CN207403909U - Multi-joint combination drive submarine navigation device - Google Patents
Multi-joint combination drive submarine navigation device Download PDFInfo
- Publication number
- CN207403909U CN207403909U CN201721376776.9U CN201721376776U CN207403909U CN 207403909 U CN207403909 U CN 207403909U CN 201721376776 U CN201721376776 U CN 201721376776U CN 207403909 U CN207403909 U CN 207403909U
- Authority
- CN
- China
- Prior art keywords
- joint
- drive
- wing
- driving
- navigation device
- 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.)
- Withdrawn - After Issue
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
Abstract
The utility model belongs to mechanical automation engineering field, specifically a kind of multi-joint combination drive submarine navigation device, the front and rear sides in centre control joint are respectively equipped with multiple deflection joints, the deflection amount of articulation of both sides is identical, is sequentially connected, it is each deflect joint and realized by the control in intermediate control joint wriggle, pitch and move about；Centre is connected to drive wing component at left and right sides of control joint, one end per side fixed-wing is mounted on the one side in intermediate control joint, the accommodating space of multiple installation driving motors is uniformly provided on fixed-wing per side, the output terminal for the driving motor installed in each accommodating space is connected with driving blade by rotation axis, the outbound course of adjacent two driving motor is on the contrary, drive driving blade rotation.The utility model has the characteristics that stability is good, cross section is small, flexible, can change the influence that underwater environment runs aircraft under water according to the variation of itself type of drive, the movements such as aircraft is made to complete to advance in water, retreats, turn, pitching.
Description
Technical field
The utility model belongs to mechanical automation engineering field, specifically a kind of multi-joint combination drive underwater navigation
Device.
Background technology
Submarine navigation device be it is a kind of navigation in underwater sail body, including manned submarine navigation device and unmanned underwater navigation
Device, it can complete the tasks such as the even military attack defence of underwater exploration, detecting.
Undersea detection technology is the important content of ocean observation technology and the component of ocean stereo monitoring net.
It becomes more and more important in ocean development present, submarine navigation device has increasingly obtained the attention of every country, either
Civilian or use in army, important role all play.
Utility model content
The purpose of this utility model is to provide a kind of multi-joint combination drive submarine navigation devices.The multi-joint combination drive
Submarine navigation device, which is capable of providing, wriggles driving and blade drives two kinds of drive patterns, greatly increases the flexibility of aircraft and reliable
Property, there is positive facilitation for work such as underwater environment monitorings.
The purpose of this utility model is achieved through the following technical solutions：
The utility model includes deflection joint, intermediate control joint and drive wing component, wherein before intermediate control joint
Both sides are respectively equipped with multiple deflection joints afterwards, and the deflection amount of articulation of both sides is identical, is sequentially connected, and be connected to it is described in
Between control joint front and rear sides, it is each it is described deflection joint by centre control joint control realize wriggle, pitch travelling；
Drive wing component is connected at left and right sides of control joint among described, the drive wing component per side includes driving electricity
Machine, driving blade and fixed-wing, one end per side fixed-wing is mounted on the one side that joint is controlled among described, described solid per side
Determine to be uniformly provided with multiple accommodating spaces for installing driving motors on the wing, the driving motor installed in each accommodating space
Output terminal is respectively connected with rotation axis, driving blade is equipped in the rotation axis, the outbound course of adjacent two driving motor is on the contrary, band
Dynamic driving blade rotation, realizes travelling.
Wherein：The driving motor quantity in drive wing component among described at left and right sides of control joint is identical, and per side
The quantity of driving motor in drive wing component is two or more；The drive wing group of centre control joint both sides
The installation direction of each driving motor of part is identical；
The fixed-wing of control joint both sides is symmetrical arranged among described, the accommodating space quantity phase opened up on the fixed-wing of both sides
Together；
It is hinged between the adjacent deflection joint by cross axle, there is the rotatably mounted of horizontal, vertical both direction
Degree；It is hinged among described between control joint and deflection joint by cross axle, there is the rotation of horizontal, vertical both direction certainly
By spending；
The quantity in the deflection joint is even number, and on symmetrical before and after the intermediate control joint.
The advantages of the utility model is with good effect：
1. the utility model is driven using driving motor, the work(such as advance, retrogressing, turning, the flexion-extension of submarine navigation device are realized
Can, there is rotation propulsion pattern and configuration to promote two kinds of motor patterns of pattern, aircraft can be made to have in different operating situation
The lower corresponding type of drive of selection.
2. the utility model is simple in structure, compact, and easy to operate.
Description of the drawings
Fig. 1 is that the utility model wriggles the structure diagram of driving condition；
Fig. 2 is the structure diagram of the utility model blade driving condition；
Fig. 3 is the intermediate control joint of the utility model and the structure diagram of drive wing component；
Fig. 4 is the structure diagram of the utility model drive wing component；
Wherein：1 is deflection joint, and 2 be intermediate control joint, and 3 be drive wing component, and 4 be driving motor, and 5 be driving paddle
Leaf, 6 be fixed-wing, and 7 be accommodating space, and 8 be rotation axis.
Specific embodiment
The utility model is described in further detail below in conjunction with the accompanying drawings.
As shown in figures 1-4, the utility model includes deflection joint 1, intermediate control joint 2 and drive wing component 3, wherein
Centre control joint 2 is one, and multiple deflection joints 1, the deflection of both sides are respectively equipped in the front and rear sides in intermediate control joint 2
1 quantity of joint is identical, is sequentially connected, and is connected to the front and rear sides in intermediate control joint 2, and each joint 1 that deflects passes through this
The control in centre control joint 2, which is realized, wriggles, pitches travelling.The quantity in the deflection joint 1 of the utility model is even number, and is closed
Symmetrical before and after centre controls joint 2, particular number can be depending on specific works situation.Lead between adjacent deflection joint 1
It crosses cross axle to be hinged, there is the rotational freedom of horizontal, vertical both direction；Lead between centre control joint 2 and deflection joint 1
It crosses cross axle to be hinged, there is the rotational freedom of horizontal, vertical both direction.In this way, between each joint can be made have deflection and
Elevating movement, the entirety that each interarticular relative motion is combined into submarine navigation device wriggle, pitch travelling state.
The left and right sides in centre control joint 2 is connected to drive wing component 3, and the drive wing component 3 per side includes
Driving motor 4, driving blade 5 and fixed-wing 6, the fixed-wing 6 of both sides are symmetrically distributed in the both sides in intermediate control joint 2, and every
One end of side fixed-wing 6 is fixed on intermediate control joint 2.Multiple installation driving electricity are uniformly provided on fixed-wing 6 per side
The accommodating space 7 of machine 4, the output terminal for the driving motor 4 installed in each accommodating space 7 are respectively connected with rotation axis 9, the rotation axis
Driving blade 5 is installed, the outbound course of adjacent two driving motor 4 is on the contrary, drive driving blade 5 to rotate, realization is moved about on 9.
7 quantity of accommodating space opened up on fixed-wing 6 in the drive wing component 3 of 2 left and right sides of centre control joint is identical, and both sides are driven
The quantity of dynamic motor 4 also correspond to it is identical, and the quantity per the driving motor 4 in side drive wing component 3 be two or two with
On；The installation direction of each driving motor 4 of the drive wing component 3 of centre control 2 both sides of joint is identical.The present embodiment consolidating per side
It is in " king " font to fall to determine the wing 6, and a line of " king " font is fixed on the one side in intermediate control joint 2, and " king " font is consolidated
Determine to have on the wing 6 there are two accommodating space, each accommodating space to be respectively and fixedly provided with a driving motor 4, the output of two driving motors 4
Direction is on the contrary, two driving blades 5 are symmetrically positioned in the both sides of " king " font vertical edge.The driving motor 4 of both sides can be according to reality
Situation is symmetrically increased and decreased.
The operation principle of the utility model is：
The multi-joint combination drive submarine navigation device of the utility model can either carry out wriggling, pitching trip for each joint control
It is dynamic, and the travelling that blade 5 drives on left and right drive wing component 3 can be carried out.Lead between centre control joint 2 and deflection joint 1
It crosses cross axle to be hinged, makes that there is rotational freedom horizontally and vertically between the two, between adjacent two deflection joint 1
It is hinged by cross axle, there is rotational freedom horizontally and vertically.When in the drive wing component 3 of the left and right sides
Driving motor 4 is stopped, one of 2 whole movable joint as aircraft of control joint among submarine navigation device, by it
The aircraft driving device of inside installation is driven.At this point, submarine navigation device passes through the relative position between driving each joint
The motion configuration of submarine navigation device is controlled, makes submarine navigation device that can wriggle in water, pitch movement, realize submarine navigation device
The movements such as advance, retrogressing, flexion-extension and turning.
When each joints axes of submarine navigation device keep conllinear, submarine navigation device is carried out by the drive wing component 3 of the left and right sides
Driving.Two driving motors 4 of each opposite installation in the drive wing component 3 of the left and right sides, the output terminal installation rotation of driving motor 4
Axis 8 is equipped with driving blade 5 in rotation axis 8.When left and right sides outbound course moves for the driving motor 4 of direction of advance, drive
Driving blade 5 rotates, and submarine navigation device then travels forward；When left and right sides outbound course is transported for the driving motor 4 of direction of retreat
It is dynamic, corresponding driving blade 5 is driven to rotate, submarine navigation device then moves backward；When one side advance driving motor 4 move, band
Dynamic corresponding driving blade 5 rotates, and the driving motor 4 that opposite side retreats moves, and corresponding driving blade 5 is driven to rotate, is realized
The differential of submarine navigation device is turned.
It is each inclined in front of centre control joint 2 when submarine navigation device is driven by drive wing component 3 to travel forward
Turn joint 1 to lift by the cross axle side of being driven up, by resistance collective effect in water make submarine navigation device move upwards until
Its upward vertical movement under the driving of drive wing component 3.
It is each inclined in front of centre control joint 2 when submarine navigation device is driven by drive wing component 3 to travel forward
Turn joint 1 to bow downwards spys by cross axle driving, by resistance collective effect in water make submarine navigation device move downward up to
Its vertical downward movement under the driving of drive wing component 3.
The submarine navigation device of the utility model has the characteristics that stability is good, cross section is small, flexible, can be a variety of
Waters diving, and can the influence that underwater environment runs aircraft under water be changed according to the variation of itself type of drive,
The movements such as aircraft is made to complete to advance in water, retreats, pitch, turning.
Claims (5)
1. a kind of multi-joint combination drive submarine navigation device, it is characterised in that：Including deflection joint (1), intermediate control joint (2)
And drive wing component (3), wherein among control joint (2) front and rear sides be respectively equipped with it is multiple deflection joint (1), both sides it is inclined
Turn that joint (1) quantity is identical, is sequentially connected, and be connected to the front and rear sides of control joint (2) among described, it is each it is described partially
Turn joint (1) and realize that sinuous, flexion-extension is moved about by the control of centre control joint (2)；A left side for control joint (2) among described
Right both sides are connected to drive wing component (3), and the drive wing component (3) per side includes driving motor (4), driving blade
(5) and fixed-wing (6), one end per side fixed-wing (6) are described per side mounted on the intermediate one side for controlling joint (2)
The accommodating space (7) of multiple installation driving motors (4) is uniformly provided on fixed-wing (6), is pacified in each accommodating space (7)
The output terminal of the driving motor (4) of dress is respectively connected with rotation axis (9), and driving blade (5) is equipped in the rotation axis (9), adjacent
The outbound course of two driving motors (4) on the contrary, driving blade (5) is driven to rotate, move about by realization.
2. multi-joint combination drive submarine navigation device according to claim 1, it is characterised in that：Control joint among described
(2) driving motor (4) quantity in the drive wing component (3) at left and right sides of is identical, and the driving in every side drive wing component (3)
The quantity of motor (4) is two or more；Each drive of the drive wing component (3) of centre control joint (2) both sides
The installation direction of dynamic motor (4) is identical.
3. multi-joint combination drive submarine navigation device according to claim 1, it is characterised in that：Control joint among described
(2) fixed-wing (6) of both sides is symmetrical arranged, and accommodating space (7) quantity opened up on both sides fixed-wing (6) is identical.
4. multi-joint combination drive submarine navigation device according to claim 1, it is characterised in that：The adjacent deflection is closed
It is hinged between section (1) by cross axle, there is the rotational freedom of horizontal, vertical both direction；Control joint (2) among described
It is hinged between deflection joint (1) by cross axle, there is the rotational freedom of horizontal, vertical both direction.
5. multi-joint combination drive submarine navigation device according to claim 1, it is characterised in that：Deflection joint (1)
Quantity for even number, and on symmetrical before and after control joint (2) among described.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721376776.9U CN207403909U (en) | 2017-10-24 | 2017-10-24 | Multi-joint combination drive submarine navigation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721376776.9U CN207403909U (en) | 2017-10-24 | 2017-10-24 | Multi-joint combination drive submarine navigation device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207403909U true CN207403909U (en) | 2018-05-25 |
Family
ID=62321324
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721376776.9U Withdrawn - After Issue CN207403909U (en) | 2017-10-24 | 2017-10-24 | Multi-joint combination drive submarine navigation device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207403909U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109693772A (en) * | 2017-10-24 | 2019-04-30 | 中国科学院沈阳自动化研究所 | A kind of multi-joint combination drive submarine navigation device |
-
2017
- 2017-10-24 CN CN201721376776.9U patent/CN207403909U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109693772A (en) * | 2017-10-24 | 2019-04-30 | 中国科学院沈阳自动化研究所 | A kind of multi-joint combination drive submarine navigation device |
| CN109693772B (en) * | 2017-10-24 | 2023-09-22 | 中国科学院沈阳自动化研究所 | Multi-joint hybrid driving underwater vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109693772A (en) | A kind of multi-joint combination drive submarine navigation device | |
| CN101549744B (en) | Hybrid multifunctional ocean monitoring independent platform | |
| CN100506639C (en) | Turning, rotating propeller of underwater robot with six degrees of freedom | |
| CN103832564A (en) | Shuttle-shaped underwater glider design and control method | |
| CN204037873U (en) | A kind of novel low-resistance underwater glider | |
| CN103885404B (en) | Underwater robot quadruple screw propeller propeller control method | |
| CN1974318A (en) | Mixed submarine navigation device | |
| CN106428495A (en) | Marine unmanned vehicle directly driven by wind energy | |
| CN107985537B (en) | Novel duct type amphibious underwater vehicle | |
| CN103287557A (en) | Novel underwater robot movement control device | |
| CN106043634A (en) | High-maneuverability underwater glider | |
| CN106585936B (en) | A kind of bionic coatings device of submarine navigation device | |
| CN102616353A (en) | Saucer submersible | |
| CN1709766A (en) | Buoyancy and propellor dual-driving-mode long-distance autonomous underwater robot | |
| CN112093018A (en) | Bionic bat ray robot | |
| KR20190108353A (en) | Moving apparatus in water | |
| CN108528666A (en) | A kind of bionical ray underwater robot | |
| CN207403909U (en) | Multi-joint combination drive submarine navigation device | |
| CN203512011U (en) | New underwater robot motion control device | |
| EP2712661B1 (en) | Propulsion apparatus and method of use | |
| CN106864712A (en) | Bionic mechanical dolphin | |
| CN104176252A (en) | Flapping wing utilizing wind energy or water flow energy to charge for continuous voyage | |
| CN209667339U (en) | A kind of modularization underwater robot vector propulsion mechanism | |
| CN108839784A (en) | tuna robot | |
| CN203864969U (en) | Underwater glider direction adjusting device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20180525 Effective date of abandoning: 20230922 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20180525 Effective date of abandoning: 20230922 |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |