CN109707797B

CN109707797B - X type rudder AUV transmission structure with self-locking performance

Info

Publication number: CN109707797B
Application number: CN201910119904.9A
Authority: CN
Inventors: 王玉甲; 吕图; 巩薇; 邸富强; 韩毅; 钱宇
Original assignee: Harbin Engineering University
Current assignee: Harbin Engineering University
Priority date: 2019-02-18
Filing date: 2019-02-18
Publication date: 2021-10-26
Anticipated expiration: 2039-02-18
Also published as: CN109707797A

Abstract

An X-shaped rudder AUV transmission structure with self-locking property belongs to the technical field of AUV structures. In the structure, an output shaft of a stepping motor is connected with a worm in a first-stage worm gear through a key, two ends of a worm gear are fixedly connected with a transmission shaft and a belt pulley set respectively, and one belt pulley in the belt pulley set is axially positioned with an angle sensor. The other end of the transmission shaft is connected with a worm of the second-stage worm gear. And finally, the rudder wing is driven by the secondary worm and gear set to achieve the control effect on the rudder wing. According to the invention, by utilizing the self-locking characteristic of the worm gear, when the steering requirement is not required, the motor does not need to output holding torque, so that the energy consumption of the AUV is reduced; the two stages of worm gears and worms are adopted, so that the transmission ratio is increased, and the control precision of the X-shaped rudder is greatly improved; the occupied space and the size can be reduced by adopting the transmission method; the X-shaped rudder transmission structure with self-locking property provides a more scientific and reasonable choice for the design of the tail cabin of the small X-shaped rudder AUV.

Description

X type rudder AUV transmission structure with self-locking performance

Technical Field

The invention belongs to the technical field of AUV structures, and particularly relates to an X-shaped rudder AUV transmission structure with self-locking performance.

Background

With the acceleration of the ocean development process, the application range of the underwater robot is gradually expanded, and the underwater robot becomes a key device for people to know ocean development. At present, most AUVs control rudder wings by adopting direct drive of motors, connecting rods or gear transmission, such as a modularized tail propulsion structure with the prior patent application number of 20162007331.0, and crown gears are used for controlling tail rudders.

The motor direct drive type has the advantages of no need of additional transmission parts and simple structure. The defect is that additional parts are required to be added when the dynamic sealing structure is installed; when the force on the rudder wing is too large, the rudder wing is possibly not controlled due to insufficient output torque of the motor; when the control precision requirement of the rudder angle is higher, the precision requirement of the driving motor is higher. The connecting rod transmission type has the advantages that the torque transmitted to the rudder wing can be changed by adjusting the size of the connecting rod, and the large-torque rudder wing can be driven by the motor with smaller torque. The disadvantage is that the sealing is complicated and is generally only suitable for solutions of small depth. The gear transmission type has the advantages that the transmission ratio is accurate, the torque acting on the rudder wing can be enhanced by adjusting the transmission ratio, radial sealing can be adopted, more structural parts are added, the structure is complex, and the size is large.

Because of the condition limitation and precision requirement of the AUV, the sealing performance of a transmission mechanism and the compactness of the whole structure of the AUV can be better ensured by selecting a secondary worm gear with a larger and more compact transmission ratio to match with an angle sensor, and the detection and control accuracy is improved.

Disclosure of Invention

The invention aims to provide an AUV transmission structure of an X-shaped rudder with self-locking performance. The invention can reduce the energy consumption of AUV; the precision motion control accuracy and the detection performance are realized; the compact size of the tail cabin provides a more scientific and reasonable choice for the design of the tail cabin of the small-sized X-shaped rudder AUV.

The purpose of the invention is realized as follows:

the utility model provides an X type rudder AUV transmission structure with auto-lock nature, includes one-level worm gear, sleeve, antifriction bearing, slide bearing, second grade worm gear, rudder blade, ceramic bearing, stainless steel bearing pipe, step motor passes through the fastening of step motor mounting panel and the sealed cabin body, and step motor's output shaft and worm in the one-level worm gear are connected, and worm gear links firmly with the transmission shaft in the one-level worm gear, and the transmission shaft is surrounded the protection by the sleeve, in stainless steel bearing pipe was arranged in to the transmission shaft, transmission shaft one end was supported by antifriction bearing and dynamic seal check ring, and the other end is radially supported by slide bearing, transmission shaft configuration second grade worm gear, second grade worm gear and rudder blade link to each other, and ceramic bearing location is passed through at rudder wing axle both ends.

The stepping motor is connected with the A surface of the sealed cabin body through a stepping motor mounting plate through a bolt; the output shaft of the stepping motor is connected with the worm in the first-stage worm gear through a key.

The stainless steel bearing pipe is completely positioned by the surface A of the sealed cabin body, the protective cover of the propeller and the pressing cover.

The worm of the second-level worm gear is connected with the rudder wing through a key, and the position of the rudder wing close to the axis of the tail cabin is positioned by a ceramic bearing

The mounting plate of the stepping motor and the A surface of the tail cabin keep flatness, so that the central axis of a worm wheel in the first-stage worm wheel and the A surface of the tail cabin keep perpendicularity.

The invention has the beneficial effects that:

(1) the invention provides an X-shaped rudder AUV transmission structure with self-locking property, which utilizes the self-locking property of a worm gear and a worm, so that a motor does not need to output holding torque when the steering requirement is not needed, thereby reducing the energy consumption of the AUV;

(2) the invention adopts two stages of worm gears and worms, so that the transmission ratio is increased, and the control precision of the X-shaped rudder is greatly improved;

(3) the invention adopts a mode of transmitting torque by the worm gear and the worm, so that the transmission precision is also improved, the dynamic sealing performance is better, and the accuracy and the safety of AUV motion control are improved;

(4) the invention adopts the structure to make the whole structure more compact, and provides a more scientific and reasonable choice for the design of the tail cabin of the small-sized X-shaped rudder AUV.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the structure of the stepping motor of the present invention cooperating with a first-stage worm gear;

FIG. 3 is a schematic view of a mechanical dynamic seal of the present invention;

fig. 4 is a schematic structural diagram of the matching of the two-stage worm gear and the X-shaped rudder.

Detailed Description

The following further describes embodiments of the present invention with reference to the accompanying drawings:

in the figure: a first-stage worm gear 1; a sleeve 2; a rolling bearing 3; a dynamic seal 4; a dynamic seal stop ring 5; a transmission shaft 6; a sliding bearing 7; a secondary worm gear 8; a rudder blade 9; a ceramic bearing 10; a protective cover 11; a stainless steel load bearing tube 12; an end cap 13; a mounting plate 14; a small belt pulley 15; a stepping motor 16; the stepping motor mounting plate 17.

The utility model provides an X type rudder AUV transmission structure with auto-lock nature, includes one-level worm gear, sleeve, antifriction bearing, dynamic seal, final drive shaft, slide bearing, dynamic seal check ring, second grade worm gear, rudder blade, ceramic bearing, stainless steel bearing pipe, band pulley group, step motor, mounting panel, a serial communication port, step motor 16 passes through step motor mounting panel and the fastening of the capsule body, step motor 16's output shaft and worm gear 1 in the worm are connected, and the worm wheel transmits power to rather than the transmission shaft 6 who links firmly in worm gear 1 on, the transmission shaft is surrounded the protection by the sleeve, the transmission shaft both ends respectively are realized supporting by antifriction bearing and slide bearing, transmission shaft 6 other ends configuration second grade worm gear 8. The second-level worm gear 8 drives the rudder blade 9, and two ends of the rudder wing shaft are positioned through ceramic bearings.

As a further optimization of the technical scheme, the AUV transmission structure is characterized in that the stepping motor is connected with the A surface of the sealed cabin body through a stepping motor mounting plate through a bolt, an output shaft of the stepping motor 16 is connected with a worm in a worm gear 1 through a key, and a worm wheel in the worm gear 1 is fixedly connected with the transmission shaft 6.

As a further optimization of the technical scheme, the invention discloses an AUV transmission structure of an X-type rudder with self-locking performance, which is characterized in that a transmission shaft 6 is arranged in a stainless steel bearing pipe 12, the stainless steel bearing pipe 12 is completely positioned by an a surface of a sealed cabin body, a propeller protection cover 11 and a compression cover, one end of the transmission shaft 6 is supported by a rolling bearing 3 and a dynamic sealing stop ring 4, and the other end of the transmission shaft is radially supported by a sliding bearing 7.

As further optimization of the technical scheme, the AUV transmission structure of the X-shaped rudder with self-locking performance is characterized in that a secondary worm gear 8 is arranged at the other end of a transmission shaft 6, the worm is connected with a rudder wing through a key, and the position of the rudder wing close to a central axis of a tail cabin is positioned by a ceramic bearing 10.

As further optimization of the technical scheme, the AUV transmission structure of the X-shaped rudder with the self-locking performance is characterized in that the step motor mounting plate, the step motor mounting plate and the A surface of the tail cabin keep good flatness, so that the central axis of a worm wheel in the first-stage worm gear can be in good perpendicularity with the A surface of the tail cabin. And then guaranteed the straightness that hangs down of transmission shaft axis and plane A, guaranteed driven accuracy and stability.

As a further optimization of the technical scheme, the invention discloses an AUV transmission structure of an X-shaped rudder with self-locking performance, which is characterized in that an end cover 13 is arranged to generate pressing force on a spring in a dynamic seal to play a sealing role.

Firstly, the first-stage turbine is installed, and the rolling bearing 3 is installed between the stepping motor installation plate and the tail cabin through bolts; inserting the transmission shaft 6, respectively sleeving the sleeve 2, the first-stage turbine 1 and the belt wheel from one side inside the tail cabin, and mounting a screw at the top end of the shaft; and parts required by the dynamic seal 4 are respectively arranged at the other side of the tail cabin and are compressed by an end cover. Then the stainless steel bearing pipe 12 and the second-stage worm are sleeved.

Then, the step motor 16 is connected with the first-stage worm 1 through a key, the whole is put into a tail cabin, and the worm and gear are matched and the whole is installed on a cabin body of the tail cabin through a step motor installation plate.

And finally, assembling the second-stage worm gear 8, sleeving the rudder blade 9 and the ceramic bearing 10 into the tail connecting piece, installing the second-stage worm gear on the other side of the connecting piece through a key, matching the second-stage worm gear with the second-stage worm gear, and finally buckling the protective cover 11 to position the second-stage worm gear 8.

It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and that various changes, modifications, additions and substitutions which are within the spirit and scope of the present invention and which may be made by those skilled in the art are also within the scope of the present invention.

Claims

1. The utility model provides an X type rudder AUV transmission structure with auto-lock nature which characterized in that: the device comprises a first-stage worm gear, a sleeve, a rolling bearing, a sliding bearing, a second-stage worm gear, a rudder blade, a ceramic bearing, a stainless steel bearing pipe and a stepping motor; the stepping motor is fastened with the sealed cabin body through a stepping motor mounting plate, an output shaft of the stepping motor is connected with a worm in a first-stage worm gear, a worm wheel in the first-stage worm gear is fixedly connected with a transmission shaft, the transmission shaft is protected by a sleeve in a surrounding mode, the transmission shaft is arranged in a stainless steel bearing pipe, one end of the transmission shaft is supported by a rolling bearing and a dynamic sealing stop ring, the other end of the transmission shaft is radially supported by a sliding bearing, the transmission shaft is provided with a second-stage worm gear, the second-stage worm gear is connected with a rudder blade, and two ends of a rudder wing shaft are positioned through ceramic bearings; the stepping motor is connected with the A surface of the sealed cabin body through a stepping motor mounting plate through a bolt; the output shaft of the stepping motor is connected with the worm in the first-stage worm gear through a key; the stainless steel bearing pipe is completely positioned by the surface A of the sealed cabin body, the protective cover of the propeller and the compression cover; the worm of the secondary worm gear is connected with the rudder wing through a key, and the position of the rudder wing close to the axis of the tail cabin is positioned by a ceramic bearing; the mounting plate of the stepping motor and the A surface of the tail cabin keep flatness, so that the central axis of a worm wheel in the first-stage worm gear keeps perpendicularity with the A surface of the tail cabin.