CN202609068U - Vector propulsion device applied to small-sized unmanned underwater vehicle - Google Patents
Vector propulsion device applied to small-sized unmanned underwater vehicle Download PDFInfo
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- CN202609068U CN202609068U CN 201220256977 CN201220256977U CN202609068U CN 202609068 U CN202609068 U CN 202609068U CN 201220256977 CN201220256977 CN 201220256977 CN 201220256977 U CN201220256977 U CN 201220256977U CN 202609068 U CN202609068 U CN 202609068U
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Abstract
本实用新型提出了一种应用于小型水下无人航行器的矢量推进装置，包括动力装置和控制装置；动力装置包括两套推进组件，每套推进组件包括推进电机、电机控制器和螺旋桨；控制装置包括沉浮控制组件、动力装置X向转动控制组件和螺旋桨Y向转动控制组件；沉浮控制组件包括沉浮舵机、曲柄连杆机构和鳍舵；动力装置X向转动控制组件包括两个X向平衡舵机；螺旋桨Y向转动控制组件包括两个Y向平衡舵机。本实用新型中螺旋桨与鳍舵的方向、角度和速度都是可以自由调节的，因此装有本装置的航行器可以迅速完成前进、后退、转向、升沉等动作，能够短时间实现高的航速和机动性，同时还有续航能力高、调节自如、能够模块化应用等优点。
The utility model proposes a vector propulsion device applied to a small underwater unmanned vehicle, which includes a power device and a control device; the power device includes two sets of propulsion assemblies, and each set of propulsion assemblies includes a propulsion motor, a motor controller and a propeller; The control device includes a sinking and floating control assembly, a power unit X-direction rotation control assembly and a propeller Y-direction rotation control assembly; the sinking and floating control assembly includes a sinking and floating steering gear, a crank linkage mechanism and a fin rudder; Balance steering gear; the propeller Y direction rotation control assembly includes two Y direction balance steering gears. In the utility model, the direction, angle and speed of the propeller and the fin rudder can be adjusted freely, so the aircraft equipped with the device can quickly complete actions such as forward, backward, turning, heave, etc., and can achieve high speed in a short time And mobility, but also has the advantages of high battery life, easy adjustment, and modular application.
Description
Technical field
The utility model relates to the underwater propulsion technical field, is specially a kind of vector propulsion device that is applied to small-sized unmanned ROV under water.
Background technology
At present the propelling unit of small-sized unmanned ROV under water adopts the motor propeller plant more, at sea bottom complex terrain, have undercurrent, wave, the zone of gushing has relatively high expectations to the maneuvering performance of submarine navigation device.Accomplish the measurement that a little parameters are worked in the ocean, the seabed information investigation, fixed point is investigated job task, then requires submarine navigation device under low-speed conditions, should have good manoevreability and stability.But in general; Under water in the ROV R&D work; There are deficiencies such as efficient is low, noise is big in this traditional screw propeller propulsion mode, is having a strong impact on the development of the technical elements such as gait of march, manoevreability, energy consumption of submarine navigation device, along with the further intensification of human undersea search; The development of the Push Technology of submarine navigation device is necessary, and the research and development of various Push Technologies is extremely urgent.
Summary of the invention
The technical matters that solves
For solving the problem that prior art exists, the utility model provides a kind of vector propulsion device that is applied to small-sized unmanned ROV under water, can make and realize the high speed of a ship or plane and manoevreability in the small-scale underwater vehicle device short time, improve flying power.
Technical scheme
The technical scheme of the utility model is:
Said a kind of vector propulsion device that is applied to small-sized unmanned ROV under water is characterized in that: comprise engine installation and control setup;
Engine installation comprises two cover propulsion assemblies, and every cover propulsion assembly comprises propulsion electric machine, electric machine controller and screw propeller; Propulsion electric machine drives screw propeller through electric machine controller and rotates; Two cover propulsion assemblies are arranged in parallel; Every cover propulsion electric machine and electric machine controller are with motor sleeve outward, and propulsion electric machine is connected with the motor sleeve rotating shaft;
Control setup comprises that sink-float control assembly, engine installation X are to rotating control assembly and screw propeller Y to rotating control assembly;
The sink-float control assembly comprises sink-float steering wheel, piston crank mechanism and fin rudder; Piston crank mechanism comprises a driving lever and two connecting rods, and the driving lever two ends are rotationally connected with two connecting rod one ends respectively, and driving lever and connecting rod form U type structure; The quarter butt outer end that stretch out at sink-float steering wheel output rocking arm one end and driving lever middle part adopts bearing pin to be rotationally connected; The connecting rod other end and kinematic link one end adopt bearing pin to be rotationally connected; The kinematic link other end is connected with fin rudder wing root axle one end vertical fixing, and the fin rudder wing root axle other end is captiveed joint with the fin rudder; Fin rudder wing root axle middle part is fixed through the body skin of sealed bearings and vector propulsion device; During the work of sink-float steering wheel, the output rocking arm of sink-float steering wheel drives the piston crank mechanism swing, and piston crank mechanism drives the kinematic link swing, and kinematic link drives fin rudder wing root axle and rotates, and fin rudder wing root axle drives the swing of fin rudder;
Engine installation X comprises that to rotating control assembly two X are to the balance steering wheel; Said X is to the working direction that is vector propulsion device; Single X is connected with rotating shaft one end through coupler to the output shaft of balance steering wheel, and the rotating shaft other end is connected with single motor sleeve end face center fixation; X drives rotating shaft to the output shaft of balance steering wheel and rotates, and rotating shaft drives motor sleeve and rotates, motor sleeve drive the inner propulsion electric machine of installing and electric machine controller around X to rotation; The rotating shaft middle part is fixed through the body skin of stable bearing and vector propulsion device;
Screw propeller Y comprises that to rotating control assembly two Y are to the balance steering wheel; Said Y to perpendicular to X to; Single Y is fixedly mounted in the motor sleeve to the balance steering wheel, and Y adopts bearing pin to be rotationally connected to balance steering wheel output rocking arm one end and motor movement connecting rod one end, and the motor movement connecting rod other end and propulsion electric machine end face edge adopt bearing pin to be rotationally connected; When Y worked to the balance steering wheel, Y drove propulsion electric machine to the balance steering wheel and rotates with the rotating shaft that is connected of motor sleeve around propulsion electric machine.
Beneficial effect
A kind of vector propulsion device that is applied to small-sized unmanned ROV under water that the utility model provides, this apparatus structure is compact, easy for installation, can singly overlap the afterbody that is installed in ROV.Because the direction of screw propeller and fin rudder, angle and speed all are can be freely regulated; The ROV that this device therefore is housed can accomplish rapidly advance, retreat, turn to, action such as heave; Can realize the high speed of a ship or plane and manoevreability the short time, also have simultaneously flying power high, regulate freely, can modular applications etc. advantage.Through using this propelling unit; Can be expected to improve the lowsteaming characteristic and the turning performance of submarine navigation device; Reduce the propulsion system manufacturing cost, and at propulsion system modularization, miniaturization, reduction noise, cutting down the consumption of energy and improving aspect such as propulsion coefficient has important exploration to be worth.
Description of drawings
Fig. 1: the structural representation of the utility model;
Fig. 2: the STRUCTURE DECOMPOSITION scheme drawing of the utility model;
Fig. 3: power setting part scheme drawing;
Fig. 4: engine installation X is to rotating the control assembly scheme drawing;
Fig. 5: screw propeller Y is to rotating the control assembly scheme drawing;
Fig. 6: screw propeller Y is to rotating the control assembly birds-eye view;
Wherein: 1, right fin rudder; 2, right-hand screw oar; 3, motor sleeve; 4, left handed propeller; 5, left Y is to the balance steering wheel; 6, left fin rudder wing root axle; 7, left fin rudder; 8, stable bearing; 9, X is to the balanced rudder frame; 10, sink-float steering wheel; 11, right X is to the balance steering wheel; 12, right kinematic link; 13, right fin rudder wing root axle; 14, right spindle; 15, left rotary shaft; 16, Left Drive connecting rod; 17, left sealed bearings; 18, coupler; 19, left X is to the balance steering wheel; 20, sink-float steering wheel output rocking arm; 21, piston crank mechanism; 22, right sealed bearings; 23, seal ring; 24, propulsion electric machine; 25, electric machine controller; 26, right Y is to the balance steering wheel.
The specific embodiment
Below in conjunction with specific embodiment the utility model is described:
With reference to accompanying drawing 1 and accompanying drawing 2, a kind of vector propulsion device that is applied to small-sized unmanned ROV under water in the present embodiment comprises engine installation and control setup.
Engine installation comprises two cover propulsion assemblies, and every cover propulsion assembly comprises propulsion electric machine, electric machine controller and screw propeller.The control end of electric machine controller links to each other with propulsion electric machine, and the power end of electric machine controller links to each other with the ROV battery, and electric machine controller has the remote control controllable function.Propulsion electric machine drives screw propeller through electric machine controller and rotates, and propulsion electric machine carries out infinite speed variation by the PWM waveform, and through the wireless remote control electric machine controller, screw propeller just can transfer according to propulsion electric machine positive and negative and advance and retreat.Two cover propulsion assemblies are arranged in parallel; Every cover propulsion electric machine and electric machine controller are with motor sleeve outward, and propulsion electric machine is connected through rotating shaft with motor sleeve.Like accompanying drawing 5 and accompanying drawing 6.
Control setup comprises that sink-float control assembly, engine installation X are to rotating control assembly and screw propeller Y to rotating control assembly.
The sink-float control assembly comprises sink-float steering wheel 10, piston crank mechanism 21 and two groups of fin rudders.Piston crank mechanism comprises a driving lever and two connecting rods, and the driving lever two ends are rotationally connected with two connecting rod one ends respectively, and driving lever and connecting rod form U type structure.The quarter butt outer end that stretch out at one end of sink-float steering wheel output rocking arm 20 and driving lever middle part adopts bearing pin to be rotationally connected; The connecting rod other end and kinematic link one end adopt bearing pin to be rotationally connected; The kinematic link other end is connected with fin rudder wing root axle one end vertical fixing, and the fin rudder wing root axle other end is captiveed joint with the fin rudder; Fin rudder wing root axle middle part is fixed through the body skin of sealed bearings and vector propulsion device, the effect that sealed bearings plays is stable, seal fin rudder wing root axle.During the work of sink-float steering wheel, the sink-float steering wheel drives the piston crank mechanism swing, and piston crank mechanism drives the kinematic link swing; Kinematic link drives fin rudder wing root axle and rotates; Fin rudder wing root axle drives the swing of fin rudder, thereby produces antagonistic force forward, promotes sail body and advances.
With reference to accompanying drawing 3 and accompanying drawing 4, engine installation X comprises two X to the balance steering wheel to rotating control assembly, and two X are fixed in the vector propulsion device to balanced rudder frame 9 through X to the balance steering wheel.Said X is to the working direction that is vector propulsion device.Single X is connected with rotating shaft one end through coupler 18 to the output shaft of balance steering wheel, and the rotating shaft other end is connected with single motor sleeve end face center fixation.X drives rotating shaft to the output shaft of balance steering wheel and rotates, and rotating shaft drives motor sleeve and rotates, motor sleeve drive the inner propulsion electric machine of installing and electric machine controller around X to rotation.The rotating shaft middle part is fixed through the stable bearing 8 and the body skin of vector propulsion device.That stable bearing plays is stable, the effect of fixed rotating shaft.
Screw propeller Y comprises that to rotating control assembly two Y are to the balance steering wheel.Said Y to perpendicular to X to.Single Y is fixedly mounted in the motor sleeve to the balance steering wheel, and Y adopts bearing pin to be rotationally connected to an end and motor movement connecting rod one end of balance steering wheel output rocking arm, and the motor movement connecting rod other end and propulsion electric machine end face edge adopt bearing pin to be rotationally connected.When Y worked to the balance steering wheel, Y drove propulsion electric machine to the balance steering wheel and rotates with the rotating shaft that is connected of motor sleeve around propulsion electric machine.
To rotating control assembly and screw propeller Y to the associated working of rotating control assembly, can realize the stack campaign of screw propeller through engine installation X, said stack campaign is that 360 ° in the conical surface freely rotate.
Through adopting the vector Push Technology, only need rotation through remote control receiver wireless remote control control steering wheel, just can realize the trim of propelling unit.Be the advancing of propelling unit, retreat, turn to, action such as heave can easily accomplish.Simultaneously, fin rudder, screw propeller can produce bigger instantaneous acceleration, make whole propelling unit have characteristics such as high manoevreability, stability, noise be low.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220256977 CN202609068U (en) | 2012-06-02 | 2012-06-02 | Vector propulsion device applied to small-sized unmanned underwater vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201220256977 CN202609068U (en) | 2012-06-02 | 2012-06-02 | Vector propulsion device applied to small-sized unmanned underwater vehicle |
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| CN202609068U true CN202609068U (en) | 2012-12-19 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102700701A (en) * | 2012-06-02 | 2012-10-03 | 西北工业大学 | Vector propulsion system applied to small-size underwater unmanned aircraft |
| CN103287557A (en) * | 2013-05-31 | 2013-09-11 | 深圳市优必选科技有限公司 | Novel underwater robot motion control device |
| CN105564617A (en) * | 2016-02-22 | 2016-05-11 | 山东大学（威海） | Parallel type vectored propulsion mechanism and underwater robot provided with same |
| CN105882925A (en) * | 2016-06-12 | 2016-08-24 | 西北工业大学 | Two-degree-of-freedom gliding solar underwater vehicle and control method thereof |
| CN107792325A (en) * | 2017-10-12 | 2018-03-13 | 中国船舶重工集团公司第七〇九研究所 | Suitable for the tail integration structure and its steering method of micro-unmanned submariner device |
| CN112722169A (en) * | 2021-03-10 | 2021-04-30 | 李刚 | Linear transportation device for mechanical parts |
-
2012
- 2012-06-02 CN CN 201220256977 patent/CN202609068U/en not_active Expired - Lifetime
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN103287557A (en) * | 2013-05-31 | 2013-09-11 | 深圳市优必选科技有限公司 | Novel underwater robot motion control device |
| CN105564617A (en) * | 2016-02-22 | 2016-05-11 | 山东大学（威海） | Parallel type vectored propulsion mechanism and underwater robot provided with same |
| CN105882925A (en) * | 2016-06-12 | 2016-08-24 | 西北工业大学 | Two-degree-of-freedom gliding solar underwater vehicle and control method thereof |
| CN105882925B (en) * | 2016-06-12 | 2017-09-19 | 西北工业大学 | A two-degree-of-freedom gliding solar underwater vehicle and its control method |
| CN107792325A (en) * | 2017-10-12 | 2018-03-13 | 中国船舶重工集团公司第七〇九研究所 | Suitable for the tail integration structure and its steering method of micro-unmanned submariner device |
| CN107792325B (en) * | 2017-10-12 | 2020-04-14 | 中国船舶重工集团公司第七一九研究所 | Tail integrated structure suitable for miniature unmanned underwater vehicle and steering method thereof |
| CN112722169A (en) * | 2021-03-10 | 2021-04-30 | 李刚 | Linear transportation device for mechanical parts |
| CN112722169B (en) * | 2021-03-10 | 2022-08-12 | 李刚 | A linear transport device for mechanical parts |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20121219 Effective date of abandoning: 20140416 |
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| RGAV | Abandon patent right to avoid regrant |