CN207129124U - Propulsion plant and submarine navigation device - Google Patents
Propulsion plant and submarine navigation device Download PDFInfo
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- CN207129124U CN207129124U CN201721182358.6U CN201721182358U CN207129124U CN 207129124 U CN207129124 U CN 207129124U CN 201721182358 U CN201721182358 U CN 201721182358U CN 207129124 U CN207129124 U CN 207129124U
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- Prior art keywords
- navigation device
- duct body
- submarine navigation
- propulsion plant
- rudder
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- 230000033001 locomotion Effects 0.000 claims abstract description 20
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 13
- 230000005021 gait Effects 0.000 abstract description 6
- 230000008859 change Effects 0.000 description 6
- 239000012530 fluid Substances 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000003466 anti-cipated effect Effects 0.000 description 1
- 230000004323 axial length Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
Submarine navigation device technical field is the utility model is related to, more particularly, to a kind of propulsion plant and submarine navigation device.The propulsion plant, including duct body, four free degree governor motions are provided with the inwall of duct body, and the circumference of inwall of four free degree governor motions along duct body is uniformly distributed；Free degree governor motion includes the rudder wing and drive device, and drive device is used to drive the rudder wing to rotate, and the axis perpendicular of the rotation axis of the rudder wing and duct body.The submarine navigation device, including described propulsion plant.The utility model can either mitigate the overall quality and cost of submarine navigation device, and without limitation on the gait of march of submarine navigation device, be advantageous to the raising of the overall performance of submarine navigation device.
Description
Technical field
Submarine navigation device technical field is the utility model is related to, more particularly, to a kind of propulsion plant and submarine navigation device.
Background technology
In order to realize the control of six degree of freedom in existing submarine navigation device, the control for each free degree passes through drive
The mode of dynamic motor driven impeller is realized, that is to say, that, it is necessary to six motors, and during normal continuation of the journey, some drives
Dynamic motor is seldom used, and limits the gait of march of submarine navigation device and the performance of entirety on the contrary, and add underwater navigation
Device overall quality and cost.
Utility model content
The purpose of this utility model is to provide a kind of propulsion plant and submarine navigation device, to solve to exist in the prior art
Submarine navigation device in six motors, during normal continuation of the journey, some motors are seldom used, and limit water on the contrary
The gait of march of lower ROV and the performance of entirety, and the technology for adding the overall quality of submarine navigation device and cost is asked
Topic.
The utility model provides a kind of propulsion plant, including duct body, is provided with the inwall of the duct body
Four free degree governor motions, and the circumferential of inwall of four free degree governor motions along the duct body is uniformly divided
Cloth；The free degree governor motion includes the rudder wing and drive device, and the drive device is used to drive the rudder wing to rotate, and institute
State the rotation axis of the rudder wing and the axis perpendicular of the duct body.
Further, the duct body is cylindrical.
Further, the rotation axis of the rudder wing intersects with the axis of the duct body.
Further, the rotation axis of four rudder wings is located on same disc, the disc and the duct body
Axis perpendicular, and the center of circle of the excessively described disc of axis of the duct body.
Further, on the disc, the central angle between the rotation axis of the two neighboring rudder wing is 90 °.
Further, the drive device is steering wheel, and the steering wheel is fixed on the inwall of the duct body, the rudder
Machine is used to drive the rudder wing to rotate.
Further, in addition to propeller, the housing of the propeller are connected with the duct body.
The utility model additionally provides a kind of submarine navigation device, including described propulsion plant.
Further, in addition to submarine navigation device fuselage, the propulsion plant are installed on the submarine navigation device fuselage
Afterbody.
Further, water conservancy diversion rudder piece is also equipped with the submarine navigation device fuselage.
Compared with prior art, the beneficial effects of the utility model are：
Propulsion plant provided by the utility model, including duct body, four freedom are provided with the inwall of duct body
Governor motion is spent, and the circumference of inwall of four free degree governor motions along duct body is uniformly distributed；Free degree governor motion
Including the rudder wing and drive device, drive device is used to drive the rudder wing to rotate, and the axis of the rotation axis of the rudder wing and duct body
It is perpendicular.By the way that free degree governor motion is arranged in duct body, when the angle of drive device driving rudder wing rotation setting
Afterwards, the flow direction of the fluid by the rudder wing can just be changed, so as to change the flow direction of the fluid from the outlet outflow of duct body,
And control to the six-freedom degree of submarine navigation device is just realized by four free degree governor motions, it can either so subtract
Light submarine navigation device overall quality and cost, and without limitation on the gait of march of submarine navigation device, be advantageous to submarine navigation device
The raising of overall performance.
The submarine navigation device that the utility model also provides, including described propulsion plant.Understood based on above-mentioned analysis, the water
Lower ROV can either mitigate the overall quality and cost of submarine navigation device, and without limitation on the gait of march of submarine navigation device,
Be advantageous to the raising of the overall performance of submarine navigation device.
Brief description of the drawings
, below will be right in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
The required accompanying drawing used is briefly described in embodiment or description of the prior art, it should be apparent that, describe below
In accompanying drawing be some embodiments of the present utility model, for those of ordinary skill in the art, do not paying creativeness
On the premise of work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation for the propulsion plant that the utility model embodiment one provides；
Fig. 2 is the structural representation for being provided with steering wheel in the utility model embodiment in duct body；
Fig. 3 is the structural representation that duct body is connected with the housing of propeller in the utility model embodiment one；
Fig. 4 is the structural representation of submarine navigation device in the utility model embodiment three.
In figure：
101- duct bodies；The 102- rudder wings；103- drive devices；
104- propellers；105- housings；106- submarine navigation device fuselages；
107- water conservancy diversion rudder pieces.
Embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with accompanying drawing, it is clear that described
Embodiment is the utility model part of the embodiment, rather than whole embodiments.
Component generally here described in accompanying drawing with the utility model embodiment shown can be with a variety of
Configure to arrange and design.Therefore, the detailed description of the embodiment of the present utility model to providing in the accompanying drawings is not purport below
In the claimed the scope of the utility model of limitation, but it is merely representative of selected embodiment of the present utility model.
Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belong to the scope of the utility model protection.
, it is necessary to explanation in description of the present utility model, term " " center ", " on ", " under ", it is "left", "right", " perpendicular
Directly ", the orientation of the instruction such as " level ", " interior ", " outer " or position relationship are based on orientation shown in the drawings or position relationship, are only
Described for the ease of description the utility model and simplifying, rather than instruction or imply signified device or element must have it is specific
Orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.In addition, term " the
One ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that instruction or hint relative importance.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
Concrete meaning of the language in the utility model.
Embodiment one
Fig. 1 is the structural representation for the propulsion plant that the utility model embodiment one provides；Fig. 2 is implemented for the utility model
The structural representation of steering wheel is installed in example in duct body；Fig. 3 is duct body and propulsion in the utility model embodiment one
The structural representation that the housing of device is connected, referring to shown in Fig. 1 to Fig. 3, the utility model embodiment one provides a kind of propulsion
Device, including duct body 101, four free degree governor motions, and four frees degree are provided with the inwall of duct body 101
The circumference of inwall of the governor motion along duct body 101 is uniformly distributed；Free degree governor motion includes the rudder wing 102 and drive device
103, drive device 103 is used to drive the rudder wing 102 to rotate, and the axis of the rotation axis of the rudder wing 102 and duct body 101 mutually hangs down
Directly.
Shown in Figure 1, specifically, the axial length of duct body 101 is more than the width of the rudder wing 102, is so easy to
The rudder wing 102 is installed on to the inside of duct body 101, and being designed with beneficial to the larger thrust of acquisition by duct, so as to
In the steering for realizing submarine navigation device, that is, realize the control of each free degree.
It should be noted that the length direction of the rudder wing 102 is consistent with the rotation axis direction of the rudder wing 102.The width of the rudder wing 102
The width of the aerofoil of degree i.e. the rudder wing 102.
The propulsion plant that the utility model embodiment one provides, by the way that free degree governor motion is arranged at into duct body
In 101, after drive device 103 drives the rudder wing 102 to rotate the angle of setting, it just can change the stream of the fluid by the rudder wing 102
To so as to change the flow direction of the fluid from the outlet outflow of duct body 101, and by four free degree governor motions just
Realize the control to the six-freedom degree of submarine navigation device, so can either mitigate the overall quality of submarine navigation device and into
This, and without limitation on the gait of march of submarine navigation device, be advantageous to the raising of the overall performance of submarine navigation device.
In the optional scheme of the embodiment, duct body 101 is cylindrical.By being arranged to cylindrical shape, it is possible to reduce stream
Resistance of the body to propulsion plant.
In the optional scheme of the embodiment, the rotation axis of the rudder wing 102 intersects with the axis of duct body 101.Namely
Say, in a radial section of duct body 101, the radial section is a rounded face；Rotation axis is located at this and radially cut
In face, and rotation axis passes through the center of the disc, the i.e. center of circle.In this manner it is ensured that the control to the free degree of each rudder wing 102
System is balanced.
In the optional scheme of the embodiment, the rotation axis of four rudder wings 102 is located on same disc, disc and duct sheet
The axis perpendicular of body 101, and the axis of duct body 101 crosses the center of circle of disc.
Specifically, the radial section of the disc, i.e. duct body 101 where four rotation axis.
In the optional scheme of the embodiment, on disc, the central angle between the rotation axis of the two neighboring rudder wing 102 is
90°。
Specifically, that is to say, that four rotation axis form a cross.
Shown in Figure 2, in the optional scheme of the embodiment, drive device 103 is steering wheel, and steering wheel is fixed on duct body
On 101 inwall, steering wheel is used to drive the rudder wing 102 to rotate.
Specifically, the rudder wing 102 of each free degree governor motion realizes the drive to the rudder wing 102 by respective steering wheel
It is dynamic, the control of the free degree can be realized around the angle of the rotation axis rotation setting of the rudder wing 102 itself.
No longer it is specifically described it should be noted that steering wheel is prior art, in addition, in the embodiment, in the embodiment one
Drive device 103 is not only limited to steering wheel, and the drive device 103 of other forms can also be freely chosen according to actual condition, uses
To realize the function of the rotation of the rudder wing 102；No longer specifically repeated one by one for other kinds of the present embodiment one of drive device 103.
Shown in Figure 3, in the optional scheme of the embodiment, propulsion plant also includes propeller, the housing 105 of propeller
It is connected with duct body 101.It should be noted that propeller not shown in Fig. 1.
Specifically, the housing 105 of propeller is additionally operable to be fixedly connected with the afterbody of submarine navigation device, so can be with reality
Now propulsion plant is installed on submarine navigation device.The propeller 104 of propeller is located at the inside of duct body 101, such spiral shell
Limited at the blade tip blade tip of the paddle of rotating plasma 104 by duct, impact noise reduces, and induced drag is reduced, and efficiency is higher；Separately
Outside, propeller 104, which is located at the inside of duct body 101, can also protect propeller 104, avoid the damage by marine alga etc..Push away
It is prior art to enter device, and its specific structure is no longer specifically described.
In summary, the propulsion plant device of half culvert type provided using the embodiment one, the inside of duct body 101
Deflectable horizontal and vertical four independent rudder faces altogether are set, so by controlling propeller and 4 rudder faces to realize six freely
Degree control.It should be noted that the propulsion plant is applied to during submarine navigation device advances, change traffic direction and same
When change posture, then realized by the brake of submarine navigation device and position some posture.
Embodiment two
Propulsion plant in the embodiment is the improvement on the basis of embodiment one, the technology contents disclosed in embodiment one
Not repeated description, the disclosure of embodiment one fall within the disclosure of embodiment one.
Propulsion plant also includes steering engine control device, and the steering engine control device includes MCU, MCU and four free degree regulation
The steering wheel of mechanism is electrically connected, and four steering wheels are controlled by MCU, to realize the control to the anglec of rotation of four rudder wings, so as to
It can realize and the posture of submarine navigation device is adjusted.
Embodiment three
The utility model embodiment three provides a kind of submarine navigation device, including pushing away of providing of embodiment one or embodiment two
Enter device.
Fig. 4 be the utility model embodiment three in submarine navigation device structural representation, shown in Figure 4, the embodiment
In, submarine navigation device also includes submarine navigation device fuselage 106, and propulsion plant is installed on the afterbody of submarine navigation device fuselage 106.
In the optional scheme of the embodiment, water conservancy diversion rudder piece 107 is also equipped with submarine navigation device fuselage 106.Water conservancy diversion rudder piece
107, the quantity of water conservancy diversion rudder piece 107 is two, and two water conservancy diversion rudder pieces 107 are symmetrically installed on the two of submarine navigation device fuselage 106
Side, the stabilization to submarine navigation device fuselage 106 is realized by the design of water conservancy diversion rudder piece 107, realizes line navigation.Need to illustrate
, water conservancy diversion rudder piece 107 is wing, and its concrete structure is that prior art is no longer specifically described.
It should be noted that in the embodiment, can also the head installation of ROV fuselage 106 under water implement one or real
The propulsion plant of the offer of example two is applied, in this manner it is achieved that arbitrarily to change posture low with to any position for submarine navigation device fuselage 106
Speed translation, combined, can preferably realized to space by the force vector of the propulsion plant on head and the propulsion plant of afterbody
The control of six degree of freedom.When navigating by water simultaneously, steering wheel can not have excess weight all of upper again, and fuselage is because driving element is few
Can be achieved close to streamlined, propulsive efficiency greatly improves,
Finally it should be noted that：Various embodiments above is only to illustrate the technical solution of the utility model, rather than it is limited
System；Although the utility model is described in detail with reference to foregoing embodiments, one of ordinary skill in the art should
Understand：It can still modify to the technical scheme described in foregoing embodiments, either to which part or whole
Technical characteristic carries out equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from this practicality newly
The scope of each embodiment technical scheme of type.In addition, it will be appreciated by those of skill in the art that although some implementations described herein
Example includes some features included in other embodiments rather than further feature, but the combination of the feature of different embodiments is anticipated
Taste within the scope of the utility model and forms different embodiments.For example, in the following claims, institute
The one of any of claimed embodiment mode can use in any combination.
Claims (10)
1. a kind of propulsion plant, it is characterised in that including duct body (101), set on the inwall of the duct body (101)
There are four free degree governor motions, and the circumference of inwall of four free degree governor motions along the duct body (101)
It is uniformly distributed；The free degree governor motion includes the rudder wing (102) and drive device (103), and the drive device (103) is used for
The rudder wing (102) is driven to rotate, and the rotation axis of the rudder wing (102) and the axis of the duct body (101) mutually hang down
Directly.
2. propulsion plant according to claim 1, it is characterised in that the duct body (101) is cylindrical.
3. propulsion plant according to claim 1 or 2, it is characterised in that the rotation axis of the rudder wing (102) with it is described
The axis of duct body (101) intersects.
4. propulsion plant according to claim 3, it is characterised in that the rotation axis of four rudder wings (102) is located at
On same disc, the disc and the axis perpendicular of the duct body (101), and the axis of the duct body (101)
Cross the center of circle of the disc.
5. propulsion plant according to claim 4, it is characterised in that on the disc, the two neighboring rudder wing
(102) the central angle between rotation axis is 90 °.
6. propulsion plant according to claim 1 or 2, it is characterised in that the drive device (103) is steering wheel, described
Steering wheel is fixed on the inwall of the duct body (101), and the steering wheel is used to drive the rudder wing (102) to rotate.
7. propulsion plant according to claim 1 or 2, it is characterised in that also including propeller, the housing of the propeller
(105) it is connected with the duct body (101).
8. a kind of submarine navigation device, it is characterised in that including the propulsion plant as any one of claim 1-7.
9. submarine navigation device according to claim 8, it is characterised in that described also including submarine navigation device fuselage (106)
Propulsion plant is installed on the afterbody of the submarine navigation device fuselage (106).
10. submarine navigation device according to claim 9, it is characterised in that also pacify on the submarine navigation device fuselage (106)
Equipped with water conservancy diversion rudder piece (107).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721182358.6U CN207129124U (en) | 2017-09-14 | 2017-09-14 | Propulsion plant and submarine navigation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721182358.6U CN207129124U (en) | 2017-09-14 | 2017-09-14 | Propulsion plant and submarine navigation device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207129124U true CN207129124U (en) | 2018-03-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721182358.6U Expired - Fee Related CN207129124U (en) | 2017-09-14 | 2017-09-14 | Propulsion plant and submarine navigation device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207129124U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108657397A (en) * | 2018-05-11 | 2018-10-16 | 西北工业大学 | A kind of single rotor duct underwater unmanned vehicle and its application method |
| CN109533259A (en) * | 2018-10-26 | 2019-03-29 | 北京精密机电控制设备研究所 | A kind of AUV manipulation integrated apparatus |
| CN112937817A (en) * | 2021-02-02 | 2021-06-11 | 华中科技大学鄂州工业技术研究院 | Underwater robot driving device and underwater robot |
| WO2022143420A1 (en) * | 2020-12-31 | 2022-07-07 | 深之蓝海洋科技股份有限公司 | Propeller and submersible |
-
2017
- 2017-09-14 CN CN201721182358.6U patent/CN207129124U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108657397A (en) * | 2018-05-11 | 2018-10-16 | 西北工业大学 | A kind of single rotor duct underwater unmanned vehicle and its application method |
| CN109533259A (en) * | 2018-10-26 | 2019-03-29 | 北京精密机电控制设备研究所 | A kind of AUV manipulation integrated apparatus |
| WO2022143420A1 (en) * | 2020-12-31 | 2022-07-07 | 深之蓝海洋科技股份有限公司 | Propeller and submersible |
| CN112937817A (en) * | 2021-02-02 | 2021-06-11 | 华中科技大学鄂州工业技术研究院 | Underwater robot driving device and underwater robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180323 |