicle equipped with a space parallel mechanism vector thruster according to claim 2, characterized in that one end of the transmission shaft (6021) is connected with the lower end surface of the movable platform (604) through a hinge, and the other end is connected with a hinge in the connection of the movable block (6022) through a hinge, specifically a hooke hinge.
6. The submarine vehicle with a space parallel mechanism vector thruster according to claim 2, characterized in that the screw-nut pair (6023) is arranged obliquely, one end of the screw-nut pair is connected with the upper end face of the static platform (601), the other end of the screw-nut pair is connected with a central upright post (6035) of the middle ball-type hinge (603), and the lower part of the screw-nut pair is supported by a trapezoidal tower structure.
7. The submarine vehicle equipped with the space parallel mechanism vector thruster according to claim 2, wherein the vector thruster (6) further comprises a secondary steering mechanism (607), the secondary steering mechanism (607) comprises a telescopic bracket (6071) and a linear motor (6072), a plurality of telescopic brackets (6071) are arranged in parallel, one end of each telescopic bracket (6071) is connected with the upper end face of the movable platform (604), the other end of each telescopic bracket (6071) is connected with one linear motor (6072), and each telescopic bracket (6071) is connected with one linear motor (6072).
8. A submersible vehicle equipped with space parallel mechanism vector thrusters according to claim 1, characterized in that said undercarriage (5) comprises:
the control connecting frame (501) is connected with the underwater vehicle main body (1) through a revolute pair;
the rhombic support frame (502) is fixedly connected with the control connecting frame (501), two parallel edges of the rhombic support frame (502) are respectively and fixedly connected with the control connecting frame (501), the connecting positions are respectively an end part and a middle part, and the third edge is hinged with the other ends of the two edges fixedly connected with the control connecting frame (501);
and the main wheel (503) and the auxiliary wheel (504), wherein the main wheel (503) and the auxiliary wheel (504) are respectively connected with the third edge of the rhombic supporting frame (502) and the end part of one edge fixedly connected with the end part of the control connecting frame (501).
9. A vehicle equipped with a space parallel mechanism vector thruster according to claim 8, characterized in that the primary wheel (503) and the secondary wheel (504) are driven independently.
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| CN110502024B (en) * | 2019-07-23 | 2020-10-20 | 北京控制工程研究所 | Quasi-universal attitude executing mechanism based on space parallel mechanism |
| CN112666983B (en) * | 2021-01-13 | 2024-07-19 | 江苏大学镇江流体工程装备技术研究院 | AUV stable hovering device based on flow field speed decomposition method |
| CN113075932B (en) * | 2021-03-30 | 2022-03-22 | 浙江大学 | UUV vector propulsion control method based on 3-RPS parallel mechanism |
| CN114194365B (en) * | 2021-11-24 | 2023-04-11 | 杭州电子科技大学 | Submarine cable inspection AUV capable of conducting bottom sinking operation and bottom sinking operation method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101513927B (en) * | 2009-03-20 | 2012-07-25 | 中国人民解放军国防科学技术大学 | Tilt rotor vector propeller based on wave energy |
| CN101513926B (en) * | 2009-03-20 | 2012-09-05 | 中国人民解放军国防科学技术大学 | Tilt rotor vector propulsion device used in underwater propeller |
| DE102010054124B4 (en) * | 2010-12-10 | 2012-07-26 | Howaldtswerke-Deutsche Werft Gmbh | submarine |
| CN102700701B (en) * | 2012-06-02 | 2014-04-16 | 西北工业大学 | Vector propulsion system applied to small-size underwater unmanned aircraft |
| CN103538709A (en) * | 2013-10-18 | 2014-01-29 | 天津大学 | Parallel vector propulsion mechanism of autonomous underwater vehicle |
| CN105836081A (en) * | 2016-03-24 | 2016-08-10 | 褚宏鹏 | Parallel type underwater vectored thruster |
| CN106081024B (en) * | 2016-06-16 | 2018-06-15 | 浙江大学 | A kind of multiple degrees of freedom Autonomous Underwater Vehicle motion control device |
| CN106428494B (en) * | 2016-10-31 | 2018-08-24 | 吉林大学 | A kind of underwater vector propeller based on space parallel mechanism |
| CN106828838B (en) * | 2017-01-24 | 2018-04-24 | 哈尔滨工程大学 | A kind of portable streamlined remote underwater robot |
| CN106945809A (en) * | 2017-02-23 | 2017-07-14 | 浙江大学 | Vector screw propeller for submersible |
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2017
- 2017-11-30 CN CN201711235116.3A patent/CN107985536B/en active Active
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