The invention provides an over-constrained double-branch two-rotation spherical parallel vector thruster. The vector thruster comprises an RRR + RPRR type mechanism, an RRR + PUR type mechanism and an RRR + UPR type mechanism. The parallel vector thruster comprises a base, a movable platform, a first branch, a second branch, a propeller and a second motor, the base and the platform are both of a circular structure in appearance, and the first end of the first branch and the first end of the second branch are connected with the first end and the second end of the base respectively. The second end of the first branch and the second end of the second branch are connected with the first end and the second end of the movable platform respectively, the propeller is located in the center of the movable platform, a shell of the second motor is fixedly connected with the lower surface of the movable platform, and an output shaft of the second motor penetrates through the center of the movable platform and is connected with an input shaft of the propeller. The first branch and the second branch are evenly distributed at the two ends of the base and the two ends of the movable platform at a certain angle. The vector thruster only comprises an active branch, is flexible in rotation, is higher in rigidity and precision, is compact in structure, is large in bearing capability, and is easy to package in a narrow cabin of an underwater robot.
本发明提供一类过约束双分支两转球面并联型矢量推进器,其包括RRR+RPRR型机构、RRR+PUR型机构和RRR+UPR型机构。并联型矢量推进器包括基座、动平台、第一分支、第二分支、螺旋桨和第二电机,基座和平台的外形均为圆形结构,第一分支的第一端和第二分支的第一端分别与基座的第一端和第二端连接,第一分支的第二端和第二分支的第二端分别与动平台的第一端和第二端连接,螺旋桨位于动平台的中心,第二电机的外壳和动平台下表面固定连接,第二电机的输出轴穿过动平台的中心和螺旋桨的输入轴连接。第一分支和第二分支以一定的角度均布在基座和动平台的两端。本发明仅含主动分支,转动灵活,刚度和精度较高,结构紧凑,承载能力大,易于封装在水下机器人狭小舱体内。
Over-constrained double-branch two-rotation spherical parallel vector thruster
一类过约束双分支两转球面并联型矢量推进器
2021-04-30
Patent
Electronic Resource
Chinese
IPC: | B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING |
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