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Parallel type vector propulsion device with two degrees of freedom

A vector propulsion, parallel technology, applied in ship propulsion, propulsion components, transportation and packaging, etc., can solve the problems of large range of motion, cumbersome control, redundant degrees of freedom, etc., to reduce power loss, high system stability, The effect of turning at a large angle

Inactive Publication Date: 2017-10-13
HARBIN INST OF TECH AT WEIHAI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Most of the current underwater vehicles are propelled by multiple propellers, which makes the structure of the vehicle complex, increases the weight of the vehicle, destroys the structural continuity of the vehicle, and increases the resistance of underwater navigation.
There are also some underwater vehicles that use the rudder to control the direction of the vehicle, but it has a fatal shortcoming: when the speed is small or zero, the direction control of the underwater vehicle cannot be realized, and it is not flexible in steering
Or use a three-degree-of-freedom (or multi-degree-of-freedom) RPS structure, but this structure has redundant degrees of freedom, and the structure is complex, the control is relatively cumbersome, and the response is not fast enough.
Shandong University designed a RUHR+RUHU+RUC type (application number: 201610096630.2) two-degree-of-freedom vector propulsion mechanism, but the propeller of this structure moves on a spherical surface, the structure is complex, the movement range is large, and the operation is relatively difficult. Insufficient stability

Method used

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  • Parallel type vector propulsion device with two degrees of freedom
  • Parallel type vector propulsion device with two degrees of freedom
  • Parallel type vector propulsion device with two degrees of freedom

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0016] Such as figure 1 , figure 2 The shown two-degree-of-freedom parallel vector propulsion device is provided with a mounting base 10 and a driving base 2. The circular array on the mounting base 10 is provided with three longitudinally arranged and parallel support arms, and two of the three support arms are The guide device can be vertically moved on the installation base 10. The guide device is: the installation base 10 is provided with two guide slides 12, and the guide slides 12 are provided with guide slide holes. The longitudinally movable support The arm 11 is longitudinally slidably arranged in the guide sliding hole. Another support arm 5 is fixedly installed on the mounting base 10, and the mounting base 10 is provided with a support arm drive device for driving the support arm to move longitudinally, and the support arm drive device is connected with the support arm. figure 1 , figure 2 It can be seen from the figure that the supporting arm driving device i...

Embodiment 2

[0020] Such as image 3 , Figure 4 The shown two-degree-of-freedom parallel vector propulsion device is provided with a mounting base 10 and a driving base 2. The circular array on the mounting base 10 is provided with three longitudinally arranged and parallel support arms, and two of the three support arms are The guide device can be vertically moved on the installation base 10. The guide device is: the installation base 10 is provided with two guide slides 12, and the guide slides 12 are provided with guide slide holes. The longitudinally movable support The arm 11 is longitudinally slidably arranged in the guide sliding hole. Another support arm 5 is fixedly installed on the mounting seat 10, and the mounting seat is provided with a support arm drive device for driving the support arm to move longitudinally, and the support arm drive device is connected with the support arm. figure 1 , figure 2 It can be seen from the figure that the drive device of the support arm is...

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Abstract

The invention discloses a parallel type vector propulsion device with two degrees of freedom, and relates to the technical field of underwater propulsion devices. The parallel type vector propulsion device is provided with a mounting seat and a driving seat, and is characterized in that three support arms are circularly arrayed on the mounting seat, two of the three support arms are longitudinally movably arranged on the mounting seat via guide devices, the other support arm is fixedly mounted on the mounting seat, support arm driving devices for driving the support arms to move are arranged on the mounting seat, adjusting arms are connected to the upper ends of the three support arms by rotation pairs, the upper ends of the adjusting arms are connected with the driving seat by spherical hinges, and a propeller and a propeller driving device are arranged on the driving seat. The parallel type vector propulsion device has the advantages of simple and compact structure, simplicity in control, rapid response, high control precision and system stability, low water resistance and the like.

Description

technical field [0001] The invention relates to the technical field of underwater propulsion devices, and in detail relates to a two-degree-of-freedom parallel vector propulsion device with simple and compact structure, low energy consumption, rapid response and high control precision. Background technique [0002] With the development of marine resources, the complexity of the underwater environment and the diversification of underwater operations make people put forward higher requirements for the flexibility of underwater vehicles. Most of the current underwater vehicles are propelled by multiple propellers, which makes the structure of the vehicle complex, increases the weight of the vehicle, destroys the structural continuity of the vehicle, and increases the resistance of underwater navigation. There are also some underwater vehicles that use rudders to control the direction of the vehicle, but it has a fatal shortcoming: when the speed is very small or zero, the direc...

Claims

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Application Information

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IPC IPC(8): B63H5/125
Inventor 王瑞钟诗胜吕建良隋裕阳屈华伟
Owner HARBIN INST OF TECH AT WEIHAI
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