A kind of vector propulsion device that is applied to small-sized unmanned ROV under water
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.