CN201371932Y - Tilt-rotor vector propelling device for underwater propeller - Google Patents
Tilt-rotor vector propelling device for underwater propeller Download PDFInfo
- Publication number
- CN201371932Y CN201371932Y CN200920063751U CN200920063751U CN201371932Y CN 201371932 Y CN201371932 Y CN 201371932Y CN 200920063751 U CN200920063751 U CN 200920063751U CN 200920063751 U CN200920063751 U CN 200920063751U CN 201371932 Y CN201371932 Y CN 201371932Y
- Authority
- CN
- China
- Prior art keywords
- screw propeller
- drive motor
- propeller
- flank screw
- tilter
- 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.)
- Expired - Lifetime
Links
Images
Landscapes
- Toys (AREA)
Abstract
The utility model discloses a tilt-rotor vector propelling device for an underwater propeller, comprising a propelling mechanism, a tilt drive motor, a tilting frame and a glide wing, wherein one end of the glide wing is fixed on a machine body frame, and the tilting frame is supported at the other end of the glide wing. The output end of the tilt drive motor is connected with the tilting frame, and the propelling mechanism is arranged on the tilting frame. The tilt-rotor vector propelling device for the underwater propeller has the advantages of simple and compact structure and low manufacturing cost and maintenance cost, can be reused, and can realize the complex movements, such as fast steering, horizontal rolling, etc.
Description
Technical field
The utility model relates to underwater propeller, relates in particular to the tilt rotor vector propulsion device that is used for underwater propeller.
Background technology
Underwater propeller is actual to be a kind of remote-operated vehicle.The propulsion mode of existing underwater propeller has multiple, and as common propeller, shrouded propeller propelling unit, blade wheel propeller, conduit propelling unit and emerging mhd thruster etc., kind is more.Common propeller is simple in structure and most widely used, and propulsion coefficient is higher, but the difficult under water control of the common propeller of mono-is pushed into the direct of travel and the attitude of object; The shrouded propeller propelling unit is in the nineteen twenty-four utility model by the rood Wei Kekete of the U.S., it is custom-designed sleeve or a conduit on the screw propeller outer mask, when screw propeller just changes, zone of negative pressure of anterior formation, the back forms a zone of positive pressure, thereby produce thrust forward, this thrust comprises thrust that screw propeller self rotation brings and the thrust that produces on conduit, the current of oar Pan Chu have also been quickened simultaneously, make propulsion coefficient improve, compare that the angle of rake size of shrouded propeller is much smaller with the common propeller of same efficiency, the general design that helps robot like this is convenient to operation; The main working parts of blade wheel propeller is made up of 4-6 the blade that stretches out on the disk, blade-span axis and disk are perpendicular, disk is connected with cardan shaft through gear, by changing the relative position of blade and disk, just can with the rectangular plane of axle in produce the thrust of any direction, do not need rudder and turning cylinder, just have good road-holding property and manoevreability, but because several blades can not be in effective advanced state simultaneously, so the common screw propeller of efficiency ratio is much lower.But existing underwater propeller is subjected to the restriction of Push Technology, also exists attitude and adjusts the problems such as complexity variation that difficulty is big, action sensitivity is not high, can not adapt to the underwater topography landforms.
The utility model content
The technical problems to be solved in the utility model is to overcome the deficiencies in the prior art, provides a kind of simple and compact for structure, manufacturing cost and maintenance cost is low, can reuse, can realize quick steering and the tilt rotor vector propulsion device that is used for underwater propeller of compound movement such as laterally roll.
For solving the problems of the technologies described above, the utility model by the following technical solutions:
A kind of tilt rotor vector propulsion device that is used for underwater propeller, comprise propulsive mechanism, the drive motor that verts, tilter and hang gliding, described hang gliding one end is fixed on the fuselage ring, described tilter is supported on the hang gliding other end, the mouth of the described drive motor that verts is connected with tilter, and propulsive mechanism is installed on the tilter.
Described propulsive mechanism comprises flank screw propeller, flank screw propeller transmission device and flank screw propeller drive motor, and described flank screw propeller is supported on the tilter, and described flank screw propeller drive motor links to each other with the flank screw propeller by flank screw propeller transmission device.
The output shaft of described flank screw propeller drive motor and the S. A. of tilter are arranged on the same axis, and flank screw propeller transmission device is the bevel drive pair, and the output shaft of the S. A. of flank screw propeller and flank screw propeller drive motor is arranged vertically.
Compared with prior art, advantage of the present utility model is: tilt rotor vector propulsion device comprises hang gliding and propulsive mechanism, propulsive mechanism is installed in the end of hang gliding by the control mechanism that verts, this control mechanism that verts can drive tilter by the drive motor that verts and drive the propulsive mechanism rotation, thereby change the propulsive force direction that propulsive mechanism produces, under the cooperation of many group tilt rotor vector propulsion devices, not only can make propelling unit realize advancing, retreat, vertical uplift, vertical degradation simple motion down, and can realize quick steering and compound movement such as laterally roll.The tilt rotor vector propulsion device that is used for underwater propeller of the present utility model also has characteristics such as arrangement is ingenious, simple and compact for structure, and manufacturing cost and maintenance cost are low, can reuse.
Description of drawings
Fig. 1 is a structural representation of the present utility model;
Fig. 2 is the schematic diagram of mechanism that two groups of tilt rotor vector propulsion devices are installed on the propelling unit under water;
Fig. 3 is the schematic diagram of mechanism that four groups of tilt rotor vector propulsion devices are installed on the propelling unit under water.
Each label is represented among the figure:
1, fuselage ring 2, tilt rotor vector propulsion device
21, hang gliding 22, propulsive mechanism
23, vert drive motor 24, tilter
221, flank screw propeller 222, flank screw propeller transmission device
223, flank screw propeller drive motor
The specific embodiment
As depicted in figs. 1 and 2, the tilt rotor vector propulsion device that is used for underwater propeller of the present utility model, comprise hang gliding 21, propulsive mechanism 22, drive motor 23 and tilter 24 vert, hang gliding 21 1 ends are fixed on the fuselage ring 1, tilter 24 is supported on hang gliding 21 other ends by bearing, and the mouth of the drive motor 23 that verts is connected with tilter 24 by gear pair.This propulsive mechanism 22 comprises flank screw propeller 221, flank screw propeller transmission device 222 and flank screw propeller drive motor 223, flank screw propeller 221 is supported on the tilter 24 by bearing, and the mouth of flank screw propeller drive motor 223 links to each other with the rotating shaft of flank screw propeller 221 by flank screw propeller transmission device 222.Tilter 24 can drive propulsive mechanism 22 and produce rotation under the driving of the drive motor 23 that verts, and S. A. is arranged perpendicular to fuselage ring 1.Wherein vert drive motor 23 and flank screw propeller drive motor 223 all is installed on the fuselage ring 1; and all be positioned at fuselage interior; all can be subjected to the protection of fuselage ring 1; the output shaft of flank screw propeller drive motor 223 and the S. A. of tilter 24 are arranged on the same axis; the output shaft of the rotating shaft of flank screw propeller 221 and flank screw propeller drive motor 223 is arranged vertically; flank screw propeller transmission device 222 is the bevel drive pair; when tilter 24 rotates; flank screw propeller drive motor 223 still can rotate by the secondary driven flank of this bevel drive screw propeller 221, makes the rotation of tilter 24 and the rotation mutually noninterfere of flank screw propeller 221.Drive tilter 24 by the drive motor 23 that verts and drive propulsive mechanism 22 rotations, thereby change the propulsive force direction that propulsive mechanism 22 produces.When being installed in tilt rotor vector propulsion device of the present utility model on the underwater propeller, can select to install two groups, four groups or more groups of tilt rotor vector propulsion devices on the propelling unit under water as required, when two groups of tilt rotor vector propulsion devices are installed, the general mode that adopts symmetric arrangement, its structure is as shown in Figure 1 and Figure 2; When four groups of tilt rotor vector propulsion devices are installed, can evenly arrange four groups of tilt rotor vector propulsion devices on the angle of rake under water same circumferential position, can also be by arrangement shown in Figure 3, angle of rake under water both sides are arranged two groups of tilt rotor vector propulsion devices respectively.Under the cooperation of many group tilt rotor vector propulsion devices, propelling unit not only can be realized advancing, retreats, vertical uplift, vertically descend the degradation simple motion, and can realize quick steering and compound movement such as laterally roll.For example, propulsive mechanism 22 is adjusted to suitable direction, the propulsive force assisted diversion that can utilize propulsive mechanism 22 to produce makes to turn to more flexibly, and radius of turn is littler, and turning velocity is faster; The propulsive force direction that produces when the propulsive mechanism in two groups of tilt rotor vector propulsion devices 2 22 is during on the contrary and all perpendicular to plane, hang gliding 21 place, can make propelling unit produce horizontal tumbling motion around the rotation of fuselage datum line.
Claims (3)
1, a kind of tilt rotor vector propulsion device that is used for underwater propeller, it is characterized in that: comprise propulsive mechanism (22), the drive motor that verts (23), tilter (24) and hang gliding (21), described hang gliding (21) one ends are fixed on the angle of rake fuselage ring (1), tilter (24) is supported on hang gliding (21) other end, the mouth of the described drive motor that verts (23) is connected with tilter (24), and propulsive mechanism (22) is installed on the tilter (24).
2, the tilt rotor vector propulsion device that is used for underwater propeller according to claim 1, it is characterized in that: described propulsive mechanism (22) comprises flank screw propeller (221), flank screw propeller transmission device (222) and flank screw propeller drive motor (223), described flank screw propeller (221) is supported on the tilter (24), and described flank screw propeller drive motor (223) links to each other with flank screw propeller (221) by flank screw propeller transmission device (222).
3, the tilt rotor vector propulsion device that is used for underwater propeller according to claim 2, it is characterized in that: the S. A. of the output shaft of described flank screw propeller drive motor (223) and tilter (24) is arranged on the same axis, flank screw propeller transmission device (222) is the bevel drive pair, and the output shaft of the S. A. of flank screw propeller (221) and flank screw propeller drive motor (223) is arranged vertically.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200920063751U CN201371932Y (en) | 2009-03-20 | 2009-03-20 | Tilt-rotor vector propelling device for underwater propeller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200920063751U CN201371932Y (en) | 2009-03-20 | 2009-03-20 | Tilt-rotor vector propelling device for underwater propeller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201371932Y true CN201371932Y (en) | 2009-12-30 |
Family
ID=41498015
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200920063751U Expired - Lifetime CN201371932Y (en) | 2009-03-20 | 2009-03-20 | Tilt-rotor vector propelling device for underwater propeller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201371932Y (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101513926B (en) * | 2009-03-20 | 2012-09-05 | 中国人民解放军国防科学技术大学 | Tilt rotor vector propulsion device used in underwater propeller |
| CN102700701A (en) * | 2012-06-02 | 2012-10-03 | 西北工业大学 | Vector propulsion system applied to small-size underwater unmanned aircraft |
| CN104627335A (en) * | 2014-12-29 | 2015-05-20 | 宁波市镇海捷登应用技术研究所 | Wave-resisting type offshore mobile platform |
| CN106081024A (en) * | 2016-06-16 | 2016-11-09 | 浙江大学 | A kind of multiple degrees of freedom Autonomous Underwater Vehicle motion control device |
| CN106275420A (en) * | 2015-06-06 | 2017-01-04 | 杨林 | Uniclinal switch rotor fuselage holds up VTOL aircraft |
| CN107651140A (en) * | 2017-10-31 | 2018-02-02 | 天津昊野科技有限公司 | Propeller under a kind of Quan Haishen of built-in motor driving |
| CN110077563A (en) * | 2019-05-13 | 2019-08-02 | 西北工业大学 | A kind of vector propulsion submarine navigation device based on Self homeostasis adjustment device |
| CN112977776A (en) * | 2021-03-02 | 2021-06-18 | 南京航空航天大学 | Multi-section combined and wingspan folding underwater robot and motion mode |
| CN113277038A (en) * | 2021-04-30 | 2021-08-20 | 大连海事大学 | High maneuvering propulsion system of underwater autonomous vehicle |
-
2009
- 2009-03-20 CN CN200920063751U patent/CN201371932Y/en not_active Expired - Lifetime
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101513926B (en) * | 2009-03-20 | 2012-09-05 | 中国人民解放军国防科学技术大学 | Tilt rotor vector propulsion device used in underwater propeller |
| CN102700701A (en) * | 2012-06-02 | 2012-10-03 | 西北工业大学 | Vector propulsion system applied to small-size underwater unmanned aircraft |
| CN102700701B (en) * | 2012-06-02 | 2014-04-16 | 西北工业大学 | Vector propulsion system applied to small-size underwater unmanned aircraft |
| CN104627335A (en) * | 2014-12-29 | 2015-05-20 | 宁波市镇海捷登应用技术研究所 | Wave-resisting type offshore mobile platform |
| CN106275420A (en) * | 2015-06-06 | 2017-01-04 | 杨林 | Uniclinal switch rotor fuselage holds up VTOL aircraft |
| CN106081024A (en) * | 2016-06-16 | 2016-11-09 | 浙江大学 | A kind of multiple degrees of freedom Autonomous Underwater Vehicle motion control device |
| CN106081024B (en) * | 2016-06-16 | 2018-06-15 | 浙江大学 | A kind of multiple degrees of freedom Autonomous Underwater Vehicle motion control device |
| CN107651140A (en) * | 2017-10-31 | 2018-02-02 | 天津昊野科技有限公司 | Propeller under a kind of Quan Haishen of built-in motor driving |
| CN110077563A (en) * | 2019-05-13 | 2019-08-02 | 西北工业大学 | A kind of vector propulsion submarine navigation device based on Self homeostasis adjustment device |
| CN112977776A (en) * | 2021-03-02 | 2021-06-18 | 南京航空航天大学 | Multi-section combined and wingspan folding underwater robot and motion mode |
| CN112977776B (en) * | 2021-03-02 | 2022-05-03 | 南京航空航天大学 | Motion mode of multi-section combined and wingspan folding underwater robot |
| CN113277038A (en) * | 2021-04-30 | 2021-08-20 | 大连海事大学 | High maneuvering propulsion system of underwater autonomous vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201371932Y (en) | Tilt-rotor vector propelling device for underwater propeller | |
| CN101513926B (en) | Tilt rotor vector propulsion device used in underwater propeller | |
| CN102887217B (en) | Autonomous underwater vehicle (AUV) vector thrust device | |
| CN102001434B (en) | Differential marine cycloidal propelling device | |
| CN101513927A (en) | Tilt rotor vector propeller based on wave energy | |
| CN203921182U (en) | A kind of minisub turns to propulsion system | |
| CN105235837A (en) | Underwater propelling device based on opposite long fin fluctuation | |
| CN202609068U (en) | Vector propulsion device applied to small-sized unmanned underwater vehicle | |
| CN202175186U (en) | Jellyfish-simulated type underwater propelling device | |
| CN104443327B (en) | A kind of asymmetric rotary blade advances canoe | |
| CN201371934Y (en) | Tilt-rotor vector propeller based on wave energy | |
| CN211336395U (en) | Underwater equipment vector propeller | |
| CN201914445U (en) | Plane-rotating propelling device of differential-speed type ship | |
| CN110937093A (en) | Underwater equipment vector propeller | |
| CN202609072U (en) | Surface oar propelling apparatus for ship | |
| CN216035040U (en) | Coaxial differential rotation cam orthogonal gear type variable pitch propeller | |
| CN205872426U (en) | A vector impels device that verts for dirigible | |
| CN205768419U (en) | It is applicable to aeroamphibious aircraft | |
| CN210653599U (en) | Blade rotating propeller | |
| CN214985950U (en) | Unmanned ship fin stabilizer actuating mechanism based on bevel gear transmission | |
| CN203127129U (en) | Paddle wheel propeller for ship | |
| CN109683623B (en) | Control system and method for correcting pipeline crawler operation by using attitude sensor | |
| CN113815857A (en) | Water, land and air triphibian robot device | |
| CN203186567U (en) | Full rotary device | |
| CN204433010U (en) | Water cycle mechanical drive and reversing arrangement |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20091230 Effective date of abandoning: 20090320 |