CN109533259A - A kind of AUV manipulation integrated apparatus - Google Patents
A kind of AUV manipulation integrated apparatus Download PDFInfo
- Publication number
- CN109533259A CN109533259A CN201811273009.4A CN201811273009A CN109533259A CN 109533259 A CN109533259 A CN 109533259A CN 201811273009 A CN201811273009 A CN 201811273009A CN 109533259 A CN109533259 A CN 109533259A
- Authority
- CN
- China
- Prior art keywords
- rocker arm
- auv
- connecting rod
- steering engine
- tailing axle
- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H23/00—Transmitting power from propulsion power plant to propulsive elements
- B63H23/22—Transmitting power from propulsion power plant to propulsive elements with non-mechanical gearing
- B63H23/24—Transmitting power from propulsion power plant to propulsive elements with non-mechanical gearing electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
- B63H25/08—Steering gear
- B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
- B63H25/26—Steering engines
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
Abstract
A kind of AUV manipulation integrated apparatus, belongs to tail portion and promotes and helmsmanship field.The present invention can comprehensively consider application environment, from general layout space, take into account the requirement such as high-efficient low-noise, vibration.AUV shape is torpedo in the present invention, is made of a set of main screw propulsion device, two sets of steering gears (distribution of tail portion cross rudder), integrated tailing axle and support, modularized design simplifies product repairing and maintenance；Integration trailzing axle structure of the invention is " four-in-one " component of propeller force transferring structure part, rudder blade and rudder stock mounting structure, steering gear supporting structure and AUV ontology connector, since its smaller tail portion whirlpool of tailing axle outer diameter is fewer, underwater resistance is smaller, device tailing axle outer diameter is up to 145mm in the present invention, it can be substantially reduced underwater resistance and energy consumption, improve efficiency of navigation.
Description
Technical field
The present invention relates to a kind of AUV manipulation integrated apparatus, belong to tail portion and promote and helmsmanship field.
Background technique
Autonomous UAV navigation (Autonomous Underwater Vehicle, AUV), which is used as, to be explored ocean, opens
Hair resource and the military necessary means for making the submerged applications such as money, in particular with military requirements such as maturation, the naval warfares of technology
Develop into that submerged depth is deeper, shipping kilometre is farther, volume is smaller with business demands, development trends such as offshore industry development,
And the contents such as function is more powerful.
The speed of a ship or plane and endurance are to evaluate the importance of its navigation performance superiority and inferiority, increase the speed of a ship or plane and improve the direct of endurance
Method is to reduce its suffered resistance when navigating by water under water, lower resistance technology depend primarily on novel fluid dynamic design with
And rudder design.Existing AUV is designed, in terms of efficient propulsion and steering control system in resistance, and there are power and control device volume
Greatly, and since propulsion device and steering gear are arranged apart, the too many space AUV is occupied, the general layout of AUV is unfavorable for, big
Volume also implies that relatively large resistance, and energy utilization rate is relatively low；And it is not easy to maintain and safeguard.
Summary of the invention
Technical problem solved by the present invention is having overcome the deficiencies of the prior art and provide a kind of AUV manipulation one makeup
It sets, trailzing axle structure is propeller force transferring structure part, rudder blade and rudder stock mounting structure, steering gear supporting structure and AUV
" four-in-one " component of ontology connector can be substantially reduced underwater resistance and energy consumption, improve submerged depth and navigation effect
Rate.
The technical solution of the invention is as follows: a kind of AUV manipulation integrated apparatus, including propulsion electric machine, support, tail
Axis, transmission shaft, steering engine, connecting rod, rocker arm and rocker arm supporting element；The transmission shaft, steering engine, connecting rod, rocker arm and rocker arm supporting element position
In in the tailing axle；The propulsion electric machine is fixedly mounted on tailing axle one end, and described transmission shaft one end is fixed with propulsion electric machine rotor
Connection, the other end are pierced by tailing axle and are fixedly connected with external propeller；The steering engine is fixedly mounted on the tailing axle inner wall, described
Hingedly the connecting rod, the connecting rod and rocker arm are hinged for the power end of steering engine；The one end stretches out tailing axle, with external rudder blade phase
Even, the mounting hole for stretching out the rocker arm is provided on the tailing axle, the rocker arm supporting element is fixedly mounted on the mounting hole
It is interior, it is fixedly connected with rocker arm, realizes that the steering engine drives connecting rod that rocker arm is pushed to swing, control the external rudder blade rotation being connected with rocker arm
Turn；The support is located at propulsion electric machine tail portion, is fixedly connected with AUV inner casing.
Further, the steering engine includes the rudder steering engine and elevator in the orthogonal distribution of tailing axle cross-sectional direction
Steering engine, and the rudder steering engine and elevator steering engine and transmission shaft are equidistant.
Further, the connecting rod includes rudder connecting rod and elevator connecting rod, and the rocker arm includes both direction rocker arm
With two elevating rocker arms；The hinged rudder connecting rod of the power end of the rudder steering engine, the rudder connecting rod and direction
Rocker arm is hinged；Hingedly the elevator connecting rod, the elevator connecting rod and elevating rocker arm are cut with scissors the power end of the elevator steering engine
It connects；There are four the mounting holes, is uniformly circumferentially distributed on tailing axle；Described two direction rocker arms and two elevating rocker arms edge respectively
It is radial to be stretched out out of four mounting holes, and connect respectively with external rudder blade.
Further, the rocker arm supporting element is bearing arrangement.
Further, the hinged connecting rod of the power end of the steering engine, the connecting rod and rocker arm are hinged, specifically: it is described
Hingedly the connecting rod, the connecting rod are hinged by pin shaft and rocker arm by pin shaft for the power end of steering engine.
Further, the radius of the tailing axle is 135~145mm.
Further, the axis outer diameter of the transmission shaft is 20~28mm.
Further, the steering engine is fixedly mounted on the tailing axle inner wall, specifically: the steering engine is fixed by flange
It is mounted on the tailing axle inner wall.
It further, further include the outward flange structure being fixedly connected with AUV installed outside tailing axle.
Further, the propulsion electric machine is permanent magnet synchronous motor.
The advantages of the present invention over the prior art are that:
(1) for new A UV navigation stability and maneuverability requirement, consider application environment, height is taken into account in general layout space
Imitate low noise, the requirement such as vibration, the present invention by a set of main screw propulsion device, two sets of steering gears (distribution of tail portion cross rudder),
Integrated tailing axle and support composition, modularized design simplify product repairing and maintenance；
(2) the integrated trailzing axle structure of the present invention is propeller force transferring structure part, rudder blade and rudder stock mounting structure, steering dress
Set " four-in-one " component of supporting structure and AUV ontology connector；Its smaller tail portion whirlpool of tailing axle outer diameter is fewer, underwater resistance
It is smaller, and the design difficulty of steering gear is bigger, present apparatus tailing axle outer diameter is 145mm, can be substantially reduced underwater resistance and energy
Source consumption, improves submerged depth and efficiency of navigation；
(3) propulsion device of the present invention directly drives mode using permanent magnet synchronous motor, and motor output shaft is through transmission shaft, support shaft
It holds, shell is connected with propeller, propulsion system transmission shaft outer diameter 28mm；
(4) steering gear of the present invention mainly includes rudder (two) and elevator (two) compositions.Two rudders are all made of
" one drag two " structure type, i.e. Twin Rudders single cpu mode, mainly there is the groups such as performing steering wheel, connecting rod, rocker arm and bearing support assemblies
At；
(5) steering engine linear movement output of the present invention drives connecting rod that rocker arm is pushed to swing, and realizes rudder face angle change, steering engine
It is connected firmly by flange and trailzing axle structure.
Detailed description of the invention
Fig. 1 is that AUV of the present invention manipulates integrated apparatus structure chart；
Fig. 2 is steering gear structure chart of the present invention；
Fig. 3 is that AUV of the present invention manipulates integrated apparatus overall structure figure；
Fig. 4 is the integrated trailzing axle structure figure of the present invention；
Fig. 5 is propulsion device structure chart of the present invention.
Specific embodiment
It is further described with reference to the accompanying drawing.
As shown in Figure 1, 2, 3, for new A UV navigation stability and maneuverability requirement, consider application environment, general layout
The requirement such as high-efficient low-noise, vibration is taken into account in space, and AUV shape is torpedo, and shape is 4500mm × φ 750mm, tailing axle 101
Its smaller tail portion whirlpool of outer diameter is fewer, and underwater resistance is smaller, and the design difficulty of steering gear is bigger.
It is AUV tailing axle propulsion system and steering control system integrated structure that the present invention, which manipulates integrated apparatus, and device promotes
System (composition such as permanent-magnet servo motor 1, transmission shaft 102, bearing, sealing and support 3), steering control system (electric steering engine 21, connecting rod
22, rocker arm 23 and support component 24 etc. form) and integrated tailing axle 101 etc. form.Such as Fig. 4,5, propulsion system uses permanent magnetism same
It walks motor and directly drives propeller form, (the axis outer diameter of transmission shaft 102 through transmission shaft) it is arranged in 101 central axis position of tailing axle
It sets；Steering control system is arranged using traditional cross four rudder, and tailing axle 101 designs outer diameter diameter and is onlyInner space
It is very narrow；Using promoting transmission shaft and electric steering engine 21 to be arranged in parallel in the inner hole of position, steering control system " one drag two " is driven
Rudder face, 21 output end of electric steering engine is hinged with rudderpost with fork-shaped rocker arm 23 by connecting rod 22, efficiently solves the tight of transmission device
Gather design challenges.Tailing axle 101 is connected firmly by flange and AUV ontology, and apparatus module feature is easy to repair and upgrades.
When assembly, the components such as propulsion electric machine 1, steering steering engine 21, propulsion device and steering gear are installed respectively, finally by each
Component part is then assembled into integrated device.
Integrated device, which is characterized in that device propulsion system (propulsion electric machine 1, transmission shaft 102, bearing, sealing
Circle and the equal composition of support 3), steering control system (composition such as electric steering engine 21, connecting rod 22, rocker arm 23 and support component 24) and integration
The composition such as tailing axle 101.
The assembly of component a: first the support component 24 of cross rudder is installed in 101 mounting hole of tailing axle, is screwed；Rocker arm
23 one end are connected firmly by flange with support component 24, and the other end is hinged by pin shaft and connecting rod 22；Connecting rod 22 and steering engine 21 are same
Hinged by pin shaft, shell and the tailing axle 101 of steering engine 21 connect firmly, and obtain component a.
The assembly of component b: the output flange axis of motor 1 is connected firmly by screw with transmission shaft 102, the installation of bearing 103 and biography
The stop portion of moving axis；The shell of motor 1 is connected firmly by support 3 and AUV shell, obtains component b.
Together with component a, component b are connected by screw to sealing ring 104, integrated device is obtained.
The content that description in the present invention is not described in detail belongs to the well-known technique of those skilled in the art.
Claims (10)
1. a kind of AUV manipulation integrated apparatus, it is characterised in that: including propulsion electric machine (1), support (3), tailing axle (101), pass
Moving axis (102), steering engine (21), connecting rod (22), rocker arm (23) and rocker arm supporting element (24)；The transmission shaft (102), steering engine
(21), connecting rod (22), rocker arm (23) and rocker arm supporting element (24) are located in the tailing axle (101)；The propulsion electric machine (1) is fixed
It is mounted on tailing axle (101) one end, described transmission shaft (102) one end is fixedly connected with propulsion electric machine (1) rotor, and the other end is pierced by tail
Axis (101) is fixedly connected with external propeller；The steering engine (21) is fixedly mounted on the tailing axle (101) inner wall, the rudder
Hingedly the connecting rod (22), the connecting rod (22) and rocker arm (23) are hinged for the power end of machine (21)；It stretches described rocker arm (23) one end
Tailing axle (101) out are connected with external rudder blade, and the mounting hole for stretching out the rocker arm (23), institute are provided on the tailing axle (101)
It states rocker arm supporting element (24) to be fixedly mounted in the mounting hole, is fixedly connected with rocker arm (23), realizes the steering engine (21) band
Dynamic connecting rod (22) push rocker arm (23) to swing, and control the external rudder blade rotation being connected with rocker arm (23)；The support (3), which is located at, to push away
Into motor (1) tail portion, it is fixedly connected with AUV inner casing.
2. a kind of AUV according to claim 1 manipulation integrated apparatus, it is characterised in that: the steering engine (21) includes
In the rudder steering engine and elevator steering engine of the orthogonal distribution of tailing axle (101) cross-sectional direction, and the rudder steering engine and
Elevator steering engine is equidistant with transmission shaft (102).
3. a kind of AUV according to claim 2 manipulation integrated apparatus, it is characterised in that: the connecting rod (22) includes
Rudder connecting rod and elevator connecting rod, the rocker arm (23) include both direction rocker arm and two elevating rocker arms；The rudder
Hingedly the rudder connecting rod, the rudder connecting rod and direction rocker arm are hinged for the power end of steering engine；The elevator steering engine
Hingedly the elevator connecting rod, the elevator connecting rod and elevating rocker arm are hinged for power end；There are four the mounting holes, uniformly week
To being distributed on tailing axle (101)；Described two direction rocker arms and two elevating rocker arms are radially stretched out of four mounting holes respectively
Out, and respectively it is connect with external rudder blade.
4. described in any item a kind of AUV manipulation integrated apparatus according to claim 1~3, it is characterised in that: the rocker arm
Supporting element (24) is bearing arrangement.
5. described in any item a kind of AUV manipulation integrated apparatus according to claim 1~3, it is characterised in that: the steering engine
(21) the hinged connecting rod (22) of power end, the connecting rod (22) and rocker arm (23) hingedly, specifically: the steering engine (21)
Hingedly the connecting rod (22), the connecting rod (22) are hinged by pin shaft and rocker arm (23) by pin shaft for power end.
6. described in any item a kind of AUV manipulation integrated apparatus according to claim 1~3, it is characterised in that: the tailing axle
(101) radius is 135~145mm.
7. described in any item a kind of AUV manipulation integrated apparatus according to claim 1~3, it is characterised in that: the transmission
The axis outer diameter of axis (102) is 20~28mm.
8. described in any item a kind of AUV manipulation integrated apparatus according to claim 1~3, it is characterised in that: the steering engine
(21) it is fixedly mounted on the tailing axle (101) inner wall, specifically: the steering engine (21) is fixedly mounted on the tail by flange
On axis (101) inner wall.
9. described in any item a kind of AUV manipulation integrated apparatus according to claim 1~3, it is characterised in that: further include
The outward flange structure being fixedly connected with AUV installed outside tailing axle (101).
10. described in any item a kind of AUV manipulation integrated apparatus according to claim 1~3, it is characterised in that: described to push away
It is permanent magnet synchronous motor into motor (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811273009.4A CN109533259A (en) | 2018-10-26 | 2018-10-26 | A kind of AUV manipulation integrated apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811273009.4A CN109533259A (en) | 2018-10-26 | 2018-10-26 | A kind of AUV manipulation integrated apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109533259A true CN109533259A (en) | 2019-03-29 |
Family
ID=65845902
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811273009.4A Pending CN109533259A (en) | 2018-10-26 | 2018-10-26 | A kind of AUV manipulation integrated apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109533259A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110539866A (en) * | 2019-07-26 | 2019-12-06 | 北京精密机电控制设备研究所 | combined propeller |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110004981A (en) * | 2009-07-09 | 2011-01-17 | 대우조선해양 주식회사 | An unmanned underwater vehicle with retractable type rudders |
| EP2676876A2 (en) * | 2012-06-21 | 2013-12-25 | ThyssenKrupp Marine Systems GmbH | Submarine |
| CN106945808A (en) * | 2017-03-24 | 2017-07-14 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of propulsion plant of the integrated motor of outboard and rudder |
| CN107792325A (en) * | 2017-10-12 | 2018-03-13 | 中国船舶重工集团公司第七〇九研究所 | Suitable for the tail integration structure and its steering method of micro-unmanned submariner device |
| CN207129124U (en) * | 2017-09-14 | 2018-03-23 | 北京臻迪科技股份有限公司 | Propulsion plant and submarine navigation device |
| CN108216536A (en) * | 2016-12-09 | 2018-06-29 | 中国科学院沈阳自动化研究所 | A kind of light-duty unmanned underwater robot steering gear |
-
2018
- 2018-10-26 CN CN201811273009.4A patent/CN109533259A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110004981A (en) * | 2009-07-09 | 2011-01-17 | 대우조선해양 주식회사 | An unmanned underwater vehicle with retractable type rudders |
| EP2676876A2 (en) * | 2012-06-21 | 2013-12-25 | ThyssenKrupp Marine Systems GmbH | Submarine |
| CN108216536A (en) * | 2016-12-09 | 2018-06-29 | 中国科学院沈阳自动化研究所 | A kind of light-duty unmanned underwater robot steering gear |
| CN106945808A (en) * | 2017-03-24 | 2017-07-14 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of propulsion plant of the integrated motor of outboard and rudder |
| CN207129124U (en) * | 2017-09-14 | 2018-03-23 | 北京臻迪科技股份有限公司 | Propulsion plant and submarine navigation device |
| CN107792325A (en) * | 2017-10-12 | 2018-03-13 | 中国船舶重工集团公司第七〇九研究所 | Suitable for the tail integration structure and its steering method of micro-unmanned submariner device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110539866A (en) * | 2019-07-26 | 2019-12-06 | 北京精密机电控制设备研究所 | combined propeller |
| CN110539866B (en) * | 2019-07-26 | 2023-11-10 | 北京精密机电控制设备研究所 | Combined propeller |
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Legal Events
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|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190329 |
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| RJ01 | Rejection of invention patent application after publication |