CN109353474A - A kind of vector propeller and cableless underwater robot - Google Patents
A kind of vector propeller and cableless underwater robot Download PDFInfo
- Publication number
- CN109353474A CN109353474A CN201811017150.8A CN201811017150A CN109353474A CN 109353474 A CN109353474 A CN 109353474A CN 201811017150 A CN201811017150 A CN 201811017150A CN 109353474 A CN109353474 A CN 109353474A
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- Prior art keywords
- vector
- hydraulic cylinder
- moving platform
- propeller
- underwater robot
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses a kind of vector propeller and cableless underwater robots.The vector propeller includes vector device and propulsion device, and wherein vector device includes moving platform, silent flatform and three hydraulic cylinders；In vector device, pedestal of the silent flatform as fixer cylinder pressure is connect with hydraulic cylinder revolute pair, and fixed point of the hydraulic cylinder in this face is rotated；The hydraulic-driven power that hydraulic cylinder generates makes hydraulic cylinder carry out stretching motion along axial, it is connect by the piston rod of hydraulic cylinder with moving platform spherical pair, connected moving platform posture and position is set to change, and then the posture for the propulsion device being fixed on moving platform is made to change, to generate different deflection angles.Therefore, compared with traditional fin rudder formula propeller, vector propeller has better flexibility.
Description
Technical field
The present invention relates to a kind of hydrospace detection tool more particularly to a kind of vector propeller and the vector propeller is installed
Cableless underwater robot.
Background technique
Underwater robot is broadly divided into two major classes: one kind is that have cable underwater robot, and habit is known as telecontrolled submergence rescue vehicle (Remote
Operated Vehicle, abbreviation ROV)；Another kind of is cableless underwater robot, and habit is known as the latent device of autonomous underwater
(Autonomous Underwater Vehicle, abbreviation AUV).AUV is underwater robot of new generation, big with scope of activities,
The advantages that mobility is good, safety, intelligence, becomes the important tool for completing various subsea tasks.Vector, which promotes, is also referred to as thrust
Steering technique refers to the propulsion system of space mobile-object, other than providing forward thrust, can also simultaneously or separately mention
For propulsive force, to push pitching, yaw, rolling and the thrust direction of body.Vector Push Technology is initially applied to aerospace
Field, and the application in terms of AUV was just risen in recent years.
Currently, most of existing AUV uses traditional fin rudder formula control method, this method manipulation is simple, can be fine
Ground adapts to underwater various badly environment；There is preferably steerage rate in high speed cruise, body is made more neatly to complete to turn
To and pitching motion.
But there is also deficiencies for such method.Because the most of the time is in the low speed of 2-4knots to AUV at runtime
Operating status.And in fin rudder formula AUV dynamic model, thrust is only related with revolution speed of propeller, is a constant；In low-speed situations
Under, the efficiency of rudder face control, which can drastically reduce, even to fail, and flexibility is poor.So traditional fin rudder formula control method is certain
The complexity and requirement on flexibility that AUV is moved under water are no longer satisfied in degree, especially the low-speed motion the case where
Under.
Summary of the invention
For overcome the deficiencies in the prior art, one of the objects of the present invention is to provide a kind of vector propeller, the vectors
Propeller has better flexibility compared with traditional fin rudder formula controller.
The second object of the present invention is to provide a kind of cableless underwater robot for being equipped with above-mentioned vector propeller, the nothing
Cable underwater robot has better flexibility compared with the cableless underwater robot that fin rudder formula controls.
An object of the present invention adopts the following technical scheme that realization:
A kind of vector propeller of the present invention, including vector device and propulsion device；The vector device include moving platform,
Silent flatform and three hydraulic cylinders；Three hydraulic cylinders are uniformly distributed along the circumferential direction of moving platform；The piston rod of the hydraulic cylinder and institute
It states moving platform to connect by spherical pair, the hydraulic cylinder of the hydraulic cylinder is connect with the silent flatform by revolute pair；Described
Propulsion device is fixed on the moving platform.
Preferably, the propulsion device uses screw propeller.
It preferably, further include package casing, the package casing offers the baltimore groove for installing vector device.
It preferably, further include bulb spherical plain bearing rod end；The first hole, the second hole and the third hole of moving platform are used to fix
The ball rod of the ball-and-socket of bulb spherical plain bearing rod end, threaded hole and bulb spherical plain bearing rod end on hydraulic cylinder piston rod is fixed.
It preferably, further include cylinder barrel end bearing；Silent flatform is uniformly fixed, and there are three connectors；The cylinder barrel end bearing it is interior
The optical axis section of circle and bolt cooperates, and bolt passes through connector and connect with nut；Be welded on swivel nut on cylinder barrel end bearing outer ring with
The screw rod connection that cylinder bottom covers.
Preferably, the interstitial hole of the moving platform is for installing propulsion device.
The second object of the present invention adopts the following technical scheme that realization:
A kind of cableless underwater robot is equipped with vector propeller on the body of the cableless underwater robot.
Preferably, there are three the vector propellers for installation on the body of the cableless underwater robot, are located at institute
State the body two sides and tail portion of cableless underwater robot.
Compared with prior art, the beneficial effects of the present invention are:
Vector propeller provided by the invention, including vector device and propulsion device.In vector device, silent flatform conduct
The pedestal of fixer cylinder pressure is connect with hydraulic cylinder revolute pair, and fixed point of the hydraulic cylinder in this face is rotated.
The hydraulic-driven power that hydraulic cylinder generates makes hydraulic cylinder carry out stretching motion along axial, passes through the piston rod and moving platform of hydraulic cylinder
Spherical pair connection, makes connected moving platform posture and position change, and then make to be fixed on pushing away on moving platform
Posture into device changes, and generates deflection angle.The different posture of each of vector propulsion device, can all form one
Different deflection angle, so that different changes occurs for the direction of advance of cableless underwater robot.Therefore, with traditional fin
Rudder formula propeller is compared, and vector propeller has better flexibility.
Detailed description of the invention
Fig. 1 is the installation diagram of vector propeller of the present invention；
Fig. 2 is the schematic diagram of moving platform in the present invention；
Fig. 3 is the A-A cross-sectional view of Fig. 1；
Fig. 4 is the schematic diagram of silent flatform in the present invention；
Fig. 5 is the encapsulation schematic diagram of vector propeller of the present invention.
In figure: 1, moving platform；11, the first hole；12, the second hole；13, third hole；14, interstitial hole；2, silent flatform；21, even
Fitting；3, hydraulic cylinder；31, hydraulic cylinder bottom cover；32, hydraulic cylinder barrel；33, piston boit；331, piston boit sealing ring；332, piston
Column guide ring；34, hydraulic cylinder；341, hydraulic cylinder sealing circle；35, piston rod；351, piston rod seals；352, piston rod is led
Xiang Huan；4, bulb spherical plain bearing rod end；5, cylinder barrel end bearing；6, package casing.
Specific embodiment
With reference to the accompanying drawing and specific embodiment, the present invention is described further.
As shown in figs. 1 and 3, vector propeller provided by the invention includes vector device and propulsion device；Vector device packet
Moving platform 1, silent flatform 2 and three hydraulic cylinders 3 are included, three hydraulic cylinders 3 are uniformly distributed along the circumferential direction of moving platform 1.The piston rod of hydraulic cylinder 3
35 are connect with moving platform 1 by spherical pair, and the hydraulic cylinder 34 of hydraulic cylinder 3 is connect with silent flatform 2 by revolute pair；Propulsion device
(figure not depending on) is fixedly mounted on moving platform 1.
As shown in Fig. 2, moving platform 1 is rounded, set that there are four holes above.Wherein, the first hole 11, the second hole 12 and third hole
13 are used to the ball-and-socket of fixed bulb spherical plain bearing rod end 4, threaded hole and bulb rod end joint shaft on 3 piston rod 35 of hydraulic cylinder
The ball rod for holding 4 is fixed.First hole 11, the second hole 12,13 size of third hole are identical, are distributed on moving platform 1；Interstitial hole 14 is used
In installation propulsion device.Propulsion device in the present embodiment uses traditional screw propeller, according to underwater robot difference
Model select different screw propellers, different intermediate bore dias is opened according to the different size of screw propeller and is used for
Screw propeller is installed.
As shown in figure 3, hydraulic cylinder 3 is mainly by hydraulic cylinder bottom cover 31, hydraulic cylinder barrel 32, piston boit 33, hydraulic cylinder 34
It is formed with piston rod 35；Hydraulic cylinder bottom cover 31 and hydraulic cylinder 34 are fixed on 32 both ends of hydraulic cylinder barrel；Piston boit 33 and piston
Bar 35 is fixed.In order to guarantee the leakproofness of hydraulic cylinder 3, piston boit sealing ring is equipped between hydraulic cylinder barrel 32 and piston boit 33
331；Piston rod seals 351 are equipped between hydraulic cylinder 34 and piston rod 35；Between hydraulic cylinder barrel 32 and hydraulic cylinder 34
Equipped with hydraulic cylinder sealing circle 341.Piston boit occurs directly to contact and rub with hydraulic cylinder barrel 32 during the motion in order to prevent
It wipes, plays the role of protecting hydraulic cylinder barrel 32 and piston boit not impaired, be equipped between hydraulic cylinder barrel 32 and piston boit 33
Piston boit guide ring 332, piston rod 35 occurs directly to contact and rub during the motion with hydraulic cylinder 34 in order to prevent,
Play the role of protecting hydraulic cylinder 34 not impaired with piston rod 35, piston rod is equipped between piston rod 35 and hydraulic cylinder 34
Guide ring 352.In addition, offering threaded hole on piston rod 35.The threaded hole is used to carry out screw thread with bulb spherical plain bearing rod end 4
Connection.If kinematic parameter α is the angle of 1 normal of moving platform and 35 axis of piston rod, θ is 1 normal of moving platform and 2 normal of silent flatform
Angle.When changing screw propeller thrust direction, moving platform 1 is rotated, ball rod oscillating bearing
θ when not interfering behavior just of ball-and-socket and ball rod be known as largest motion angle, wherein α < 25 °.Largest motion angle θ's
Be worth it is bigger, moving platform 1 can beat angle bulb joint bearing in other words motion range it is also bigger.
Hydraulic cylinder 3 can carry out axial stretching movement, pass through the continuous adjustment of three hydraulic cylinders 3, thus it is possible to vary moving platform 1
Posture, with reach change screw propeller thrust direction, realize vector promote design effect.The piston of hydraulic cylinder 3
Bar 35 is connect with 1 spherical pair of moving platform, makes moving platform 1 that the change of different postures may be implemented with the stretching motion of hydraulic cylinder 3,
To make the screw propeller being fixed on moving platform 1 generate deflection angle, change the thrust direction that screw propeller generates,
Realize the effect that vector promotes.Vector means that existing size has direction again, vector device for changing direction, though
So there are the hydraulic-driven power of hydraulic cylinder 3, but its thrust power for being not used as cableless underwater robot, but changes for being used as
The driving force in change propulsive direction, the power of the generation size of real vector propeller are mentioned by propulsion device screw propeller
It supplies.
As shown in figure 4, silent flatform 2 is the pedestal of fixer cylinder pressure 3.In the present embodiment, silent flatform 2 is rounded, thereon
It is uniformly fixed that there are three connectors 21.Each connector 21 can be fixed on silent flatform 2 by welding or directly monoblock cast
On.Connector 21 is for connecting cylinder barrel end bearing 5.Wherein, the optical axis section of 5 inner ring of cylinder barrel end bearing and bolt cooperates, and bolt is worn
Connector 21 is crossed to connect with nut；The swivel nut being welded on 5 outer ring of cylinder barrel end bearing is connect with the screw rod on hydraulic cylinder bottom cover 31.
If the key parameter of cylinder barrel end bearing 5 is also movement angle α, in the present invention movement angle α=13 ° of cylinder barrel end bearing 5；Hydraulic
In the relative motion of cylinder 3 and silent flatform 2, the axis of the axis and hydraulic cylinder 3 of swivel nut coincides, therefore, in cylinder barrel end bearing 5
Movement angle α is exactly the angle of 3 axial direction of normal and hydraulic cylinder of silent flatform 2.
In view of 3 volume of hydraulic cylinder is larger, if being suspended on cableless underwater robot body using external, in deep water work
It when making, will increase with the contact area of seawater, and biggish torque can be generated when carrying out beat, will increase the resistance of work
Power increases the consumption of energy, generates bubble.Preferably, therefore, vector propeller is placed in a package casing 6, is such as schemed
Shown in 5.Package casing 6 is a rectangular vessel, and bottom is opened up there are three threaded hole, three threaded holes with 2 outer end face of silent flatform
Position corresponds.The threaded hole of package casing 6 is fixedly connected with the threaded hole of silent flatform 2 by screw.Due in the present invention
Hydraulic cylinder 3 can also follow change location together when changing moving platform 1 in design, so can not be by hydraulic cylinder 3 and fluid
It directly separates, hydraulic cylinder 3 is in the state directly contacted at work with seawater.Although cannot accomplish to the close of hydraulic cylinder 3
Envelope, but in contrast, this encapsulation design can reduce the resistance of fluid generation to a certain extent, can also be to hydraulic cylinder 3
Play it is certain prevent collision-deformed protective effect, also can be convenient the dismounting and change of vector propeller entirety.In addition, for
Package casing 6 is closed, outputs baltimore groove on cableless underwater robot body, by the fixedly embedded baltimore groove of vector propeller, both
It can be reduced the resistance that underwater man-hour is subject to, reduce loss, and vector propeller can be effectively protected, increase its use
Service life.
For general layout of the vector propeller in cableless underwater robot, the present embodiment preferably uses three paddle vectors to push away
Into allocation plan.In the configuration of three paddles, two inclined vector propellers are arranged in the two sides of cableless underwater robot.Due to nothing
The span of cable underwater robot is relatively long, therefore a propeller propulsive mechanism is arranged in every side, so that each wing can be given
Give the great torque of fuselage.In this way, flipper turn may be implemented in cableless underwater robot when there is propulsive mechanism.At the same time,
The vector propeller for pose adjustment also is increased in tail portion, making cableless underwater robot not only may be implemented flexibly to float
It moves, sink, hover, move forward and backward, can also realize overturning and the kinetic characteristics such as posture can be adjusted.For example, when it is needed
When carrying out pose adjustment, left and right turn can be by one of them for the two sides vector propulsion mechanism that only works, to untethered underwater
Robot provides bigger torque, so that turning velocity be made to be improved；Under the working condition for needing fast steering, this hair
As soon as the vector propeller of the cableless underwater robot of bright design need to only provide the miscellaneous function turned to, fuselage can be helped more
Steadily controllably carry out attitude regulation.In addition to this, dive in cableless underwater robot, climb etc. operation when, tail portion
The effect of vector propeller for pose adjustment can be particularly important, and floated, when sinking etc. operates, untethered underwater machine
The vector propeller of device people two sides provides biggish power effect.
The above embodiment is only the preferred embodiment of the present invention, and the scope of protection of the present invention is not limited thereto,
The variation and replacement for any unsubstantiality that those skilled in the art is done on the basis of the present invention belong to institute of the present invention
Claimed range.
Claims (8)
1. a kind of vector propeller, including propulsion device, it is characterised in that: further include vector device；The vector device packet
Include moving platform, silent flatform and three hydraulic cylinders；Three hydraulic cylinders are uniformly distributed along the circumferential direction of moving platform；The work of the hydraulic cylinder
Stopper rod is connect with the moving platform by spherical pair, and the hydraulic cylinder of the hydraulic cylinder and the silent flatform are connected by revolute pair
It connects；The propulsion device is fixed on the moving platform.
2. a kind of vector propeller according to claim 1, it is characterised in that: the propulsion device is pushed away using propeller
Into device.
3. a kind of vector propeller according to claim 1, it is characterised in that: it further include package casing, the encapsulation
Shell offers the baltimore groove for installing vector device.
4. a kind of vector propeller according to claim 1, it is characterised in that: further include bulb spherical plain bearing rod end；It is dynamic
The first hole, the second hole and the third hole of platform are used to the ball-and-socket of fixed bulb spherical plain bearing rod end, on hydraulic cylinder piston rod
The ball rod of threaded hole and bulb spherical plain bearing rod end is fixed.
5. a kind of vector propeller according to claim 1, it is characterised in that: further include cylinder barrel end bearing；Silent flatform is equal
Cloth is fixed, and there are three connectors；The inner ring of the cylinder barrel end bearing and the optical axis section of bolt cooperate, and bolt passes through connector and spiral shell
Mother's connection；The swivel nut being welded on cylinder barrel end bearing outer ring is connect with the screw rod that cylinder bottom covers.
6. a kind of vector propeller according to claim 1, it is characterised in that: the interstitial hole of the moving platform is for installing
Propulsion device.
7. a kind of cableless underwater robot, it is characterised in that: installation is just like described in any one of claims 1 to 6 on body
Vector propeller.
8. a kind of cableless underwater robot according to claim 7, it is characterised in that: on the body there are three installations
The vector propeller is located at the body two sides and tail portion of the cableless underwater robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811017150.8A CN109353474A (en) | 2018-08-31 | 2018-08-31 | A kind of vector propeller and cableless underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811017150.8A CN109353474A (en) | 2018-08-31 | 2018-08-31 | A kind of vector propeller and cableless underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109353474A true CN109353474A (en) | 2019-02-19 |
Family
ID=65350491
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811017150.8A Pending CN109353474A (en) | 2018-08-31 | 2018-08-31 | A kind of vector propeller and cableless underwater robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN109353474A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110834708A (en) * | 2019-11-29 | 2020-02-25 | 江苏科技大学 | Improve screw of rudder effect |
| CN111114729A (en) * | 2019-12-04 | 2020-05-08 | 北京理工大学 | Vector water-jet propeller and vector water-jet propulsion method |
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| CN105366021A (en) * | 2015-12-02 | 2016-03-02 | 山东大学（威海） | Vector propulsion plant capable of adjusting pitch and underwater vehicle having same |
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2018
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| CN105366021A (en) * | 2015-12-02 | 2016-03-02 | 山东大学（威海） | Vector propulsion plant capable of adjusting pitch and underwater vehicle having same |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110834708A (en) * | 2019-11-29 | 2020-02-25 | 江苏科技大学 | Improve screw of rudder effect |
| CN110834708B (en) * | 2019-11-29 | 2021-07-30 | 江苏科技大学 | Improve screw of rudder effect |
| CN111114729A (en) * | 2019-12-04 | 2020-05-08 | 北京理工大学 | Vector water-jet propeller and vector water-jet propulsion method |
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Application publication date: 20190219 |
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