CN202935569U - Steering directly-driven rotary table type small underwater propeller and underwater operation device - Google Patents
Steering directly-driven rotary table type small underwater propeller and underwater operation device Download PDFInfo
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- CN202935569U CN202935569U CN 201220284327 CN201220284327U CN202935569U CN 202935569 U CN202935569 U CN 202935569U CN 201220284327 CN201220284327 CN 201220284327 CN 201220284327 U CN201220284327 U CN 201220284327U CN 202935569 U CN202935569 U CN 202935569U
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 6
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- 239000008280 blood Substances 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
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Abstract
本实用新型提供一种转向直接驱动的转台式小型水下推进器，包括推进器壳体、转台、推进器电机、螺旋桨、第一力矩电机、以及第二力矩电机，其中，所述转台通过所述第一力矩电机安装在所述推进器壳体内，所述推进器电机通过所述第二力矩电机安装在所述转台上，所述推进器电机的输出轴连接所述螺旋桨，所述第一力矩电机的转向方向与第二力矩电机的转向方向不同。还提供水下作业装置。本实用新型采用平台式的转向结构，具有两个方向的转向，有电机直接驱动转向，没有传动机构，正反转（左右、上下转向）基本无间隙、无回程误差，优点在于结构简单紧凑，无传动机构，误差小，转向灵活可控，转向范围大，可帮助潜水艇、水下机器人等水下作业机械实现水下的快速转向。
The utility model provides a turntable-type small-sized underwater thruster directly driven by steering, including a propeller shell, a turntable, a propeller motor, a propeller, a first torque motor, and a second torque motor, wherein the turntable passes through the The first torque motor is installed in the propeller housing, the propeller motor is installed on the turntable through the second torque motor, the output shaft of the propeller motor is connected to the propeller, and the first The steering direction of the torque motor is different from the steering direction of the second torque motor. An underwater working device is also provided. The utility model adopts a platform-type steering structure, has two directions of steering, and has a motor to directly drive the steering without a transmission mechanism. The forward and reverse (left and right, up and down steering) basically has no gap and no return error. The advantage is that the structure is simple and compact. There is no transmission mechanism, the error is small, the steering is flexible and controllable, and the steering range is large, which can help underwater operating machinery such as submarines and underwater robots to achieve rapid underwater steering.
Description
Technical field
The utility model relates to a kind of underwater operating machine small underwater propelling unit, relate in particular to a kind of knot and can complete orientation, left and right and up and down pitching two axles steer and the direct turntable type small propeller that drives, particularly, relate to a kind of turntable type small underwater propelling unit and underwater working device that turns to direct driving.
Background technology
At present, the propelling unit that uses on the underwater operating machines such as underwater submarine, under-water robot is to adopt hard-wired mode mostly, and also some novel underwater propeller possesses steering capability, such as the employing gear structure, or universal or swing.But the structure of these steering hardwarees is all more complicated, and the parts that need are many, install loaded down with trivial details, and need to be by transmission devices such as gear cluster engagements, because there is the gap in transmission, precision is not high, driving error is amplified step by step.Therefore be necessary to develop a kind of novel propelling unit, this propelling unit is not only simple and compact for structure, easy for installation, and can easily complete turning on orientation, left and right, up and down pitching two direction of principal axis.
The utility model content
For the defective of underwater propeller steering technique in prior art, the purpose of this utility model is to provide a kind of turntable type small underwater propelling unit and underwater working device that turns to direct driving.
According to an aspect of the present utility model, a kind of turntable type small underwater propelling unit that turns to direct driving is provided, comprise propelling unit housing, turntable, propelling unit motor, screw propeller, the first torque motor and the second torque motor, wherein, described turntable is arranged in described propelling unit housing by described the first torque motor, described propelling unit motor is arranged on described turntable by described the second torque motor, the output shaft of described propelling unit motor connects described screw propeller, and the steering direction of described the first torque motor is different from the steering direction of the second torque motor.
Preferably, the quantity of described the first torque motor is 2, is arranged symmetrically in the both sides of described turntable; The quantity of described the second torque motor is 2, be arranged symmetrically in the both sides of described propelling unit motor.
Preferably, described the first torque motor is the azimuth axis motor, and described the second torque motor is the pitch axis motor.Angle of rake simple and compact for structure, can complete orientation, left and right and up and down pitching two axles steer.
Preferably, described turntable is directly driven by described the first torque motor.Turn to transmission mechanism-free.
Preferably, the corner of described the second torque motor is greater than 15 degree.
Preferably, the corner of described the second torque motor reaches 20 degree.
According to another aspect of the present utility model, a kind of underwater working device also is provided, comprise subsea equipment, also comprise turntable type small underwater propelling unit claimed in claim 1, wherein, described turntable type small underwater propelling unit is installed on described subsea equipment.
Preferably, described subsea equipment is underwater submarine or under-water robot.
Preferably, also comprise the screw propeller fender guard, wherein, described screw propeller fender guard is installed on described turntable type small underwater propelling unit.
The utility model adopts platform-type steering structure, have turning to of both direction, there is motor direct-drive to turn to, there is no transmission device, the basic gapless of rotating (left and right, turn to up and down), without hysterisis error, advantage is simple and compact for structure, transmission mechanism-free, error is little, turns to controlled flexibly, steering range is large, can help the underwater operating machines realization quick steerings under water such as Submarine, under-water robot.
Description of drawings
By reading the detailed description of non-limiting example being done with reference to the following drawings, it is more obvious that other features, objects and advantages of the present utility model will become:
Fig. 1 illustrates the angle of rake three-dimensional structure diagram of turntable type small underwater that turns to direct driving according to of the present utility model.
Wherein: 1 is the propelling unit housing; 2 are the turntable (concrete structure is seen Fig. 4) in propelling unit; 3 is the propelling unit motor; 4 is the propeller screw oar.
Fig. 2 is the angle of rake standard 3-D view of turntable type small underwater shown in Figure 1 (attached semisectional view).
Fig. 3 is the propelling unit housing (attached semisectional view) in Fig. 1 turntable type small underwater propelling unit.
Fig. 4 is that the propelling unit turntable has assembled the schematic diagram after the fender guard.
Fig. 5 is the constructional drawing of the propelling unit turntable in Fig. 1 turntable type small underwater propelling unit.
Wherein: 2 are turntable (the right attached sketch that dwindles); 21 for being responsible for the first torque motor that azimuth axis turns to (power is larger, is responsible for housing and turns to rotation between body, and corner is very large); 22 the second torque motors (power is slightly little, is responsible for turning to the rotation between body and main motor, and corner can reach 15 to 20 degree) that turn to for being responsible for pitch axis.
Fig. 6 is the schematic diagram of three kinds of motors using in this propelling unit, and wherein: a left side is the screw propeller motor, and the bottom right is azimuth axis torque motor, and the upper right is the pitch axis torque motor.
Fig. 7 is that the propelling unit turntable is around the schematic diagram of pitch axis and azimuth axis rotation.
Fig. 8 is impeller driven Submarines model schematic diagram (for seeing structure clearly, the screw propeller unprotect).
Fig. 9 is the demonstration of motion example.
The specific embodiment
The utility model is described in further detail below in conjunction with accompanying drawing and motion example.
the turntable type small underwater propelling unit that turns to direct driving that provides according to the utility model, comprise propelling unit housing 1, turntable 2, propelling unit motor 3, screw propeller 4, the first torque motor 21, and second torque motor 22, wherein, described turntable 2 is arranged in described propelling unit housing 1 by described the first torque motor 21, described propelling unit motor 3 is arranged on described turntable 2 by described the second torque motor 22, the output shaft of described propelling unit motor 3 connects described screw propeller 4, the steering direction of described the first torque motor 21 is different from the steering direction of the second torque motor 22.Described the first torque motor 21 is the azimuth axis motor, and described the second torque motor 22 is the pitch axis motor.Angle of rake simple and compact for structure, can complete orientation, left and right and up and down pitching two axles steer.
Preferably, the quantity of described the first torque motor 21 is 2, is arranged symmetrically in the both sides of described turntable 2; The quantity of described the second torque motor 22 is 2, be arranged symmetrically in the both sides of described propelling unit motor 3.Described turntable 2 is directly driven by described the first torque motor 21.Turn to transmission mechanism-free.Further preferably, the corner of described the second torque motor can reach 15 to 20 degree.
The underwater working device that provides according to the utility model; comprise subsea equipment; the described turntable type small underwater propelling unit and the screw propeller fender guard that provide according to the utility model also are provided, wherein, described turntable type small underwater propelling unit is installed on described subsea equipment.Preferably, described subsea equipment is underwater submarine or under-water robot.Described screw propeller fender guard is installed on described turntable type small underwater propelling unit.
The motion example: take the small underwater submarine as example, purpose is quick steering in water.As shown in diagram 9, the initial condition of submarine is that level is suspended in water, and at the uniform velocity advances, figure position 1.Now need quick left-hand rotation.: the first step, the pitch axis motor is motionless, and the azimuth axis electric machine rotation stops after making screw propeller right-hand rotation certain angle, and the submarine afterbody is subjected to towards bottom-right dynamic action, as figure position 2; Second step, submarine are under the effect of afterbody power, and beginning is turned left fast, until in-position 3 states; In the 3rd step, pitch axis is still motionless, and azimuth axis motor backward rotation stops after making screw propeller forward the centre to, afterbody power upwards, as figure position 4, submarine turns left to complete, and advances fast.Turn right as need, only need the azimuth axis motor that screw propeller is turned left to get final product.
Same principle, the motionless and pitch axis electric machine rotation of azimuth axis motor just can make submarine complete fast to rise and the action of dive.
As seen, the utility model mechanism is simply compact, and steering procedure is simple and rapid; Carry out because the utility model intermediate station turns to by four torque motors again, execution speed is fast; And turntable turns to transmission mechanism-free, turns to more flexibly, and driving error is very little.
Above specific embodiment of the utility model is described.It will be appreciated that, the utility model is not limited to above-mentioned specific implementations, and those skilled in the art can make various distortion or modification within the scope of the claims, and this does not affect flesh and blood of the present utility model.
Claims (9)
1.
A kind of turntable type small underwater propelling unit that turns to direct driving, it is characterized in that, comprise propelling unit housing, turntable, propelling unit motor, screw propeller, the first torque motor and the second torque motor, wherein, described turntable is arranged in described propelling unit housing by described the first torque motor, described propelling unit motor is arranged on described turntable by described the second torque motor, the output shaft of described propelling unit motor connects described screw propeller, and the steering direction of described the first torque motor is different from the steering direction of the second torque motor.
2. the turntable type small underwater propelling unit that turns to direct driving according to claim 1, is characterized in that, the quantity of described the first torque motor is 2, be arranged symmetrically in the both sides of described turntable; The quantity of described the second torque motor is 2, be arranged symmetrically in the both sides of described propelling unit motor.
3. the turntable type small underwater propelling unit that turns to direct driving according to claim 1, is characterized in that, described the first torque motor is the azimuth axis motor, and described the second torque motor is the pitch axis motor.
4. the turntable type small underwater propelling unit that turns to direct driving according to claim 1, is characterized in that, described turntable is directly driven by described the first torque motor.
5. the turntable type small underwater propelling unit that turns to direct driving according to claim 1, is characterized in that, the corner of described the second torque motor is greater than 15 degree.
6. the turntable type small underwater propelling unit that turns to direct driving according to claim 5, is characterized in that, the corner of described the second torque motor reaches 20 degree.
7. a underwater working device, comprise subsea equipment, it is characterized in that, also comprises turntable type small underwater propelling unit claimed in claim 1, and wherein, described turntable type small underwater propelling unit is installed on described subsea equipment.
8. underwater working device according to claim 7, is characterized in that, described subsea equipment is underwater submarine or under-water robot.
9. underwater working device according to claim 7, is characterized in that, also comprises the screw propeller fender guard, and wherein, described screw propeller fender guard is installed on described turntable type small underwater propelling unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220284327 CN202935569U (en) | 2012-06-13 | 2012-06-13 | Steering directly-driven rotary table type small underwater propeller and underwater operation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220284327 CN202935569U (en) | 2012-06-13 | 2012-06-13 | Steering directly-driven rotary table type small underwater propeller and underwater operation device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202935569U true CN202935569U (en) | 2013-05-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220284327 Expired - Lifetime CN202935569U (en) | 2012-06-13 | 2012-06-13 | Steering directly-driven rotary table type small underwater propeller and underwater operation device |
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| CN (1) | CN202935569U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102730177A (en) * | 2012-06-13 | 2012-10-17 | 浙江理工大学 | Compact direct-driven rotating table underwater thrustor |
| CN105083518A (en) * | 2015-08-14 | 2015-11-25 | 苏州金业船用机械厂 | Propelling device for electrically-controlled boat |
-
2012
- 2012-06-13 CN CN 201220284327 patent/CN202935569U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102730177A (en) * | 2012-06-13 | 2012-10-17 | 浙江理工大学 | Compact direct-driven rotating table underwater thrustor |
| CN102730177B (en) * | 2012-06-13 | 2014-07-09 | 浙江理工大学 | Compact direct-driven rotating table underwater thrustor |
| CN105083518A (en) * | 2015-08-14 | 2015-11-25 | 苏州金业船用机械厂 | Propelling device for electrically-controlled boat |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130515 Effective date of abandoning: 20140709 |
|
| RGAV | Abandon patent right to avoid regrant |