CN105620708A - Underwater electric steering engine and rudder angle detection method - Google Patents
Underwater electric steering engine and rudder angle detection method Download PDFInfo
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- CN105620708A CN105620708A CN201410713300.4A CN201410713300A CN105620708A CN 105620708 A CN105620708 A CN 105620708A CN 201410713300 A CN201410713300 A CN 201410713300A CN 105620708 A CN105620708 A CN 105620708A
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Abstract
The invention relates to a steering gear, in particular to an underwater electric steering engine and a rudder angle detection method. The underwater electric steering engine comprises an output shaft, an engine base, a worm wheel, a worm, a power system and a steering engine controller. The power system drives the output shaft to rotate through transmission of the worm and the worm wheel. The output shaft extends out of the end, provided with a shaft end cap, of the engine base, and the output shaft is provided with a limiting swing piece at the end. A swing groove is formed in the shaft end cap. The limiting swing piece swings in the swing groove. The steering engine controller is connected with a motor in the power system. An incremental encoder is arranged on the motor. The limiting swing piece and the steering engine controller are used for determining the rudder angle zero point position. The incremental encoder is used for detecting angle change values of a motor output shaft so as to determine the absolute position of the current rudder angle. The power system is arranged in a shell. The shell communicates with the engine base, and the interior of the shell is an oil-filled sealed space. An oil pipe is connected with the shell. The underwater electric steering engine is compact in overall structure and capable of meeting operation demands of full-ocean-depth low-speed large-torque and large-moment output.
Description
Technical field
The present invention relates to a kind of steering gear, specifically a kind of underwater electric steering wheel and rudder angle detection method.
Background technology
In prior art, autonomous underwater robot is generally installed propeller at stern and is realized advancing, and before propeller or after propeller, arrange that steering wheel realizes the continuous motor control of multiple degree of freedom under three-dimensional coordinate, such as orientation, depthkeeping, fixed height, floating, dive, turn bow etc. the sail bodies such as autonomous underwater robot angle of rake steering wheel working method and the torpedo of shallow water work are similar, the housing outside sail body is utilized to provide the cabin of watertight to propulsion plant and steering wheel, the impact of the outside sea water of isolation and pressure, increase however as submerged depth, the requirement of autonomous underwater robot body bearing capacity is also steeply risen, by propulsion plant, steering wheels etc. are sealed in housing, cause that housing cannot provide enough residue positive buoyancies the most at last, make autonomous underwater robot can not meet navigation requirement, therefore deep-sea autonomous underwater robot generally adopts open permeable structure, by equipment, it is installed on autonomous underwater robot framework after the directly watertight such as sensor, extra positive buoyancy is provided by buoyancy material. traditional steering wheel design volume is bigger, and the many employings of rudder angle detection are at absolute transducers such as output shaft end installation photoelectric encoders, during the application of deep-sea, steering wheel volume is excessive to be needed to design larger-diameter cylinder and is packaged, and larger-diameter cylinder needs bigger thickness of shell to bear deep sea hydraulic, on the other hand, at output shaft end, photoelectric sensor is installed to need to increase extra sealing cabin, increase volume further, cause structure complicated.
Summary of the invention
It is an object of the invention to provide a kind of underwater electric steering wheel and rudder angle detection method, compact overall structure, adopts independent sealed oil-filled structure, it is possible to meet the work requirements of the bigger running torque load moment output of the deep low speed in full sea, and obtain angular position feedback by incremental encoder, measure simple.
It is an object of the invention to be achieved through the following technical solutions:
A kind of underwater electric steering wheel, including output shaft, support, worm gear, worm screw, dynamical system and steering engine controller, described output shaft, worm gear and worm screw may be contained within described support, and described dynamical system passes sequentially through the transmission torque of described worm and worm wheel, described worm gear and described output shaft fixed connection; One end of described support is provided with axle head end cap, one end that described output shaft is provided with axle head end cap by support is stretched out, and one end that described output shaft extend out to outside support is provided with the spacing swing sheet for determining rudder angle dead-center position, described axle head end cap is provided with swinging chute, described spacing swing sheet is driven by described output shaft and swings in described swinging chute, being provided with motor in described dynamical system, described steering engine controller is connected with described motor, and described motor is provided with incremental encoder.
Described dynamical system is arranged in a housing being arranged on outside support, and described housing and support communicate and described housing and base inner are sealing space, and described housing is connected with oil-filled oil pipe away from one end of described support.
Described housing is provided with housing end plug, and oil pipe is arranged on described housing end plug by oil nozzle joint and clamp nut.
Described dynamical system also includes a reductor except described motor, described motor is connected with reductor, described reductor is connected with described housing, and the output shaft of described reductor is connected with described worm screw, and described incremental encoder is arranged at described motor one end away from described reductor.
Described motor is DC brushless motor, and described reductor is planet-gear speed reducer.
Being arranged with two spacing block sets on described spacing swing sheet, be provided with multiple confined planes in described swinging chute, described spacing swing sheet swings spacing by the realization that offsets of the confined planes in spacing block set and swinging chute.
Described output shaft is arranged in support by clutch shaft bearing and the supporting of the second bearing, and described clutch shaft bearing is arranged in the pedestal of support, and described support is provided with side end cap away from one end of described axle head end cap, and described second bearing is arranged in described side end cap.
Described clutch shaft bearing is axially positioned by a hole jump ring, an axle jump ring and described axle head end cap, and described clutch shaft bearing is pair of horns contact ball bearing.
The modulus of described worm gear and worm screw is 1, and lead angle is less than 4 ��.
A kind of rudder angle detection method of underwater electric steering wheel, it is characterized in that: described spacing swing sheet first passes through steering engine controller and controls to turn to the swing extreme position of side and by described this positional information of steering engine controller record when determining rudder angle dead-center position, then described spacing swing sheet turns to the extreme position of opposite side and by described this positional information of steering engine controller record by described steering engine controller control opposite direction, namely midpoint between two extreme positions is set to rudder angle dead-center position by described steering engine controller, the output shaft angle changing value that motor is detected by described incremental encoder in rudder angle absolute position when described output shaft rotation is to other positions is determined, rudder angle positional information is stored in when system cut-off in described steering engine controller, and described steering engine controller determines current rudder angle position when being once again powered up by reading the positional information of last stored.
Advantages of the present invention and good effect be:
1. simple in construction, volume are little. The present invention adopts direct current generator through planet-gear speed reducer deceleration rear drive worm and gear, and the output of little for high speed moment of torsion is converted into the output of low speed high torque, meets rotating speed, torque demand that autonomous underwater robot rudder drives, and rotational structure is simple; Compact conformation, is suitable for autonomous underwater robot stern narrow space installation requirements.
2. overall oil-filled watertight, has the deep ability to work in full sea. In the present invention, the element such as motor, worm and gear is all sealed in steering gear shell body, and oil-filled in enclosure interior, relies on the impact of the compression compensation seawater pressure of oil pipe, it is ensured that steering wheel has the deep pressure-bearing in full sea and sealability under less shell dimension.
4. bearing capacity is good. Consider adopt when autonomous underwater robot steering wheel designs cantilever beam supporting construction, the present invention adopts pair of horns contact ball bearing to support at steering wheel output shaft end, the rudder of cantilever design design is had better bending resistance square support bearing ability.
5. rudder angle detection method is simple, reliable. The present invention adopts the change of the incremental encoder detection angles integrated with motor, in conjunction with the limit point on support, rudder angle zero point is demarcated, and then obtain the absolute angular position information of each moment rudderpost.
6. applied range. Steering wheel in the present invention cannot be only used for the driving of autonomous underwater robot rudder, it is also possible to for driving other rotating mechanism under water.
Accompanying drawing explanation
Fig. 1 is the structural representation one of the present invention,
Fig. 2 is the structural representation two of the present invention,
Fig. 3 is the electric machine structure schematic diagram of the present invention in Fig. 1,
Fig. 4 is the motor housing structure schematic diagram of the present invention in Fig. 1,
Fig. 5 is the working state schematic representation of the present invention in Fig. 1.
Wherein, 1 is output shaft, 2 is axle head end cap, 3 is support, 4 is clutch shaft bearing, 5 is housing, 6 is worm gear, 7 is side end cap, 8 is the first sealing ring, 9 is hole jump ring, 10 is axle jump ring, 11 is spacing swing sheet, 12 is dynamical system, 13 is screw, 14 is worm screw, 15 is the second bearing, 16 is holding screw, 17 is housing end plug, 18 is oil pipe, 19 is oil nozzle joint, 20 is clamp nut, 21 is jackscrew, 22 is incremental encoder, 23 is motor, 24 is reductor, 25 is pedestal, 26 is O, 27 is the second sealing ring, 28 is swinging chute, 29 is spacing block set, 30 is the second restraining position, 31 is the first restraining position, 32 is confined planes, 33 is opening, 34 is breach, 35 is flange, 36 is O, 37 is O.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in Fig. 1��2, the present invention includes output shaft 1, support 3, worm gear 6, worm screw 14, dynamical system 12 and steering engine controller, the pedestal 25 of wherein said support 3 is respectively arranged at two ends with side end cap 7 and axle head end cap 2, described output shaft 1, worm gear 6 and worm screw 14 may be contained within described support 3, as shown in Figure 1, described output shaft 1 is arranged in support 3 by clutch shaft bearing 4 and the supporting of the second bearing 15, and described output shaft 1 is provided with axle head end cap 2 one end by support 3 and stretches out, described clutch shaft bearing 4 is arranged in the pedestal 25 of support 3 and by a hole jump ring 9, one axle jump ring 10 and described axle head end cap 2 are axially positioned in the middle part of described output shaft 1, described second bearing 15 is arranged in described side end cap 7, described clutch shaft bearing 4 is pair of horns contact ball bearing, output shaft 1 so can be made to have better bending resistance square support bearing ability. between described side end cap 7 and the pedestal 25 of support 3, it is provided with the first sealing ring 8, is provided with O 26 inside described axle head end cap 2 and realizes the movable sealing between output shaft 1, between described axle head end cap 2 and the pedestal 25 of support 3, be provided with the second sealing ring 27.
As shown in Figure 1, described worm gear 6 is arranged between described clutch shaft bearing 4 and side end cap 7, and described worm gear 6 is arranged on described output shaft 1, it is connected for key between described worm gear 6 and output shaft 1, as shown in Figure 2, described worm screw 14 is located in described support 3 by bearing supporting, described worm screw 14 is meshed to transmit moment with worm gear 6, and in the present embodiment, the modulus of described worm gear 6 and worm screw 14 is 1, lead angle, less than 4 ��, has self-lock ability.
It is outside that dynamical system 12 is arranged on support 3, as shown in figures 2-3, described dynamical system 12 is arranged in a housing 5, described housing 5 is arranged on outside support 3 by screw, described dynamical system 12 includes the motor 23 and the reductor 24 that are connected, described reductor 24 is connected with described housing 5 by screw 13, the output shaft of described reductor 24 is connected with described worm screw 14 by jackscrew 21, the high rpm low torque that motor 23 is exported by reductor 24 transfers slow-speed of revolution high torque to, and the transmission passing sequentially through worm screw 14 and worm gear 6 drives output shaft 1 to rotate. In the present embodiment, described motor 23 is DC brushless motor, and described reductor 24 is planet-gear speed reducer.
As shown in Figure 4, described housing 5 front end is provided with a flange 35, described flange 35 is arranged on support 3 by screw, the opening 33 of housing 5 front end is petal-shaped, reductor 24 outfan in dynamical system 12 is provided with a positive stop lug boss, described positive stop lug boss embeds in described opening 33 coaxial to ensure, the opening 33 of housing 5 front end is provided with a breach 34, for the jackscrew 21 of accommodating connection reductor 24 and worm screw 14, it is provided with O 36 between described housing 5 front end and support 3 and realizes sealing when being connected. As shown in Figure 2, the rear end of described housing 5 is provided with a housing end plug 17, described housing end plug 17 is connected with described housing 5 by holding screw 16 and passes through O 37 and realizes sealing when being connected, oil pipe 19 is arranged on described housing end plug 17 by oil nozzle joint 19 and clamp nut 20, described housing 5 is internal with support 3 to communicate, oil medium injects in housing 5 and support 3 by described oil pipe 19, to realize the impact of oil-filled compensation external seawater pressure.
Steering engine controller is connected by raceway for wiring with described motor 23, as shown in Figure 3, it is provided with an incremental encoder 22 away from one end of reductor 24 at described motor 23, as shown in Figure 1 and Figure 5, it is provided with a swinging chute 28 away from the side of pedestal 25 at described axle head end cap 2, it extend out on the one end outside support 3 at described output shaft 1 and be provided with a spacing swing sheet 11, described spacing swing sheet 11 is driven by output shaft 1 and swings in described swinging chute 28, described spacing swing sheet 11 is arranged with two spacing block sets 29, multiple confined planes 32 it is provided with in described swinging chute 28, described spacing swing sheet 11 swings spacing by the realization that offsets of spacing block set 29 and the confined planes 32 in swinging chute 28. described steering engine controller is swung by spacing swing sheet 11 determines rudder angle dead-center position, and described incremental encoder 22 is used for the angle changing value detecting the output shaft of motor 23 to obtain the absolute position of current rudder angle. in the present embodiment, the MR encoder that described incremental encoder 22 produces for maxon company.
The operation principle of the present invention is:
The dynamical system 12 of the present invention passes sequentially through the transmission of worm screw 14 and worm gear 6 and drives output shaft 1 to rotate, compact overall structure, and adopts independent sealed oil-filled structure, it is possible to meet the work requirements of the bigger running torque load moment output of the deep low speed in full sea.
Rudder angle detection method in the present invention is to utilize spacing swing sheet 11 to determine angle zero point, and detects the angle changing value of motor 23 output shaft by being integrated in the incremental encoder 22 of motor 23 afterbody, thus obtaining the rudder angle absolute position in each moment. Specifically include following steps:
Zero testing need to be carried out when using first, first pass through steering engine controller control output shaft 1 to turn clockwise, as shown in Figure 5, when the spacing swing sheet 11 on output shaft 1 turns to the first restraining position 31, output shaft 1 cannot be rotated further, the electric current of motor 23 raises rapidly, steering engine controller detects that electric current raises, steering engine controller storage current location information also drives output shaft 1 to rotate counterclockwise, when spacing swing sheet 11 rotates counterclockwise to the second restraining position 30, output shaft 1 cannot be rotated further, the electric current of motor 23 raises rapidly, steering engine controller detects that electric current raises, storage current location information. angle [alpha] between described first restraining position 31 and second spacing external 30 is the hunting range of spacing swing sheet 11, first restraining position 31 and the second spacing midpoint of external 30 are set to rudder angle dead-center position, and then the angle excursion of output shaft 1 is-��/2��+��/2.
When output shaft 1 turns to other positions, the integrated incremental encoder 22 of motor 23 afterbody detects the output shaft angle changing value of motor 23, and therefore dead-center position absolute position on steering wheel it is known that can obtain the absolute position of current rudder angle.
Described steering engine controller has rudder angle position storage function, and storage positional information is not lost after power-off, and the transmission of described worm gear 6 and worm screw 14 has auto-lock function, during power-off, steering wheel will not rotate under external applied load, after again powering on, namely the positional information reading last stored may know that current rudderpost angle, all need to carry out rudder angle zero point detection after avoiding powering on every time, power on run duration at steering wheel, zero testing can also be utilized, the positional information of storage is calibrated, and described steering engine controller is techniques well known.
Claims (10)
1. a underwater electric steering wheel, it is characterized in that: include output shaft (1), support (3), worm gear (6), worm screw (14), dynamical system (12) and steering engine controller, described output shaft (1), worm gear (6) and worm screw (14) may be contained within described support (3), described dynamical system (12) passes sequentially through described worm screw (14) and worm gear (6) transmission torque, and described worm gear (6) is connected with described output shaft (1), one end of described support (3) is provided with axle head end cap (2), one end that described output shaft (1) is provided with axle head end cap (2) by support (3) is stretched out, and described output shaft (1) extend out to support (3) one end outward and is provided with the spacing swing sheet (11) for determining rudder angle dead-center position, described axle head end cap (2) is provided with swinging chute (28), described spacing swing sheet (11) is driven by described output shaft (1) and swings in described swinging chute (28), described dynamical system (12) is provided with motor (23), described steering engine controller is connected with described motor (23), described motor (23) is provided with incremental encoder (22).
2. underwater electric steering wheel according to claim 1, it is characterized in that: described dynamical system (12) is arranged in a housing (5) being arranged on support (3) outside, described housing (5) and support (3) communicate and described housing (5) and support (3) are internal is sealing space, and described housing (5) is connected with oil-filled oil pipe (19) away from one end of described support (3).
3. underwater electric steering wheel according to claim 2, it is characterized in that: described housing (5) is provided with housing end plug (17), oil pipe (19) is arranged on described housing end plug (17) by oil nozzle joint (19) and clamp nut (20).
4. underwater electric steering wheel according to claim 1 and 2, it is characterized in that: described dynamical system (12) also includes a reductor (24) except described motor (23), described motor (23) is connected with reductor (24), described reductor (24) is connected with described housing (5), the output shaft of described reductor (24) is connected with described worm screw (14), and described incremental encoder (22) is arranged at described motor (23) one end away from described reductor (24).
5. underwater electric steering wheel according to claim 4, it is characterised in that: described motor (23) is DC brushless motor, and described reductor (24) is planet-gear speed reducer.
6. underwater electric steering wheel according to claim 1, it is characterized in that: described spacing swing sheet (11) is arranged with two spacing block sets (29), being provided with multiple confined planes (32) in described swinging chute (28), described spacing swing sheet (11) swings spacing by the realization that offsets of the confined planes (32) in spacing block set (29) and swinging chute (28).
7. underwater electric steering wheel according to claim 1, it is characterized in that: described output shaft (1) is supported by clutch shaft bearing (4) and the second bearing (15) and is arranged in support (3), described clutch shaft bearing (4) is arranged in the pedestal (25) of support (3), described support (3) is provided with side end cap (7) away from one end of described axle head end cap (2), and described second bearing (15) is arranged in described side end cap (7).
8. underwater electric steering wheel according to claim 7, it is characterized in that: described clutch shaft bearing (4) is axially positioned by a hole jump ring (9), an axle jump ring (10) and described axle head end cap (2), and described clutch shaft bearing (4) is pair of horns contact ball bearing.
9. underwater electric steering wheel according to claim 1, it is characterised in that: the modulus of described worm gear (6) and worm screw (14) is 1, and lead angle is less than 4 ��.
10. the rudder angle detection method of a underwater electric steering wheel according to claim 1, it is characterized in that: described spacing swing sheet (11) first passes through steering engine controller and controls to turn to the swing extreme position of side and by described this positional information of steering engine controller record when determining rudder angle dead-center position, then described spacing swing sheet (11) turns to the extreme position of opposite side and by described this positional information of steering engine controller record by described steering engine controller control opposite direction, namely midpoint between two extreme positions is set to rudder angle dead-center position by described steering engine controller, the output shaft angle changing value that motor (23) is detected by described incremental encoder (22) in rudder angle absolute position when described output shaft (1) turns to other positions is determined, rudder angle positional information is stored in when system cut-off in described steering engine controller, and described steering engine controller determines current rudder angle position when being once again powered up by reading the positional information of last stored.
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| CN201410713300.4A CN105620708B (en) | 2014-11-28 | 2014-11-28 | A kind of underwater electric steering wheel and rudder angle detection method |
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| CN201410713300.4A CN105620708B (en) | 2014-11-28 | 2014-11-28 | A kind of underwater electric steering wheel and rudder angle detection method |
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| CN105620708A true CN105620708A (en) | 2016-06-01 |
| CN105620708B CN105620708B (en) | 2018-01-16 |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106597907A (en) * | 2016-12-30 | 2017-04-26 | 深圳市优必选科技有限公司 | Driving control circuit and robot |
| CN106741174A (en) * | 2016-11-21 | 2017-05-31 | 中国电子科技集团公司第四十八研究所 | Sealed steering wheel angle sensor |
| CN107264762A (en) * | 2017-07-12 | 2017-10-20 | 樊朝杰 | A kind of steering wheel peculiar to vessel |
| CN107976178A (en) * | 2017-12-12 | 2018-05-01 | 中国石油天然气集团公司 | A kind of underwater detection device |
| CN108321970A (en) * | 2018-05-11 | 2018-07-24 | 洪秀峰 | A kind of waterproof steering engine |
| CN108545163A (en) * | 2018-06-28 | 2018-09-18 | 南京信息工程大学 | A kind of underwater robot of imitative jellyfish movement |
| CN109540076A (en) * | 2018-12-12 | 2019-03-29 | 谢业海 | A kind of machine outside rotation angle sensor design method |
| CN110553579A (en) * | 2019-10-10 | 2019-12-10 | 北京机械设备研究所 | electric steering engine based on four spatial connecting rods and method for measuring angle of rudder output shaft |
| CN112762883A (en) * | 2020-12-29 | 2021-05-07 | 中国航空工业集团公司西安飞机设计研究所 | Device and method for measuring deflection angle of control surface of slat |
| CN113188405A (en) * | 2021-05-28 | 2021-07-30 | 西安微电机研究所 | Method for marking mechanical zero position of limited-angle torque motor |
| CN113619757A (en) * | 2021-08-02 | 2021-11-09 | 西北工业大学 | Pressure self-adaptation oil-filled steering engine |
| CN114933005A (en) * | 2022-06-06 | 2022-08-23 | 中国科学院沈阳自动化研究所 | Self-locking steering engine of autonomous underwater robot in deep sea |
| WO2024061016A1 (en) * | 2022-09-19 | 2024-03-28 | 亿航智能设备（广州）有限公司 | Single-encoder actuator for aircraft and power-on self-test method therefor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106741174A (en) * | 2016-11-21 | 2017-05-31 | 中国电子科技集团公司第四十八研究所 | Sealed steering wheel angle sensor |
| CN106597907A (en) * | 2016-12-30 | 2017-04-26 | 深圳市优必选科技有限公司 | Driving control circuit and robot |
| CN107264762A (en) * | 2017-07-12 | 2017-10-20 | 樊朝杰 | A kind of steering wheel peculiar to vessel |
| CN107976178A (en) * | 2017-12-12 | 2018-05-01 | 中国石油天然气集团公司 | A kind of underwater detection device |
| CN108321970A (en) * | 2018-05-11 | 2018-07-24 | 洪秀峰 | A kind of waterproof steering engine |
| CN108545163A (en) * | 2018-06-28 | 2018-09-18 | 南京信息工程大学 | A kind of underwater robot of imitative jellyfish movement |
| CN109540076A (en) * | 2018-12-12 | 2019-03-29 | 谢业海 | A kind of machine outside rotation angle sensor design method |
| CN110553579A (en) * | 2019-10-10 | 2019-12-10 | 北京机械设备研究所 | electric steering engine based on four spatial connecting rods and method for measuring angle of rudder output shaft |
| CN112762883A (en) * | 2020-12-29 | 2021-05-07 | 中国航空工业集团公司西安飞机设计研究所 | Device and method for measuring deflection angle of control surface of slat |
| CN113188405A (en) * | 2021-05-28 | 2021-07-30 | 西安微电机研究所 | Method for marking mechanical zero position of limited-angle torque motor |
| CN113619757A (en) * | 2021-08-02 | 2021-11-09 | 西北工业大学 | Pressure self-adaptation oil-filled steering engine |
| CN113619757B (en) * | 2021-08-02 | 2023-02-28 | 西北工业大学 | Pressure self-adaptation oil-filled steering engine |
| CN114933005A (en) * | 2022-06-06 | 2022-08-23 | 中国科学院沈阳自动化研究所 | Self-locking steering engine of autonomous underwater robot in deep sea |
| WO2024061016A1 (en) * | 2022-09-19 | 2024-03-28 | 亿航智能设备（广州）有限公司 | Single-encoder actuator for aircraft and power-on self-test method therefor |
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| CN105620708B (en) | 2018-01-16 |
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