CN209600767U - A kind of vector propeller of underwater robot - Google Patents
A kind of vector propeller of underwater robot Download PDFInfo
- Publication number
- CN209600767U CN209600767U CN201920091094.6U CN201920091094U CN209600767U CN 209600767 U CN209600767 U CN 209600767U CN 201920091094 U CN201920091094 U CN 201920091094U CN 209600767 U CN209600767 U CN 209600767U
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- China
- Prior art keywords
- propeller
- driving member
- motor
- vector
- steering engine
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Abstract
The utility model relates to a kind of vector propellers of underwater robot, vector propeller both horizontally and vertically motion control, including featured motor, propeller, pod, transmission mechanism, baffle, deck store, roll control motor and rotation steering engine are realized using transmission mechanism.Featured motor is located in pod, it is connect by support rod with pod, propeller and featured motor connect and compose propeller tail portion, roll control motor, rotation steering engine are connected with transmission mechanism respectively constitutes propeller front, it is mounted on inside deck store, and rotation servo driving makes propeller tail portion rotate (± 30 °) around vertical axes, and roll control motor drives propeller tail portion to rotate (± 180 °) around horizontal axis, two movements are combined, may be implemented to deflect propeller any direction in space.The utility model has many advantages, such as flexible, the small in size, overall compact of driving, and the vectored thrust met the requirements can be provided for small underwater robot.
Description
Technical field
The utility model relates to a kind of vector propellers of underwater robot, belong to field of ocean engineering.It passes through
The spatial attitude for changing propeller passes through two deflection rudders by three motor controls to change the thrust vectoring direction of propeller
Machine enables propeller axis to be freely rotated around the horizontal and vertical axis of aircraft, thus can obtain pushing away in assigned direction
Power drives the control of submarine navigation device cruise in water and posture.
Background technique
Small underwater robot is as developing instrument under dedicated water, the side such as scientific research, development of resources, military affairs in phytal zone
Face all has huge application prospect.Miniaturization is that one of the following underwater robot cannot be neglected developing direction, it has also become
Ocean power develops the research hotspot of intelligent oceanographic equipment.Propulsion system is the chief component of submarine navigation device, vector
Propeller promotes the direction by changing entire propulsion system to change thrust direction, in order to be suitable for small underwater robot,
A small-sized vector propeller is developed just to seem very necessary.Thrust Vectoring Technology refers to that the propulsion system of space motion object is removed
Outside offer forward thrust, moreover it is possible to concurrently or separately be provided on the directions such as the pitching of moving object, yaw, roll and propulsive thrust
Propulsive force and torque are controlled partly or entirely to replace power caused by rudder face, i.e. propeller thrust vector quantization.
Efficiently, high maneuverability submarine navigation device Push Technology is the research hotspot of current AUV design field.And vector pushes away
It into the application in terms of technology under water robot was just risen into 10 years, the vector propulsion mechanism in underwater robot substantially may be used
It is divided into vector propeller and two kinds of vector spray.Compared with propeller propulsion mode, vector spray propeller is had characteristics that
Propulsive efficiency is high, and radiated noise is low, can also reduce the rotational noise of propeller, and when high speed does not generate vacuole etc..But because it is
Combined propeller, while having construction complicated, weight is big, manufacturing and installation difficulty, and weight is 2-3 times of conventional propeller etc.
Disadvantage.Submarine navigation device still uses vector propeller propulsion mode mostly at present, and structure is simple, easy to maintenance, technology maturation,
It is thus widely used, improving propeller Push Technology has ten by the aircraft mobility that propeller promotes for improving
Divide important meaning.Two aspects are concentrated mainly on for the improvement of propeller propulsion mode at present: being on the one hand for propeller
Research, including research new type propeller and varying pitch propeller；On the other hand it is improved by improving propeller propulsion system
Propeller propulsive performance.
Summary of the invention
In order to improve propeller propulsive performance, the vectored thrust for meeting underwater robot small form factor requirements is provided.This is practical
Novel to provide a kind of vector propeller of underwater robot, the vector propeller is flexible with driving, machine driving is simple, transmission
It is high-efficient, overall construction design is compact, save space and it is at low cost the advantages that, be suitble to the slanting back space tapered, can
The vectored thrust met the requirements is provided for small underwater robot.
The technical solution of the utility model is specific as follows:
The utility model mainly includes featured motor, propeller, pod, transmission mechanism, baffle, deck store, roll control motor
With rotation steering engine, featured motor is located in pod, is connect by support rod with pod, propeller connect structure with featured motor
At propeller tail portion, roll control motor, rotation steering engine are connected with transmission mechanism respectively constitutes propeller front, is mounted on deck store
Interior, and be fixed on baffle, propeller tail portion and propeller front connect and compose vector propeller by transmission mechanism.
The vector propeller tail portion comprising featured motor, propeller and pod, featured motor are located at pod
It is interior, connect by support rod with pod, propeller in featured motor connect and compose propeller tail portion.
The rotatable mechaninism comprising rotation steering engine, connecting plate two, steering engine bracket, main shaft, U-shaped frame, transmission shaft and company
Connect frame.Connection frame is connected with featured motor, and is fixed on transmission shaft, and transmission shaft is relatively rotated by bearing and U-shaped frame, main shaft
It is connect with rotation steering engine, rotation steering engine is connected with connecting plate two, and connecting plate two is fixed on steering engine bracket, rotation servo driving master
Axis, main shaft are connected with transmission shaft, and its power is transmitted on the connection frame on transmission shaft, thus realize propeller tail portion around
Vertical axes rotate (± 30 °).
The rotation mechanism for wind comprising roll control motor, connecting plate one, steering engine bracket, driving member one, driving member two, master
Sleeve, U-shaped frame.Roll control motor is connect with driving member two, and is fixed on connecting plate one, and connecting plate one is fixed on steering engine bracket
On, driving member one is connected with driving member two, and driving member one is fixed on master collet, and master collet is connect with U-shaped frame, and roll control motor drives
Dynamic driving member two, driving member two is connected with driving member one, and transfers power on master collet, and then is transmitted on U-shaped frame, drives
Dynamic propeller tail portion rotates (± 180 °) around horizontal axis, by rotation steering engine in conjunction with the movement of roll control motor, so as to reality
Existing deflection of the propeller in arbitrary direction in space.
The featured motor, uses waterproof machine, has sealing structure, can be effectively reduced entire vector and push away
It into the longitudinal length of device, can adapt in small underwater robot, while directly that hood part is permeable, be not required to design complexity
Waterproof sealing structure, to solve the problems, such as because of the possible security risk of seal leakage.
The roll control motor, rotation steering engine machine are all made of steering engine, have the advantages that torque is big, small in size, two steering engines
It is connect respectively with connecting plate one, connecting plate two, while connecting plate one, connecting plate two are also connected on steering engine bracket, steering engine bracket
It is mounted on baffle.
The master collet, one end are connect with driving member one, and the other end is connected with U-shaped frame, and are installed by bearing fit
On interior outer bearing support, inside and outside bearing spider is mounted on deck store, uses O-ring rotation to move between master collet and baffle close
Envelope.
The main shaft, one end are connected with rotation steering engine, and the other end is connected with transmission shaft, and bearing and main set are put in both ends respectively
Cylinder is internal to be matched, and O-ring rotary dynamic seal is used between main shaft and master collet.
The transmission shaft, both ends are relatively rotated by bearing and the cooperation of U-shaped frame, and are connected with main shaft, interlude and company
Frame is connect to be connected.
In general, the utility model is contemplated above technical scheme is compared with the prior art, can obtain down and show
Beneficial effect:
1) a kind of vector propeller of underwater robot of the utility model realizes vector propeller water using transmission mechanism
The control of gentle movement in vertical direction, small in size, driving flexibly, transmission efficiency height, overall compact, saving space, structure it is simple, energy
Enough landform according to sea bottom complex, make fast reaction.
2) motor is promoted mainly using waterproof, is effectively reduced the longitudinal length of entire vector propeller, can adapt in small
Type underwater robot, at the same it is directly that hood part is permeable, it is not required to the complicated waterproof sealing structure of design, to solve because close
Seal the possible security risk of leakage problem.
3) vector propeller can change the thrust vectoring direction of propeller by changing the spatial attitude of propeller, by
Three motor controls, change the direction vector and rotation speed of propeller shaft, and obtain direction and arrow that size can change
Propulsive force is measured, there is very strong portability, reached design objective requirement.
Detailed description of the invention
Fig. 1 is the general structure schematic diagram of the utility model；
Fig. 2 is the overall structure stereoscopic schematic diagram of the utility model；
Fig. 3 is the transmission principle schematic diagram of mechanism of the utility model；
Fig. 4 is the structural schematic diagram of the transmission mechanism of the utility model；
Fig. 5 is the structural schematic diagram of the steering engine bracket of the utility model；
Fig. 6 is the structural schematic diagram of the connecting plate one of the utility model；
Fig. 7 is the structural schematic diagram of the connecting plate two of the utility model.
1 in figure, promote mainly motor；2, propeller；3, pod；4, U-shaped frame；5, baffle；6, deck store；7, roll control motor；8,
Rotation steering engine；9, outer bearing support；10, transmission shaft；11, connection frame；12, bearing；13, bearing gland；14, O-ring；15, axis
It holds；16, master collet；17, main shaft；18, driving member one；19, connecting plate one；20, connecting plate two；21, steering engine bracket；22, inner shaft
Hold support；23, driving member two.
Specific embodiment
It is careful below with reference to the utility model preferred embodiment and attached drawing, be fully described by the design system of the utility model
Make process.
Firstly, it is necessary to which explanation be institute's preferred embodiment is one of Autonomous Underwater Vehicle model ---
130AUV, 130 indicate that the maximum outside diameter of AUV is 130mm.The purpose of this utility model is to be directly changed to push away using vector propeller
Into the direction of power, to increase substantially the maneuverability of AUV, and reduce volume on this basis, can obtain enough motor-driven
Property is to adapt to the needs of the underwater preliminry basic research of small underwater robot.
This example includes: featured motor 1, propeller 2, pod 3, U-shaped frame 4, baffle 5, deck store 6, roll control motor 7, pendulum
It comes about machine 8；Wherein, roll control motor 7, rotation steering engine 8 are connected with U-shaped frame 4 respectively constitutes deflection system, promotes mainly motor 1 and spiral
Paddle 2, which is connected, constitutes vector propeller tail portion, and deflection system, vector propeller tail portion are connected with U-shaped frame 4 respectively constitutes vector propulsion
Device is mounted in the deck store 6 of submarine navigation device, is fixed on baffle 5, can provide vectored thrust for submarine navigation device.
As Fig. 2 general three figure and Fig. 4 in transmission mechanism comprising: baffle 5, deck store 6, roll control motor 7, rotation
Steering engine 8, outer bearing support 9, transmission shaft 10, connection frame 11, bearing 12, bearing gland 13, O-ring 14, bearing 15, master collet
16, main shaft 17, driving member 1, connecting plate 1, connecting plate 2 20, steering engine bracket 21, inner bearing support 22, driving member
2 23.
Such as the transmission principle schematic diagram of mechanism in Fig. 3, in order to adjust propeller shaft in the posture in space, propeller shaft is in sky
Between must be there are two rotary freedom, in addition rotation of the propeller shaft around own axes, which should be 3DOF transmission dress
It sets.Propeller shaft is mounted on a bracket, which can rotate around another bracket, and another bracket can be around cabinet
Rotation,
As long as two direction of rotation are orthogonal, it can achieve the purpose that the comprehensive swing of propeller shaft, propeller shaft is propping up
It can also spin in frame, thus there is 3 rotary freedoms.It can be seen that the branch of installation propeller shaft from transmission principle schematic diagram
Frame can be rotated around Y-axis, and another bracket can rotate about the z axis, and propeller shaft is driven to rotate about the z axis together, and propeller
Axis itself can be along installation propeller shaft support revolute rotation, therefore propeller shaft can be centered on O point in space
It is rotated along Y-axis and Z axis, the dimensional orientation of propeller shaft is adjusted with this, and can spin around own axes, propeller is adjusted with this
Revolving speed, such design can guarantee that propeller shaft in the pose adjustment (including dimensional orientation and spin revolving speed) in space, is completed
The design requirement that propeller shaft is deflected in space 360 ° omni-directional.
Their connection relationship in example are as follows: one end of connection frame 11 is connected with featured motor 1, the other end and transmission shaft 10
Middle part connection.Transmission shaft 10 is connected with main shaft 17, matches equipped with bearing 12 with U-shaped frame 4 on transmission shaft 10, bearing gland 13
It is connect with U-shaped frame 4.Matched with steering engine bracket 21 on main shaft 17 equipped with bearing 15, the other end rotation steering engine 8 of main shaft 17 it is defeated
Shaft is connected.16 one end of master collet and U-shaped frame 4 are connected, and using rotation O-ring 14 move between master collet 16 and main shaft 17 close
Envelope, master collet 16 realize axially position by driving member 1, and driving member 1 is fixed on 16 end of master collet, driving member
2 23 are connected with the axis of roll control motor 7.Roll control motor 7 and rotation steering engine 8 are separately fixed at connecting plate 1, connecting plate two
On 20, connecting plate 1 and connecting plate 2 20 are respectively fixedly connected on steering engine bracket 21, and steering engine bracket 21 is fixed on baffle 5.
Dynamic sealing is carried out using rotation O-ring 14 between master collet 16 and deck store 6, it is O-shaped using rotating between main shaft 17 and master collet 16
Circle 14 carries out dynamic sealing.
Such as the steering engine bracket of Fig. 5, inside be provided with ring-shaped groove, the relative rotation with main shaft 17 is realized by bearing 15,
It is also provided with ring-shaped groove in outside, in order to support driving member 2 23, completes the biography of driving member 2 23 and driving member 1
It is dynamic.
Such as the connecting plate 1 and connecting plate 2 20 of Fig. 6, Fig. 7, the half-open threaded hole of one and steering engine are connected, another half point
It is not connected with driving member 2 23 and main shaft 17.
This example has two motion transmission chains, first is that rotation shafting transmission chain, realizes that tail portion propeller is swung up and down；Second is that
Rolling shafting transmission chain realizes the left and right horizontal rolling of tail portion propeller entirety, to adjust the posture of tail portion propeller, to make
Tail portion propeller generates vectored thrust with respect to submarine navigation device.Rotation shafting transmission chain: the movement that rotation steering engine 8 exports is transmitted to
On main shaft 17, main shaft 17 is connected with transmission shaft 10, passs motion transmission to transmission shaft 10, transmission shaft 10 drives connection frame 11 again
It swings, to drive propeller tail swing, realizes that hunting range is -30 ° to+30 °.Rolling shafting transmission chain: rolling rudder
The movement that machine 7 exports is transmitted on driving member 1 by driving member 2 23, is passed motion transmission using master collet 16
U-shaped frame 4, U-shaped frame 4 drives connection frame 11 around axis rolling, to drive propeller tail portion around its axis at -180 ° to+180 °
Rolling in range.By the movement synthesis of two transmission chains, propeller tail portion may be implemented comprehensive under any angle of revolution
Deflection.Roll control motor 7, rotation steering engine 8 driving under, after propeller tail portion is turned back to predetermined position first, then change its partially
Gyration, propeller tail portion is obtained with the deflection within the scope of -30 ° under any angle of revolution to+30 °, to will push away
Force vector technology is organically integrated on propeller.
Claims (4)
1. a kind of vector propeller of underwater robot, which is characterized in that including promoting mainly motor, propeller, pod, driver
Structure, baffle, deck store, roll control motor and rotation steering engine, featured motor are located in pod, are connect by support rod with pod,
Propeller and featured motor connect and compose propeller tail portion, and roll control motor, rotation steering engine, which are connected to constitute respectively with transmission mechanism, to be pushed away
It into device front, is mounted on inside deck store, propeller tail portion and propeller front connect and compose vector by transmission mechanism and promote
Device.
2. a kind of vector propeller of underwater robot according to claim 1, it is characterised in that the vector propeller
Tail portion comprising featured motor, propeller and pod.
3. a kind of vector propeller of underwater robot according to claim 1, it is characterised in that the rotatable mechaninism,
Including rotation steering engine, main shaft, U-shaped frame, transmission shaft and connection frame, connection frame is connected with featured motor, and is fixed on transmission shaft,
Transmission shaft and U-shaped frame relatively rotate, and main shaft is connect with rotation steering engine, and rotation servo driving main shaft, main shaft is connected with transmission shaft, and
Its power is transmitted on the connection frame on transmission shaft, to realize that propeller tail portion rotates ± 30 ° around vertical axes.
4. a kind of vector propeller of underwater robot according to claim 1, it is characterised in that the rotation mechanism for wind,
Including roll control motor, driving member one, driving member two, master collet and U-shaped frame, roll control motor is connect with driving member two, driving member one
It is connected with driving member two, driving member one is fixed on master collet, and master collet is connect with U-shaped frame, and roll control motor drives driving member two,
Driving member two is connected with driving member one, and transfers power on master collet, and then is transmitted on U-shaped frame, drives propeller tail
Portion rotates ± 180 ° around horizontal axis, by rotation steering engine in conjunction with the movement of roll control motor, so as to realize propeller in sky
Between deflection on any direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920091094.6U CN209600767U (en) | 2019-01-21 | 2019-01-21 | A kind of vector propeller of underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920091094.6U CN209600767U (en) | 2019-01-21 | 2019-01-21 | A kind of vector propeller of underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209600767U true CN209600767U (en) | 2019-11-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920091094.6U Expired - Fee Related CN209600767U (en) | 2019-01-21 | 2019-01-21 | A kind of vector propeller of underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209600767U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109515666A (en) * | 2019-01-21 | 2019-03-26 | 中国计量大学 | A kind of vector propeller of underwater robot |
-
2019
- 2019-01-21 CN CN201920091094.6U patent/CN209600767U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109515666A (en) * | 2019-01-21 | 2019-03-26 | 中国计量大学 | A kind of vector propeller of underwater robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191108 Termination date: 20220121 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |