CN113581430B

CN113581430B - Difunctional deep submersible vehicle propulsion system

Info

Publication number: CN113581430B
Application number: CN202110923360.9A
Authority: CN
Inventors: 朱大奇; 褚振忠; 陈琦; 张文
Original assignee: University of Shanghai for Science and Technology
Current assignee: University of Shanghai for Science and Technology
Priority date: 2021-08-12
Filing date: 2021-08-12
Publication date: 2022-07-26
Anticipated expiration: 2041-08-12
Also published as: CN113581430A

Abstract

The invention discloses a dual-function deep submersible vehicle propelling system, which comprises: the device comprises a steering engine fixing frame, a driving assembly fixed on the steering engine fixing frame, a crank structure movably connected with the driving assembly, a propeller movably connected with the crank structure and a flow guide cover movably connected with the propeller; the driving assembly comprises a driving motor and a rudder shaft fixedly connected with an output shaft of the driving motor, and the rudder shaft is movably arranged on the steering engine fixing frame; one end of the crank structure is movably connected with the rudder shaft, the other end of the crank structure is movably connected with the rotating shaft, and two ends of the rotating shaft are fixedly connected with rotary fixing seats which are fixed on the propeller. According to the invention, the autonomous switching between the AUG and AUV states can be realized, and the problem of adaptation of a low-resistance gliding and high-efficiency propulsion system of the dual-function underwater vehicle is solved.

Description

Difunctional deep diving ware advancing system

Technical Field

The invention relates to the technical field of propellers, in particular to a dual-function deep submersible vehicle propulsion system.

Background

The deep sea Underwater glider AUG (Autonomous Underwater glider) can be used for unpowered large-scale long-time Underwater gliding test; the autonomous unmanned Underwater vehicle (AUV) needs to be driven by self power to carry out rapid autonomous navigation operation. The two submersible devices are integrated in a combined manner, the technical characteristics and advantages of the two submersible devices are fully exerted, and the two submersible devices have wide application prospects in the fields of underwater target signal detection and concrete water area fine search. The key point is how to perform autonomous switching between the AUG state and the AUV state, which is an important technical problem.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a dual-function deep submersible vehicle propulsion system which can realize autonomous switching between AUG and AUV states and solve the problems of low resistance gliding and high efficiency of the dual-function submersible vehicle in adaptation. To achieve the above objects and other advantages in accordance with the present invention, there is provided a dual function deep submersible vehicle propulsion system comprising:

the device comprises a steering engine fixing frame, a driving assembly fixed on the steering engine fixing frame, a crank structure movably connected with the driving assembly, a propeller movably connected with the crank structure and a flow guide cover movably connected with the propeller;

the driving assembly comprises a driving motor and a rudder shaft fixedly connected with an output shaft of the driving motor, and the rudder shaft is movably arranged on the steering engine fixing frame;

one end of the crank structure is movably connected with the steering shaft, the other end of the crank structure is movably connected with the rotating shaft, two ends of the rotating shaft are fixedly connected with rotating fixing seats, the rotating fixing seats are fixed on the propeller, one end, away from the steering engine fixing frame, of the propeller is fixedly connected with a propeller guide frame, a first guide rod and a second guide rod are fixedly connected between the propeller guide frame and the steering engine fixing frame, and the first guide rod and the second guide rod are oppositely arranged on two sides of the propeller;

the two side edges of the propeller are respectively and oppositely fixedly connected with a first fixed seat, and a first guide rod and a second guide rod penetrate through the first fixed seat respectively.

Preferably, the first fixing seat is movably connected with a connecting rod, and the connecting rod is movably connected with a flow guide cover.

Preferably, the air guide sleeve is arc-shaped, a polygonal arc-shaped groove is formed in the position, close to the propeller, of the air guide sleeve, and the arc-shaped groove is used for avoiding the propeller.

Preferably, an electromagnet seat is fixed on one side face of the steering engine fixing frame, and an electromagnet is fixedly connected to the electromagnet seat.

Compared with the prior art, the invention has the beneficial effects that:

(1) an output shaft of a driving motor in the driving assembly drives the crank structure to rotate, so that the propeller moves along the length direction of the first guide rod and the second guide rod, and the air guide sleeve is connected with the propeller through the connecting rod, so that the opening and closing actions of the air guide sleeve are realized.

(2) When the propeller extends out of the maximum position, the crank structure is attached to the electromagnet and is sucked, so that the axial position of the propeller is fixed.

(3) When the electromagnet is electrified, the crank structure is driven by the driving assembly to be recovered along the first guide rod and the second guide rod, the extension/recovery of the propulsion unit of the deep submergence vehicle and the opening and closing of the flow guide cover are completed, the low-resistance gliding and high-efficiency propulsion of underwater navigation are realized, and the driving assembly can provide enough thrust for the propeller when extending out of the propeller. And a magnetic coupling transmission motor driving mode is adopted. Compared with the traditional magnetic coupling transmission mode, the sliding bearing is completely converted into the rolling bearing by improving the structural design, so that the friction coefficient is reduced to improve the transmission efficiency.

Drawings

FIG. 1 is a schematic structural view of a dual function deep submergence vehicle propulsion system according to the present invention;

FIG. 2 is a cross-sectional view of a gun handle of the dual function deep submergence vehicle propulsion system according to the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to FIGS. 1-2, a dual function deep submersible propulsion system comprises: the device comprises a steering engine fixing frame 60, a driving component 40 fixed on the steering engine fixing frame 60, a crank structure 50 movably connected with the driving component 40, a propeller 10 movably connected with the crank structure 50 and a flow guide cover 90 movably connected with the propeller 10, wherein when the device is used, two propellers 10 are arranged on the deep submergence vehicle, and independent actuating mechanisms drive the propellers 10 to stretch and the flow guide cover 90 to open and close; the driving assembly 40 includes a driving motor 41 and a rudder shaft 42 fixedly connected to an output shaft of the driving motor 41, the driving motor 41 is a harmonic reducer, and a stepping motor is used as a power source to realize a rotation motion of the rudder shaft 42 after being reduced by the harmonic reducer. In order to realize high-precision position control of the servo control unit, a hollow rotary transformer is installed on an output shaft to realize real-time feedback of the angle of the output shaft, the output shaft of a driving motor 41 rotates to drive a rudder shaft 42 to rotate, the hollow rotary transformer is installed on the output shaft of the driving motor 41 to realize real-time feedback of the angle of the output shaft of the driving motor 41, dynamic sealing is carried out in a driving assembly 40 through an O-shaped ring to realize miniaturization of a watertight servo control unit, pressure compensation is carried out inside the driving assembly 40 through a centralized piston type oil pressure compensation mechanism, and the pressure resistance requirement under a large depth is met. The pressure compensation mechanism is connected with the underwater steering engine system through a pipeline, and the steering shaft 42 is movably arranged on the steering engine fixing frame 60; one end of the crank structure 50 is movably connected with the rudder shaft 42, the other end of the crank structure is movably connected with the rotating shaft 100, two ends of the rotating shaft 100 are fixedly connected with a rotating fixing seat 130, the rotating fixing seat 130 is fixed on the propeller 10, and the driving assembly 40 drives the crank structure 50 to rotate, so that the propeller 10 moves along the length direction of the first guide rod 110 and the second guide rod 120, and further drives the opening and closing action of the flow guide cover 90; be fixed with electromagnet seat 30 on steering wheel mount 60 one side, the rigid coupling has the electromagnet on electromagnet seat 30, when propeller 10 extends to the maximum position completely, crank structure 50 was close to the electromagnet this moment, and crank structure 50 is held by the electromagnet to realize that propeller 10 keeps the fixed of maximum position, when propeller 10 extends to the maximum position completely, with the electromagnet circular telegram, drive assembly 40 drove crank structure 50 and rotates this moment, and then make kuppe 90 remove to the electromagnet direction, make kuppe 90 closed.

Further, a propeller guide frame 20 is fixedly connected to one end, far away from the steering engine fixing frame 60, of the propeller 10, a first guide rod 110 and a second guide rod 120 are fixedly connected between the propeller guide frame 20 and the steering engine fixing frame 60, and the first guide rod 110 and the second guide rod 120 are oppositely arranged on two sides of the propeller 10.

Further, two side edges of the propeller 10 are respectively and fixedly connected with a first fixing seat 70, and a first guide rod 110 and a second guide rod 120 penetrate through the first fixing seat 70.

Further, a connecting rod 80 is movably connected to the first fixing seat 70, and a flow guide sleeve 90 is movably connected to the connecting rod 80.

Further, the air guide sleeve 90 is arc-shaped, a polygonal arc-shaped groove is formed in the position, close to the propeller 10, of the air guide sleeve 90, and the arc-shaped groove is used for avoiding the propeller 10.

The number of devices and the scale of the processes described herein are intended to simplify the description of the invention, and applications, modifications and variations of the invention will be apparent to those skilled in the art.

While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.

Claims

1. A dual function deep submersible propulsion system comprising:

the device comprises a steering engine fixing frame (60), a driving assembly (40) fixed on the steering engine fixing frame (60), a crank structure (50) movably connected with the driving assembly (40), a propeller (10) movably connected with the crank structure (50) and a flow guide cover (90) movably connected to the propeller (10);

the driving assembly (40) comprises a driving motor (41) and a rudder shaft (42) fixedly connected with an output shaft of the driving motor (41), and the rudder shaft (42) is movably arranged on a steering engine fixing frame (60);

one end of the crank structure (50) is movably connected with the rudder shaft (42), the other end of the crank structure is movably connected with the rotating shaft (100), two ends of the rotating shaft (100) are fixedly connected with rotating fixing seats (130), the rotating fixing seats (130) are fixed on the propeller (10), one end, far away from the steering engine fixing frame (60), of the propeller (10) is fixedly connected with a propeller guide frame (20), a first guide rod (110) and a second guide rod (120) are fixedly connected between the propeller guide frame (20) and the steering engine fixing frame (60), and the first guide rod (110) and the second guide rod (120) are oppositely arranged on two sides of the propeller (10);

two side edges of the propeller (10) are respectively and oppositely fixedly connected with a first fixed seat (70), and a first guide rod (110) and a second guide rod (120) penetrate through the first fixed seat (70).

2. A dual function deep submersible vehicle propulsion system as recited in claim 1 wherein said first attachment mount (70) has a connecting rod (80) movably attached thereto, said connecting rod (80) having a pod (90) movably attached thereto.

3. A dual function deep submersible propulsion system as recited in claim 2 wherein the shroud (90) is arcuate and the shroud (90) defines a polygonal arcuate slot adjacent the propeller (10), the arcuate slot being adapted to clear the propeller (10).

4. A dual function deep submergence vehicle propulsion system according to claim 1 wherein an electromagnet seat (30) is fixed on one side of the steering engine fixing frame (60), and an electromagnet is fixed on the electromagnet seat (30).