CN109625215A - Underwater vector propelling screws and submarine navigation device - Google Patents
Underwater vector propelling screws and submarine navigation device Download PDFInfo
- Publication number
- CN109625215A CN109625215A CN201811477229.9A CN201811477229A CN109625215A CN 109625215 A CN109625215 A CN 109625215A CN 201811477229 A CN201811477229 A CN 201811477229A CN 109625215 A CN109625215 A CN 109625215A
- Authority
- CN
- China
- Prior art keywords
- group
- electric pushrod
- end disc
- electric
- connect
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Aviation & Aerospace Engineering (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of underwater vector propelling screws and submarine navigation devices, belong to underwater propeller field, the underwater vector propelling screws include rotating electric machine, fixed end disc, first group of electric pushrod, second group of electric pushrod, movement end disc and propeller blade, the one side of fixed end disc is connect with rotating electric machine, another side is connect with first group of electric pushrod, and each in first group of electric pushrod can rotation and with fixed end disc revolution；Second group of electric pushrod is connect by revolute pair with first group of electric pushrod, and rotation vice division chief is provided with overturning motor；Movement end disc connect with second group of electric pushrod, each in second group of electric pushrod can rotation and with move end disc revolve；Propeller blade setting is on movement end disc.The present invention solves the problems, such as that traditional underwater vector propeller insufficient rigidity or working space are unsatisfactory for requiring, while structure is simple, and control law is strong, easily controllable.
Description
Technical field
The present invention relates to underwater propeller field, a kind of underwater vector propelling screws and submarine navigation device are particularly related to.
Background technique
Screw propeller generates thrust by rotating vane, and in fields such as ship, aviations, application is relatively broad, main
To be used to that the aircraft such as ship, ships and light boats is pushed to advance.
Current underwater propulsion equipment mostly uses single mechanism in parallel or in series, and there are work skies for single parallel institution
Between insufficient disadvantage, promote angles can not reach required for very much, unitary series of operations mechanism the shortcomings that there are insufficient rigidities.
Summary of the invention
In order to solve the above technical problems, the present invention provides a kind of underwater vector propelling screws and submarine navigation device, this hair
It is bright to be unsatisfactory for the problem of requiring, tying simultaneously with the underwater vector propeller insufficient rigidity of effective solution tradition or working space
Structure is simple, and control law is strong, is more easily controlled relative to common parallel institution.
It is as follows that the present invention provides technical solution:
A kind of underwater vector propelling screws, including rotating electric machine, fixed end disc, first group of electric pushrod, second group
Electric pushrod, movement end disc and propeller blade, in which:
The one side of the fixed end disc is connect with the rotating electric machine, and another side and first group of electric pushrod connect
It connects, each in first group of electric pushrod can rotation and with fixed end disc revolution；
Second group of electric pushrod is connect by revolute pair with first group of electric pushrod, and the rotation vice division chief, which is provided with, to be turned over
Rotating motor；
The movement end disc is connect with second group of electric pushrod, and each in second group of electric pushrod can
Rotation and with movement end disc revolution；
The propeller blade is arranged on the movement end disc.
Further, it is provided with electric brush slip ring in the one side that the fixed end disc is connected with the rotating electric machine, it is described
Electric brush slip ring is first group of electric pushrod, second group of electric pushrod and overturning motor power supply.
Further, first group of electric pushrod and second group of electric pushrod include three electric pushrods.
Further, first group of electric pushrod is connect by revolute pair with the fixed end disc, and first group electronic
Three electric pushrods of push rod are evenly arranged on the fixed end disc；Second group of electric pushrod passes through revolute pair and the fortune
The connection of moved end disk, three electric pushrods of second group of electric pushrod are evenly arranged on the movement end disc.
Further, the rotating electric machine and fixed end disc are arranged in mounting bracket.
Further, the propeller blade quantity is 3, is evenly arranged on tache motorice disk side.
A kind of submarine navigation device, including aircraft ontology and underwater vector propelling screws above-mentioned.
The invention has the following advantages:
Two parallel institutions are connected to form metamorphic mechanisms by the present invention, there is biggish working space, while overcoming rigidity not
The disadvantage of foot.The present invention can be unsatisfactory for requiring with the underwater vector propeller insufficient rigidity of effective solution tradition or working space
The problem of, while structure is simple, control law is strong, is more easily controlled relative to common parallel institution.
Detailed description of the invention
Fig. 1 is that the vector of underwater vector propelling screws of the invention promotes pattern diagram；
Fig. 2 is the vertical thrust pattern diagram of underwater vector propelling screws of the invention.
Wherein, the number of each component are as follows: mounting bracket 1,3, first groups of electric pushrods 4 of electric brush slip ring, is turned over rotating electric machine 2
5, second groups of electric pushrods 6 of rotating motor, propeller blade 7, fixed end disc 8, movement end disc 9, revolute pair 10.
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 embodiment of the present invention provides a kind of underwater vector propelling screws, as shown in Figure 1, including rotating electric machine
2, fixed 8, first groups of end disc, 4, second groups of electric pushrod electric pushrod 6, movement end disc 9 and propeller blade 7, the present invention
Two parts are divided by the electric pushrod of two groups of circle distributions, first part is fixing end, and second part is to be equipped with propeller
The tache motorice of blade, in which:
Fixing end is a fixed end disc, and the one side of fixed end disc 8 is connect with rotating electric machine 2, another side and first group
Electric pushrod 4 connects, and each in first group of electric pushrod 4 can fix end disc rotation and relatively with fixing end circle
Disk 8 revolves；
Second group of electric pushrod 6 is connect by revolute pair 10 with first group of electric pushrod 4, and overturning is provided at revolute pair 10
Motor 5；Revolute pair can make second group of electric pushrod rotate certain angle around first group of electric pushrod by overturning motor driven
Degree；
Movement end disc 9 is connect with the end of second group of electric pushrod 6, and each in second group of electric pushrod 6 can
It is enough to fix end disc rotation relatively and as movement end disc 9 revolves；
The setting of propeller blade 7 can produce thrust on movement end disc, through rotation.
The present invention has vertical thrust mode and vector to promote two kinds of operating modes of mode:
Vertical thrust mode, as shown in Figure 2: two groups of electric pushrods are respectively on same straight line at this time, fixing end circle
Disk and movement end disc coaxial line, electric pushrod is fixed at this time, is promoted by rotating electric machine direct-driven airscrew.
Vector promotes mode, and rotating electric machine, overturning motor and two groups of electric pushrods work at the same time at this time as shown in Figure 1:,
Electric pushrod not only around own axes rotation but also revolved, these active movements can synthesize movement end disc rotation and
The spheric motion of disc centre is at this time vector advanced state.
The present invention by two parallel institutions (two groups of group electric pushrods and its structure of connection) series connection form metamorphic mechanisms, have compared with
Big working space, while the shortcomings that overcome insufficient rigidity.The present invention can be with the underwater vector propeller of effective solution tradition
Insufficient rigidity or working space are unsatisfactory for the problem of requiring, while structure is simple, and control law is strong, relative to common and
Online structure is more easily controlled.
As an improvement of the present invention, electric brush slip ring is provided in the one side that fixed end disc 8 is connected with rotating electric machine 2
3, electric brush slip ring 3 is that first group of electric pushrod, 4, second groups of electric pushrods 6 and overturning motor 5 are powered.
In the present invention, it is preferred that first group of electric pushrod 4 and second group of electric pushrod 6 are including three electric pushrods.
First group of electric pushrod 4 is connect by revolute pair with fixed end disc 8, so that each electric pushrod can be opposite
Fixed end disc rotation is simultaneously also with fixed end disc revolution, three electric pushrods of first group of electric pushrod 4 are evenly arranged on
On fixed end disc 8；Second group of electric pushrod 6 is connect by revolute pair with movement end disc 9, so that each electric pushrod
It can be movable relatively end disc rotation while also with movement end disc revolution, three electric pushrods of second group of electric pushrod 6
It is evenly arranged on movement end disc 9.
For convenience of fixation, rotating electric machine 2 and fixed end disc 8 are arranged in mounting bracket 1.
In the present invention, 7 quantity of propeller blade is preferably 3, and 3 propeller blades are evenly arranged on movement 9 side of end disc,
It can produce thrust by rotation.
On the other hand, the present invention provides a kind of submarine navigation device, including aircraft ontology and underwater vector above-mentioned promote
Propeller.
Two parallel institutions are connected to form metamorphic mechanisms by the present invention, there is biggish working space, while overcoming rigidity not
The disadvantage of foot.The present invention can be unsatisfactory for requiring with the underwater vector propeller insufficient rigidity of effective solution tradition or working space
The problem of, while structure is simple, control law is strong, is more easily controlled relative to common parallel institution.
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 (7)
1. a kind of underwater vector propelling screws, which is characterized in that electronic pushed away including rotating electric machine, fixed end disc, first group
Bar, second group of electric pushrod, movement end disc and propeller blade, in which:
The one side of the fixed end disc is connect with the rotating electric machine, and another side is connect with first group of electric pushrod, institute
Stating each in first group of electric pushrod can rotation and with fixed end disc revolution；
Second group of electric pushrod is connect by revolute pair with first group of electric pushrod, and the rotation vice division chief is provided with overturning electricity
Machine；
The movement end disc is connect with second group of electric pushrod, and each in second group of electric pushrod can rotation
With with movement end disc revolution；
The propeller blade is arranged on the movement end disc.
2. underwater vector propelling screws according to claim 1, which is characterized in that the fixed end disc and the rotation
Be provided with electric brush slip ring in the connected one side of rotating motor, the electric brush slip ring be first group of electric pushrod, second group it is electronic
Push rod and overturning motor power supply.
3. underwater vector propelling screws according to claim 2, which is characterized in that first group of electric pushrod and
Two groups of electric pushrods include three electric pushrods.
4. underwater vector propelling screws according to claim 3, which is characterized in that first group of electric pushrod passes through
Revolute pair is connect with the fixed end disc, and three electric pushrods of first group of electric pushrod are evenly arranged on the fixed end disc
On；Second group of electric pushrod is connect by revolute pair with the movement end disc, and three of second group of electric pushrod are electronic
Push rod is evenly arranged on the movement end disc.
5. underwater vector propelling screws according to claim 1 to 4, which is characterized in that the rotating electric machine and solid
Fixed end disk is arranged in mounting bracket.
6. underwater vector propelling screws according to claim 5, which is characterized in that the propeller blade quantity is 3
It is a, it is evenly arranged on tache motorice disk side.
7. a kind of submarine navigation device, which is characterized in that including any underwater vector of aircraft ontology and claim 1-6
Propelling screws.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811477229.9A CN109625215B (en) | 2018-12-05 | 2018-12-05 | Underwater vector propulsion propeller and underwater vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811477229.9A CN109625215B (en) | 2018-12-05 | 2018-12-05 | Underwater vector propulsion propeller and underwater vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109625215A true CN109625215A (en) | 2019-04-16 |
| CN109625215B CN109625215B (en) | 2020-09-22 |
Family
ID=66071082
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811477229.9A Expired - Fee Related CN109625215B (en) | 2018-12-05 | 2018-12-05 | Underwater vector propulsion propeller and underwater vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109625215B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6463493A (en) * | 1987-07-03 | 1989-03-09 | Peter Mueller | Variable pitch-propeller for water vehicle |
| JP2006273180A (en) * | 2005-03-30 | 2006-10-12 | Robot Technos:Kk | Variable vector propeller for underwater navigating craft |
| KR20130051733A (en) * | 2011-11-10 | 2013-05-21 | 한국해양과학기술원 | Underwater vector thruster using constant speed joint |
| 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 |
| CN105501422A (en) * | 2016-01-18 | 2016-04-20 | 山东大学（威海） | All deflection propeller vector boost mechanism and underwater navigation vehicle |
| CN205891198U (en) * | 2016-08-05 | 2017-01-18 | 杭州霆舟无人科技有限公司 | Universal propeller |
| CN106428494A (en) * | 2016-10-31 | 2017-02-22 | 吉林大学 | Underwater vector thruster based on spatial parallel mechanism |
| CN106904258A (en) * | 2017-03-28 | 2017-06-30 | 浙江大学 | Bi-motor is multidirectional to advance autonomous robot under water |
-
2018
- 2018-12-05 CN CN201811477229.9A patent/CN109625215B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6463493A (en) * | 1987-07-03 | 1989-03-09 | Peter Mueller | Variable pitch-propeller for water vehicle |
| JP2006273180A (en) * | 2005-03-30 | 2006-10-12 | Robot Technos:Kk | Variable vector propeller for underwater navigating craft |
| KR20130051733A (en) * | 2011-11-10 | 2013-05-21 | 한국해양과학기술원 | Underwater vector thruster using constant speed joint |
| 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 |
| CN105501422A (en) * | 2016-01-18 | 2016-04-20 | 山东大学（威海） | All deflection propeller vector boost mechanism and underwater navigation vehicle |
| CN205891198U (en) * | 2016-08-05 | 2017-01-18 | 杭州霆舟无人科技有限公司 | Universal propeller |
| CN106428494A (en) * | 2016-10-31 | 2017-02-22 | 吉林大学 | Underwater vector thruster based on spatial parallel mechanism |
| CN106904258A (en) * | 2017-03-28 | 2017-06-30 | 浙江大学 | Bi-motor is multidirectional to advance autonomous robot under water |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109625215B (en) | 2020-09-22 |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200922 Termination date: 20211205 |
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| CF01 | Termination of patent right due to non-payment of annual fee |