CN112874742A - Rectangular coordinate driving type underwater thrust vector control device - Google Patents
Rectangular coordinate driving type underwater thrust vector control device Download PDFInfo
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- CN112874742A CN112874742A CN202110031635.8A CN202110031635A CN112874742A CN 112874742 A CN112874742 A CN 112874742A CN 202110031635 A CN202110031635 A CN 202110031635A CN 112874742 A CN112874742 A CN 112874742A
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- seat
- lead screw
- crosshead
- axis
- propulsion motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H11/00—Marine propulsion by water jets
- B63H11/02—Marine propulsion by water jets the propulsive medium being ambient water
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- Combustion & Propulsion (AREA)
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- Ocean & Marine Engineering (AREA)
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Abstract
The invention provides a simple and reliable underwater thrust vector control device with low cost, and belongs to the field of underwater vehicles. The invention relates to a rectangular coordinate driven underwater thrust vector control device which comprises a ball head, a device shell, a propulsion motor, a crosshead seat, an X lead screw seat, a Y lead screw seat and a sealing ring. The X lead screw and the Y lead screw form a rectangular coordinate type driving structure, and the cross head seat is controlled to translate in a plane vertical to the axis of the device; under the action of the constraint relation between the cross head seat and the cross head, the translation of the cross head seat enables the propulsion motor to swing around the sphere center of the ball head within a certain spatial angle range, and meanwhile, the propulsion motor is prevented from rotating around the axis of the motor, so that the thrust vector control is realized. Two screw rod driving motors, propellers and other types of propellers are connected to the device, and water sealing is carried out on moving parts such as propeller rotating shafts, so that the device becomes a vector propeller capable of being used for controlling the motion of an underwater vehicle.
Description
Technical Field
The invention relates to a novel device for controlling the direction of underwater thrust by controlling the displacement in the orthogonal direction, belonging to the field of underwater vehicles.
Background
Many underwater civil and military activities require the use of underwater vehicles. The underwater navigation control of the underwater vehicle can be realized by the thrust vector control device. The currently applied underwater thrust vector control device is generally hydraulic, and thrust direction control is realized through a hydraulic device. The hydraulic thrust vector control device has a complex structure and high manufacturing, using and maintaining costs. The invention provides a rectangular coordinate driving type underwater thrust vector control device, which is characterized in that a rectangular coordinate driving structure is formed by two orthogonally-mounted lead screws, so that a propulsion motor integrally swings around a fixed point of the device, and thrust vector control of the propulsion motor is realized; an output shaft of the propulsion motor is connected with propellers such as a propeller, a lead screw is connected with a lead screw driving motor, and the underwater vehicle can be subjected to vector propulsion after watertight sealing is carried out on each movable part contacting water. The underwater thrust vector control device is simple in structure, convenient to seal and low in manufacturing, using and maintaining cost. At present, the underwater thrust vector control device of the type is not seen at home and abroad.
Disclosure of Invention
The invention aims to provide a simple and reliable underwater thrust vector control device with low cost. The thrust vector control device is characterized in that: two orthogonally mounted lead screws form a rectangular coordinate type driving structure, the propulsion motor swings around a fixed point of the device in two orthogonal directions, and meanwhile, the shell of the propulsion motor is prevented from rotating around the axis of the motor, so that thrust vector control is realized.
In order to solve the technical problem, the rectangular coordinate driven underwater thrust vector control device comprises a ball head, a device shell, a propulsion motor, a crosshead seat, an X lead screw seat, a Y lead screw seat and a sealing ring; the device shell is of a revolving body structure; the ball head is positioned in a ball head seat at the end part of the device shell and forms a spherical pair with the device shell, and the ball center is positioned on the axis of the device shell; the shell of the output shaft end of the propulsion motor is fixedly connected to the ball head, and the axis of the propulsion motor penetrates through the ball center of the ball head; one end of the crosshead is fixedly connected with the end face of the shell at the tail part of the propulsion motor, the other end of the crosshead is of a cross structure formed by two cylinders with axes vertically intersected, and the axis of the propulsion motor passes through the intersection point of the axes of the two cylinders and is vertical to the two axes; one end of the crosshead seat is provided with a square hole, the length and width of the square hole are respectively equal to the diameters of the two cylinders at the end part of the crosshead, and the square hole is matched with the cylindrical surfaces of the two cylinders at the end part of the crosshead to form movable connection; a screw pair is formed between the other end of the cross head seat and the X screw, and a moving pair is formed between the cross head seat and the X screw seat; the X lead screw is arranged on the X lead screw seat, and a revolute pair is formed between the X lead screw and the X lead screw seat; a screw pair is formed between the X screw seat and the Y screw, and a moving pair is formed between the X screw seat and the Y screw seat; the Y lead screw is arranged on the Y lead screw seat, a rotating pair is formed between the Y lead screw and the Y lead screw seat, and the axis of the Y lead screw is vertical to the axis of the X lead screw; the Y lead screw seat is fixedly connected on the device shell; the inner wall of the ball seat at the end part of the device shell is provided with a rotary structure mounting groove which is coaxial with the device shell, and the sealing ring is positioned in the mounting groove.
After the crosshead is movably connected with the crosshead seat, the constraint relationship between the crosshead and the crosshead seat ensures that: the intersection point of the axes of the two cylinders at the end part of the crosshead can only be positioned on the central line of the square hole of the crosshead seat in the depth direction and can move along the central line; the crosshead can respectively swing around the axes of the two orthogonal cylinders at the end part of the crosshead relative to the crosshead seat; and the cross head can not rotate around the central line of the square hole of the cross head seat in the depth direction.
The X lead screw and the Y lead screw form a rectangular coordinate type driving structure, the X lead screw rotates alone to enable the cross head seat to translate along the axis direction of the X lead screw, the Y lead screw rotates alone to enable the cross head seat to translate along the axis direction of the Y lead screw, and the joint rotation of the X lead screw and the Y lead screw can control the translation position of the cross head seat in a plane perpendicular to the axis of the device shell.
When the cross head seat is translated along the axis direction of the Y lead screw, the constraint relation between the cross head seat and the cross head enables the propulsion motor to swing around a straight line which passes through the spherical center of the ball head and is parallel to the axis of the X lead screw, and simultaneously prevents the shell of the propulsion motor from rotating around the axis of the motor; similarly, when the cross head seat is translated along the axis direction of the X lead screw, the propulsion motor can swing around a straight line which passes through the spherical center of the ball head and is parallel to the axis of the Y lead screw, and the shell of the propulsion motor is prevented from rotating around the axis of the motor; the translation of the cross head seat in the motion plane can lead the propulsion motor to swing around the ball head center, lead the output shaft of the propulsion motor to point to any direction in a certain space angle range, simultaneously prevent the shell of the propulsion motor from rotating around the axis of the motor, and realize thrust vector control.
The sealing ring is used for waterproof sealing of a spherical pair consisting of the ball head and a ball head seat at the end part of the device shell.
The invention can be used for conveniently constructing the underwater vector propeller. Two lead screw driving motors can be respectively arranged at proper positions of the X lead screw seat and the Y lead screw seat and are connected to the X lead screw and the Y lead screw through transmission mechanisms such as gears, belt transmission and the like so as to drive the two lead screws; the propellers of the propellers such as the ducted propeller, the pump jet propeller, the contra-rotating propeller, the single propeller and the like can be connected to the output shaft of the propulsion motor through the transmission system, and the movable part of the propeller shaft is sealed in a waterproof way, so that the propulsion force is provided for the device. When the propeller is a contra-rotating propeller, the propulsion motor in the invention is a correspondingly designed double-rotating motor.
If the position of the crosshead seat in a rectangular coordinate system formed by an X lead screw and a Y lead screw needs to be subjected to closed-loop control, absolute position type displacement sensors can be mounted on the X lead screw seat and the Y lead screw seat so as to accurately detect the displacement of the crosshead seat.
Has the advantages that:
the invention has the beneficial effects that: firstly, the rectangular coordinate driving type thrust vector control device has a simple structure and is easy to produce, use and maintain; secondly, full motor drive can be realized, and thrust vector control is easy to realize; and the movable part in the device contacting with water is easy to realize waterproof sealing.
Drawings
Fig. 1 is a main sectional view of a rectangular coordinate driven underwater thrust vector control device of the present invention along the axis of the device.
FIG. 2 is a sectional view of a rectangular coordinate driven underwater thrust vector control device A-A according to the present invention.
Fig. 3 is a top sectional view of a rectangular coordinate driven underwater thrust vector control device of the present invention along the axis of the device.
Fig. 4 is a cross head three-dimensional schematic diagram of the rectangular coordinate driven underwater thrust vector control device.
Fig. 5 is a schematic diagram of the swinging of a propulsion motor of the rectangular coordinate driven underwater thrust vector control device.
Fig. 1, 2 and 3 are three views of a rectangular coordinate driven underwater thrust vector control device according to the present invention.
In the figure: 1-ball head, 2-device shell, 3-propulsion motor, 4-crosshead, 5-crosshead seat, 6-X lead screw, 7-X lead screw seat, 8-Y lead screw, 9-Y lead screw seat and 10-sealing ring.
Detailed Description
Referring to fig. 1, 2 and 3, the rectangular coordinate driven underwater thrust vector control device of the invention comprises a ball head 1, a device shell 2, a propulsion motor 3, a crosshead 4, a crosshead seat 5, an X-screw 6, an X-screw seat 7, a Y-screw 8, a Y-screw seat 9 and a sealing ring 10; the device shell 2 is of a revolving body structure; the ball head 1 is positioned in a ball head seat at the end part of the device shell 2 and forms a spherical pair with the device shell 2, and the ball center is positioned on the axis of the device shell 2; the shell of the output shaft end of the propulsion motor 3 is fixedly connected on the ball head 1, and the axis of the propulsion motor passes through the spherical center of the ball head 1; one end of the crosshead 4 is fixedly connected with the end face of the tail shell of the propulsion motor 3, the other end of the crosshead 4 is of a cross structure formed by two cylinders with vertically intersected axes, and the axes of the propulsion motor 3 penetrate through the intersection point of the axes of the two cylinders and are vertical to the two axes; one end of the crosshead seat 5 is provided with a square hole, the length and width of the square hole are respectively equal to the diameters of the two cylinders at the end part of the crosshead 4, and the square hole is matched with the cylindrical surfaces of the two cylinders at the end part of the crosshead 4 to form movable connection; a screw pair is formed between the other end of the cross head seat 5 and the X screw 6, and a moving pair is formed between the cross head seat and the X screw seat 7; the X lead screw 6 is arranged on the X lead screw seat 7, and a revolute pair is formed between the X lead screw and the X lead screw seat; a screw pair is formed between the X screw base 7 and the Y screw 8, and a moving pair is formed between the X screw base and the Y screw base 9; the Y lead screw 8 is arranged on the Y lead screw seat 9, a rotating pair is formed between the Y lead screw and the Y lead screw seat, and the axis of the Y lead screw 8 is vertical to the axis of the X lead screw 6; the Y lead screw seat 9 is fixedly connected on the device shell 2; the inner wall of the ball seat at the end part of the device shell 2 is provided with a rotary structure mounting groove which is coaxial with the device shell 2, and the sealing ring 10 is positioned in the mounting groove.
Fig. 4 shows a basic structure of a crosshead 4, the left lower end of the crosshead is a end fixedly connected with the end face of a shell at the tail of a propulsion motor 3, and the right upper end of the crosshead is a cross-shaped structure formed by processing two cylinders with mutually vertical and intersected axes and totally comprises 4 sections of cylindrical surfaces; the two dash-dot lines in the figure represent the axes of the two cylinders, respectively.
Referring to fig. 1, 2, 3, and 5, after the movable connection is formed between the crosshead 4 and the crosshead base 5, the constraint relationship between the crosshead 4 and the crosshead base is such that: the intersection point of the axes of the two cylinders at the end part of the crosshead 4 can only be positioned on the central line of the square hole of the crosshead seat 5 in the depth direction and can move along the central line; the crosshead 4 can swing around two orthogonal cylindrical axes at the end part of the crosshead respectively relative to the crosshead seat 5; and thirdly, the crosshead 4 cannot rotate around the central line of the square hole of the crosshead seat 5 in the depth direction.
Referring to fig. 1, 2 and 3, the X-lead screw 6 and the Y-lead screw 8 form a rectangular coordinate type driving structure, the X-lead screw 6 alone rotates to enable the crosshead base 5 to translate along the axis direction of the X-lead screw, the Y-lead screw 8 alone rotates to enable the crosshead base 5 to translate along the axis direction of the Y-lead screw 8, and the joint rotation of the two can control the translation position of the crosshead base 5 in a plane perpendicular to the axis of the device housing 2.
Referring to fig. 5, when the crosshead seat 5 translates along the axis direction of the Y lead screw 8, the constrained relationship between the crosshead seat 5 and the crosshead 4 enables the propulsion motor 3 to swing around a straight line passing through the spherical center of the ball head 1 and parallel to the axis of the X lead screw 6, and simultaneously prevents the shell of the propulsion motor 3 from rotating around the motor axis; similarly, when the cross head seat 5 translates along the axis direction of the X lead screw 6, the propulsion motor 3 can swing around a straight line which passes through the spherical center of the ball head 1 and is parallel to the axis of the Y lead screw 8, and the shell of the propulsion motor 3 is prevented from rotating around the axis of the motor; the translation of the cross head seat 5 in the motion plane can enable the propulsion motor 3 to swing around the spherical center of the ball head 1, so that the output shaft of the propulsion motor 3 points to any direction within a certain spatial angle range, and meanwhile, the shell of the propulsion motor 3 is prevented from rotating around the axis of the motor, and thrust vector control is realized.
Referring to fig. 1, 3 and 5, a sealing ring 10 is used for waterproof sealing of a spherical pair composed of a ball head 1 and a ball head seat at the end of a device housing 2.
The invention can be applied to conveniently construct an underwater vector propeller, for example, based on the underwater thrust vector control device of the invention, a novel underwater vector propeller is formed by completing the following four parts: lead screw driving motors are respectively arranged at proper positions of an X lead screw seat 7 and a Y lead screw seat 9 and are respectively connected to an X lead screw 6 and a Y lead screw 8 through gear transmission; if the ducted propeller is selected as a propeller, a rotor of the ducted propeller is supported by a pair of angular contact bearings and then is connected to an output shaft of a propulsion motor 3 through a coupler, and a stator of the ducted propeller is fixed on the ball head 1; a waterproof sealing ring is arranged between the ball head 1 and a rotor shaft of the ducted propeller; and fourthly, mounting slide rheostat type absolute displacement sensors at proper positions of the X lead screw seat 7 and the Y lead screw seat 9 respectively for detecting the accurate position of the cross head seat 5 so as to form position feedback control. The underwater vector propeller can be installed on an underwater vehicle to control the motion of the vehicle.
Claims (2)
1. A rectangular coordinate driving type underwater thrust vector control device comprises a ball head (1), a device shell (2), a propulsion motor (3), a cross head (4), a cross head seat (5), an X lead screw (6), an X lead screw seat (7), a Y lead screw (8), a Y lead screw seat (9) and a sealing ring (10); the device shell (2) is of a revolving body structure, the ball head (1) is positioned in a ball head seat at the end part of the device shell (2) and forms a spherical pair with the device shell (2), and the ball center is positioned on the axis of the device shell (2); the shell of the output shaft end of the propulsion motor (3) is fixedly connected on the bulb (1), and the axis of the propulsion motor passes through the spherical center of the bulb (1); one end of the crosshead (4) is fixedly connected with the end face of the tail shell of the propulsion motor (3), the other end of the crosshead is of a cross structure formed by two cylinders with axes which are vertically intersected, and the axis of the propulsion motor (3) passes through the intersection point of the axes of the two cylinders and is vertical to the two axes; one end of the crosshead seat (5) is provided with a square hole, the length and width of the square hole are respectively equal to the diameters of the two cylinders at the end part of the crosshead (4), and the square hole is matched with the cylindrical surfaces of the two cylinders at the end part of the crosshead (4) to form movable connection; a screw pair is formed between the other end of the cross head seat (5) and the X screw (6), and a moving pair is formed between the cross head seat and the X screw seat (7); the X lead screw (6) is arranged on the X lead screw seat (7), and a revolute pair is formed between the X lead screw seat and the X lead screw seat; a screw pair is formed between the X screw base (7) and the Y screw (8), and a moving pair is formed between the X screw base and the Y screw base (9); the Y lead screw (8) is arranged on the Y lead screw seat (9), a revolute pair is formed between the Y lead screw seat and the Y lead screw seat, and the axis of the Y lead screw (8) is vertical to the axis of the X lead screw (6); the Y lead screw seat (9) is fixedly connected on the device shell (2); the inner wall of the ball seat at the end part of the device shell (2) is provided with a rotary structure mounting groove which is coaxial with the device shell (2), and the sealing ring (10) is positioned in the mounting groove.
2. The rectangular coordinate driven underwater thrust vector control device as claimed in claim 1, wherein: the rotation of the X lead screw (6) and the Y lead screw (8) enables the cross head seat (5) to translate in a plane vertical to the axis of the device shell (2); under the action of a constraint relation between the crosshead (4) and the crosshead seat (5), the translation of the crosshead seat (5) enables the propulsion motor (3) to swing around the center of the ball head (1) but not rotate around the axis of the motor, and thrust vector control is achieved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110031635.8A CN112874742A (en) | 2021-01-11 | 2021-01-11 | Rectangular coordinate driving type underwater thrust vector control device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110031635.8A CN112874742A (en) | 2021-01-11 | 2021-01-11 | Rectangular coordinate driving type underwater thrust vector control device |
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| Publication Number | Publication Date |
|---|---|
| CN112874742A true CN112874742A (en) | 2021-06-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110031635.8A Pending CN112874742A (en) | 2021-01-11 | 2021-01-11 | Rectangular coordinate driving type underwater thrust vector control device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114313199A (en) * | 2021-11-29 | 2022-04-12 | 武汉船用机械有限责任公司 | Steering device of water-jet propeller |
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| US20070078575A1 (en) * | 2005-06-23 | 2007-04-05 | Jim Wilson | Marine vessel control system |
| CN102156483A (en) * | 2011-04-25 | 2011-08-17 | 华南农业大学 | Solar tracking device based on screw rod transmission and controlling and adjusting method thereof |
| CN102554712A (en) * | 2011-11-08 | 2012-07-11 | 杨东佐 | Numerical control equipment |
| CN104787285A (en) * | 2015-04-03 | 2015-07-22 | 山东大学（威海） | Propeller vector propelling device |
| JP2016065454A (en) * | 2014-08-29 | 2016-04-28 | 英治 川西 | New flywheel engine |
| CN106428494A (en) * | 2016-10-31 | 2017-02-22 | 吉林大学 | Underwater vector thruster based on spatial parallel mechanism |
| CN108516067A (en) * | 2018-03-23 | 2018-09-11 | 西北工业大学 | A kind of deformable mechanical jellyfish based on cam wheel Composite Transmission |
-
2021
- 2021-01-11 CN CN202110031635.8A patent/CN112874742A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070078575A1 (en) * | 2005-06-23 | 2007-04-05 | Jim Wilson | Marine vessel control system |
| CN102156483A (en) * | 2011-04-25 | 2011-08-17 | 华南农业大学 | Solar tracking device based on screw rod transmission and controlling and adjusting method thereof |
| CN102554712A (en) * | 2011-11-08 | 2012-07-11 | 杨东佐 | Numerical control equipment |
| JP2016065454A (en) * | 2014-08-29 | 2016-04-28 | 英治 川西 | New flywheel engine |
| CN104787285A (en) * | 2015-04-03 | 2015-07-22 | 山东大学（威海） | Propeller vector propelling device |
| CN106428494A (en) * | 2016-10-31 | 2017-02-22 | 吉林大学 | Underwater vector thruster based on spatial parallel mechanism |
| CN108516067A (en) * | 2018-03-23 | 2018-09-11 | 西北工业大学 | A kind of deformable mechanical jellyfish based on cam wheel Composite Transmission |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114313199A (en) * | 2021-11-29 | 2022-04-12 | 武汉船用机械有限责任公司 | Steering device of water-jet propeller |
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