CN109250056B - Tail rudder of underwater vehicle - Google Patents
Tail rudder of underwater vehicle Download PDFInfo
- Publication number
- CN109250056B CN109250056B CN201811181327.8A CN201811181327A CN109250056B CN 109250056 B CN109250056 B CN 109250056B CN 201811181327 A CN201811181327 A CN 201811181327A CN 109250056 B CN109250056 B CN 109250056B
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- rudder
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- shaft
- steering engine
- steering
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- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 238000007789 sealing Methods 0.000 claims description 10
- 238000009434 installation Methods 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000011900 installation process Methods 0.000 description 3
- 241000243320 Hydrozoa Species 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 239000004519 grease Substances 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/18—Control of attitude or depth by hydrofoils
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses an underwater vehicle tail rudder, which comprises a shell, a steering engine mounting plate, a tail vane plate, a rudder plate shaft, a rudder plate, a bevel gear and a rudder shaft; three steering engine ear plates and three steering shaft ear plates are arranged in the shell at equal intervals, three steering tables are arranged on the outer sides of the steering engine ear plates, and the steering shaft ear plates are arranged in the steering tables; the steering engine ear plate is in threaded connection with a steering engine mounting plate, and three groups of steering engines are arranged on the steering engine mounting plate; the outer ends of the rudder table and the rudder plate bevel gear are provided with flap rudders; the steering engine bevel gear and the rudder plate bevel gear are meshed with each other for transmission; the three-axis steering engine tail rudder arrangement mode is adopted, so that the cost is saved, and the reliability of the system is improved; the control model is simplified, and the control difficulty is reduced; the structure is compact, and the stability is high; the rudder plate adopts a flap structure to improve rudder efficiency and the attitude control capability of the underwater robot; electromagnetic interference is reduced, the stress structure of the rudder plate shaft is improved, the probability of damage to the rudder plate shaft due to pulling is reduced, and the safety of the rudder plate shaft is improved.
Description
Technical Field
The invention relates to the technical equipment field of ocean engineering underwater vehicles, in particular to an underwater vehicle tail rudder.
Background
Currently, humans are facing three major problems of population, resources and environment. Ocean has held promise for human to solve these problems due to the abundant resources. Because the diving depth of a person is limited and the underwater environment is dangerous, the underwater self-aircraft has wide application prospect in the aspects of ocean science investigation, ocean environment monitoring and ocean resource exploration as an important tool for ocean exploration and development nowadays, and is a robot working under the underwater limit operation.
The intelligent underwater vehicle needs to adapt to complex ocean environments, and the carrier of the intelligent underwater vehicle has the capability of pressure resistance, watertight performance and load bearing performance, and has the capabilities of low resistance, high propulsion efficiency and space movement realization. In addition, in very limited space, a plurality of sensors with different performances are required to be configured to meet the requirements of environment detection, target identification, autonomous navigation and autonomous completion of tasks. The autonomous underwater vehicle is mainly in an slender streamline shape and underactuated mode at present, and the robot in the mode has the characteristics of small resistance, low cost, small weight, high system reliability and the like. Foreign underwater vehicles such as RE-MUS-100, which is a miniature underwater vehicle currently known to be the most well known and successful by the United states Hydroid company, bluepin-9 by Bluepin Robotics, and miniature underwater vehicle "patrol soldier" (Ranger) developed by Nekton, U.S. represent the advanced level of current underwater vehicles.
Under the current state of mature technology, the attitude control mechanism of the underwater vehicle mainly comprises a tail vane and a multi-screw propeller which are controlled in a combined way. The tail rudder has the main control mode of the small underwater vehicle because of simple control, low manufacturing cost, capability of providing certain stability and the like. As an AUV navigational control force output mechanism, the design of the tail rudder greatly affects the maneuverability and stability of the AUV navigational system.
In the prior art, a tail rudder is generally arranged at the tail section of a robot so as to be beneficial to ensuring the safety and good operability of navigation, and in the past underwater vehicles, the overall arrangement of the tail rudder is generally mainly an X-shaped rudder and a ten-shaped rudder, and also comprises a plurality of special wood-shaped rudders and rice-shaped rudders; its disadvantages are complex structure, poor stability and insufficient space movement capability.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the tail rudder of the underwater vehicle, which adopts a three-shaft steering engine tail rudder arrangement mode, and three groups of rudder plates which are distributed at equal intervals and controlled by independent steering engines form the AUV robot tail rudder, and has the advantages of compact structure, high stability, low resistance, high propulsion efficiency and strong space movement capability; the steering system has the advantages that the steering capability is more stable, the rudder efficiency is improved, and the electromagnetic interference of a steering engine control part is reduced by the arrangement mode of the three-axis steering engine.
In order to achieve the above purpose, the technical scheme of the invention is as follows: the utility model provides an underwater vehicle tail vane, includes casing, steering wheel mounting panel, tail vane, rudder plate axle, rudder plate, sealing washer, rudder plate bevel gear, steering wheel bevel gear, rudder shaft otic placode, steering wheel otic placode, rudder platform, its characterized in that:
the shell is of a barrel shell structure with a front barrel type and a rear cone type which are gradually narrowed; three steering engine ear plates are integrally arranged at the middle position in the shell in a triangular circumference equidistant manner, and three rudder shaft ear plates are integrally arranged at the rear position in a triangular circumference equidistant manner; three rudder platforms are integrally arranged on the triangle outside the rear part of the shell, and rudder shaft lug plates and rudder plate shaft holes are arranged in the front-rear direction of the relative position inside the shell of the rudder platform; the top of the rudder platform is positioned at the middle position, and the two rudder platforms on the side face are mutually symmetrically configured; the steering engine ear plate is in threaded connection, sealed and fixed with a steering engine mounting plate, three groups of steering engines are fixedly arranged on the steering engine mounting plate, and steering engine shafts are arranged on the steering engines in a shaft connection mode; the steering engine shaft penetrates through the steering engine shaft lug plate and is fixedly provided with a steering engine bevel gear; a rudder plate shaft is arranged in the rudder plate shaft hole through a sealing ring, and a rudder plate bevel gear is fixedly arranged at the inner end of a shell of the rudder plate shaft; the outer ends of the rudder table and the rudder plate bevel gear are provided with flap rudders; the steering gear shaft and the rudder plate shaft of the steering gear are mutually and obliquely meshed through a steering gear bevel gear and a rudder plate bevel gear to form a bevel gear transmission structure.
The rudder shaft lug plate and the steering engine lug plate are arranged on the inner circumference of the shell in a mutually crossing way.
The flap rudder is provided with three groups, and comprises a tail wing plate, a rudder plate shaft and a rudder plate; the rudder plate is fixedly arranged on the rudder plate shaft, the tail vane is fixedly arranged on the rudder platform in a C-shaped frame, the rudder plate is arranged in the tail vane frame, and the tail end of the rudder plate shaft is supported on the tail vane frame.
The rudder plate shaft is arranged along the radial direction of the shell, and the steering engine shaft is arranged along the axial direction of the shell.
The working principle of the invention is as follows: the three tail rudders are arranged, two tail rudders are symmetrically arranged at the left and right of the middle lower part, and one tail rudder is arranged right above the middle lower part, so that one tail rudder is reduced compared with the common X-shaped and cross-shaped tail rudders. Benefits derived therefrom include: cost is saved, and economical efficiency is improved; a set of steering engine is reduced, the installation process is simplified, and the reliability of the system is improved; the control model is simplified, and the control difficulty is reduced. The three-axis steering engine is more suitable for the navigation state of the tail part, forms a tripod structure with stability, reduces the time and angle required by the navigation of the aircraft when changing the direction, namely, the steering ability of the steering engine to the heading is more stable, and improves the rudder efficiency. The arrangement mode of the three-axis steering engine reduces the electromagnetic interference of the steering engine control part more, and the longer the distance between the steering engines is, the lower the interference is.
The steering engine selects a bevel gear driven flap rudder, a rudder plate is arranged in a tail vane frame, and the tail end of a rudder plate shaft is supported on the tail vane frame. Benefits derived therefrom include: the rudder plate and the tail wing plate form a flap structure, when the angle of the rudder plate is adjusted, larger fluid lift force can be generated, high rudder efficiency is realized when the rudder angle is small, the power requirement when the rudder angle is adjusted is reduced, and the attitude control capability of the underwater vehicle is improved; the rudder plate is arranged in the tail vane frame, the tail vane can provide effective protection for the rudder plate, and the safety of the rudder plate is improved; the tail end of the rudder plate shaft is supported on the tail wing plate, so that the stress state of the rudder plate shaft is changed from a cantilever beam to a simple beam, the stress state of the rudder plate shaft is improved, and the safety of the rudder plate shaft is improved; the bevel gear transmission mode has the advantages of accurate transmission angle, no slip, compact structure, convenient installation, angle adjustment and the like.
Through the technical scheme, the beneficial effects of the technical scheme are as follows: the tail rudder of the AUV robot is formed by three groups of rudder plates which are distributed at equal intervals on the circumference and controlled by independent steering engines in a three-shaft steering engine tail rudder arrangement mode, so that the cost is saved and the economical efficiency is improved; a set of steering engine is reduced, the installation process is simplified, and the reliability of the system is improved; the control model is simplified, and the control difficulty is reduced; the AUV robot tail rudder has compact structure, high stability, low resistance, high propulsion efficiency and strong space movement capability; the steering system has the advantages that the steering capability is more stable, the rudder efficiency is improved, and the electromagnetic interference of a steering engine control part is reduced by the arrangement mode of the three-axis steering engine; the rudder plate and the tail wing plate form a flap structure, so that the power requirement for adjusting the rudder angle is reduced, and the attitude control capability of the underwater vehicle is improved; the stress state of the rudder plate shaft is improved, and the safety of the rudder plate shaft is improved; the bevel gear transmission mode has the advantages of accurate transmission angle, no slip, compact structure, convenient installation, angle adjustment and the like.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic view of a tail rudder of an underwater vehicle according to an embodiment of the present invention;
fig. 2 is a schematic front view of a tail vane of an underwater vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic view of a cross-sectional view of an underwater vehicle tail vane A-A according to an embodiment of the present invention;
fig. 4 is a schematic view of a cross section of an underwater vehicle tail rudder B-B according to an embodiment of the present invention.
Corresponding part names are indicated by numerals and letters in the drawings:
1. the housing 2, the steering engine 3, the steering engine mounting plate 4 and the tail wing plate
5. Rudder plate shaft 6, rudder plate 7, sealing ring 8, rudder plate bevel gear
9. Steering engine bevel gear 10, steering engine shaft 11, steering engine shaft lug plate 12, steering engine lug plate
13. Rudder platform.
Description of the embodiments
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
According to fig. 1, 2, 3 and 4, the invention provides an underwater vehicle tail rudder, which comprises a shell 1, a steering engine 2, a steering engine mounting plate 3, a tail vane 4, a steering vane shaft 5, a steering vane 6, a sealing ring 7, a steering vane bevel gear 8, a steering vane bevel gear 9, a steering engine shaft 10, a steering vane shaft lug plate 11, a steering vane lug plate 12 and a steering table 13.
The shell 1 is of a barrel shell structure with a front barrel type and a rear cone type which are gradually narrowed; three steering engine ear plates 12 are integrally arranged at the middle position in the shell 1 at equal intervals along the circumference of a triangle, and three rudder shaft ear plates 11 are integrally arranged at the rear position at equal intervals along the circumference of the triangle; three rudder platforms 13 are integrally arranged on the outer triangle of the rear part of the shell 1, and rudder shaft lug plates 11 and rudder plate shaft holes are arranged in the front-rear direction of the relative position inside the shell 1 of the rudder platform 13; the top of the rudder table 13 is positioned at the middle position, and the two rudder tables 13 on the side face are mutually symmetrically arranged; the steering engine ear plate 12 is fixedly provided with a steering engine mounting plate 3 in a screwed connection and sealing manner, three groups of steering engines 2 are fixedly arranged on the steering engine mounting plate 3, and a steering engine shaft 10 is arranged on the steering engines 2 in a shaft connection manner; the steering engine shaft 10 passes through the steering engine shaft lug plate 11 and is fixedly provided with a steering engine bevel gear 9; a rudder plate shaft 5 is arranged in the rudder plate shaft hole through a sealing ring 7, and a rudder plate bevel gear 8 is fixedly arranged at the inner end of a shell of the rudder plate shaft 5; the outer ends of the rudder table 13 and the rudder plate bevel gear 8 are provided with flap rudders; the steering gear shaft 10 of the steering gear 2 and the rudder plate shaft 5 are mutually and obliquely meshed with the rudder plate bevel gear 8 through a steering gear bevel gear 9 to form a bevel gear transmission structure.
The rudder shaft lug plate 11 and the steering engine lug plate 12 are arranged on the inner circumference of the shell 1 in a crossing manner.
The flap rudders are configured with three groups, and each flap rudder comprises a tail wing plate 4, a rudder plate shaft 5 and a rudder plate 6; the rudder plate 6 is fixedly arranged on the rudder plate shaft 5, the tail vane 4 is fixedly arranged on the rudder table 13 in a C-shaped frame, the rudder plate 6 is arranged in the frame of the tail vane 4, and the tail end of the rudder plate shaft 5 is supported on the frame of the tail vane 4.
The rudder plate shaft 5 is arranged along the radial direction of the housing 1, and the steering engine shaft 10 is arranged along the axial direction of the housing 1.
The specific implementation operation steps of the invention are as follows: firstly, a rudder plate shaft 5 and a steering engine 2 are installed into a whole by adopting screws, then three steering engines 2 are respectively installed on a steering engine installation plate 3 by adopting screws, and then the steering engine installation plate 3 is installed in a shell 1 by adopting screws.
Firstly, a sealing ring 7 is installed in a sealing groove on a rudder plate shaft 5, then lubricating grease is smeared on the rudder plate shaft 5 and then is inserted into a rudder plate shaft installation hole on a shell 1, then a large gear and a small gear in a bevel gear 8 are sequentially installed on the rudder plate shaft 5 and a steering engine shaft 10, three rudder plates 6 are respectively installed on the rudder plate shaft 5, a tail wing plate 4 is installed on the shell 1, the tail end of the rudder plate shaft 5 is ensured to pass through a rudder plate shaft fixing hole on the tail wing plate 4, finally, the positions of the large gear on the rudder plate shaft 5 and the small gear on the steering engine shaft 10 are adjusted, and a set screw on the gear is locked.
Through the specific embodiment, the beneficial effects of the invention are as follows: the tail rudder of the AUV robot is formed by three groups of rudder plates which are distributed at equal intervals on the circumference and controlled by independent steering engines in a three-shaft steering engine tail rudder arrangement mode, so that the cost is saved and the economical efficiency is improved; a set of steering engine is reduced, the installation process is simplified, and the reliability of the system is improved; the control model is simplified, and the control difficulty is reduced; the AUV robot tail rudder has compact structure, high stability, low resistance, high propulsion efficiency and strong space movement capability; the steering system has the advantages that the steering capability is more stable, the rudder efficiency is improved, and the electromagnetic interference of a steering engine control part is reduced by the arrangement mode of the three-axis steering engine; the rudder plate and the tail wing plate form a flap structure, so that the power requirement for adjusting the rudder angle is reduced, and the attitude control capability of the underwater vehicle is improved; the stress state of the rudder plate shaft is improved, and the safety of the rudder plate shaft is improved; the bevel gear transmission mode has the advantages of accurate transmission angle, no slip, compact structure, convenient installation, angle adjustment and the like.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (2)
1. The tail rudder of the underwater vehicle is characterized by comprising a shell, a steering engine mounting plate, a tail vane plate, a rudder plate shaft, a rudder plate, a sealing ring, a rudder plate bevel gear, a steering engine shaft, a rudder shaft lug plate, a steering engine lug plate and a steering table; the shell is of a barrel shell structure with a front barrel type and a rear cone type which are gradually narrowed; three steering engine ear plates are integrally arranged at the middle position in the shell in a triangular circumference equidistant manner, and three rudder shaft ear plates are integrally arranged at the rear position in a triangular circumference equidistant manner; three rudder platforms are integrally arranged on the triangle outside the rear part of the shell, and rudder shaft lug plates and rudder plate shaft holes are arranged in the front-rear direction of the relative position inside the shell of the rudder platform; the top of the rudder platform is positioned at the middle position, and the two rudder platforms on the side face are mutually symmetrically configured; the steering engine ear plate is in threaded connection, sealed and fixed with a steering engine mounting plate, three groups of steering engines are fixedly arranged on the steering engine mounting plate, and steering engine shafts are arranged on the steering engines in a shaft connection mode; the steering engine shaft penetrates through the steering engine shaft lug plate and is fixedly provided with a steering engine bevel gear; a rudder plate shaft is arranged in the rudder plate shaft hole through a sealing ring, and a rudder plate bevel gear is fixedly arranged at the inner end of a shell of the rudder plate shaft; the outer ends of the rudder table and the rudder plate bevel gear are provided with flap rudders; the steering gear shaft and the rudder plate shaft of the steering gear are mutually and obliquely meshed through a steering gear bevel gear and a rudder plate bevel gear to form a bevel gear transmission structure;
the rudder shaft lug plate and the steering engine lug plate are arranged on the inner circumference of the shell in a crossing way;
the flap rudder is provided with three groups, and comprises a tail wing plate, a rudder plate shaft and a rudder plate; the rudder plate is fixedly arranged on the rudder plate shaft, the tail vane is fixedly arranged on the rudder platform in a C-shaped frame, the rudder plate is arranged in the tail vane frame, and the tail end of the rudder plate shaft is supported on the tail vane frame.
2. An underwater vehicle tail rudder as claimed in claim 1 wherein the rudder plate shaft is disposed radially of the housing and the steering engine shaft is disposed axially of the housing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811181327.8A CN109250056B (en) | 2018-10-11 | 2018-10-11 | Tail rudder of underwater vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811181327.8A CN109250056B (en) | 2018-10-11 | 2018-10-11 | Tail rudder of underwater vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109250056A CN109250056A (en) | 2019-01-22 |
| CN109250056B true CN109250056B (en) | 2023-10-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811181327.8A Active CN109250056B (en) | 2018-10-11 | 2018-10-11 | Tail rudder of underwater vehicle |
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| CN (1) | CN109250056B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110979603B (en) * | 2019-12-28 | 2023-09-12 | 中国科学院沈阳自动化研究所 | Direction control device for underwater robot |
| CN111634410A (en) * | 2020-05-07 | 2020-09-08 | 北京航天控制仪器研究所 | Convenient small-size rudder cabin interior mounting structure who dismantles |
| CN111924039A (en) * | 2020-09-03 | 2020-11-13 | 中科长城海洋信息***有限公司长沙分公司 | Underwater high-speed towed body |
| CN114475992B (en) * | 2021-12-24 | 2023-11-07 | 宜昌测试技术研究所 | Steering connecting device suitable for underwater vehicle |
| CN114408140B (en) * | 2021-12-24 | 2023-06-20 | 宜昌测试技术研究所 | Fin rudder device suitable for underwater vehicle |
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