CN204916130U - Novel vector propeller under water - Google Patents
Novel vector propeller under water Download PDFInfo
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- CN204916130U CN204916130U CN201520642840.8U CN201520642840U CN204916130U CN 204916130 U CN204916130 U CN 204916130U CN 201520642840 U CN201520642840 U CN 201520642840U CN 204916130 U CN204916130 U CN 204916130U
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Abstract
The utility model relates to a novel vector propeller under water, the vector propeller includes the casing, promotes mainly into motor, vector motor, mainstream passageway, attaches the circulation and says, promotes mainly import runner and baffle under water, it installs in promoting mainly the import runner to promote mainly into the motor, the vector motor has the screw, the casing through the baffle with promote mainly import runner connection space and give first place to the circulation and say, the circulation that attaches say to the passageway of shells inner wall structural formation, the mainstream passageway that attaches two symmetries of class path connection, the mainstream passageway in all be equipped with the vector motor, the casing both ends are open structure. Its advantage shows: the utility model discloses a novel vector propeller under water at boats and ships, submarine, when unmanned aerial vehicle ware people etc. Needs to turn, can realize through the rotational speed that changes different vector motors that the vector impels under water, realizes more nimble propulsion control under water.
Description
Technical field
A kind of underwater vector propeller that the utility model relates to, particularly relates to a kind of vector propeller under water realizing turning to flexibly be applied on various ships, submarine, torpedo, under water unmanned robot.
Background technology
The current mankind are faced with three large problems of population, resources and environment.Wherein, mankind's consumption of natural resources reduces day by day, the ocean that people are started ground area is the earth 2/3rds is explored, ocean is the place that the mankind develop not yet completely, marine resources are extremely abundant, contain a large amount of mineral resources, natural gas resource and oil resources, in the last few years, countries in the world were all stepping up to research and develop marine resources.Its hydrospace detection equipment is a kind of important tool of habitata, and therefore, hydrospace detection equipment such as boats and ships, submarine, torpedo, under water unmanned machine arise at the historic moment.
Along with the development of offshore industry, the especially continuous challenge that brings of boats and ships, submarine, under water unmanned robot art, vector Push Technology becomes the key factor of this field of restriction development.Current existing submarine navigation device, if submarine, boats and ships, under water unmanned robot etc. are all using screw propeller as power plant.Propeller rotational makes current produce the motion rotated backward, the current that this rotation is moved backward are only parallel to the axial speed component of slurry could produce effective thrust to submarine navigation device, its have current extended corner large, entrainment with mixing capacity very strong, together there is the weak characteristics such as recirculating zone, thus greatly reduce its propulsion coefficient.Thrust vectoring degree is low, and when aircraft is turned, its thrust can be lost especially.
In addition, because seabed situation is complicated, bad environments, require high to the maneuvering performance of under-water robot, desirable under-water robot should be able to complete the actions such as advance, retrogressing, driftage, hovering, pivot turn, vertical lift, but current most of under-water robot also cannot meet above-mentioned action request completely.In order to the screw propeller propulsion mode changing under-water robot relies on rudder to change the direction of propulsive force, propulsive force can only change in a rotation direction, when under-water robot needs to change the degree of depth and advance course; During the motion of both direction, just need the rudder of horizontal tail and normal limb both direction to control, kinematic dexterity is extremely restricted.
Secondly, in order to improve alerting ability and manoevreability, also design one under water robot multiple propeller is installed, be arranged in the surrounding of under-water robot, but this method can increase the complexity of mechanical system, also can raise the cost, and the propeller had only have under water robot turn time just can start, mostly on the shelf in usual situation, cause the wasting of resources.
In sum, need one badly and can realize turning to flexibly, structure is simple, the vector propeller under water of low cost of manufacture, and yet there are no report about this vector propeller under water.
Summary of the invention
The purpose of this utility model is for deficiency of the prior art, provides one can realize turning to flexibly, and structure is simple, the vector propeller under water of low cost of manufacture.
For achieving the above object, the technical scheme that the utility model is taked is:
A kind of underwater vector propeller, described vector propeller under water comprises housing, main propulsion motor, vector motor, mainstream channel, attached circulation road, main thruster runner and dividing plate; Described housing is cup-shaped; Described main propulsion motor is arranged in main thruster runner; Described vector motor is with screw propeller; Described housing is mainstream channel by dividing plate and main thruster runner connection space; Described attached circulation road is the passage that inner walls structure is formed; Described attached circulation road helically structure in inner walls; Described attached circulation road connects two symmetrical mainstream channels; Vector motor is equipped with in described mainstream channel; Described baffle combination is criss-cross; Described dividing plate is placed in the end of housing; Described housing two ends are hatch frame.
Described main propulsion motor is placed in housing central authorities.
Described main propulsion motor is with screw propeller.
Described vector motor is 4.
Described vector motor is for being arranged symmetrically with.
Described attached circulation road is cross-over design.
Described attached circulation road is arcuate structure, is formed protruding.
A kind of underwater vector propeller, described vector propeller under water comprises housing, vector motor, mainstream channel, attached circulation road, hollow shaft and dividing plate; Described vector motor is with screw propeller; Described hollow shaft end is semisphere; Described hollow shaft is connected with housing by dividing plate; Described housing is mainstream channel by dividing plate and hollow shaft connection space; Described attached circulation road is the passage that inner walls structure is formed; Described attached circulation road helically structure in inner walls; Described attached circulation road connects two symmetrical mainstream channels; Vector motor is equipped with in described mainstream channel; Described baffle combination is criss-cross; Described dividing plate is placed in the end of housing; Described housing two ends are hatch frame.
Described housing flare.
The utility model advantage is:
1, a kind of underwater vector propeller of the present utility model, when boats and ships, submarine, under water unmanned robot etc. need to turn, can realize vector by the rotating speed changing different vector motor and advance, realize under water Solid rocket engine more flexibly;
2, maneuvering performance is good, and vector propeller can complete the actions such as advance, retrogressing, driftage, hovering, pivot turn, vertical lift under water;
3, utilize the rotating speed difference of symmetrical vector motor, in conjunction with mainstream channel and attached circulation road, utilize the current of side to produce the control fluid layer of symmetric position, thus control current and direction of propulsion;
4, hollow shaft end is hemispherical dome structure, and current are due to Coanda effect, and current can paste the flowing of its wall, and the direction of current has current difference to control, thus change direction of propulsion;
5, attached circulation road helically structure, forms arc convex, utilizes Coanda effect, simultaneously under the effect of symmetric position vector motor speed difference, make to flow in the mainstream channel of current direction symmetry and attached circulation road, thus change the moment of torsion of vector propeller, realize turning to flexibly;
6, housing exterior walls profile is also the structure of band arc convex, and utilize Coanda effect, current flow at housing exterior walls, effectively reduces current to the resistance of vector propeller, makes vector propeller more flexible, handling good;
7, vector propeller, by the vector motor of design symmetry separately, realizes the control of turning flexibly to vector propeller under water, and structure is simple, and cost is low;
8, vector propeller utilizes main propulsion motor and symmetrical vector motor under water, makes vector propeller can vector controlled under the low speed.
Accompanying drawing explanation
Accompanying drawing 1 is the structural representation of a kind of underwater vector propeller of the present utility model.
Accompanying drawing 2 is housing, dividing plate, main thruster runner position relationship structural representation.
Accompanying drawing 3 is the structural representation that attached circulation road is formed in inner walls.
Accompanying drawing 4 is attached circulation road three-dimensional model structure schematic diagram.
Accompanying drawing 5 is structural representations of another kind of underwater vector propeller of the present utility model.
Accompanying drawing 6 is housing, hollow shaft, partition position relation schematic diagram.
Detailed description of the invention
Below in conjunction with accompanying drawing, the detailed description of the invention that the utility model provides is elaborated.
The Reference numeral related in accompanying drawing and component part as follows:
1. housing 2. vector motor
3. main propulsion motor 4. mainstream channel
5. attached circulation road 6. hollow shaft
7. dividing plate 8. main thruster runner
Embodiment 1
For the ease of understanding the technical solution of the utility model, below describe and employ term " Coanda effect ", Coanda effect (CoandaEffect) is also known as attached wall effect or Coanda effect.Fluid (current or air-flow) has and leaves original flow direction, changes the tendency along with the body surface flowing of protruding into.When there is surface friction between fluid and its body surface of flowing through, as long as curvature is little, fluid can flow along body surface, and water can paste the flowing of its wall.
Please refer to Fig. 1, Fig. 1 is the structural representation of a kind of underwater vector propeller of the present utility model.A kind of underwater vector propeller, described vector propeller under water comprises housing 1, vector motor 2, main propulsion motor 3, mainstream channel 4, attached circulation road 5, main thruster runner 8 and dividing plate 7; Described vector motor 2 and main propulsion motor 3 are with screw propeller; Described main thruster runner 8 is provided with main propulsion motor 3, and described housing 1 is mainstream channel 4 by dividing plate 7 and main thruster runner 8 connection space; Described attached circulation road 5 is the passage that housing 1 interior wall construction is formed; Described attached circulation road 5 connects two symmetrical mainstream channels 4; Vector motor 2 is equipped with in described mainstream channel 4; Described vector motor 2 is for being arranged symmetrically with.
Please refer to Fig. 2, Fig. 2 is housing, dividing plate, main thruster runner position relationship structural representation.Described dividing plate 7 combines in criss-cross; Described dividing plate 7 is placed in the end of housing 1; Described middle main thruster runner 8 is placed in housing 1 central authorities; Described housing 1 two ends are hatch frame; Described housing 1 is in cup-shaped.
Please refer to Fig. 3 and Fig. 4, Fig. 3 is the structural representation that attached circulation road is formed in inner walls.Fig. 4 is attached circulation road three-dimensional model structure schematic diagram.Described attached circulation road 5 is the passage that housing 1 inwall is formed; Described attached circulation road 5 is cross-over design; Described attached circulation road 5 is arcuate structure, is formed protruding; Described attached circulation road 5 helically structure on housing 1 inwall, and two of symmetry mainstream channels 4 all connect with attached circulation road 5; Described attached circulation road 5 is the outsides current of mainstream channel 4 being drained into relative mainstream channel 4.
It should be noted that:
Dividing plate 7 according to the quantity of the vector motor 2 of band screw propeller propelling unit shell and the space average that main thruster runner 8 surrounds is divided into identical mark;
Described housing 1 is provided with the outline line design of band arc convex, vector propeller under water time, make current utilize Coanda effect along the flowing of housing 1 outer wall, effectively reduce the resistance of vector propeller, make vector propeller more flexible, handling good;
Main propulsion motor 3 provides the power of advance, remaining four vector motor 2 changes the direction rotated, main thruster runner 8 by the space occupied by main propulsion motor 3 and vector motor 2 independently separately, current are concentrated in the space that main thruster runner 8 is formed, and make main propulsion motor 3 can vector controlled under the low speed;
Vector number of motors, the quantity of not limiting in the present embodiment is 4, the vector motor 2 of this enforcement has 4 for preferred embodiment, its vector motor 2 is for being arranged symmetrically with, its concrete vector motor 2 is that quantity can design according to specific needs, and the quantity of other symmetrical vector motor 2 is all within the protection domain of the present embodiment;
It is rotating speed by changing symmetrical vector motor 2 that vector motor 2 changes hand of rotation, utilizes Coanda effect, changes current and forms at the flow direction of mainstream channel 4 and attached circulation road 5 that the moment of torsion in corresponding direction realizes.Specific as follows for symmetrical vector motor 2:
For mainstream channel 4, two, corresponding left and right vector motor 2, if bra vector motor 2 rotating speed is fast, right vector motor 2 rotating speed is slow, because a part of current of the left mainstream channel 4 of Coanda effect bra vector motor 2 correspondence can flow to the right; Because a part of current of the right mainstream channel 4 of Coanda effect right vector motor 2 correspondence can flowing underneath left.Because bra vector motor 2 flow velocity is fast, therefore total current can flow to the right, can provide a moment of torsion of turning right.Simultaneously current backward also can provide a moment of torsion of turning right because both sides are asymmetric.The moment of torsion of right-hand rotation can be amplified by this vector propeller.If same right vector motor 2 rotating speed is fast, bra vector motor 2 rotating speed is slow, because a part of current of the left mainstream channel 4 of Coanda effect bra vector motor 2 correspondence can flow to the right; Because a part of current of the right mainstream channel 4 of Coanda effect right vector motor 2 correspondence can flowing underneath left.Because right vector motor 2 flow velocity is fast, therefore total current can flowing underneath left, can provide a moment of torsion turned left.Simultaneously current backward also can provide a moment of torsion turned left because both sides are asymmetric.The moment of torsion of left-hand rotation can be amplified by this vector propeller.Realize turning flexibly under water.
Same for attached circulation road 5, two, corresponding left and right vector motor 2, if bra vector motor 2 rotating speed is fast, right vector motor 2 rotating speed is slow, the flow velocity of the right mainstream channel of velocity ratio 4 of left mainstream channel 4 is fast, the flow velocity of left attached circulation road 5 is the fast flow velocity with right mainstream channel 4 also, and the current that left attached circulation road 5 flows to right mainstream channel 4 can drive the current direction lower right of right mainstream channel 4 to flow and provide a moment of torsion of turning right.If bra vector motor 2 rotating speed is slow, right vector rotating speed is fast, the flow velocity of the right mainstream channel of velocity ratio 4 of left mainstream channel 4 is slow, the flow velocity of left attached circulation road 5 is the slow flow velocity with right mainstream channel 4 also, and the current that right attached circulation road 5 flows to left mainstream channel 4 can drive the current direction lower right of left mainstream channel 4 to flow and provide a moment of torsion turned left.The moment of torsion of further reinforcement vector propeller when turning, so that turn flexibly under water.
Embodiment 2
Please refer to Fig. 5, Fig. 5 is the structural representation of another kind of underwater vector propeller of the present utility model.A kind of underwater vector propeller, described vector propeller under water comprises housing 1, vector motor 2, mainstream channel 4, attached circulation road 5, hollow shaft 6 and dividing plate 7; Described vector motor 2 is with screw propeller; Described hollow shaft 6 end is semisphere; Described hollow shaft 6 is connected with housing 1 by dividing plate 7; Described housing 1 is mainstream channel 4 by dividing plate 7 and hollow shaft 6 connection space; Described attached circulation road 5 is the passage that housing 1 interior wall construction is formed; Described attached circulation road 5 connects two symmetrical mainstream channels 4; Vector motor 2 is equipped with in described mainstream channel 4; Described vector motor 2 is for being arranged symmetrically with.
Please refer to Fig. 6, Fig. 6 is housing, hollow shaft, partition position relation schematic diagram.Described dividing plate 7 combines in criss-cross; Described dividing plate 7 is placed in the end of housing 1; Described housing 1 two ends are hatch frame; Described housing 1 flare.
Please refer to Fig. 3 and Fig. 4, Fig. 3 is that attached circulation road 5 forms structure constructional drawing at housing 1 inwall.Fig. 4 is attached circulation road 5 three-dimensional model structure schematic diagram.Described attached circulation road 5 is the passage that housing 1 inwall is formed; Described attached circulation road 5 is cross-over design; Described attached circulation road 5 is arcuate structure, is formed protruding; Described attached circulation road 5 helically structure on housing 1 inwall, and two of symmetry mainstream channels 4 all connect with attached circulation road 5; Described attached circulation road 5 is the outsides current of mainstream channel 4 being drained into relative mainstream channel 4.
The end of hollow shaft 6 is semispheres, and according to the application of Coanda effect, Coanda effect (CoandaEffect) is also known as attached wall effect or Coanda effect.Fluid (current or air-flow) has and leaves original flow direction, changes the tendency along with the body surface flowing of protruding into.When there is surface friction between fluid and its body surface of flowing through, as long as curvature is little, fluid can flow along body surface, and water can paste the flowing of its wall.
The hollow design that hollow shaft 6 adopts, can reduce the weight of vector propeller greatly;
Embodiment 2 is substantially the same manner as Example 1, its difference is, main propulsion motor 3, main thruster runner 8 is not had in embodiment 2, power can be provided by main propulsion motor 3 in embodiment 1, by main thruster runner 8, main propulsion motor 3 and vector motor 2 is separately independent, make vector propeller can vector controlled under the low speed; In embodiment 2, adopt vector motor 2 separately, quill shaft 6, its structure is simple, low cost of manufacture, and the end of hollow shaft 6 is semispheres, and according to the application of Coanda effect, water can paste the flowing of its wall.And the direction of current is controlled by current difference, thus change direction of propulsion.Housing 1 in addition in embodiment 1 is in cup-shaped, and its cup-shaped housing 1 current alignment is good, and effective thrust is large, is adapted at running in complicated marine environment; Housing 1 flare in embodiment 2, flaring housing 1 has the profile of arc, and form crowning, current can utilize Coanda effect, makes current say the flowing of housing 1 outer wall, effectively reduces the resistance of vector propeller.
A kind of underwater vector propeller of the present utility model, when boats and ships, submarine, under water unmanned robot etc. need to turn, can realize vector by the rotating speed changing different vector motor 2 and advance, realize under water Solid rocket engine more flexibly; Vector propeller can complete the actions such as advance, retrogressing, driftage, hovering, pivot turn, vertical lift under water; Utilize the rotating speed difference of symmetrical vector motor 2, in conjunction with mainstream channel 4 and attached circulation road 5, utilize the current of side to produce the control fluid layer of symmetric position, thus control current and direction of propulsion; Hollow shaft 6 end is hemispherical dome structure, and current are due to Coanda effect, and current can paste the flowing of its wall, and the direction of current has current difference to control, thus change direction of propulsion; Attached circulation road 5 helically structure, forms arc convex, utilizes Coanda effect, simultaneously under the effect of symmetric position vector motor 2 speed discrepancy, make to flow in the mainstream channel 4 of current direction symmetry and attached circulation road 5, thus change the moment of torsion of vector propeller, realize turning to flexibly; Housing 1 outer wall profile is also the structure of band arc convex, utilizes Coanda effect, and current, in the flowing of housing 1 outer wall, effectively reduce current to the resistance of vector propeller, make vector propeller more flexible, handling good; Vector propeller designs separately symmetrical vector motor 2 under water, realizes the control of turning flexibly to vector propeller, and structure is simple, and cost is low; Vector propeller utilizes main propulsion motor 3 and symmetrical vector motor 2 under water, makes vector propeller can vector controlled under the low speed.
The above is only preferred implementation of the present utility model; it should be pointed out that for those skilled in the art, under the prerequisite not departing from the utility model method; can also make some improvement and supplement, these improve and supplement and also should be considered as protection domain of the present utility model.
Claims (9)
1. a underwater vector propeller, is characterized in that, described vector propeller under water comprises housing, main propulsion motor, vector motor, mainstream channel, attached circulation road, main thruster runner and dividing plate; Described housing is cup-shaped; Described main propulsion motor is arranged in main thruster runner; Described vector motor is with screw propeller; Described housing is mainstream channel by dividing plate and main thruster runner connection space; Described attached circulation road is the passage that inner walls structure is formed; Described attached circulation road helically structure in inner walls; Described attached circulation road connects two symmetrical mainstream channels; Vector motor is equipped with in described mainstream channel; Described baffle combination is criss-cross; Described dividing plate is placed in the end of housing; Described housing two ends are hatch frame.
2. the vector propeller under water as requested described in 1, is characterized in that, described main propulsion motor is placed in housing central authorities.
3. the vector propeller under water as requested described in 2, is characterized in that, described main propulsion motor is with screw propeller.
4. the vector propeller under water as requested described in 1, is characterized in that, described vector motor is 4.
5. the vector propeller under water as requested described in 1, is characterized in that, described vector motor is for being arranged symmetrically with.
6. the vector propeller under water as requested described in 1, is characterized in that, described attached circulation road is cross-over design.
7. the vector propeller under water as requested described in 1, is characterized in that, described attached circulation road is arcuate structure, is formed protruding.
8. a underwater vector propeller, is characterized in that, described vector propeller under water comprises housing, vector motor, mainstream channel, attached circulation road, hollow shaft and dividing plate; Described vector motor is with screw propeller; Described hollow shaft end is semisphere; Described hollow shaft is connected with housing by dividing plate; Described housing is mainstream channel by dividing plate and hollow shaft connection space; Described attached circulation road is the passage that inner walls structure is formed; Described attached circulation road helically structure in inner walls; Described attached circulation road connects two symmetrical mainstream channels; Vector motor is equipped with in described mainstream channel; Described baffle combination is criss-cross; Described dividing plate is placed in the end of housing; Described housing two ends are hatch frame.
9. the vector propeller under water as requested described in 8, is characterized in that, described housing flare.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520642840.8U CN204916130U (en) | 2015-08-24 | 2015-08-24 | Novel vector propeller under water |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520642840.8U CN204916130U (en) | 2015-08-24 | 2015-08-24 | Novel vector propeller under water |
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| CN204916130U true CN204916130U (en) | 2015-12-30 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105109649A (en) * | 2015-08-24 | 2015-12-02 | 欧舶智能科技（上海）有限公司 | Underwater vector propeller for realizing flexible steering by utilizing coanda effect |
| CN110920843A (en) * | 2019-12-31 | 2020-03-27 | 大连海事大学 | Observation-level portable underwater robot |
-
2015
- 2015-08-24 CN CN201520642840.8U patent/CN204916130U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105109649A (en) * | 2015-08-24 | 2015-12-02 | 欧舶智能科技（上海）有限公司 | Underwater vector propeller for realizing flexible steering by utilizing coanda effect |
| CN105109649B (en) * | 2015-08-24 | 2018-02-16 | 欧舶智能科技（上海）有限公司 | It is a kind of that the underwater vector propeller flexibly turned to is realized using Coanda effect |
| CN110920843A (en) * | 2019-12-31 | 2020-03-27 | 大连海事大学 | Observation-level portable underwater robot |
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