CN109229318A - A kind of watertight helm gear of underwater robot - Google Patents
A kind of watertight helm gear of underwater robot Download PDFInfo
- Publication number
- CN109229318A CN109229318A CN201811063085.2A CN201811063085A CN109229318A CN 109229318 A CN109229318 A CN 109229318A CN 201811063085 A CN201811063085 A CN 201811063085A CN 109229318 A CN109229318 A CN 109229318A
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- Prior art keywords
- rudderpost
- watertight
- underwater robot
- electric pushrod
- ring
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/20—Steering equipment
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of watertight helm gear of underwater robot, and described device includes: power mechanism, for being connected with rudderpost mechanism, pushes the rotation of the rudderpost mechanism；Rudderpost mechanism, for being connected with the power mechanism, the driving force for receiving the power mechanism is rotated；Mechanism for monitoring obtains the rudder angle value of feedback of the rudderpost mechanism for being connected with the rudderpost mechanism；Fixed mechanism, for fixing the power mechanism, the rudderpost mechanism and the mechanism for monitoring.Using the embodiment of the present invention, apparatus of the present invention can be installed in the limited space of small underwater robot, have the characteristics that miniaturization, modularization, high-precision, and the underwater robot rudder blade suitable for small deep operation rotates control.
Description
Technical field
The present invention relates to the control technology fields of underwater robot, more particularly to a kind of watertight steering engine of underwater robot
Device.
Background technique
Watertight steering engine is one of the major impetus device of autonomous type underwater robot movement, drives rudder blade to turn by steering engine
It is dynamic, it can be realized the steering and pitching movement of autonomous type underwater robot.Small autonomous formula underwater robot space is limited, is difficult
Arrangement complexity and high-precision rudder blade driving device.
Existing watertight steering engine general size is big, precision is low, is even only able to achieve without rudder angle feedback function simple
Opened loop control, to influence the control performance of autonomous type underwater robot.
Summary of the invention
In view of the foregoing deficiencies of prior art, the purpose of the present invention is to provide a kind of watertight rudders of underwater robot
Machine device can be installed in the limited space of small underwater robot, have the characteristics that miniaturization, modularization, high-precision, fit
Underwater robot rudder blade for small deep operation rotates control.
In order to achieve the above objects and other related objects, the present invention provides a kind of watertight helm gear of underwater robot,
Described device includes:
Power mechanism pushes the rotation of the rudderpost mechanism for being connected with rudderpost mechanism；
Rudderpost mechanism, for being connected with the power mechanism, the driving force for receiving the power mechanism is rotated；
Mechanism for monitoring obtains the rudder angle value of feedback of the rudderpost mechanism for being connected with the rudderpost mechanism；
Fixed mechanism, for fixing the power mechanism, the rudderpost mechanism and the mechanism for monitoring.
In a kind of implementation of the invention, the rudderpost mechanism includes: upper vertical rudderpost, lower vertical rudderpost, left level
Rudderpost and right horizontal rudderpost.
In a kind of implementation of the invention, the power mechanism includes: that the first watertight electric pushrod, the second watertight are electronic
Push rod, the first watertight electric pushrod push the vertical rudderpost, lower vertical rudderpost as power source；The watertight
Electric pushrod pushes the left horizontal rudderpost, right horizontal rudderpost to be rotated as power source.
In a kind of implementation of the invention, the second watertight electric pushrod includes:
Tailstock, capsul and guide cylinder, telescopic shaft, nut, lead screw speed reducer, brshless DC motor, composite sealing ring, guiding
Ring, sealing ring, O-ring；
The capsul is connected with the guide cylinder, and intersection is provided with sealing inside the capsul and the guide cylinder
Ring, and twice O-ring is arranged in the outside of the sealing ring, it is described to lead for the sealing between the capsul and the guide cylinder
Cylinder front end is provided at least one of composite sealing ring；
The brshless DC motor is placed in the capsul, and is located at one end of the tailstock, the lead screw speed reducer and institute
It states brshless DC motor to be connected, and the other end of the lead screw speed reducer is connected by nut with the telescopic shaft, it is described flexible
The guide ring is provided on the outside of axis one end.
In a kind of implementation of the invention, the mechanism for monitoring is watertight rudder angle detection sensor, the watertight rudder angle
Detection sensor includes: shell, ceramic bearing, rotary transformer rotor, rotary transformer stator, rear end cap, bearing, the 2nd O
Shape circle, third O-ring；
The shell and the upper vertical rudderpost realize dynamic sealing by the second O-ring described in twice, the shell and it is described after
End cap realizes sealing by third O-ring；The rear end cap external water pressure effect under with the rotary transformer stator faces
It contacts and realizes axially position；The upper vertical rudderpost realizes radial positioning, and the pottery by the ceramic bearing and bearing
Porcelain bearing is installed on the shell, and the bearing is installed on the rear end cap；The rotary transformer rotor inner hole and institute
Vertical rudderpost interference fit is stated, rotary transformer stator one end and the shell inner hole groove are interference fitted.
In a kind of implementation of the invention, the watertight rudder angle detection sensor is respectively used at least provided with two
Left horizontal rudderpost is fed back with the rudder angle of upper vertical rudderpost.
In a kind of implementation of the invention, the fixed mechanism includes: pedestal and fixed tailstock,
The firm banking, for being connected and fixed the watertight rudder angle detection sensor, pedestal, wherein the pedestal are as follows: right water
The pedestal of the pedestal of flat rudderpost and lower vertical rudderpost, and it is provided with threaded hole on the firm banking, it is tight with underwater robot
Gu；
The fixed tailstock, for fixing the first watertight electric pushrod and the second watertight electric pushrod；Described second
The tailstock of watertight electric pushrod and fixed tailstock are hinged by rear shaft.
In a kind of implementation of the invention, the telescopic shaft and drive connecting rod of the second watertight electric pushrod pass through forward
Axis is hinged；The upper vertical rudderpost and follower link are fastened by screw, and upper vertical rudderpost is provided with annular groove；
By adjusting screw, upper vertical rudderpost adjusts rudder angle when watertight electric pushrod is static；Follower link be equipped with groove with
Drive connecting rod interference fit, and fastened by screw.
As described above, a kind of watertight helm gear of underwater robot of the invention, has the advantages that
(1) underwater robot compact high precision watertight helm gear of the present invention uses watertight electric pushrod as power source, and adopts
With watertight rudder angle detection sensor, have the characteristics that miniaturization, high-precision；Apparatus of the present invention degree of modularity is high, passes through fixation
Pedestal can be fastened with underwater robot；Apparatus of the present invention can be installed in the limited space of small underwater robot, be suitable for
The underwater robot rudder blade of small deep operation rotates control, realizes the steering and pitch control of underwater robot.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the watertight helm gear of underwater robot of the present invention.
Fig. 2 is the structural schematic diagram of watertight electric pushrod of the present invention.
Fig. 3 is the structural schematic diagram of watertight rudder angle detection sensor of the present invention.
Specific embodiment
Illustrate embodiments of the present invention below by way of specific specific example, those skilled in the art can be by this specification
Other advantages and efficacy of the present invention can be easily understood for disclosed content.The present invention can also pass through in addition different specific realities
The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints and application, without departing from
Various modifications or alterations are carried out under spirit of the invention.
Please refer to Fig. 1-3.It should be noted that only the invention is illustrated in a schematic way for diagram provided in the present embodiment
Basic conception, only shown in schema then with related component in the present invention rather than component count, shape when according to actual implementation
Shape and size are drawn, when actual implementation kenel, quantity and the ratio of each component can arbitrarily change for one kind, and its component cloth
Office's kenel may also be increasingly complex.
A kind of embodiment of the invention provides, and provides a kind of watertight helm gear of underwater robot, described device packet
It includes:
Power mechanism pushes the rotation of the rudderpost mechanism for being connected with rudderpost mechanism；
Rudderpost mechanism, for being connected with the power mechanism, the driving force for receiving the power mechanism is rotated；
Mechanism for monitoring obtains the rudder angle value of feedback of the rudderpost mechanism for being connected with the rudderpost mechanism；
Fixed mechanism, for fixing the power mechanism, the rudderpost mechanism and the mechanism for monitoring.
It should be noted that being formed one by one by setting power mechanism, rudderpost mechanism, mechanism for monitoring and fixed mechanism
Function modoularization structure, therefore, apparatus of the present invention degree of modularity is high.And it can be with water by firm banking on fixed mechanism
Lower robot fastening；Apparatus of the present invention can be installed in the limited space of small underwater robot, be detected by mechanism for monitoring
The rotation angle of rudderpost structure and suitable for small deep operation underwater robot rudder blade rotate control, realize underwater robot
Steering and pitch control.
In a kind of specific implementation of the embodiment of the present invention, the rudderpost mechanism includes: upper vertical rudderpost 20, lower vertical
Rudderpost 8, left horizontal rudderpost 15 and right horizontal rudderpost 21.The power mechanism includes: the first watertight electric pushrod 101, the second water
Close electric pushrod 102, the first watertight electric pushrod 101 push the vertical rudderpost 20, lower vertical rudder as power source
Axis 8；The second watertight electric pushrod 102 pushes the left horizontal rudderpost 15, right horizontal rudderpost 21 to carry out as power source
Rotation.
Wherein, the second watertight electric pushrod 102 includes: tailstock 4, capsul 6 and guide cylinder 7, telescopic shaft 11, nut
23, lead screw speed reducer 24, brshless DC motor 25, composite sealing ring 27, guide ring 26, sealing ring 28, O-ring 29；It is described close
Capsule 6 is connected with the guide cylinder 7, and the 7 inside intersection of guide cylinder is provided with sealing ring 28 in the capsul 6,
And the outside of the sealing ring 28 is provided at least one of O-ring 29,7 front end of guide cylinder is provided at least compound close together
Seal 27；The brshless DC motor 25 is placed in the capsul 6, and is located at one end of the tailstock 4, and the lead screw slows down
Machine 24 is connected with the brshless DC motor 25, and the other end of the lead screw speed reducer 24 passes through nut 23 and the telescopic shaft
11 are connected, and are provided with the guide ring 26 on the outside of described 11 one end of telescopic shaft.
Specifically, capsul 6 and 7 inside intersection of guide cylinder are provided with sealing ring 28, two are provided on the outside of sealing ring 28
Road O-ring 29, for the static seal between capsul 6 and guide cylinder 7；7 front end of guide cylinder is provided with twice composite sealing ring 27, uses
Dynamic sealing when 11 stretching motion of telescopic shaft.
In the embodiment of the present invention, the first watertight electric pushrod 101 is pushed away with the second watertight electric pushrod 102 as power source
Dynamic vertical rudderpost 20, lower vertical rudderpost 8, left horizontal rudderpost 15 are rotated with right horizontal rudderpost 21；Vertical rudderpost 8 passes through screw down
9 fasten with drive connecting rod 12, and the telescopic shaft 11 and drive connecting rod 12 of watertight electric pushrod 102 are hinged by front rotary shaft 13, and lead to
Cross the fastening of screw 14；Upper vertical rudderpost 20 is fastened with follower link 18 by 4 screws 19, and upper vertical rudderpost 20 is provided with annular
Slot, upper vertical rudderpost 20 can adjust rudder angle when watertight electric pushrod 102 is static after loosening screw 19；Follower link 18 is equipped with
Groove and drive connecting rod 12 are interference fitted, and are fastened by screw 16.
As shown in Fig. 2, brshless DC motor 25 uses 22 type brshless DC motor of MAXON EC, front end is equipped with
22 type lead screw speed reducer 24 of MAXON GP can drive nut 23 to move；Nut 23 and telescopic shaft 11 pass through screw threads for fastening；It is flexible
It is provided with guide ring 26 on the outside of 11 one end of axis, the radial positioning for telescopic shaft 11.
The mechanism for monitoring is watertight rudder angle detection sensor 103 and watertight rudder angle detection sensor 104, the watertight rudder
Angle detection sensor 104 includes: shell 22, ceramic bearing 30, rotary transformer rotor 31, rotary transformer stator 32, rear end
Lid 33, bearing 34, the second O-ring 37, third O-ring 38；The shell 22 passes through described in twice with the upper vertical rudderpost 20
Second O-ring 37 realizes dynamic sealing, and the shell 22, which is realized with the rear end cap 33 by third O-ring 38, to be sealed；After described
End cap 33 contacts with 32 end face of rotary transformer stator under external water pressure effect and realizes axially position；It is described vertical
Rudderpost 20 realizes radial positioning with bearing 34 by the ceramic bearing 30, and the ceramic bearing 30 is installed on the shell 22
On, the bearing 34 is installed on 33 on the rear end cap；31 inner hole of rotary transformer rotor and the upper vertical rudderpost
20 interference fits, described 32 one end of rotary transformer stator and the 22 inner hole groove of shell are interference fitted.As shown in figure 3, shell
The river TS2620N21E11 rotary transformers that rub are installed more in body 22,31 inner hole of rotor is interference fitted with upper vertical rudderpost 20,
32 one end of stator and 22 inner hole groove of shell are interference fitted, in figure 35 be rotary transformer cable, it is external for carrying out
Electrical connection.
In a kind of embodiment, the watertight rudder angle detection sensor 103 is respectively used to left hydroplane at least provided with two
Axis 15 is fed back with the rudder angle of upper vertical rudderpost 20.
Wherein, the fixed mechanism includes: pedestal 36 and fixed tailstock 1, and pedestal 36 carries out U by screw 17 and fixes, institute
Firm banking 36 is stated, for being connected and fixed the watertight rudder angle detection sensor 103, pedestal 10, wherein the pedestal 10 are as follows:
The pedestal of the pedestal of right horizontal rudderpost 21 and lower vertical rudderpost 8, and it is provided with threaded hole on the firm banking 36, with underwater machine
The fastening of device people；The fixed tailstock 1, for fixing the first watertight electric pushrod 101 and second watertight is electronic pushes away
Bar 102；The tailstock 4 of the second watertight electric pushrod 102 and fixed tailstock 1 are hinged by rear shaft.Tailstock 4 passes through fixed tail
The screw thread 3 and screw 2 of 1 connecting pin of seat are attached, and can be rotated along shaft 5.
The telescopic shaft 11 and drive connecting rod 12 of the second watertight electric pushrod 102 are hinged by front rotary shaft 13；On described
Vertical rudderpost 20 is fastened with follower link 18 by screw 19, and upper vertical rudderpost 20 is provided with annular groove；By adjusting screw 19,
Upper vertical rudderpost 20 adjusts rudder angle when watertight electric pushrod 102 is static；Follower link 18 is equipped with groove and drive connecting rod 12
Interference fit, and fastened by screw 16.
In conclusion underwater robot compact high precision watertight helm gear of the present invention is using watertight electric pushrod as dynamic
Power source, and watertight rudder angle detection sensor is used, have the characteristics that miniaturization, high-precision；Apparatus of the present invention degree of modularity is high,
It can be fastened with underwater robot by firm banking；Apparatus of the present invention can be installed on the limited space of small underwater robot
In, the underwater robot rudder blade suitable for small deep operation rotates control, realizes the steering and pitch control of underwater robot.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Cause
This, institute is complete without departing from the spirit and technical ideas disclosed in the present invention by those of ordinary skill in the art such as
At all equivalent modifications or change, should be covered by the claims of the present invention.
Claims (8)
1. a kind of watertight helm gear of underwater robot, which is characterized in that described device includes:
Power mechanism pushes the rotation of the rudderpost mechanism for being connected with rudderpost mechanism；
Rudderpost mechanism, for being connected with the power mechanism, the driving force for receiving the power mechanism is rotated；
Mechanism for monitoring obtains the rudder angle value of feedback of the rudderpost mechanism for being connected with the rudderpost mechanism；
Fixed mechanism, for fixing the power mechanism, the rudderpost mechanism and the mechanism for monitoring.
2. a kind of watertight helm gear of underwater robot according to claim 1, which is characterized in that the rudderpost mechanism
It include: upper vertical rudderpost (20), lower vertical rudderpost (8), left horizontal rudderpost (15) and right horizontal rudderpost (21).
3. a kind of watertight helm gear of underwater robot according to claim 2, which is characterized in that the power mechanism
It include: the first watertight electric pushrod (101), the second watertight electric pushrod (102), the first watertight electric pushrod (101) is made
The vertical rudderpost (20), lower vertical rudderpost (8) are pushed for power source；The second watertight electric pushrod (102) is as dynamic
Power source pushes the left horizontal rudderpost (15), right horizontal rudderpost (21) to be rotated.
4. a kind of watertight helm gear of underwater robot according to claim 1 to 3, which is characterized in that second water
Close electric pushrod (102) includes:
Tailstock (4), capsul (6) and guide cylinder (7), telescopic shaft (11), nut (23), lead screw speed reducer (24), brushless direct-current
Motor (25), composite sealing ring (27), guide ring (26), sealing ring (28), O-ring (29)
The capsul (6) is connected with the guide cylinder (7), and has a common boundary inside the capsul (6) and the guide cylinder (7)
Place is provided with sealing ring (28), and twice O-ring (29) are provided on the outside of the sealing ring (28), is used for the capsul
(6) sealing between the guide cylinder (7), guide cylinder (7) front end are provided at least one of composite sealing ring (27)；
The brshless DC motor (25) is placed in the capsul (6), and is located at the one end of the tailstock (4), the lead screw
Speed reducer (24) is connected with the brshless DC motor (25), and the other end of the lead screw speed reducer (24) passes through nut (23)
It is connected with the telescopic shaft (11), is provided with the guide ring (26) on the outside of described telescopic shaft (11) one end.
5. a kind of watertight helm gear of underwater robot according to claim 4, which is characterized in that the mechanism for monitoring
For watertight rudder angle detection sensor (103) and watertight rudder angle detection sensor (104), the watertight rudder angle detection sensor
(104) include: shell (22), ceramic bearing (30), rotary transformer rotor (31), rotary transformer stator (32), rear end cap
(33), bearing (34), the second O-ring (37), third O-ring (38)；
The shell (22) realizes dynamic sealing by the second O-ring (37) described in twice with the upper vertical rudderpost (20), described
Shell (22) and the rear end cap (33) are realized by third O-ring (38) to be sealed；The rear end cap (33) is made in external water pressure
It is contacted with rotary transformer stator (32) end face with lower and is realized axially position；The upper vertical rudderpost (20) passes through described
Radial positioning is realized in ceramic bearing (30) and bearing (34), and the ceramic bearing (30) is installed on the shell (22), institute
Bearing (34) is stated to be installed on the rear end cap on (33)；Rotary transformer rotor (31) inner hole and the upper vertical rudderpost
(20) it is interference fitted, described rotary transformer stator (32) one end and the shell (22) inner hole groove are interference fitted.
6. a kind of watertight helm gear of underwater robot according to claim 5, which is characterized in that the watertight rudder angle
Detection sensor (103) is respectively used to left horizontal rudderpost (15) and the rudder angle of upper vertical rudderpost (20) is anti-at least provided with two
Feedback.
7. a kind of watertight helm gear of underwater robot according to claim 6, which is characterized in that the fixed mechanism
It include: pedestal (36) and fixed tailstock (1)；
The firm banking (36), for being connected and fixed the watertight rudder angle detection sensor (103), pedestal (10), wherein institute
State pedestal (10) are as follows: the pedestal of the pedestal of right horizontal rudderpost (21) and lower vertical rudderpost (8), and set on the firm banking (36)
It is equipped with threaded hole, the fastening with underwater robot；
The fixed tailstock (1), for fixing the first watertight electric pushrod (101) and the second watertight electric pushrod
(102)；The tailstock (4) of the second watertight electric pushrod (102) and fixed tailstock (1) are hinged by rear shaft.
8. a kind of watertight helm gear of underwater robot according to claim 6, which is characterized in that second watertight
The telescopic shaft (11) of electric pushrod (102) and drive connecting rod (12) are hinged by front rotary shaft (13)；The upper vertical rudderpost (20)
It is fastened with follower link (18) by screw (19), upper vertical rudderpost (20) is provided with annular groove；
By adjusting screw (19), upper vertical rudderpost (20) adjusts rudder angle when watertight electric pushrod (102) is static；Follower link
(18) it is equipped with groove and drive connecting rod (12) is interference fitted, and fastened by screw (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811063085.2A CN109229318A (en) | 2018-09-12 | 2018-09-12 | A kind of watertight helm gear of underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811063085.2A CN109229318A (en) | 2018-09-12 | 2018-09-12 | A kind of watertight helm gear of underwater robot |
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| Publication Number | Publication Date |
|---|---|
| CN109229318A true CN109229318A (en) | 2019-01-18 |
Family
ID=65058178
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811063085.2A Pending CN109229318A (en) | 2018-09-12 | 2018-09-12 | A kind of watertight helm gear of underwater robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109760808A (en) * | 2019-03-12 | 2019-05-17 | 中国科学院沈阳自动化研究所 | Long voyage Autonomous Underwater Vehicle low-power consumption transfer |
| CN110873159A (en) * | 2019-11-18 | 2020-03-10 | 上海海事大学 | Underwater screw rod sliding block transmission device |
| CN113001532A (en) * | 2021-04-27 | 2021-06-22 | 南京华研动密封科技有限公司 | Electro-hydraulic hybrid driven underwater multifunctional mechanical arm |
| CN113928519A (en) * | 2021-10-14 | 2022-01-14 | 中国船舶重工集团公司第七一五研究所 | Push rod type steering mechanism for small underwater vehicle |
| CN114323386A (en) * | 2021-12-30 | 2022-04-12 | 中国特种飞行器研究所 | Underwater vehicle model control surface rudder force test device and method |
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| CN114323386B (en) * | 2021-12-30 | 2023-11-21 | 中国特种飞行器研究所 | Rudder force test device and method for control surface of underwater vehicle model |
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Application publication date: 20190118 |