The invention provides an underwater equipment vector propulsion device and a vector propulsion control method. And the propelling section shell is connected with the equipment cabin through the end cover. And two output shafts of the vector driving assembly are parallel to the course and are symmetrically arranged up and down. The first bevel gear shaft assembly and the second bevel gear shaft assembly each comprise a driving bevel gear shaft and a transmission double bevel gear shaft. An upper plate and a lower plate of the yaw box vertically and coaxially support the two transmission double-bevel-gear shafts in a rotatable mode respectively, and a left plate and a right plate horizontally and coaxially support the output bevel gear shaft and the connecting optical shaft in a rotatable mode respectively. Two supporting legs of the pitching frame are fixedly connected to the output bevel gear shaft and the connecting optical shaft respectively, and the supporting leg joint part is connected to the tail propeller. According to the invention, a mechanical gear transmission structure comprising the driving bevel gears which are parallel up and down, the coaxial double bevel gear shafts and the output bevel gear is adopted, so that the occupied space is small; the attitude is directly adjusted through two steps of pitching and yawing, the response is fast, and the adjusting range is large.
本发明提供了水下装备矢量推进装置及矢量推进控制方法。端盖将推进段壳体与装备舱体连接。矢量驱动组件的两个输出轴平行于航向上下对称布置。第一锥齿轮轴组件和第二锥齿轮轴组件各自包括驱动锥齿轮轴和传动双锥齿轮轴。偏航盒的上板和下板分别将两个传动双锥齿轮轴以可旋转的方式竖向同轴支撑,左板和右板分别将输出锥齿轮轴和连接光轴以可旋转的方式水平同轴支撑。俯仰架的两个支腿分别固连至输出锥齿轮轴和连接光轴,支腿接合部连接至尾部推进器。本发明采用上下平行的驱动锥齿轮、同轴的双锥齿轮轴以及一个输出锥齿轮这样的机械齿轮传动结构,占用空间小;直接通过俯仰和偏航两个步骤调整姿态,响应快,调节范围大。
Vector propulsion device and vector propulsion control method for underwater equipment
水下装备矢量推进装置及矢量推进控制方法
2024-06-21
Patent
Electronic Resource
Chinese