CN208069987U - Autonomous underwater vehicle and its six propellers simultaneously advance mechanism - Google Patents
Autonomous underwater vehicle and its six propellers simultaneously advance mechanism Download PDFInfo
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- CN208069987U CN208069987U CN201820506978.9U CN201820506978U CN208069987U CN 208069987 U CN208069987 U CN 208069987U CN 201820506978 U CN201820506978 U CN 201820506978U CN 208069987 U CN208069987 U CN 208069987U
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Abstract
The utility model provides six propellers of one kind and simultaneously advancing mechanism, including Linear drive, rotary drive, main driving gear, six propeller actuators and six propellers, and rotary drive is for driving main sliding tooth wheel to rotate；Six propeller actuators are around the periphery for being set to rotary drive, each propeller actuator includes driving main body and the drive shaft by the driving rotation of driving main body, each drive shaft is equipped with the face of gear being used cooperatively with main driving gear, six propellers are respectively fixedly installed in six drive shafts, Linear drive can drive rotary drive to be moved back and forth along the direction of driven in parallel axis, so that winner's sliding tooth wheel is in meshing state or in the state being disengaged from face of gear.Six propeller, which simultaneously advances mechanism, can avoid the generation of roll phenomenon, and can reduce the complexity of control program, and realization simultaneously advances.The utility model also provides a kind of autonomous underwater vehicle simultaneously advancing mechanism using six propeller.
Description
Technical field
The utility model is related to Naval Architecture and Ocean Engineering equipment technology fields, and in particular to six propellers of one kind simultaneously advance
Mechanism and the autonomous underwater vehicle that mechanism is simultaneously advanced with six propeller.
Background technology
Include mainly that single screw is driven in submariner device propulsive mechanism currently, there are many structure types of autonomous underwater vehicle
It is dynamic combine tail vane control to turn to, twin screw driving combines tail vane control to turn to and quadruple screw propeller driving.Wherein single screw
Driving can not offset reaction force when propeller start and stop and rotating speed mutation, be easy to cause submariner device roll, and tail vane
Optimal control belong to global problem；The scheme of twin screw driving reduces although avoiding the generation of roll phenomenon
Water area is always pushed away, is short of power；Conventionally employed four groups of motors promote in quadruple screw propeller driving, and control program is complicated, synchronism
Difference, be easy to cause micro-vibration, and error accumulation causes flight path to change.
Utility model content
In view of the above problems, it is necessary to a kind of autonomous underwater vehicle is provided, the generation of roll phenomenon can be avoided,
And the complexity of control program can be reduced, realization simultaneously advances.
In order to achieve the above objectives, technical solution used by the utility model is：
A kind of autonomous underwater vehicle, including submariner device main body and kuppe, the kuppe are fixed on the submariner device main body
One end, open up around the central axis compartment of terrain of the kuppe that there are six water-guiding cavities in the kuppe；It is described that nobody dives
Boat device further includes that six propellers simultaneously advance mechanism, and it includes Linear drive, rotation drive that six propeller, which simultaneously advances mechanism,
Moving part, main driving gear, six propeller actuators and six propellers, the Linear drive, the rotary drive and
The main driving gear is assembled in the submariner device main body；The Linear drive is connect with the rotary drive, institute
It states rotary drive to connect with the main driving gear, to drive the main sliding tooth wheel to rotate；Six propeller actuator rings
Around the periphery for being set to the rotary drive, each propeller actuator includes driving main body and is driven by the driving main body
The drive shaft of rotation, the driving main body are installed in the submariner device main body, the free terminal difference of six drive shafts
In six water-guiding cavities, each drive shaft is equipped with the face of gear being used cooperatively with the main driving gear, institute
Six propellers are stated to be located in six water-guiding cavities and be fixedly socketed in the corresponding drive shaft, it is described linear
Actuator can drive the rotary drive to be moved back and forth along the direction of the parallel drive shaft, so that the main sliding tooth
Wheel is in meshing state or in the state being disengaged from the face of gear.
Further, the rotary drive includes the rotation for driving ontology and being rotationally connected on the driving ontology
Axis, the driving ontology are connect with the Linear drive；The main driving gear is fixedly socketed in the rotary shaft.
Further, the main driving gear be equipped with internal spline, the rotary shaft be equipped with external splines, the internal spline with
The external splines matches, and the main driving gear is fixedly connected together with the rotary shaft.
Further, nut is also socketed in the rotary shaft, the nut is resisted against the main driving gear backwards to institute
State the side of driving ontology.
Further, it is additionally provided with guide groove in the submariner device main body, the free terminal of the rotary shaft is slidably plugged in
In the guide groove, and it can be rotated in the guide groove.
Further, the driving main body is motor, including motor body and the electricity by motor body driving rotation
Arbor, the drive shaft include external gear shaft coupling and drive link, the external gear shaft coupling connect the motor shaft with it is described
Drive link, the motor shaft are overlapped with the central axis of the drive link, and the face of gear is set on the external gear shaft coupling；
The propeller is fixedly socketed on corresponding drive link.
Further, it further includes mounting plate and fixed plate that six propeller, which simultaneously advances mechanism, the mounting plate and institute
It states fixed plate to be both secured in the submariner device main body, and is oppositely arranged；The Linear drive is installed in the mounting plate
Side towards the fixed plate；The driving ontology between the mounting plate and the fixed plate, live by the rotary shaft
The fixed plate is worn dynamicly；The motor body is installed in side of the fixed plate towards the mounting plate, the motor
Axis actively wears the fixed plate；The main driving gear, the face of gear and the propeller are respectively positioned on the fixed plate
Backwards to the side of the mounting plate.
Further, six propellers are evenly distributed on a cross section of the kuppe, six spiral shells
The line of centres for revolving paddle forms an annulus.
The utility model also provides six propellers of one kind and simultaneously advancing mechanism, including Linear drive, rotary drive, master
Gear, six propeller actuators and six propellers are driven, the Linear drive is connect with the rotary drive, described
Rotary drive is connect with the main driving gear, to drive the main sliding tooth wheel to rotate；Six propeller actuators are surround
It is set to the periphery of the rotary drive, each propeller actuator includes driving main body and turned by driving main body driving
Dynamic drive shaft, each drive shaft are equipped with the face of gear being used cooperatively with the main driving gear, six spirals
Paddle is respectively fixedly installed in six drive shafts, and the Linear drive can drive the rotary drive along parallel
The direction of the drive shaft moves back and forth, so that the main driving gear is in meshing state with the face of gear or is in de-
State from engagement.
Due to the adoption of the above technical scheme, the utility model has the advantages that：
1, six propellers of the utility model simultaneously advance mechanism, available when main driving gear is engaged with face of gear
Rotary drive drives six propellers to rotate synchronously, and then realizes and simultaneously advance, and prevents from leading since revolution speed of propeller is inconsistent
The micro-vibration of cause；It is driven using six propellers, the reaction force of steering force is cancelled out each other, and the generation of roll phenomenon is avoided；Six spiral shells
Rotation paddle is operated alone by corresponding propeller actuator executes steering, floating, dive operation, simplifies control program, reduces
Failure rate, and promote, turn to, float, dive operation need at most control three actuators simultaneously, four spiral shells compared to the prior art
Paddle driving is revolved, control program is simplified；The scheme driven using three propellers when propulsion, pair compared to the prior art
Propeller drives, and improves and always pushes away water area, thrust power is enhanced.
2, the gear coupling that the utility model uses increases gear biography while passing power between meeting two axis
Dynamic function realizes dual power source and respectively drives propeller.
Description of the drawings
Fig. 1 is the dimensional structure diagram of autonomous underwater vehicle in one better embodiment of the utility model.
Fig. 2 is autonomous underwater vehicle shown in Fig. 1 along the schematic cross-sectional view of II-II lines.
Fig. 3 is enlarged drawing of the autonomous underwater vehicle at A shown in Fig. 2.
Fig. 4 is the right view of autonomous underwater vehicle shown in Fig. 1.
Fig. 5 is the dimensional structure diagram of autonomous underwater vehicle China and foreign countries gear coupling shown in Fig. 1.
Main element symbol description：100- autonomous underwater vehicles, 2- submariner devices main body, the automatically controlled cabins 22-, 24- submariner devices head,
26- submariner devices tail portion, 262- guide grooves, 264- mounting holes, 3- kuppes, 32- water-guiding cavities, six propellers of 4- simultaneously advance mechanism,
42- Linear drives, 43- rotary drives, 432- drivings ontology, 434- rotary shaft 438- nuts, the main driving gears of 44-, 45-
Propeller actuator, 451- drivings main body, 452- motor bodies, 453- motor shafts, 454- drive shafts, 455- face of gear, 456-
External gear shaft coupling, 457- drive links, 46- propellers, the first propellers of 461-, the second propellers of 462-, 463- third spirals
Paddle, 464- quadruple screw propellers, the 5th propellers of 465-, the 6th propellers of 466-, 47- mounting plates, 48- fixed plates, 482- perforations
Hole, 484- through holes, 5- sonars, 6- doppler velocities instrument, 7- rubber antenna, 8- batteries, 9- buoyant devices, 10- controllers.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
It should be noted that when component is referred to as " being fixed on " another component, it can be directly on another component
Or there may also be components placed in the middle.When a component is considered as " connection " another component, it can be directly connected to
To another component or it may be simultaneously present component placed in the middle.When a component is considered as " being set to " another component, it
Can be set up directly on another component or may be simultaneously present component placed in the middle.Term as used herein is " vertical
", " horizontal ", "left", "right" and similar statement for illustrative purposes only.
Unless otherwise defined, all of technologies and scientific terms used here by the article is led with the technology for belonging to the utility model
The normally understood meaning of technical staff in domain is identical.Terminology used in the description of the utility model herein only be
The purpose of description specific embodiment, it is not intended that in limitation the utility model.Term " and or " used herein includes
Any and all combinations of one or more relevant Listed Items.
Fig. 1 is referred to, one better embodiment of the utility model provides a kind of autonomous underwater vehicle 100, including submariner device master
Body 2, kuppe 3 and six propellers simultaneously advance mechanism 4, and kuppe 3 is fixed on one end of submariner device main body 2, and six propellers are same
Step propulsive mechanism 4 is installed in the space that submariner device main body 2 is formed with kuppe 3.
Please referring also to Fig. 2, in the present embodiment, submariner device main body 2 include automatically controlled cabin 22 and are connected to automatically controlled
The submariner device head 24 and submariner device tail portion 26 of 22 opposite end of cabin.Submariner device head 24 is in substantially half elliptic, is installed thereon
There are sonar 5, the inner cavity on submariner device head 24 that doppler velocity instrument 6 is housed.The outer top in automatically controlled cabin 22 is equipped with rubber antenna 7,
The intracavitary compartment of terrain in automatically controlled cabin 22 is equipped with battery 8, buoyant device 9 and controller 10, this partly belongs to the prior art, to omit
Length is not described in detail here.Fig. 3 is please participated in together, and submariner device tail portion 26 is equipped with guide groove 262 and six mounting holes 264.Six
For a mounting hole 264 around the setting of the periphery interval of guide groove 262, each mounting hole 264 is axially extending along submariner device main body 2, and
It is connected to submariner device tail portion 26 and kuppe 3.
Fig. 4 is please participated in together, is opened up there are six water-guiding cavity 32 around the central axis compartment of terrain of kuppe 3 in kuppe 3,
Six water-guiding cavities 32 are connected to six mounting holes 264 respectively.Please referring also to Fig. 2 to Fig. 4, six propellers simultaneously advance mechanism 4
Including Linear drive 42, rotary drive 43,44, six propeller actuators 45 of main driving gear and six propellers 46.
Linear drive 42, rotary drive 43 and main driving gear 44 are assembled in the cavity of submariner device tail portion 26.Linear Driving
Part 42 is connect with rotary drive 43, to drive rotary drive 43 along the axial-movement of parallel submariner device main body 2.Rotation driving
Part 43 is connect with main driving gear 44, and to drive main driving gear 44 to rotate, in the present embodiment, main driving gear 44 is revolving
Under the drive for turning actuator 43, rotation is carried out centered on the central axis of submariner device main body 2.Six 45 rings of propeller actuator
Around the periphery for being set to rotary drive 43, each propeller actuator 45 includes driving main body 451 and is driven by driving main body 451
The dynamic drive shaft 454 of turn, in the present embodiment, drive shaft 454 is parallel with the axis of submariner device main body 2.Drive main body 451
It is installed in the cavity of submariner device tail portion 26, the one end of six drive shafts 454 far from driving main body 451 wears six installations respectively
Hole 264, to be located in six water-guiding cavities 32, each drive shaft 454 is equipped with the tooth being used cooperatively with main driving gear 44
Wheel face 455.Six propellers 46 are located in six water-guiding cavities 32 and are fixedly socketed in corresponding drive shaft 454.Line
Property actuator 42 can drive rotary drive 43 along driven in parallel axis 454 direction move back and forth so that winner's sliding tooth wheel
44 are in meshing state or in the state being disengaged from face of gear 455.
In the present embodiment, it further includes mounting plate 47 and fixed plate 48 that six propellers, which simultaneously advance mechanism 4,.Mounting plate 47
It is both secured in the cavity of submariner device tail portion 26, and is oppositely arranged with fixed plate 48.Preferably, Linear drive 42 is electronic
Push-pull rod, Linear drive 42 are installed in side of the mounting plate 47 towards fixed plate 48.It is appreciated that in other embodiment
In, other Linear drives 42, such as screw mandrel drive mechanism can also be used.Rotary drive 43 include driving ontology 432 and
The rotary shaft 434 being rotationally connected on driving ontology 432.Driving ontology 432 is connect with Linear drive 42, and is located at mounting plate
Between 47 and fixed plate 48；The one end of rotary shaft 434 far from driving ontology 432 actively wears fixed plate 48, slidably plugs
And it being capable of the rotation in guide groove 262 in guide groove 262.In the present embodiment, fixed plate 48 is equipped with and is passed through for rotary shaft 434
Through hole 482, rotary shaft 434 can rotate in the through hole 482.Main driving gear 44 is fixedly socketed in rotary shaft
On 434, and positioned at fixed plate 48 backwards to the side of mounting plate 47, specially：Main driving gear 44 is equipped with internal spline (not shown),
Rotary shaft 434 is equipped with external splines (not shown), and internal spline is matched with external splines, by main driving gear 44 and rotary shaft
434 fixedly connect together.Nut 438 is also socketed in rotary shaft 434, nut 438 is resisted against main driving gear 44 backwards
The side for driving ontology 432, the movement for further limiting main driving gear 44, prevents main driving gear 44 along rotary shaft
434 axis movement.Preferably, in the present embodiment, rotary drive 43 is motor, and driving 432 phase of ontology should be motor
Main body, rotary shaft 434 be motor motor shaft.
In the present embodiment, driving main body 451 be motor, including motor body 452 and by motor body 452 driving turn
Dynamic motor shaft 453, motor body 452 are fixed on side of the fixed plate 48 towards mounting plate 47, and motor shaft 453 is actively worn
Fixed plate 48, in the present embodiment, fixed plate 48 are equipped with the through hole 484 that power supply arbor 453 passes through, 453 energy of motor shaft
It is enough to be rotated in the through hole 484.Please also refer to Fig. 5, drive shaft 454 includes external gear shaft coupling 456 and drive link 457,
External gear shaft coupling 456 and drive link 457 are respectively positioned on side of the fixed plate 48 backwards to mounting plate 47.External gear shaft coupling 456 connects
Motor shaft 453 and drive link 457 are connect, motor shaft 453 is overlapped with the central axis of drive link 457, and drive link 457 is actively worn
Corresponding mounting hole 264, and the opposite end of drive link 457 is located in submariner device tail portion 26 and corresponding water-guiding cavity 32.
Face of gear 455 is set on external gear shaft coupling 456.
Six propellers 46 are evenly distributed on a cross section of kuppe 3, the line of centres shape of six propellers 46
At an annulus.The angle α of adjacent two propeller 46 and 3 line of centres of kuppe is 60 °.The setting can six propellers 46 exist
Stress when running more balances so that submariner device is stable.In the present embodiment, six propellers 46 are denoted as respectively
One propeller 461, the second propeller 462, third propeller 463, quadruple screw propeller 464, the 5th propeller 465 and the 6th spiral
Paddle 466.
In the present embodiment, Linear drive 42, the driving ontology 432 of rotary drive 43 and six propeller drivings
The driving main body 451 of part 45 is electrically connected with controller 10, and to control Linear drive 42 by controller 10, rotation drives
The running of part 43 and six propeller actuators 45.
When autonomous underwater vehicle 100 promotes at full speed, Linear drive 42 drives rotary drive 43 along parallel submariner device master
The direction of 2 axis of body is moved towards far from fixed plate 48, to be engaged with the face of gear 455 on six external gear shaft couplings 456, by revolving
Turn actuator 43 to drive rotary shaft 434 and rotate with the fixed main driving gear 44 of the rotary shaft 434, and then drives six external tooths
It takes turns shaft coupling 456 to rotate so that the first propeller 461 for being connected with external gear shaft coupling 456, the second propeller 462, third
Propeller 463, quadruple screw propeller 464, the 5th propeller 465 and the 6th propeller 466 rotate synchronously, to realize autonomous underwater vehicle
100 full speed promotes.
Autonomous underwater vehicle 100 execute rapid power dive operation when, Linear drive 42 drive rotary drive 43 and with
The main driving gear 44 that rotary drive 43 connects is moved towards close to the direction of fixed plate 48, until main driving gear 44 and six
Face of gear 455 on external gear shaft coupling 456 is in the state being disengaged from, and controller 10 passes through corresponding propeller actuator
45 the first propellers 461 of control, the second propeller 462 and the rotation of the 6th propeller 466, complete dive operation.
Autonomous underwater vehicle 100 execute floating upward quickly operation when, Linear drive 42 drive rotary drive 43 and with rotation
The main driving gear 44 that actuator 43 connects is moved towards close to the direction of fixed plate 48, until main driving gear 44 and six external tooths
Face of gear 455 on wheel shaft coupling 456 is in the state being disengaged from, and third spiral shell is controlled by corresponding propeller actuator 45
Paddle 463, quadruple screw propeller 464 and the rotation of the 5th propeller 465 are revolved, floating operation is completed.
When autonomous underwater vehicle 100 executes left-hand rotation operation, Linear drive 42 drives rotary drive 43 and is driven with rotation
The main driving gear 44 that part 43 connects is moved towards close to the direction of fixed board 48, until main driving gear 44 and six external gear shaft couplings
Face of gear 455 on device 456 is in the state being disengaged from, and the 5th propeller is controlled by corresponding propeller actuator 45
465 and the 6th propeller 466 rotate, complete left-hand rotation operation.
When autonomous underwater vehicle 100 executes right-hand rotation operation, Linear drive 42 drives rotary drive 43 and is driven with rotation
The main driving gear 44 that part 43 connects is moved towards close to the direction of fixed plate 48, until main driving gear 44 and six external gears join
Face of gear 455 on axis device 456 is in the state being disengaged from, and the second propeller is controlled by corresponding propeller actuator 45
462 and third propeller 463 rotate, complete right-hand rotation operation.
Submariner device by diving or when left and right steering is restored in full speed progradation above and below, corresponding propeller driving first
Part 45 stops operating, and then Linear drive 42 drives rotary drive 43, until main driving gear 44 and six external gears join
Axis device 456 completes engagement, drives six external gear shaft couplings 456 to rotate by main driving gear 44 by rotary drive 43, into
And make the first propeller 461, the second propeller 462, the third propeller the 463, the 4th that are connected with external gear shaft coupling 456
Propeller 464, the 5th propeller 465 and the 6th propeller 466 rotate synchronously, to realize that the full speed of autonomous underwater vehicle 100 promotes.
It is appreciated that in other embodiments, six propellers simultaneously advance mechanism 4 and can be also used for other to be set under water
It is standby, for example, underwater robot propulsion operation.
It is appreciated that main driving gear 44 and the connection type of rotary shaft 434 are not limited to the present embodiment, for example, at other
In embodiment, also main driving gear 44 is fixed together with rotary shaft 434 using welding.
It is appreciated that mounting plate 47 and fixed plate 48 can be omitted, at this point, can drive Linear drive 42 and propeller
The driving main body 451 of part 45 is fixed on submariner device tail portion 26.
It is appreciated that the structure of propeller actuator 45 is not limited to present embodiment, for example, in other embodiments,
It can be rotated by the corresponding propeller 46 of a motor direct-drive, face of gear 455 is arranged on the motor shaft of motor.
Above description is the detailed description for the preferable possible embodiments of the utility model, but embodiment is not limited to
The patent claim of the utility model, the same changes or modifications completed under the technical spirit suggested by all the utility model
Change, should all belong to the covered the scope of the claims of the utility model.
Claims (9)
1. a kind of autonomous underwater vehicle, including submariner device main body and kuppe, the kuppe is fixed on the submariner device main body
One end, it is characterised in that：It is opened up there are six water-guiding cavity around the central axis compartment of terrain of the kuppe in the kuppe；Institute
It further includes that six propellers simultaneously advance mechanism to state autonomous underwater vehicle, and it includes Linear Driving that six propeller, which simultaneously advances mechanism,
Part, rotary drive, main driving gear, six propeller actuators and six propellers, the Linear drive, the rotation
Actuator and the main driving gear are assembled in the submariner device main body；The Linear drive and the rotary drive
Connection, the rotary drive are connect with the main driving gear, to drive the main sliding tooth wheel to rotate；Six propellers drive
Around the periphery for being set to the rotary drive, each propeller actuator includes driving main body and is led by the driving moving part
The drive shaft of body driving rotation, the driving main body are installed in the submariner device main body, the freely end of six drive shafts
End is located in six water-guiding cavities, and each drive shaft is equipped with the gear being used cooperatively with the main driving gear
Face, six propellers are located in six water-guiding cavities and are fixedly socketed in the corresponding drive shaft, institute
Stating Linear drive can drive the rotary drive to be moved back and forth along the direction of the parallel drive shaft, so that the master
Driving gear is in meshing state or in the state being disengaged from the face of gear.
2. autonomous underwater vehicle as described in claim 1, it is characterised in that：The rotary drive includes driving ontology and rotation
The rotary shaft being connected on the driving ontology, the driving ontology are connect with the Linear drive；The main driving gear
It is fixedly socketed in the rotary shaft.
3. autonomous underwater vehicle as claimed in claim 2, it is characterised in that：The main driving gear is equipped with internal spline, the rotation
Shaft is equipped with external splines, and the internal spline is matched with the external splines, by the main driving gear and the rotary shaft
Fixedly connect together.
4. autonomous underwater vehicle as claimed in claim 2, it is characterised in that：Nut, the spiral shell are also socketed in the rotary shaft
Mother is resisted against the main driving gear backwards to the side of the driving ontology.
5. autonomous underwater vehicle as claimed in claim 2, it is characterised in that：It is additionally provided with guide groove in the submariner device main body, it is described
The free terminal of rotary shaft is slidably plugged in the guide groove, and can be rotated in the guide groove.
6. autonomous underwater vehicle as claimed in claim 2, it is characterised in that：The driving main body is motor, including motor body
And the motor shaft by motor body driving rotation, the drive shaft includes external gear shaft coupling and drive link, the external tooth
It takes turns shaft coupling and connects the motor shaft and the drive link, the motor shaft is overlapped with the central axis of the drive link, described
Face of gear is set on the external gear shaft coupling；The propeller is fixedly socketed on corresponding drive link.
7. autonomous underwater vehicle as claimed in claim 6, it is characterised in that：It further includes peace that six propeller, which simultaneously advances mechanism,
Loading board and fixed plate, the mounting plate is both secured to the fixed plate in the submariner device main body, and is oppositely arranged；It is described
Linear drive is installed in side of the mounting plate towards the fixed plate；The driving ontology is located at the mounting plate and institute
Between stating fixed plate, the rotary shaft actively wears the fixed plate；The motor body be installed in the fixed plate towards
The side of the mounting plate, the motor shaft actively wear the fixed plate；The main driving gear, the face of gear and institute
It states propeller and is respectively positioned on the fixed plate backwards to the side of the mounting plate.
8. autonomous underwater vehicle as described in claim 1, it is characterised in that：Six propellers are evenly distributed in described lead
On the cross section for flowing cover, the line of centres of six propellers forms an annulus.
9. a kind of six propellers simultaneously advance mechanism, it is characterised in that：Including Linear drive, rotary drive, main sliding tooth
Wheel, six propeller actuators and six propellers, the Linear drive are connect with the rotary drive, and the rotation is driven
Moving part is connect with the main driving gear, to drive the main sliding tooth wheel to rotate；Six propeller actuators, which are surround, to be set to
The periphery of the rotary drive, each propeller actuator include driving main body and the drive by the driving main body driving rotation
Moving axis, each drive shaft are equipped with the face of gear being used cooperatively with the main driving gear, six propellers difference
It is fixedly installed in six drive shafts, the Linear drive can drive the rotary drive along the parallel drive
The direction of moving axis moves back and forth, so that the main driving gear and the face of gear are in meshing state or in being disengaged from
State.
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|---|---|---|---|
| CN201820506978.9U CN208069987U (en) | 2018-04-11 | 2018-04-11 | Autonomous underwater vehicle and its six propellers simultaneously advance mechanism |
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| CN201820506978.9U CN208069987U (en) | 2018-04-11 | 2018-04-11 | Autonomous underwater vehicle and its six propellers simultaneously advance mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108482622A (en) * | 2018-04-11 | 2018-09-04 | 钦州学院 | Autonomous underwater vehicle and its six propellers simultaneously advance mechanism |
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2018
- 2018-04-11 CN CN201820506978.9U patent/CN208069987U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108482622A (en) * | 2018-04-11 | 2018-09-04 | 钦州学院 | Autonomous underwater vehicle and its six propellers simultaneously advance mechanism |
| CN108482622B (en) * | 2018-04-11 | 2019-08-30 | 钦州学院 | Autonomous underwater vehicle and its six propellers simultaneously advance mechanism |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20181109 Effective date of abandoning: 20190830 |