CN208149580U - A kind of quadrotor submarine navigation device that vector promotes - Google Patents
A kind of quadrotor submarine navigation device that vector promotes Download PDFInfo
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- CN208149580U CN208149580U CN201820686046.7U CN201820686046U CN208149580U CN 208149580 U CN208149580 U CN 208149580U CN 201820686046 U CN201820686046 U CN 201820686046U CN 208149580 U CN208149580 U CN 208149580U
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Abstract
The utility model belongs to submarine navigation device technical field, discloses a kind of quadrotor submarine navigation device that vector promotes, including：Pressure-resistant main body, screw propeller, rotating mechanism, control module, power plant module；Control module and power plant module are located at pressure-resistant body interior center or less position, and power plant module is used to provide energy for control module and screw propeller, promote its movement；Four screw propellers are fixed on rotating mechanism, are symmetrically distributed in pressure-resistant main body two sides, central symmetry of four screw propellers relative to pressure-resistant main body；It is whole around the free circular motion of pressure-resistant body outer wall that the connection of rotating mechanism and pressure-resistant main body can be realized rotating mechanism.The forms of motion of submarine navigation device is enriched while realizing submarine navigation device basic exercise compared to traditional submarine navigation device organization plan, improves the kinetic stability, controllability and propeller utilization efficiency of submarine navigation device.
Description
Technical field
The utility model belongs to submarine navigation device technical field, and the quadrotor promoted more particularly, to a kind of vector is navigated under water
Row device.
Background technique
Submarine navigation device is to carry out underwater observation, and the unmanned intelligent family moving platform of underwater operation, structure mostly uses frame
Formula structure or torpedo structure.Especially sea-floor relief, ocean current factor complexity situation, to the controllability of submarine navigation device,
Stability and propeller utilization rate etc. propose very high requirement.The quality of submarine navigation device low speed controllability and mobility determines
Can it smoothly complete specific underwater operation task, if ocean wave parameter measures, spot hover operation etc..
However current tower structure scheme and torpedo type organization plan, exist in low speed controllability and mobility
The radius of gyration is larger, the low situation of propeller utilization efficiency.The patent document of 105346695 A of publication number CN discloses one kind
Quadrotor submarine navigation device, although structure described in the patent document is in the performances such as movement mobility compared with traditional underwater navigation
Device structure increases, but in floating dive campaign in vertical direction, because of the layout type of propeller, however it remains fortune
Dynamic controllability, the not high problem of propeller utilization efficiency.
Utility model content
The utility model proposes one kind to move under various underwater States, and there is high controllability, high stability and height to push away
The quadrotor submarine navigation device promoted into the vector of device utilization efficiency.Submarine navigation device propeller layout is simple, turns to flexibly,
The achievable front and rear, left and right without turning radius, floating, the movement of the full freedom degree of dive.
The technical scheme that the utility model is provided is as follows：A kind of quadrotor submarine navigation device that vector promotes, including：Pressure resistance
Main body, screw propeller, rotating mechanism, control module, power plant module；Control module and power plant module are located in pressure-resistant main body
Position below portion center, power plant module are used to provide energy for control module and screw propeller, promote its movement；Four spiral shells
Rotation paddle propeller is fixed on rotating mechanism, is symmetrically distributed in pressure-resistant main body two sides, four screw propellers are relative to pressure resistance
The central symmetry of main body；It is whole free around pressure-resistant body outer wall that the connection of rotating mechanism and pressure-resistant main body can be realized rotating mechanism
Circular motion.
Further, above-mentioned screw propeller includes waterproof machine, governor, propeller, rectification duct；The speed regulation
Device is sealed in inside waterproof machine, and propeller is fixed in the shaft of waterproof machine, waterproof machine, propeller, governor composition
Mechanism be fixed on rectification duct in, rectification duct be fixed on rotating mechanism.
Further, above-mentioned control module includes master control borad, sensor；The power plant module includes electrical source of power and master control
Plate power supply is respectively screw propeller and master control borad power supply, and master control borad control waterproof machine revolving speed is to realize movement control
System.
Further, above-mentioned power plant module is high-performance lithium battery pack.
Further, above-mentioned rotating mechanism includes symmetrically arranged two parts, and every part includes strip connecting plate, anti-neatly
Ring；Wherein, waterproof slip ring one end is with externally threaded fixing end, and the other end is smooth turning end, and waterproof slip ring passes through tool
There is externally threaded one end to be threadedly coupled with pressure-resistant body side wall surface, the smooth part of the other end and the through-hole A at connecting plate center
Cooperation is fixed；It is connected between rotating mechanism two parts by the connecting rod between respective connecting plate.
Further, above-mentioned pressure-resistant main body includes having the cylinder of O-shaped washer sealing structure and matching with cylinder both ends
The sealing plectane of conjunction；There are the groove for assembling O-shaped seal washer and the screw hole to fasten in cylinder both ends；It is provided among sealing plectane
The screw hole matched with the end of thread of waterproof slip ring.
Further, above-mentioned O-shaped washer is O-shaped fluorine rubber gasket, and cylinder is using pressure-resistant transparent material.
Further, rotating mechanism preferably uses aforesaid way but is not limited to aforesaid way.For example, rotating mechanism packet
Include disc connecting plate, one end has externally threaded shaft, water-sealed bearing；Wherein, shaft and pressure-resistant body side wall surface screw thread
Connection, other end smooth part and water-sealed bearing cooperate, and the through-hole B at disc connecting plate center is fixed with bearing fit；Rotation
Pass through the extension bar connection between respective connecting plate between mechanism two parts.
The utility model provides the quadrotor submarine navigation device of vector propulsion, there is following at least one beneficial effect：
1, due to being put in the organization plan apart from shaft farthest using electrical module component and counterweight, submarine navigation device
Stability is improved, the enhancing of system external interference resistance.
2, change the organization plan of direction of propulsion, submarine navigation device in turn due to rotating around the shaft using screw propeller
Kinematic dexterity improves, and the speed of system responsive control signal improves.
3, change the organization plan of direction of propulsion, submarine navigation device in turn due to rotating around the shaft using screw propeller
Propeller utilization efficiency be improved.
Detailed description of the invention
Fig. 1 is the agent structure schematic diagram of the utility model；
Fig. 2 is the schematic diagram of internal structure of the utility model；
Fig. 3 is the motion mode schematic diagram of the utility model；
In figure：1 pressure-resistant cartridge type main body；2a screw propeller a；2b propeller promotes b device；2c screw propeller c；2d
Screw propeller d；3 sealing plectanes；4 rotating mechanisms；5 control modules；6 battery packs.
Specific embodiment
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, attached drawing will be compareed below
Illustrate specific embodiment of the present utility model.It should be evident that the embodiments of the present invention one are the specific of organization plan
Embodiment, embodiment second is that motion mode specific embodiment.
To simplify legend, each figure only symbolically indicates part relevant to the utility model, they are not represented
The practical structures of product.
Embodiment one
As depicted in figs. 1 and 2, pressure-resistant 1 both ends of cartridge type main body are connected by O-shaped washer sealing structure with seal disc 3
It connects, constitutes drum closure cavity.Control module 5 and battery pack 6 are fixed in above-mentioned cavity.Screw propeller 2, which is fixed on, to be turned
On the fishplate bar of motivation structure 4, rotating mechanism 4 is fixed on sealing plectane, and two sides rotating mechanism 4 is connected and fixed by bar.Further
The conducting wire on ground, screw propeller is connected in above-mentioned sealing cavity by waterproof slip ring.Four propellers 2 and rotating mechanism 4
The component constituted can arbitrarily be rotated around cartridge type main body.Further, submarine navigation device is made in water to be in zero by adjusting counterweight
Buoyant state.
Embodiment two
As shown in figure 3, propeller 2a, 2b, 2c, 2d are always positioned on same plane.When submarine navigation device dive, promote
Plane where device keeps horizontal, and the horizontal attitude of propeller is posture I at this time.Four propellers advance downwardly at the same speed, under realization
Shunt running is made.
After dive to certain depth, propeller is adjusted by differential, and plane is with respect to cartridge type main body where adjustment propeller
Position, place plane are relatively rotated around cartridge type main body, and cartridge type main body remains that initial attitude is constant, propeller during this
Posture be posture II.When Plane Rotation where propeller is to vertical direction, propeller posture is posture III.At this point, four
Propeller promotes at the same speed, realizes horizontal rectilinear motion.When two pairs of propellers do differential rotation when left and right, level side just may be implemented in
Upward non-rotating radius turns to.
When aircraft will carry out floating movement, propeller via posture IV, is restored to horizontal attitude I by posture III, and four
A propeller is boosted at the same speed simultaneously realizes movement of floating.Further, aircraft can pass through propeller 2a, 2b, 2c, 2d
In differential cooperation in different positions, increasingly complex movement is realized, movement controllability improves.Further, since in cartridge type main body,
Battery pack 6 is located at bottom part body as weight, and submarine navigation device has fixed larger metancenter high, and kinetic stability improves.Into
One step, submarine navigation device is located at posture I in propeller, the motion state of III when, propeller direction of propulsion is each parallel to boat
The row device direction of motion, propeller utilization efficiency improve.
When aircraft will carry out the spatial movement of any direction, according to direction of advance, propeller keep between posture I and
Posture between posture III, such as posture II or posture IV.At this point, propeller 2a, 2b, 2c, 2d are promoted at the same speed, to realize court
Spatial movement to any direction.
Claims (7)
1. the quadrotor submarine navigation device that a kind of vector promotes, which is characterized in that including：Pressure-resistant main body, turns screw propeller
Motivation structure, control module, power plant module；Control module and power plant module are located at pressure-resistant body interior center or less position, power
Module is used to provide energy for control module and screw propeller, promotes its movement；Four screw propellers, which are fixed on, to be turned
On motivation structure, it is symmetrically distributed in pressure-resistant main body two sides, central symmetry of four screw propellers relative to pressure-resistant main body；Rotation
It is whole around the free circular motion of pressure-resistant body outer wall that the connection of mechanism and pressure-resistant main body can be realized rotating mechanism.
2. the quadrotor submarine navigation device that vector according to claim 1 promotes, which is characterized in that the propeller promotes
Device includes waterproof machine, radome fairing, motor housing, governor, propeller；The governor is sealed in inside waterproof machine, spiral shell
Rotation paddle is fixed in the shaft of waterproof machine, and the mechanism that waterproof machine, propeller, governor form is fixed in rectification duct,
Rectification duct is fixed on rotating mechanism.
3. the quadrotor submarine navigation device that vector according to claim 2 promotes, which is characterized in that the control module packet
Include master control borad, sensor；The power plant module include electrical source of power and master control borad power supply be respectively screw propeller and
Master control borad power supply, master control borad control waterproof machine revolving speed is to realize motion control.
4. the quadrotor submarine navigation device that vector according to claim 3 promotes, which is characterized in that the power plant module is
High-performance lithium battery pack.
5. the quadrotor submarine navigation device that vector according to claim 1 or 2 or 3 or 4 promotes, which is characterized in that described
Rotating mechanism includes symmetrically arranged two parts, and every part includes strip connecting plate, waterproof slip ring；Wherein, waterproof slip ring one end
For with externally threaded fixing end, the other end is smooth turning end, and waterproof slip ring passes through with externally threaded one end and pressure resistance
Body side wall surface is threadedly coupled, and the smooth part of the other end and the through-hole A at connecting plate center cooperate fixation；Rotating mechanism two
/ connected by connecting rod between respective connecting plate.
6. the quadrotor submarine navigation device that vector according to claim 5 promotes, which is characterized in that the pressure-resistant main body
Including the cylinder with O-shaped washer sealing structure and the sealing plectane matched with cylinder both ends；Cylinder both ends have assembly O-shaped close
The groove of seal washer and the screw hole to fasten；The screw hole matched with the end of thread of waterproof slip ring is provided among sealing plectane.
7. the quadrotor submarine navigation device that vector according to claim 6 promotes, which is characterized in that the O-shaped washer is O
Type fluorine rubber gasket, cylinder is using pressure-resistant transparent material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820686046.7U CN208149580U (en) | 2018-05-09 | 2018-05-09 | A kind of quadrotor submarine navigation device that vector promotes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820686046.7U CN208149580U (en) | 2018-05-09 | 2018-05-09 | A kind of quadrotor submarine navigation device that vector promotes |
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| CN208149580U true CN208149580U (en) | 2018-11-27 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108423145A (en) * | 2018-05-09 | 2018-08-21 | 大连理工大学 | A kind of quadrotor submarine navigation device that vector promotes |
| CN113212708A (en) * | 2021-04-28 | 2021-08-06 | 南京安透可智能***有限公司 | Detection navigation ware based on pipeline |
-
2018
- 2018-05-09 CN CN201820686046.7U patent/CN208149580U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108423145A (en) * | 2018-05-09 | 2018-08-21 | 大连理工大学 | A kind of quadrotor submarine navigation device that vector promotes |
| CN113212708A (en) * | 2021-04-28 | 2021-08-06 | 南京安透可智能***有限公司 | Detection navigation ware based on pipeline |
| CN113212708B (en) * | 2021-04-28 | 2022-04-01 | 南京安透可智能***有限公司 | Detection navigation ware based on pipeline |
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