CN109760808B - Low-power-consumption steering device of long-range autonomous underwater vehicle - Google Patents
Low-power-consumption steering device of long-range autonomous underwater vehicle Download PDFInfo
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- CN109760808B CN109760808B CN201910183426.8A CN201910183426A CN109760808B CN 109760808 B CN109760808 B CN 109760808B CN 201910183426 A CN201910183426 A CN 201910183426A CN 109760808 B CN109760808 B CN 109760808B
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- 238000007789 sealing Methods 0.000 claims abstract description 24
- 230000007246 mechanism Effects 0.000 claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims description 18
- 238000005265 energy consumption Methods 0.000 abstract description 8
- 239000003638 chemical reducing agent Substances 0.000 description 11
- 230000008878 coupling Effects 0.000 description 6
- 238000010168 coupling process Methods 0.000 description 6
- 238000005859 coupling reaction Methods 0.000 description 6
- 238000009434 installation Methods 0.000 description 3
- 239000002775 capsule Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Abstract
The invention relates to a low-power-consumption steering device of an autonomous underwater vehicle with a long range, wherein a cabin cover is connected on a cabin shell in a sealing way, both ends of a connecting rod are connected with rudder shafts, one end of each rudder shaft is connected with the connecting rod, the other end of each rudder shaft is connected with the cabin shell in a rotating way, the other end of each rudder shaft is connected with an outer cover plate arranged on the outer surface of the cabin shell in a sealing way, the rudder shafts penetrate through the cabin shell and the outer cover plate and are connected with rudder piece fixing pieces, and rudder pieces are arranged on the rudder piece fixing pieces; the rudder shaft driving device comprises a driving module, a supporting frame, a power source, a driving mechanism, a rudder shaft, a connecting rod, a rudder piece, a driving module and a driving module. The invention adopts a mode of driving four rudder pieces to rotate by two sets of horizontal and vertical driving modules, reduces the number of energy consumption units and can effectively reduce energy consumption.
Description
Technical Field
The invention relates to an autonomous underwater vehicle steering device, in particular to a long-range autonomous underwater vehicle low-power-consumption steering device.
Background
With the continuous exploration of the ocean by humans and the development of ocean resources, the demands for underwater observation equipment are also increasing. The long-range autonomous underwater vehicle is novel underwater observation equipment capable of performing observation operation under water for a long time. Because the autonomous underwater vehicle with long voyage depends on the battery carried by the autonomous underwater vehicle to provide energy, the working energy consumption of each energy consumption unit must be reduced in order to realize long-term operation under the condition of carrying limited energy. The steering device is used for controlling the navigation direction and the movement gesture of the underwater vehicle, and is also an energy consumption user in each subsystem of the autonomous underwater vehicle with long range. Therefore, it is necessary to design a steering device with low power consumption.
Disclosure of Invention
The invention aims to provide a low-power-consumption steering device of a long-range autonomous underwater vehicle, which reduces the energy consumption of the steering device and enables the steering device to be more compact in structure.
The aim of the invention is realized by the following technical scheme:
the invention comprises a driving module, a connecting rod, a cabin cover, a rudder piece fixing piece, an outer cover plate, a rudder shaft, a cabin shell and a rudder piece, wherein one side of the cabin shell is connected to an underwater vehicle in a sealing way, the other side of the cabin shell is connected with the cabin cover in a sealing way, the driving module and the connecting rod are both accommodated in the cabin shell, the two ends of the connecting rod are both connected with the rudder shaft, one end of the rudder shaft is connected with the connecting rod, the other end of the rudder shaft is connected with the cabin shell in a rotating way, the other end of the rudder shaft is connected with the outer cover plate arranged on the outer surface of the cabin shell in a sealing way, the rudder shaft penetrates out of the cabin shell and the outer cover plate and is connected with the rudder piece fixing piece, and the rudder piece fixing piece is provided with the rudder piece; the rudder shaft is provided with a driving module, the driving module comprises a support frame, a transmission mechanism and a power source, the support frame is arranged in the cabin, the power source is arranged on one side of the support frame, the output end of the power source is connected with the rudder shaft positioned on the other side of the support frame through the transmission mechanism, and the other rudder shaft is driven to synchronously rotate through a connecting rod, so that the driving module can drive rudder pieces connected with the two rudder shafts simultaneously;
wherein: the transmission mechanism is a gear transmission mechanism and comprises a spur gear A and a spur gear B, wherein the spur gear A is connected to the output end of the power source, and the spur gear B is connected to the rudder shaft and meshed with the spur gear A for transmission;
the driving module further comprises a rotary potentiometer, a base of the rotary potentiometer is fixed on the supporting frame, an electric brush of the rotary potentiometer is connected with the output end of the power source, the electric brush rotates along with the output end of the power source, and relative rotation is generated on the base of the rotary potentiometer;
the supporting frame comprises a compacting plate, a motor fixing plate and a connecting column, wherein the compacting plate is fixed in the cabin shell, and the motor fixing plate is connected with the compacting plate through the connecting column;
the rudder shaft is rotationally connected with the cabin shell through a bearing, a convex ring is arranged at the other end of the rudder shaft, bearings for realizing radial limit of the rudder shaft are arranged on the upper side and the lower side of the convex ring, the bearing on the upper side of the rudder shaft, which is arranged on one end of the connecting rod and is used for installing the driving module, realizes axial limit through the convex ring and the outer cover plate, and the bearing on the lower side realizes axial limit through the convex ring and the supporting frame; the bearing on the upper side of the rudder shaft at the other end of the connecting rod realizes axial limit through the convex ring and the outer cover plate, and the bearing on the lower side realizes axial limit through the convex ring and the bearing compacting plate fixedly connected in the cabin shell;
the other end of the rudder shaft is provided with a double radial sealing groove, the middle of the outer cover plate is axially and outwards provided with a hollow boss, the part of the double radial sealing groove on the rudder shaft is accommodated in the hollow boss, and the sealing ring in the double radial sealing groove and the hollow boss realize underwater dynamic sealing; the lower surface of the outer cover plate is provided with an axial sealing groove;
the cabin shell is a revolving body, bosses with the same number as the rudder pieces are uniformly distributed on the outer surface of the cabin shell, a through hole A communicated with the inside of the cabin shell is formed in the middle of the boss, and the outer cover plate is fixed on the boss; a plane is arranged at the position inside the cabin shell corresponding to the boss;
the rudder piece fixing piece is provided with a U-shaped groove at one end connected with the rudder piece, a stepped hole for the rudder shaft to be inserted in is formed in the middle of the bottom of the groove, and the lower part of the rudder piece is inserted into the U-shaped groove and is fixed through a bolt;
the rudder piece is divided into a horizontal rudder piece and a vertical rudder piece, the horizontal rudder piece and the vertical rudder piece are respectively connected with four rudder shafts, and the four rudder shafts are of a crossed coplanar structure in space, namely, the axial central lines of the two rudder shafts connected with the horizontal rudder piece are collinear, the axial central lines of the two rudder shafts connected with the vertical rudder piece are collinear, and the axial central lines of the two rudder shafts connected with the horizontal rudder piece are perpendicular to the axial central lines of the two rudder shafts connected with the horizontal rudder piece;
the connecting rod between two rudder shafts of the connecting horizontal rudder piece is a straight shaft connecting rod, the connecting rod between two rudder shafts of the connecting vertical rudder piece is a crankshaft connecting rod, the diameter of the two ends of the straight shaft connecting rod is the same as the diameter of the two ends of the crankshaft connecting rod, the length of the straight shaft connecting rod is equal to that of the crankshaft connecting rod, the middle part of the crankshaft connecting rod is bent and is in a concave shape, and the distance between the concave openings is larger than the diameter of the straight shaft connecting rod.
The invention has the advantages and positive effects that:
1. the invention adopts a mode of driving four rudder pieces to rotate by two sets of horizontal and vertical driving modules, reduces the number of energy consumption units and can effectively reduce energy consumption.
2. The invention adopts modularized design, has compact structure and small volume, and is convenient for installation and maintenance.
Drawings
FIG. 1 is a schematic perspective view of the invention with the pod removed;
FIG. 2 is a schematic view of a partially cut-away perspective structure of the present invention;
FIG. 3 is a schematic perspective view of the capsule of the present invention;
FIG. 4 is a schematic perspective view of a driving module according to the present invention;
FIG. 5 is a front cross-sectional view of a drive module of the present invention;
FIG. 6 is a schematic view of the external perspective structure of the rudder blade of the present invention after mounting;
wherein: 1 is a driving module, 2 is a straight shaft connecting rod, 3 is a crankshaft connecting rod, 4 is a watertight connector, 5 is a pressure compensation oil bag, 6 is a cabin cover, 7 is a rudder piece fixing piece, 8 is an outer cover plate, 9 is a bearing, 10 is a bearing compacting plate, 11 is a rudder shaft, 12 is a coupler, 13 is a cabin shell, 14 is a compacting plate, 15 is a rotary potentiometer, 16 is a spur gear A,17 is a speed reducer, 18 is a motor, 19 is a connecting column, 20 is a motor fixing plate, 21 is a spur gear B,22 is a pin, 23 is a shaft sleeve, 24 is a rudder piece, 25 is a boss, 26 is a through hole A,27 is a plane, 28 is a threaded hole A,29 is a threaded hole B,30 is a radial seal ring groove, 31 is a hollow boss, 32 is a double radial seal groove, 33 is an axial seal groove, 34 is a convex ring, 35 is a threaded hole, 36 is a U-shaped groove, 37 is a groove, and 38 is a through hole C.
Description of the embodiments
The invention is described in further detail below with reference to the accompanying drawings.
As shown in fig. 1 and 2, the invention comprises a driving module 1, a connecting rod, a cabin cover 6, a rudder piece fixing piece 7, an outer cover plate 8, a rudder shaft 11, a cabin shell 13 and a rudder piece 24, wherein one side of the cabin shell 13 is connected to an underwater vehicle in a sealing way, the other side of the cabin shell 13 is connected with the cabin cover 6 in a sealing way, the driving module 1 and the connecting rod are both accommodated in the cabin shell 13, both ends of the connecting rod are connected with the rudder shaft 11, one end of the rudder shaft 11 is connected with the connecting rod, the other end of the rudder shaft is connected with the cabin shell 13 in a rotating way, the other end of the rudder shaft 11 is connected with the outer cover plate 8 arranged on the outer surface of the cabin shell 13 in a sealing way and penetrates out from the cabin shell 13 and the outer cover plate 8, and is connected with the rudder piece fixing piece 7, and the rudder piece 24 is arranged on the rudder piece fixing piece 7. The driving module 1 is arranged on any rudder shaft 11, the driving module 1 comprises a supporting frame, a transmission mechanism and a power source, the supporting frame is arranged inside the cabin shell 13, the power source is arranged on one side of the supporting frame, the output end of the power source is connected with the rudder shaft 11 positioned on the other side of the supporting frame through the transmission mechanism, and then the other rudder shaft 11 is driven to synchronously rotate through a connecting rod, so that the driving module 1 can simultaneously drive the rudder pieces 24 connected with the two rudder shafts 11.
The rudder piece 24 is divided into a horizontal rudder piece and a vertical rudder piece, wherein the horizontal rudder piece and the vertical rudder piece are respectively connected with four rudder shafts 11, and the four rudder shafts 11 are of a crossed coplanar structure in space, namely, the axial central lines of the two rudder shafts 11 connected with the horizontal rudder piece are collinear, the axial central lines of the two rudder shafts 11 connected with the vertical rudder piece are collinear, and the axial central lines of the two rudder shafts 11 connected with the horizontal rudder piece are perpendicular to the axial central lines of the two rudder shafts 11 connected with the horizontal rudder piece; wherein any two non-collinear rudder shafts 11 are respectively provided with a driving module 1. The connecting rod between two rudder shafts 11 connected with the horizontal rudder piece is a straight shaft connecting rod 2, the connecting rod between two rudder shafts 11 connected with the vertical rudder piece is a crankshaft connecting rod 3, the diameter of the two ends of the straight shaft connecting rod 2 is the same as the diameter of the two ends of the crankshaft connecting rod 3, the length of the straight shaft connecting rod 2 is equal to the length of the crankshaft connecting rod 3, the middle part of the crankshaft connecting rod 3 is bent and is in a concave shape, and the interval of the concave opening is larger than the diameter of the straight shaft connecting rod 2.
Referring to fig. 1, the steering device of the present invention has the following specific structure: taking the arrangement of the horizontal rudder piece as an example, the driving module 1 is fixedly connected with the right inner wall surface of the cabin shell 13 through a supporting frame of the driving module 1, one side of the rudder shaft 11 on the driving module 1 penetrates out of the cabin shell 13 and is connected with the rudder piece fixing piece 7, the other end of the driving module is connected with one end of the straight shaft connecting rod 2 through the coupling 12, the other end of the straight shaft connecting rod 2 is connected with the other rudder shaft 11 through the coupling 12, and the other rudder shaft 11 is fixedly connected with the rudder piece fixing piece 7 positioned outside the cabin shell 13. In this way, the rudder shaft 11 on the driving module 1 can transmit power to the rudder shaft 11 on the opposite side on the same axis through the coupling 12 and the straight shaft connecting rod 2, and then drive the two rudder shafts 11 to rotate at the same time, so that the driving module 1 can drive two symmetrically arranged horizontal rudder pieces at the same time.
For the vertical rudder piece, the driving module 1 is fixedly connected with the inner wall surface of the lower side of the cabin shell 13 through the supporting frame of the driving module 1, one side of the rudder shaft 11 on the driving module 1 penetrates out of the cabin shell 13 and is connected with the rudder piece fixing piece 7, the other end of the driving module is connected with one end of the crankshaft connecting rod 3 through the coupling 12, the other end of the crankshaft connecting rod 3 is connected with the other rudder shaft 11 through the coupling 12, and the other rudder shaft 11 is fixedly connected with the rudder piece fixing piece 7 positioned outside the cabin shell 13.
Because the space crossing structure of the crankshaft connecting rod 3 and the straight shaft connecting rod 2 is adopted, the four rudder shafts 11 can be in a crossed coplanar structure in space, so that the axial space requirement of the cabin shell caused by the crossing of the connecting shafts is reduced, and the compactness in structure is realized.
On the opposite side of the drive module 1, the bearing 9 mounted on the rudder shaft 11 is limited by a bearing hold-down plate 10, and the bearing hold-down plate 10 is fixed on the inner wall surface of the cabin shell 13 by screws.
To describe the mounting manner and the relative positional relationship of the above components in more detail, referring to fig. 2 and 3, as shown in fig. 3, the overall structure of the housing 13 is in a form of a revolution body, four circular bosses 25 are uniformly distributed on the outer surface in the circumferential direction, a through hole a26 is formed in the middle of the boss 25 and communicates with the interior of the housing 13, and a screw hole a28 for fixing is formed at the edge of the boss 25 in the circumferential direction. Four planes 27 are uniformly distributed on the inner side wall surface of the cabin shell 13 along the circumferential direction corresponding to the positions of the bosses 25 uniformly distributed on the outer surface, and the planes 27 provide mounting planes for mounting the bearing compacting plates 10 and the supporting frames in the driving module 1. A plurality of threaded holes B29 are uniformly distributed on the left end face of the cabin shell 13 along the circumferential direction, and the cabin cover 6 is fixedly connected with the cabin shell 13 through screws, wherein a radial seal ring groove 30 is arranged on the cabin cover 6.
Referring to fig. 2, one end of the rudder shaft 11 is connected with the straight shaft connecting rod 2 or the crank shaft connecting rod 3 through a coupling 12, the other end passes through the outer cover plate 8 and then extends out of the cabin shell 13, the outer cover plate 8 is circular in structure, the diameter of the outer cover plate is identical to that of the boss 25 on the outer surface of the cabin shell 13, counter bores are uniformly formed in the circumferential direction, and the outer cover plate is fixed with the boss 25 on the outer surface of the cabin shell 13 through screws. The middle of the outer cover plate 8 is provided with a hollow boss 31 outwards along the axial direction, the other end of the rudder shaft 11 is provided with a double radial seal groove 32, the part of the double radial seal groove 32 on the rudder shaft 11 is accommodated in the hollow boss 31, the sealing ring in the double radial seal groove 32 and the hollow boss 31 realize underwater dynamic seal, and the lower surface of the outer cover plate 8 is provided with an axial seal groove 33 so as to realize the seal of a through hole A26 of the boss 25 on the outer surface of the cabin 13. A convex ring 34 is arranged at the other end of the rudder shaft 11 and is provided with two bearings 9 so as to realize radial limit of the rudder shaft 11; the bearing 9 on the upper side is axially limited by the convex ring 34 on the rudder shaft 11 and the outer cover plate 8, the bearing 9 on the lower side is axially limited by the convex ring 34 on the rudder shaft 11 and the bearing pressing plate 10, and the bearing pressing plate 10 is fixed on the plane 27 of the inner wall of the cabin shell 13 by screws. Similarly, on the side where the drive module 1 is mounted, the composition from the rudder shaft 11 to the rudder blade holder 7 is the same as the relative mounting position and the like, the only difference being that on the side where the drive module 1 is mounted, the bearing 9 on the lower side is axially restrained by the support frame on the drive module 1, not by the bearing hold-down plate 10.
The hatch cover 6 is provided with a through hole B for installing the watertight connector 4 and the pressure compensation oil bag 5, and the watertight connector 4 and the pressure compensation oil bag 5 are tensioned and fixed through nuts. The pressure compensation oil bag 5 is used for balancing the pressure inside and outside the cabin when the autonomous underwater vehicle sails underwater.
Referring to fig. 4, the driving module 1 includes a supporting frame, a motor 18, a reducer 17, a rotary potentiometer 15, a spur gear a16 and a spur gear B21, wherein the motor 18 and the reducer 17 form a power source, and the spur gear a16 and the spur gear B21 form a transmission mechanism; the spur gear A16 and the spur gear B21 are straight spur gears with equal diameters, the spur gear A16 is connected with the output end of the speed reducer 17, and the spur gear B21 is connected with the rudder shaft 11 and meshed with the spur gear A16 for transmission. The support frame includes a compacting plate 14, a motor fixing plate 20 and a connecting post 19. The hold-down plate 14 is fixed on a plane 27 inside the cabin 13, three connecting columns 19 are arranged between the hold-down plate 14 and the motor fixing plate 20, and the hold-down plate 14 and the motor fixing plate 20 are fixedly connected together through the connecting columns 19 to form a supporting frame.
For describing the driving module 1 in more detail, referring to fig. 5, the motor 18 is a basic power source for driving the rudder blade to rotate, the output shaft of the motor 18 is connected with the reducer 17, the reducer is fixed on the motor fixing plate 20 through countersunk screws, the shaft sleeve 23 is mounted on the output shaft of the reducer 17, and the output shaft of the reducer is further fixedly connected with the shaft sleeve 23 through the pin 22; the output shaft of the speed reducer 17 transmits torque to the spur gear A16 through the shaft sleeve 23, and the spur gear A16 and the spur gear B21 are straight spur gears with equal diameters and meshed with each other for transmission; the spur gear B21 is connected to the rudder shaft 11 for power transmission, so that the torque output from the motor 18 can be transmitted to the rudder shaft 11 through the speed reducer 17, the spur gear a16, and the spur gear B21.
Referring to fig. 5, in order to detect the rotation angle of the rudder piece 24, it is necessary to install a rotary potentiometer 15, the base of the rotary potentiometer 15 is fixed on the compacting plate 14 by a cross-groove small pan head screw, and the brush of the rotary potentiometer 15 is bonded with the shaft sleeve 23, so that the brush can rotate relatively on the base of the rotary potentiometer along with the rotation of the shaft sleeve.
As shown in fig. 1, 2 and 6, the rudder piece fixing device 7 has a U-shaped groove 36 at the end of the rudder piece fixing device 7 connected with the rudder piece 24, and a stepped hole for inserting the rudder shaft 11 is formed in the middle of the bottom of the groove, and the stepped hole is aligned with a screw hole 35 at one end of the rudder shaft 11, and then fastened by an inner hexagon screw to mount the rudder piece 24 fixing device on the rudder shaft 11. Through holes C38 are formed in two sides of the U-shaped rudder piece fixing piece 7, through holes D are correspondingly formed in the lower portion of the rudder piece 24, the lower portion of the rudder piece 24 is inserted into the rudder piece fixing piece 7 during installation and fixed through bolts, the installation mode of the rudder piece is convenient to detach, particularly the rudder piece is convenient to detach during transportation, and the rudder piece is prevented from being damaged. The other end of the rudder piece fixing piece 7 is provided with a groove 37, and a hollow boss 31 on the outer cover plate 8 is accommodated in the groove 37.
The steering device can reach 2000km in range of the autonomous underwater vehicle, the power of the steering device is 1 watt if the steering device works in the whole course, and the steering device generally does not use rudders in the whole course in the actual use process, mainly used in the steering and pitching gesture adjustment, so the actual use is lower than 1 watt. On the other hand, the low power consumption of the invention is compared with the existing four motor driving four rudders; because the motor must have power losses, the more motors used the more accumulated losses. So if the four motor function can be implemented with two motors, this is equivalent to energy saving.
The working principle of the invention is as follows:
the motor 18 is connected with the speed reducer 17, and after the speed is reduced, driving force is transmitted to the rudder shafts 11 at the two ends of the connecting rod through a transmission spur gear, so that the horizontal rudder piece and the vertical rudder piece are driven to rotate; a rotary potentiometer 15 is arranged on a supporting frame of the driving module 1 and is used for measuring the rotation angle of the transmission spur gear; the rudder pieces 24 which are symmetrically arranged in pairs are connected through connecting rods in the cabin shell 13, and one driving module 1 can drive the two rudder pieces 24 which are symmetrically arranged to rotate simultaneously; a pressure compensation oil bag 5 is arranged on the cabin cover 6 and used for balancing the pressure inside and outside the cabin body; and a watertight connector for wiring is also arranged on the hatch 6.
Claims (5)
1. The utility model provides a long journey autonomous underwater vehicle low-power consumption turns to device which characterized in that: the rudder piece fixing device comprises a driving module (1), a connecting rod, a cabin cover (6), rudder piece fixing pieces (7), an outer cover plate (8), a rudder shaft (11), a cabin shell (13) and rudder pieces (24), wherein one side of the cabin shell (13) is connected to an underwater vehicle in a sealing mode, the other side of the cabin shell is connected with the cabin cover (6) in a sealing mode, the driving module (1) and the connecting rod are contained in the cabin shell (13), the two ends of the connecting rod are connected with the rudder shaft (11), one end of the rudder shaft (11) is connected with the connecting rod, the other end of the rudder shaft (11) is connected with the cabin shell (13) in a rotating mode, the other end of the rudder shaft (11) is connected with the outer cover plate (8) arranged on the outer surface of the cabin shell (13) in a sealing mode, the cabin shell (13) and the outer cover plate (8) penetrate out, the rudder piece fixing pieces (7) are connected, and the rudder pieces (24) are arranged on the rudder piece fixing pieces (7). A driving module (1) is arranged on any rudder shaft (11), the driving module (1) comprises a supporting frame, a transmission mechanism and a power source, the supporting frame is arranged in the cabin shell (13), the power source is arranged on one side of the supporting frame, the output end of the power source is connected with the rudder shaft (11) positioned on the other side of the supporting frame through the transmission mechanism, and the other rudder shaft (11) is driven to synchronously rotate through a connecting rod, so that the driving module (1) drives rudder pieces (24) connected on the two rudder shafts (11) simultaneously;
the rudder shaft (11) is rotationally connected with the cabin shell (13) through a bearing (9), a convex ring (34) is arranged at the other end of the rudder shaft (11), bearings (9) for realizing radial limiting of the rudder shaft (11) are arranged on the upper side and the lower side of the convex ring (34), the bearings (9) positioned on the upper side on the rudder shaft (11) of the driving module (1) are installed at one end of the connecting rod, axial limiting is realized through the convex ring (34) and the outer cover plate (8), and the bearings (9) positioned on the lower side are axially limited through the convex ring (34) and the supporting frame; the bearing (9) positioned at the upper side on the rudder shaft (11) at the other end of the connecting rod is axially limited through the convex ring (34) and the outer cover plate (8), and the bearing (9) positioned at the lower side is axially limited through the convex ring (34) and the bearing compacting plate (10) fixedly connected in the cabin shell (13);
the other end of the rudder shaft (11) is provided with a double-radial sealing groove (32), a hollow boss (31) is axially and outwards arranged in the middle of the outer cover plate (8), the part of the double-radial sealing groove (32) on the rudder shaft (11) is accommodated in the hollow boss (31), and a sealing ring in the double-radial sealing groove (32) and the hollow boss (31) realize underwater dynamic sealing; the lower surface of the outer cover plate (8) is provided with an axial sealing groove (33);
the cabin shell (13) is a revolving body, bosses (25) the same as rudder pieces (24) in number are uniformly distributed on the outer surface of the cabin shell, a through hole A (26) communicated with the inside of the cabin shell (13) is formed in the middle of the boss (25), and the outer cover plate (8) is fixed on the boss (25); a plane (27) is arranged at a position inside the cabin shell (13) corresponding to the boss (25);
the rudder piece (24) is divided into a horizontal rudder piece and a vertical rudder piece, the horizontal rudder piece and the vertical rudder piece are respectively connected with four rudder shafts (11), the four rudder shafts (11) are in a crossed coplanar structure in space, namely, the axial central lines of the two rudder shafts (11) connected with the horizontal rudder piece are collinear, the axial central lines of the two rudder shafts (11) connected with the vertical rudder piece are collinear, and the axial central lines of the two rudder shafts (11) connected with the horizontal rudder piece are perpendicular to each other;
the connecting rod between two rudder shafts (11) of connecting horizontal rudder piece is straight shaft connecting rod (2), and the connecting rod between two rudder shafts (11) of connecting vertical rudder piece is bent axle connecting rod (3), the diameter at this straight shaft connecting rod (2) both ends with the diameter at bent axle connecting rod (3) both ends is the same, the length of straight shaft connecting rod (2) equals with the length of bent axle connecting rod (3), and the mid portion of this bent axle connecting rod (3) is crooked, is "concave" font, and "concave" word open-ended interval is greater than the diameter of straight shaft connecting rod (2).
2. The long range autonomous underwater vehicle low power steering device of claim 1, wherein: the transmission mechanism is a gear transmission mechanism and comprises a spur gear A (16) and a spur gear B (21), wherein the spur gear A (16) is connected to the output end of the power source, and the spur gear B (21) is connected to the rudder shaft (11) and meshed with the spur gear A (16) for transmission.
3. The long range autonomous underwater vehicle low power steering device of claim 1, wherein: the driving module (1) further comprises a rotary potentiometer (15), a base of the rotary potentiometer (15) is fixed on the supporting frame, an electric brush of the rotary potentiometer (15) is connected with the output end of the power source, the electric brush rotates along with the output end of the power source, and relative rotation is generated on the base of the rotary potentiometer (15).
4. The long range autonomous underwater vehicle low power steering device of claim 1, wherein: the support frame comprises a pressing plate (14), a motor fixing plate (20) and a connecting column (19), wherein the pressing plate (14) is fixed inside the cabin shell (13), and the motor fixing plate (20) is connected with the pressing plate (14) through the connecting column (19).
5. The long range autonomous underwater vehicle low power steering device of claim 1, wherein: one end of the rudder piece fixing piece (7) connected with the rudder piece (24) is provided with a U-shaped groove (36), a stepped hole for the rudder shaft (11) to be inserted in is formed in the middle of the bottom of the groove, and the lower part of the rudder piece (24) is inserted into the U-shaped groove (36) and fixed through a bolt.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910183426.8A CN109760808B (en) | 2019-03-12 | 2019-03-12 | Low-power-consumption steering device of long-range autonomous underwater vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910183426.8A CN109760808B (en) | 2019-03-12 | 2019-03-12 | Low-power-consumption steering device of long-range autonomous underwater vehicle |
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| CN109760808A CN109760808A (en) | 2019-05-17 |
| CN109760808B true CN109760808B (en) | 2023-12-22 |
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| CN201910183426.8A Active CN109760808B (en) | 2019-03-12 | 2019-03-12 | Low-power-consumption steering device of long-range autonomous underwater vehicle |
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Families Citing this family (4)
| 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 |
| WO2023039876A1 (en) * | 2021-09-18 | 2023-03-23 | 深圳先进技术研究院 | Rudder control apparatus and method |
| CN114954870A (en) * | 2022-04-26 | 2022-08-30 | 哈尔滨工程大学 | Flexible composite antenna rudder wing system for portable AUV |
| CN115200419A (en) * | 2022-07-29 | 2022-10-18 | 北京航天万润高科技有限公司 | Electric steering engine |
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