CN109204750A - Submarine navigation device paddle-type air promotes and gliding mechanism - Google Patents
Submarine navigation device paddle-type air promotes and gliding mechanism Download PDFInfo
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- CN109204750A CN109204750A CN201811317939.5A CN201811317939A CN109204750A CN 109204750 A CN109204750 A CN 109204750A CN 201811317939 A CN201811317939 A CN 201811317939A CN 109204750 A CN109204750 A CN 109204750A
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- Prior art keywords
- hang gliding
- connecting rod
- gliding
- fixed
- hang
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Classifications
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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
- B63G8/08—Propulsion
Abstract
It is promoted the invention discloses a kind of submarine navigation device paddle-type air and gliding mechanism, the technical issues of the practicability is poor for solving existing submarine navigation device propulsion device.Technical solution be include that fixed hang gliding, upper folding hang gliding, lower folding hang gliding, piston rod, first connecting rod, second connecting rod, motor, third connecting rod and crank disc, the upper folding hang gliding are connected with lower folding hang gliding by hinge.Hinge and fixed hang gliding cooperation.Piston rod front end is provided with first connecting rod and second connecting rod in the fixed hang gliding, is connect respectively with upper folding hang gliding and lower folding hang gliding by pin shaft.The third connecting rod front end is connected to fixed gliding wing root rear by pin shaft, and third connecting rod rear end is connected in crank disc by pin shaft.Crank disc realizes that folding hang gliding and lower folding hang gliding opens and be closed under motor driven, and the swing of fixed hang gliding.Piston rod and crank disc cooperate, and realize that aerodone paddle campaign and gliding, practicability are good.
Description
Technical field
The present invention relates to a kind of submarine navigation device propulsion device, promoted more particularly to a kind of submarine navigation device paddle-type air and
Gliding mechanism.
Background technique
Ocean accounts for 70% or more of global area, and be richly stored with marine resources.Submarine navigation device is as a kind of important
Undersea detection equipment, be widely used in the exploration to marine systems.
The propeller that UAV navigation mostly uses greatly in the prior art is screw propeller and flapping wing propeller.Spiral shell
Paddle propeller is revolved in theoretical research and practical application all comparative maturities, but its own also Shortcomings, as noise is big, disturbs to environment
Dynamic big and concealment is poor.Flapping wing propeller is a kind of underwater propeller manufactured and designed based on bionics principle.It is with machine
The advantages that dynamic property is good, and turning radius is small, good concealment.But for double freedom flapping wing propeller and Three Degree Of Freedom flapping wing propeller
Not only structure is complicated, but also need to configure complicated control system, is not easy to realize engineer application.Although single-degree-of-freedom propeller structure
It is simple easily to realize, but its thrust is limited.
Existing submarine navigation device also has not against propeller and changes its athletic posture by adjusting net buoyancy, and
Guarantee its steady glide by hang gliding, " Hai Yi " underwater gliding developed such as Shenyang Inst of Automation, Chinese Academy of Sciences
Machine, remote with voyage, the advantages of good concealment, but since it does not have propulsion device to make its mobility poor, turning radius is big.
A part of underwater glider has propeller plant, but its concealment is slightly worse and propeller plant influences its shape
Layout increases its fluid resistance, if Chinese invention patent CN107336817A discloses a kind of combination drive underwater glider,
There is tail portion to promote mainly propeller plant and wing load propeller plant for it, and mobility is underwater compared to no propulsion device
Aerodone increases, but propeller plant affects the shape layout of underwater glider, increases its fluid resistance, shadow
Ring its gliding ability.
Summary of the invention
In order to overcome the shortcomings of existing submarine navigation device propulsion device, the practicability is poor, and the present invention provides a kind of submarine navigation device
Paddle-type air promotes and gliding mechanism.The mechanism includes fixed hang gliding, upper folding hang gliding, lower folding hang gliding, piston rod, the
One connecting rod, second connecting rod, motor, third connecting rod and crank disc, the upper folding hang gliding and lower folding hang gliding pass through hinge
Hinge connection.Fitted shaft on hinge and fixed hang gliding cooperates.Piston rod front end is provided with first in the fixed hang gliding
Connecting rod and second connecting rod are connect with upper folding hang gliding and lower folding hang gliding respectively by pin shaft.The third connecting rod front end
It is connected to fixed gliding wing root rear by pin shaft, third connecting rod rear end is connected in crank disc by pin shaft.Crank disc drives in motor
Dynamic lower realize folds hang gliding and lower folding hang gliding opening and closure, and the swing of fixed hang gliding.Piston rod
Cooperate with crank disc, realizes aerodone paddle campaign and gliding.The present invention is small to environmental perturbation, and concealment is strong, control letter
Single, thrust, which promotes greatly compared with flapping wing and take into account propulsion and gliding, can not destroy the shape layout of aerodone, not influence its gliding
Performance, practicability are good.
The technical solution adopted by the present invention to solve the technical problems is: a kind of submarine navigation device paddle-type air promotes and gliding
Mechanism, its main feature is that include fixed hang gliding 1, upper folding hang gliding 2, lower folding hang gliding 3, the first hinge 4, the second hinge 5,
Piston 6, piston rod 7, first connecting rod 8, second connecting rod 9, band pin socket 10, rotatably right angle pin 11, hydraulic cylinder 12, oil transportation are soft
Pipe 13, hydraulic pump 14, motor 15, gear set 16, crank disc 17, third connecting rod 18, screw 19, positive stop strip 20,21 and of limiting slot
Fitted shaft 22.The upper folding hang gliding 2 and lower folding hang gliding 3 are by the first hinge 4 and the second hinge 5 and solid with screw 19
Fixed connection.The hollow fitted shaft 22 on fixed hang gliding 1 of the axis of first hinge 4 cooperates.Inside the fixed hang gliding 1
It is provided with hydraulic cylinder 12, hydraulic cylinder 12 is internally provided with piston 6 and piston rod 7, and piston 6 is fixed on piston rod 7, piston
7 front end of bar passes through band pin socket 10 and is connected separately with first connecting rod 8 and second connecting rod 9,9 front end of first connecting rod 8 and second connecting rod
It is connect respectively with upper folding hang gliding 2 and the lower pin shaft for folding hang gliding 3 by rotatable right angle pin 11.The hydraulic cylinder 12
Rear end is connected by oil hose 13 with hydraulic pump 14.18 front end of third connecting rod is connected to fixed hang gliding 1 by pin shaft
Wing root rear, 18 rear end of third connecting rod are connected in crank disc 17 by pin shaft.Gear set 16, gear set 16 are connected under crank disc 17
It is driven by motor 15.
When hydraulic pump 14 works, hydraulic oil is admitted to and is sucked out hydraulic cylinder 12, band 6 He of piston by oil hose 13
Piston rod 7 moves forward and backward, and piston rod 7 drives first connecting rod 8 and second connecting rod 9, and hang gliding 2 and lower folding gliding are folded in realization
The wing 3 opens and closes up.And by the cooperation of positive stop strip 20 and limiting slot 21 so that upper folding hang gliding 2 and lower folding hang gliding 3
Parking position accuracy.The upper hang gliding 2 and the lower opening angle range folded between hang gliding 3 of folding is 0 °~120 °.Motor 15 drives
Gear set 16, gear set 16 drive crank disc 17 to rotate, and drive fixed hang gliding 1 to slide around fixed by third connecting rod 18
The rotation of 1 wing root leading edge of the Xiang wing, realizes pendulum motion, and the angular range of swing is 0 °~60 °.
The 1 wing root leading edge of fixed hang gliding is connect with 23 pin shaft of aircraft body, when fixed 1 swing angle of hang gliding is
0 °, the Forward of piston rod 7 drives first connecting rod 8 and second connecting rod 9 to fold hang gliding 2 and lower folding hang gliding 3 to strut, together
When crank disc 17 drive third connecting rod 18 to drive fixed hang gliding 1 to fold hang gliding 2 and lower foldings hang gliding 3 around fixed cunning
1 wing root leading edge of the Xiang wing is to 23 tail swing of aircraft body.Reach 60 ° of full swing angle when fixing hang gliding 1, crank disc 17
Third connecting rod 18 is driven to make fixed hang gliding 1 around fixed 1 wing root leading edge of hang gliding to 23 head oscillation of aircraft body, it is living simultaneously
Stopper rod 7, which moves back, drives first connecting rod 8 and second connecting rod 9 to close up folding hang gliding 2 and lower folding hang gliding 3, reaches initial
0 ° of pivot angle, complete the paddle campaign of a cycle.
When fixed hang gliding 1 is in 0 ° of fixed angle, piston rod 7, which moves back, drives first connecting rod 8 and second connecting rod 9 to make folding
Folded hang gliding 2 and lower folding hang gliding 3 close up, and by the cooperation of positive stop strip 20 and limiting slot 21 so that upper folding hang gliding 2
With lower 3 parking position accuracy of folding hang gliding, it to be used for gliding.
The beneficial effects of the present invention are: the mechanism includes fixed hang gliding, upper folding hang gliding, lower folding hang gliding, work
Stopper rod, first connecting rod, second connecting rod, motor, third connecting rod and crank disc, the upper folding hang gliding and lower folding hang gliding are logical
Cross hinge connection.Fitted shaft on hinge and fixed hang gliding cooperates.Piston rod front end is arranged in the fixed hang gliding
There are first connecting rod and second connecting rod, is connect respectively with upper folding hang gliding and lower folding hang gliding by pin shaft.The third connects
Bar front end is connected to fixed gliding wing root rear by pin shaft, and third connecting rod rear end is connected in crank disc by pin shaft.Crank disc exists
Hang gliding is folded on realizing under motor driven and lower folding hang gliding opens and closure, and the swing of fixed hang gliding.
Piston rod and crank disc cooperate, and realize aerodone paddle campaign and gliding.The present invention is small to environmental perturbation, and concealment is strong,
It controls simply, thrust, which promotes greatly compared with flapping wing and take into account propulsion and gliding, can not destroy the shape layout of aerodone, not influence
Its gliding ability, practicability are good.
It elaborates with reference to the accompanying drawings and detailed description to the present invention.
Detailed description of the invention
Fig. 1 is the structural representation of submarine navigation device paddle-type air propulsion of the present invention and gliding mechanism (when folding hang gliding opening)
Figure.
Fig. 2 is the structural representation of submarine navigation device paddle-type air propulsion of the present invention and gliding mechanism (when folding hang gliding closure)
Figure.
Fig. 3 is the structural schematic diagram that hang gliding is fixed in Fig. 1.
Fig. 4 is the upper structural schematic diagram for folding hang gliding in Fig. 1.
Fig. 5 is the lower structural schematic diagram for folding hang gliding in Fig. 1.
Fig. 6 is submarine navigation device paddle-type air propulsion of the present invention and gliding mechanism application schematic diagram.
Fig. 7 is that submarine navigation device paddle-type air of the present invention promotes and gliding mechanism paddle promotes schematic diagram.
In figure, 1- fixes hang gliding, folds hang gliding on 2-, and hang gliding, the first hinge of 4- are folded under 3-, and 5- second is closed
Leaf, 6- piston, 7- piston rod, 8- first connecting rod, 9- second connecting rod, 10- band pin socket, 11- can be rotated right angle pin, and 12- is hydraulic
Oil cylinder, 13- oil hose, 14- hydraulic pump, 15- motor, 16- gear set, 17- crank disc, 18- third connecting rod, 19- screw,
20- positive stop strip, 21- limiting slot, 22- fitted shaft, 23- aircraft body.
Specific embodiment
Following embodiment is referring to Fig.1~7.
Submarine navigation device paddle-type air of the present invention promote and gliding mechanism include fixed hang gliding 1, upper folding hang gliding 2, under
Fold hang gliding 3, the first hinge 4, the second hinge 5, piston 6, piston rod 7, first connecting rod 8, second connecting rod 9, band pin socket 10,
It can be rotated right angle pin 11, hydraulic cylinder 12, oil hose 13, hydraulic pump 14, motor 15, gear set 16, crank disc 17, third to connect
Bar 18, screw 19, positive stop strip 20, limiting slot 21 and fitted shaft 22.The 1 wing root leading edge of fixed hang gliding and aircraft body 23
Pin shaft connection, the upper folding hang gliding 2 and lower folding hang gliding 3 are by the first hinge 4 and the second hinge 5 and solid with screw 19
Fixed connection.The hollow fitted shaft 22 on fixed hang gliding 1 of the axis of first hinge 4 cooperates.Inside the fixed hang gliding 1
It is provided with hydraulic cylinder 12, hydraulic cylinder 12 is internally provided with piston 6 and piston rod 7, and piston 6 is connected in piston rod 7, piston rod 7
Front end passes through band pin socket 10 and is connected separately with first connecting rod 8 and second connecting rod 9, and first connecting rod 8 and 9 front end of second connecting rod pass through
It can be rotated right angle pin 11 to connect with upper folding hang gliding 2 and lower 3 pin shaft of folding hang gliding respectively.12 rear end of hydraulic cylinder is logical
Oil hose 13 is crossed to be connected with hydraulic pump 14.After 18 front end of third connecting rod is connected to fixed 1 wing root of hang gliding by pin shaft
Edge, 18 rear end of third connecting rod are connected in crank disc 17 by pin shaft.Gear set 16 is connected under crank disc 17, gear set 16 is by motor
15 drivings.
When hydraulic pump 14 works, hydraulic oil is admitted to and is sucked out hydraulic cylinder 12, band 6 He of piston by oil hose 13
Piston rod 7 moves forward and backward, and piston rod 7 drives first connecting rod 8 and second connecting rod 9, to fold hang gliding 2 and lower folding on realizing
Hang gliding 3 opens and closes up.And by the cooperation of positive stop strip 20 and limiting slot 21 so that upper folding hang gliding 2 and lower folding are glided
3 parking position accuracy of the wing (guarantee the streamline shape of entire mechanism).It is upper to fold hang gliding 2 and the lower opening folded between hang gliding 3
Angular range is 0 °~120 °.15 drive gear set 16 of motor, gear set 16 drive crank disc 17 to rotate, pass through third
Connecting rod 18 drives fixed hang gliding 1 around fixed 1 wing root leading edge of hang gliding rotation, realizes pendulum motion, the angular range of swing is
0 °~60 °.
When fixed 1 swing angle of hang gliding is 0 °, the Forward of piston rod 7 drives first connecting rod 8 and second connecting rod 9 to strut
Upper folding hang gliding 2 and lower folding hang gliding 3, while crank disc 17 drives third connecting rod 18 to make to roll in the fixed drive of hang gliding 1
Folded hang gliding 2 and lower foldings hang gliding 3 are around fixation 1 wing root leading edge of hang gliding to 23 tail swing of aircraft body.It is slided when fixed
The Xiang wing 1 reaches 60 ° of full swing angle, and crank disc 17 drives third connecting rod 18 to make fixed hang gliding 1 around fixed 1 wing root of hang gliding
Leading edge is to 23 head oscillation of aircraft body, while piston rod 7 moves back and first connecting rod 8 and second connecting rod 9 is driven to make to fold cunning
The Xiang wing 2 and lower folding hang gliding 3 close up, and 0 ° of initial pendulum angle are reached, to complete the paddle campaign of a cycle.
When fixed hang gliding 1 is in 0 ° of fixed angle, piston rod 7, which moves back, drives first connecting rod 8 and second connecting rod 9 to make folding
Folded hang gliding 2 and lower folding hang gliding 3 close up, and by the cooperation of positive stop strip 20 and limiting slot 21 so that upper folding hang gliding 2
With lower folding 3 parking position accuracy of hang gliding (guarantee the streamline shape of entire mechanism), it to be used for gliding.
Claims (2)
1. a kind of submarine navigation device paddle-type air promotes and gliding mechanism, it is characterised in that: including fixed hang gliding (1), upper folding
Hang gliding (2), lower folding hang gliding (3), the first hinge (4), the second hinge (5), piston (6), piston rod (7), first connecting rod
(8), second connecting rod (9), band pin socket (10), can be rotated right angle pin (11), be hydraulic cylinder (12), oil hose (13), hydraulic
Pump (14), motor (15), gear set (16), crank disc (17), third connecting rod (18), screw (19), positive stop strip (20), limiting slot
(21) and fitted shaft (22)；The upper folding hang gliding (2) and lower folding hang gliding (3) are closed by the first hinge (4) and second
Leaf (5) is simultaneously fixedly connected with screw (19)；The hollow fitted shaft on fixed hang gliding (1) of the axis of first hinge (4)
(22) cooperate；The fixed hang gliding (1) is internally provided with hydraulic cylinder (12), and hydraulic cylinder (12) is internally provided with piston
(6) it is fixed on piston rod (7) with piston rod (7), piston (6), piston rod (7) front end passes through band pin socket (10) and is separately connected
There are first connecting rod (8) and second connecting rod (9), first connecting rod (8) and second connecting rod (9) front end pass through rotatable right angle pin (11) point
It is not connect with upper folding hang gliding (2) and the lower pin shaft for folding hang gliding (3)；Hydraulic cylinder (12) rear end is soft by oil transportation
Pipe (13) is connected with hydraulic pump (14)；After third connecting rod (18) front end is connected to fixed hang gliding (1) wing root by pin shaft
Edge, third connecting rod (18) rear end are connected in crank disc (17) by pin shaft；Gear set (16), gear set are connected under crank disc (17)
(16) it is driven by motor (15)；
When hydraulic pump (14) works, hydraulic oil is admitted to and is sucked out hydraulic cylinder (12) by oil hose (13), band piston
(6) it is moved forward and backward with piston rod (7), piston rod (7) drives first connecting rod (8) and second connecting rod (9), folds hang gliding in realization
(2) it opens and closes up with lower folding hang gliding (3)；And by the cooperation of positive stop strip (20) and limiting slot (21) so that upper folding is slided
The Xiang wing (2) and lower folding hang gliding (3) parking position accuracy；Motor (15) drive gear set (16), gear set (16) drive crank disc
(17) it rotates, drives fixed hang gliding (1) to rotate around fixed hang gliding (1) wing root leading edge by third connecting rod (18),
Realize pendulum motion, the angle of swing is 0 °~60 °；
Fixed hang gliding (1) the wing root leading edge is connect with aircraft body (23) pin shaft, when fixed hang gliding (1) swing angle
It is 0 °, piston rod (7) Forward drives first connecting rod (8) and second connecting rod (9) to fold hang gliding (2) and lower folding to strut
Hang gliding (3), at the same crank disc (17) drive third connecting rod (18) make fixed hang gliding 1 drive fold hang gliding (2) and under
Hang gliding (3) are folded around fixed hang gliding (1) wing root leading edge to aircraft body (23) tail swing；When fixed hang gliding (1)
Reach 60 ° of full swing angle, crank disc (17) drives third connecting rod (18) to make fixed hang gliding (1) around fixed hang gliding (1)
Wing root leading edge is to aircraft body (23) head oscillation, while piston rod (7) moves back and drives first connecting rod (8) and second connecting rod
(9) make to fold hang gliding (2) and lower folding hang gliding (3) is closed up, reach 0 ° of initial pendulum angle, complete the paddle fortune of a cycle
It is dynamic；
When fixed hang gliding (1) is in 0 ° of fixed angle, piston rod (7), which moves back, drives first connecting rod (8) and second connecting rod (9) to make
Upper folding hang gliding (2) and lower folding hang gliding (3) are closed up, and by the cooperation of positive stop strip (20) and limiting slot (21) so that on
Hang gliding (2) and lower folding hang gliding (3) parking position accuracy are folded, gliding is used for.
2. submarine navigation device paddle-type air according to claim 1 promotes and gliding mechanism, it is characterised in that: the upper folding
Hang gliding (2) and the lower opening angle folded between hang gliding (3) are 0 °~120 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811317939.5A CN109204750B (en) | 2018-11-07 | 2018-11-07 | Paddle type propelling and gliding mechanism of underwater vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811317939.5A CN109204750B (en) | 2018-11-07 | 2018-11-07 | Paddle type propelling and gliding mechanism of underwater vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109204750A true CN109204750A (en) | 2019-01-15 |
| CN109204750B CN109204750B (en) | 2020-06-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811317939.5A Active CN109204750B (en) | 2018-11-07 | 2018-11-07 | Paddle type propelling and gliding mechanism of underwater vehicle |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112849377A (en) * | 2021-02-04 | 2021-05-28 | 上海海事大学 | Integrated dual-function underwater vehicle power propulsion device |
| CN113232810A (en) * | 2021-06-24 | 2021-08-10 | 中国船舶科学研究中心 | Large-scale underwater platform folding type gliding wing device and operation method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112849377A (en) * | 2021-02-04 | 2021-05-28 | 上海海事大学 | Integrated dual-function underwater vehicle power propulsion device |
| CN113232810A (en) * | 2021-06-24 | 2021-08-10 | 中国船舶科学研究中心 | Large-scale underwater platform folding type gliding wing device and operation method thereof |
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|---|---|
| CN109204750B (en) | 2020-06-16 |
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