CN207352465U - A kind of inside and outside association type gesture stability submarine navigation device - Google Patents
A kind of inside and outside association type gesture stability submarine navigation device Download PDFInfo
- Publication number
- CN207352465U CN207352465U CN201721414273.6U CN201721414273U CN207352465U CN 207352465 U CN207352465 U CN 207352465U CN 201721414273 U CN201721414273 U CN 201721414273U CN 207352465 U CN207352465 U CN 207352465U
- Authority
- CN
- China
- Prior art keywords
- gear
- gyrounit
- navigation device
- submarine navigation
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Toys (AREA)
- Navigation (AREA)
Abstract
The utility model belongs to underwater vehicle field, and disclose a kind of inside and outside association type gesture stability submarine navigation device, including housing and cross rudder, propeller and the gyrounit of more than three, each gyrounit includes gyro gimbal, gear mechanism, first gear drives motor, double output shaft electric machines and two gyrorotors, gear mechanism includes first gear and second gear, first gear and second gear are installed on the gyro gimbal by first rotating shaft and the second shaft respectively, the first gear driving motor is installed on the gyro gimbal, double output shaft electric machines are installed in the second gear, the both ends of the motor shaft of double output shaft electric machines connect a gyrorotor respectively；The utility model can keep efficient mobility by switching over control to it under various working equipped with cross rudder and gyrounit submarine navigation device at the same time with jointly controlling, and gyrounit can export continuous torque, the ability that submarine navigation device tackles various underwater environments has been ensured.
Description
Technical field
The utility model belongs to underwater vehicle field, more particularly, to a kind of inside and outside association type gesture stability water
Lower aircraft.
Background technology
Now, submarine navigation device would generally select paddle and rudder in attitude control system of the design to itself under normal circumstances
As executing agency.Rudder carries out gesture stability in high-speed maneuver, and then the posture of itself is adjusted using paddle when speed reduces.
It has the characteristics that：
1) when the controllable velocity of aircraft is relatively low, steering engine structure will lose its effect.If aircraft is only with rudder as appearance
If state control executing agency, it is necessary to which the moment keeps itself having certain speed, therefore this kind of aircraft needs relatively large radius
Turned round, this is obviously unfavorable for aircraft and operation is carried out in narrow space.
2) rudder and paddle as attitude control actuator are all to lean on to produce controling power and controling power with fluid interaction
Square, therefore the actual effect of gesture stability is easily by flow, the submarine navigation device posture control in the environment of complex flowfield
The accuracy of system is relatively low.
Although 3) using paddle at low speeds can also output control torque, paddle destroys boat to a certain extent
The integrality of row device housing, this is unfavorable for aircraft and carries out fast reserve, is also unfavorable for structure and bears larger water depth pressure；Its
Secondary, exposed paddle in the seawater is serious by seawater corrosion；Furthermore paddle can only provide unidirectional torque, to enable aircraft
Enough any attitude angles are motor-driven, then need multiple paddles to cooperate；In addition, propeller can also produce noise at work, this is to having
Aircraft (such as torpedo) for, very detrimental effect can be brought to required Stealth Fighter；Finally, the rotation of paddle can also
Destroy the characteristic in flow field around aircraft, when operation surface is chesson or manipulating object is easily subject to flow, meeting
Operation to submarine navigation device produces extremely ill effect.Especially, small configuration submarine navigation device, the arrangement meeting pair of paddle are set
The work of meter personnel produces obstruction.
Utility model content
For the disadvantages described above or Improvement requirement of the prior art, the utility model provides a kind of inside and outside association type posture control
Submarine navigation device processed, under water aircraft be in the state of low speed or zero-speed, the posture of itself is carried out using gyrounit
Control, and at high speeds, submarine navigation device using paddle and rudder be aided with gyrounit be used for increasing the agility of its own with
Mobility, has ensured the ability that submarine navigation device tackles various underwater environments.
To achieve the above object, according to the utility model, there is provided a kind of inside and outside association type gesture stability submarine navigation device,
Including housing and the cross rudder and propeller for being arranged on the housing afterbody, it is characterised in that
The gyrounit of more than three is further included, each gyrounit is separately mounted in the housing, and often
A gyrounit includes gyro gimbal, gear mechanism, first gear driving motor, double output shaft electric machines and two gyros and turns
Son, wherein, the gyro gimbal is installed on the inner wall of the housing, and the gear mechanism includes intermeshing first gear
And second gear, and the first gear and second gear are installed on the gyro by first rotating shaft and the second shaft respectively
Frame, first gear driving motor be installed on the gyro gimbal and the rotation axis of first gear driving motor with
The first rotating shaft is fixedly connected, and for driving the first gear to rotate, motor receiving is provided with the second gear
Hole and two gyrorotor receiving holes, double output shaft electric machines are arranged at the motor receiving hole and this pair of output shaft electric machine
The both ends of motor shaft connect a gyrorotor respectively, and the first rotating shaft is parallel with the second shaft, double output shaft electric machines
Motor shaft it is vertical with second shaft.
Preferably, the housing includes hemispherical first section, cylindrical midsection and the endpiece to link together, described
Cylindrical midsection part is used to accommodate gyrounit, power supply and controller, the power supply respectively with the gyrounit and described
Controller connects, and the gyrounit of more than three uses dispersed arrangement form, the hemispherical first section, cylinder in housing
Shape stage casing and endpiece are respectively arranged more than one gyrounit.
Preferably, when gyrounit be three, four or five when, they finally respectively formed triangular platform, truncated rectangular pyramids or
Five terrace with edge configurations.
Preferably, the axis of the motor shaft of double output shaft electric machines intersects with the center line of the second gear.
Preferably, the motor shaft of all double output shaft electric machines is parallel to each other, and in second gear described in any two
Angle formed by heart line is more than 0.
In general, by the contemplated above technical scheme of the utility model compared with prior art, can obtain down
Row beneficial effect：
1) the utility model by the same time equipped with cross rudder and gyrounit submarine navigation device under various working it is right
It switches over control can keep efficient mobility with jointly controlling, and gyrounit can export continuous torque, ensure
Submarine navigation device tackles the ability of various underwater environments.
2) gyrorotor of the utility model can produce gyroscopic effect so as to provide torque, this control for gyrounit
The producing method of torque need not interact with seawater, and gyrounit can be placed in inside vehicle hull, therefore it is not
The integrality of aircraft configuration curved surface can be destroyed, does not influence the rapidity and leakproofness of aircraft so that aircraft is not easy extra large
Aqueous corrosion, is also beneficial to suppress vibrating noise；
3) during aircraft zero-speed state, the torque needed for aircraft gesture stability is produced by the gyrounit completely；Boat
When row device more than zero-speed to navigate by water, torque needed for aircraft gesture stability is by the gyrounit that is installed on inside aircraft
And it is installed on the cross rudder joint generation of outside.The switching of two kinds of control modes is by the controller that is installed on inside aircraft
Complete.
The above method can make aircraft have the gesture stability ability under zero-speed state, be conducive to submarine navigation device narrow
Operation in small space.And make aircraft when being navigated by water more than zero-speed, there is quicker and more accurate maneuverability；
4) arrangement of the gyrounit of the utility model on sail body can very flexibly can also may be used with centralized arrangement
To carry out dispersed placement with certain steric configuration.Aircraft inner space is set to be used more effectively.
Brief description of the drawings
Fig. 1 is that the utility model removes the structure diagram after partial shell；
Fig. 2 is the structure diagram of gyrounit.
Embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, is further elaborated the utility model.It should be appreciated that specific embodiment described herein is only explaining
The utility model, is not used to limit the utility model.In addition, institute in each embodiment of the utility model disclosed below
As long as the technical characteristic being related to does not form conflict and is mutually combined each other.
With reference to Fig. 1, Fig. 2, a kind of inside and outside association type gesture stability submarine navigation device, including housing II and it is arranged on the shell
The cross rudder IV and propeller V of body II endpieces, additionally include the gyrounit of more than three, each gyrounit point
An Zhuan not be in the housing II, and each gyrounit includes gyro gimbal 7, gear mechanism, first gear and drives
Dynamic motor 8, double output shaft electric machines 3 and two gyrorotors 6, wherein, the gyro gimbal 7 is installed on the inner wall of the housing II
On, the gear mechanism includes intermeshing first gear 1 and second gear 4, and the first gear 1 and second gear
4 are installed on the gyro gimbal 7 by 2 and second shaft of first rotating shaft respectively, and the first gear driving motor 8 is installed on institute
State on gyro gimbal 7 and the first gear drives the rotation axis of motor 8 to be fixedly connected with the first rotating shaft 2, for driving
Move the first gear 1 to rotate, motor receiving hole is provided with the second gear 4 and two gyrorotors accommodate
Hole, double output shaft electric machines 3 are arranged at the motor receiving hole and the both ends of the motor shaft of this pair of output shaft electric machine 3 connect respectively
A gyrorotor 6 is connect, the first rotating shaft 2 is parallel with the second shaft, the motor shaft of double output shaft electric machines 3 and described the
Two shafts are vertical；
For example, when gyrounit is respectively three, four, five, they finally respectively formed triangular platform, truncated rectangular pyramids,
Or five terrace with edge configuration.
Further, the axis of the motor shaft of double output shaft electric machines 3 and the vertical and intersectant centerline of the second gear 4.
Further, the housing II also has hemispherical first section and cylindrical midsection, and the cylindrical midsection part is used
In accommodate gyrounit, power supply and controller, the power supply are connected with the gyrounit and the controller respectively, three with
On the gyrounit use dispersed arrangement form in housing, hemispherical first section, cylindrical midsection and the endpiece point
More than one gyrounit is not arranged.
Further, the controller includes the PD attitude controllers based on quaternary number and the synovial membrane structure changes based on quaternary number
Attitude controller I.
Further, the motor shaft of all double output shaft electric machines 3 is parallel to each other, and second gear 4 described in any two
Angle formed by center line is more than 0.
Multiple gyrounit III can use flexible dispersed arrangement form inside aircraft, and each gyrounit III is equal
Exportable moment loading acts on continuous in aircraft in the torque formation that in aircraft, multiple gyrounit III are exported
Control moment, so as to from aircraft internal control aircraft posture.Its exterior cross rudder when aircraft is zero-speed state
IV is without steerage, and when aircraft is in low speed, its exterior cross rudder IV steerage is very low, and gyrounit III can in these cases
For from internal control aircraft posture, so as to ensure when aircraft flight speed is zero or when headway is very low also has appearance
State maneuverability；When aircraft has higher headway, the Torque Control scarce capacity of internal gyrounit III is with effective
Aircraft posture is controlled, and cross rudder IV exterior at this time has very strong steerage, the navigation appearance available for independent control aircraft
State；Internal gyrounit III can also combine cross rudder IV and produce control moment jointly, for strengthening aircraft low-speed or high-speed
When gesture stability ability；The switching control of gyrounit III and cross rudder IV is with jointly controlling under above-mentioned various working
Completed by the controller I inside aircraft.Propeller V and cross rudder IV is installed on submarine navigation device housing II tail ends, cross rudder
IV is in the cross layout intersected by vertical and horizontal direction tail vane.
With reference to Fig. 1, the aircraft of the utility model includes the propeller V and cross of housing II, gyrounit III and afterbody
Rudder IV.Aircraft uses integral seal structure.In view of hydrodynamic force and the enhancing jamproof ability of controller, sail body is additionally provided with
The attitude controller I of PD attitude controllers based on quaternary number and the synovial membrane structure changes based on quaternary number.
In order to ensure the craftsmanship of aircraft processing and manufacturing, each position is subjected to modularized design, module is respectively half
Spherical first section, cylindrical midsection and tail end.Cylindrical midsection part is mainly used for accommodating gyrounit III, power supply, control system
Hardware device of system etc..
Gyrounit III overall structures are illustrated in figure 2, it is with gyro gimbal 7 and the first gear being fixed in the above
Drive motor 8, shaft 2, second gear 4, first gear 1, gyrorotor 6 and double output shaft electric machines 3.Gyro gimbal 7 uses 4 spiral shells
Nail is fixed, and the hole for installation is left in lower end.
7 side of gyro gimbal is provided with a groove, and groove is used for installing first gear driving motor 8, first gear driving electricity
Machine 8 is connected with shaft 2, drives first gear 1 to rotate.Second gear 4,4 and first tooth of second gear are also installed on gyro gimbal 7
The engagement of wheel 1.The symmetrical gyrorotor receiving hole of two right positions is opened in 4 side of second gear, for installing gyrorotor 6, in
Heart perforate is equipped with double output shaft electric machines 3, and the driving rotation of gyrorotor 6 produces torque.Second gear 4 passes through double 3 both sides of output shaft electric machine
Set connecting bracket 5 is used for being connected with the second shaft, ensures that whole gyro mechanism is fixed on gyro gimbal 7, in two gears
Portion's hollow out, reduces the quality of whole mechanism as far as possible.
Gyrorotor 6 changes its rotation axis measurement when high speed rotates, and generates a moment loading in gyro frame
On frame 7.Gyrounit by the change control underwater sailing body of angular momentum posture, the size of its angular momentum and gyrorotor
Rotary inertia, rotating speed are related.
As it will be easily appreciated by one skilled in the art that the above is only the preferred embodiment of the utility model only, not
To limit the utility model, any modification for being made where within the spirit and principles of the present invention, equivalent substitution and change
Into etc., it should be included within the scope of protection of this utility model.
Claims (5)
1. a kind of inside and outside association type gesture stability submarine navigation device, including housing and be arranged on the housing endpiece cross rudder and
Propeller, it is characterised in that
The gyrounit of more than three is further included, each gyrounit is separately mounted in the housing, and each institute
Stating gyrounit includes gyro gimbal, gear mechanism, first gear driving motor, double output shaft electric machines and two gyrorotors,
Wherein, the gyro gimbal be installed on the housing inner wall on, the gear mechanism include intermeshing first gear and
Second gear, and the first gear and second gear are installed on the gyro frame by first rotating shaft and the second shaft respectively
Frame, the first gear driving motor is installed on the gyro gimbal and the rotation axis of first gear driving motor and institute
State first rotating shaft to be fixedly connected, for driving the first gear to rotate, motor receiving hole is provided with the second gear
With two gyrorotor receiving holes, double output shaft electric machines are arranged at the motor receiving hole and the electricity of this pair of output shaft electric machine
The both ends of arbor connect a gyrorotor respectively, and the first rotating shaft is parallel with the second shaft, double output shaft electric machines
Motor shaft is vertical with second shaft.
A kind of 2. inside and outside association type gesture stability submarine navigation device according to claim 1, it is characterised in that the housing
Including hemispherical first section, cylindrical midsection and the endpiece to link together, the cylindrical midsection part is used to accommodate
Gyrounit, power supply and controller, the power supply are connected with the gyrounit and the controller respectively, the institute of more than three
State gyrounit and dispersed arrangement form is used in housing, hemispherical first section, cylindrical midsection and the endpiece are respectively arranged
More than one gyrounit.
3. a kind of inside and outside association type gesture stability submarine navigation device according to claim 1, it is characterised in that when gyro group
When part is three, four or five, they finally form triangular platform, truncated rectangular pyramids or five terrace with edge configurations respectively.
4. a kind of inside and outside association type gesture stability submarine navigation device according to claim 1, it is characterised in that described pair goes out
The axis of the motor shaft of spindle motor intersects with the center line of the second gear.
5. a kind of inside and outside association type gesture stability submarine navigation device according to claim 1, it is characterised in that all is double
The motor shaft of output shaft electric machine is parallel to each other, and angle formed by the center line of second gear described in any two is more than 0.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721414273.6U CN207352465U (en) | 2017-10-30 | 2017-10-30 | A kind of inside and outside association type gesture stability submarine navigation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721414273.6U CN207352465U (en) | 2017-10-30 | 2017-10-30 | A kind of inside and outside association type gesture stability submarine navigation device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207352465U true CN207352465U (en) | 2018-05-11 |
Family
ID=62352832
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721414273.6U Active CN207352465U (en) | 2017-10-30 | 2017-10-30 | A kind of inside and outside association type gesture stability submarine navigation device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207352465U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107632612A (en) * | 2017-10-30 | 2018-01-26 | 华中科技大学 | A kind of inside and outside association type gesture stability submarine navigation device |
-
2017
- 2017-10-30 CN CN201721414273.6U patent/CN207352465U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107632612A (en) * | 2017-10-30 | 2018-01-26 | 华中科技大学 | A kind of inside and outside association type gesture stability submarine navigation device |
| CN107632612B (en) * | 2017-10-30 | 2024-04-26 | 华中科技大学 | Inside and outside combined type attitude control underwater vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105216999B (en) | Freedom degree parallel connection type vector propulsion device and the underwater robot with the device | |
| CN105564617B (en) | Parallel connection type vector propulsion mechanism and the underwater robot with the mechanism | |
| CN105539831A (en) | Amphibious power propulsion device suitable for sea and air and multi-axis aircraft | |
| CN104648643A (en) | Arrangement structure of underwater robot propelling device | |
| WO2019037727A1 (en) | Omnidirectional propeller, ship, floating platform, submersible, and submarine | |
| CN103754344A (en) | Novel underwater vehicle parallel vectored thruster and attitude determination method therefor | |
| CN207129124U (en) | Propulsion plant and submarine navigation device | |
| CN203864969U (en) | Underwater glider direction adjusting device | |
| US9022738B1 (en) | Marine propulsion-and-control system implementing articulated variable-pitch propellers | |
| CN105270585B (en) | A kind of submarine navigation device | |
| CN107554739B (en) | A kind of two-way all-direction propeller, ship and floating platform | |
| CN109515666A (en) | A kind of vector propeller of underwater robot | |
| CN105109649A (en) | Underwater vector propeller for realizing flexible steering by utilizing coanda effect | |
| CN103754342B (en) | The rudder type transfer device of a kind of " X " word rudder and " ten " word rudder | |
| CN207352465U (en) | A kind of inside and outside association type gesture stability submarine navigation device | |
| CN209667339U (en) | A kind of modularization underwater robot vector propulsion mechanism | |
| CN103818534A (en) | Direction adjusting device of underwater gliding device and control method thereof | |
| KR101261867B1 (en) | Pod type propulsion device and ship with the same | |
| CN107632612A (en) | A kind of inside and outside association type gesture stability submarine navigation device | |
| US3291086A (en) | Tandem propeller propulsion and control system | |
| US10723426B2 (en) | Marine vehicle thruster control method | |
| CN105799902B (en) | A kind of submarine navigation device vector propeller jointly controlled based on universal joint and worm and gear | |
| KR101245734B1 (en) | Counter rotating azimuth propulsion divice and ship having the same | |
| CN204916130U (en) | Novel vector propeller under water | |
| KR101168280B1 (en) | Power transmitting apparatus of ship and ship using the same |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |