The invention discloses a cross paddling propulsion system, a water surface vehicle and a navigation control method. The crossed paddling propulsion system comprises a spherical main body and two groups of annular paddling mechanisms, the two groups of annular paddling mechanisms are distributed in a cross shape in an up-and-down staggered manner, the annular paddling mechanisms are fixed on the outer surface of the spherical main body, and the annular paddling mechanisms are arranged in a vertical plane; the annular paddling mechanism comprises a fixed support, a slewing bearing outer ring, a slewing bearing inner ring, a paddling plate and a power transmission device. When overlooked, the two annular paddling mechanisms are distributed up and down in a cross shape in a staggered mode, the rotating speed and the rotating direction of the two annular paddling mechanisms can be controlled correspondingly to conduct paddling driving, the driving direction can be adjusted by adjusting the magnitude and the direction of the two groups of paddling thrust correspondingly, and complex instant multi-direction movement can be achieved; in addition, the spherical main body structure is balanced in stress and higher in stability, and the wind wave resistance of the water surface vehicle is improved.
本申请公开了一种交叉划水推进系统、水面航行器及导航控制方法。该交叉划水推进系统包括球形主体和两组环形划水机构;两组所述环形划水机构呈十字形上下交错分布,所述环形划水机构固定在所述球形主体的外表面,且所述环形划水机构设置在竖直平面内;所述环形划水机构包括固定支架、回转支承轴承外圈、回转支承轴承内圈、划水板和动力传动装置。俯视时两组所述环形划水机构呈十字形上下交错分布,能够分别控制两组所述环形划水机构的转速和转向进行划水驱动,可通过分别调节两组划水推力的大小和方向调整行驶方向,可实现复杂的即时多向移动,并且球形主体结构受力均衡,稳定性更强,提升了水面航行器的抗风浪能力。
Cross paddling propulsion system, water surface vehicle and navigation control method
交叉划水推进系统、水面航行器及导航控制方法
2025-01-07
Patent
Electronic Resource
Chinese
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