CN216154003U - Vector propulsion device for hybrid power wave glider - Google Patents

Abstract

The utility model discloses a vector propulsion device for a hybrid wave glider, which comprises: the steering engine is arranged in the steering engine fixing shell, a steering engine rotating shaft is meshed with the internal turntable, the internal turntable is fixedly connected to the bottom of the external turntable shaft, and the upper part of the external turntable shaft penetrates through the top of the steering engine fixing shell; the tail fixing component comprises an L-shaped tail fixing component and a lower tail fixing component; the bionic tail wing flow guide device comprises an upper tail wing and a lower tail wing; the upper part of the external turntable shaft is fixedly connected with an upper tail wing; a propeller connecting base is fixed at the bottom of the propeller, and the propeller connecting base is fixed on the outer wall of the L-shaped empennage fixing component; the steering engine power source conversion device joint is arranged on the outer wall of the steering engine fixing shell and is electrically connected with the steering engine, and the propeller power source conversion device joint is embedded into the lower tail wing and is electrically connected with the propeller. The utility model can provide vector motion, and converts electric energy into a power source required by the operation of the tractor through a reasonable control method to be used as an active propulsion mode of the tractor.

Description

Vector propulsion device for hybrid power wave glider

Technical Field

The utility model relates to the technical field of underwater robots, in particular to a vector propulsion device for a hybrid wave glider.

Background

The traditional wave glider is designed according to the initial design, and depends on waves as the single driving power under the condition of no human intervention, so that the problem of unlimited energy supply is solved, and the phenomenon that the maneuvering performance is limited by sea conditions is very serious. Because the wave glider is simply low in navigational speed obtained by the wave environment, the navigational speed under the three-level sea condition is generally not more than 1 section, and the navigational speed is close to the surface flow velocity of a plurality of sea areas. In the sea area with ocean current, when the sea state is low and the enough navigation speed cannot be obtained, once the target course and the flow direction of the wave glider are opposite, the wave glider is difficult to move forwards and even can back and follow the wave to flow gradually, and the original maneuvering characteristics are lost. When remote navigation needs to span a large surface current sea area or carry out position control operation in the sea current area, under the condition that single wave power cannot meet application requirements, short-time auxiliary propulsion is very necessary. Meanwhile, the wave glider can realize electric energy conversion and storage through the self-carried solar power generation device, and how to fully utilize the stored electric energy to convert the electric energy into power required by the wave glider to move forward has important significance.

SUMMERY OF THE UTILITY MODEL

On the basis of the traditional single wave power glider underwater tractor, the utility model provides a vector propulsion device for a hybrid wave power glider, which can provide vector motion, convert electric energy into a power source required by the running of the hybrid wave power glider through a reasonable control method, serve as an active auxiliary propulsion mode of the wave power glider, and can ensure the controllability, the transmission efficiency and the stability of the vector propulsion device.

The purpose of the utility model is realized by the following technical scheme.

The vector propulsion device for the hybrid power wave glider comprises a steering engine, a steering engine fixing shell, a bionic empennage guiding device, a fixing adapter assembly, a propeller power source conversion device connector and a steering engine power source conversion device connector, wherein the fixing adapter assembly comprises an empennage fixing assembly and a propeller connecting base;

the steering engine is arranged in the steering engine fixing shell, a top rotating shaft of the steering engine is meshed with an inner circle of the inner turntable, the inner turntable is fixedly connected to the bottom of the outer turntable shaft, and the upper part of the outer turntable shaft penetrates through the upper bearing and is protruded from the top of the steering engine fixing shell;

the tail fin fixing assembly comprises an L-shaped tail fin fixing assembly fixed on the top and the side wall of the steering engine fixing shell and a lower tail fin fixing assembly arranged at the bottom of the steering engine fixing shell; the bionic tail wing flow guide device comprises an upper tail wing and a lower tail wing, the upper tail wing is fixed to the top of the steering engine fixing shell through an L-shaped tail wing fixing assembly, and the lower tail wing is fixed to the bottom of the steering engine fixing shell through a lower tail wing fixing assembly; the upper part of the external turntable shaft is fixedly connected with an upper tail wing;

a propeller connecting base is fixed at the bottom of the propeller, and the propeller connecting base is fixed on the outer wall of the lower part of the L-shaped empennage fixing component; the steering engine power source conversion device joint is arranged on the outer wall of the steering engine fixing shell and is electrically connected with the steering engine, and the propeller power source conversion device joint is embedded into the lower tail wing and is electrically connected with the propeller.

The steering engine fixing shell consists of an upper rectangular shell, a middle rectangular shell and a lower rectangular shell, and is respectively an upper steering engine shell, a middle steering engine shell and a lower steering engine shell, four corners of each shell are provided with threaded holes, and the three shells are connected into a whole through bolts; the steering engine is characterized in that a stepped through hole used for installing an upper bearing and an external turntable shaft is formed in the upper shell of the steering engine, a through hole used for installing an internal turntable and a steering engine upper main body is formed in the middle of the steering engine, bolts used for being fixedly connected with a tractor are arranged on the upper shell of the steering engine and on the same side of the outer portion of the upper shell of the steering engine, a groove used for placing the steering engine lower main body is formed in the lower shell of the steering engine, a wiring hole is formed in the side wall of the lower shell of the steering engine, and a cable is used for electrically connecting a steering engine power source conversion device connector with the steering engine through the wiring hole.

The steering engine upper part main body is located inside the steering engine middle shell, the steering engine lower part main body is located inside the steering engine lower shell, and the steering engine is fixedly connected with the inner wall of the steering engine middle shell through a steering engine fixing plate and bolts.

The bottom of the lower shell of the steering engine is provided with a convex shaft which is integrated with the lower shell of the steering engine; one side of the lower tail fixing component is connected with the L-shaped tail fixing component into a whole through a screw, the upper end of the other side of the lower tail fixing component is provided with a stepped hole, and a lower bearing in the stepped hole is movably connected with a convex shaft at the bottom of the lower shell of the steering engine; the lower tail wing fixing assembly is fixedly connected with the lower tail wing through screws, the lower tail wing rotates along with the lower tail wing fixing assembly, a wiring groove is formed in the lower tail wing, and the cable is electrically connected with the propeller power source conversion device connector and the propeller through the wiring groove.

The external turntable shaft comprises a step upper shaft and a fixed disc which are integrated; the ladder part of the ladder upper shaft penetrates through the top of the steering engine upper shell to be connected with the L-shaped tail fin fixing assembly, and the upper part of the ladder upper shaft is provided with a through hole and is fixedly connected with the upper tail fin through a bolt; fixing threaded holes are formed in the peripheries of the fixed disc and the internal turntable, the fixed disc and the internal turntable are fixed by screws after being overlapped, and the external turntable shaft is fixed to the top of the internal turntable through bolts; the fixed disc is positioned inside the upper steering engine shell, and the upper bearing is also positioned inside the upper steering engine shell.

The bottom of the upper tail wing is provided with a rectangular groove, the upper end part of the L-shaped tail wing fixing component is covered by the groove, and the upper tail wing rotates along with the L-shaped tail wing fixing component.

The propeller connecting base is fastened on the side wall of the L-shaped empennage fixing component through screws, and the propeller thruster rotates along with the L-shaped empennage fixing component.

The steering engine and the propeller thruster are respectively controlled remotely, the steering engine drives the empennage and the propeller thruster to swing in 45-degree ranges after being started, forward thrust is generated after the propeller thruster is started to drive the tractor to move, and the common acting force of the steering engine and the propeller thruster enables the tractor to generate vector propulsion movement.

Compared with the prior art, the technical scheme of the utility model has the following beneficial effects:

(1) the components of the utility model adopt a split type and modular processing mode, a steering engine fixing shell, an internal turntable and the like adopt CNC mechanical processing, a bionic empennage guiding device adopts 3D printing, and a plurality of processing technologies are matched with each other to be formed together; the titanium alloy, aviation aluminum, carbon fiber and other materials are high in strength and good in corrosion resistance, and can be guaranteed to work in a severe seawater environment for a long time; the whole component is simple to assemble, convenient to assemble and disassemble, easy to disassemble and assemble in the later period and easy to maintain.

(2) The steering engine and the propeller thruster are respectively connected with the power source conversion device, so that the diversion requirement or the propulsion requirement under the independent environment can be met, the two modes are matched for use, the operation performance is good, the transmission efficiency is high, the vector motion speed is high, the efficient vector motion of the underwater wave glider tractor in the sea can be met, and the maneuvering performance of the underwater wave glider tractor is improved.

(3) According to the utility model, the propeller thruster and the bionic empennage flow guide device are fixed on the steering engine fixing shell through the fixing and switching assembly and fixed on the main beam of the tractor through the bolt, electric energy in the main beam is converted into power sources required by the propeller thruster and the bionic empennage flow guide device through a reasonable control method, and the tractor can actively generate vector propulsive force through the combined control of the propeller thruster and the bionic empennage flow guide device.

(4) The utility model has low cost, good controllability, high transmission efficiency and strong stability, and can provide auxiliary effective propelling force and guiding function besides wave power for the wave glider.

Drawings

FIG. 1 is a schematic cross-sectional view of the main body of the present invention showing the internal structure thereof;

FIG. 2 is an exterior view of the present invention;

FIG. 3 is a front view of the outer turntable shaft of the present invention;

FIG. 4 is a bottom plan view of the outer turntable shaft of the present invention;

FIG. 5 is a schematic view showing the connection relationship between the steering engine, the internal turntable, the external turntable shaft and the upper bearing structure according to the present invention;

fig. 6 is a schematic view of the connection of the propeller, propeller connection base and tail fixing assembly of the present invention.

Reference numerals: 1-a steering engine middle shell; 2-steering engine upper shell; 3-external turntable shaft; 301-stepped upper shaft; 302 securing the disc; 303 fixing the threaded hole; 4-upper tail; 5-an upper bearing; 6-internal rotating disc; 7-a steering engine; 8-L type empennage fixing components; 9-the propeller is connected with the base; 10-propeller thruster; 11-lower tail; 12-propeller propulsion power source conversion device joint; 13-lower tail fixation assembly; 14-a lower bearing; 15-lower casing of steering engine; 16-steering engine power source conversion device joint.

Detailed Description

The utility model is further described below with reference to the accompanying drawings.

As shown in fig. 1 to 6, the vector propulsion device for the hybrid wave glider mainly comprises a steering engine 7, a steering engine fixing shell, a bionic tail wing flow guiding device, a fixing adapter assembly, a propeller 10, a propeller power source adapter 12 and a steering engine power source adapter 16, wherein the fixing adapter assembly comprises a tail wing fixing assembly and a propeller connecting base 9.

The steering engine fixing shell is composed of an upper cuboid shell, a middle cuboid shell and a lower cuboid shell, the upper cuboid shell 2, the middle cuboid shell 1 and the lower cuboid shell 15 are respectively arranged on the steering engine, four corners of each shell are respectively provided with a threaded hole, the lower tail fin fixing component 13 is connected into a whole through bolts. The upper main body of the steering engine 7 is positioned in the steering engine middle shell 1, the lower main body of the steering engine 7 is positioned in the steering engine lower shell 15, and the steering engine 7 is fixedly connected with the inner wall of the steering engine middle shell 1 through a steering engine fixing plate and a bolt. The top rotating shaft of the steering engine 7 is meshed with the inner circle of the inner turntable 6, the inner turntable 6 is fixedly connected to the bottom of the outer turntable shaft 3, and the upper portion of the outer turntable shaft 3 penetrates through the upper bearing 5 and is protruded from the top of the steering engine fixing shell. And the steering engine power source conversion device joint 16 is arranged on the outer wall of the steering engine fixing shell and is electrically connected with the steering engine 7.

The steering engine power source conversion device comprises a steering engine upper shell 2, a traction machine, a traction machine, a traction machine power source conversion device connector 16, a traction machine, a traction machine and a cable, wherein the steering engine upper shell 2 is internally provided with a step-shaped through hole used for installing an upper bearing 5 and an external turntable shaft 3, the steering machine middle shell 1 is internally provided with a through hole used for installing an internal turntable 6 and a steering machine 7 upper main body, bolts fixedly connected with the traction machine are arranged on the same side of the outer portion of the shell 2 and the steering machine middle shell 1, the inner portion of the steering machine lower shell 15 is provided with a groove used for placing the steering machine 7 lower main body, the side wall of the steering machine lower shell 15 is provided with a wiring hole, and the cable is electrically connected with the steering machine power source conversion device connector 16 and the steering machine traction machine 7 through the wiring hole.

The empennage fixing assembly comprises an L-shaped empennage fixing assembly 8 fixed on the top and the side wall of the steering engine fixing shell and a lower empennage fixing assembly 13 arranged at the bottom of the steering engine fixing shell. The bionic tail wing flow guide device comprises an upper tail wing 4 and a lower tail wing 11, wherein the upper tail wing 4 is fixed to the top of the steering engine fixing shell through an L-shaped tail wing fixing component 8, and the lower tail wing 11 is fixed to the bottom of the steering engine fixing shell through a lower tail wing fixing component 13. The upper part of the external turntable shaft 3 is fixedly connected with an upper tail wing 4. The power source conversion device joint 12 of the propeller is embedded into the lower tail wing 11 and is electrically connected with the propeller 10.

Wherein, the external turntable shaft 3 comprises a stepped upper shaft 301 and a fixed disk 302 which are integrally structured. The ladder portion of ladder upper shaft 301 passes through steering wheel upper housing 2 top and is connected with L type fin fixed component 8, ladder upper shaft 301 upper portion is provided with the through-hole, through bolt and upper portion fin 4 fixed connection. The periphery of the fixed disk 302 and the inner turntable 6 is provided with a fixed threaded hole 303, the fixed disk 302 and the inner turntable 6 are fixed by screws after being superposed, and the outer turntable shaft 3 is fixed at the top of the inner turntable 6 by bolts. The fixed disc 302 is positioned inside the upper steering engine shell 2, and the upper bearing 5 is also positioned inside the upper steering engine shell 2.

The bottom of the upper tail 4 is provided with a rectangular groove, the upper end part of the L-shaped tail fixing component 8 is covered by the rectangular groove, and the upper tail 4 can rotate along with the L-shaped tail fixing component 8. And a convex shaft integrated with the steering engine lower shell 15 is arranged at the bottom of the steering engine lower shell. One side of the lower tail fixing component 13 is connected with the L-shaped tail fixing component 8 into a whole through a screw, the upper end of the other side of the lower tail fixing component is provided with a stepped hole, and a lower bearing 14 in the stepped hole is movably connected with a convex shaft at the bottom of a lower shell 15 of the steering engine. The lower tail fixing component 13 is fixedly connected with the lower tail 11 through screws, the lower tail 11 rotates along with the lower tail fixing component 13, a wiring groove is formed in the lower tail 11, and a cable electrically connects the propeller power source conversion device connector 12 with the propeller 10 through the wiring groove.

The bottom of the propeller thruster 10 is provided with a flange, the propeller thruster is fixedly connected with the thruster connecting base 9 into a whole through the flange, the thruster connecting base 9 is provided with a threaded hole, the thruster connecting base 9 is fastened on the lower outer wall of the L-shaped empennage fixing component 8 through a screw, and the propeller thruster 10 can be ensured to rotate along with the L-shaped empennage fixing component 8.

According to the utility model, the steering engine fixing shell, the internal rotary table 6 and the like are machined by CNC (computerized numerical control) machinery, the bionic empennage guiding device is printed by 3D, and various machining technologies are matched with each other and formed together; the fixed shell is made of titanium alloy materials, the empennage fixing component and the propeller connecting base 9 are made of aviation aluminum, and the upper empennage 4 and the lower empennage 11 are made of carbon fibers.

After the assembly, the steering engine 7 is fixed by the steering engine fixing shell, the upper part and the lower part of the steering engine fixing shell are provided with protruding shafts, and the fixed switching assembly is used as an intermediate component to connect the propeller thruster 10 and the bionic tail wing flow guide device to rotate around the protruding shafts of the steering engine fixing shell along with the steering engine 7. When the bionic fin propeller traction device is used, the bionic fin flow guiding device and the propeller thruster 10 can be driven to swing in 45-degree ranges after the steering engine 7 is started, forward thrust is generated after the propeller thruster 10 is started to drive the traction machine to move, and the common acting force of the steering engine 7 and the propeller thruster 10 enables the traction machine to generate vector propulsion movement.

While the present invention has been described in terms of its functions and operations with reference to the accompanying drawings, it is to be understood that the utility model is not limited to the precise functions and operations described above, and that the above-described embodiments are illustrative rather than restrictive, and that various changes and modifications may be effected therein by one skilled in the art without departing from the scope or spirit of the utility model as defined by the appended claims.

Claims (8)

1. A vector propulsion device for a hybrid power wave glider is characterized by comprising a steering engine (7), a steering engine fixing shell, a bionic tail wing flow guide device, a fixing switching assembly, a propeller (10), a propeller power source conversion device joint (12) and a steering engine power source conversion device joint (16), wherein the fixing switching assembly comprises a tail wing fixing assembly and a propeller connecting base (9);

the steering engine (7) is arranged in the steering engine fixing shell, a rotating shaft at the top of the steering engine (7) is meshed with an inner circle of the inner turntable (6), the inner turntable (6) is fixedly connected to the bottom of the outer turntable shaft (3), and the upper part of the outer turntable shaft (3) penetrates through the upper bearing (5) and is protruded from the top of the steering engine fixing shell;

the tail fin fixing component comprises an L-shaped tail fin fixing component (8) fixed on the top and the side wall of the steering engine fixing shell and a lower tail fin fixing component (13) arranged at the bottom of the steering engine fixing shell; the bionic tail wing flow guide device comprises an upper tail wing (4) and a lower tail wing (11), the upper tail wing (4) is fixed to the top of the steering engine fixing shell through an L-shaped tail wing fixing assembly (8), and the lower tail wing (11) is fixed to the bottom of the steering engine fixing shell through a lower tail wing fixing assembly (13); the upper part of the external turntable shaft (3) is fixedly connected with an upper tail wing (4);

a propeller connecting base (9) is fixed at the bottom of the propeller (10), and the propeller connecting base (9) is fixed on the outer wall of the lower part of the L-shaped tail wing fixing component (8); the steering engine power source conversion device joint (16) is arranged on the outer wall of the steering engine fixing shell and is electrically connected with the steering engine (7), and the propeller power source conversion device joint (12) is embedded into the lower tail wing (11) and is electrically connected with the propeller (10).

2. The vector propulsion device for the hybrid wave glider according to claim 1, wherein the steering engine fixing shell is composed of an upper rectangular parallelepiped shell, a middle rectangular parallelepiped shell and a lower rectangular parallelepiped shell, and is a steering engine upper shell (2), a steering engine middle shell (1) and a steering engine lower shell (15), each of four corners of the shell is provided with a threaded hole, and the lower empennage fixing components (13) are connected into a whole through bolts; the steering engine is characterized in that a stepped through hole used for installing an upper bearing (5) and an external turntable shaft (3) is formed in the upper shell (2) of the steering engine, a through hole used for installing an internal turntable (6) and a steering engine (7) upper main body is formed in the middle of the steering engine, bolts fixedly connected with a tractor are arranged on the upper shell (2) of the steering engine and on the same side of the outer portion of the upper shell (1) of the steering engine, a groove used for placing the steering engine (7) lower main body is formed in the lower shell (15) of the steering engine, wiring holes are formed in the side wall of the lower shell (15) of the steering engine, and cables are electrically connected with a steering engine power source conversion device connector (16) and the steering engine (7) through the wiring holes.

3. The vector propulsion device for the hybrid wave glider according to claim 2, characterized in that the upper main body of the steering engine (7) is located inside the steering engine middle shell (1), the lower main body of the steering engine (7) is located inside the steering engine lower shell (15), and the steering engine (7) is fixedly connected with the inner wall of the steering engine middle shell (1) through a steering engine fixing plate and a bolt.

4. The vector propulsion device for the hybrid wave glider according to claim 2, characterized in that the bottom of the steering engine lower shell (15) is provided with a protruding shaft which is integrated with the steering engine lower shell; one side of the lower tail fixing component (13) is connected with the L-shaped tail fixing component (8) into a whole through a screw, the upper end of the other side of the lower tail fixing component is provided with a stepped hole, and a lower bearing (14) in the stepped hole is movably connected with a convex shaft at the bottom of a lower shell (15) of the steering engine; the lower tail fixing component (13) is fixedly connected with the lower tail (11) through screws, the lower tail (11) rotates along with the lower tail fixing component (13), a wiring groove is formed in the lower tail (11), and a cable is electrically connected with a propeller power source conversion device connector (12) and a propeller (10) through the wiring groove.

5. The vector propulsion device for hybrid wave gliders according to claim 2, characterized in that the outer turntable shaft (3) comprises a stepped upper shaft (301) and a fixed disc (302) of an integral structure; the ladder part of the ladder upper shaft (301) penetrates through the top of the steering engine upper shell (2) to be connected with the L-shaped tail wing fixing component (8), and the upper part of the ladder upper shaft (301) is provided with a through hole and is fixedly connected with the upper tail wing (4) through a bolt; fixing threaded holes (303) are formed in the peripheries of the fixing disc (302) and the inner turntable (6), the fixing disc (302) and the inner turntable (6) are overlapped and then fixed through screws, and the outer turntable shaft (3) is fixed to the top of the inner turntable (6) through bolts; the fixed disc (302) is positioned inside the upper steering engine shell (2), and the upper bearing (5) is also positioned inside the upper steering engine shell (2).

6. The vector propulsion device for a hybrid wave glider according to claim 1, characterized in that the bottom of the upper tail (4) is provided with a rectangular groove which covers the upper end portion of the L-shaped tail fixing assembly (8), and the upper tail (1) rotates following the L-shaped tail fixing assembly (8).

7. The vector propulsion device for the hybrid wave glider according to claim 1, characterized in that the propeller thruster (10) has a flange at the bottom, and is integrally connected with the thruster connection base (9) through the flange, the thruster connection base (9) has a threaded hole, the thruster connection base (9) is fastened to the side wall of the L-shaped tail fixed component (8) through a screw, and the propeller thruster (10) rotates along with the L-shaped tail fixed component (8).

8. The vector propulsion device for the hybrid wave glider according to claim 1, wherein the steering engine (7) and the propeller thruster (10) are remotely controlled respectively, the steering engine (7) drives the bionic empennage guiding device and the propeller thruster (10) to swing together within 45 degrees of left and right after being started, the propeller thruster (10) generates forward thrust to drive the tractor to move after being started, and the common acting force of the steering engine (7) and the propeller thruster (10) enables the tractor to generate vector propulsion movement.

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