CN110386239A - A kind of rudder plate system of underwater robot - Google Patents
A kind of rudder plate system of underwater robot Download PDFInfo
- Publication number
- CN110386239A CN110386239A CN201810353423.XA CN201810353423A CN110386239A CN 110386239 A CN110386239 A CN 110386239A CN 201810353423 A CN201810353423 A CN 201810353423A CN 110386239 A CN110386239 A CN 110386239A
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- CN
- China
- Prior art keywords
- rudder plate
- rudder
- steering engine
- larboard
- starboard
- Prior art date
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Classifications
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- 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
- B63G8/14—Control of attitude or depth
- B63G8/20—Steering equipment
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Transmission Devices (AREA)
- Toys (AREA)
Abstract
The present invention relates to underwater robot technical field, in particular to the rudder plate system of a kind of underwater robot.Left rudder trigger structure and right standard rudder trigger structure including being symmetrically disposed on underwater robot two sides, left rudder trigger structure includes larboard rudder plate, larboard propeller and left side steering engine component, right standard rudder trigger structure includes starboard rudder plate, starboard propeller and right side steering engine component, wherein left side steering engine component and right side steering engine component are set in base of steering gear and connect respectively with larboard rudder plate and starboard rudder plate, and larboard propeller and starboard propeller are respectively arranged on larboard rudder plate and starboard rudder plate.Structure of the invention is compact, has lightweight rudder plate, and rudder plate rotates more rapidly, so that underwater robot sub-aqua sport is more flexible.
Description
Technical field
The present invention relates to underwater robot technical field, in particular to the rudder plate system of a kind of underwater robot.
Background technique
Steering engine transmission and rudder plate device are the important components of underwater robot, and rudder plate is underwater robot adjustment posture
Main tool, angle is changed to change the direction of rudder action power by steering engine.Traditional submersible stern part rudder plate, wing plate be not solid
Setting formula, Modern New submersible rudder plate is changed to can partial turn.Left and right rudder plate is mostly to rotate coaxially, using same set of driver
Structure, and fixing frame plate part swivel plate form is mostly used greatly, and is integrally made of glass reinforced plastic, global density is larger, right
Underwater robot entirety stress has a negative impact.
Summary of the invention
In view of the above-mentioned problems, the system is in phase the purpose of the present invention is to provide a kind of rudder plate system of underwater robot
In the case where homogenous quantities, the same output energy, compared to traditional underwater robot, rudder plate is rotated more rapidly, so that
Underwater robot sub-aqua sport is more flexible.
The purpose of the present invention is achieved through the following technical solutions:
A kind of rudder plate system of underwater robot, left rudder trigger structure and the right side including being symmetrically disposed on underwater robot two sides
Rudder plate mechanism, the left rudder trigger structure include larboard rudder plate, larboard propeller and left side steering engine component, the right standard rudder trigger structure packet
Starboard rudder plate, starboard propeller and right side steering engine component are included, wherein left side steering engine component and right side steering engine component are set to steering engine
It connect in pedestal and with the larboard rudder plate and starboard rudder plate respectively, the larboard propeller and starboard propeller difference
It is set on the larboard rudder plate and starboard rudder plate.
The left side steering engine component is identical with right side steering engine modular construction, includes rudderpost, worm gear, worm screw, motor and subtracts
Fast device, wherein motor is connect with retarder, and the output shaft of the retarder is connect with worm screw, the worm gear engaged with worm screw and
It is connect with the rudderpost, the rudderpost is connect with the larboard rudder plate or the starboard rudder plate.
The outside of the motor and retarder is equipped with electric machine casing, and the oil-filled deep-sea that compensates is pressed in the electric machine casing
Power.
The outside of the worm gear and worm screw be equipped with steering engine worm and gear shell, the rudderpost by with the steering engine worm gear snail
The steering engine support frame of bar cage connection supports, and axle sleeve is equipped between the rudderpost and the steering engine support frame.
The larboard rudder plate and the starboard rudder plate are all made of glass steel material, are enclosed with buoyancy material in the glass reinforced plastic
Material.
Advantages of the present invention and good effect are as follows:
1. the present invention has a wide range of application: the present invention can be used in various underwater machines due to being rudder plate and steering engine assembly apparatus
In device people and submarine.
2. the present invention has lightweight rudder plate: whole device steering engine is driven and rack section is all light aluminum alloy, rudder plate portion
It is divided into glass reinforced plastic package buoyancy material, compared with traditional equipment, negative buoyancy force can reduce about 1/ in the single unit system water of general utility functions
3。
3. two rudder plate self-movements of the invention: when underwater robot navigates by water, horizontal rudder plate predominantly adjusts robot pitching
Angle.When two rudder plates can be with self-movement, it can the spiral angle and the radius of spin of adjustment underwater robot dive, it can also
To provide differential steering power for robot steering.
4. the self-locking stabilization of transmission mechanism of the present invention: transmission mechanism reconnects worm gear snail since small, closely connects retarder
Bar drives to rudderpost, and rudderpost is fixedly connected with rudder plate, final to drive rudder plate rotation.Precision electric motor can be precisely controlled, worm gear snail
Bar can provide self-locking.
5. structure of the invention is compact: transmission shaft uses ingehious design, motor, retarder, worm and gear connection in the present invention
Closely, compact-sized.
6. rudder plate of the present invention can unitary rotation: being all fixed-wing with robot curved surface coupling part in traditional rudder plate system
Plate, whole rudder plate of the present invention is all rotor, can provide rudder power for robot in rotation, improve rudder plate efficiency.
Detailed description of the invention
Fig. 1 is whole axonometric drawing of the invention；
Fig. 2 is rudder plate planar schematic diagram of the invention；
Fig. 3 is steering engine transmission system schematic cross section of the invention；
Fig. 4 is steering engine transmission system vertical section schematic diagram of the invention.
In figure: 1 is larboard rudder plate, and 2 be larboard propeller, and 3 be base of steering gear, and 4 be left side steering engine component, and 5 be right side rudder
Thermomechanical components, 6 be starboard rudder plate, and 7 be starboard propeller, and 8 be buoyant material, and 9 be propeller connected pipes, and 10 be rudderpost, and 11 are
Axle sleeve, 12 be steering engine support frame, and 13 be rudderpost connecting key, and 14 be steering engine drive end bearing bracket, and 15 be steering engine worm and gear shell, and 16 be snail
Wheel, 17 be worm gear key, and 18 be steering gear electric-machine upper end cover, and 19 be worm screw, and 20 be electric machine casing, and 21 be motor, and 22 be motor outlet wire
Oil pipe.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, right in the following with reference to the drawings and specific embodiments
The present invention is described in detail.
As shown in Figure 1, a kind of rudder plate system of underwater robot provided by the invention, including it is symmetrically disposed on underwater
The left rudder trigger structure and right standard rudder trigger structure of people two sides, left rudder trigger structure include larboard rudder plate 1, larboard propeller 2 and left side steering engine
Component 4, right standard rudder trigger structure includes starboard rudder plate 6, starboard propeller 7 and right side steering engine component 5, wherein 4 He of left side steering engine component
Right side steering engine component 5 is set in base of steering gear 3 and connect respectively with larboard rudder plate 1 and starboard rudder plate 6,2 He of larboard propeller
Starboard propeller 7 is respectively arranged on larboard rudder plate 1 and starboard rudder plate 6.
Steering engine frame is made by aluminium alloy, and base of steering gear 3 is connected by bolt with underwater robot keel frame, steering engine
Drive end bearing bracket 14 is bolted connection with base of steering gear 3.
As shown in Fig. 2, larboard rudder plate 1 and starboard rudder plate 6 are all made of glass steel material, buoyant material is enclosed in glass reinforced plastic
8。
As shown in Figure 3-4, left side steering engine component 4 is identical with right side 5 structures of steering engine component, include rudderpost 10, worm gear 16,
Worm screw 19, motor 21 and retarder, wherein motor 21 is connect with retarder, and the output shaft of retarder is connect with worm screw 19, worm gear
16 engage with worm screw 19 and connect with rudderpost 10, and rudderpost 10 is connect with larboard rudder plate 1 or starboard rudder plate 6.
The outside of motor 21 and retarder is equipped with electric machine casing 20, oil-filled in electric machine casing 20 to compensate deep sea pressure.
The outside of worm gear 16 and worm screw 19 is equipped with steering engine worm and gear shell 15, and rudderpost 10 with steering engine worm and gear shell 15 by connecting
Steering engine support frame 12 support, between rudderpost 10 and steering engine support frame 12 be equipped with axle sleeve 11.
The self-locking stabilization of transmission mechanism, transmission mechanism reconnect Worm Wheel System extremely since small, closely connects retarder
Rudderpost, rudderpost 10 are fixedly connected with rudder plate, final to drive rudder plate rotation.Precision electric motor can be precisely controlled, and worm and gear can be with
It provides self-locking.
Turning moment is transferred to rudderpost 10 by worm screw 19 and worm gear 16 by motor 21 and retarder, and one end of rudderpost 10 is logical
The bearing support in steering engine worm and gear shell 15 is crossed, outside is by the axle sleeve 11 on steering engine support frame 12 as another collateral
Support, end is fixedly connected with rudder plate, so that rudder plate be driven to rotate.
It is outstanding outside larboard rudder plate 1 and starboard rudder plate 6 to be theoretically cantilever design, rudder plate quality is reduced, cantilever moment, rudder are mitigated
Axis 10 and axle sleeve 11,12 stress of steering engine support frame improve.In rudder plate design process, pass through empirical equation and hydrodynamic force Numerical-Mode
When intending calculating rudder plate hydrodynamic force center position and torque, and considering to place in air, rudder plate under gravity
Torque, due to alleviating rudder plate quality, final choose at 2/3 between hydrodynamic force center of gravity and center of gravity is alignment of rudder stock, in this way can
Improve rudder plate entirety steerage.
The operation principle of the present invention is that:
6 self-movement of larboard rudder plate 1 and starboard rudder plate, when underwater robot navigates by water, horizontal rudder plate predominantly adjusts machine
People's pitch angle.When two rudder plates can be with self-movement, it can the spiral angle and spiral half of adjustment underwater robot dive
Diameter, or robot, which turns to, provides differential steering power.The mitigation of rudder plate weight, derived from using glass fiber reinforced plastics composite material conduct
Frame stressing structure, internal rest part is by topological optimization, as far as possible filling buoyant material, so that rudder plate weight drops significantly
It is low.
In 11000 meters of deep-marine-environments, pressure reaches about 114MPa, according to conventional seals cabin structure, for design structure
And intensity requirement is all extremely harsh.The present invention allows motor and transmission parts directly at pressure using the principle of oil-filled compensation in warehouse,
To avoid heavy and complicated pressure-resistant cabin design.And local environment is electrical apparatus insulation oil medium, radiating insulating performance is superior
Air dielectric.
Underwater robot steering engine transmission system of the present invention, including oil charging motor and worm gearing, whole soaking exist
In lubricating oil, external linkage compensator is passively compensated, and steering engine frame is made by aluminium alloy, with underwater robot keel frame
It is connected.This device rudder plate can integrally choose to install, and improve rudder plate service efficiency.By empirical equation and hydrodynamic simulation to rudder
Plate hydrodynamic force center position and torque are calculated, and when considering to place in air, rudder plate torque under gravity, most
Being chosen at 2/3 between hydrodynamic force center of gravity and center of gravity eventually is alignment of rudder stock.It can thus be appreciated that mitigating rudder plate weight can be improved rudder plate efficiency,
Therefore under conditions of guaranteeing rudder plate intensity, buoyant material is pasted and is filled with, using glass reinforced plastic to mitigate rudder plate weight.
There are two propellers in Quan Haishen underwater robot tail portion, can be with differential steering, and two sides rudder plate controls respectively, can
Rotate different angle.Two sides rudder plate can unitary rotation, save fixed part from design, improve rudder plate efficiency.And in rudder plate
Pre-buried buoyant material reduces rudder plate density under the premise of guaranteeing rudder plate intensity.
In conclusion The present invention gives it is a kind of mutually indepedent and can integrally rotated lightweight rudder plate system, it, which has, answers
Wide with range, compact-sized, rudder plate quality is small, and left and right rudder plate can be rotated independently and have the underwater robot steering engine of self-locking function
System.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the present invention.It is all in the present invention
Spirit and principle within any modification, equivalent replacement, improvement, extension etc., be all contained in protection scope of the present invention
It is interior.
Claims (5)
1. a kind of rudder plate system of underwater robot, which is characterized in that the left rudder including being symmetrically disposed on underwater robot two sides
Trigger structure and right standard rudder trigger structure, the left rudder trigger structure include larboard rudder plate (1), larboard propeller (2) and left side steering engine component
(4), the right standard rudder trigger structure includes starboard rudder plate (6), starboard propeller (7) and right side steering engine component (5), wherein left side steering engine
Component (4) and right side steering engine component (5) be set in base of steering gear (3) and respectively with the larboard rudder plate (1) and starboard rudder plate
(6) it connects, the larboard propeller (2) and the starboard propeller (7) are respectively arranged at the larboard rudder plate (1) and starboard rudder
On plate (6).
2. the rudder plate system of underwater robot according to claim 1, which is characterized in that the left side steering engine component (4)
It is identical with right side steering engine component (5) structure, it include rudderpost (10), worm gear (16), worm screw (19), motor (21) and retarder,
Wherein motor (21) is connect with retarder, and the output shaft of the retarder is connect with worm screw (19), the worm gear (16) and worm screw
(19) it engages and is connect with the rudderpost (10), the rudderpost (10) and the larboard rudder plate (1) or the starboard rudder plate (6)
Connection.
3. the rudder plate system of underwater robot according to claim 2, which is characterized in that the motor (21) and retarder
Outside be equipped with electric machine casing (20), it is oil-filled in the electric machine casing (20) to compensate deep sea pressure.
4. the rudder plate system of underwater robot according to claim 2, which is characterized in that the worm gear (16) and worm screw
(19) outside be equipped with steering engine worm and gear shell (15), the rudderpost (10) by with the steering engine worm and gear shell (15)
The steering engine support frame (12) of connection supports, and is equipped with axle sleeve (11) between the rudderpost (10) and the steering engine support frame (12).
5. the rudder plate system of underwater robot according to claim 1, which is characterized in that the larboard rudder plate (1) and institute
It states starboard rudder plate (6) and is all made of glass steel material, buoyant material (8) are enclosed in the glass reinforced plastic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810353423.XA CN110386239A (en) | 2018-04-19 | 2018-04-19 | A kind of rudder plate system of underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810353423.XA CN110386239A (en) | 2018-04-19 | 2018-04-19 | A kind of rudder plate system of underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110386239A true CN110386239A (en) | 2019-10-29 |
Family
ID=68282755
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810353423.XA Pending CN110386239A (en) | 2018-04-19 | 2018-04-19 | A kind of rudder plate system of underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110386239A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111361717A (en) * | 2020-03-30 | 2020-07-03 | 杭州电子科技大学 | Autonomous underwater vehicle with double-propeller vector control and foldable antenna |
| WO2022033210A1 (en) * | 2020-08-11 | 2022-02-17 | 中国科学院沈阳自动化研究所 | Body structure of autonomous underwater robot with high mobility and great submerging depth |
| CN114408140A (en) * | 2021-12-24 | 2022-04-29 | 宜昌测试技术研究所 | Fin rudder device suitable for underwater vehicle |
| CN114933005A (en) * | 2022-06-06 | 2022-08-23 | 中国科学院沈阳自动化研究所 | Self-locking steering engine of autonomous underwater robot in deep sea |
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| CN102862667A (en) * | 2012-09-26 | 2013-01-09 | 浙江大学 | Mixed type underwater navigation detector |
| CN103085955A (en) * | 2013-01-18 | 2013-05-08 | 北京航空航天大学 | Sea turtle four-fin flapping imitating type autonomous underwater robot |
| JP2014210551A (en) * | 2013-04-22 | 2014-11-13 | 株式会社Ihi | Underwater sailing body |
| CN106741778A (en) * | 2015-11-23 | 2017-05-31 | 中国科学院沈阳自动化研究所 | A kind of rotatable propeller system in deep-sea |
| CN107235130A (en) * | 2016-03-29 | 2017-10-10 | 武汉理工大学 | A kind of Wing oscillating Wave energy collecting device for small ocean ROV |
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2018
- 2018-04-19 CN CN201810353423.XA patent/CN110386239A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102862667A (en) * | 2012-09-26 | 2013-01-09 | 浙江大学 | Mixed type underwater navigation detector |
| CN103085955A (en) * | 2013-01-18 | 2013-05-08 | 北京航空航天大学 | Sea turtle four-fin flapping imitating type autonomous underwater robot |
| JP2014210551A (en) * | 2013-04-22 | 2014-11-13 | 株式会社Ihi | Underwater sailing body |
| CN106741778A (en) * | 2015-11-23 | 2017-05-31 | 中国科学院沈阳自动化研究所 | A kind of rotatable propeller system in deep-sea |
| CN107235130A (en) * | 2016-03-29 | 2017-10-10 | 武汉理工大学 | A kind of Wing oscillating Wave energy collecting device for small ocean ROV |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111361717A (en) * | 2020-03-30 | 2020-07-03 | 杭州电子科技大学 | Autonomous underwater vehicle with double-propeller vector control and foldable antenna |
| CN111361717B (en) * | 2020-03-30 | 2021-02-26 | 杭州电子科技大学 | Autonomous underwater vehicle with double-propeller vector control and foldable antenna |
| WO2022033210A1 (en) * | 2020-08-11 | 2022-02-17 | 中国科学院沈阳自动化研究所 | Body structure of autonomous underwater robot with high mobility and great submerging depth |
| CN114408140A (en) * | 2021-12-24 | 2022-04-29 | 宜昌测试技术研究所 | Fin rudder device suitable for underwater vehicle |
| CN114408140B (en) * | 2021-12-24 | 2023-06-20 | 宜昌测试技术研究所 | Fin rudder device suitable for underwater vehicle |
| CN114933005A (en) * | 2022-06-06 | 2022-08-23 | 中国科学院沈阳自动化研究所 | Self-locking steering engine of autonomous underwater robot in deep sea |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20191029 |
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