CN107985536A - A kind of submariner device for being equipped with space parallel mechanism vector propeller - Google Patents
A kind of submariner device for being equipped with space parallel mechanism vector propeller Download PDFInfo
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- CN107985536A CN107985536A CN201711235116.3A CN201711235116A CN107985536A CN 107985536 A CN107985536 A CN 107985536A CN 201711235116 A CN201711235116 A CN 201711235116A CN 107985536 A CN107985536 A CN 107985536A
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- submariner device
- submariner
- vector propeller
- parallel mechanism
- main body
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/125—Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction, e.g. podded azimuthing thrusters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
Abstract
A kind of submariner device for being equipped with space parallel mechanism vector propeller belongs to submariner device technical field, it is therefore intended that solves the problems, such as low propulsive efficiency existing in the prior art, location difficulty, turning lacks flexibility and hover inaccurate.The present invention includes：Submariner device main body；It is arranged on the tail pushing device of submariner device body tail section, there is provided propulsive force, and propulsion angle can be adjusted；It is arranged on submariner device back body and positioned at the rotatable aileron of tail pushing device front end；It is arranged on the sonar contact device of submariner device body front end；The undercarriage being arranged on below submariner device main body；It is arranged on two groups of vector propellers based on space parallel mechanism of submariner device body front part both sides；Vector propeller is connected by rotatable fixing axle with submariner device main body, and the vector propeller can realize positive and negative 70 degree of swings in the fixed pan being coupled with fixing axle；And it is arranged on the picture signal identifying system and central control system of submariner device body interior.
Description
Technical field
The invention belongs to submariner device technical field, and in particular to a kind of submariner for being equipped with space parallel mechanism vector propeller
Device.
Background technology
Due to landform and the diversity and complexity of traffic, the single vehicles of function can not meet people
Demand, the single vehicles of function also result in the serious wasting of resources；As countries in the world are to the continuous of marine resources
Further investigation, whether coastal waters or deep-sea are all the regions that contention is probed into by various countries.Submariner device realizes ocean exploitation
Important engineer equipment.It is by carrying various electronic equipments, mechanical device, and rapidly snorkeling is realized in the complex environment of deep-sea
Exploration, scientific investigation, exploitation, operation to ocean etc., its technical merit indicates that national marine resource exploration is opened to a certain extent
The hair even maritime rights and interests ability of maintenance.
China has been enter into extensive, multimode utilization ocean, and promote that marine economy development pattern changes it is new when
Phase, scientific and technological Xinghai County come into the new historical stage, and marine environment, which sees detection, to be science and technology Xinghai County of China and consolidate during coast defence
Important research content.
In recent years, UAV navigation is being subject to the height weight of each military power as a kind of emerging combat forces
Depending on.The requirement of higher is proposed to autonomous underwater vehicle operational capabilities in itself, mobility, stealth etc. at the same time.However, existing skill
Art generally using the propeller based on propeller, these conventional propulsion modes be clearly present low propulsive efficiency, location difficulty,
Turn and lack flexibility and hover the shortcomings of inaccurate.
The content of the invention
It is an object of the invention to propose a kind of submariner device for being equipped with space parallel mechanism vector propeller, existing skill is solved
Propulsive efficiency existing for art is low, location difficulty, turn lack flexibility and hovering it is inaccurate the problem of.
To achieve the above object, a kind of submariner device of outfit space parallel mechanism vector propeller of the invention includes：
Submariner device main body；
One group of vector propeller based on space parallel mechanism of the submariner device body tail section is arranged on, this group of vector pushes away
Into device as tail pushing device, propulsive force is provided for submariner device main body, and propulsion angle can be adjusted；
It is arranged on the submariner device back body and passes through positioned at the rotatable aileron of tail pushing device front end, the aileron
Bolt is installed in the rotation axis connected firmly with a servomotor；
The sonar contact device of the submariner device body front end is arranged on, for detecting barrier and road in front of submariner device
Planar condition；
The undercarriage being arranged on below the submariner device main body；
It is arranged on two groups of vector propellers based on space parallel mechanism of the submariner device body front part both sides；The arrow
Amount propeller is connected by rotatable fixing axle with the submariner device main body, and the vector propeller can join with fixing axle
Positive and negative 70 degree of swings are realized in the fixed pan of knot；
And it is arranged on the picture signal identifying system and central control system of the submariner device body interior, sonar contact
Device identifies the front obstacle collected and terrain simulation signal transmission to picture signal identifying system, and through picture signal
System is converted to electric signal, the electric signal output control electric current signal that central control system is identified according to picture signal identifying system
Control the action of submariner device each several part.
It is arranged on two groups of vector propellers and submariner based on space parallel mechanism of the submariner device body front part both sides
The connection of device main body is：Each vector propeller is bolted in the plane where fixing axle, and fixing axle is watched with one
The output shaft for taking motor is coupled by shaft coupling, and fixing axle is equipped with rotary gemel, and hinge is coupled with servomotor, passes through servo electricity
Machine control fixing axle folds, and the rotational angle of vector propeller is controlled by adjusting the amount of spin of servomotor.
The vector propeller includes silent flatform, movement branched chain, middle ball-type hinge, moving platform and propeller；It is described dynamic
By middle ball-type hinge connection, three symmetrically arranged movement branched chains are supported on the moving platform and quiet flat for platform and silent flatform
Between platform, propeller is arranged on the moving platform, the propeller and a direct-drive type underwater propulsion motor connection；The fortune
Dynamic side chain includes transmission shaft, movable block, screw pair and driving motor, and described transmission shaft one end is put down by hinge and described move
The lower face connection of platform, the other end are connected by hinge with movable block, the nut in the movable block and the screw pair
It is fixedly connected, the driving motor output shaft is fixedly connected with the input shaft of the screw pair.
The middle ball-type hinge includes ball rod, more ear ball lid, ball seat, bearing and center stand columns；More ear ball lids
Connected by screw with the ball seat, the bulb of the ball rod is arranged in more ear ball lids, and the ball seat lower end passes through
Bearing is connected with described center stand column one end, and the other end of center stand column is connected by screw thread with silent flatform.
The transmission shaft of three movement branched chains is symmetrical on the center stand column of middle ball-type hinge, three movement branched chains
Screw pair circumference uniform distribution.
Described transmission shaft one end is connected by the lower face of hinge with the moving platform, and the other end passes through hinge and movable block
Hinge in connection is specially Hooke's hinge.
The screw pair is obliquely installed, and one end is connected with silent flatform upper surface, the other end and middle ball-type hinge
Center stand column connects, and lower part is supported using trapezoidal pylon structure.
The vector propeller further includes two level steering mechanism, and the two level steering mechanism includes telescope support and straight-line electric
Machine, multiple telescope supports are arranged in parallel, and one end of telescope support is connected with moving platform upper surface, and the other end and propeller connect
Connect, each telescope support and a linear motor connection.
The undercarriage includes：
The control link connected with the submariner device main body by revolute pair；
With the rhombic supporting frame that is fixedly connected of control link, two parallel sides of rhombic supporting frame are respectively and control
Link is fixedly connected, and link position is respectively end and middle part, the 3rd side and is fixedly connected with control link
The other end on two sides is hinged；
And main wheel and accessory whorl, the main wheel and accessory whorl connect frame end with the 3rd side of rhombic supporting frame and with control respectively
The end connection on the side that portion is fixedly connected.
The main wheel and the accessory whorl independently drive.
Beneficial effects of the present invention are：A kind of submariner device of outfit space parallel mechanism vector propeller of the present invention will swear
Amount Push Technology is applied on submariner device so that the function of submariner device is more powerful, so as to possess hovering, under vertical direction rises
Fall, advance, retreat, yaw, the ability such as pivot turn.Submariner device is provided with undercarriage, can directly be contacted with underwater ground,
Possess and sit bottom ability, make the navigation more highly effective and safe of submariner device.A variety of regulation mechanisms jointly control the running of submariner device, can revolve
Turn the presence of aileron so that submariner utensil has very high mobility.Front end is provided with sonar contact equipment, can have and collect submariner device
The region topographic(al) data that front will reach so that submariner device copes with the landform of underwater complex, makes adjustment in time to keep away
Exempt from the generation of accident.
The features such as vector that the present invention possesses wide-angle promotes ability, and features simple structure is light and handy, and energy consumption is low, and the reaction time is short,
It is highly suitable for underwater autonomous underwater vehicle.Do not occurred the underwater vehicle for possessing this vector propeller also both at home and abroad at present.
The combination of vector propeller and underwater autonomous underwater vehicle based on space parallel mechanism certainly will enable to the ability of submariner device big
It is big to improve, take off the challenge that submariner device is faced.The shortcomings that present invention improves over being pointed out in background technology, further improve
The underwater navigation flexibility of submariner device and accuracy, submariner device can not only be effectively improved by being equipped with the submariner device of vector propeller
Propulsive efficiency, also makes it possess hovering, and vertical direction, which rises, to fall, and advances, retreats, yaw, and the ability such as pivot turn, is completed multiple
Miscellaneous navigation action, possesses the ability for being enough to tackle the dangerously steep situation of underwater complex.
Brief description of the drawings
Fig. 1 is a kind of submariner device overall structure diagram of outfit space parallel mechanism vector propeller of the present invention；
Fig. 2 shows for vector propeller structure in a kind of submariner device of outfit space parallel mechanism vector propeller of the present invention
It is intended to；
Fig. 3 is middle ball-type hinge arrangement in a kind of submariner device of outfit space parallel mechanism vector propeller of the present invention
Schematic diagram；
Fig. 4 illustrates for landing gear structure in a kind of submariner device of outfit space parallel mechanism vector propeller of the present invention
Figure；
Fig. 5 illustrates for the obstacle structure of size in a kind of submariner device of outfit space parallel mechanism vector propeller of the present invention
Figure；
Wherein：1st, submariner device main body, 2, tail pushing device, 3, aileron, 4, sonar contact device, 5, undercarriage, 501, control
Link, 502, rhombic supporting frame, 503, main wheel, 504, accessory whorl, 6, vector propeller, 601, silent flatform, 602, movement branched chain,
6021st, transmission shaft, 6022, movable block, 6023, screw pair, 6024, driving motor, 603, middle ball-type hinge, 6031,
Ball rod, 6032, more ear ball lids, 6033, ball seat, 6034, bearing, 6035, center stand column, 604, moving platform, 605, propeller,
606th, propulsion electric machine, 607, two level steering mechanism, 6071, telescope support, 6072, linear motor.
Embodiment
Embodiments of the present invention are described further below in conjunction with the accompanying drawings.
Referring to attached drawing 1- attached drawings 5, a kind of submariner device of outfit space parallel mechanism vector propeller of the invention includes：
Submariner device main body 1；
It is arranged on one group of vector propeller 6 based on space parallel mechanism of 1 afterbody of submariner device main body, this group of vector
Propeller provides propulsive force, and can adjust propulsion angle as tail pushing device 2 for submariner device main body；Its concrete structure reference
The above-mentioned vector propeller 6 based on space parallel mechanism, its main function is to provide main driving force for submariner device, at submariner device
It is the source of submariner device whole forward drive power when non-supported on the seabed condition；When submariner device is in supported on the seabed condition, tail pushing device 2 with
Undercarriage 5 provides forward drive power jointly；In addition, when submariner device needs to swerve, tail pushing device 2 can be that submariner device carries
For required torque of turning so that submariner device possesses high maneuverability；
It is arranged on 1 rear portion of submariner device main body and leads to positioned at the rotatable aileron 3 of 2 front end of tail pushing device, the aileron 3
Bolt is crossed to be installed in the rotation axis connected firmly with a servomotor；When submariner device is in operational configuration, control can be passed through
The rotation angle for making rotatable aileron 3 is finely adjusted come the navigation posture to submariner device, and the rotatable aileron 3 is controlled by center
The control of system；During the navigation of submariner device, when running into small obstacle and needing to evade, rotatable aileron 3 just being capable of phase
Mutually coordinate, the power suffered by the flow velocity size control submariner device for the fluid that submariner device surface is flowed through by control so that submariner device appearance
State is finely tuned；
The sonar contact device 4 of 1 front end of submariner device main body is arranged on, can launch and receive Sonar Signal, for visiting
The barrier and pavement behavior in front of submariner device are surveyed, the signal of collection can be passed to picture signal identification by sonar contact equipment
System, then transfers to central control system to handle by picture signal identifying system again；
It is arranged on the undercarriage 5 of the lower section of submariner device main body 1；
It is arranged on two groups of vector propellers 6 based on space parallel mechanism of 1 front part sides of submariner device main body；Institute
State vector propeller 6 to be connected with the submariner device main body 1 by rotatable fixing axle, the fixing axle of the vector propeller 6
It is coupled with servo motor output shaft by shaft coupling, vector propeller 6 can be controlled by adjusting the amount of spin of servomotor
Swing angle；Rotatable fixing axle is equipped with rotary gemel, and hinge is coupled with servomotor, can pass through its folding of Serve Motor Control
It is folded；
And picture signal identifying system and central control system inside the submariner device main body 1 are arranged on, sonar is visited
Device 4 is surveyed by the front obstacle collected and terrain simulation signal transmission to picture signal identifying system, and is converted to telecommunications
Number, each portion of electric signal output control electric current signal control submariner device that central control system is identified according to picture signal identifying system
Transfer is made.
Two groups of vector propellers 6 based on space parallel mechanism of 1 front part sides of submariner device main body are arranged on diving
The connection of boat device main body 1 is：Each vector propeller 6 is bolted in the plane where fixing axle, fixing axle and one
The output shaft of a servomotor is coupled by shaft coupling, and fixing axle is equipped with rotary gemel, and hinge is coupled with servomotor, by watching
Take motor control fixing axle to fold, the rotational angle of vector propeller 6 is controlled by adjusting the amount of spin of servomotor.
The vector propeller 6 includes silent flatform 601, movement branched chain 602, middle ball-type hinge 603,604 and of moving platform
Propeller 605；The moving platform 604 and silent flatform 601 are connected by middle ball-type hinge 603, three symmetrically arranged movements
Side chain 602 is supported between the moving platform 604 and silent flatform 601, and propeller 605 is arranged on the moving platform 604, described
Propeller 605 and a direct-drive type underwater propulsion motor 606 connect；The movement branched chain 602 includes transmission shaft 6021, movable block
6022nd, screw pair 6023 and driving motor 6024, described 6021 one end of transmission shaft passes through hinge and the moving platform 604
Lower face connection, the other end connected by hinge and movable block 6022, the movable block 6022 and the screw pair
Nut in 6023 is fixedly connected, and the input shaft of driving 6024 output shaft of motor and the screw pair 6023 is fixed
Connection.When moving platform 604 needs to tilt to a direction, first as needed for computer calculates each movement branched chain 602
The amount of movement of completion, then drives motor 6024 according to where the amount of movement calculated calculates each movement branched chain 602
Required pulse number either conduction time, exports the corresponding corresponding driving motor 6024 of pulse signal excitation, drives immediately
Dynamic motor 6024 drives leading screw to move in a circle around axis under excitation, and the movable block 6022 of leading screw connection passes through screw pair
Corresponding amount of movement is also moved in 6023 effect.Due to the movement of movable block 6022 so that movable block 6022 and transmission shaft 6021
Between Hooke's hinge representated by spherical pair occur a corresponding rotational angle.Due to transmission shaft 6021 and moving platform 604 it
Between be also to be hinged by Hooke, the rotation of transmission shaft 6021 is finally reflected in moving platform 604 at it around middle spherical pair
In rotation.Then the inclination of moving platform 604 is realized.By coordinating inclination of the moving platform 604 in 3 PSS movement branched chains 602
Amount, you can realize the vector quantization of thrust power.
Two groups of vector propellers 6 based on space parallel mechanism of 1 front part sides of submariner device main body are arranged on diving
The connection of boat device main body 1 is：Each vector propeller 6 is bolted in the plane where fixing axle, fixing axle and one
The output shaft of a servomotor is coupled by shaft coupling, and fixing axle is equipped with rotary gemel, and hinge is coupled with servomotor, by watching
Take motor control fixing axle to fold, the rotational angle of vector propeller 6 is controlled by adjusting the amount of spin of servomotor.
The middle ball-type hinge 603 include ball rod 6031, more ear ball lids 6032, ball seat 6033, bearing 6034 and in
Heart column 6035；More ear ball lids 6032 are connected by screw and the ball seat 6033, and the bulb of the ball rod 6031 is set
Put in more ear ball lids 6032,6033 lower end of ball seat is connected by bearing 6034 and 6035 one end of the center stand column
Connect, the other end of center stand column 6035 is connected by screw thread and silent flatform 601.
The transmission shaft 6021 of three movement branched chains 602 is right on the center stand column 6035 of middle ball-type hinge 603
Claim, 6023 circumference uniform distribution of screw pair of three movement branched chains 602.
Described 6021 one end of transmission shaft is connected by the lower face of hinge with the moving platform 604, and the other end passes through hinge
Hinge in being connected with movable block 6022 is specially Hooke's hinge.
The screw pair 6023 is obliquely installed, and one end is connected with 601 upper surface of silent flatform, the other end and middle ball-type
The center stand column 6035 of hinge 603 connects, and lower part is supported using trapezoidal pylon structure.
The vector propeller 6 further includes two level steering mechanism 607, and the two level steering mechanism 607 includes telescope support
6071 and linear motor 6072, multiple telescope supports 6071 be arranged in parallel, one end of telescope support 6071 and moving platform
604 upper surfaces connect, and the other end and propeller 605 connect, and each telescope support 6071 and a linear motor 6072 connect.
The undercarriage 5 includes：
The control link 501 connected with the submariner device main body 1 by revolute pair；
The rhombic supporting frame 502 being fixedly connected with the control link 501, two parallel sides of rhombic supporting frame 502
It is fixedly connected respectively with control link 501, link position is respectively end and middle part, the 3rd side and is connected with control
The other end on two sides that frame 501 is fixedly connected is hinged；
And main wheel 503 and accessory whorl 504, the main wheel 503 and accessory whorl 504 respectively with the 3rd side of rhombic supporting frame 502
The end on a side being fixedly connected with 501 end of control link is connected.
The main wheel 503 and the independent driving of the accessory whorl 504.
There is the lower section that 3 undercarriages 5 are installed on submariner device main body 1.When submariner device, which is in, sits bottom posture, undercarriage 5 is put
Under, contacted with subsea floor.When subsea floor is smooth, undercarriage 5, main wheel 503 is contacted with ground；When subsea floor is higher
Low not usually accessory whorl 504 is laid down at this time, and main wheel 503 contacts ground at the same time with accessory whorl 504.The action that accessory whorl 504 is put down is led to
Control link 501 is crossed to complete.
The sonar contact equipment that the present invention is installed on submariner device front end gathers submariner device by launching and receiving Sonar Signal
The topographic(al) data in front, is then passed to picture signal identifying system, central control is passed to after picture signal identifying processing
System.Last central control system select after optimal scheme by action signal be sent to tail pushing device 2, vector propeller 6, can
Spinneron 3 and undercarriage 5；By uniformly raising for central control system, then through vector propeller 6 and rotatable aileron 3
Corrective action, submariner device can rapidly react, so as to avoid the generation of accident.
Claims (10)
- A kind of 1. submariner device for being equipped with space parallel mechanism vector propeller, it is characterised in that including：Submariner device main body (1)；It is arranged on one group of vector propeller (6) based on space parallel mechanism of submariner device main body (1) afterbody, this group of vector Propeller provides propulsive force, and can adjust propulsion angle as tail pushing device (2) for submariner device main body；It is arranged on submariner device main body (1) rear portion and positioned at the rotatable aileron (3) of tail pushing device (2) front end, the pair The wing (3) is installed in the rotation axis connected firmly with a servomotor by bolt；Be arranged on the sonar contact device (4) of submariner device main body (1) front end, for detect barrier in front of submariner device and Pavement behavior；The undercarriage (5) being arranged on below the submariner device main body (1)；It is arranged on two groups of vector propellers (6) based on space parallel mechanism of submariner device main body (1) front part sides；It is described Vector propeller (6) is connected by rotatable fixing axle with the submariner device main body (1), the vector propeller can with Positive and negative 70 degree of swings are realized in the fixed pan that fixing axle is coupled；And it is arranged on the picture signal identifying system and central control system of the submariner device body interior, sonar contact device The analog signal transmissions such as the front obstacle that will be collected, landform to picture signal identifying system, picture signal identifying system with After be converted into electric signal, the signal output control electric current signal that central control system is identified according to picture signal identifying system Control the action of submariner device each several part.
- 2. a kind of submariner device for being equipped with space parallel mechanism vector propeller according to claim 1, it is characterised in that set Put two groups of vector propellers (6) based on space parallel mechanism in submariner device main body (1) front part sides and submariner device master The connection of body (1) is：Each vector propeller (6) is bolted in the plane where fixing axle, fixing axle with one The output shaft of servomotor is coupled by shaft coupling, and fixing axle is equipped with rotary gemel, and hinge is coupled with servomotor, passes through servo Motor control fixing axle folds, and the rotational angle of vector propeller (6) is controlled by adjusting the amount of spin of servomotor.
- A kind of 3. submariner device for being equipped with space parallel mechanism vector propeller according to claim 1, it is characterised in that institute State vector propeller (6) include silent flatform (601), movement branched chain (602), middle ball-type hinge (603), moving platform (604) and Propeller (605)；The moving platform (604) and silent flatform (601) are connected by middle ball-type hinge (603), and three symmetrically set The movement branched chain (602) put is supported between the moving platform (604) and silent flatform (601), and propeller (605) is arranged on described On moving platform (604), the propeller (605) and direct-drive type underwater propulsion motor (606) connection；The movement branched chain (602) transmission shaft (6021), movable block (6022), screw pair (6023) and driving motor (6024), the transmission are included Axis (6021) one end is connected by the lower face of hinge with the moving platform (604), and the other end passes through hinge and movable block (6022) connect, the movable block (6022) is fixedly connected with the nut in the screw pair (6023), the driving electricity Machine (6024) output shaft is fixedly connected with the input shaft of the screw pair (6023).
- A kind of 4. submariner device for being equipped with space parallel mechanism vector propeller according to claim 3, it is characterised in that institute State middle ball-type hinge (603) include ball rod (6031), more ear ball lids (6032), ball seat (6033), bearing (6034) and in Heart column (6035)；More ear ball lids (6032) are connected by screw and the ball seat (6033), the ball rod (6031) Bulb be arranged in more ear ball lids (6032), ball seat (6033) lower end is stood by bearing (6034) and the center Column (6035) one end connects, and the other end of center stand column (6035) is connected by screw thread and silent flatform (601).
- 5. a kind of submariner device for being equipped with space parallel mechanism vector propeller according to claim 3, it is characterised in that three The transmission shaft (6021) of a movement branched chain (602) on middle ball-type hinge (603) center stand column (6035) symmetrically, three Screw pair (6023) circumference uniform distribution of a movement branched chain (602).
- A kind of 6. submariner device for being equipped with space parallel mechanism vector propeller according to claim 3, it is characterised in that institute State transmission shaft (6021) one end to connect by the lower face of hinge with the moving platform (604), the other end passes through hinge and movement Hinge in block (6022) connection is specially Hooke's hinge.
- A kind of 7. submariner device for being equipped with space parallel mechanism vector propeller according to claim 3, it is characterised in that institute State screw pair (6023) to be obliquely installed, one end is connected with silent flatform (601) upper surface, the other end and middle ball-type hinge (603) center stand column (6035) connection, lower part is supported using trapezoidal pylon structure.
- A kind of 8. submariner device for being equipped with space parallel mechanism vector propeller according to claim 3, it is characterised in that institute State vector propeller (6) and further include two level steering mechanism (607), the two level steering mechanism (607) includes telescope support (6071) be arranged in parallel with linear motor (6072), multiple telescope supports (6071), one end of telescope support (6071) and Moving platform (604) upper surface connects, the other end and propeller (605) connection, each telescope support (6071) and a straight-line electric Machine (6072) connects.
- A kind of 9. submariner device for being equipped with space parallel mechanism vector propeller according to claim 1, it is characterised in that institute Stating undercarriage (5) includes：The control link (501) connected with the submariner device main body (1) by revolute pair；With the rhombic supporting frame (502) that is fixedly connected of control link (501), parallel two of rhombic supporting frame (502) Side is fixedly connected with control link (501) respectively, and link position is respectively end and middle part, the 3rd side and with control The other end on two sides that link (501) is fixedly connected is hinged；And main wheel (503) and accessory whorl (504), the main wheel (503) and accessory whorl (504) respectively with rhombic supporting frame (502) Three ends while control link (501) end be fixedly connected one are connected.
- A kind of 10. submariner device for being equipped with space parallel mechanism vector propeller according to claim 9, it is characterised in that The main wheel (503) and the accessory whorl (504) independently drive.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711235116.3A CN107985536B (en) | 2017-11-30 | 2017-11-30 | Submersible vehicle with space parallel mechanism vector propeller |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711235116.3A CN107985536B (en) | 2017-11-30 | 2017-11-30 | Submersible vehicle with space parallel mechanism vector propeller |
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| CN107985536A true CN107985536A (en) | 2018-05-04 |
| CN107985536B CN107985536B (en) | 2020-07-07 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110502024A (en) * | 2019-07-23 | 2019-11-26 | 北京控制工程研究所 | A kind of universal posture executing agency of standard based on space parallel mechanism |
| CN112666983A (en) * | 2021-01-13 | 2021-04-16 | 江苏大学镇江流体工程装备技术研究院 | AUV stable hovering device based on flow field velocity decomposition method |
| CN113075932A (en) * | 2021-03-30 | 2021-07-06 | 浙江大学 | UUV vector propulsion control method based on 3-RPS parallel mechanism |
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