CN109760808A - Long voyage Autonomous Underwater Vehicle low-power consumption transfer - Google Patents
Long voyage Autonomous Underwater Vehicle low-power consumption transfer Download PDFInfo
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- CN109760808A CN109760808A CN201910183426.8A CN201910183426A CN109760808A CN 109760808 A CN109760808 A CN 109760808A CN 201910183426 A CN201910183426 A CN 201910183426A CN 109760808 A CN109760808 A CN 109760808A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 15
- 238000007789 sealing Methods 0.000 claims description 8
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 6
- 238000005452 bending Methods 0.000 claims description 2
- 230000008450 motivation Effects 0.000 claims 1
- 238000005265 energy consumption Methods 0.000 abstract description 8
- 230000008878 coupling Effects 0.000 description 7
- 238000010168 coupling process Methods 0.000 description 7
- 238000005859 coupling reaction Methods 0.000 description 7
- 238000009434 installation Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000000386 athletic effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Abstract
The present invention relates to a kind of long voyage Autonomous Underwater Vehicle low-power consumption transfers, hatchcover is sealedly connected on the shell of cabin, the both ends of connecting rod are respectively connected with rudderpost, one end of rudderpost is connected with connecting rod, the other end and cabin shell are rotatablely connected, and the other end of rudderpost is tightly connected with the balustrade deching for being mounted on cabin shell outer surface, and is pierced by by cabin shell, balustrade deching, it is connected with rudder piece fixing piece, rudder piece is installed on rudder piece fixing piece；Drive module is installed on any one rudderpost, support frame is mounted on inside the shell of cabin, power source is mounted on the side of support frame, the output end of power source is connect by transmission mechanism with the rudderpost for being located at the support frame other side, and then drive another rudderpost to rotate synchronously by connecting rod, realize that drive module drives the rudder piece connected on two rudderposts simultaneously.The present invention reduces energy consumption element quantity, energy consumption can be effectively reduced in such a way that horizontal, vertical two sets of drive modules drive four rudder piece rotations.
Description
Technical field
The present invention relates to Autonomous Underwater Vehicle transfer, specifically a kind of long voyage Autonomous Underwater Vehicle is low
Power consumption transfer.
Background technique
As the mankind explore and the exploitation of marine resources the continuous of ocean, the demand to underwater observation equipment is also increasingly
It is more.Long voyage Autonomous Underwater Vehicle is a kind of novel underwater observation dress that can be observed operation under water for a long time
It is standby.Since long voyage Autonomous Underwater Vehicle provides the energy by self-contained battery, in the item for carrying finite energy resource
To realization long-term operation under part, it is necessary to reduce the work energy consumption of each energy consumption element.Transfer is for controlling underwater boat
The device and the energy consumption rich and influential family in long voyage Autonomous Underwater Vehicle subsystems that row device navigates by water direction and athletic posture.
Therefore, the transfer for designing a low-power consumption is very necessary.
Summary of the invention
The purpose of the present invention is to provide a kind of long voyage Autonomous Underwater Vehicle low-power consumption transfers, reduce and turn to dress
The energy consumption set keeps transfer structure more compact.
The purpose of the present invention is achieved through the following technical solutions:
The present invention includes drive module, connecting rod, hatchcover, rudder piece fixing piece, balustrade deching, rudderpost, cabin shell and rudder piece,
The side of middle deck shell is sealedly attached on submarine navigation device, and the other side is sealedly connected with hatchcover, the drive module and connecting rod
Be placed in the shell of cabin, the both ends of the connecting rod are respectively connected with rudderpost, and one end of the rudderpost is connected with connecting rod, the other end with
The cabin shell rotation connection, the other end of the rudderpost are tightly connected with the balustrade deching for being mounted on cabin shell outer surface, and by described
Cabin shell, balustrade deching are pierced by, and are connected with rudder piece fixing piece, are equipped with rudder piece on the rudder piece fixing piece；Any one rudderpost
On drive module is installed, which includes support frame, transmission mechanism and power source, which is mounted on the cabin shell
Inside, the power source are mounted on the side of support frame, the output end of the power source by transmission mechanism with it is another positioned at support frame
The rudderpost of side connects, and then drives another rudderpost to rotate synchronously by connecting rod, realizes the drive module while driving
The rudder piece connected on two rudderposts；
Wherein: the transmission mechanism is gear drive, including spur gear A and spur gear B, spur gear A are connected to
The output end of the power source, the spur gear B are connected on rudderpost, and with spur gear A engaged transmission；
The drive module further includes rotating potentiometer, and the pedestal of the rotating potentiometer is fixed on support frame as described above, institute
The output end of the brush and power source of stating rotating potentiometer connects, which rotates with power source output terminal, in the electric rotating
It produces relative rotation on the pedestal of position meter；
Support frame as described above includes pressure plate, motor fixing plate and connecting column, which is fixed on the inside of the cabin shell,
The motor fixing plate is connected by connecting column with pressure plate；
The rudderpost is rotatablely connected by bearing and cabin shell, and the other end of the rudderpost is equipped with bulge loop, the two sides up and down of bulge loop
It is equipped with the bearing for realizing that rudderpost radially limits, the bearing for being located at upside on the rudderpost of the drive module is installed in connecting rod one end
Axial limiting is realized by the bulge loop and balustrade deching, and the bearing positioned at downside is realized axially by the bulge loop and support frame
Limit；Bearing on the rudderpost of the connecting rod other end positioned at upside realizes axial limit by the bulge loop and balustrade deching
Position, the bearing positioned at downside realize axial limiting with the bearing pressure plate being fixed in inside rudder shell by the bulge loop；
The other end of the rudderpost is equipped with biradial seal groove, and the centre of the balustrade deching is equipped with hollow axially outward
Boss, the position of biradial seal groove is placed in the cannular boss on the rudderpost, the sealing ring in biradial seal groove with should
Cannular boss realizes underwater dynamic sealing；The balustrade deching lower surface is provided with axial seal grooves；
The cabin shell is revolving body, and outer surface is evenly equipped with boss identical with the rudder piece quantity, and the centre of the boss is opened
There is the through-hole A being connected to inside the cabin shell, the balustrade deching is fixed on boss；In the shell of cabin corresponding with the boss
Plane is equipped at the position in portion；
One end that the rudder piece fixing piece is connect with rudder piece is provided with U-lag, and is provided among trench bottom for the rudderpost
The lower part of the stepped hole of grafting, the rudder piece is inserted into the U-lag, is bolted；
The rudder piece is divided into hydroplane piece and vertical rudder piece, and the hydroplane piece and vertical rudder piece are two panels, respectively with four
The connection of root rudderpost, four rudderposts are spatially in the coplanar structure of right-angled intersection, i.e. the axis of two rudderposts of connection hydroplane piece
To centerline collineation, the longitudinal center line of two rudderposts of vertical rudder piece is connected collinearly and perpendicular to the two of connection hydroplane piece
The longitudinal center line of root rudderpost；
Connecting the connecting rod between two rudderposts of hydroplane piece is d-axis connecting rod, connects two rudderposts of vertical rudder piece
Between connecting rod be crankshaft connecting rod, the diameter and the diameter phase at crankshaft connecting rod both ends at the d-axis connecting rod both ends
Together, the equal length of the length of the d-axis connecting rod and crankshaft connecting rod, the middle section bending of the crankshaft connecting rod are in
The spacing of concave, " recessed " word opening is greater than the diameter of the d-axis connecting rod.
Advantages of the present invention and good effect are as follows:
1. the present invention reduces energy consumption list in such a way that horizontal, vertical two sets of drive modules drive four rudder piece rotations
First quantity, can be effectively reduced energy consumption.
2. the present invention uses modularized design, compact-sized, small in size, it is easily installed and safeguards.
Detailed description of the invention
Fig. 1 is that the present invention removes the schematic perspective view after the shell of cabin；
Fig. 2 is local cutting schematic perspective view of the present invention；
Fig. 3 is the schematic perspective view of cabin shell of the present invention；
Fig. 4 is the schematic perspective view of drive module of the present invention；
Fig. 5 is the front sectional view of drive module of the present invention；
Fig. 6 is the external perspective structural representation after present invention installation rudder piece；
Wherein: 1 is drive module, and 2 be d-axis connecting rod, and 3 be crankshaft connecting rod, and 4 be underwater electrical connector, and 5 mend for pressure
Oil sac is repaid, 6 be hatchcover, and 7 be rudder piece fixing piece, and 8 be balustrade deching, and 9 be bearing, and 10 be bearing pressure plate, and 11 be rudderpost, and 12 are
Shaft coupling, 13 be cabin shell, and 14 be pressure plate, and 15 be rotating potentiometer, and 16 are positive gear A, and 17 be retarder, and 18 be motor, 19
For connecting column, 20 be motor fixing plate, and 21 are positive gear B, and 22 be pin, and 23 be axle sleeve, and 24 be rudder piece, and 25 be boss, and 26 are
Through-hole A, 27 be plane, and 28 be threaded hole A, and 29 be threaded hole B, and 30 be radial seal ring recess, and 31 be cannular boss, and 32 be double diameters
To seal groove, 33 be axial seal grooves, and 34 be bulge loop, and 35 be screw hole, and 36 be U-lag, and 37 be groove, and 38 be through-hole C.
Specific embodiment
The invention will be further described with reference to the accompanying drawing.
As shown in Figure 1 and Figure 2, the present invention include drive module 1, connecting rod, hatchcover 6, rudder piece fixing piece 7, balustrade deching 8,
Rudderpost 11, cabin shell 13 and rudder piece 24, the side of middle deck shell 13 are sealedly attached on submarine navigation device, and the other side is sealedly connected with
Hatchcover 6, drive module 1 and connecting rod are placed in cabin shell 13, and the both ends of the connecting rod are respectively connected with rudderpost 11, rudderpost 11
One end is connected with connecting rod, and the other end and cabin shell 13 are rotatablely connected, and the other end of the rudderpost 11 and is mounted on 13 outer surface of cabin shell
Balustrade deching 8 be tightly connected, and be pierced by by cabin shell 13, balustrade deching 8, be connected with rudder piece fixing piece 7, the rudder piece fixing piece 7
On rudder piece 24 is installed.Drive module 1 is installed on any one rudderpost 11, which includes support frame, transmission mechanism
And power source, the support frame are mounted on inside cabin shell 13, power source is mounted on the side of support frame, and the output end of the power source is logical
It crosses transmission mechanism and is connect with the rudderpost 11 for being located at the support frame other side, and then drive another rudderpost 11 is synchronous to turn by connecting rod
It is dynamic, realize that drive module 1 drives the rudder piece 24 connected on two rudderposts 11 simultaneously.
Rudder piece 24 of the invention divides for hydroplane piece and vertical rudder piece, and the hydroplane piece and vertical rudder piece are two panels, point
It is not connect with four rudderposts 11, four rudderposts 11 are spatially in the coplanar structure of right-angled intersection, that is, connect the two of hydroplane piece
The longitudinal center line of root rudderpost 11 is conllinear, connects the longitudinal center line of two rudderposts 11 of vertical rudder piece collinearly and perpendicular to even
Connect the longitudinal center line of two rudderposts 11 of hydroplane piece；Wherein it is mounted with to drive respectively on any two not conllinear rudderposts 11
Module 1.Connecting the connecting rod between two rudderposts 11 of hydroplane piece is d-axis connecting rod 2, connects two rudders of vertical rudder piece
Connecting rod between axis 11 is crankshaft connecting rod 3, the diameter at 2 both ends of d-axis connecting rod and the diameter at 3 both ends of crankshaft connecting rod
Identical, the middle section of the length of d-axis connecting rod 2 and the equal length of crankshaft connecting rod 3, the crankshaft connecting rod 3 is bent, is in
The spacing of concave, " recessed " word opening is greater than the diameter of d-axis connecting rod 2.
As shown in connection with fig. 1, the specific structure of transfer of the present invention are as follows: by taking the arrangement of hydroplane piece as an example, drive module 1
It is fixedly connected by the support frame of its own with 13 right side inner wall of cabin shell, 11 side of rudderpost in drive module 1 is pierced by cabin shell
It is connect outside 13, with rudder piece fixing piece 7, the other end is connected by shaft coupling 12 with one end of d-axis connecting rod 2, d-axis connecting rod
2 other end is connected by shaft coupling 12 with another rudderpost 11, another rudderpost 11 again with the rudder that is located on the outside of cabin shell 13
Piece fixing piece 7 is fixedly connected.In this way, the rudderpost 11 in drive module 1 can be by shaft coupling 12 and d-axis connecting rod 2 dynamic
Power is transmitted to the rudderpost 11 of opposite side on the same axis, and then two rudderposts 11 is driven to rotate simultaneously, thereby realizes one
Drive module 1 drives two hydroplane pieces being arranged symmetrically simultaneously.
It is similar with the arrangement of hydroplane piece for vertical rudder piece, the support frame that drive module 1 passes through its own
It is fixedly connected with 13 downside inner wall of cabin shell, 11 side of rudderpost in drive module 1 is pierced by outside cabin shell 13 and rudder piece fixing piece 7
Connection, the other end are connected by shaft coupling 12 with one end of crankshaft connecting rod 3, and the other end of crankshaft connecting rod 3 passes through shaft coupling
Device 12 is connected with another rudderpost 11, and another rudderpost 11 is fixedly connected with the rudder piece fixing piece 7 for being located at 13 outside of cabin shell again.
Because using the space crossed structure of crankshaft connecting rod 3 and d-axis connecting rod 2, four rudderposts 11 are spatially
It can be in the coplanar structure of right-angled intersection, reduce the intersection bring cabin shell axial space requirement because of connecting shaft, realization finishes
It is compact on structure.
In the opposite side of drive module 1, the bearing 9 installed on rudderpost 11 is limited by bearing pressure plate 10, bearing pressure
Tight plate 10 is fixed by screws in the inner wall of cabin shell 13.
In order in more detail to above-mentioned component mounting means and relative positional relationship be illustrated, in conjunction with Fig. 2 and Fig. 3,
As shown in figure 3, the overall structure of cabin shell 13 in revolving body pattern, is along the circumferential direction evenly distributed in outer surface, there are four circular boss
25, the centre of boss 25 is provided with through-hole A26, is connected with the inside of cabin shell 13, and the edge of boss 25 along the circumferential direction offers
Threaded hole A28 for fixing.It is corresponding with outer surface 25 positions of uniformly distributed boss, it is circumferentially square in the interior sidewall surface of cabin shell 13
To uniformly distributed there are four plane 27, plane 27 provides installation for the installation of the support frame in bearing pressure plate 10 and drive module 1 and puts down
Face.Multiple threaded hole B29 are along the circumferential direction evenly equipped in 13 left end face of cabin shell, hatchcover 6 connects by the way that screw and cabin shell 13 are fixed
It connects, wherein being provided with radial seal ring recess 30 on hatchcover 6.
It is reference with Fig. 2, one end of rudderpost 11 is connected with d-axis connecting rod 2 or crankshaft connecting rod 3 by shaft coupling 12, separately
One end passes through the outside of stretching cabin shell 13 after balustrade deching 8, and balustrade deching 8 is rounded in structure, diameter and 13 appearance of cabin shell
The diameter of boss 25 on face is identical, and is along the circumferential direction uniformly provided with counterbore, by screw realization and 13 outer surface of cabin shell
Boss 25 fixation.The centre of balustrade deching 8 is equipped with a cannular boss 31 axially outward, and the other end of rudderpost 11 is equipped with
Biradial seal groove 32, the position of biradial seal groove 32 is placed in cannular boss 31, biradial seal groove 32 on the rudderpost 11
Interior sealing ring and the cannular boss 31 realizes underwater dynamic sealing, and the lower surface of balustrade deching 8 is provided with axial seal grooves 33, with reality
Now to the sealing of the through-hole A26 of 13 outer surface convex platform 25 of cabin shell.Bulge loop 34 is equipped in 11 other end of rudderpost and is equipped with two
A bearing 9, to realize the radial limit of rudderpost 11；Bearing 9 positioned at upside passes through the bulge loop 34 and balustrade deching 8 on rudderpost 11
Realize axial limiting, the bearing 9 positioned at downside passes through the bulge loop 34 and the realization axial limiting of bearing pressure plate 10 on rudderpost 11, axis
Pressure plate 10 is held to be fixed by screws in the plane 27 of 13 inner wall of cabin shell.It is similar therewith, it is being equipped with the one of drive module 1
Side, be from rudderpost 11 to the composition of rudder piece fixing piece 7 and relative mounting location etc. it is identical, unique different place is to install
Have the side of drive module 1, the bearing 9 positioned at downside be axial limiting is carried out by support frame in drive module 1, rather than
Axial limiting is carried out by bearing pressure plate 10.
Through-hole B is provided on hatchcover 6, for installing underwater electrical connector 4 and pressure compensation oil sac 5, the underwater electrical connector 4 and pressure
Force compensating oil sac 5 is strained and fixed by nut realization.Pressure compensation oil sac 5 is used for long voyage Autonomous Underwater Vehicle under water
Cabin external and internal pressure is balanced when navigation.
In conjunction with Fig. 4, drive module 1 include support frame, motor 18, retarder 17, rotating potentiometer 15, spur gear A16 and
Spur gear B21, wherein motor 18 and retarder 17 form power source, and spur gear A16 and spur gear B21 constitute transmission mechanism；
Spur gear A16 and spur gear B21 is isometrical straight-tooth spur gear, and spur gear A16 is connected to the output end of retarder 17, spur gear
B21 is connected on rudderpost 11, and with spur gear A16 engaged transmission.Support frame includes pressure plate 14, motor fixing plate 20 and connects
Connect column 19.Pressure plate 14 is fixed in the plane 27 inside cabin shell 13, is equipped with three among pressure plate 14 and motor fixing plate 20
Pressure plate 14 and motor fixing plate 20 are fixed together by connecting column 19 and constitute support frame by root connecting column 19.
In order to be illustrated in more detail to drive module 1, it is illustrated in conjunction with Fig. 5, motor 18 is driving rudder piece rotation
Fundamental driving force source, output shaft and retarder 17 connection of motor 18, retarder is fixed on motor by sunk screw and fixes
On plate 20, axle sleeve 23 is installed, and by pin 22 further by the output shaft of retarder and axis on the output shaft of retarder 17
Set 23 is connected；The output shaft of retarder 17 is transferred torque on spur gear A16 by axle sleeve 23, spur gear A16 and spur gear
B21 is isometrical straight-tooth spur gear, intermeshing transmission；Spur gear B21 and the connection of rudderpost 11 are transmitted for power, thus may be used
It is transmitted on rudderpost 11 with the torque for exporting motor 18 by retarder 17, spur gear A16, spur gear B21.
In conjunction with Fig. 5, in order to detect the angle of the rotation of rudder piece 24, convenient for control rudder angle, needs to install rotating potentiometer 15, revolve
The pedestal for turning potentiometer 15 is fixed on pressure plate 14 by cross recessed small pan head screw, the brush and axle sleeve of rotating potentiometer 15
23 are bonded together, and brush can produce relative rotation on the pedestal of rotating potentiometer with the rotation of axle sleeve.
For rudder piece fixing piece 7, as shown in Figure 1, Figure 2 and shown in Fig. 6, one end that rudder piece fixing piece 7 is connect with rudder piece 24 is provided with U
Shape slot 36, and it is provided among trench bottom the stepped hole for 11 grafting of rudderpost, the stepped hole and the screw hole 35 of 11 one end of rudderpost are right
Qi Hou is fastened by a soket head cap screw, and 24 fixing piece of rudder piece is installed on rudderpost 11.The U-shaped two of rudder piece fixing piece 7
Side is provided with through-hole C38, and the lower part of rudder piece 24 is also corresponding to be provided with through-hole D, and rudder piece fixing piece 7 is inserted into 24 lower part of rudder piece when installation
On, it is fixed with bolt, the mounting means of this rudder piece is easy to disassemble, especially prevents rudder piece in transport convenient for rudder piece of dismantling
It is damaged.The other end of rudder piece fixing piece 7 is equipped with groove 37, and the cannular boss 31 on balustrade deching 8 is placed in the groove 37.
Using transfer of the invention, the voyage of Autonomous Underwater Vehicle can achieve 2000km, if transfer
Power is 1 watt if whole process work, during actual use generally will not whole rudder, mainly steering and pitch attitude adjustment
When use, so actual use be lower than 1 watt.On the other hand, low-power consumption of the invention is and shows there are four motor driven four
The mode of rudder is compared；Because motor is certain to power loss, motor is more, and stack loss is more.So if can use
Two motors realize the function of four motors, are also equivalent to save energy.
The operation principle of the present invention is that:
Motor 18 is connected with the fast device 17 that slows down, and driving force is transmitted to connecting rod both ends by transmission spur gear after deceleration
On rudderpost 11, and then drive hydroplane piece, the rotation of vertical rudder piece；Rotating potentiometer 15 is installed on the support frame of drive module 1,
The corner of transmission spur gear is measured；The rudder piece 24 being arranged symmetrically two-by-two is connected by the connecting rod in cabin shell 13, and one
Drive module 1 can drive two rudder pieces 24 being arranged symmetrically simultaneously while rotate；Pressure compensation oil sac is installed on hatchcover 6
5, to balance pressure inside and outside cabin；The underwater electrical connector to wiring is also equipped on hatchcover 6 simultaneously.
Claims (10)
1. a kind of long voyage Autonomous Underwater Vehicle low-power consumption transfer, it is characterised in that: including drive module (1), connection
Bar, hatchcover (6), rudder piece fixing piece (7), balustrade deching (8), rudderpost (11), cabin shell (13) and rudder piece (24), middle deck shell (13)
Side be sealedly attached on submarine navigation device, the other side is sealedly connected with hatchcover (6), the drive module (1) and connecting rod
It is placed in cabin shell (13), the both ends of the connecting rod are respectively connected with rudderpost (11), one end of the rudderpost (11) and connecting rod
It is connected, the other end and the cabin shell (13) are rotatablely connected, and the other end of the rudderpost (11) and are mounted on cabin shell (13) outer surface
Balustrade deching (8) is tightly connected, and is pierced by by the cabin shell (13), balustrade deching (8), and rudder piece fixing piece (7), the rudder are connected with
Rudder piece (24) are installed on piece fixing piece (7)；Drive module (1) is installed on any one rudderpost (11), the driving mould
Block (1) includes support frame, transmission mechanism and power source, which is mounted on cabin shell (13) inside, the power source peace
Mounted in the side of support frame, the output end of the power source is connected by transmission mechanism with the rudderpost (11) for being located at the support frame other side
It connects, and then drives another rudderpost (11) to rotate synchronously by connecting rod, realize the drive module (1) while driving two rudders
The rudder piece (24) connected on axis (11).
2. long voyage Autonomous Underwater Vehicle low-power consumption transfer according to claim 1, it is characterised in that: the biography
Motivation structure is gear drive, including spur gear A (16) and spur gear B (21), spur gear A (16) are connected to the power
The output end in source, the spur gear B (21) are connected on rudderpost (11), and with spur gear A (16) engaged transmission.
3. long voyage Autonomous Underwater Vehicle low-power consumption transfer according to claim 1, it is characterised in that: the drive
Dynamic model block (1) further includes rotating potentiometer (15), and the pedestal of the rotating potentiometer (15) is fixed on support frame as described above, the rotation
The output end of the brush and power source that turn potentiometer (15) connects, which rotates with power source output terminal, in the electric rotating
It produces relative rotation on the pedestal of position meter (15).
4. long voyage Autonomous Underwater Vehicle low-power consumption transfer according to claim 1, it is characterised in that: the branch
Support includes pressure plate (14), motor fixing plate (20) and connecting column (19), which is fixed on the cabin shell (13)
Inside, the motor fixing plate (20) is connected by connecting column (19) with pressure plate (14).
5. long voyage Autonomous Underwater Vehicle low-power consumption transfer according to claim 1, it is characterised in that: the rudder
Axis (11) is rotatablely connected by bearing (9) and cabin shell (13), and the other end of the rudderpost (11) is equipped with bulge loop (34), bulge loop (34)
Upper and lower two sides are equipped with the bearing (9) for realizing that rudderpost (11) radially limit, and the rudder of the drive module (1) is installed in connecting rod one end
Bearing (9) on axis (11) positioned at upside realizes axial limiting by the bulge loop (34) and balustrade deching (8), positioned at downside
Bearing (9) realizes axial limiting by the bulge loop (34) and support frame；It is located on the rudderpost (11) of the connecting rod other end
The bearing (9) of upside realizes that axial limiting, the bearing (9) positioned at downside pass through by the bulge loop (34) and balustrade deching (8)
The bulge loop (34) the bearing pressure plate (10) internal with rudder shell (13) is fixed in realizes axial limiting.
6. long voyage Autonomous Underwater Vehicle low-power consumption transfer according to claim 1, it is characterised in that: the rudder
The other end of axis (11) is equipped with biradial seal groove (32), and the centre of the balustrade deching (8) is equipped with hollow convex axially outward
Platform (31), the position of biradial seal groove (32) is placed in the cannular boss (31), biradial seal groove on the rudderpost (11)
(32) sealing ring and the cannular boss (31) in realize underwater dynamic sealing；Balustrade deching (8) lower surface is provided with axial close
Sealing groove (33).
7. long voyage Autonomous Underwater Vehicle low-power consumption transfer according to claim 1, it is characterised in that: the cabin
Shell (13) is revolving body, and outer surface is evenly equipped with boss (25) identical with rudder piece (24) quantity, the centre of the boss (25)
It is provided with the through-hole A (26) being connected to inside the cabin shell (13), the balustrade deching (8) is fixed on boss (25)；With it is described
The corresponding cabin shell (13) of boss (25) is equipped with plane (27) at internal position.
8. long voyage Autonomous Underwater Vehicle low-power consumption transfer according to claim 1, it is characterised in that: the rudder
One end that piece fixing piece (7) is connect with rudder piece (24) is provided with U-lag (36), and is provided among trench bottom for the rudderpost (11)
The stepped hole of grafting, the lower part of the rudder piece (24) are inserted into the U-lag (36), are bolted.
9. long voyage Autonomous Underwater Vehicle low-power consumption transfer according to claim 1, it is characterised in that: the rudder
Piece (24) is divided into hydroplane piece and vertical rudder piece, and the hydroplane piece and vertical rudder piece are two panels, respectively with four rudderposts (11)
Connection, four rudderposts (11) are spatially in the coplanar structure of right-angled intersection, that is, connect two rudderposts (11) of hydroplane piece
Longitudinal center line is conllinear, connects the longitudinal center line of two rudderposts (11) of vertical rudder piece collinearly and perpendicular to connection hydroplane
The longitudinal center line of two rudderposts (11) of piece.
10. long voyage Autonomous Underwater Vehicle low-power consumption transfer according to claim 9, it is characterised in that: connection
Connecting rod between two rudderposts (11) of hydroplane piece is d-axis connecting rod (2), connects two rudderposts (11) of vertical rudder piece
Between connecting rod be crankshaft connecting rod (3), the diameter at d-axis connecting rod (2) both ends and crankshaft connecting rod (3) both ends
Diameter it is identical, the equal length of the length of the d-axis connecting rod (2) and crankshaft connecting rod (3), the crankshaft connecting rod (3)
Middle section bending is in concave, and the spacing of " recessed " word opening is greater than the diameter of the d-axis connecting rod (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910183426.8A CN109760808B (en) | 2019-03-12 | 2019-03-12 | Low-power-consumption steering device of long-range autonomous underwater vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910183426.8A CN109760808B (en) | 2019-03-12 | 2019-03-12 | Low-power-consumption steering device of long-range autonomous underwater vehicle |
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| Publication Number | Publication Date |
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| CN109760808A true CN109760808A (en) | 2019-05-17 |
| CN109760808B CN109760808B (en) | 2023-12-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910183426.8A Active CN109760808B (en) | 2019-03-12 | 2019-03-12 | Low-power-consumption steering device of long-range autonomous underwater vehicle |
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Cited By (5)
| 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 |
| CN114954870A (en) * | 2022-04-26 | 2022-08-30 | 哈尔滨工程大学 | Flexible composite antenna rudder wing system for portable AUV |
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| CN115871905A (en) * | 2022-11-30 | 2023-03-31 | 天津大学 | Full-sea-depth low-power-consumption cross steering device for unmanned underwater vehicle |
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