CN109707797A - A kind of X-type rudder AUV drive mechanism with self-locking performance - Google Patents
A kind of X-type rudder AUV drive mechanism with self-locking performance Download PDFInfo
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- CN109707797A CN109707797A CN201910119904.9A CN201910119904A CN109707797A CN 109707797 A CN109707797 A CN 109707797A CN 201910119904 A CN201910119904 A CN 201910119904A CN 109707797 A CN109707797 A CN 109707797A
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- rudder
- worm screw
- auv
- worm
- gear
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Abstract
A kind of X-type rudder AUV drive mechanism with self-locking performance, belongs to AUV technical field of structures.Stepper motor output shaft is connect by key with the worm screw in first-stage worm gear worm screw in the structure, and worm gear both ends are connected with transmission shaft and belt wheel group respectively, wherein a belt wheel and and angular transducer axially position in belt wheel group.The transmission shaft other end is connect with the worm screw of second-stage worm gear worm screw.The rudder wing is driven finally by second-stage worm gear worm screw group, reaches the control action to the rudder wing.The present invention utilizes the latching characteristics of worm and gear, when requiring without coming about, so that motor is not necessarily to export holding torque, to reduce the energy consumption of AUV；Using two-stage worm and gear, so that transmission ratio increases, thus the larger control precision for improving X-type rudder；It can reduce and taken up space using this drive method, reduce size；Such X-type rudder drive mechanism with self-locking performance provides a kind of more scientific and reasonable selection for the deck store design of small-sized X-type rudder AUV.
Description
Technical field
The invention belongs to AUV technical field of structures, and in particular to a kind of X-type rudder AUV drive mechanism with self-locking performance.
Background technique
With the quickening of ocean development process, the application range of underwater robot is gradually expanded, it has also become people recognize sea
A kind of key equipment of ocean exploitation ocean.Current most of AUV use electric-machine directly-driven, connecting rod or gear drive to the control of the rudder wing
If existing number of patent application is a kind of 20162007331.0 modularization tail portion push structure, the control of tail vane is carried out using ring gear
System.
Motor-direct-drive type advantage is without additional transmission components, and structure is simple.The disadvantage is that being needed when installation movable sealing structure
Increase additional elements；It is possible to cause the rudder wing uncontrolled because motor output torque is inadequate when rudder wing stress is excessive；
It is higher to driving motor required precision when rudder angle control required precision is higher.Connecting rod transmission type advantage is transmitted on the rudder wing
Torque can be changed by the adjustment of connecting rod size, can pass through the motor of smaller torque drive the large torque rudder wing.The disadvantage is that close
Envelope complexity is generally only applicable to the scheme of small depth.Gear driven type advantage is that transmission ratio is accurate, can be increased by adjusting transmission ratio
The torque on the rudder wing is pretended, radial seal can also be used, but increases more structural member, structure is complicated and volume is larger.
AUV selects the bigger more compact second-stage worm gear worm screw of transmission ratio to match due to the limitation of itself condition and required precision
Closing angular transducer can preferably guarantee that transmission mechanism leakproofness, the integrally-built compactedness of AUV improve Detection & Controling
Accuracy.
Summary of the invention
The purpose of the present invention is to provide a kind of X-type rudder AUV drive mechanism with self-locking performance.The invention can reduce
The energy consumption of AUV；There are precise motion precise control and detection property；Compact deck store size sets for the deck store of small-sized X-type rudder AUV
Meter provides a kind of more scientific and reasonable selection.
The object of the present invention is achieved like this:
A kind of X-type rudder AUV drive mechanism with self-locking performance, including first-stage worm gear worm screw, sleeve, rolling bearing, sliding
Bearing, second-stage worm gear worm screw, rudder blade, ceramic bearing, stainless steel bearing tube, stepper motor, the stepper motor pass through stepping electricity
Machine mounting plate and sealing cabin fasten, and the output shaft of stepper motor is connect with worm screw in first-stage worm gear worm screw, first-stage worm gear worm screw
Middle worm gear and transmission shaft are connected, and transmission shaft is by liner ring around protection, and the transmission shaft is placed in stainless steel bearing tube, transmission shaft one
End is supported by rolling bearing and dynamic sealing locating snap ring, and the other end configures second level snail by sliding bearing radial support, the transmission shaft
Worm and gear, second-stage worm gear worm screw are connected with rudder blade, and rudder wing axis both ends are positioned by ceramic bearing.
The stepper motor is bolted by stepper motor mounting plate and the face sealing cabin A；Stepper motor output
Axis is connected by key with worm screw in first-stage worm gear worm screw.
The stainless steel bearing tube is positioned completely by the face sealing cabin A, propeller protective cover and clamping cap.
The worm screw of the second-stage worm gear worm screw is connected by key with the rudder wing, and the rudder wing is by deck store axis line position by ceramic bearing
Positioning
The stepper motor mounting plate and the face deck store A keep flatness, make worm gear central axes in first turbine worm screw with
The face deck store A keeps verticality.
The beneficial effects of the present invention are:
(1) present invention provides a kind of X-type rudder AUV drive mechanism with self-locking performance, using the latching characteristics of worm and gear,
When being required without coming about, so that motor is not necessarily to export holding torque, to reduce the energy consumption of AUV；
(2) present invention uses two-stage worm and gear, so that transmission ratio increases, thus the larger control precision for improving X-type rudder；
(3) present invention also improves transmission accuracy in such a way that worm and gear transmits torque, and dynamic sealing performance is more preferable, from
And improve the accuracy and safety of AUV motion control；
(4) present invention also makes overall structure more compact using this structure, provides for the deck store design of small-sized X-type rudder AUV
A kind of more scientific and reasonable selection.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the structural schematic diagram of stepper motor and the cooperation of first-stage worm gear worm screw of the invention；
Fig. 3 is mechanical dynamic seal structural schematic diagram of the invention；
Fig. 4 is the structural schematic diagram of second-stage worm gear worm screw and the cooperation of X-type rudder of the invention.
Specific embodiment
Specific embodiments of the present invention will be further explained with reference to the accompanying drawing:
In figure: first-stage worm gear worm screw 1；Sleeve 2；Rolling bearing 3；Dynamic sealing 4；Dynamic sealing locating snap ring 5；Transmission shaft 6；Sliding
Bearing 7；Second-stage worm gear worm screw 8；Rudder blade 9；Ceramic bearing 10；Protective cover 11；Stainless steel bearing tube 12；End cap 13；Mounting plate 14；
Small pulley 15；Stepper motor 16；Stepper motor mounting plate 17.
A kind of X-type rudder AUV drive mechanism with self-locking performance, including first-stage worm gear worm screw, sleeve, rolling bearing, move it is close
Envelope, main shaft, sliding bearing, dynamic sealing locating snap ring, second-stage worm gear worm screw, rudder blade, ceramic bearing, stainless steel bearing tube, band
Wheel group, stepper motor, mounting plate, which is characterized in that the stepper motor 16 is tight by stepper motor mounting plate and sealing cabin
Gu the output shaft of the stepper motor 16 is connect with worm screw in worm and gear 1, in worm and gear 1 worm gear transfer power to
On its connected transmission shaft 6, the transmission shaft is by liner ring around protection, and the both ends of the drive shaft is respectively by rolling bearing and sliding axle
Realization support is held, 6 other end of transmission shaft configures second-stage worm gear worm screw 8.The second-stage worm gear worm screw 8 drives rudder blade 9, the rudder wing
Axis both ends are positioned by ceramic bearing.
As advanced optimizing for the technical program, a kind of X-type rudder AUV drive mechanism with self-locking performance of the invention,
It is characterized in that, the stepper motor is bolted by stepper motor mounting plate and the face sealing cabin A, the stepper motor
16 output shafts are connected by key with worm screw in worm and gear 1, and worm gear and transmission shaft 6 are connected in worm and gear 1.
As advanced optimizing for the technical program, a kind of X-type rudder AUV drive mechanism with self-locking performance of the invention,
It is characterized in that, the transmission shaft 6 is placed within stainless steel bearing tube 12, and stainless steel bearing tube 12 is by the face sealing cabin A, propeller
Protective cover 11 and clamping cap position completely, and described 6 one end of transmission shaft is supported by rolling bearing 3 and dynamic sealing locating snap ring 4, the other end
By 7 radial support of sliding bearing.
As advanced optimizing for the technical program, a kind of X-type rudder AUV drive mechanism with self-locking performance of the invention,
It is characterized in that, 6 other end of transmission shaft configures second-stage worm gear worm screw 8, and wherein worm screw is connected by key with the rudder wing, and the rudder wing leans on tail
Cabin axis line position is positioned by ceramic bearing 10.
As advanced optimizing for the technical program, a kind of X-type rudder AUV drive mechanism with self-locking performance of the invention,
It is characterized in that, stepper motor mounting plate and stepper motor mounting plate and the face deck store A keep preferable flatness, make first turbine snail
Worm gear central axes in bar can have preferable verticality with the face deck store A.And then it ensure that hanging down for transmission shaft central axes and plane A
Straight degree, guarantees the accurate of transmission and stablizes.
As advanced optimizing for the technical program, a kind of X-type rudder AUV drive mechanism with self-locking performance of the invention,
It is characterized in that, the installation of end cap 13 wants that pressing force can be generated to spring in dynamic sealing, plays sealing function.
Firstly, first complete first turbine installation, by rolling bearing 3 by bolt will be mounted on stepper motor mounting plate with
Between deck store；Transmission shaft 6 is inserted into, and is respectively inserted in 2 first turbine 1 of sleeve and belt wheel from deck store interior side, axis top
Mounting screw；Part needed for the deck store other side is respectively charged into dynamic sealing 4, and compressed with end cap.It is inserted in stainless steel bearing tube 12 again
With second-stage worm.
Then, stepper motor 16 is connected by key with level-one worm screw 1, then is wholy placed in deck store, by worm and gear
With merga pass stepper motor mounting plate integral installation in deck store cabin.
Finally, completing the assembly of second-stage worm gear worm screw 8, rudder blade 9 and ceramic bearing 10 are inserted in Caudal connectors, connected
Two-stage turbine is installed by key in the part other side, then second-stage worm gear worm screw is cooperated, and finally buckles protective cover 11, positioning two-stage turbine
Worm screw 8.
Certainly, above description is not limitation of the present invention, and the present invention is also not limited to the example above, the art
The variations, modifications, additions or substitutions that those of ordinary skill is made within the essential scope of the present invention also belong to guarantor of the invention
Protect range.
Claims (5)
1. a kind of X-type rudder AUV drive mechanism with self-locking performance, it is characterised in that: including first-stage worm gear worm screw, sleeve, rolling
Bearing, sliding bearing, second-stage worm gear worm screw, rudder blade, ceramic bearing, stainless steel bearing tube, stepper motor；The stepper motor is logical
It crosses stepper motor mounting plate and sealing cabin fastens, the output shaft of stepper motor is connect with worm screw in first-stage worm gear worm screw, level-one
Worm gear and transmission shaft are connected in worm and gear, and by liner ring around protection, the transmission shaft is placed in stainless steel bearing tube transmission shaft,
Transmission shaft one end is supported by rolling bearing and dynamic sealing locating snap ring, and the other end is matched by sliding bearing radial support, the transmission shaft
Second-stage worm gear worm screw is set, second-stage worm gear worm screw is connected with rudder blade, and rudder wing axis both ends are positioned by ceramic bearing.
2. a kind of X-type rudder AUV drive mechanism with self-locking performance according to claim 1, it is characterised in that: the step
It is bolted into motor by stepper motor mounting plate and the face sealing cabin A；Stepper motor output shaft and first-stage worm gear snail
Worm screw is connected by key in bar.
3. a kind of X-type rudder AUV drive mechanism with self-locking performance according to claim 1, it is characterised in that: it is described not
Rust steel bearing tube is positioned completely by the face sealing cabin A, propeller protective cover and clamping cap.
4. a kind of X-type rudder AUV drive mechanism with self-locking performance according to claim 1, it is characterised in that: described two
The worm screw of grade worm and gear is connected by key with the rudder wing, and the rudder wing is positioned by deck store axis line position by ceramic bearing.
5. a kind of X-type rudder AUV drive mechanism with self-locking performance according to claim 1, it is characterised in that: the step
Flatness is kept into motor mounting plate and the face deck store A, keeps the worm gear central axes in first turbine worm screw vertical with the holding of the face deck store A
Degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910119904.9A CN109707797B (en) | 2019-02-18 | 2019-02-18 | X type rudder AUV transmission structure with self-locking performance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910119904.9A CN109707797B (en) | 2019-02-18 | 2019-02-18 | X type rudder AUV transmission structure with self-locking performance |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109707797A true CN109707797A (en) | 2019-05-03 |
| CN109707797B CN109707797B (en) | 2021-10-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910119904.9A Active CN109707797B (en) | 2019-02-18 | 2019-02-18 | X type rudder AUV transmission structure with self-locking performance |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114776766A (en) * | 2022-01-26 | 2022-07-22 | 重庆大学 | Electric steering engine based on ball worm and gear transmission |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB191128814A (en) * | 1911-12-21 | 1912-12-23 | Richard James Wainwright Brown | Improvements in or relating to Worm Gearing. |
| US20040216555A1 (en) * | 2003-04-18 | 2004-11-04 | Honda Motor Co., Ltd. | Gear case assembly with pressure-compensating function for marine propulsion machine |
| CN1876485A (en) * | 2006-07-04 | 2006-12-13 | 浙江大学 | Underwater gliding detector |
| CN102229145A (en) * | 2011-06-23 | 2011-11-02 | 哈尔滨工程大学 | Secondary oscillating joint structure of underwater electric manipulator |
| CN202129800U (en) * | 2011-06-23 | 2012-02-01 | 哈尔滨工程大学 | Secondary swinging joint structure for underwater electric mechanical hand |
| CN106184687A (en) * | 2016-08-02 | 2016-12-07 | 哈尔滨工程大学 | A kind of ocean navigation device can folding and unfolding rudder wing mechanism |
-
2019
- 2019-02-18 CN CN201910119904.9A patent/CN109707797B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB191128814A (en) * | 1911-12-21 | 1912-12-23 | Richard James Wainwright Brown | Improvements in or relating to Worm Gearing. |
| US20040216555A1 (en) * | 2003-04-18 | 2004-11-04 | Honda Motor Co., Ltd. | Gear case assembly with pressure-compensating function for marine propulsion machine |
| CN1876485A (en) * | 2006-07-04 | 2006-12-13 | 浙江大学 | Underwater gliding detector |
| CN102229145A (en) * | 2011-06-23 | 2011-11-02 | 哈尔滨工程大学 | Secondary oscillating joint structure of underwater electric manipulator |
| CN202129800U (en) * | 2011-06-23 | 2012-02-01 | 哈尔滨工程大学 | Secondary swinging joint structure for underwater electric mechanical hand |
| CN106184687A (en) * | 2016-08-02 | 2016-12-07 | 哈尔滨工程大学 | A kind of ocean navigation device can folding and unfolding rudder wing mechanism |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114776766A (en) * | 2022-01-26 | 2022-07-22 | 重庆大学 | Electric steering engine based on ball worm and gear transmission |
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| Publication number | Publication date |
|---|---|
| CN109707797B (en) | 2021-10-26 |
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