CN215436877U

CN215436877U - Multi-degree-of-freedom driving mechanism of underwater vehicle and underwater vehicle

Info

Publication number: CN215436877U
Application number: CN202121188792.1U
Authority: CN
Inventors: 崔华义
Original assignee: Tianjin Haidel Technology Co ltd
Current assignee: Tianjin Haidel Technology Co ltd
Priority date: 2021-05-28
Filing date: 2021-05-28
Publication date: 2022-01-07
Anticipated expiration: 2031-05-28

Abstract

The present disclosure provides a multiple degree of freedom drive mechanism for an underwater vehicle, comprising a rotating ring; the rotating driver is in transmission connection with the rotating ring and is used for driving the rotating ring to rotate; the overturning driver is arranged on the rotating ring; the overturning part is arranged on the inner side of the rotating ring, is in transmission connection with the overturning driver and is used for driving the overturning part to overturn along the radial direction of the rotating ring; and the propeller is arranged on the overturning part. The vehicle comprises a main body and a multi-degree-of-freedom driving mechanism of the underwater vehicle, wherein the driving mechanism is arranged on the main body. The multi-degree-of-freedom driving mechanism of the underwater vehicle is compact in structure and capable of achieving full-angle rotation of the propeller. The underwater vehicle provided by the disclosure can realize full-angle reversing under the driving action of the multi-degree-of-freedom driving mechanism of the underwater vehicle, so that the flexibility is enhanced.

Description

Multi-degree-of-freedom driving mechanism of underwater vehicle and underwater vehicle

Technical Field

The disclosure relates to the technical field of underwater vehicles, in particular to a multi-degree-of-freedom driving mechanism of an underwater vehicle and the underwater vehicle.

Background

An underwater vehicle is a vehicle which navigates underwater and generally comprises a manned underwater vehicle and an unmanned underwater vehicle. The underwater vehicle can submerge for a long time to complete underwater exploration, detection, hydrological measurement, oceanographic research and other tasks. In order to accomplish the above task, underwater vehicles require great intelligence and flexibility.

In the prior art, the navigation direction of an underwater vehicle is limited by a driving mechanism, and full-angle navigation cannot be realized. Therefore, when the underwater vehicle executes a detection task, the visual angle has certain limitation, and the detection quality is influenced.

SUMMERY OF THE UTILITY MODEL

In view of this, the present disclosure is directed to a multi-degree-of-freedom driving mechanism for an underwater vehicle, so as to solve the problems of limited rotation direction and poor flexibility of the driving mechanism for the underwater vehicle in the prior art.

Based on the above object, the present disclosure provides a multiple degree of freedom driving mechanism of an underwater vehicle, which is installed on a main body of the underwater vehicle, and is used for adjusting a navigation direction and a navigation speed of the main body, and specifically includes: a rotating ring; the rotating driver is in transmission connection with the rotating ring and is used for driving the rotating ring to rotate; the overturning driver is arranged on the rotating ring; the overturning part is arranged on the inner side of the rotating ring, is in transmission connection with the overturning driver and is used for driving the overturning part to overturn along the radial direction of the rotating ring; and the propeller is arranged on the overturning part.

Furthermore, a gear is installed on an output shaft of the rotary driver, and rotary ring teeth meshed with the gear are arranged on the periphery of the outer wall of the rotary ring.

Further, still include the mounting bracket, be equipped with the installation through-hole, rotatory ring rotate install in the installation through-hole.

Furthermore, the inner wall of the installation through hole is circumferentially provided with an annular groove, and the rotary ring teeth are installed in the annular groove.

Further, the annular groove is provided with an opening, and the rotary ring teeth in the annular groove are meshed with the gear outside the annular groove by utilizing the opening.

Furthermore, the inner wall of the mounting through hole is circumferentially provided with a ring platform, and a rolling piece is attached between the ring platform and the rotating ring.

Further, the flip includes: the overturning ring is in transmission connection with the overturning driver; the mounting plate is arranged on one side of the turnover ring in a clearance mode, and the propeller is mounted on the mounting plate; the connecting arm is provided with a plurality of connecting arms which respectively surround the axis of the turnover ring and are uniformly distributed, and the two ends of each connecting arm are respectively fixedly connected with the turnover ring and the mounting plate.

Furthermore, a plurality of resistance reducing through holes are formed in the mounting plate.

From the above, the multi-degree-of-freedom driving mechanism of the underwater vehicle provided by the disclosure enables the propeller to rotate 360 degrees in a full angle through the cooperation of the rotating ring and the overturning part. The propeller and the turnover part are both arranged in the rotating ring, so that the structure of the water-saving water dispenser is compact, and the resistance of a water body to the water-saving water dispenser can be effectively reduced in the using process.

Another object of the present disclosure is to provide an underwater vehicle, so as to solve the problem in the prior art that the view angle of the underwater vehicle is limited due to the fact that the underwater vehicle cannot realize full-angle reversing.

In accordance with the above purposes, the present disclosure provides an underwater vehicle comprising: a main body; a multi-degree-of-freedom drive mechanism of the underwater vehicle disposed on the body; the control system is arranged in the main body, is electrically connected with the multi-degree-of-freedom driving mechanism of the underwater vehicle, and is used for controlling the running state of the multi-degree-of-freedom driving mechanism of the underwater vehicle; and the power supply is arranged in the main body, is electrically connected with the multi-degree-of-freedom driving mechanism of the underwater vehicle, and is used for providing electric energy for the multi-degree-of-freedom driving mechanism of the underwater vehicle.

The two sailing wings in each pair are respectively and symmetrically and fixedly connected to two sides of the main body; the navigation wing is provided with a steering through hole, and a mounting frame is installed in the steering through hole.

From the above, the underwater vehicle provided by the disclosure can realize full-angle reversing by steering control over the multi-degree-of-freedom driving mechanism of the underwater vehicle through the control system, so that the flexibility of the disclosure is enhanced.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a top half sectional view of a multiple degree of freedom drive mechanism for an underwater vehicle according to an embodiment of the present disclosure;

fig. 2 is an isometric view of a mounting bracket for a multiple degree of freedom drive mechanism for an underwater vehicle according to an embodiment of the present disclosure;

fig. 3 is an isometric view of a flipper for a multiple degree of freedom drive mechanism for an underwater vehicle according to embodiments of the present disclosure;

FIG. 4 is a schematic view in half section in elevation of an underwater vehicle according to an embodiment of the present disclosure;

FIG. 5 is an enlarged view of portion A of FIG. 4;

fig. 6 is an isometric view of an underwater vehicle navigating in an oblique direction according to an embodiment of the disclosure.

Description of reference numerals:

1-a body; 2-a rotary drive; 3-rotating the ring; 301-rotating ring teeth; 4-a flip driver; 5-turning over the piece; 501-overturning a ring; 502-a mounting plate; 503-a linker arm; 504-resistance reducing through holes; 6-a propeller; 7-gear 7; 8-sailing wing; 801-turning through holes; 9-a mounting frame; 901-mounting a through hole; 902-ring groove; 903-opening; 904-ring platform; 10-rolling elements; 11-main propeller.

Detailed Description

For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.

It is to be noted that technical terms or scientific terms used in the embodiments of the present disclosure should have a general meaning as understood by those having ordinary skill in the art to which the present disclosure belongs, unless otherwise defined. The use of "first," "second," and similar terms in this disclosure is not intended to indicate any order, quantity, or importance, but rather is used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

As shown in fig. 1 and 6, the multi-degree-of-freedom driving mechanism of an underwater vehicle provided in the embodiment of the present disclosure is mounted on a main body 1 of the underwater vehicle, and is configured to adjust a sailing direction and a sailing speed of the main body 1, and specifically includes: a rotating ring 3; the rotating driver 2 is in transmission connection with the rotating ring 3 and is used for driving the rotating ring 3 to rotate; a turning driver 4 mounted on the rotating ring 3; the overturning part 5 is arranged on the inner side of the rotating ring 3, is in transmission connection with the overturning driver 4, and drives the overturning part 5 to overturn along the radial direction of the rotating ring 3 by using the overturning driver 4; and the propeller 6 is arranged on the turnover piece 5.

The rotary driver 2 and the turnover driver 4 can be step motors, servo motors or steering engines and other drivers for outputting rotary power, and the rotary power can control the rotary angle.

The propeller 6 can be selected from a propeller, a water jet propeller or a vector propeller. Preferably, the propeller 6 is a propeller. The propeller can provide higher thrust, and in order to obtain higher reversing speed, the flexibility of the present disclosure is improved, so the propeller is selected as the reversing power drive of the present disclosure.

When the propelling direction of the propeller 6 needs to be adjusted, the rotary driver 2 drives the rotary ring 3 to rotate to a set angle, so that the propeller 6 can rotate in an xy plane (x, y and z coordinates are established by taking the center of the propeller 6 as a sphere center); the overturning driver 4 drives the overturning part 5 to overturn to a set angle, so that the propeller 6 rotates in the z direction. By this point the propeller 6 has been rotated to any desired angle.

As can be seen from the above description, the multi-degree-of-freedom driving mechanism of the underwater vehicle provided by the present disclosure enables the propeller 6 to realize 360 ° full-angle rotation through the cooperation of the rotating ring 3 and the flip 5. The propeller 6 and the turning piece 5 are both arranged inside the rotating ring 3, so that the structure of the water-saving water pump is compact, and the resistance of a water body to the water-saving water pump can be effectively reduced in the using process.

As shown in fig. 1, a gear 7 is attached to an output shaft of the rotary actuator 2, and a rotary ring gear 301 that meshes with the gear 7 is provided around an outer wall of the rotary ring 3. The transmission connection between the rotary driver 2 and the rotary ring 3 is realized in a gear transmission mode, the transmission structure is simplified, the transmission reliability of the system is improved, and the maintenance difficulty is reduced.

As shown in fig. 1, 2 and 5, the multi-degree-of-freedom driving mechanism of the underwater vehicle further includes a mounting bracket 9 having a mounting through hole 901, and the rotating ring 3 is rotatably mounted in the mounting through hole 901. The structure in which the rotating ring 3 is mounted on the mounting frame 9 can facilitate maintenance of the rotating ring 3 and parts mounted on the rotating ring 3 by an operator.

As shown in fig. 1, 2 and 5, a ring groove 902 is formed around the inner wall of the mounting through hole 901, and the rotary ring teeth 301 are mounted in the ring groove 902. The ring groove 902 is provided with an opening 903, and the rotary ring teeth 301 in the ring groove 902 are meshed with the gear 7 outside the ring groove 902 by the opening 903. This structure can protect on the one hand rotatory ring gear 301, and on the other hand also can realize the axial positioning to rotatory ring 3, guarantees the effective meshing of rotatory ring 3 and gear 7.

As shown in fig. 2 and 5, a ring platform 904 is provided on the inner wall of the mounting through hole 901, and the rolling members 10 are attached between the ring platform 904 and the rotating ring 3. Optionally, a plurality of rolling members 10 are provided, a plurality of grooves are provided in the rotating ring 3, a rotatable rolling member 10 is installed in each groove, and a part of the rolling member 10 is exposed out of the groove opening and attached to the ring platform 904. The rolling members 10 are capable of reducing friction between the rotating ring 3 and the ring table 904 during rotation of the rotating ring 3. At the same time, friction of the ring teeth 301 with the ring groove 902 is also avoided, since the rotating ring 3 is in contact with the ring land 904 via the rolling elements 10.

As shown in fig. 1 and 3, the flip 5 includes: the overturning ring 501 is in transmission connection with the overturning driver 4; a mounting plate 502, a gap is arranged at one side of the turnover ring 501, and the propeller 6 is mounted on the mounting plate 502; and the connecting arm 503 is provided with a plurality of connecting arms which are uniformly distributed around the axis of the turnover ring 501 respectively, and two ends of each connecting arm 503 are fixedly connected with the turnover ring 501 and the mounting plate 502 respectively. This structure can make the center of the propeller 6 of installing on mounting panel 502 and the center of upset ring 501 more closely, makes the structure of this disclosure compacter on the one hand, and on the other hand also can improve the stability of propeller 6 in the switching-over in-process. The overturning ring 501 is fixedly connected with the mounting plate 502 through the connecting arms 503, and in the sailing process of the present disclosure, a water body can flow through gaps between the adjacent connecting arms 503, so that the water body resistance in the sailing process of the present disclosure can be effectively reduced.

As shown in fig. 3, the mounting plate 502 is provided with a plurality of resistance-reducing through holes 504. During the sailing process of the present disclosure, the water body can flow through the resistance reduction through holes 504, and the structure can effectively reduce the water body resistance suffered by the present disclosure during the sailing process.

As shown in fig. 4 and 6, embodiments of the present disclosure provide an underwater vehicle comprising: a main body 1; a multi-degree-of-freedom driving mechanism of the underwater vehicle arranged on the main body 1; the control system is arranged in the main body 1, is electrically connected with the multi-degree-of-freedom driving mechanism of the underwater vehicle, and is used for controlling the running state of the multi-degree-of-freedom driving mechanism of the underwater vehicle; and the power supply is arranged in the main body 1, is electrically connected with the multi-degree-of-freedom driving mechanism of the underwater vehicle, and is used for providing electric energy for the multi-degree-of-freedom driving mechanism of the underwater vehicle.

The rotary drive 2, the tumble drive 4 and the propeller 6 in this embodiment are each electrically connected to a control system mounted within the body 1 of the underwater vehicle. The control system is used for controlling the running states of the rotary driver 2, the turnover driver 4 and the propeller 6 (namely the rotation angles of the rotary driver 2 and the turnover driver 4 and controlling the starting and stopping of the propeller 6 and the rotation speed).

The rotary drive 2, the tumble drive 4 and the propeller 6 in this embodiment are each electrically connected to a power supply mounted within the body 1 of the underwater vehicle. The power supply is used to provide power to the rotary drive 2, tumble drive 4 and impeller 6.

As shown in fig. 6, optionally, a main propeller 11 is fixedly installed at the rear end of the main body 1. The main propeller 11 serves as a sailing driving structure for driving the movement of the main body 1; the propeller 6 may serve as a steering driving structure for changing the traveling direction of the main body 1.

Alternatively, the main propeller 11 may be a propeller, a water jet, or a vector propeller.

As shown in fig. 6, when the main body 1 needs to change direction during navigation, the rotary driver 2 drives the rotary ring 3 to rotate to a set angle, so as to realize the rotation of the propeller 6 in the xy plane (x, y, z coordinates are established by taking the center of the propeller 6 as the center of sphere); the overturning driver 4 drives the overturning part 5 to overturn to a set angle, so that the propeller 6 rotates in the z direction. And finally, the propeller 6 is started to output steering power to push the main body 1 to be converted into the set sailing direction.

As shown in fig. 4, 5 and 6, the underwater vehicle further comprises at least one pair of sailing wings 8, wherein two sailing wings 8 of each pair of sailing wings 8 are respectively and symmetrically fixedly connected to two sides of the main body 1; the sailing wing 8 is provided with a steering through hole 801, and a mounting rack 9 is installed in the steering through hole 801.

The sailing wings 8 which are symmetrically distributed in pairs can keep balance, so that the main body 1 can be stably reversed under the driving of a multi-degree-of-freedom driving mechanism of the underwater vehicle.

The mounting bracket 9 is mounted in the steering through hole 801 in a detachable manner. And the multi-degree-of-freedom driving mechanism of the underwater vehicle is convenient for operators to maintain.

Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; within the idea of the present disclosure, features in the above embodiments or in different embodiments may also be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the present disclosure as described above, which are not provided in detail for the sake of brevity.

The embodiments of the present disclosure are intended to embrace all such alternatives, modifications and variances that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalents, improvements, and the like that may be made within the spirit and principles of the disclosure are intended to be included within the scope of the disclosure.

Claims

1. The multi-degree-of-freedom driving mechanism of the underwater vehicle is characterized in that the multi-degree-of-freedom driving mechanism of the underwater vehicle is installed on a main body of the underwater vehicle and used for adjusting the navigation direction and the navigation speed of the main body, and specifically comprises:

a rotating ring;

the rotating driver is in transmission connection with the rotating ring and is used for driving the rotating ring to rotate;

the overturning driver is arranged on the rotating ring;

the overturning part is arranged on the inner side of the rotating ring, is in transmission connection with the overturning driver and is used for driving the overturning part to overturn along the radial direction of the rotating ring;

and the propeller is arranged on the overturning part.

2. The multi-degree-of-freedom drive mechanism of an underwater vehicle as recited in claim 1, wherein a gear is mounted on the output shaft of said rotary drive, and a rotary ring gear engaged with said gear is provided around the outer wall of said rotary ring.

3. The multi-degree-of-freedom drive mechanism for an underwater vehicle of claim 2, further comprising a mounting bracket having a mounting through hole; the rotating ring is rotatably arranged in the mounting through hole.

4. The multi-degree-of-freedom driving mechanism of an underwater vehicle as recited in claim 3, wherein said inner wall of said mounting through hole is circumferentially provided with a ring groove, and said rotating ring teeth are mounted in said ring groove.

5. The multi-degree-of-freedom drive mechanism for an underwater vehicle of claim 4, wherein the ring groove is provided with an opening, and the rotating ring teeth inside the ring groove are meshed with the gear outside the ring groove by means of the opening.

6. The multi-degree-of-freedom driving mechanism of the underwater vehicle as recited in any one of claims 3 to 5, wherein a ring platform is disposed around the inner wall of the mounting through hole, and rolling members are attached and mounted between the ring platform and the rotating ring.

7. The multi-degree-of-freedom drive mechanism for an underwater vehicle of claim 1, wherein the flipper comprises:

the overturning ring is in transmission connection with the overturning driver;

the mounting plate is arranged on one side of the turnover ring in a clearance mode, and the propeller is mounted on the mounting plate;

the connecting arm is provided with a plurality of connecting arms which respectively surround the axis of the turnover ring and are uniformly distributed, and the two ends of each connecting arm are respectively fixedly connected with the turnover ring and the mounting plate.

8. The multi-degree-of-freedom drive mechanism for an underwater vehicle of claim 7 wherein the mounting plate has a plurality of drag reducing through holes formed therein.

9. An underwater vehicle, comprising:

a main body;

a multi-degree-of-freedom drive mechanism for an underwater vehicle as claimed in claims 1 to 8 disposed on the body;

the control system is arranged in the main body, is electrically connected with the multi-degree-of-freedom driving mechanism of the underwater vehicle, and is used for controlling the running state of the multi-degree-of-freedom driving mechanism of the underwater vehicle;

and the power supply is arranged in the main body, is electrically connected with the multi-degree-of-freedom driving mechanism of the underwater vehicle, and is used for providing electric energy for the multi-degree-of-freedom driving mechanism of the underwater vehicle.

10. The underwater vehicle of claim 9, further comprising at least one pair of sailing wings, two of the sailing wings of each pair being symmetrically and fixedly attached to either side of the main body; the navigation wing is provided with a steering through hole, and a mounting frame is installed in the steering through hole.