CN209921584U - Vector-propelled streamlined four-rotor underwater vehicle - Google Patents
Vector-propelled streamlined four-rotor underwater vehicle Download PDFInfo
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- CN209921584U CN209921584U CN201920698585.7U CN201920698585U CN209921584U CN 209921584 U CN209921584 U CN 209921584U CN 201920698585 U CN201920698585 U CN 201920698585U CN 209921584 U CN209921584 U CN 209921584U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T70/00—Maritime or waterways transport
- Y02T70/10—Measures concerning design or construction of watercraft hulls
Abstract
The utility model belongs to the technical field of the underwater vehicle, a streamlined four rotor underwater vehicle based on vector propulsion is disclosed, include: the device comprises an electronic cabin, a streamline shell, a propeller, a rotating mechanism, a control module, a power module and an attitude sensor; the streamline housing wraps the rotating mechanism and the electronic cabin in the electronic cabin, the control module and the power module are positioned in the electronic cabin, and the power module is used for providing energy for the attitude sensor, the control module and the propeller thruster to drive the attitude sensor, the control module and the propeller thruster to act; the four propeller thrusters are symmetrically fixed on two sides of the streamline shell and are symmetrical relative to the center of the rotating mechanism; the attitude sensor detects the free circular motion of the whole attitude streamline shell of the propeller around the center of the rotating mechanism in real time. The utility model discloses when realizing the basic motion of underwater vehicle, richened the motion form of underwater vehicle, improved underwater vehicle drag reduction performance, motion stability and propeller utilization efficiency.
Description
Technical Field
The utility model belongs to the technical field of the underwater vehicle, a vector propulsive streamlined four rotor underwater vehicle is related to.
Background
The frame type structure scheme and the torpedo type structure scheme which are commonly applied to most of current underwater vehicles have the conditions of large turning radius, low utilization efficiency of a propeller, poor underwater work resistance reduction performance and the like on the aspects of low-speed controllability and maneuverability. Although the performance of the current partial structure is improved in the aspects of motion maneuverability and the like compared with the traditional underwater vehicle structure, the problems of motion controllability and low utilization efficiency of the propeller still exist in the upward floating and downward diving motion in the vertical direction due to the layout mode of the propeller. In recent years, the quad-rotor unmanned aerial vehicle has obvious advantages due to the motion performance, is increasingly concerned by researchers of various countries, but the quad-rotor technology is not widely applied to the field of underwater vehicles at present. In the real application process, the layout simplification of the propeller, the improvement of the steering flexibility, the maximization of the efficiency and the stable controllability all are technical problems which need to be realized by innovating a reasonable propeller layout design.
The utility model discloses on four rotor vector propulsive technical basis, improve the design to the overall arrangement of the structure of current underwater vehicle and propeller, have high controllability, high stability, high propeller utilization efficiency, utilize characteristics such as vector propulsion, drag reduction excellent performance, solved a great deal of problem that propeller layout design brought, it has higher application and prospect value to correspond to be used for fields such as observation, amusement, exploration.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem, the utility model provides a novel four rotor underwater vehicle with low water resistance, high motion stability, high propeller utilization efficiency.
The technical scheme of the utility model:
a vector-propelled streamline four-rotor underwater vehicle mainly comprises an electronic cabin 7, a streamline shell 1, a propeller, a rotating mechanism, a control module 8, a power module 9 and an attitude sensor 10;
the electronic cabin 7 is of a cylindrical structure, O-shaped gasket sealing structures are arranged at two ends of the electronic cabin 7, sealing plates 6 are arranged at two ends of the electronic cabin 7, and sealing is realized through the matching of the O-shaped gasket sealing structures and the sealing plates 6 to form a sealing cavity; the lower part of the sealing plate 6 is arranged at the end part of the electronic cabin 7, and the upper part of the sealing plate is provided with a through hole for installing a rotating mechanism;
the control module 8 and the power module 9 are arranged in a sealed cavity of the electronic cabin 7; the control module 8 comprises a circuit board, a relay and a pose sensor, the relay controls the on-off of a power supply, the circuit board controls the motion of the underwater vehicle, and the pose sensor detects the pose of the underwater vehicle in real time; the power module 9 comprises a battery pack and a voltage reduction module, is connected with the control module 8, the attitude sensor 10 and the propeller thruster through a relay and provides power;
the rotating mechanisms are two waterproof conductive sliding rings 5 and are symmetrically arranged, one end of each waterproof conductive sliding ring 5 is a fixed end, and the other end of each waterproof conductive sliding ring 5 is a rotating end; the fixed ends of the waterproof conductive slip rings 5 are fixedly arranged on the upper parts of the two sealing plates 6 through the through holes on the upper parts of the sealing plates 6, the rotating ends of the waterproof conductive slip rings are positioned on the outer sides of the sealing plates 6, and the two shell end covers 3 are respectively arranged on the rotating ends of the two waterproof conductive slip rings 5, so that the shell end covers 3 rotate around the waterproof conductive slip rings 5; four fish scale-like baffle plate structures 4 are symmetrically arranged on the outer side surface of each shell end cover 3 to reduce resistance;
the four propeller thrusters comprise a first propeller thruster 2a, a second propeller thruster 2b, a third propeller thruster 2c and a fourth propeller thruster 2d which are respectively and symmetrically arranged at the outer sides of the two shell end covers 3, and the four propeller thrusters are centrosymmetric relative to the rotating mechanism;
the attitude sensor 10 is arranged on the shell end cover 3 and is used for detecting the attitude of the propeller in real time;
the streamline housing 1 is fixedly arranged between the two housing end covers 3, so that the streamline housing 1 and the two housing end covers 3 form a shell-shaped structure together, and the electronic cabin 7 and the rotating mechanism are wrapped in the streamline housing 1, wherein the electronic cabin 7 is positioned at the lower part in the streamline housing 1; the streamline housing 1 and the housing end cover 3 rotate together to form a rotating housing, and the rotating housing rotates freely and circularly around the center of the rotating mechanism.
The electronic cabin 7 is used as a counterweight, the top end of the streamline housing 1 is provided with a buoyancy module, and the gravity of the electronic cabin 7 and the buoyancy of the buoyancy module are adjusted to enable the underwater vehicle to be in a zero-buoyancy state in water.
The propeller thruster comprises a waterproof motor, a speed regulator, a propeller and a rectification duct; the speed regulator is sealed in the waterproof motor, the propeller is fixed on a rotating shaft of the waterproof motor, a mechanism consisting of the waterproof motor, the propeller and the speed regulator is fixed in the rectification duct, and the rectification duct is fixed on the rotating mechanism.
The utility model has the advantages that:
1. because the propeller thruster is fixed on the rotating shell, the rotating shell integrally does any circular motion around the center of the rotating mechanism, and the mechanism flexibility and the thruster utilization rate are improved;
2. because the curve profile of the wheel-shaped shell is optimized by using the Myring curve, and a fish-scale-like baffle plate structure is designed, the moving water resistance is small;
3. because the electronic cabin is used as a heavy object and is positioned at the lower part of the integral structure, the underwater vehicle has larger fixed center stability and high stability, and the motion stability is improved.
Drawings
Fig. 1 is a schematic view of the main structure of the present invention;
fig. 2 is a schematic view of the internal structure of the present invention;
fig. 3 is a schematic view of the internal structure of the electronic compartment of the present invention;
fig. 4 is a schematic diagram of the movement mode of the present invention;
fig. 5 is a curvature variation diagram of a converging curve of the fish-scale-like baffle of the present invention.
In the figure: 1, a streamline shell; 2a first propeller; 2b a second propeller; 2c a third propeller c; 2d a fourth propeller; 3, a shell end cover; 4-class fish scale baffle structure; 5 waterproof conductive slip ring; 6, sealing a plate; 7 an electronic compartment; 8, a control module; 9 a power module; 10 attitude sensor.
Detailed Description
The following further describes a specific embodiment of the present invention with reference to the drawings and technical solutions.
The first embodiment of the utility model is a specific embodiment of the structural scheme, and the second embodiment is a specific embodiment of the motion mode.
Example one
As shown in fig. 1 to fig. 3, a vector-propelled streamline four-rotor underwater vehicle mainly comprises an electronic cabin 7, a streamline housing 1, a propeller, a rotating mechanism, a control module 8, a power module 9 and an attitude sensor 10. The electronic cabin 7 is of a cylindrical structure, and a sealed cavity is formed by an O-shaped gasket sealing structure and sealing plates 6 at two ends of the cylindrical structure. The control module 8 and the power module 9 are fixed in the sealed cavity through a structural frame. The waterproof conductive slip ring 5 is used as a rotating mechanism and is fixed at the upper end of the sealing plate 6 through a connecting piece and a bolt to form a rotating device. The rotation end of the waterproof conductive sliding ring 5 is positioned at the outer side of the sealing plate 6, and the shell end cover 3 is arranged at the rotation end of the waterproof conductive sliding ring 5, so that the shell end cover 3 rotates around the waterproof conductive sliding ring 5. The attitude sensor 10 is arranged on the shell end cover 3 and is used for detecting the attitude of the propeller thruster in real time, and the attitude sensor in the control module 8 is used for detecting the attitude of the underwater vehicle in real time so as to control the underwater vehicle to move linearly. The first propeller thruster 2a, the second propeller thruster 2b, the third propeller thruster 2c and the fourth propeller thruster 2d are symmetrically and fixedly arranged on the two shell end covers 3, and eight fish scale-like baffle structures 4 are designed on the two shell end covers 3. The streamline housing 1 is fixedly arranged between the two housing end covers 3, the electronic cabin 7 is wrapped in the streamline housing 1, the streamline housing 1 and the housing end covers 3 rotate together to form a rotating housing, and the rotating housing rotates circumferentially around the center of the rotating mechanism.
Furthermore, the underwater vehicle is in a zero-buoyancy state in the water by adjusting the buoyancy module and the balance weight.
The top end of the fish scale-like baffle plate structure 4 is a semi-revolving body with a circular arc with a curvature radius of 63mm, the lower end of the baffle plate structure is a stretching body with the semi-revolving body as a base surface, and the curvature change of a convergence curve is shown in fig. 5. According to the utility model provides an underwater vehicle size, wherein baffle curved surface apex is 18mm apart from 3 distances of shell end cover, and the flake total length is 100 mm.
The streamline shell 1 is designed through a Myring curve, and resistance is reduced. The equation of the Myring curve is
Wherein x is the distance from the curve end point; a is the transverse length of the curve,i.e. the maximum value of x; d is the maximum diameter of the revolution body; n is the appearance coefficient of the curved surface; y corresponds to the curvature radius of the curve at different x values; according to the utility model provides an underwater vehicle size, wherein d is 200mm, and a is 75mm, and n is 2.5.
Example two
As shown in fig. 4, the first propeller thruster 2a, the second propeller thruster 2b, the third propeller thruster 2c, and the fourth propeller thruster 2d are always located on the same plane. When the underwater vehicle dives, the plane where the four propeller thrusters are located is kept horizontal, and the horizontal posture of the propeller thrusters is posture I. The four propeller thrusters advance downwards at the same speed to realize the diving action.
After the circuit board is submerged to a certain depth, the relative position of the propeller thruster and the center of the rotating mechanism is adjusted through the differential speed of the thruster, the plane where the thruster is located rotates around the center of the rotating mechanism, the expected attitude angle of the propeller thruster in the circuit board program is changed, the attitude angle of the propeller thruster is detected in real time through the attitude sensor 10, the thrust of the propeller thruster is finely adjusted through a PID control algorithm in the circuit board program, and the attitude of the propeller thruster is stabilized. In the process, the electronic cabin 7 is always kept unchanged in the initial posture, and the posture of the propeller is changed from the posture I to the posture III through the posture II. Wherein the posture II is a middle transition posture, and the posture III is a posture of the propeller when the plane where the propeller is located rotates to the vertical direction. At the moment, the four propeller propellers advance at the same speed to realize horizontal linear motion. When the left and right pairs of propeller propellers rotate in a differential mode, the steering without turning radius in the horizontal direction can be achieved.
When the underwater vehicle floats upwards, the control strategy is the same as the above, the propeller propellers are changed from an attitude III to an attitude V through an attitude IV, wherein the attitude IV is a middle transition attitude, the attitude V is a horizontal floating attitude, and the plane where the four propeller propellers are located is kept horizontal. The four propeller thrusters simultaneously propel upwards at the same speed to realize upward floating movement.
Further, the underwater vehicle can realize more complex motion through differential matching of the first propeller thruster 2a, the second propeller thruster 2b, the third propeller thruster 2c and the fourth propeller thruster 2d under different postures, and the motion controllability is improved. In addition, in the whole structure, the electronic cabin 7 is positioned at the bottom of the main body as a heavy object, the underwater vehicle has a large fixed center of stability and high stability, and the motion stability is improved. When the propeller thruster is in the moving state of the postures I, III and V, the propelling direction of the propeller thruster is parallel to the moving direction of the underwater vehicle, and the utilization efficiency of the thruster is improved.
When the underwater vehicle is to make a spatial movement in any direction, the propeller maintains a pose between pose I and pose III, such as pose II, or between pose III and pose V, such as pose IV, depending on the direction of advance. At this time, the first propeller 2a, the second propeller 2b, the third propeller 2c, and the fourth propeller 2d are propelled at the same speed, thereby realizing spatial movement in any direction.
Claims (2)
1. The vector-propelled streamline four-rotor underwater vehicle is characterized by mainly comprising an electronic cabin (7), a streamline housing (1), a propeller, a rotating mechanism, a control module (8), a power module (9) and an attitude sensor (10);
the electronic cabin (7) is of a cylindrical structure, O-shaped gasket sealing structures are arranged at two ends of the electronic cabin, sealing plates (6) are arranged at two ends of the electronic cabin (7), and sealing is realized through the matching of the O-shaped gasket sealing structures and the sealing plates (6) to form a sealing cavity; the lower part of the sealing plate (6) is arranged at the end part of the electronic cabin (7), and the upper part of the sealing plate is provided with a through hole for installing a rotating mechanism;
the control module (8) and the power module (9) are arranged in a sealed cavity of the electronic cabin (7); the control module (8) comprises a circuit board, a relay and a pose sensor, wherein the relay controls the on-off of a power supply, the circuit board controls the motion of the underwater vehicle, and the pose sensor detects the pose of the underwater vehicle in real time; the power module (9) comprises a battery pack and a voltage reduction module, and is connected with the control module (8), the attitude sensor (10) and the propeller thruster through a relay to provide power;
the rotating mechanisms are two waterproof conductive sliding rings (5) and are symmetrically arranged, one end of each waterproof conductive sliding ring (5) is a fixed end, and the other end of each waterproof conductive sliding ring is a rotating end; the fixed ends of the waterproof conductive slip rings (5) are fixedly arranged on the upper parts of the two sealing plates (6) through the through holes on the upper parts of the sealing plates (6), the rotating ends of the waterproof conductive slip rings are positioned on the outer sides of the sealing plates (6), and the two shell end covers (3) are respectively arranged on the rotating ends of the two waterproof conductive slip rings (5), so that the shell end covers (3) rotate around the waterproof conductive slip rings (5); four fish scale-like baffle plate structures (4) are symmetrically arranged on the outer side surface of each shell end cover (3) to reduce resistance;
the four propeller thrusters comprise a first propeller thruster (2a), a second propeller thruster (2b), a third propeller thruster (2c) and a fourth propeller thruster (2d), which are respectively and symmetrically arranged at the outer sides of the two shell end covers (3), and the four propeller thrusters are centrosymmetric relative to the rotating mechanism;
the attitude sensor (10) is arranged on the shell end cover (3) and is used for detecting the attitude of the propeller in real time;
the streamline housing (1) is fixedly arranged between the two housing end covers (3), so that the streamline housing (1) and the two housing end covers (3) form a shell-shaped structure together, and the electronic cabin (7) and the rotating mechanism are wrapped in the streamline housing (1), wherein the electronic cabin (7) is positioned at the lower part in the streamline housing (1); the streamline housing (1) and the housing end cover (3) rotate together to form a rotating housing, and the rotating housing does free circular rotation around the center of the rotating mechanism.
2. The vector-propelled streamlined four-rotor underwater vehicle as claimed in claim 1, wherein said electronic cabin (7) is used as a counterweight, and a buoyancy module is disposed at the top end of said streamlined housing (1) to adjust the gravity of said electronic cabin (7) and the buoyancy of said buoyancy module, so that said underwater vehicle is in a zero-buoyancy state in water.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920698585.7U CN209921584U (en) | 2019-05-16 | 2019-05-16 | Vector-propelled streamlined four-rotor underwater vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920698585.7U CN209921584U (en) | 2019-05-16 | 2019-05-16 | Vector-propelled streamlined four-rotor underwater vehicle |
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| Publication Number | Publication Date |
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| CN209921584U true CN209921584U (en) | 2020-01-10 |
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| CN201920698585.7U Active CN209921584U (en) | 2019-05-16 | 2019-05-16 | Vector-propelled streamlined four-rotor underwater vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110065606A (en) * | 2019-05-16 | 2019-07-30 | 大连理工大学 | A kind of streamlined quadrotor submarine navigation device that vector promotes |
| CN111976930A (en) * | 2020-08-07 | 2020-11-24 | 西北工业大学 | Underwater vehicle based on annular mechanical structure |
-
2019
- 2019-05-16 CN CN201920698585.7U patent/CN209921584U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110065606A (en) * | 2019-05-16 | 2019-07-30 | 大连理工大学 | A kind of streamlined quadrotor submarine navigation device that vector promotes |
| CN111976930A (en) * | 2020-08-07 | 2020-11-24 | 西北工业大学 | Underwater vehicle based on annular mechanical structure |
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