An axisless vector propulsion device for autonomous underwater vehicles

Abstract

The application discloses an axisless vector propulsion device applied to an autonomous underwater vehicle. The axisless vector propulsion device comprises a shell, an axisless propeller arranged outside the shell, a horizontal fixing structure, a vertical fixing structure, a horizontal vector movement structure and a vertical vector movement structure arranged inside the shell; the axisless propeller is arranged at the tail of the shell, the horizontal fixing structure is fixedly installed in the middle of the shell, the horizontal fixing structure is connected with the axisless propeller through the horizontal vector movement structure, the vertical vector movement structure is installed in front of the axisless propeller through the vertical fixing structure, and the output end of the vertical vector movement structure is connected with the axisless propeller. The application solves the problems of slow navigation speed, poor maneuverability and instability when the vector maneuvering is performed at high navigation speed in the prior art.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of underwater intelligent equipment, and particularly relates to an axis-free vector propulsion device applied to an autonomous underwater vehicle. BACKGROUND

[0002] With the rapid development of marine technology, autonomous underwater vehicles (AUVs) are increasingly widely used in the fields of marine exploration, resource investigation, environmental monitoring, etc. However, the traditional underwater vehicle propulsion system usually adopts an axis propeller, which has a complex structure, is heavy, and is prone to generate noise and vibration, greatly limiting the concealment and maneuverability of the AUV. In order to solve these problems, axis-free propeller technology has emerged.

[0003] The axis-free propeller is a new type of propulsion device, which has the remarkable feature of canceling the traditional propulsion shaft and directly controlling 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 axis-free propeller can be moved flexibly, which 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] However, the existing AUVs with axis-free propellers have single propeller and multiple propeller types, and the performance of the propulsion system directly affects the stability, maneuverability, energy efficiency, and work efficiency of the vehicle. The single propeller design makes the overall structure of the AUV more compact, reduces the complex connection between components, and reduces the manufacturing cost and maintenance difficulty. However, its maneuverability is poor, and when it needs to turn quickly or perform complex maneuvers, the single propeller system is difficult to provide sufficient lateral thrust, affecting the flexibility and response speed of the AUV. The multiple propeller type can realize multi-degree-of-freedom motion of the AUV through the coordinated work of multiple propellers, including rapid turning, hovering, lateral movement, etc., greatly improving the maneuverability and flexibility. However, the multiple propeller design increases the overall complexity and manufacturing cost of the AUV, and also increases the maintenance difficulty. SUMMARY

[0005] In view of the advantages and disadvantages of the above two types of propulsion devices, the present application proposes an axis-free vector propulsion device applied to an autonomous underwater vehicle, which realizes more stable and flexible vector maneuvering performance on the basis of ensuring the high-efficiency and high-speed navigation capability of the AUV. The additional moment generated by the change of the center of gravity and the center of buoyancy inside the AUV is offset, thereby significantly enhancing the maneuverability and stability of the AUV in various complex water conditions, and providing more reliable technical support for underwater operation tasks.

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

[0007] The application discloses an axis-free vector propulsion device applied to an autonomous underwater vehicle, which comprises a shell, an axis-free propeller arranged outside the shell, a horizontal fixing structure, a vertical fixing structure, a horizontal vector motion structure and a vertical vector motion structure arranged inside the shell; the axis-free propeller is arranged at the tail of the shell, the horizontal fixing structure is fixedly installed at the middle part of the shell, the horizontal fixing structure is connected with the axis-free propeller through the horizontal vector motion structure, the vertical vector motion structure is installed in front of the axis-free propeller through the vertical fixing structure, and the output end of the vertical vector motion structure is connected with the axis-free propeller.

[0008] The horizontal fixing structure comprises a fixed support plate, a connecting rod, two fixed horizontal plates and two rotating shafts; the fixed support plate is fixed at the middle part of the shell, the front ends of the two fixed horizontal plates are respectively fixed at the two sides of the rear end face of the fixed support plate in the horizontal deflection direction, the two ends of the connecting rod are respectively connected with the rear ends of the two fixed horizontal plates, and the two ends of the connecting rod are respectively hinged with the horizontal vector motion structure.

[0009] The horizontal vector motion structure comprises a horizontal electric push cylinder, an active horizontal control rod, a passive horizontal control rod, two ball shaft rotating pair rod members and two ball shaft rotating pair bases; one end of the horizontal electric push cylinder is fixed at the middle part of the rear end face of the fixed support plate, the other end of the horizontal electric push cylinder is hinged with one end of the active horizontal control rod, the rear ends of the two fixed horizontal plates are respectively hinged with the middle part 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 with one end of the corresponding ball shaft rotating pair rod member, and the other ends of the two ball shaft rotating pair rod members are respectively hinged with the two sides of the horizontal center line of the front end face of the axis-free propeller through the two ball shaft rotating pair bases.

[0010] The horizontal electric push cylinder performs telescopic motion along a straight line in the advancing direction of the axis-free vector propulsion device.

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

[0012] The ball hinge is arranged between the ball shaft rotating pair base and the ball shaft rotating pair rod member.

[0013] The vertical fixing structure comprises a vertical support frame and a vertical rudder machine fixing support; one end of the vertical rudder machine fixing support is fixed at one side of the horizontal center line of the front end face of the axis-free propeller, the other end of the vertical rudder machine fixing support is fixedly connected with 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 rudder and a connecting rod mechanism; the vertical control rudder is fixed on a vertical rudder fixing support, and an output shaft of the vertical control rudder is connected to the front end surface of the shaftless propeller through the connecting rod mechanism.

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

[0016] The shell is in the shape of a hollow cover, and the front and back of the shell along the propulsion direction of the shaftless vector propulsion device are provided as open ports; a part of the two ball shaft rotating pair rods of the horizontal vector motion structure is located inside the shell, and the other part is located outside the shell; a part of the vertical fixing support of the connecting rod mechanism is located inside the shell, and the other part is located outside the shell; a 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] The present application has the following prominent and beneficial technical effects compared with the prior art:

[0018] The horizontal vector motion mechanism and the vertical vector motion mechanism are adopted to control the propulsion direction of the shaftless propeller in all directions, so that the stability of the AUV equipment when performing vector maneuvering at high speed is improved; 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 during navigation, realizes real-time and accurate adjustment of the propulsion vector direction of the AUV, and solves the problems of poor navigation maneuvering performance and poor stability when performing vector maneuvering at high speed of the existing AUV equipment. BRIEF DESCRIPTION OF DRAWINGS

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

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

[0021] Figure 3 is an overall structure explosion schematic diagram of the shaftless vector propulsion device of the present application;

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

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

[0024] In the figure: 1, shaftless propeller; 2, ball shaft rotary pair base; 3, ball shaft rotary pair rod; 4, vertical fixed support; 5, rotating rod; 6, vertical steering linkage; 7, vertical control steering machine; 8, active horizontal control rod; 9, rotating shaft; 10, horizontal electric push cylinder; 11, passive horizontal control rod; 12, shell; 13, fixed support plate; 14, fixed cross plate; 15, linkage; 16, vertical steering machine fixed support; 17, vertical support frame. DETAILED DESCRIPTION

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

[0026] The embodiments of the present application and the implementation process thereof are as follows:

[0027] As shown in Figure 1 and Figure 2 , the shaftless vector propulsion device of the present application 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 with the shaftless propeller 1 through the horizontal vector motion structure, the horizontal vector motion structure is used for controlling 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 with the shaftless propeller 1, which is used for controlling the vertical vector propulsion of the underwater vehicle.

[0028] As shown in Figure 3 , Figure 4 and Figure 5 , the horizontal fixed structure comprises a fixed support plate 13, a linkage 15, two fixed cross plates 14 and two rotating shafts 9; the fixed support plate 13 is welded and fixed in the middle of the shell 12, the fixed support plate 13 is provided with a hole slot through which water flows, the front ends of the two fixed cross plates 14 are respectively welded and fixed on both sides of the rear end face of the fixed support plate 13 along the horizontal deflection direction, the two ends of the linkage 15 are directly connected through the rotating shaft 9 and the rear ends of the two fixed cross plates 14, and the two ends of the linkage 15 are respectively hinged with the horizontal vector motion structure.

[0029] 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 shaft rotary joint rod members 3 and two ball shaft rotary joint bases 2; one end of the horizontal electric push cylinder 10 is fixed on the middle of the rear end face of a fixed support plate 13 through a bolt, 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 two fixed horizontal 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, 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 shaft rotary joint rod member 3, the other end of the two ball shaft rotary joint rod members 3 are respectively hinged to the two sides of the horizontal center line of the front end face of the shaftless pusher 1 through the two ball shaft rotary joint bases 2.

[0030] The horizontal electric push cylinder 10 performs telescopic motion along a straight line in the advancing direction of the shaftless vector propulsion device.

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

[0032] The ball hinge is connected between the ball shaft rotary joint base 2 and the ball shaft rotary joint rod member 3.

[0033] The vertical fixed structure comprises a vertical support frame 17 and a vertical rudder machine fixed support 16; one end of the vertical rudder machine fixed support 16 is welded and fixed on one side of the horizontal center line of the front end face of the shaftless pusher 1, the other end of the vertical rudder machine fixed support 16 is welded and fixedly connected to the vertical support frame 17 through a bolt, and the vertical vector motion structure is fixed on the vertical support frame 17. The fixed support 16 can be fixedly connected with the connecting rod 15, and the vertical support frame 17 is removed.

[0034] The vertical vector motion structure comprises a vertical control rudder machine 7 and a connecting rod mechanism; the vertical control rudder machine 7 is fixed on the vertical rudder machine fixed support 16 through a bolt, and the output shaft of the vertical control rudder machine 7 is connected to the front end face of the shaftless pusher 1 through the connecting rod mechanism.

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

[0036] The shell 12 is shaped as a hollow cover, and the front and back of the shell 12 along the propulsion direction of the shaftless vector propulsion device are provided as open ports, a part of the two spherical shaft rotation pair linkers 3 of the horizontal vector motion structure is located in the shell 12, and another part is located outside the shell 12, a part of the vertical fixed support 4 of the linkage mechanism is located in the shell 12, and another part is located outside the shell 12, and a part of the vertical support frame 17 of the vertical fixed structure is located in the shell 12, and another part is located outside the shell 12.

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

[0038] When the horizontal electric push cylinder 10 performs forward and backward telescopic motion along the propulsion direction of the shaftless vector propulsion device, the reciprocating motion of the horizontal electric push cylinder 10 drives the active horizontal control rod 8 to perform reciprocating rotation, thereby driving the spherical shaft rotation pair linkers 3 to perform reciprocating swing, and then the spherical shaft rotation pair base 2 drives the shaftless propulsion device 1 to perform horizontal swing, at this time, the shaftless vector propulsion device is in a horizontal motion state.

[0039] When the output shaft of the vertical control rudder 7 swings, the output shaft drives the vertical rudder linkage 6 to move, the vertical rudder linkage 6 drives the rotation rod 5 to move, the rotation rod 5 drives the shaftless propulsion device 1 to perform pitching motion through the vertical fixed support 4, at this time, the shaftless vector propulsion device is in a pitching motion state.

[0040] The shaftless propulsion device 1 is driven by the horizontal electric push rod 10 to realize independent reciprocating horizontal swing through the horizontal vector motion structure, at the same time, the vertical vector motion mechanism is fixed on the shaftless propulsion device 1 through the vertical fixed structure, and is driven by the vertical control rudder 7 to realize pitching motion, thereby realizing full-direction vector adjustment of the propulsion direction.

[0041] After the device is applied to the AUV, the AUV adjusts the propulsion vector direction of the AUV by real-time control of the required horizontal vector motion mechanism and vertical vector motion mechanism during navigation, realizes real-time and accurate adjustment of the propulsion vector direction of the AUV, and solves the problems of poor navigation maneuverability of the existing AUV equipment and poor stability during vector maneuvering at high navigation speed.

[0042] The present application adopts the horizontal vector motion mechanism and the vertical vector motion mechanism to control the propulsion direction of the shaftless propulsion device in all directions, improves the stability of the AUV equipment during vector maneuvering at high navigation speed, and solves the problems of slow navigation speed, poor maneuverability, and poor stability during vector maneuvering at high navigation speed of the existing AUV equipment.

Claims

1. A shaftless vector propulsion device for use in autonomous underwater vehicles, characterized in that: The device includes a housing (12), a shaftless thruster (1) arranged outside the housing (12), and a horizontal fixed structure, a vertical fixed structure, a horizontal vector motion structure, and a vertical vector motion structure arranged inside the housing (12). The shaftless thruster (1) is arranged at the tail of the housing (12), the horizontal fixed structure is fixedly installed in the middle of the housing (12), the horizontal fixed structure is connected to the shaftless thruster (1) through the horizontal vector motion structure, the vertical vector motion structure is installed in front of the shaftless thruster (1) through the vertical fixed structure, and the output end of the vertical vector motion structure is connected to the shaftless thruster (1). 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 shaft rotating pair rods (3), and two ball shaft rotating pair bases (2). One end of the horizontal electric push cylinder (10) is fixed to the middle of the rear end face of the fixed support plate (13), 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 horizontal 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 ends of the active horizontal control rod (8) and the other ends of the passive horizontal control rod (11) are respectively fixedly connected to one end of a corresponding ball shaft rotating pair rod (3). The other ends of the two ball shaft rotating pair rods (3) are respectively hinged to both sides of the horizontal centerline of the front end face of the shaftless thruster (1) through the two ball shaft rotating pair bases (2).

2. The shaftless vector propulsion device according to claim 1, characterized in that: The horizontal fixed structure includes a fixed support plate (13), a connecting rod (15), two fixed horizontal 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 horizontal plates (14) are respectively fixed on both sides of the rear end face of the fixed support plate (13) along the horizontal deflection direction, the two ends of the connecting rod (15) are directly connected to the rear ends of the two fixed horizontal 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 electric push cylinder (10) extends and retracts along the straight line of the forward direction of the shaftless vector propulsion device.

4. The shaftless vector propulsion device according to claim 2, characterized in that: The active horizontal control rod (8) is a three-section rod, and the straight lines containing the first and third sections of the rod remain parallel.

5. The shaftless vector propulsion device according to claim 3, characterized in that: The ball joint base (2) and the ball joint rod (3) are connected by a ball joint.

6. The shaftless vector propulsion device according to claim 1, characterized in that: The vertical fixed structure includes a vertical support frame (17) and a vertical servo fixed bracket (16); one end of the vertical servo fixed bracket (16) is fixed to one side of the horizontal centerline of the front end face of the shaftless thruster (1), and the other end of the vertical servo fixed bracket (16) is fixedly connected to the vertical support frame (17), and the vertical vector motion structure is fixed on the vertical support frame (17).

7. The shaftless vector propulsion device according to claim 6, characterized in that: The vertical vector motion structure includes a vertical control servo (7) and a linkage mechanism; the vertical control servo (7) is fixed on a vertical servo mounting bracket (16), and the output shaft of the vertical control servo (7) is connected to the front end face of the shaftless thruster (1) via the linkage mechanism.

8. The shaftless vector propulsion device according to claim 7, characterized in that: The linkage mechanism includes a vertical servo linkage (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 linkage (6), and the two ends of the rotating rod (5) are respectively hinged to the other end of the vertical servo linkage (6) and one end of the vertical fixed support (4). The other end of the vertical fixed support (4) is fixed to the lower side of the vertical centerline of the front end face of the shaftless thruster (1).

9. The shaftless vector propulsion device according to claim 8, characterized in that: The housing (12) is hollow. The housing (12) is set with open ports at the front and back along the propulsion direction of the shaftless vector propulsion device. The two ball shaft rotating joints (3) of the horizontal vector motion structure are located inside the housing (12) and outside the housing (12). The vertical fixed support (4) of the linkage mechanism is located inside the housing (12) and outside the housing (12). The vertical support frame (17) of the vertical fixed structure is located inside the housing (12) and outside the housing (12).

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