阅读说明：本技术 一种多方向矢量推进器 (Multi-directional vector propeller ) 是由 杨剑 卢国杰 林梓健 梁儒彬 王丹 于 2019-11-22 设计创作，主要内容包括：本发明一种多方向矢量推进器,包括机架、推进机构和转动装置；转动装置带动推进机构转动；转动装置包括第一驱动电机安装座、第一驱动电机、从动件和轴承机构；本发明通过在第一驱动电机安装座内壁设有与第一驱动电机下端配合的支撑部,这样第一驱动电机安装座能更好地支撑第一驱动电机,减少第一驱动电机工作时的震动,提高其稳定性；安装台与第一驱动电机安装座内壁之间设有间隙,这样第一驱动电机上端不会与第一驱动电机安装座内壁直接接触,提高第一驱动电机带动光轴转动的效率；通过在第二从动件与从动件安装槽之间设有间隙；进一步提高第一驱动电机带动光轴转动的效率。(The invention relates to a multidirectional vector propeller, which comprises a frame, a propelling mechanism and a rotating device, wherein the frame is provided with a support; the rotating device drives the propelling mechanism to rotate; the rotating device comprises a first driving motor mounting seat, a first driving motor, a driven part and a bearing mechanism; according to the invention, the supporting part matched with the lower end of the first driving motor is arranged on the inner wall of the first driving motor mounting seat, so that the first driving motor mounting seat can better support the first driving motor, the vibration of the first driving motor during working is reduced, and the stability of the first driving motor is improved; a gap is formed between the mounting table and the inner wall of the first driving motor mounting seat, so that the upper end of the first driving motor cannot be in direct contact with the inner wall of the first driving motor mounting seat, and the efficiency of driving the optical axis to rotate by the first driving motor is improved; a gap is arranged between the second driven piece and the driven piece mounting groove; the efficiency that first driving motor drove the optical axis pivoted is further improved.)

1. A multi-directional vector propeller comprises a frame, a propelling mechanism and a rotating device; the rotating device drives the propelling mechanism to rotate; the method is characterized in that: the rotating device comprises a first driving motor mounting seat, a first driving motor, a driven part and a bearing mechanism; the first driving motor mounting seat is connected with the rack through a bolt, the first driving motor is mounted in the first driving motor mounting seat, a mounting table is arranged at the upper end of the first driving motor, a gap exists between the mounting table and the inner wall of the first driving motor mounting seat, and a supporting part matched with the lower end of the first driving motor is arranged on the inner wall of the first driving motor mounting seat; the first drive motor includes a first drive wheel;

the frame comprises a driven piece mounting groove and a bearing mounting groove, the driven piece mounting groove is arranged at one end, close to the first driving motor mounting seat, in the frame, the bearing machine mounting groove is arranged at one end, far away from the first driving motor mounting seat, in the frame, the radius of the driven piece mounting groove is larger than that of the bearing mounting groove, and a through hole is formed between the driven piece mounting groove and the bearing mounting groove;

the driven piece comprises a first driven piece and a second driven piece, the second driven piece is arranged in the driven piece mounting groove, and a gap is formed between the second driven piece and the driven piece mounting groove; the second driven piece comprises a first concave groove and a second concave groove, the first concave groove and the second concave groove are inwards concave from the surface of the second driven piece, the first concave groove is arranged at one end close to the first driving motor, the second concave groove is arranged at one end far away from the first driving motor, the first driven piece is arranged in the first concave groove, and the first driven piece is connected with the first driving wheel;

the bearing mechanism comprises a bearing and an optical axis, the bearing is arranged in the bearing mounting groove, the optical axis is arranged in the bearing, a gap exists between the optical axis and the bearing, and the optical axis penetrates through the through hole to be connected with the second concave groove.

2. The multi-directional vector thruster of claim 1, wherein: the propelling mechanism comprises a propelling connecting piece, a flow guide sleeve and a spiral propelling device; the air guide sleeve comprises a connecting seat extending outwards on the air guide sleeve; one end of the propelling connecting piece is connected with the optical axis, and the other end of the propelling connecting piece is connected with the connecting seat on the air guide sleeve; the spiral propelling device is arranged in the air guide sleeve.

3. The multi-directional vector thruster of claim 1, wherein: the cross-sectional area of the first concave groove is larger than that of the second concave groove.

4. The multi-directional vector thruster of claim 2, wherein: the spiral propelling device comprises a propelling motor and a propeller assembly driven by the propelling motor; the propeller assembly comprises a propeller cover body and a propeller; the propeller is arranged on the propeller cover body; the propulsion motor is arranged in the propeller cover body.

5. The multi-directional vector thruster of claim 2, wherein: the air guide cover extends outwards along the propelling direction of the spiral propelling device to form an air guide part.

6. The multi-directional vector thruster of claim 1, wherein: the frame still includes the clamp splice, and the clamp splice setting is equipped with O type sealing washer in being close to the one end of bearing installation groove in the frame, and the optical axis is located O type sealing washer.

7. The multi-directional vector thruster of claim 1, wherein: and a connecting groove matched with the first driving motor is arranged on the first driving motor mounting seat.

8. The multi-directional vector thruster of claim 1, wherein: the frame is provided with a tripod bracket for shortening the force arm.

Technical Field

The invention relates to the technical field of mechanical engineering, in particular to a multidirectional vector propeller.

Background

With the development of navigation industry, the application of ships, submarines, underwater robots and other equipment is more and more extensive, however, the vector propulsion technology is always a technology which is difficult to overcome by the equipment. At present, most of equipment such as ships, submarines, AUVs (cableless underwater robots) and the like use propellers as propelling devices. The rotating propellers rotate to enable water flow to generate backward rotation movement, the backward rotation movement water flow can generate effective thrust on an underwater vehicle only through a speed component parallel to the propeller shaft direction, and the underwater vehicle has the weak characteristics of large water flow expansion angle, strong entrainment and mixing capacity, a backflow area and the like, so that the propelling efficiency is greatly reduced. The vectoring degree of the thrust is low, and the thrust can be lost particularly when the aircraft turns. In addition, the seabed situation is complicated and changeable, and a plurality of emergency situations need to be dealt with. The mobility of the underwater robots should be adapted to this critical situation, but most underwater robots are not flexible enough. When the underwater robot needs to turn, rudders in two directions of a horizontal wing and a vertical wing must be simultaneously moved for control, so that the flexibility is greatly limited. At present, some underwater robots are provided with a plurality of propeller propellers for realizing the vector propulsion function, so that the complexity of the robot is increased, the weight and the cost are also increased, waste is caused when the underwater robot does not work, and the underwater robot is not beneficial to maintenance although the vector propulsion function can be realized more or less. The patent document with Chinese patent application number 201810825185.8 and publication number 2018.12.21 discloses a sightseeing submersible, which comprises a spherical watchcase and two groups of propulsion systems, wherein a sightseeing cabin is arranged in the spherical watchcase, the two groups of propulsion systems are symmetrically arranged on two sides of the spherical watchcase, each propulsion system comprises two groups of propulsion devices, the two groups of propulsion devices are symmetrically arranged on the spherical watchcase, each propulsion device comprises a mounting bracket, a steering driving unit, a coupling component and a propeller unit, the mounting brackets are mounted on the surfaces of the spherical watchcases, the steering driving units are mounted on the steering brackets, and the propeller units are connected with the steering driving units through the coupling components and used for reversely rotating the propeller units around the axial direction of the coupling components. However, the propulsion system is described only briefly in this patent document, and the component structure and connection relationship of the propulsion system are not described in detail.

Disclosure of Invention

The invention provides a multidirectional vector thruster which is stable in structure and high in transmission efficiency.

In order to achieve the aim, the multidirectional vector propeller comprises a frame, a propelling mechanism and a rotating device; the rotating device drives the propelling mechanism to rotate; the rotating device comprises a first driving motor mounting seat, a first driving motor, a driven part and a bearing mechanism; the first driving motor mounting seat is connected with the rack through a bolt, the first driving motor is mounted in the first driving motor mounting seat, a mounting table is arranged at the upper end of the first driving motor, a gap exists between the mounting table and the inner wall of the first driving motor mounting seat, and a supporting part matched with the lower end of the first driving motor is arranged on the inner wall of the first driving motor mounting seat; the first drive motor includes a first drive wheel;

the frame comprises a driven piece mounting groove and a bearing mounting groove, the driven piece mounting groove is arranged at one end, close to the first driving motor mounting seat, in the frame, the bearing mounting groove is arranged at one end, far away from the first driving motor mounting seat, in the frame, the radius of the driven piece mounting groove is larger than that of the bearing mounting groove, and a through hole is formed between the driven piece mounting groove and the bearing mounting groove;

the driven piece comprises a first driven piece and a second driven piece, the second driven piece is arranged in the driven piece mounting groove, and a gap is formed between the second driven piece and the driven piece mounting groove; the second driven piece comprises a first concave groove and a second concave groove, the first concave groove and the second concave groove are inwards concave from the surface of the second driven piece, the first concave groove is arranged at one end close to the first driving motor, the second concave groove is arranged at one end far away from the first driving motor, the first driven piece is arranged in the first concave groove, and the first driven piece is connected with the first driving wheel;

the bearing mechanism comprises a bearing and an optical axis, the bearing is arranged in the bearing mounting groove, the optical axis is arranged in the bearing, a gap exists between the optical axis and the bearing, and the optical axis penetrates through the through hole to be connected with the second concave groove. Above setting, first driving motor passes through the follower and drives the optical axis rotation, and the optical axis drives advancing mechanism and rotates. The advancing mechanism advances in different directions around the optical axis. Greatly improves the navigation flexibility of the submersible, and can realize the linear navigation function and the yaw function in all directions, even the radius-free turning function and the like. The bearing can reduce the friction coefficient in the rotation process of the optical axis and ensure the rotation precision of the optical axis. The connection of the first driving motor mounting seat and the frame enables the whole fixed vector propeller to be more stable in working. The supporting part matched with the lower end of the first driving motor is arranged on the inner wall of the first driving motor mounting seat, so that the first driving motor mounting seat can better support the first driving motor, the vibration of the first driving motor during working is reduced, and the stability of the first driving motor is improved; a gap is formed between the mounting table and the inner wall of the first driving motor mounting seat, so that the upper end of the first driving motor cannot be in direct contact with the inner wall of the first driving motor mounting seat, and the efficiency of driving the optical axis to rotate by the first driving motor is improved; a gap is arranged between the second driven piece and the driven piece mounting groove; the efficiency that first driving motor drove the optical axis pivoted is further improved.

Further, the propulsion mechanism comprises a propulsion connecting piece, a flow guide sleeve and a spiral propulsion device; the air guide sleeve comprises a connecting seat extending outwards on the air guide sleeve; one end of the propelling connecting piece is connected with the optical axis, and the other end of the propelling connecting piece is connected with the connecting seat on the air guide sleeve; the spiral propelling device is arranged in the air guide sleeve.

Further, the cross-sectional area of the first concave groove is larger than that of the second concave groove.

Further, the spiral propelling device comprises a propelling motor and a propeller assembly driven by the propelling motor; the propeller assembly comprises a propeller cover body and a propeller; the propeller is arranged on the propeller cover body; the propulsion motor is arranged in the propeller cover body.

Furthermore, the flow guide cover extends outwards along the propelling direction of the spiral propelling device to form a flow guide part. The air guide sleeve can improve the water flow condition behind the propeller assembly, improve the thrust and reduce the vibration, so that the water flow pressure borne by the propelling mechanism during rotation is reduced.

Further, the frame still includes the clamp splice, and the clamp splice setting is equipped with O type sealing washer in being close to the one end of bearing machine mounting groove in the frame, and the optical axis is located O type sealing washer. The O-shaped ring is made of fluorine rubber, force control of the clamping block for clamping the O-shaped sealing ring is controlled properly, and the sealing mode is simple, good in effect and long in service cycle.

Furthermore, a connecting groove is arranged on the first driving motor mounting seat.

Furthermore, a tripod bracket for shortening the force arm is arranged on the machine frame. The tripod well solves the stress concentration problem of the propelling mechanism and plays a better role in fixing.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

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

FIG. 3 is a structurally broken away top view of the present invention;

FIG. 4 is a cross-sectional view taken at A-A of FIG. 3;

FIG. 5 is a cross-sectional view of the present invention;

fig. 6 is a partially enlarged view of a in fig. 5.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1-6, a multi-directional vector thruster comprises a frame 1, a propulsion mechanism 2 and a rotating device 3; the rotating device 3 drives the propelling mechanism 2 to rotate. The frame 1 is provided with a tripod bracket 11 for shortening the force arm. The rack 1 can be better fixed by arranging the tripod support 11, and meanwhile, the tripod support 11 can reduce the moment concentrated on the rack, so that the stress concentration problem of the propelling mechanism 2 is well solved by the tripod support 11.

The rotating device 3 comprises a first driving motor mounting seat 31, a first driving motor 32, a driven member 33 and a bearing mechanism 34; the first driving motor mounting seat 31 is connected with the frame 1 through a bolt. The first driving motor mounting base 31 is provided with a connecting groove 311 matched with the first driving motor 32. When the vector thruster is used, the power line is connected to the first driving motor 32 through the connection slot 311 to supply power to the first driving motor. The first driving motor 32 is installed in the first driving motor installation seat 31. In this embodiment, the first drive motor 32 is a steering engine. First driving motor 32 includes first drive wheel 321, and first drive wheel 321 is close to at first driving motor 32 upper end, and the upper end of first driving motor 32 is provided with mount table 323, and there is the clearance mount table 323 with first driving motor mount 31 inner wall, and first driving motor mount 31 inner wall is equipped with the supporting part with first driving motor 32 lower extreme complex. The frame 1 comprises a driven piece mounting groove 12 and a bearing mounting groove 13, the driven piece mounting groove 12 is arranged at one end, close to the first driving motor mounting seat 31, in the frame 1, the bearing machine mounting groove 13 is arranged at one end, far away from the first driving motor mounting seat 31, in the frame 1, the radius of the driven piece mounting groove 12 is larger than that of the bearing mounting groove 13, and a through hole 14 is formed between the driven piece mounting groove 12 and the bearing mounting groove 13;

the driven part 33 comprises a first driven part 331 and a second driven part 332, the second driven part 332 is arranged in the driven part mounting groove 12, and a gap exists between the second driven part 332 and the driven part mounting groove 12; the second follower 332 includes a first recessed groove 3321 and a second recessed groove 3322 recessed inward from the second follower surface, the first recessed groove 3321 being disposed at an end close to the first driving motor 32, the second recessed groove 3322 being disposed at an end far from the first driving motor 32, the first recessed groove 3321 having a cross-sectional area larger than that of the second recessed groove 3322; the first follower 331 is disposed in the first recess groove 3321, and the first follower 331 is connected with the first driving wheel 321;

the bearing mechanism 34 includes a bearing 342 and an optical axis 341, the bearing 342 is disposed in the bearing installation groove 13, and in the present embodiment, the bearing 342 is in interference fit with the bearing installation groove 13. The optical axis 341 is disposed in the bearing 342, a gap exists between the optical axis 341 and the bearing 342, the optical axis 341 passes through the through hole 14 and is connected with the second recessed groove 3322 through a bolt, and the radius of the through hole half 14 is larger than that of the optical axis 341.

The frame 1 further comprises a clamping block 15, the clamping block 15 is arranged at one end, close to the bearing installation groove 13, of the frame 1, an O-shaped sealing ring 16 is arranged in the clamping block 15, and the optical axis 341 is located in the O-shaped sealing ring 16. The O-shaped ring made of fluorine glue is used for sealing, and the force control of the clamping block for clamping the O-shaped sealing ring is proper, so that the sealing mode is simple, good in effect and long in service cycle.

The propulsion mechanism 2 comprises a propulsion connecting piece 21, a flow guide sleeve 22 and a spiral propulsion device 23; the air guide sleeve 22 comprises a connecting seat 221 extending outwards on the air guide sleeve and an air guide piece 222 extending outwards along the propelling direction of the spiral propelling device. The flow guide 222 allows the water pressure to be reduced as the propulsion mechanism rotates. One end of the pushing connector 21 is connected with the optical axis 341 through a screw, and the other end of the pushing connector 31 is connected with the connecting seat 221 on the air guide sleeve 22; the screw propulsion device 23 is arranged in the air guide sleeve 22; the screw propulsion device 23 comprises a propulsion motor 231 and a propeller assembly 232 driven by the propulsion motor 231. The propeller assembly 232 includes a propeller housing 2321 and a propeller 2322. The propeller 2322 is mounted on the propeller housing 2321. The propulsion motor 231 is disposed within the propeller housing 2321. The propulsion motor 231 is an outer rotor motor, so that the overall length of the propulsion mechanism in the propulsion direction can be reduced, the forward thrust and the reverse thrust of the propeller 2322 are the same, and the propulsion flexibility is high. The fairings improve the flow conditions behind the propeller assembly 222, thereby increasing thrust and reducing vibration.

In this embodiment, the first driving motor mounting seat 31 further has an arc-shaped connecting surface 312. Thus, the arc-shaped connecting surface can be connected with the spherical robot.

The first driving motor drives the optical shaft to rotate through the driven part, and the optical shaft drives the propelling mechanism to rotate. The vector thruster is connected with the submersible for use and can be adjusted according to the route of the submersible; when the submersible needs to move towards one direction, the optical axis drives the propelling mechanism to rotate, when the propelling direction of the propelling mechanism is the same as the moving direction, the optical axis stops, the spiral propelling device starts, and the spiral propelling device drives the submersible to move; thus, the propelling mechanism drives the submersible vehicle to propel in different directions around the optical axis.

When the moving direction of the submersible needs to be changed, the propelling mechanisms on different vector propellers can be rotated in different directions, so that the vector propellers are mutually matched to drive the submersible to propel; in one embodiment, the submersible is provided with four vector propellers, so that when the submersible needs to move obliquely upwards, the propelling directions of two vector propellers can be rotated to be vertically upwards; rotating the propelling directions of the other two vector thrusters to be the same as the moving direction; therefore, the submersible can be driven to stably and rapidly move.

The vector propeller greatly improves the navigation flexibility of the submersible, so that the submersible can realize a linear navigation function and a yaw function in all directions, even a radius-free turning function and the like. The bearing can reduce the friction coefficient in the rotation process of the optical axis and ensure the rotation precision of the optical axis. The connection of the first driving motor mounting seat and the frame enables the whole fixed vector propeller to be more stable in working. The supporting part matched with the lower end of the first driving motor is arranged on the inner wall of the first driving motor mounting seat, so that the first driving motor mounting seat can better support the first driving motor, the vibration of the first driving motor during working is reduced, and the stability of the first driving motor is improved; a gap is formed between the upper end of the first driving motor and the inner wall of the first driving motor mounting seat, so that the upper end of the first driving motor cannot be in direct contact with the inner wall of the first driving motor mounting seat, and the efficiency of driving the optical axis to rotate by the first driving motor is improved; a gap is arranged between the second driven piece and the driven piece mounting groove; the efficiency that first driving motor drove the optical axis pivoted is further improved.