CN202609068U - Vector propulsion device applied to small-sized unmanned underwater vehicle - Google Patents

Vector propulsion device applied to small-sized unmanned underwater vehicle Download PDF

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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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motor
propulsion
shaft
control assembly
drives
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胡海豹
李懿林
刘欢欢
杨悝
杨智栋
丁浩
杨跃斌
张文静
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Northwestern Polytechnical University
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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。

Figure 201220256977

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.

Figure 201220256977

Description

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.

Claims (1)

1.一种应用于小型水下无人航行器的矢量推进装置,其特征在于:包括动力装置和控制装置;1. A vector propulsion device applied to a small underwater unmanned vehicle, characterized in that: comprising a power plant and a control device; 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;推进电机通过电机控制器驱动螺旋桨转动;两套推进组件平行布置;每套推进电机及电机控制器外套有电机套筒,推进电机与电机套筒转轴连接;The power unit includes two sets of propulsion assemblies, each set of propulsion assemblies includes a propulsion motor, a motor controller and a propeller; the propulsion motor drives the propeller to rotate through the motor controller; the two sets of propulsion assemblies are arranged in parallel; each set of propulsion motors and motor controllers is covered with a motor The sleeve, the propulsion motor is connected with the rotating shaft of the motor sleeve; 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;The control device includes a sinking control assembly, a power plant X-direction rotation control assembly and a propeller Y-direction rotation control assembly; 沉浮控制组件包括沉浮舵机、曲柄连杆机构和鳍舵;曲柄连杆机构包括一根主动杆和两根连杆,主动杆两端分别与两根连杆一端转动连接,主动杆和连杆形成U型结构;沉浮舵机输出摇臂一端与主动杆中部伸出的短杆外端采用销轴转动连接;连杆另一端与传动连杆一端采用销轴转动连接;传动连杆另一端与鳍舵翼根轴一端垂直固定连接,鳍舵翼根轴另一端与鳍舵固定连接;鳍舵翼根轴中部通过密封轴承与矢量推进装置的外壳体固定;沉浮舵机工作时,沉浮舵机的输出摇臂带动曲柄连杆机构摆动,曲柄连杆机构带动传动连杆摆动,传动连杆带动鳍舵翼根轴转动,鳍舵翼根轴带动鳍舵摆动;The sinking and floating control components include the sinking and floating steering gear, the crank linkage mechanism and the fin rudder; the crank linkage mechanism includes an active rod and two connecting rods. Form a U-shaped structure; one end of the output rocker arm of the sinking and floating steering gear is connected to the outer end of the short rod protruding from the middle of the active rod by a pin shaft; the other end of the connecting rod is connected to the end of the transmission link by a pin rotation; One end of the root shaft of the fin rudder wing is fixedly connected vertically, and the other end of the root shaft of the fin rudder wing is fixedly connected with the fin rudder; the middle part of the root shaft of the fin rudder wing is fixed with the outer casing of the vector propulsion device through a sealed bearing; when the sinking and floating steering gear is working, the sinking and floating steering gear The output rocker arm drives the crank-link mechanism to swing, the crank-link mechanism drives the transmission link to swing, the transmission link drives the root shaft of the fin rudder wing to rotate, and the root shaft of the fin rudder wing drives the fin rudder to swing; 动力装置X向转动控制组件包括两个X向平衡舵机;所述X向为矢量推进装置的前进方向;单个X向平衡舵机的输出轴通过联轴器与转轴一端连接,转轴另一端与单个电机套筒端面中心固定连接;X向平衡舵机的输出轴带动转轴转动,转轴带动电机套筒转动,电机套筒带动内部安装的推进电机及电机控制器绕X向转动;转轴中部通过稳定轴承与矢量推进装置的外壳体固定;The X-direction rotation control assembly of the power unit includes two X-direction balance steering gears; the X direction is the forward direction of the vector propulsion device; the output shaft of a single X-direction balance steering gear is connected to one end of the rotating shaft through a coupling, and the other end of the rotating shaft is connected to The center of the end face of a single motor sleeve is fixedly connected; the output shaft of the X-direction balance steering gear drives the shaft to rotate, the shaft drives the motor sleeve to rotate, and the motor sleeve drives the internally installed propulsion motor and motor controller to rotate around the X direction; the middle of the shaft is stabilized by The bearing is fixed to the outer shell of the vector propulsion device; 螺旋桨Y向转动控制组件包括两个Y向平衡舵机;所述Y向垂直于X向;单个Y向平衡舵机固定安装在电机套筒内,Y向平衡舵机输出摇臂一端与电机运动连杆一端采用销轴转动连接,电机运动连杆另一端与推进电机端面边缘采用销轴转动连接;Y向平衡舵机工作时,Y向平衡舵机驱动推进电机绕推进电机与电机套筒的连接转轴转动。The propeller Y-rotation control assembly includes two Y-direction balance steering gears; the Y-direction is perpendicular to the X-direction; a single Y-direction balance steering gear is fixedly installed in the motor sleeve, and one end of the output rocker arm of the Y-direction balance steering gear moves with the motor One end of the connecting rod is connected by a pin shaft, and the other end of the motor movement connecting rod is connected by a pin shaft to the edge of the end face of the propulsion motor; The connecting shaft turns.
CN 201220256977 2012-06-02 2012-06-02 Vector propulsion device applied to small-sized unmanned underwater vehicle Expired - Lifetime CN202609068U (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
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

Cited By (10)

* Cited by examiner, † Cited by third party
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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