CN109733571A - A kind of modularization underwater robot vector propulsion mechanism - Google Patents
A kind of modularization underwater robot vector propulsion mechanism Download PDFInfo
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- CN109733571A CN109733571A CN201910175296.3A CN201910175296A CN109733571A CN 109733571 A CN109733571 A CN 109733571A CN 201910175296 A CN201910175296 A CN 201910175296A CN 109733571 A CN109733571 A CN 109733571A
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- circle rotation
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- underwater robot
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Abstract
The invention discloses a kind of modularization underwater robot vector propulsion mechanism, which is to form on same axis by propeller propulsion electric machine, circle rotation module and swing module array.Realize the vector quantization of propulsive mechanism.Have modularization, failure rate low compared with the vector propulsion mechanism of traditional sphere parallel mechanism, controls feature with high accuracy.
Description
Technical field
The present invention relates to machines under a kind of vector propulsion mechanism applied to underwater robot more particularly to a kind of modular water
Device people's vector propulsion mechanism, belongs to submarine navigation device technical field.
Background technique
Underwater robot mostly uses screw propeller as propulsion device at present, and single screw propeller can only generate
Size is variable and thrust that direction is fixed, and when robot needs to carry out different directions guiding maneuvering motion, for example, pitching and
Deflection, it is necessary to install multiple screw propellers to generate three-dimensional propulsive force.Vector propulsion mechanism such as CN at present
The component that vector promotes is fixed on a disk or annulus described in 104029197A or CN201610141582.4, is passed through
Motor rotation drives connecting rod or arc-shaped guide rod to realize that the vector of propeller is run, although the program realizes the arrow of propeller
Amount promotes, but its angle is compared with small, structure is complicated, weight is big.
Summary of the invention
Present invention solves the technical problem that: it is directed to existing underwater robot Push Technology problem, the present invention proposes one kind
Modularization underwater robot vector propulsion mechanism, the mechanism can be realized the vector Push Technology of multi-pose, improve underwater
The low speed steering capability and stationkeeping ability of people.
In order to solve the above technical problems, the invention adopts the following technical scheme:
A kind of vector propulsion mechanism of modularization underwater robot, including propeller propulsion electric machine, circle rotation module and swing
Module, propeller propulsion electric machine, circle rotation module and the setting of swing module are on the same axis；The circle rotation module
Including circle rotation driving motor and circle rotation partial protection shell, the swing module includes wobble drive motor and swing
Partial protection shell, circle rotation driving motor circle rotation in the horizontal direction, the output shaft of circle rotation driving motor and swing
The casing of driving motor connects, and realizes and drives swing module rotation；The casing other end is connected with propeller propulsion electric machine, swings
The motor shaft of driving motor is vertical with the output shaft of circle rotation driving motor, and wobble drive motor rotates along the vertical direction, band
Dynamic propeller propulsion electric machine, which is realized, to be swung.
The circle rotation driving motor and wobble drive motor selects low speed large torque moment permanent-magnet motor, and low speed turns greatly
Motor encoder is provided in torque permanent magnet motor.
The circle rotation partial protection shell is bonded setting with swing part protecting crust.
The end cap of the circle rotation driving motor is connect with underwater human organism.
Advantages of the present invention effect is as follows:
The circle rotation module can realize that drive swings module rotation.Swinging module can drive propeller main propulsion motor real
Existing horizontal or vertical swing.While swinging module work, the work of circumference module.It can be real by motor encoder in each module
Now to the measurement and control of angle, and then realize that three dimensionality vector promotes.System can be by swinging mould if removing circumference module
Block realizes that two bit vectors promote.Each module of the present invention is all made of low speed large torque moment permanent-magnet direct driving motor, is not necessarily to connecting rod guide rod
Etc. other structures, realize vector promote, have the characteristics that it is integrated height, failure rate is low, angle precision is high.
Detailed description of the invention
Fig. 1 trivector propulsive mechanism cross-sectional view.
Fig. 2 two-dimensional vector propulsive mechanism cross-sectional view.
Fig. 3 is circle rotation driving motor and wobble drive motor working principle diagram.
In figure: 1- underwater human organism, 2- circle rotation driving motor, 3- circle rotation partial protection shell, 4- are swung
Driving motor, 5- swing part protecting crust, 6- propeller propulsion electric machine, 7- output shaft, 8- motor shaft.
Specific embodiment
Embodiment
As shown in Figure 1, a kind of vector propulsion mechanism of modularization underwater robot, including propeller propulsion electric machine 6, circle rotation
Module and swing module, propeller propulsion electric machine 6, circle rotation module and the setting of swing module are on the same axis；Described
Circle rotation module includes circle rotation driving motor 2 and circle rotation partial protection shell 3, and the swing module includes swinging
Driving motor 4 and swing part protecting crust 5, circle rotation, circle rotation driving are electric in the horizontal direction for circle rotation driving motor
The output shaft 7 of machine is connect with the casing of wobble drive motor, is realized and is driven swing module rotation；The casing other end is pushed away with propeller
It is connected into motor 6, the motor shaft 8 of wobble drive motor and the output shaft 7 of circle rotation driving motor are vertical, wobble drive electricity
Machine 4 rotates along the vertical direction, drives propeller propulsion electric machine to realize and swings.The circle rotation partial protection shell 3 and swing
The fitting setting of partial protection shell 5.The end cap of the circle rotation driving motor is connect with underwater human organism 1.
The circle rotation driving motor and wobble drive motor selects low speed large torque moment permanent-magnet motor, and low speed turns greatly
Motor encoder is provided in torque permanent magnet motor, motor encoder can realize the measurement and control to angle, and then realize three-dimensional
Spend the measurement and control that vector promotes angles and positions.
As shown in Fig. 2, the present invention can remove circumference module, then the wobble drive low speed large torque moment permanent-magnet in module will be swung
Motor 4 is directly connect with underwater human organism 1, passes through the motor encoder of 4 shaft end of wobble drive low speed large torque moment permanent-magnet motor
Device realizes the measurement that angles and positions are promoted to two-dimensional vector.
The working principle of circle rotation driving motor and wobble drive motor of the present invention, as shown in figure 3, circle rotation drives
Circle rotation, wobble drive motor 4 rotate motor 2 along the vertical direction in the horizontal direction；When the setting of wobble drive motor 4 is solid
Determine angle, then 4 extension end of wobble drive motor that rotates a circle of circle rotation driving motor 2 forms a round rail in space
Mark；With the variation of angle, the hemisphere face that a radius is 4 extension end of wobble drive motor will be formed and therefore pass through setting circle
The angle of all rotary drive motors 2 and the angle of wobble drive motor 4 achieve that the fixed coordinates in spherical surface promote, i.e., in fact
Trivector is showed.
In the description of the present invention, it should be noted that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation.Therefore should not be understood as pair
Limitation of the invention, protection scope of the present invention are not limited by specific embodiment.
Claims (4)
1. a kind of vector propulsion mechanism of modularization underwater robot, it is characterised in that revolved including propeller propulsion electric machine, circumference
Revolving die block and swing module, propeller propulsion electric machine, circle rotation module and the setting of swing module are on the same axis；Described
Circle rotation module includes circle rotation driving motor and circle rotation partial protection shell, and the swing module includes swinging to drive
Dynamic motor and swing part protecting crust, circle rotation driving motor circle rotation in the horizontal direction, circle rotation driving motor
Output shaft is connect with the casing of wobble drive motor, is realized and is driven swing module rotation；The casing other end and propeller promote electricity
Machine is connected, and the motor shaft of wobble drive motor is vertical with the output shaft of circle rotation driving motor, and wobble drive motor is along perpendicular
Histogram drives propeller propulsion electric machine to realize and swings to rotation.
2. a kind of vector propulsion mechanism of modularization underwater robot according to claim 1, it is characterised in that described
Circle rotation driving motor and wobble drive motor select low speed large torque moment permanent-magnet motor, set in low speed large torque moment permanent-magnet motor
It is equipped with motor encoder.
3. a kind of vector propulsion mechanism of modularization underwater robot according to claim 1, it is characterised in that described
Circle rotation partial protection shell is bonded setting with swing part protecting crust.
4. a kind of vector propulsion mechanism of modularization underwater robot according to claim 1, it is characterised in that described
The end cap of circle rotation driving motor is connect with underwater human organism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910175296.3A CN109733571A (en) | 2019-03-08 | 2019-03-08 | A kind of modularization underwater robot vector propulsion mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910175296.3A CN109733571A (en) | 2019-03-08 | 2019-03-08 | A kind of modularization underwater robot vector propulsion mechanism |
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| CN109733571A true CN109733571A (en) | 2019-05-10 |
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| CN201910175296.3A Pending CN109733571A (en) | 2019-03-08 | 2019-03-08 | A kind of modularization underwater robot vector propulsion mechanism |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110937088A (en) * | 2019-11-21 | 2020-03-31 | 杭州电子科技大学 | Dual-drive AUV magnetic coupling vector propulsion device suitable for ice hole arrangement |
| CN111332435A (en) * | 2020-03-09 | 2020-06-26 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | AUV modularization carrier structure |
| CN113060260A (en) * | 2021-03-30 | 2021-07-02 | 三峡大学 | Small submersible device with water quality collection and monitoring functions and use method |
| CN115092374A (en) * | 2022-06-28 | 2022-09-23 | 北京航空航天大学 | Pump-spraying type underwater vector propeller |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110937088A (en) * | 2019-11-21 | 2020-03-31 | 杭州电子科技大学 | Dual-drive AUV magnetic coupling vector propulsion device suitable for ice hole arrangement |
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| CN111332435A (en) * | 2020-03-09 | 2020-06-26 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | AUV modularization carrier structure |
| CN113060260A (en) * | 2021-03-30 | 2021-07-02 | 三峡大学 | Small submersible device with water quality collection and monitoring functions and use method |
| CN115092374A (en) * | 2022-06-28 | 2022-09-23 | 北京航空航天大学 | Pump-spraying type underwater vector propeller |
| CN115092374B (en) * | 2022-06-28 | 2024-01-19 | 北京航空航天大学 | Pump-spraying type underwater vector propeller |
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