CN110371281B - Folding type double-sided rudder and underwater vehicle with same - Google Patents
Folding type double-sided rudder and underwater vehicle with same Download PDFInfo
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- CN110371281B CN110371281B CN201910570063.3A CN201910570063A CN110371281B CN 110371281 B CN110371281 B CN 110371281B CN 201910570063 A CN201910570063 A CN 201910570063A CN 110371281 B CN110371281 B CN 110371281B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
- B63H25/38—Rudders
- B63H25/382—Rudders movable otherwise than for steering purposes; Changing geometry
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Abstract
The invention relates to a folding type double-sided rudder and an underwater vehicle with the same. The double-sided rudder has the advantages that the double-sided rudder has higher rudder effect relative to a single rudder surface, and has larger control force and control moment under the condition of the same aspect ratio; the double-sided rudder can be folded to the tail part of the aircraft, so that the installation size is reduced, and the aircraft with the folded rudder surface has strong adaptability when the carrying platform has size limitation; the double-rudder controlled aircraft provided by the invention can effectively adjust the attitude of the aircraft under the conditions of low speed and high speed, has the advantages of simple structure and flexible control form for other underwater aircrafts, and has the characteristics of energy conservation, high efficiency and stability particularly for the underwater high-speed navigation state.
Description
Technical Field
The invention relates to the field of design of underwater vehicles, in particular to a folding type double-sided rudder and an underwater vehicle with the same.
Background
With the improvement of deep sea detection technology and the more mature deep water operation technology, the development of underwater vehicles is faster and faster, and especially in the field of military, the application of unmanned underwater robots is more and more extensive. The common underwater vehicle has low navigation speed, low requirement on the maneuverability of the vehicle and flexible and diverse layout forms, for the vehicle running at low speed, the common main body form mainly comprises a flat main body, a revolving body or a shape with certain specific functional requirements, such as a cuboid or a bionic shape, the common method for changing the navigation posture of the vehicle in the low-speed navigation state mainly comprises thrust vector control, multiple propeller control, fin and rudder combined control or water jet propulsion control, the thrust vector control and water jet propulsion device has good operation performance when the vehicle runs at low speed, but the control difficulty is high when the vehicle runs at high speed, the multiple propellers have good operation performance at low speed, but the characteristic of multi-propeller control and high efficiency are hardly exerted at high speed and the attached body resistance is easily increased by the multiple propellers, are detrimental to navigation of the aircraft; the fin and rudder combined device has a simple structure and wide application, and has relatively low-speed maneuverability, but good high-speed maneuverability and relatively easy realization of control; conventionally, rudder types that can be operated well in high-speed and low-speed running conditions have not been common.
When the aircraft needs to have good maneuvering capability and high navigation speed, the appearance and hydrodynamic layout of the aircraft need to be improved, and when the aircraft is carried on a certain carrying platform for emission and recovery, a recovery device and an emission device often have certain size constraint on the appearance of the aircraft, so that urgent military requirements on lightweight design of the aircraft and optimization of hydrodynamic layout under certain size constraint and navigation speed limitation are met.
Disclosure of Invention
The invention provides a folding type double-sided rudder and an underwater vehicle with the same, which aims to improve the underwater manipulation capability of the underwater vehicle and facilitate the transportation of the underwater vehicle.
The specific technical scheme is as follows:
the foldable double-sided rudder is characterized by comprising two oppositely arranged control surfaces and a base connected between the two control surfaces, wherein the base can be mounted on a steering engine.
In the above technical solution, the double-sided rudder further includes an end plate connected between the two control surfaces.
In the above technical solution, the control surface and the base may rotate relatively.
In the technical scheme, the control surface is provided with a control surface rotating part, and the base comprises a base middle part and base rotating parts which are arranged on two sides of the base middle part; a movable mechanism is arranged between the control surface rotating part and the base rotating part, and comprises a first elastic component and a limiting device, wherein the first elastic component and the limiting device are connected between the control surface rotating part and the base rotating part;
the limiting device comprises a base limiting hole arranged on the base rotating part, a control surface limiting hole arranged on the control surface rotating part and an elastic limiting part arranged in the base limiting hole and capable of extending out of the hole;
when the elastic limiting part is compressed in the base limiting hole, the first elastic part is in a torsional state and has torsional moment, when the control surface and the base rotate by utilizing the restoring moment, the elastic limiting part is elastically restored when the control surface limiting hole and the base limiting hole coincide, and then the elastic limiting part penetrates through the control surface limiting hole and the base limiting hole to limit.
In the above technical solution, the first elastic component is a torsion spring, and the elastic limiting member is a spring pin.
In the technical scheme, a steering engine connecting hole is formed in the middle of the base, a base assembling cavity is formed in the center of the base rotating part, and a base fixing hole and a base first elastic part clamping groove are formed in the base assembling cavity;
a control surface assembly cavity is formed in the center of the control surface rotating part, and a control surface fixing hole and a control surface first elastic component clamping groove are formed in the control surface assembly cavity;
the base and the control surface are connected through a first fixing piece penetrating through the base fixing hole and the control surface fixing hole.
In the above technical solution, two ends of the first elastic component are respectively fixed to the first elastic component slot of the base and the first elastic component slot of the control surface; the first fixing piece is a fastening screw, and the first elastic component surrounds the fastening screw to be twisted.
The underwater vehicle is characterized by comprising an underwater vehicle main body, a steering engine and the foldable double-faced rudder arranged on the steering engine; the underwater vehicle main body and the folding type double-sided rudder are connected through a steering engine shaft.
In the technical scheme, the underwater vehicle main body is in a rotor shape, the underwater vehicle main body is composed of a head curve section, a tail curve section and a parallel middle section, and a stabilizing fin is arranged on a tail curve section shell.
In the technical scheme, the tail part of the underwater vehicle is provided with the propeller.
Compared with the prior art, the invention has the beneficial effects that: the double-sided rudder has higher rudder effect relative to a single rudder surface, the end surface of the double-sided rudder is provided with an airfoil-shaped end surface, the end surface of the rudder can be prevented from flowing around, and the double-sided rudder has larger operating force and operating moment under the condition of the same aspect ratio; the double-sided rudder can be folded to the tail of the aircraft, so that the installation size is reduced, and the aircraft with the folded rudder surface has strong adaptability when the carrying platform has size limitation; the double-rudder controlled aircraft can effectively adjust the attitude of the aircraft under the conditions of low speed and high speed, has the advantages of simple structure and flexible control form for other underwater aircrafts, and has the characteristics of energy conservation, high efficiency and stability particularly for the underwater high-speed navigation state.
Drawings
FIG. 1 is an assembly view of the folding double-sided rudder according to the present invention;
FIG. 2 is a view showing a structure of a control surface according to the present invention;
FIG. 3 is a view of the base structure of the present invention;
FIG. 4 is a folded view of the underwater vehicle of the present invention;
FIG. 5 is an expanded view of an underwater vehicle of the present invention;
the rudder comprises an A-folding type double-sided rudder, a 1-rudder surface, a 2-base, a 3-movable mechanism, a 4-first fixed piece, a 5-end plate, a 6-underwater vehicle body, a 7-rudder machine shaft, an 8-stabilizing fin, a 9-propeller, a 101 a-rudder surface assembly cavity, a 101-rudder surface rotating part, a 1011-rudder surface fixing hole, a 1012-rudder surface first elastic component clamping groove, a 201 a-base assembly cavity, a 201-base rotating part, a 202-base middle part, a 2011-base fixing hole, a 2012-base first elastic component clamping groove, a 2021-steering machine connecting hole, a 301-first elastic component, a 302-limiting device, a 3021-base limiting hole, a 3022-rudder surface limiting hole and a 3023-elastic limiting piece.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
Example one
A foldable double-sided rudder A comprises two oppositely arranged control surfaces 1 and an airfoil-shaped end plate 5 connected to the top ends of the two control surfaces 1, wherein the two control surfaces 1 which are parallel to each other are used as a group of control surfaces, and compared with a single-sided rudder with the same aspect ratio, the foldable double-sided rudder A can provide larger control force and control moment at the same incoming flow speed; the wing-shaped end plate 5 connected with the control surface 1 can prevent the end surface of the rudder from flowing around, so that the efficiency of the rudder is further improved, when the attitude of the aircraft is not changed, the double-sided rudder does not provide an operating force, and when external disturbance exists, the double-sided rudder can generate a subversion moment to organize the attitude change of the aircraft so as to improve the navigation stability of the aircraft;
connect the control surface rotating part 101 of 1 bottom of control surface, control surface assembly cavity 101a has been seted up at the center of control surface rotating part 101, the inside control surface fixed orifices 1011 and the first elastomeric element draw-in groove 1012 of control surface that is equipped with of control surface assembly cavity 101a, control surface limiting hole 3022 has been seted up at its edge.
Locate between two rudder faces 1 and with base 2 that connection can be dismantled to rudder face 1, base 2 includes base middle part 202 and divides the base rotating part 201 of locating base middle part 202, steering wheel connecting hole 2021 has been seted up at base middle part 202, base assembly cavity 201a has been seted up at the center of base rotating part 201, base assembly cavity 201a is inside to be equipped with base fixed orifices 2011 and the first elastomeric element draw-in groove 2012 of base, and base limiting hole 3021 has been seted up at its edge.
A moving mechanism 3 for relatively rotating the control surface 1 and the base 2, including a torsion spring 301 and a limiting device 302 connected between the control surface rotating portion 101 and the base rotating portion 201, wherein positioning portions at two ends of the torsion spring 301 are clamped in a control surface first elastic member clamping groove 1012 and a base first elastic member clamping groove 2012, and the limiting device 302 includes a base limiting hole 3021 formed on an edge of the base rotating portion 201, a control surface limiting hole 3022 formed on an edge of the control surface rotating portion 101, and a spring pin 3023 formed in the base limiting hole 3021 and capable of extending out of the hole;
one end of the spring pin 3023 is a cylindrical pin, the other end of the spring pin is a spring, the cylindrical pin is fixed, when the spring pin 3023 is completely compressed in the hole 3021 of the base, the torsion spring 301 is in a torsion state and has a torsion moment, when the control surface 1 and the base 2 rotate by using a return moment, and when the hole 3022 of the control surface is rotated and the hole 3021 of the base is coincided, the spring pin 3023 returns elastically and then penetrates through the hole 3022 of the control surface and the hole 3021 of the base to limit the position.
The control surface 1 and the base 2 are connected and fixed by a fastening screw 4 penetrating between the control surface fixing hole 1011 and the base fixing hole 2011, and the torsion spring 301 is twisted around the fastening screw 4.
Example two
The underwater vehicle comprises an underwater vehicle main body 6, four folding type double-sided rudders A arranged at the tail part of the underwater vehicle main body 6, and a steering engine, wherein the underwater vehicle main body 6 and the folding type double-sided rudders A are connected through a steering engine shaft 7 on the steering engine.
The underwater vehicle main body 6 is a rotor body, the underwater vehicle main body is composed of a head curve section, a tail curve section and a parallel middle section, a stabilizing fin 8 and a propeller 9 are installed on an outer shell of the tail curve section, and for the overall vehicle, the center of pressure position of the vehicle when the navigation attack angle is small can be changed through the position and the size of the stabilizing fin 8, so that the operation performance of the vehicle is changed, meanwhile, the stabilizing fin has a certain rectification function on an inflow flow field of the propeller 9, and the propulsion efficiency of the propeller 9 is improved;
when the double-sided rudder A is in a folded state, a spring of the spring pin 3023 is in a compressed state, the spring pin 3023 is located in the base limiting hole, when the double-sided rudder A extends, the double-sided rudder rotates around the fastening screw 4 under the action of the torsion spring 301, when the double-sided rudder A rotates to a set position, a part of the spring pin 3023 enters the control surface limiting hole 3022 under the elastic force of the spring, the positions of the control surface 1 and the base 2 are fixed, the flattened double-sided rudder A is in a cross-shaped layout at the tail of an aircraft, when the double-sided rudder A in an unfolded state needs to be folded, the spring pin needs to be pressed into the control surface by virtue of a thimble, and when the control surface limiting hole 3022 and the base limiting hole 3021 are misaligned, the double-sided rudder A can be folded into the tail of the aircraft and then fixed.
In the sailing process of the aircraft, the double-sided rudder A rotates around the rudder machine shaft 7 under the action of the torsional force of the steering machine, and the double-sided rudder on the vertical plane or the horizontal plane can simultaneously rotate towards one direction and also can differentially rotate towards the other direction. When the rudder in the horizontal direction rotates in the same direction, the attitude of the aircraft can be changed, so that the aircraft climbs up or dives down on the vertical surface, the rudder on the vertical surface can control the aircraft to change the attitude on the horizontal plane, and the rolling of the aircraft can be inhibited when the double-sided rudder A performs differential motion; the double-sided rudder A can realize five-degree-of-freedom motion by adopting one propeller 9, and the aircraft can realize six-degree-of-freedom motion under the condition that the propeller 9 changes the steering to realize forward movement and reverse movement, so that the double-sided rudder A has higher flexibility.
The present invention is not limited to the preferred embodiments, and any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A foldable double-sided rudder is characterized in that the double-sided rudder comprises two oppositely arranged control surfaces and a base connected between the two control surfaces, and the base can be arranged on a steering engine; the double-sided rudder also comprises an airfoil-shaped end plate connected between the two control surfaces;
the rudder surface is provided with a rudder surface rotating part, the base comprises a base middle part and base rotating parts which are respectively arranged on two sides of the base middle part, a movable mechanism is arranged between the rudder surface rotating part and the base rotating part, and the movable mechanism comprises a first elastic component and a limiting device which are connected between the rudder surface rotating part and the base rotating part;
stop device is including locating locate base on the base rotating part is injectd the hole, is located the control plane of control plane rotating part is injectd the hole and is located the base is injectd downthehole and can stretch out the outer elasticity locating part of hole, elasticity locating part compress in when the spacing downthehole of base, first elastic component is in torsional state, has torsional moment.
2. The foldable double sided rudder of claim 1, wherein the rudder surface and the base are rotatable relative to each other.
3. The foldable double-sided rudder according to claim 1, wherein the elastic stopper is elastically restored to be stopped through the rudder surface defining hole and the base defining hole when the rudder surface and the base are rotated by a restoring torque until the rudder surface defining hole and the base defining hole coincide with each other.
4. The foldable double-sided rudder of claim 3, wherein the first elastic member is a torsion spring and the elastic stop is a spring pin.
5. The foldable double-sided rudder according to claim 3, wherein a steering engine connecting hole is formed in the middle of the base, a base assembling cavity is formed in the center of the base rotating part, and a base fixing hole and a base first elastic part clamping groove are formed in the base assembling cavity;
a control surface assembly cavity is formed in the center of the control surface rotating part, and a control surface fixing hole and a control surface first elastic component clamping groove are formed in the control surface assembly cavity;
the base and the control surface are connected through a first fixing piece penetrating through the base fixing hole and the control surface fixing hole.
6. The foldable double-sided rudder according to claim 5, wherein both ends of the first elastic member are fixed to the base first elastic member slot and the rudder surface first elastic member slot, respectively; the first fixing piece is a fastening screw, and the first elastic component surrounds the fastening screw to be twisted.
7. An underwater vehicle, which is characterized by comprising an underwater vehicle main body, a steering engine and the folding type double-sided rudder which is arranged on the steering engine and is provided with any one of claims 1-6; the underwater vehicle main body and the folding type double-sided rudder are connected through a steering engine shaft.
8. The underwater vehicle of claim 7, wherein the underwater vehicle body is in the shape of a rotor, the underwater vehicle body is formed by a curved nose section, a curved tail section and a parallel midsection, and the curved tail section has stabilizing fins mounted on an outer shell.
9. The underwater vehicle of claim 8, wherein the underwater vehicle tail is equipped with a propeller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910570063.3A CN110371281B (en) | 2019-06-27 | 2019-06-27 | Folding type double-sided rudder and underwater vehicle with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910570063.3A CN110371281B (en) | 2019-06-27 | 2019-06-27 | Folding type double-sided rudder and underwater vehicle with same |
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| Publication Number | Publication Date |
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| CN110371281A CN110371281A (en) | 2019-10-25 |
| CN110371281B true CN110371281B (en) | 2020-12-29 |
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| CN201910570063.3A Active CN110371281B (en) | 2019-06-27 | 2019-06-27 | Folding type double-sided rudder and underwater vehicle with same |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113212680B (en) * | 2021-06-15 | 2022-08-02 | 西北工业大学 | Rotary AUV horizontal fin forward ejection stability augmentation device |
| CN113247223B (en) * | 2021-06-15 | 2022-08-05 | 西北工业大学 | Rotary type AUV horizontal fin backward popup stability augmentation device |
| CN113212714B (en) * | 2021-06-15 | 2022-08-05 | 西北工业大学 | Horizontal fin lateral popup stability augmentation device of rotary AUV (autonomous Underwater vehicle) |
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| CN103171750A (en) * | 2013-03-28 | 2013-06-26 | 中国计量学院 | Direction adjusting device of underwater self-aircraft and control method thereof |
| CN205931156U (en) * | 2016-04-29 | 2017-02-08 | 杭州华鹰游艇有限公司 | Rotatable hydrofoil |
| KR101723486B1 (en) * | 2016-08-30 | 2017-04-06 | 주식회사 페코 | Portable folding non-motorized boat |
| CN108313254A (en) * | 2018-03-21 | 2018-07-24 | 无锡德林防务装备股份有限公司 | A kind of steering engine |
| CN108482575A (en) * | 2018-03-25 | 2018-09-04 | 哈尔滨工程大学 | A kind of adjustable hydrofoil unit peculiar to vessel |
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2019
- 2019-06-27 CN CN201910570063.3A patent/CN110371281B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103171750A (en) * | 2013-03-28 | 2013-06-26 | 中国计量学院 | Direction adjusting device of underwater self-aircraft and control method thereof |
| CN205931156U (en) * | 2016-04-29 | 2017-02-08 | 杭州华鹰游艇有限公司 | Rotatable hydrofoil |
| KR101723486B1 (en) * | 2016-08-30 | 2017-04-06 | 주식회사 페코 | Portable folding non-motorized boat |
| CN108313254A (en) * | 2018-03-21 | 2018-07-24 | 无锡德林防务装备股份有限公司 | A kind of steering engine |
| CN108482575A (en) * | 2018-03-25 | 2018-09-04 | 哈尔滨工程大学 | A kind of adjustable hydrofoil unit peculiar to vessel |
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| CN110371281A (en) | 2019-10-25 |
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