The invention discloses an underwater AUV (Autonomous Underwater Vehicle) omnidirectional vector propulsion device based on a parallel mechanism, and relates to the field of AUV underwater propellers, the device comprises a propeller rotating platform mechanism, a gear rack motion transmission mechanism and a damping support telescopic mechanism; the gear and rack motion transmission mechanism is connected with two motion branch chains in parallel, a motor in each motion branch chain drives a first gear and a driving gear to enable an arc rack to relatively rotate around the center point of a stern cabin plane through gear meshing, and a left shaft and a right shaft of a rotating frame can rotate around a stern cabin inner hole and a stern cabin outer hole in a follow-up mode, so that the rotated motion branch chains deflect; the two arc racks capable of rotating around the center point of the tail cabin are made to move in a coordinated mode under follow-up rotation of the rotating frame so as to change the thrust direction of the propeller with the propeller, the propeller with the propeller can deflect in all directions within the range of 20 degrees with the axis of the tail cabin as the center axis, underwater steering and pitching motion of the AUV are achieved, and large-angle steering is achieved. The device has the advantages of high hydrodynamic efficiency, simple and compact structure, stable operation, quick response, high rigidity, small resistance in water, high system stability and the like.

    本发明公开了一种基于并联机构的水下AUV全向矢量推进装置,涉及AUV水下推进器领域,该装置包括推进器转动平台机构、齿轮齿条运动传递机构以及阻尼支撑伸缩机构;齿轮齿条运动传递机构通过并联两条运动支链,运动支链中电机驱动第一齿轮和主动齿轮通过齿轮啮合使圆弧齿条绕尾舱平面中心点相对转动,转动架左右轴可实现绕尾舱内孔和尾舱外孔随动转动,使得被转动的运动支链发生偏转,进而使得两条可绕尾舱中心点的圆弧齿条在转动架的随动转动下相互协调运动改变带桨推进器的推力方向,使带桨推进器以尾舱轴线为中心轴实现20°范围内全方位偏转,从而实现AUV在水下的转向及俯仰运动,实现了大角度转向;具有水动力效率高、结构简单、紧凑,运行平稳、反应迅速,刚性大,水中阻力小,系统稳定性高等优点。


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    Title :

    Underwater AUV (Autonomous Underwater Vehicle) omnidirectional vector propulsion device based on parallel mechanism


    Additional title:

    一种基于并联机构的水下AUV全向矢量推进装置


    Contributors:
    LI HAO (author) / YAN TIANHONG (author) / ZHOU XINKAI (author) / CHEN HANG (author)

    Publication date :

    2023-07-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING



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