CN109250056A - A kind of submarine navigation device tail vane - Google Patents
A kind of submarine navigation device tail vane Download PDFInfo
- Publication number
- CN109250056A CN109250056A CN201811181327.8A CN201811181327A CN109250056A CN 109250056 A CN109250056 A CN 109250056A CN 201811181327 A CN201811181327 A CN 201811181327A CN 109250056 A CN109250056 A CN 109250056A
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- China
- Prior art keywords
- rudder
- steering engine
- plate
- axis
- rudder plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 238000007789 sealing Methods 0.000 claims description 11
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000001141 propulsive effect Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 241000243320 Hydrozoa Species 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 210000005069 ears Anatomy 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 239000004519 grease Substances 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
Classifications
-
- 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
- B63G8/18—Control of attitude or depth by hydrofoils
-
- 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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
Abstract
The invention discloses a kind of submarine navigation device tail vanes, including shell, steering engine, steering engine mounting plate, tail plate, rudder plate axis, rudder plate, bevel gear, steering engine axis；Equidistant integral type sets that there are three steering engine otic placode and three rudderpost otic placodes, outsides to set there are three rudder platform in the shell, is equipped with rudderpost otic placode inside rudder platform；Steering engine mounting plate is bolted on the steering engine otic placode, the steering engine mounting plate is equipped with three groups of steering engines；The rudder platform and rudder plate bevel gear outer end are equipped with flap-type rudder；The steering engine bevel gear and the intermeshing of rudder plate bevel gear are driven；The present invention uses three axis steering engine tail vane arrangements, and save the cost improves system reliability；Controlling model is simplified, control difficulty is reduced；It is compact-sized, stability is high；Rudder plate improves the gesture stability ability of steerage and underwater robot using flap configurations；Electromagnetic interference is reduced, the force structure of rudder plate axis is improved, rudder plate axis is reduced because pulling the probability damaged, improves the safety of rudder plate axis.
Description
Technical field
The present invention relates to ocean engineering submarine navigation device technical equipment field, in particular to a kind of submarine navigation device tail vane.
Background technique
The mankind are faced with population, resource and environment Three Difficult Issues at present.It is behaved due to the resource that is richly stored with ocean
Class solves these problems and provides hope.Since the diving depth of people is limited, underwater environment is badly dangerous, so, nowadays conduct
The important tool of hydrospace detection and exploitation, under-water self-navigation device are surveyed in oceanographic survey, marine environmental monitoring and marine resources
It visits aspect to be with a wide range of applications, is a kind of robot for working in underwater limit operation.
Intelligent submarine navigation device need to adapt to complicated marine environment, and carrier will not only have pressure resistance, watertight and bear negative
The ability of load, and there is lower resistance, high propulsive efficiency and the ability for realizing spatial movement.In addition, in extremely limited sky
Between, the multiple sensors of different performance need to be configured to meet environment detection, target identification, autonomous navigation and autonomous completion task
It needs.At present the submarine navigation device of autonomous type mostly in a manner of elongated streamline shape, drive lacking based on, the robot of this mode
Have the characteristics that resistance is small, at low cost, weight is small, system reliability is high.External such submarine navigation device is more famous, such as RE-
MUS-100, it is a current popularity highest and most successful of being acknowledged as by the exploitation of Hydroid company of the U.S.
Mini underwater vehicle, there are also the Bluefin-9 of Bluefin Robotics company, Nekton companies of the U.S. to develop
Mini underwater vehicle " patrol (Renger) " also all represents the advanced level of current submarine navigation device.
More mature instantly in technology, the attitude coutrol mechanism of submarine navigation device mainly has tail vane and multiple propeller joint
Two kinds of control.Wherein, since tail vane has control simple, low cost, can provide certain stability etc. the reason is that miniature water
The main control mode of lower aircraft.Control force output mechanism is navigated by water as AUV, the design of tail vane greatly affected AUV boat
Row mobility and stability.
In the prior art, tail vane is generally mounted to the trailing portions of robot, in favor of guaranteeing the safety and good of navigation
Good operability, in previous submarine navigation device, the general layout of tail vane is generally based on " X " rudder and " ten " rudder, and there are also one
A little special " wood " rudders and " rice " rudder；The disadvantage is that structure is complicated, stability is poor, spatial movement scarce capacity.
Summary of the invention
In order to solve the above technical problems, the present invention provides a kind of submarine navigation device tail vane, for it is in the prior art not
Foot is equally spaced, the rudder plate of independent steering engine control by three groups of circumference using the tail vane arrangement of three axis steering engines, is formed AUV machine
Device people's tail vane, it is compact-sized, stability is high, resistance is low, propulsive efficiency is high, spatial movement ability is strong；To the control ability in course
It is more stable, steerage is improved, the arrangement of three axis steering engines more reduces the electromagnetic interference of steering engine control section.
In order to achieve the above objectives, technical scheme is as follows: a kind of submarine navigation device tail vane, including shell, steering engine,
Steering engine mounting plate, tail plate, rudder plate axis, rudder plate, sealing ring, rudder plate bevel gear, steering engine bevel gear, steering engine axis, rudderpost otic placode, rudder
Machine otic placode, rudder platform, it is characterised in that:
The shell is front drum type, the tapered tapered ladle bowl structure in rear portion；Medium position circle triangular in shape in the shell
All equidistant integral types are arranged there are three steering engine otic placode, there are three rudderpost ears for the equidistant integral type setting of rear positions circumference triangular in shape
Plate；The rear outside triangular integral formula setting of the shell is there are three rudder platform, on the enclosure interior relative position of the rudder platform
Front-rear direction is provided with rudderpost otic placode and rudder plate axis hole；Centrally located, a rudder platform phase of side two at the top of the rudder platform
Mutual balanced configuration；The sealing that is spirally connected on the steering engine otic placode is fixedly installed steering engine mounting plate, and fixation is set on the steering engine mounting plate
Three groups of steering engines are equipped with, axis, which connects, on the steering engine is provided with steering engine axis；The steering engine axis passes through rudderpost otic placode and is fixedly installed steering engine
Bevel gear；Rudder plate axis is provided with by sealing ring in the rudder plate axis hole, the shell inner end of the rudder plate axis is fixedly installed rudder
Plate bevel gear；The rudder platform and rudder plate bevel gear outer end are equipped with flap-type rudder；The steering engine axis and rudder plate axis of the steering engine pass through rudder
Machine bevel gear, which is mutually inclined to engage with rudder plate bevel gear, constitutes bevel gear drive mechanism.
The rudderpost otic placode and steering engine otic placode intersect configuration on shell inner periphery.
The flap-type rudder is configured with three groups, and the flap-type rudder includes tail plate, rudder plate axis, rudder plate；It is solid on the rudder plate axis
Surely it is provided with rudder plate, the C-shaped frame of tail plate is fixedly installed on rudder platform, and the rudder plate is arranged in empennage plate framework,
The rudder plate the tip of the axis is supported on empennage plate framework.
Radial arrangement of the rudder plate axis along shell, axial arrangement of the steering engine axis along shell.
The operation principle of the present invention is that: using the arrangement of three tail vanes, middle and lower part is symmetrically arranged two pieces, surface
One piece of arrangement, than common " X " and " ten " font tail vane arrangement, reduces a set of tail vane.Some advantages that arise therefrom includes:
Cost has been saved, economy is improved；Reduce a set of steering engine, simplify mounting process, improves system reliability；It simplifies
Controlling model reduces control difficulty.The configuration design of three axis steering engines is more suitable for the operational configuration of tail portion, is formed with more steady
Qualitative tripod structure reduces the time and angle required when changing direction to aircraft flight, that is, rudder is to course
Control ability it is more stable --- improve steerage.The arrangement of three axis steering engines more reduces the electricity of steering engine control section
Magnetic disturbance, the distance between steering engine is remoter under normal conditions, and interference is lower.
Steering engine has selected bevel geared flap-type rudder, and rudder plate is arranged in empennage plate framework, rudder plate the tip of the axis branch
Support is on empennage plate framework.Some advantages that arise therefrom includes: rudder plate and tail plate constitutes flap configurations, the adjustment of rudder plate angle
When, biggish fluid lift force can be generated, high steerage when small rudder angle is realized, power demand when adjustment rudder angle is reduced, improves
The gesture stability ability of submarine navigation device；Rudder plate is mounted in empennage plate framework, and tail plate can provide effective protection for rudder plate,
Improve the safety of rudder plate；Rudder plate the tip of the axis is supported on tail plate, and the stress of rudder plate axis is changed to by cantilever beam
Simply supported beam, improves the stress of rudder plate axis, improves the safety of rudder plate axis；The bevel gear kind of drive has drive line angle
Degree is accurate, no slippage, while having many advantages, such as compact-sized, and installation and angle is facilitated to adjust.
Through the above technical solutions, the beneficial effect of technical solution of the present invention is: using the tail vane arrangement side of three axis steering engines
Formula is equally spaced, the rudder plate of independent steering engine control by three groups of circumference, forms AUV robot tail vane, saved cost, improved
Economy；Reduce a set of steering engine, simplify mounting process, improves system reliability；Controlling model is simplified, control is reduced
Difficulty processed；This AUV robot tail vane is compact-sized, stability is high, resistance is low, propulsive efficiency is high, spatial movement ability is strong；To boat
To control ability it is more stable, improve steerage, the arrangement of three axis steering engines more reduces the electricity of steering engine control section
Magnetic disturbance；Rudder plate and tail plate constitute flap configurations, reduce power demand when adjustment rudder angle, improve submarine navigation device
Gesture stability ability；The stress for improving rudder plate axis improves the safety of rudder plate axis；The bevel gear kind of drive has
The advantages that driving angle is accurate, without slippage, compact-sized, and installation and angle is facilitated to adjust.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be in embodiment or description of the prior art
Required attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some realities of the invention
Example is applied, it for those of ordinary skill in the art, without creative efforts, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of submarine navigation device tail vane left view schematic diagram disclosed in the embodiment of the present invention；
Fig. 2 is a kind of submarine navigation device tail vane front view schematic diagram disclosed in the embodiment of the present invention；
Fig. 3 is a kind of submarine navigation device tail vane sectional view along A-A schematic diagram disclosed in the embodiment of the present invention；
Fig. 4 is a kind of submarine navigation device tail vane B-B direction cross-sectional view schematic diagram disclosed in the embodiment of the present invention.
Number and corresponding component title represented by letter in figure:
1. 2. steering engine of shell, 3. steering engine mounting plate, 4. tail plate
5. 6. rudder plate of rudder plate axis, 7. sealing ring, 8. rudder plate bevel gear
9. 10. steering engine axis of steering engine bevel gear, 11. rudderpost otic placode, 12. steering engine otic placode
13. rudder platform.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
According to Fig. 1, Fig. 2, Fig. 3 and Fig. 4, the present invention provides a kind of submarine navigation device tail vane, including shell 1, steering engine 2,
Steering engine mounting plate 3, tail plate 4, rudder plate axis 5, rudder plate 6, sealing ring 7, rudder plate bevel gear 8, steering engine bevel gear 9, steering engine axis 10, rudder
Axis otic placode 11, steering engine otic placode 12, rudder platform 13.
The shell 1 is front drum type, the tapered tapered ladle bowl structure in rear portion；Medium position is in three in the shell 1
There are three steering engine otic placode 12, the equidistant integral types of rear positions circumference triangular in shape to be provided with three for the angular equidistant integral type setting of circumference
A rudderpost otic placode 11；There are three rudder platform 13, the shells of the rudder platform 13 for the rear outside triangular integral formula setting of the shell 1
Front-rear direction is provided with rudderpost otic placode 11 and rudder plate axis hole on 1 inside relative position；One, 13 top of rudder platform is located at centre
Position, the rudder platform 13 of side two symmetrically configure；The sealing that is spirally connected on the steering engine otic placode 12 is fixedly installed steering engine mounting plate
3, three groups of steering engines 2 are fixedly installed on the steering engine mounting plate 3, and axis, which connects, on the steering engine 2 is provided with steering engine axis 10；The steering engine
Axis 10 passes through rudderpost otic placode 11 and is fixedly installed steering engine bevel gear 9；Rudder plate axis is provided with by sealing ring 7 in the rudder plate axis hole
5, the shell inner end of the rudder plate axis 5 is fixedly installed rudder plate bevel gear 8；The rudder platform 13 and the assembly of 8 outer end of rudder plate bevel gear
There is flap-type rudder；The steering engine axis 10 of the steering engine 2 is mutually inclined with rudder plate bevel gear 8 by steering engine bevel gear 9 with rudder plate axis 5 and is engaged
Constitute bevel gear drive mechanism.
The rudderpost otic placode 11 and steering engine otic placode 12 intersect configuration on 1 inner periphery of shell.
The flap-type rudder is configured with three groups, and the flap-type rudder includes tail plate 4, rudder plate axis 5, rudder plate 6；The rudder plate axis 5
On be fixedly installed rudder plate 6, the C-shaped frame of the tail plate 4 is fixedly installed on rudder platform 13, and the rudder plate 6 is arranged in empennage
In 4 frame of plate, the end support of the rudder plate axis 5 is on 4 frame of tail plate.
Radial arrangement of the rudder plate axis 5 along shell 1, axial arrangement of the steering engine axis 10 along shell 1.
Specific implementation operating procedure of the invention is: using screw to install steering engine axis 5 with steering engine 2 first integral, so
Three steering engines 2 are installed on steering engine mounting plate 3 respectively using screw afterwards, then steering engine mounting plate 3 is installed to by shell using screw
In body 1.
Sealing ring 7 is installed in the sealed groove on rudder plate axis 5 first, is then inserted after rudder plate axis 5 smears lubricating grease
Enter in the rudder plate shaft mounting hole on shell 1, then successively by bevel gear 8 gear wheel and pinion gear be mounted on rudder plate axis 5 and rudder
On arbor 9, then three rudder plates 6 are installed on rudder plate axis 5 respectively, then tail plate 4 is installed on shell 1, and ensure rudder plate
The end of axis 5 passes through the rudder plate axis fixation hole on tail plate 4, finally by the small tooth on the gear wheel and steering engine axis 9 on rudder plate axis 5
Wheel position is adjusted, and the holding screw on gear has been locked.
By above-mentioned specific embodiment, the beneficial effects of the present invention are: using the tail vane arrangement of three axis steering engines, by three
The rudder plate that circumference is equally spaced, independent steering engine controls is organized, AUV robot tail vane is formed, has saved cost, improved economy；
Reduce a set of steering engine, simplify mounting process, improves system reliability；Controlling model is simplified, control difficulty is reduced；
This AUV robot tail vane is compact-sized, stability is high, resistance is low, propulsive efficiency is high, spatial movement ability is strong；Control to course
Ability processed is more stable, improves steerage, and the arrangement of three axis steering engines more reduces the electromagnetic interference of steering engine control section；
Rudder plate and tail plate constitute flap configurations, reduce power demand when adjustment rudder angle, improve the posture of submarine navigation device
Control ability；The stress for improving rudder plate axis improves the safety of rudder plate axis；The bevel gear kind of drive has drive line angle
The advantages that degree is accurate, without slippage, compact-sized, and installation and angle is facilitated to adjust.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (4)
1. a kind of submarine navigation device tail vane, which is characterized in that including shell, steering engine, steering engine mounting plate, tail plate, rudder plate axis, rudder
Plate, sealing ring, rudder plate bevel gear, steering engine bevel gear, steering engine axis, rudderpost otic placode, steering engine otic placode, rudder platform；The shell is front
Drum type, the tapered tapered ladle bowl structure in rear portion；The equidistant integral type of medium position circumference triangular in shape is provided in the shell
There are three rudderpost otic placodes for the equidistant integral type setting of three steering engine otic placodes, rear positions circumference triangular in shape；The rear portion of the shell
The setting of lateralis shape integral type is there are three rudder platform, and front-rear direction is provided with rudderpost on the enclosure interior relative position of the rudder platform
Otic placode and rudder plate axis hole；One, the rudder platform top is centrally located, and the rudder platform of side two symmetrically configures；The steering engine
The sealing that is spirally connected on otic placode is fixedly installed steering engine mounting plate, and three groups of steering engines, the rudder are fixedly installed on the steering engine mounting plate
Axis, which connects, on machine is provided with steering engine axis；The steering engine axis passes through rudderpost otic placode and is fixedly installed steering engine bevel gear；The rudder plate axis hole
Interior that sealing ring is provided with rudder plate axis, the shell inner end of the rudder plate axis is fixedly installed rudder plate bevel gear；The rudder platform and
Rudder plate bevel gear outer end is equipped with flap-type rudder；The steering engine axis and rudder plate axis of the steering engine pass through steering engine bevel gear and rudder plate bevel gear
It is mutually inclined engagement and constitutes bevel gear drive mechanism.
2. a kind of submarine navigation device tail vane according to claim 1, which is characterized in that the rudderpost otic placode and steering engine otic placode
Intersect configuration on shell inner periphery.
3. a kind of submarine navigation device tail vane according to claim 1, which is characterized in that the flap-type rudder is configured with three groups,
The flap-type rudder includes tail plate, rudder plate axis, rudder plate；Rudder plate, the C-shaped frame of tail plate are fixedly installed on the rudder plate axis
Frame is fixedly installed on rudder platform, and the rudder plate is arranged in empennage plate framework, and the rudder plate the tip of the axis is supported on empennage sheet frame
On frame.
4. a kind of submarine navigation device tail vane according to claim 1, which is characterized in that radial direction of the rudder plate axis along shell
Configuration, axial arrangement of the steering engine axis along shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811181327.8A CN109250056B (en) | 2018-10-11 | 2018-10-11 | Tail rudder of underwater vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811181327.8A CN109250056B (en) | 2018-10-11 | 2018-10-11 | Tail rudder of underwater vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109250056A true CN109250056A (en) | 2019-01-22 |
| CN109250056B CN109250056B (en) | 2023-10-27 |
Family
ID=65046028
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811181327.8A Active CN109250056B (en) | 2018-10-11 | 2018-10-11 | Tail rudder of underwater vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109250056B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110979603A (en) * | 2019-12-28 | 2020-04-10 | 中国科学院沈阳自动化研究所 | Direction control device for underwater robot |
| CN111634410A (en) * | 2020-05-07 | 2020-09-08 | 北京航天控制仪器研究所 | Convenient small-size rudder cabin interior mounting structure who dismantles |
| CN114408140A (en) * | 2021-12-24 | 2022-04-29 | 宜昌测试技术研究所 | Fin rudder device suitable for underwater vehicle |
| CN114475992A (en) * | 2021-12-24 | 2022-05-13 | 宜昌测试技术研究所 | Steering connecting device suitable for underwater vehicle |
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