CN103754342B - The rudder type transfer device of a kind of " X " word rudder and " ten " word rudder - Google Patents
The rudder type transfer device of a kind of " X " word rudder and " ten " word rudder Download PDFInfo
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- CN103754342B CN103754342B CN201410011716.1A CN201410011716A CN103754342B CN 103754342 B CN103754342 B CN 103754342B CN 201410011716 A CN201410011716 A CN 201410011716A CN 103754342 B CN103754342 B CN 103754342B
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Abstract
The invention discloses the rudder type transfer device of one " X " word rudder and " ten " word rudder, relate to steering control system and the device field of submarine.Comprise rudder body, spherical connecting body and ship tail framework, normal-running fit between the shoe arm of spherical connecting body and ship tail framework, one end of spherical connecting body is connected with rudder body by adapter shaft, the other end of spherical connecting body is fixedly connected with by kinetoplast, passive external side is provided with active body, be spheroidal shell-and-plate permanent magnet by kinetoplast and active body, by kinetoplast, active body and spherical connecting body are all concentric to be arranged, separated by the spheroidal plate be connected with shoe arm by between kinetoplast and active body, the outside of active body is provided with and drives active body to horizontally rotate the drive configuration with vertical rotation.Conversion between word rudder type that the present invention realizes smoothly " X " and " ten " word rudder type, the evasive maneuvering of " X " word rudder, quietness and " ten " word rudder can hand be grasped, reliability organically combines, improves road-holding property and the safety of Submarine.
Description
Technical field
The present invention relates to steering control system and the device field of submarine.
Background technology
Along with the lifting of modern consumption idea, coastal spending a holiday becomes the new fashion of one way of life.Earth ocean area takes up an area ball total surface area 71%, slips into wide sea floor world, and experiencing Ocean Living has become the long-standing yearning of the mankind.Tour submarine refers to employing business operation model, visitor is loaded into the manned submersible carrying out going sightseeing under water.Therefore, to the space maneuvering performance of tour submarine, there is very high requirement, design the aspect performances such as a type manoeuvre, economy and reliability and be excellent rudder system and have great importance.
At present, the rudder system of submarine is made up of rudder system and elevator system, and two kinds of rudder systems are by rudder blade, rudder stock and steering gear composition, and rudder is divided into two kinds substantially at submarine tail control surface arrangement form, i.e. " ten " word rudder system and " X " word rudder system.
The afterbody of modern dripping-shape submarine adopts the cross rudder of Double-axis transmission to arrange mostly, and namely yaw rudder becomes " ten " font to be arranged in the afterbody of submarine with tail elevating rudder.This pattern can keep suitable operating characteristic, and road-holding property is good, but the situation exceeding ship type profile often appears in rudder blade layout; Meanwhile, although cross rudder can make naval vessels implementation space move, be difficult to be controlled by steering, improve to the serious heel of motor-driven middle appearance, thus limit the motor-driven speed of revolution and safety; In addition, to the rudder card that may occur, particularly during afterbody diving rudder card, also very serious consequence will be produced.
" X " word rudder is that four rudders are in " X " quadrature arrangement, there is not yaw rudder and tail elevating rudder in " X " word rudder system, four orthogonal thereto layouts of rudder blade of submarine tail control surface, the angle of the transverse and longitudinal midship section of each rudder blade and submarine is 45 degree, the rotation of each rudder blade all can cause the gyroscopic movement of submarine in horizontal surface and vertical surface, therefore needs adopt the snorkeling of two or four rudder blade Comprehensive Control submarine simultaneously or turn to." X " is although rudder overcomes the problem such as ultra-wide, rudder card of " ten " word rudder, also the heel in turning course can be controlled by suitable steering, but the operation of X word rudder is not directly perceived, its central control system is comparatively complicated simultaneously, be difficult to realize manual hand manipulation, or carry out the conversion of M/C and automatic operation.Under equal conditions, " X " word rudder is little by 15% compared with the radius of turn of " ten " word rudder, and turning interval is little by about 6%." X " font rudder steering quietness is better.But the steering of " X " word rudder type must have computer system to carry out program steering, and it denounces to main power source dependence, program stability, generally must have manual steering stand-by program.
Therefore develop a kind of reversible type " X " word rudder and " ten " word rudder transfer device and " X " word rudder structure thereof, just seem very necessary.It makes submersible (submarine) when normal/cruise with the program control steering of industrial computer, and when main power source is unstable or main program is made mistakes, convert " X " word rudder to " ten " word rudder with backup power energy, afterwards with steering manually, and corresponding reduction ship is fast.
Summary of the invention
The technical problem to be solved in the present invention is to provide the rudder type transfer device of one " X " word rudder and " ten " word rudder, this transfer device can realize the conversion between " X " word rudder type and " ten " word rudder type smoothly, the evasive maneuvering of " X " word rudder, quietness and " ten " word rudder can hand be grasped, reliability organically combines, be somebody's turn to do the feature that " X " word steering wheel structure combines control and manual emergency operation automatically, improve deep submergence vehicle or submarine safety index.
For solving the problems of the technologies described above, the technical solution used in the present invention is: a kind of " X " word rudder and " ten " word rudder transfer device, it is characterized in that comprising rudder body, spherical connecting body and ship tail framework, normal-running fit between the shoe arm of described spherical connecting body and ship tail framework, one end of described spherical connecting body is connected with rudder body by adapter shaft, the other end of spherical connecting body is fixedly connected with by kinetoplast, described passive external side is provided with active body, be spheroidal shell-and-plate permanent magnet by kinetoplast and active body, described by kinetoplast, active body and spherical connecting body are all concentric to be arranged, separated by the spheroidal plate be connected with shoe arm by between kinetoplast and active body, the outside of described active body be provided with drive active body horizontally rotate with vertical rotation drive configuration.
Be further described said structure, the hemisphere face of described active body is provided with at least one pair of magnetic pole of S-N-S-N-S, and the hemisphere face of kinetoplast is provided with at least one pair of magnetic pole of N-S-N-S-N, and the two is mounted opposite, and polarity is contrary.
Said structure is further described, described drive configuration comprises radial worm gear, radial worm screw, broadwise worm gear and broadwise worm screw, the outer wall of described active body is provided with radial worm gear and broadwise worm gear, the scallop that radial worm gear passes is provided with in the middle part of described broadwise worm gear, radial worm gear coordinates with broadwise worm screw, and broadwise worm gear coordinates with radial worm screw.
Be further described said structure, the free end of described broadwise worm screw and radial worm screw is equipped with can the hydraulic pressure four-bar mechanism receiving, fall, and described four-bar mechanism coordinates with broadwise worm screw and warp-wise worm screw and rotates.
Said structure is further described, the outside of described active body is provided with two arc-shaped rail spiral cases, point up and down and the front and back point of active body are provided with needle bearing, its needle bearing put up and down connects as one active body and radial worm gear, and the needle bearing of front and back point connects as one active body and broadwise worm gear.
Be further described said structure, arrange two little shoulder nests in described guide rail spiral case, it rolls with active body and coordinates, and the fan-shaped rail hole of the swing for worm screw arranged in the middle part of guide rail spiral case, the outside face of guide rail spiral case is fixed by bolt and hull.
Said structure is further described, between the shoe arm of described spherical connecting body and ship tail framework, is provided with spherical shell bearing.
Said structure is further described, the transmission of power end of described warp-wise worm screw and broadwise worm screw passes through cardan drive, warp-wise worm screw and broadwise worm screw are 12.5 degree ~ 13.5 degree around working direction pendulum angle, the two ends of described warp-wise worm screw and broadwise worm screw are by the bearing support with spin, and described spin is rolled with arc track and coordinated.
Be further described said structure, described rudder body comprises rudder blade and rudderpost, is structure as a whole between described rudder blade and rudderpost, and rudder blade sectional line style is JFSIR15, and the rudder blade exhibition side of a ship is than 2-2.7, and rudder blade side of a ship casterangle tilts backwards 16 degree.
Principle of work of the present invention: owing to being in deep water inside when the present invention works, require the sealing that submarine is absolute, in order to ensure that inner drive configuration realizes the operation to outside rudder body, adopt permanent magnetic realize active body with by the interlock of kinetoplast.Because rudder body is when normally using, need pitching and swing, in rudder type switching process, need the angle changing rudder body, therefore require that rudder body has the rotation around x, y, z three center shafts, devise rudder body by spherical connecting body and the structure became one by kinetoplast, achieve three rotary freedoms.Rudder blade in the present invention rotates along Z axis, and the varying motion in course made by ship, and when rotating along Y-axis, ascending, descending campaign done by ship, when this device rotates 45 degree along X main shaft, can make rudder type and change, carry out the conversion of " X " word rudder and " ten " word rudder.
Due to active body in the present invention and the globosity being setting with one heart by kinetoplast, by the extremely alternate setting of the N-S of magnet, permanent magnetic is utilized to realize interlock, step-less adjustment.In addition, realized three rotary freedoms of active body by mechanical drive between active body and drive configuration, this mechanical drive is coordinated by turbine and worm, and the relative active body pitching of two worm screws and swinging, and pass through rotary worm, drive worm gear, realize the rotation of rudder blade around Y, Z-axis direction.
The beneficial effect adopting technique scheme to produce is:
1) the rudder type transfer device of " X " word rudder in the present invention and " ten " word rudder, the change of rudder type can be realized, by the drive configuration operation active body in cabin, active body by Magnetic Control out of my cabin by kinetoplast, rudder is driven to move by kinetoplast, can transform between " X " word rudder and " ten " word rudder type, submersible can be realized and pass through industrial computer program control steering when normal/cruise with " X " word rudder pattern, when main power source is unstable, or when program is made mistakes, " X " word rudder is converted to " ten " word rudder with backup power energy, afterwards with steering manually,
2) the present invention just makes the evasive maneuvering of " X " word rudder, quietness and " ten " word rudder can grasp reliability combination, have the feature of control automatically and manual emergency operation combination by hand, thus improves the safety indexes of deep submergence vehicle or submarine; Utilize permanent magnetic to realize active body in the present invention and by the driving between kinetoplast, do not need mechanical equipment to connect, separating both by austenitic stainless steel spheroidal plate, ensure that the leak tightness of deep submergence vehicle (ship) rudder gear and installation thereof;
3) the present invention utilizes spherical connecting body to realize being connected by the transition between kinetoplast with rudder blade, and can realize step-less adjustment, comprise the interlock of horizontal direction, vertical direction and both direction, rudder type can slowly change, and prevents from damaging rudder blade;
4) in addition, in the present invention, " X " word rudder is structure as a whole, be connected with spherical connecting body by adapter shaft, do not exist between each rudder blade and relatively rotate, and be provided with certain side of a ship inclination angle and aspect ratio, active body and by the electromagnetic force of kinetoplast connect design, have buffer action to rudder blade when foreign matter collides, indirectly improve the safety of steering system of submarine;
(5) transfer device in the present invention realizes the perfect transition of " X " word rudder and " ten " word rudder, and ensure that the operating efficiency of two kinds of rudder types.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.
Fig. 1 is structural representation of the present invention;
Fig. 2 is A-A cutaway view in Fig. 1, the i.e. generalized section of rudder blade;
Fig. 3 is B-B partial view in Fig. 1, the i.e. structural representation of radial worm screw;
Fig. 4 is the schematic diagram of active body and drive configuration in Fig. 1;
Fig. 5 is D-D cutaway view in Fig. 4;
Fig. 6 is the structural representation of guide rail spiral case;
Fig. 7 is the birds-eye view of Fig. 6;
Fig. 8 is the left view of Fig. 6;
Fig. 9 is the schematic diagram of radial worm screw and axial worm screw and the transmission of contact bar in Fig. 1;
Figure 10 is the coordinate diagram that dark ship device (ship) is handled;
Wherein: 1, ship tail framework, 2, shoe arm, 3, spherical shell bearing, 4, spherical connecting body, 5, adapter shaft, 6, rudder body, 7, side bearing, 8, by kinetoplast, 9, active body, 10, radial worm gear, 11, radial worm screw, 12, broadwise worm gear, 13, broadwise worm screw, 14, rotatable communication bar, 15, guide rail spiral case, 16, needle bearing, 17, universal-joint, 18, spin, 19, arc track, 20, four-bar mechanism.
Detailed description of the invention
Known with reference to the accompanying drawings, the present invention is specifically related to the rudder type transfer device of one " X " word rudder and " ten " word rudder, this application of installation is in cruise yacht or deep submergence vehicle, under ensureing that " X " word rudder normally runs the prerequisite automatically controlled, under emergent situation, the manipulation of manually operated " ten " word rudder can be converted to.
With reference to the accompanying drawings shown in 1, above-mentioned transfer device specifically comprises rudder body 6, spherical connecting body 4 and ship tail framework 1, normal-running fit between the shoe arm 2 of spherical connecting body 4 and ship tail framework 1, one end of spherical connecting body 4 is connected with rudder body 6 by adapter shaft 6, the other end of spherical connecting body 4 is fixedly connected with by kinetoplast 8, active body 9 is provided with by outside kinetoplast 8, be spheroidal shell-and-plate permanent magnet by kinetoplast 8 and active body 9, by kinetoplast 8, active body 9 is arranged with spherical connecting body 4 is all concentric, separated by the spheroidal plate be connected with shoe arm 2 by between kinetoplast 8 and active body 9, the outside of active body 9 be provided with drive active body 9 horizontally rotate with vertical rotation drive configuration.Wherein separate active body 9 for sealing and be austenitic stainless steel equivalent material by the material of the spheroidal plate of kinetoplast 8, prevent magnetic line of force to be shorted.
In fig. 1, the hemisphere face of active body 9 is provided with at least one pair of magnetic pole of S-N-S-N-S, and the hemisphere face of kinetoplast 8 is provided with at least one pair of magnetic pole of N-S-N-S-N, and the two is mounted opposite, and polarity is contrary.
In order to accurately reflect that active body 9 coordinates with the connection of drive configuration, can with reference to attached Figure 4 and 5, wherein drive configuration comprises radial worm gear 10, radial worm screw 11, broadwise worm gear 12 and broadwise worm screw 13, the outer wall of active body 9 is provided with radial worm gear 10 and broadwise worm gear 12, the scallop that radial worm gear 10 passes is provided with in the middle part of broadwise worm gear 12, fan-shaped rail endoporus is wherein the space swung for worm screw, radial worm gear 10 coordinates with broadwise worm screw 13, broadwise worm gear 12 coordinates with radial worm screw 11, broadwise worm screw 13 is equipped with can receives by hydraulic pressure with the free end of radial worm screw 11, the four-bar mechanism 20 fallen, four-bar mechanism 20 coordinates with broadwise worm screw 13 and warp-wise worm screw 11 and rotates.When four-bar mechanism 20 device normal (now rudder blade system is X word rudder type) works, be closed flat and rotate together with broadwise worm screw 13 or warp-wise worm screw 11.Namely, when device normally runs, do with X word steersman.Submarine Control system gives two worm screw HM Hydraulic Motor sensors with signal with the program of middle control machine, and two worm screws can be synchronized in the same way, or variable speed or independently moving in the same way, and the course that just can realize submarine changes and the manipulation of ascending, descending campaign.
In attached Figure 4 and 5, in order to ensure that active body 9 can in the rotation of axial direction, external motive device is utilized to drive radial worm screw 11 and the broadwise worm screw 13 vertical rotation in surface shown in Fig. 4, broadwise worm screw 13 in rotation process, warp-wise worm screw 11 drives radial worm gear 10 respectively, broadwise worm gear 12 and active body 9 rotate, therefore following structure is devised: the outside of active body 9 is provided with two arc-shaped rail spiral cases 15, point up and down and the front and back point of active body 9 are provided with needle bearing 16, its needle bearing 16 put up and down connects as one active body 9 and radial worm gear 10, the needle bearing 16 of front and back point connects as one active body 9 and broadwise worm gear 12, during steering, radial worm gear 10 and broadwise worm gear 12 freely swing relative to active body 9.
In FIG, in order to ensure spherical connecting body 4 and shoe arm 2 normal-running fit, between spherical connecting body 4 and the shoe arm 2 of ship tail framework 1, be provided with spherical shell bearing 3, this spherical shell bearing 3 inner ring contacts with spherical connecting body 4 part surface, outer ring and tail support 2 and coordinate, and ensure without hindrance rotation.
In accompanying drawing 9, by universal-joint 17 transmission between one end of warp-wise worm screw 11 and broadwise worm screw 13 and rotatable communication bar 14, warp-wise worm screw 11 and broadwise worm screw 13 are 12.5 degree ~ 13.5 degree around wherein mandrel swings angle, warp-wise worm screw 11 is connected with drive motor with the power end of broadwise worm screw 13, the bearing support of the two end band spin 18 of warp-wise worm screw 11 and broadwise worm screw 13, worm screw can rotate freely within the bearing, and spin 18 is rolled with arc track 19 and coordinated.
Arranging in free one end of broadwise worm screw 13 and radial worm screw 11 can the hydraulic pressure four-bar mechanism 20 receiving, fall, and this mechanism is closed flat when device normally works and rotates together with broadwise worm screw 13 or warp-wise worm screw 11.
When device is in emergent situation, decontrol rotatable communication bar 14 with hydraulic gear, contact bar 14 free end can be connected with active body 9, to realize the conversion of the rudder type of " X " word rudder and " ten " word rudder.After the rudder type conversion completing " X " word rudder and " ten " word rudder, being about to broadwise worm screw 13 is again closed flat with the bar 14 that contacts of radial worm screw 11 liang of free ends, manually individual operation broadwise worm screw 13 or radial worm screw 11 afterwards, with the ascending, descending campaign of the horizontal course and ship that control submarine, by universal-joint 17 transmission between transmission of power one end of warp-wise worm screw 11 and broadwise worm screw 13 and worm screw, power intake connects HM Hydraulic Motor.
The present invention adopts universal-joint 17 connecting worm and active body 9, and when worm screw can be made to rotate, freely swinging of worm screw, wherein spin 18 is rolled in arc track 19, and pendulum angle is at about 14 degree simultaneously.
In addition, the present invention is in order to prevent from warp-wise worm screw 11 and broadwise worm screw 13 to coordinate with active body 9 installing and interfering appears in motion process, spy offers scallop on the surface of broadwise worm gear 12, make broadwise worm screw 13 through broadwise worm gear 12, outside active body 9, be also provided with guide rail spiral case 15, arrange two little shoulder nests in guide rail spiral case 15, it rolls with active body 9 and coordinates simultaneously, the fan-shaped rail hole of the swing for worm screw arranged in the middle part of guide rail spiral case 15, the outside face of guide rail spiral case 15 is fixed by bolt and hull.As shown in accompanying drawing 6,7 and 8, the arcuate socket on this guide rail spiral case 15 can ensure the motion of turbine and worm on three rotational freedoms.
Accompanying drawing 2 is that it specifically comprises rudder blade and rudderpost, is structure as a whole between described rudder blade and rudderpost, and rudder blade sectional line style is JFSIR15 for " X " word steering wheel structure in this transfer device, and the rudder blade exhibition side of a ship is than 2-2.7, and rudder blade side of a ship inclination angle tilts backwards 16 degree.This mechanism and traditional rudder difference are: rudder blade is not swingable, and itself and rudderpost are structure as a whole, and ensure the stability of rudder in switching process, the setting at side of a ship inclination angle in addition, when can prevent from occurring deflection in rudder type switching process, other components are produced and interferes, thus damage rudder itself.Meanwhile, active body and by the electromagnetic force of kinetoplast connect design, have buffer action to rudder blade when foreign matter collides, indirectly improve the safety of Submarine Control system.
Course of action of the present invention is as follows: when deep submergence vehicle or tour submarine provide actuating force at the normal rudder body handled in navigation in the present invention with " X " word rudder, utilize the control of the structure pitching of programming control steering wheel and left and right two degree of freedom, realize deep submergence vehicle and rise, decline and turning action; When submarine main power source dead electricity, or main program is when makeing mistakes, the transfer device that battery power controls in the present invention should be adopted, with backup power, rudder blade is rotated back into neutral position, rotatable communication bar 14 is decontroled: rotatable communication bar 14 free end can be connected with active body 9, pulls two worm screws by hand, and worm screw turns over 45 degree together with device body along X-axis with worm screw hydraulic gear, wherein spin 18 is slided in arc track 19, spin 18 and arc track 19 is locked afterwards again.After the rudder type conversion of finishing device, " ten " word rudder getting final product manual control two worm screw implement device is handled.Simultaneously, after the rudder type conversion completing " X " word rudder and " ten " word rudder, the contact bar 14 of broadwise worm screw 13 with radial worm screw 11 liang of free ends should be closed flat, individually operate broadwise worm screw 13 or radial worm screw 11 again, the i.e. divertical motion of practicable ship and ascending, descending motion control, meanwhile, the submarine speed of a ship or plane should be reduced.That is to say: the rotatable roller of two worm screws is rotated at ship tail framework, turn over 45 degree respectively, and two worm screws are passed through rotatable communication rod lock on active body 9, active body 9 borrows electromagnetic force to drive by kinetoplast 8 and structure rotation 45 degree thereof, such rudder ontology translation is " ten " word rudder type, all be placed in neutral position by horizontal surface Heading control with along the depth control flaps of vertical, afterwards, namely can realize emergency steering by manpower manual.
Therefore the present invention has the advantage of " ten " word rudder and " X " type rudder concurrently, by steering alerting ability, quietness, can the organically combining by hand steering of automation and dead electricity, has the advantages that to guarantee deep submergence vehicle safety of navigation.
The above; be only the specific embodiment of the present invention; but protection scope of the present invention is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses; be equal to according to technical scheme of the present invention and design thereof and replace or change, all should be encompassed in protection scope of the present invention.
Claims (9)
1. the rudder type transfer device of " X " word rudder and " ten " word rudder, it is characterized in that comprising rudder body (6), spherical connecting body (4) and ship tail framework (1), normal-running fit between the shoe arm (2) of described spherical connecting body (4) and ship tail framework (1), one end of described spherical connecting body (4) is connected with rudder body (6) by adapter shaft (5), the other end of spherical connecting body (4) is fixedly connected with by kinetoplast (8), described by kinetoplast (8) outside be provided with active body (9), be spheroidal shell-and-plate permanent magnet by kinetoplast (8) and active body (9), described by kinetoplast (8), active body (9) is arranged with spherical connecting body (4) is all concentric, separated by the spheroidal plate be connected with shoe arm (2) by between kinetoplast (8) and active body (9), the outside of described active body (9) be provided with drive active body (9) horizontally rotate with vertical rotation drive configuration.
2. the rudder type transfer device of one according to claim 1 " X " word rudder and " ten " word rudder, it is characterized in that the hemisphere face of described active body (9) is provided with at least one pair of magnetic pole of S-N-S-N-S, the hemisphere face of kinetoplast (8) is provided with at least one pair of magnetic pole of N-S-N-S-N, the two is mounted opposite, and polarity is contrary.
3. the rudder type transfer device of one according to claim 1 " X " word rudder and " ten " word rudder, it is characterized in that described drive configuration comprises radial worm gear (10), radial worm screw (11), broadwise worm gear (12) and broadwise worm screw (13), the outer wall of described active body (9) is provided with radial worm gear (10) and broadwise worm gear (12), described broadwise worm gear (12) middle part is provided with the scallop that radial worm gear (10) passes, radial worm gear (10) coordinates with broadwise worm screw (13), and broadwise worm gear (12) coordinates with radial worm screw (11).
4. the rudder type transfer device of one according to claim 3 " X " word rudder and " ten " word rudder, it is characterized in that the free end of described broadwise worm screw (13) and radial worm screw (11) is equipped with can the hydraulic pressure four-bar mechanism (20) receiving, fall, and described four-bar mechanism (20) coordinates with broadwise worm screw (13) and warp-wise worm screw (11) and rotates.
5. the rudder type transfer device of one according to claim 1 " X " word rudder and " ten " word rudder, it is characterized in that the outside of described active body (9) is provided with two arc-shaped rail spiral cases (15), point up and down and the front and back point of active body (9) are provided with needle bearing (16), its needle bearing put up and down (16) connects as one active body (9) and radial worm gear (10), and the needle bearing (16) of front and back point connects as one active body (9) and broadwise worm gear (12).
6. the rudder type transfer device of one according to claim 5 " X " word rudder and " ten " word rudder, it is characterized in that arranging two little shoulder nests in described guide rail spiral case (15), it rolls with active body (9) and coordinates, the fan-shaped rail hole of the swing for worm screw that guide rail spiral case (15) middle part is arranged, the outside face of guide rail spiral case (15) is fixed by bolt and hull.
7. the rudder type transfer device of one according to claim 1 " X " word rudder and " ten " word rudder, is provided with spherical shell bearing (3) between the shoe arm (2) that it is characterized in that described spherical connecting body (4) and ship tail framework (1).
8. the rudder type transfer device of one according to claim 4 " X " word rudder and " ten " word rudder, it is characterized in that the transmission of power end of described warp-wise worm screw (11) and broadwise worm screw (13) is by universal-joint (17) transmission, warp-wise worm screw (11) and broadwise worm screw (13) are 12.5 degree ~ 13.5 degree around working direction pendulum angle, the two ends of described warp-wise worm screw (11) and broadwise worm screw (13) are by the bearing support with spin (18), and described spin (18) is rolled with arc track (19) and coordinated.
9. the rudder type transfer device of one according to claim 1 " X " word rudder and " ten " word rudder, it is characterized in that described rudder body (6) comprises rudder blade and rudderpost, be structure as a whole between described rudder blade and rudderpost, rudder blade sectional line style is JFSIR15, the rudder blade exhibition side of a ship is than 2-2.7, and rudder blade side of a ship casterangle tilts backwards 16 degree.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410011716.1A CN103754342B (en) | 2014-01-10 | 2014-01-10 | The rudder type transfer device of a kind of " X " word rudder and " ten " word rudder |
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| CN201410011716.1A CN103754342B (en) | 2014-01-10 | 2014-01-10 | The rudder type transfer device of a kind of " X " word rudder and " ten " word rudder |
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| CN108216536B (en) * | 2016-12-09 | 2019-09-06 | 中国科学院沈阳自动化研究所 | A kind of light-duty unmanned underwater robot steering gear |
| CN108313253B (en) * | 2018-01-24 | 2019-10-18 | 韩先锋 | " X " rudder and the convertible rudder system of " ten " word rudder |
| CN113716003B (en) * | 2021-09-27 | 2022-11-15 | 中国人民解放军海军工程大学 | X-shaped rudder underwater vehicle and rudder clamp anti-sinking method thereof |
| CN115056948B (en) * | 2022-06-10 | 2023-08-22 | 华中农业大学 | Unmanned underwater vehicle stern rudder position autonomous switching control method and system |
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| DE102010030246A1 (en) * | 2010-06-17 | 2011-12-22 | Zf Friedrichshafen Ag | Ball-and-socket joint for vehicle, has permanent magnet that is arranged facing the joint ball such that ball surface area of joint ball departs with respect to magnet by magnetic field |
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| JP2009234393A (en) * | 2008-03-26 | 2009-10-15 | Nec Corp | Command steering angle calculation device in x rudder of submarine boat, and method |
| SI23215A (en) * | 2009-11-11 | 2011-05-31 | Univerza V Ljubljani | Vessel control mechanism |
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|---|---|---|---|---|
| DE102010030246A1 (en) * | 2010-06-17 | 2011-12-22 | Zf Friedrichshafen Ag | Ball-and-socket joint for vehicle, has permanent magnet that is arranged facing the joint ball such that ball surface area of joint ball departs with respect to magnet by magnetic field |
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| X舵潜艇等效舵角转换装置设计与仿真分析;胡坤等;《船舶》;20050625(第3期);全文 * |
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