CN208683080U - A kind of single rotor Ducted propeller for underwater unmanned vehicle - Google Patents
A kind of single rotor Ducted propeller for underwater unmanned vehicle Download PDFInfo
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- CN208683080U CN208683080U CN201820699974.7U CN201820699974U CN208683080U CN 208683080 U CN208683080 U CN 208683080U CN 201820699974 U CN201820699974 U CN 201820699974U CN 208683080 U CN208683080 U CN 208683080U
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Abstract
本实用新型公开了一种用于水下无人航行器的单旋翼涵道推进器，所述推进器包括：动力源螺旋桨和驱动动力源螺旋桨旋转的发动机，所述动力源螺旋桨和所述发动机垂直内置于一个圆柱形涵道中，所述动力源螺旋桨下面还设置有若干固定导流叶片。本实用新型采用了涵道式设计，可有效地将螺旋桨滑流转换成推力，这使得同等直径的涵道推进器效率大于同参数螺旋桨推进器；应用于水下无人航行器时，使螺旋桨噪音垂直方向传播，水平方向噪音显著降低，是航行器具有更高的隐蔽性，在军事上利用其噪声低，隐蔽性强的特点，可用于水下侦察作业及隐蔽监视；涵道在降低螺旋桨噪声的同时，还将高速旋转部件与外部环境隔离，提高了安全性和设备自身的耐用性。
The utility model discloses a single-rotor ducted propeller for an underwater unmanned vehicle. The propeller comprises: a power source propeller and an engine for driving the power source propeller to rotate, the power source propeller and the engine It is vertically built into a cylindrical duct, and a number of fixed guide vanes are also arranged under the power source propeller. The utility model adopts a ducted design, which can effectively convert the propeller slip flow into thrust, which makes the efficiency of the ducted propeller of the same diameter greater than that of the propeller propeller of the same parameter; when applied to an underwater unmanned vehicle, the propeller The noise propagates in the vertical direction, and the noise in the horizontal direction is significantly reduced, which means that the aircraft has a higher concealment. In the military, its low noise and strong concealment can be used for underwater reconnaissance operations and concealed surveillance; ducts are used to reduce propellers. At the same time, the high-speed rotating parts are isolated from the external environment, which improves the safety and the durability of the equipment itself.
Description
Technical field
The utility model relates to underwater unmanned vehicle technical fields, and in particular to a kind of for underwater unmanned vehicle
Single rotor Ducted propeller.
Background technique
Current existing submarine navigation device mostly uses level to set rolling body-rotation design, using propeller postposition or in the level of setting push away
Into structure, turned to using rudder, under the conditions of lowsteaming, direction controlling efficiency is lower, and exposed propeller is also easy to produce
Cavitation effect, noise is larger, has volume larger, and low speed manipulation response is slower, and the radius of gyration is larger, and track is obvious etc. is difficult to gram
The shortcomings that taking.It especially is difficult to realize effectively navigate by water in narrow waters, shallow water area rudder is easily touched.
Utility model content
The purpose of this utility model is to provide a kind of single rotor Ducted propeller for underwater unmanned vehicle, to
Solve the problems such as exposed propeller noise of current submarine navigation device is larger, service life is short.
To achieve the above object, the utility model provides a kind of single rotor duct propulsion for underwater unmanned vehicle
Device, the propeller include: the engine of power source propeller and driving power source propeller rotation, the power source propeller
It being vertically built in a cylindrical duct with the engine, the engine is located at below the power source propeller,
The power source propeller is installed to the drive shaft of the engine, is additionally provided with below the power source propeller several solid
Determine guide vane.
Further, the power source propeller and several fixed guide vane outer covers are equipped with the outer of cylinder
Cover, the outer cover is top closed and outwardly protrudes to form male part in center, the outer cover lower openings, and the outer cover is logical
The connecting plate for crossing side setting is installed to the inside of the duct.
Further, several fixed guide vanes by circular ring shape fixed frame formed circular ring shape from steady rudder system water conservancy diversion
Fan, several fixed guide vanes are evenly distributed between the interior annular and outer toroid of the fixed frame, the fixed frame
Interior annular is set in the drive shaft of the engine, and the outer toroid of the fixed frame is installed to the outer cover.
Further, the fixed guide vane extends to form strip blade from the interior annular of fixed frame to outer toroid,
The strip blade is vertically arranged and forms arcwall face in the vertical direction.
Further, the bending side of the arcwall face of the fixed guide vane between the interior annular and outer toroid of the fixed frame
To consistent.
Further, direction and institute of the fluid in the turning moment of the arcwall face formation of the fixed guide vane in duct
State the contrary of the turning moment that the rotation of power source propeller generates.
The utility model has the advantages that
The utility model is designed using culvert type, propellerslip effectively can be converted into thrust, this makes on an equal basis
The Ducted propeller efficiency of diameter is greater than same parameter screw propeller；When applied to underwater unmanned vehicle, propeller is made to make an uproar
Sound vertically propagating, horizontal direction noise significantly reduce, and are that aircraft has higher concealment, are militarily made an uproar using it
Sound is low, and the strong feature of concealment can be used for underwater reconnaissance operation and hidden monitoring；Duct while reducing propeller noise,
High-speed rotary part is isolated with external environment also, improves the durability of safety and equipment itself.
Detailed description of the invention
Fig. 1 is a kind of single rotor duct underwater unmanned vehicle using the single rotor Ducted propeller of the utility model
Front view.
Fig. 2 is a kind of single rotor duct underwater unmanned vehicle using the single rotor Ducted propeller of the utility model
Schematic perspective view from top.
Fig. 3 is a kind of single rotor duct underwater unmanned vehicle using the single rotor Ducted propeller of the utility model
Schematic perspective view from lower part.
Fig. 4 is to be gone using a kind of single rotor duct underwater unmanned vehicle of the single rotor Ducted propeller of the utility model
Schematic perspective view after falling duct.
Fig. 5 is the power source propeller of single rotor Ducted propeller of the utility model, circular ring shape from steady rudder system flow-guide fan
And the structure setting schematic diagram of engine shaft.
Fig. 6 is the circular ring shape of the single rotor Ducted propeller of the utility model from steady rudder system flow-guide fan and engine shaft
Structure setting schematic diagram.
Fig. 7 is a kind of single rotor duct underwater unmanned vehicle using the single rotor Ducted propeller of the utility model
The control connection schematic diagram of master control system.
Fig. 8 is a kind of single rotor duct underwater unmanned vehicle using the single rotor Ducted propeller of the utility model
The power supply connection schematic diagram of the power supply of master control system.
Specific embodiment
The following examples illustrate the utility model, but is not intended to limit the scope of the present invention.
Embodiment 1
Referring to figs. 1 to 6, for the deficiency of traditional submarine navigation device, in conjunction with the technical advantage of culvert type flying vehicles control, according to
There is biggish similitude according to propeller arrangement built in the structure and submarine navigation device of culvert type unmanned plane, disclosed in the present embodiment
A kind of single rotor Ducted propeller 2 for underwater unmanned vehicle be vertically installed in cylinder-shaped duct 1, propeller 2 wrap
The engine 22 for including power source propeller 21 and power source propeller 21 being driven to rotate, power source propeller 21 and engine 22 hang down
It is directly built in a cylindrical duct 1, engine 22 is located at below power source propeller 21, and power source propeller 21 is installed
To the drive shaft 23 of engine 22, power source propeller 21 is additionally provided with several fixed guide vanes 311, power source spiral shell below
It revolves paddle 21 and 311 outer cover of several fixed guide vanes is equipped with cylindrical outer cover 24, outer cover 24 is top closed and in centre bit
It sets and outwardly protrudes to form male part 241,24 lower openings of outer cover, the installation of connecting plate 242 that outer cover 24 is arranged by side is extremely contained
The inside in road 1, several fixed guide vanes 311 by circular ring shape fixed frame 312 formed circular ring shape from steady rudder system flow-guide fan 31,
Several fixed guide vanes 311 are evenly distributed between the interior annular and outer toroid of fixed frame 312, the interior annular of fixed frame 312
It is set in the drive shaft 23 of engine 22, the outer toroid of fixed frame 312 is installed to outer cover 24.Fixed guide vane 311 by
The interior annular of fixed frame 312 extends to form strip blade to outer toroid, and strip blade is vertically arranged and in the vertical direction
Form arcwall face, the bending direction one of the arcwall face of the fixed guide vane 311 between the interior annular and outer toroid of fixed frame 312
It causes, fluid revolves in the direction of the turning moment of the arcwall face formation of fixed guide vane 311 and power source propeller 21 in duct
It changes the line of production the contrary of raw turning moment.
The present embodiment is designed using culvert type, and propeller efficiency is higher, high safety, is reduced and is made an uproar caused by blade
Sound, and structure is more compact；Make propeller noise vertically propagating, it is that aircraft has that horizontal direction noise, which significantly reduces,
Higher concealment.
Using single rotor Ducted propeller disclosed in the present embodiment a kind of single rotor duct underwater unmanned vehicle also
It include: cylindrical duct 1, form regulation system 3 and master control system 4.With reference to Fig. 4 to 6, form regulation system 3 includes: by several
Fixed guide vane 311 by circular ring shape fixed frame 312 formed circular ring shape from steady rudder system flow-guide fan 31, X rudder 32 and straight rudder 33.
The present embodiment combination single rotor and the concept of duct carry out innovative design to the structure of underwater unmanned vehicle, whole
Using rectilinear layout type, makes underwater unmanned vehicle while having high efficiency, easily manipulation, low noise, multipurpose etc. multinomial
Superior function.Propellerslip effectively can be converted into thrust by duct, this makes the Ducted propeller efficiency of equivalent diameter big
In same parameter screw propeller.And high-velocity fluid caused by propeller is limited in flow field by duct, master control system is straight
It connects and acts on high-velocity fluid, can remain higher control efficiency.Duct will also while reducing propeller noise
High-speed rotary part is isolated with external environment, improves the durability of safety and equipment itself；Annular duct is also carry portion
Part provides multiple attachment points, makes equipment with expansibility functionally.
Underwater unmanned vehicle gesture stability in the present embodiment is realized by rudder system and propulsion motor, wherein level fortune
It is dynamic to realize that X rudder flow deflector is realized by manipulation underwater unmanned vehicle rotation by a pair of of X rudder flow deflector and a straight rudder flow deflector
Heading control, straight rudder flow deflector control aircraft pitch attitude, by providing additional torque to realize horizontal fortune
It is dynamic；Realize that underwater unmanned vehicle drifts along adjusting by adjusting propeller revolving speed.Underwater nothing may be implemented in the use of X rudder flow deflector
People's aircraft axial rotation adjusts course in turn, so that its turning radius is almost nil, narrow water-area navigation task may be implemented；
Underwater unmanned vehicle also possesses a fixation from steady rudder system, counteracting steady for realizing underwater unmanned vehicle itself simultaneously
Aircraft rolling moment caused by power source propeller rotates.It, can be effective since boat rudder system is predominantly located in inside duct
Prevent rudder piece from colliding in shallow water area, more steering engine flow deflector control modes can produce various control power and control moment, make
Obtaining underwater unmanned vehicle has very high mobility and great flexibility.
With reference to Fig. 4 to 6, it is set in the drive shaft 23 of engine 22 from the center of steady rudder system flow-guide fan 31 and is located at power
Below source propeller 21.
With reference to Fig. 3 and 4, X rudder 32 includes the first X rudder flow deflector 321 and the 2nd X rudder flow deflector 322 and is horizontally placed on from steady rudder
It is flow-guide fan 31 and engine 22 in the following, the first X rudder flow deflector 321 and 322 outer end of the 2nd X rudder flow deflector are distinguished across duct 1
It is connected to the first X rudder pull rod 3212 and 3222 lower end of the 2nd X rudder pull rod, the first X rudder flow deflector 321 and the 2nd X rudder flow deflector 322
Between be docking together by swivel bearing 323.Specifically, the first X rudder flow deflector 321 and the 2nd X rudder flow deflector 322 lead to respectively
It crosses the first X rudder yoke 3211 and the 2nd X rudder yoke 3221 is horizontally placed in duct 1 and respectively by the first X rudder yoke 3211 and the
Two X rudder yokes 3221 drive free inclination rotation, and the first X rudder yoke 3211 and the 2nd X rudder yoke 3221 pass through the outer end of duct 1
The first X rudder pull rod 3212 and the 2nd X rudder pull rod being vertically installed on the outside of duct are connected to by transmission connection piece 34 respectively
The upper end of 3222 lower end, the first X rudder pull rod 3212 and the 2nd X rudder pull rod 3222 is respectively connected to 3213 He of the first X rudder steering engine
On the telescopic shaft of 2nd X rudder steering engine 3223, the first X rudder steering engine 3213 and the 2nd X rudder steering engine 3223 are all set on 1 outside of duct
Portion, the first X rudder yoke 3211 and 3221 inner end of the 2nd X rudder yoke are docking together by swivel bearing 323, the first X rudder steering engine
3213 and the 2nd X rudder steering engine 3223 respectively drive the first X rudder flow deflector 321 and the 2nd X rudder flow deflector 322 to different directions simultaneously
Tilt identical angle, the inclination maximum of the first X rudder flow deflector 321 and the 2nd X rudder flow deflector 322 is 15 °.
With reference to Fig. 3 and 4, straight rudder 33 includes a piece of straight rudder flow deflector 331 and is horizontally placed at the lower part outlet of duct 1, straight rudder
33 both ends pass through duct 1, and straight rudder 33 passes through the lower end that 1 side outer end of duct is connected to rudder pulling rod 333, straight rudder flow deflector 331
It is horizontally placed in duct 1 by straight rudder yoke 332 and free inclination rotation, specifically, straight rudder yoke is driven by straight rudder yoke 332
332 outer ends for passing through 1 side of duct are connected to the rudder pulling rod 333 for being vertically installed in 1 outside of duct by transmission connection piece 34
Lower end, the upper end of rudder pulling rod 333 is connected on the telescopic shaft of straight rudder steering engine 334, and straight rudder steering engine 334 is set to outside duct 1
Upper lateral part, the inclination maximum of straight rudder flow deflector 331 are 23 °.
Using shrouded propeller as main dynamical system in the present embodiment, it can be as the underwater unmanned navigation of more rotors
Device is equally vertically moved up or down, but can as torpedo horizontal travel, and there is good hovering performance, thus have both a variety of underwater
The advantages of unmanned vehicles.Meanwhile during navigation, culvert type unmanned vehicles can be navigated by adjusting around vertical axis rotation
To apply under complex flowfield environment.
With reference to Fig. 7, master control system 4 includes: master controller 41, electric machine controller 42, steering engine controller 43 and remote control reception
Machine 44, the pairing of remote-control receiver 44 are provided with remote controler 45 and receive the remote control command signal from remote controler 45, remote control
The main controller controls command signal output end of receiver 44 is connected to the control instruction signal receiving end of master controller 41, master control
The motor control instruction signal output end of device 41 processed is connected to the motor control instruction signal input part of electric machine controller 42, master control
The steering engine control instruction signal output end of device 41 processed is connected to the steering engine control instruction signal input part of steering engine controller 43, motor
The motor control instruction signal output end of controller 42 is connected to the motor control instruction signal input part of engine 22, steering engine control
Device 43 processed passes through the first X rudder steering engine control instruction signal output end, the 2nd X rudder steering engine control instruction signal output end and straight rudder rudder
Machine control instruction signal output end be respectively connected to the first X rudder steering engine 3213 the first X rudder steering engine control instruction signal input part,
2nd X rudder steering engine control instruction signal input part of the 2nd X rudder steering engine 3223 and the straight rudder steering engine control instruction of straight rudder steering engine 334
Signal input part, engine 22 are rotated by power source propeller 21 of the driving installation of drive shaft 23 into duct 1, the first X rudder
Steering engine 3213 and the 2nd X rudder steering engine 3223 pull installation to culvert by the first X rudder pull rod 3212 and the 2nd X rudder pull rod 3222 respectively
1 internally-powered source propeller 21 of road from the first X rudder flow deflector 321 and the 2nd X rudder flow deflector 322 below steady rudder system flow-guide fan 31
Wallowing motion, straight rudder steering engine 334 pull installation to the straight rudder flow deflector 331 at the lower part outlet of duct 1 by rudder pulling rod 333
Wallowing motion.
With reference to Fig. 7, underwater unmanned vehicle further includes several carry components 5, and several carry components 5 are respectively connected to be remotely controlled
Receiver 44, carry component 5 are installed to the side wall of duct 1, several carry component controls are provided on remote-control receiver 44 and are referred to
Signal output end is enabled, several carry component controls command signal output ends are respectively connected to the extension of corresponding carry component 5
Component controls command signal input terminal is carried, referring to figs. 1 to 4, if 1 upper outside of duct is along the circumferential direction evenly arranged with dry hanging article
Sleeve, pendant sleeve is by several even hoop assemblies 52 installations to 1 outside of duct, and even hoop assemblies 52 include one big hoop 521
With several small hoops 522, big hoop 521 is located at centre, and several small hoops 522 are uniformly distributed around big hoop 521, and big 521 sets of hoop is filled to culvert
1 outside of road, small hoop 522, which is located at 1 outside of duct and covers, to be filled on the outside of pendant sleeve, and pendant sleeve includes two steering engine sleeves 51,
Two steering engine sleeves 51 are symmetrically distributed in the two sides of duct 1, install 3213 He of the first X rudder steering engine in two steering engine sleeves 51 respectively
2nd X rudder steering engine 3223, the straight installation of rudder steering engine 334 to the steering engine for being equipped with the first X rudder steering engine 3213 or the 2nd X rudder steering engine 3223
In sleeve 51, pendant sleeve further includes several carry component sleeves, is not shown in the figure, corresponding installation in several carry component sleeves
Several carry components.In addition, above-mentioned master control system disclosed in the present embodiment also can be set in pendant sleeve, can be set
In in steering engine sleeve 51 or carry component sleeve.
A kind of single rotor duct underwater unmanned vehicle disclosed in the present embodiment uses modularized design, carry component
Function can arbitrarily replace, the quick adjustment capability of underwater unmanned vehicle complex job scene can be substantially improved, such as: underwater
Filming apparatus and/or undersea detection device and/or underwater positioning device and/or mechanical arm etc., can quick-replaceable, have product
There is the multiduty advantage of low cost.By carrying out different designs to uniformity module, each module is set to meet different application demands, no
It can be configured with block combiner and generate diversified operation underwater unmanned vehicle to meet different application demand.Will it is underwater nobody
Aircraft power system, form regulation system, operation element (carry component) each module separate design, assembling assembly, are conducive to
The standardization of each module component, Universal joint, assembly method summary reduce design difficulty, increase each component versatility with can
Commutative rate.Underwater unmanned vehicle modular structure design can make it have extremely strong environmental suitability and functional diversities, have
Effect improves the practical value of aircraft, reduces cost of manufacture, makes it have biggish market value.
In addition, a kind of single rotor duct underwater unmanned vehicle disclosed in the present embodiment is a kind of microminiature, manipulation side
Just, high maneuverability, submarine navigation device expansible, use cost is cheap.It is militarily low using its noise, the strong spy of concealment
Point can be used for underwater reconnaissance operation and hidden monitoring, using the longitudinal design of its propeller and modularization carry, it can be achieved that quickly more
Function is laid；On civilian, using the works radius of gyration be zero, quick buoyance lift the characteristics of, can be widely applied to narrow waters
With the detect operation of shallow water area, the insufficient disadvantage of existing Large Underwater aircraft mobility is compensated for.Such as: shallow water field river
The safety inspection etc. of underbody after Water Contamination Monitor, large-scale water transmission pipeline safety inspection, ship enter a port.Cause
This, single rotor culvert type unmanned vehicles have applications well prospect and preferable military benefit and social benefit.
With reference to Fig. 8, master control system 4 further includes power supply 46, and power supply 46 is respectively connected to lead by power supply circuit
Controller 41, electric machine controller 42, steering engine controller 43, remote-control receiver 44, motor 22, the first X rudder steering engine 3213, second
X rudder steering engine 3223, straight rudder steering engine 334 and several carry components 5, motor 22, the first X rudder steering engine 3213, the 2nd X rudder steering engine
3223, motor electromagnetic switch 461, the first X rudder are respectively arranged on the power supply circuit between straight rudder steering engine 334 and power supply 46
Steering engine electromagnetic switch 462, the 2nd X rudder steering engine electromagnetic switch 463 and straight rudder steering engine electromagnetic switch 464, motor electromagnetic switch 461 connects
It is connected to the motor control instruction signal output end of electric machine controller 42, the first X rudder steering engine electromagnetic switch 462, the 2nd X rudder steering engine electricity
Magnetic switch 463 and straight rudder steering engine electromagnetic switch 464 are respectively connected to the first X rudder steering engine control instruction signal of steering engine controller 43
Output end, the 2nd X rudder steering engine control instruction signal output end and straight rudder steering engine control instruction signal output end.
Referring to figs. 1 to Fig. 7, above-mentioned a kind of user of single rotor duct underwater unmanned vehicle disclosed in the present embodiment
Method includes: that remote controler 45 sends remote control instruction；Remote-control receiver 44 receives the remote control from remote controler 45 and instructs letter
Number；The control instruction signal for controlling underwater unmanned vehicle movement is forwarded to by remote-control receiver 44 respectively via master controller 41
Electric machine controller 42 and steering engine controller 43；Electric machine controller 42 controls engine 22 and drives power source propeller 21 in duct 1
Internal upper part rotation realizes that underwater unmanned vehicle suspends or floats；The water flow formed is rotated by power source propeller 21 in duct 1
It flows through and generates from steady rudder system flow-guide fan 31 from steady rudder system turning moment from top to bottom；From the direction of steady rudder system turning moment and dynamic
Power source propeller 21 rotates the contrary with symmetric screw propeller turning moment of the propeller turning moment generated；Steering engine controller
43 control the first X rudder steering engine 3213 and the 2nd X rudder steering engine 3223 simultaneously pulls the first X rudder flow deflector 321 and the 2nd X rudder to lead respectively
Flow 322 is to the identical inclination angle of different directions wallowing motion；In duct 1 from top to bottom from the water flow from steady rudder system flow-guide fan 31
It flows through the first X rudder flow deflector 321 and the 2nd X rudder flow deflector 322 generates rotation turning moment, realize underwater unmanned vehicle oneself
Rotation is made；Steering engine controller 43 controls straight rudder steering engine 334 and pulls straight 331 wallowing motion of rudder flow deflector；The first X rudder is come from duct
The water flow of flow deflector 321 and the 2nd X rudder flow deflector 322 flows through straight rudder flow deflector 331 from top to bottom keeps underwater unmanned vehicle whole
Body posture run-off the straight；And natural buoyancy and self gravity and power source propeller 21 the rotation generation of underwater unmanned vehicle
Buoyancy forms resultant force in the direction of advance or direction of retreat of unmanned vehicles under water, realizes that the forward or backward of aircraft is dynamic
Make.In addition, the control instruction signal of carry component is forwarded directly to corresponding carry component 5 by remote-control receiver 44, accordingly
Respective function is realized in 5 execution of carry component movement.
With reference to Fig. 7, in a kind of above-mentioned application method of single rotor duct underwater unmanned vehicle of the present embodiment, master control system
The control method of system 4 includes: that remote controler 45 sends remote control instruction；Remote-control receiver 44 receives the remote control from remote controler 45
Control instruction signal；Remote-control receiver 44 judges the type of the remote control command signal received；Remote control command signal
Type be master controller control instruction signal when, master controller 41 is sent to by main controller controls command signal output end
Command signal receiving end；Master controller 41 judges the type of the main controller controls command signal received；Master controller control
When the type of command signal processed is motor control instruction signal, motor control is sent to by motor control instruction signal output end
The motor control instruction signal input part of device 42；Electric machine controller 42 passes through motor control instruction signal output end for motor control
Command signal is sent to the motor control instruction signal input part of engine 22；Engine 22 is installed extremely by the driving of drive shaft 23
The rotation of power source propeller 21 in duct 1 realizes that underwater unmanned vehicle floats or suspends；Main controller controls command signal
Type be steering engine control instruction signal when, the steering engine of steering engine controller 43 is sent to by steering engine control instruction signal output end
Control instruction signal input part；Steering engine controller 43 judges the type of the steering engine control instruction signal received；Steering engine control refers to
When the type of signal being enabled to be X rudder steering engine control instruction signal, X rudder steering engine control instruction signal is distinguished as the control of the first X rudder steering engine
Command signal or the 2nd X rudder steering engine control instruction signal；First X rudder steering engine control instruction signal and the 2nd X rudder steering engine are controlled
Command signal is defeated by the first X rudder steering engine control instruction signal output end and the 2nd X rudder steering engine control instruction signal respectively simultaneously
Outlet be sent to the first X rudder steering engine 3213 the first X rudder steering engine control instruction signal input part and the 2nd X rudder steering engine 3223
Two X rudder steering engine control instruction signal input parts；First X rudder steering engine 3213 and the 2nd X rudder steering engine 3223 are drawn by the first X rudder respectively
Bar 3212 and the 2nd X rudder pull rod 3222 pull installation to 1 internally-powered source propeller 21 of duct from steady rudder system flow-guide fan 31 simultaneously
Following the first X rudder flow deflector 321 and the 2nd X rudder flow deflector 322 generates underwater unmanned vehicle to different directions wallowing motion
Turning moment needed for realizing rotation movement；When the type of steering engine control instruction signal is straight rudder steering engine control instruction signal, lead to
Cross the straight rudder steering engine control instruction signal input part that straight rudder steering engine control instruction signal output end is sent to straight rudder steering engine 334；And
Straight rudder steering engine 334 pulls installation to straight 331 wallowing motion of rudder flow deflector at the lower part outlet of duct 1 by rudder pulling rod 333
Realize the forward or backward action of aircraft.In addition, the type of remote control command signal is carry component controls command signal
When, remote-control receiver 44 distinguishes carry component controls instruction signal type, is exported by corresponding carry component controls command signal
End is sent to the carry component controls command signal input terminal of corresponding carry component 5, and the corresponding movement of carry component 5 is realized
Respective function.
With reference to Fig. 8, the control method of master control system 4 in the present embodiment further include: power supply 46 passes through power supply circuit and unites
One is master controller 41, electric machine controller 42, steering engine controller 43, remote-control receiver 44, motor 22, the first X rudder steering engine
3213, the 2nd X rudder steering engine 3223, straight rudder steering engine 334 and the power supply of several carry components 5.Further, electric machine controller 42 passes through
Motor electromagnetic switch 461 controls the on-off of the power supply circuit of motor 22, and steering engine controller 43 passes through the first X rudder steering engine electricity respectively
Magnetic switch 462, the 2nd X rudder steering engine electromagnetic switch 463 and straight rudder steering engine electromagnetic switch 464 control the first X rudder steering engine 3213, second
The on-off of the power supply circuit of X rudder steering engine 3223 and straight rudder steering engine 334.
The present embodiment combination single rotor aircraft promotes and a kind of innovative underwater unmanned boat of the conceptual design of ducted fan
Row device, by reasonable Arrangements such as power source propeller, engine and master control systems in a duct, whole design uses vertical cloth
Office.Guarantee navigation stability and it is handling in the case where realize concentrate, the design of compact and more preferably hydrodynamics
Energy.Using single rotor propeller as underwater unmanned vehicle core cell, duct power and form regulation system are formed, is made it have
High efficiency, the easily multiple advantages such as manipulation, low noise, multipurpose.To keep fuselage axial stability, inside duct, cloth is designed
It sets the fixed guide vane with certain angle to be formed from steady rudder system flow-guide fan, enables the turning moment generated thereon and power source spiral shell
The given birth to turning moment balance of paddle is revolved, prevents from occurring because of the underwater unmanned vehicle overturning that propeller rotates and generates；From surely
The installation of rudder system flow-guide fan rear can control by X rudder steering engine, the X rudder flow deflector that can turn an angle, with generate it is underwater nobody
Turning moment needed for aircraft realizes underwater unmanned vehicle rotation movement, so that underwater unmanned vehicle has almost
Zero turning radius greatly improves the flexibility of aircraft；In duct exit, installation can be controlled straight by straight rudder steering engine
Rudder flow deflector, realizes the forward-reverse movement of underwater unmanned vehicle, and multiple groups control the synergy of blade, can produce a variety of appearances
State control force and control moment, so that underwater unmanned vehicle has splendid flexibility.
In addition, the energy of underwater unmanned vehicle disclosed in the present embodiment reduces line using unified power supply supply
Road arrangement, reduces system complexity, while can carry different carry components to complete the mission requirements under different condition.Outside dress
There is waterproof carry component, for disposing master control system and equipment.Under water floating, dive, a left side can be realized by remote controler
Right turn and the basic function fallen back of advancing, cooperate added underwater camera functional module that can complete undersea detection and photography
Function replaces carry module, can complete different underwater operation tasks.Underwater unmanned vehicle overall length disclosed in the present embodiment
400mm, the widest part 272mm, speed of a ship or plane 0-1m/s are continuously adjustable；The radius of gyration is almost 0m, maximum boat depth 10m, the cruise time
50min (2200mAh power supply), diving speed 0-0.6m/s are continuously adjustable；Data transmission supports have cable transmission (to provide network to connect
Mouthful) and short range wireless transmission (2.4G, 5.8G double frequency).
Although above having made detailed description to the utility model with generality explanation and specific embodiment,
On the basis of the utility model, it can be made some modifications or improvements, this is apparent to those skilled in the art
's.Therefore, these modifications or improvements on the basis of without departing from the spirit of the present invention, belong to the utility model and want
Seek the range of protection.
Claims (6)
1. a kind of single rotor Ducted propeller for underwater unmanned vehicle, which is characterized in that the propeller includes: power
The engine of source propeller and driving power source propeller rotation, the power source propeller and the engine are vertically built in
In one cylindrical duct, the engine is located at below the power source propeller, the power source propeller install to
In the drive shaft of the engine, several fixed guide vanes are additionally provided with below the power source propeller.
2. a kind of single rotor Ducted propeller for underwater unmanned vehicle according to claim 1, which is characterized in that
The power source propeller and several fixed guide vane outer covers are equipped with cylindrical outer cover, and the outer cover is top closed
And it outwardly protrudes to form male part in center, the outer cover lower openings, the connecting plate that the outer cover is arranged by side
It installs to the inside of the duct.
3. a kind of single rotor Ducted propeller for underwater unmanned vehicle according to claim 2, which is characterized in that
Several fixed guide vanes by circular ring shape fixed frame formation circular ring shape from steady rudder system flow-guide fan, lead by several fixations
Stream blade is evenly distributed between the interior annular and outer toroid of the fixed frame, and the interior annular of the fixed frame is set in the hair
In the drive shaft of motivation, the outer toroid of the fixed frame is installed to the outer cover.
4. a kind of single rotor Ducted propeller for underwater unmanned vehicle according to claim 3, which is characterized in that
The fixed guide vane extends to form strip blade from the interior annular of fixed frame to outer toroid, and the strip blade is vertical
It is arranged and forms arcwall face in the vertical direction.
5. a kind of single rotor Ducted propeller for underwater unmanned vehicle according to claim 4, which is characterized in that
The bending direction of the arcwall face of fixed guide vane between the interior annular and outer toroid of the fixed frame is consistent.
6. a kind of single rotor Ducted propeller for underwater unmanned vehicle according to claim 5, which is characterized in that
Fluid revolves in the direction of the turning moment of the arcwall face formation of the fixed guide vane and the power source propeller in duct
It changes the line of production the contrary of raw turning moment.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820699974.7U CN208683080U (en) | 2018-05-11 | 2018-05-11 | A kind of single rotor Ducted propeller for underwater unmanned vehicle |
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| CN201820699974.7U CN208683080U (en) | 2018-05-11 | 2018-05-11 | A kind of single rotor Ducted propeller for underwater unmanned vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112660354A (en) * | 2019-10-16 | 2021-04-16 | 上海欧迅睿智能科技有限公司 | Water jet propulsion device and double-sided water navigation device |
| CN116605389A (en) * | 2023-06-30 | 2023-08-18 | 湖南大学 | A ring-shaped underwater robot and its control method |
-
2018
- 2018-05-11 CN CN201820699974.7U patent/CN208683080U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112660354A (en) * | 2019-10-16 | 2021-04-16 | 上海欧迅睿智能科技有限公司 | Water jet propulsion device and double-sided water navigation device |
| CN116605389A (en) * | 2023-06-30 | 2023-08-18 | 湖南大学 | A ring-shaped underwater robot and its control method |
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