Shaftless vector propulsion device applied to autonomous underwater vehicle

Abstract

The invention discloses a shaftless vector propulsion device applied to an autonomous underwater vehicle. The shaftless vector propelling device comprises a shell, a shaftless propeller arranged outside the shell, and a horizontal fixing structure, a vertical fixing structure, a horizontal vector motion structure and a vertical vector motion structure which are arranged inside the shell; the shaftless propeller is arranged at the tail of the shell, the horizontal fixing structure is fixedly installed in the middle of the interior of the shell and connected with the shaftless propeller through the horizontal vector motion structure, and the vertical vector motion structure is installed in front of the shaftless propeller through the vertical fixing structure. And the output end of the vertical vector motion structure is connected with the shaftless propeller. The problems that in the prior art, the sailing speed is low, the maneuvering performance is poor, and vector maneuvering is unstable at the high sailing speed are solved.

Description

Technical Field

[0001] The present invention belongs to the field of underwater intelligent equipment, and in particular relates to an axisless vector propulsion device applied to an autonomous underwater vehicle. Background Art

[0002] With the rapid development of marine science and technology, autonomous underwater vehicles (AUVs) are increasingly used in the fields of marine exploration, resource survey, environmental monitoring, etc. However, the traditional underwater vehicle propulsion system usually uses a shaft propeller, which has a complex structure, heavy weight, and is prone to noise and vibration, greatly limiting the stealth and maneuverability of AUVs. In order to solve these problems, shaftless propeller technology came into being.

[0003] The shaftless propeller is a new type of propulsion device. Its notable feature is that it eliminates the traditional propulsion shaft and directly controls the movement of the blades through an electronic controller to achieve the propulsion effect. This design greatly simplifies the structure of the propulsion system, reduces the mechanical failure rate, and also reduces the generation of noise and vibration. In addition, the blades of the shaftless propeller can move flexibly and can control the direction and speed of the water flow, thereby improving the maneuverability and precision of the AUV and improving the overall propulsion efficiency.

[0004] Among the existing AUVs, there are single-thruster and multi-thruster types for shaftless propulsion. The performance of the propulsion system directly affects the stability, maneuverability, energy efficiency and operating efficiency of the vehicle. The single-thruster design makes the overall structure of the AUV more compact, reduces the complex connections between components, and reduces the manufacturing cost and maintenance difficulty. However, its maneuverability is poor. When rapid turning or complex maneuvers are required, the single-thruster system is difficult to provide sufficient lateral thrust, affecting the flexibility and response speed of the AUV. The multi-thruster type uses the coordinated work of multiple thrusters to enable the AUV to achieve multi-degree-of-freedom movement, including rapid turning, hovering, lateral movement, etc., greatly improving maneuverability and flexibility. However, the multi-thruster design increases the overall complexity and manufacturing cost of the AUV, while also increasing the difficulty of maintenance. Summary of the invention

[0005] In view of the advantages and disadvantages of the above two different types of propulsion devices, the present invention proposes an axisless vector propulsion device for autonomous underwater vehicles, which achieves more stable and flexible vector maneuverability while ensuring that the AUV maintains efficient and high-speed navigation capabilities. It offsets the additional torque generated by the changes in the center of gravity and buoyancy position of the AUV, thereby significantly enhancing the maneuverability and stability of the AUV under various complex water conditions, and providing more reliable technical support for underwater operations.

[0006] The technical solution adopted by the present invention is as follows:

[0007] A shaftless vector propulsion device applied to an autonomous underwater vehicle comprises a shell, a shaftless propeller arranged outside the shell, and a horizontal fixed structure, a vertical fixed structure, a horizontal vector motion structure and a vertical vector motion structure arranged inside the shell; the shaftless propeller is arranged at the tail of the shell, the horizontal fixed structure is fixedly installed in the middle of the shell, the horizontal fixed structure is connected to the shaftless propeller through the horizontal vector motion structure, the vertical vector motion structure is installed in front of the shaftless propeller through the vertical fixed structure, and the output end of the vertical vector motion structure is connected to the shaftless propeller.

[0008] The horizontal fixed structure includes a fixed support plate, a connecting rod, two fixed transverse plates and two rotating shafts; the fixed support plate is fixed in the middle part of the shell, the front ends of the two fixed transverse plates are respectively fixed on both sides of the rear end surface of the fixed support plate along the horizontal deflection direction, the two ends of the connecting rod are directly connected to the rear ends of the two fixed transverse plates, and the two ends of the connecting rod are respectively hinged to the horizontal vector motion structure.

[0009] The horizontal vector motion structure includes a horizontal electric push cylinder, an active horizontal control rod, a passive horizontal control rod, two ball-axle rotation sub-rods and two ball-axle rotation sub-bases; one end of the horizontal electric push cylinder is fixed to the middle of the rear end surface of the fixed support plate, the other end of the horizontal electric push cylinder is hinged to one end of the active horizontal control rod, the rear ends of the two fixed cross plates are respectively hinged to the middle of the active horizontal control rod and one end of the passive horizontal control rod, the other end of the active horizontal control rod and the other end of the passive horizontal control rod are respectively fixedly connected to one end of a corresponding ball-axle rotation sub-rod, and the other ends of the two ball-axle rotation sub-rods are respectively hinged to the two sides of the horizontal center line of the front end surface of the shaftless thruster through two ball-axle rotation sub-bases.

[0010] The horizontal electric push cylinder performs telescopic movement along the straight line where the forward direction of the shaftless vector propulsion device is located.

[0011] The active horizontal control rod is a three-section rod, and the straight lines where the first section rod and the third section rod are located remain parallel.

[0012] The ball-axle rotating auxiliary base and the ball-axle rotating auxiliary rod are ball-jointed.

[0013] The vertical fixing structure includes a vertical support frame and a vertical servo fixing frame; one end of the vertical servo fixing frame is fixed to one side of the horizontal center line of the front end surface of the shaftless propeller, and the other end of the vertical servo fixing frame is fixedly connected to the vertical support frame, and the vertical vector motion structure is fixed on the vertical support frame.

[0014] The vertical vector motion structure comprises a vertical control steering gear and a connecting rod mechanism; the vertical control steering gear is fixed on a vertical steering gear fixing bracket, and the output shaft of the vertical control steering gear is connected to the front end surface of the shaftless propeller through the connecting rod mechanism.

[0015] The connecting rod mechanism includes a vertical steering gear connecting rod, a rotating rod and a vertical fixed support; the output shaft of the vertical control steering gear is hinged to one end of the vertical steering gear connecting rod, the two ends of the rotating rod are respectively hinged to the other end of the vertical steering gear connecting rod and one end of the vertical fixed support, and the other end of the vertical fixed support is fixed to the lower side of the vertical center line of the front end face of the shaftless propeller.

[0016] The shell is shaped like a hollow cover, and the shell is arranged with open ports at the front and rear along the propulsion direction of the axisless vector propulsion device. One part of the two ball-axis rotating sub-rods of the horizontal vector motion structure is located inside the shell, and the other part is located outside the shell. One part of the vertical fixed support of the connecting rod mechanism is located inside the shell, and the other part is located outside the shell. One part of the vertical support frame of the vertical fixed structure is located inside the shell, and the other part is located outside the shell.

[0017] Compared with the prior art, the present invention has the following outstanding and beneficial technical effects:

[0018] The propulsion direction of the shaftless thruster is controlled in all directions by a horizontal vector motion mechanism and a vertical vector motion mechanism, thereby improving the stability of the AUV equipment during vector maneuvers at high speeds. After the device is applied to the AUV, the AUV adjusts the propulsion vector direction of the AUV by real-time regulation of the required horizontal vector motion mechanism and vertical vector motion mechanism according to navigation needs during navigation, thereby achieving real-time and precise adjustment of the propulsion vector direction of the AUV, and solving the problems of poor navigation maneuverability of existing AUV equipment and poor stability during vector maneuvers at high speeds. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the structure of the shaftless vector propulsion device of the present invention;

[0020] Figure 2 It is a schematic diagram of the shaftless vector propulsion device with shell as a whole of the present invention;

[0021] Figure 3 It is an exploded schematic diagram of the overall structure of the shaftless vector propulsion device of the present invention;

[0022] Figure 4 It is a front view schematic diagram of the vertical vector motion structure of the present invention;

[0023] Figure 5 It is a front view schematic diagram of the horizontal vector motion structure of the present invention.

[0024] In the figure: 1. shaftless propeller; 2. ball-shaft rotating sub-base; 3. ball-shaft rotating sub-rod; 4. vertical fixed support; 5. rotating rod; 6. vertical servo connecting rod; 7. vertical control servo; 8. active horizontal control rod; 9. rotating shaft; 10. horizontal electric push cylinder; 11. passive horizontal control rod; 12. housing; 13. fixed support plate; 14. fixed cross plate; 15. connecting rod; 16. vertical servo fixing bracket; 17. vertical support frame. DETAILED DESCRIPTION

[0025] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific implementation disclosed below.

[0026] The embodiments of the present invention and their implementation process are as follows:

[0027] like Figure 1 and Figure 2 As shown, the shaftless vector propulsion device of the present invention includes a shell 12, a shaftless propeller 1 arranged outside the shell 12, and a horizontal fixed structure, a vertical fixed structure, a horizontal vector motion structure and a vertical vector motion structure arranged inside the shell 12; the shaftless propeller 1 is arranged at the tail of the shell 12, the horizontal fixed structure is fixedly installed in the middle of the shell 12, the horizontal fixed structure is connected to the shaftless propeller 1 through the horizontal vector motion structure, the horizontal vector motion structure is used to control the horizontal vector propulsion of the underwater vehicle, the vertical vector motion structure is installed in front of the shaftless propeller 1 through the vertical fixed structure, and the output end of the vertical vector motion structure is connected to the shaftless propeller 1 for controlling the vertical vector propulsion of the underwater vehicle.

[0028] like Figure 3 , Figure 4 and Figure 5 As shown, the horizontal fixed structure includes a fixed support plate 13, a connecting rod 15, two fixed transverse plates 14 and two rotating shafts 9; the fixed support plate 13 is welded and fixed to the middle part of the shell 12, and the fixed support plate 13 is provided with a hole groove for water flow to pass through. The front ends of the two fixed transverse plates 14 are respectively welded and fixed to the two sides of the rear end surface of the fixed support plate 13 along the horizontal deflection direction, and the two ends of the connecting rod 15 are directly connected to the rear ends of the two fixed transverse plates 14 through the rotating shaft 9, and the two ends of the connecting rod 15 are respectively hinged to the horizontal vector motion structure.

[0029] The horizontal vector motion structure includes a horizontal electric push cylinder 10, an active horizontal control rod 8, a passive horizontal control rod 11, two ball-axis rotation sub-rods 3 and two ball-axis rotation sub-bases 2; one end of the horizontal electric push cylinder 10 is fixed to the middle of the rear end surface of the fixed support plate 13 by bolts, and the other end of the horizontal electric push cylinder 10 is hinged to one end of the active horizontal control rod 8. The rear ends of the two fixed cross plates 14 are respectively hinged to the middle of the active horizontal control rod 8 and one end of the passive horizontal control rod 11 through two rotating shafts 9, and the other end of the active horizontal control rod 8 and the other end of the passive horizontal control rod 11 are respectively welded and fixedly connected to one end of a corresponding ball-axis rotation sub-rod 3, and the other ends of the two ball-axis rotation sub-rods 3 are respectively hinged to the two sides of the horizontal center line of the front end surface of the shaftless thruster 1 through two ball-axis rotation sub-bases 2.

[0030] The horizontal electric push cylinder 10 performs telescopic movement along the straight line where the axisless vector propulsion device moves forward.

[0031] The active horizontal control rod 8 is a three-section rod, and the straight lines where the first section of the rod and the third section of the rod are located remain parallel.

[0032] The ball-axle rotating sub-base 2 and the ball-axle rotating sub-rod 3 are spherically hinged.

[0033] The vertical fixed structure includes a vertical support frame 17 and a vertical steering gear fixed bracket 16; one end of the vertical steering gear fixed bracket 16 is welded and fixed to one side of the horizontal center line of the front end surface of the shaftless propeller 1, and the other end of the vertical steering gear fixed bracket 16 is welded and fixedly connected to the vertical support frame 17 by bolts, and the vertical vector motion structure is fixed to the vertical support frame 17. The fixed bracket 16 can be fixedly connected to the connecting rod 15, and the vertical support frame 17 can be removed.

[0034] The vertical vector motion structure includes a vertical control servo 7 and a connecting rod mechanism; the vertical control servo 7 is fixed to the vertical servo fixing bracket 16 by bolts, and the output shaft of the vertical control servo 7 is connected to the front end surface of the shaftless propeller 1 through a spline via the connecting rod mechanism.

[0035] The connecting rod mechanism includes a vertical servo connecting rod 6, a rotating rod 5 and a vertical fixed support 4; the output shaft of the vertical control servo 7 is hinged to one end of the vertical servo connecting rod 6 through a spline, and the two ends of the rotating rod 5 are respectively hinged to the other end of the vertical servo connecting rod 6 and one end of the vertical fixed support 4, and the other end of the vertical fixed support 4 is fixed to the lower side of the vertical center line of the front end face of the shaftless propeller 1 by screws.

[0036] The shell 12 is shaped as a hollow cover, and the front and rear of the shell 12 along the propulsion direction of the axisless vector propulsion device are arranged as open ports. Part of the two ball-axis rotating sub-rods 3 of the horizontal vector motion structure are located inside the shell 12, and the other part is located outside the shell 12. Part of the vertical fixed support 4 of the connecting rod mechanism is located inside the shell 12, and the other part is located outside the shell 12. Part of the vertical support frame 17 of the vertical fixed structure is located inside the shell 12, and the other part is located outside the shell 12.

[0037] The working process of the shaftless vector propulsion device of the present invention is as follows:

[0038] When the horizontal electric push cylinder 10 performs forward and backward telescopic movement along the propulsion direction of the axisless vector propulsion device, the reciprocating motion of the horizontal electric push cylinder 10 drives the active horizontal control rod 8 to rotate back and forth, thereby driving the ball shaft rotating sub-rod 3 to swing back and forth, and then the axisless propeller 1 swings horizontally through the ball shaft rotating sub-base 2. At this time, the axisless vector propulsion device is in a horizontal motion state.

[0039] When the output shaft of the vertical control servo 7 swings, the output shaft drives the vertical servo connecting rod 6 to move, the vertical servo connecting rod 6 drives the rotating rod 5 to move, and the rotating rod 5 drives the shaftless propeller 1 to do pitch motion through the vertical fixed support 4. At this time, the shaftless vector propulsion device is in a pitch motion state.

[0040] The shaftless propeller 1 realizes independent reciprocating horizontal swing through the horizontal vector motion structure under the drive of the horizontal electric push rod 10. At the same time, because the vertical vector motion mechanism is fixed to the shaftless propeller 1 through the vertical fixed structure, it realizes pitch motion under the drive of the vertical control servo 7, thereby realizing omni-directional vector adjustment of the thrust direction.

[0041] After the device is applied to the AUV, the AUV adjusts the propulsion vector direction of the AUV by real-time regulation of the required horizontal vector motion mechanism and vertical vector motion mechanism according to the navigation requirements during the navigation process, thus achieving real-time and accurate adjustment of the propulsion vector direction of the AUV. This solves the problem of poor navigation maneuverability of existing AUV equipment and poor stability during vector maneuvers at high speeds.

[0042] The present invention uses omnidirectional vector control on the propulsion direction of the shaftless thruster based on a horizontal vector motion mechanism and a vertical vector motion mechanism, thereby improving the stability of the AUV equipment during vector maneuvers at high speeds, and solving the problems of slow navigation speed, poor maneuverability, and poor stability during vector maneuvers at high speeds of existing AUV equipment.

Claims

1. An axisless vector propulsion device for an autonomous underwater vehicle, characterized in that: The invention comprises a shell (12), a shaftless propeller (1) arranged outside the shell (12), and a horizontal fixed structure, a vertical fixed structure, a horizontal vector motion structure and a vertical vector motion structure arranged inside the shell (12); the shaftless propeller (1) is arranged at the tail of the shell (12), the horizontal fixed structure is fixedly installed in the middle of the shell (12), the horizontal fixed structure is connected to the shaftless propeller (1) via the horizontal vector motion structure, the vertical vector motion structure is installed in front of the shaftless propeller (1) via the vertical fixed structure, and the output end of the vertical vector motion structure is connected to the shaftless propeller (1).

2. The shaftless vector propulsion device according to claim 1, characterized in that: The horizontal fixed structure comprises a fixed support plate (13), a connecting rod (15), two fixed transverse plates (14) and two rotating shafts (9); the fixed support plate (13) is fixed in the middle of the housing (12); the front ends of the two fixed transverse plates (14) are respectively fixed on both sides of the rear end surface of the fixed support plate (13) along the horizontal deflection direction; the two ends of the connecting rod (15) are respectively directly connected to the rear ends of the two fixed transverse plates (14); and the two ends of the connecting rod (15) are respectively hinged to the horizontal vector motion structure.

3. The shaftless vector propulsion device according to claim 2, characterized in that: The horizontal vector motion structure comprises a horizontal electric push cylinder (10), an active horizontal control rod (8), a passive horizontal control rod (11), two ball-axis rotation sub-rods (3) and two ball-axis rotation sub-bases (2); one end of the horizontal electric push cylinder (10) is fixed to the middle of the rear end surface of the fixed support plate (13), the other end of the horizontal electric push cylinder (10) is hinged to one end of the active horizontal control rod (8), the rear ends of the two fixed cross plates (14) are respectively hinged to the middle of the active horizontal control rod (8) and one end of the passive horizontal control rod (11), the other end of the active horizontal control rod (8) and the other end of the passive horizontal control rod (11) are respectively fixedly connected to one end of a corresponding ball-axis rotation sub-rod (3), and the other ends of the two ball-axis rotation sub-rods (3) are respectively hinged to the two sides of the horizontal center line of the front end surface of the shaftless thruster (1) through two ball-axis rotation sub-bases (2).

4. The shaftless vector propulsion device according to claim 3, characterized in that: The horizontal electric push cylinder (10) performs telescopic movement along a straight line where the forward direction of the shaftless vector propulsion device is located.

5. The shaftless vector propulsion device according to claim 3, characterized in that: The active horizontal control rod (8) is a three-section rod, and the straight lines where the first section of the rod and the third section of the rod are located remain parallel.

6. The shaftless vector propulsion device according to claim 4, characterized in that: The ball-axle rotating auxiliary base (2) and the ball-axle rotating auxiliary rod (3) are spherically hinged.

7. The shaftless vector propulsion device according to claim 1, characterized in that: The vertical fixing structure comprises a vertical support frame (17) and a vertical steering gear fixing frame (16); one end of the vertical steering gear fixing frame (16) is fixed to one side of the horizontal center line of the front end surface of the shaftless propeller (1), and the other end of the vertical steering gear fixing frame (16) is fixedly connected to the vertical support frame (17); and the vertical vector motion structure is fixed on the vertical support frame (17).

8. The shaftless vector propulsion device according to claim 7, characterized in that: The vertical vector motion structure comprises a vertical control steering gear (7) and a connecting rod mechanism; the vertical control steering gear (7) is fixed on a vertical steering gear fixing bracket (16), and the output shaft of the vertical control steering gear (7) is connected to the front end surface of the shaftless propeller (1) via the connecting rod mechanism.

9. The shaftless vector propulsion device according to claim 8, characterized in that: The connecting rod mechanism comprises a vertical steering gear connecting rod (6), a rotating rod (5) and a vertical fixed support (4); the output shaft of the vertical control steering gear (7) is hinged to one end of the vertical steering gear connecting rod (6), the two ends of the rotating rod (5) are respectively hinged to the other end of the vertical steering gear connecting rod (6) and one end of the vertical fixed support (4), and the other end of the vertical fixed support (4) is fixed to the lower side of the vertical center line of the front end surface of the shaftless propeller (1).

10. The shaftless vector propulsion device according to claim 9, characterized in that: The shell (12) is in the shape of a hollow cover, and the shell (12) is arranged with open ports in front and behind along the propulsion direction of the shaftless vector propulsion device; two ball-shaft rotating auxiliary rods (3) of the horizontal vector motion structure are partially located inside the shell (12) and the other part is located outside the shell (12); a vertical fixed support (4) of the connecting rod mechanism is partially located inside the shell (12) and the other part is located outside the shell (12); a vertical support frame (17) of the vertical fixed structure is partially located inside the shell (12) and the other part is located outside the shell (12).

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