CN110884633A - AUV magnetic coupling vector propulsion unit suitable for ice hole distribution - Google Patents
AUV magnetic coupling vector propulsion unit suitable for ice hole distribution Download PDFInfo
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- CN110884633A CN110884633A CN201911147945.5A CN201911147945A CN110884633A CN 110884633 A CN110884633 A CN 110884633A CN 201911147945 A CN201911147945 A CN 201911147945A CN 110884633 A CN110884633 A CN 110884633A
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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
- B63G8/08—Propulsion
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Abstract
An AUV magnetic coupling vector propulsion device suitable for ice hole arrangement comprises an underwater propeller, a steering module and a cabin body, wherein an installation frame is arranged in the cabin body, a driving device is arranged on each side surface of the installation frame, the steering module is arranged outside the cabin body, the underwater propeller is arranged on the rear side of the cabin body and connected to the steering module, and the outer diameter of the underwater propeller is smaller than that of a shell of the cabin body; each driving device drives the steering module to steer through the magnetic coupling device, the magnetic coupling device comprises a constraint track, a driven magnet module and a driving magnet, the driving magnet is installed on the driving module, the driven magnet module can be driven by the driving magnet to be installed in the constraint track in a moving mode along the constraint track, the constraint track is arranged on the peripheral surface of the cabin body, and the driven magnet module is connected with the steering module; when the driving magnet is driven by the driving device to move, the driven magnet module follows the driving magnet module to move and transmits the displacement to the steering module, and the steering module drives the propelling direction of the underwater propeller to change.
Description
Technical Field
The invention belongs to the field of ocean engineering technology and polar region detection, and relates to an AUV magnetic coupling vector propulsion device suitable for ice hole arrangement.
Background
The two poles of the earth have ice floating areas and ice racks connecting the ocean and the polar ice cover. The detection and sampling of the ice environment, including the observation of the circulation of the ice ocean temperature salt, the detection of the ice ocean ecological environment, the sampling of the ice seawater and sediments and the like, are important means for researching the circulation of the ice ocean temperature salt and the interaction between the ice frame and the ocean, and have important scientific significance. At present, two main modes are used for detecting the environment under ice, firstly, the instrument equipment with a cable is placed in the ice through drilling holes in the ice surface, the instrument equipment distributed in the mode is limited to a very limited range under the ice detecting holes, and the large-range detection under ice cannot be carried out. The second is by an Autonomous Underwater Vehicle (AUV) which travels Underwater. In this manner the AUV is typically deployed and retrieved by chiseling through the ice layer and then in larger ice holes, but for thick ice layers it is necessary to deploy and retrieve in ice holes of limited diameter. For example, ice racks with a thickness of up to a kilometer in the Antarctic region are usually drilled by a polar region hot water drilling machine, and the diameter of the drilled ice holes is usually in the order of 35 cm-80 cm. Whereas a conventional AUV has protruding components outside its housing, such as an antenna, a tail rudder to steer the AUV, etc. These parts are easily damaged after colliding with the ice hole when the ice hole is laid, and thus the conventional AUV is not suitable for being laid through the ice hole.
Furthermore, conventional AUVs rely primarily on the interaction of the tail rudder, which is very inefficient and highly compromised in maneuverability when the vehicle is traveling at low speeds. The vector propulsion mode can improve the maneuverability of the AUV, and particularly can improve the steering performance at low speed. However, conventional rudder or vector propulsion methods rely on contacting dynamic seals to transfer torque or thrust from within the seal cavity to outside the seal cavity to effect steering. The magnetic coupling propeller disclosed in CN208723765U includes a cylinder, a front end cover and a rear end cover are fixed at two ends of the cylinder respectively; a servo motor is fixed between the rear end cover and the motor frame, and the impeller is connected to the front end cover in a penetrating way. The end part of a driving shaft of the servo motor is connected with an outer rotor, and a group of outer rotor permanent magnets are arranged on the inner wall of the outer rotor; the end part of an output shaft of the impeller is connected with an inner rotor, the inner rotor is provided with an inner sleeve shaft which is sleeved at the end part of the output shaft, and a group of inner rotor permanent magnets are respectively arranged on the inner sleeve shaft and the inner wall of the inner rotor; the number of the outer rotor permanent magnetic blocks is equal to that of each group of inner rotor permanent magnetic blocks; along the circumferential direction, two sides of each outer rotor permanent magnet are respectively provided with an inner rotor permanent magnet on the inner sleeve shaft and an inner rotor permanent magnet on the inner wall of the inner rotor; a coupling sleeve is sleeved inside the cylinder body and between the outer rotor and the inner rotor, the coupling sleeve is extruded on the motor frame by the front end cover from outside to inside, and magnetic coupling is formed between the inner rotor and the outer rotor through the coupling sleeve. The output torque of the servo motor is transmitted to the impeller, the output shaft of the impeller synchronously rotates along with the driving shaft of the servo motor, and finally the displacement propulsion and the posture adjustment of the propeller are realized by controlling the steering and the torque of the output shaft of the servo motor. In the contact type dynamic seal, a shaft and a static seal ring contact with each other under certain pre-pressure and move relatively, and friction power loss is inevitably caused due to friction between the shaft and the static seal ring. In addition, after the working time is long, the sealing ring is abraded, and the risk of water leakage exists.
Disclosure of Invention
The invention provides an AUV magnetic coupling vector propulsion device suitable for ice hole arrangement, the outer diameter of the whole propulsion device is smaller than that of an AUV shell, so that damage caused by collision in the ice hole arrangement process is avoided, in addition, the maneuverability in low-speed navigation is improved by adopting the vector propeller, and meanwhile, the friction loss caused by dynamic sealing and the water leakage risk caused by sealing ring abrasion are avoided by adopting the magnetic coupling mode driving of the vector propeller, so that the waterproof performance and the reliability are improved.
The technical scheme adopted by the invention is as follows:
an AUV magnetic coupling vector propulsion unit suitable for ice hole distribution, characterized by: the underwater propeller comprises an underwater propeller, a steering module, a magnetic coupling device, a driving device and a cabin body, wherein a mounting frame is arranged in the cabin body, the driving device is arranged on each side surface of the mounting frame, the steering module is arranged outside the cabin body, the underwater propeller is arranged on the rear side of the cabin body and connected to the steering module, and the outer diameter of the underwater propeller is smaller than that of an outer shell of the cabin body; each driving device drives the steering module to perform steering action through a magnetic coupling device, the magnetic coupling device comprises a constraint track, a driven magnet module and a driving magnet, the driving magnet is installed on the driving module, the driven magnet module can be driven by the driving magnet to be installed in the constraint track in a moving mode along the constraint track, the constraint track is arranged on the peripheral surface of the cabin body, and the driven magnet module is connected with the steering module; when the driving device drives the driving magnet to move, the driven magnet module follows to move and transmits the displacement to the steering module, and the steering module drives the propelling direction of the underwater propeller to change. The underwater steering device achieves the purpose of steering by changing the direction of the underwater propeller, can still keep maneuverability when sailing at low speed, arranges the steering module outside the cabin body, and drives steering through the magnetic coupling device, does not need to arrange dynamic seal on the cabin body, reduces the friction loss of the conventional dynamic seal mode, avoids the water leakage risk caused by the abrasion of the seal ring, and improves the reliability. In addition, more importantly, the vector propulsion mode avoids the adoption of a conventional tail vane control mode, so that the AUV has no convex structure except the outer diameter of the main body, and is more suitable for being distributed and recovered in ice holes.
Further, the steering module comprises a plurality of steering mechanisms and connecting pieces, the connecting pieces are connected with the underwater propeller, and fixed disks are mounted on the connecting pieces; the steering mechanism comprises an input shaft and an output shaft, wherein the input end of the input shaft penetrates through a hole formed in the driven magnet to be connected with the driven magnet module, the input shaft is hinged with the output shaft, the output end of the output shaft is connected with a spherical hinge, and the spherical hinge is movably arranged between the fixed disc and the connecting piece. The underwater propeller steering device provided by the invention can be used for steering the underwater propeller by matching a plurality of steering mechanisms, and is reliable in steering and high in operation efficiency.
Furthermore, the input shaft is connected with the output shaft through an articulated piece, the articulated piece comprises a pull rod chuck and a pull rod chuck connecting piece, the pull rod chuck is connected to the input shaft, the pull rod chuck connecting piece is connected to the output shaft, and the pull rod chuck is hinged to the pull rod chuck connecting piece through a pin shaft.
Further, a flow guide cover is installed outside the cabin body, and the connecting piece is located outside the end portion of the flow guide cover.
Further, the driven magnet module includes driven magnet, screw rod, bearing, axle sleeve, the screw rod is worn to locate in the driven magnet, axle sleeve and bearing are all installed and fixed through the nut at the both ends of screw rod, the bearing is installed with the cooperation of restraint track.
Further, the bearing is a ceramic bearing.
Further, drive arrangement includes lead screw step motor, screw nut, guide rail, slider, install screw nut on lead screw step motor's the lead screw, driving magnet connects on screw nut, the last slider that is connected with of driving magnet, the guide rail removal can be followed to the slider, the guide rail is fixed in on the mounting bracket. The driving magnet is driven by the lead screw nut to move, and the driving magnet can stably move through the matching of the sliding block and the guide rail, so that the reliability is improved.
Further, the lead screw stepping motor is arranged on the mounting frame through a stepping motor support.
Further, the mounting bracket is of a stepped triangular prism structure. The invention can install the lead screw stepping motor and the guide rail on different step surfaces to ensure that the driving magnet moves stably and smoothly.
Further, one end of the cabin body, which is positioned on the underwater propeller, is provided with a sealed cabin cover, and the other end of the cabin body is connected with a switching cabin. The switching cabin is used for being connected with the main body of the underwater vehicle.
Further, the relation between the motion condition of the driving device and the swing angle of the underwater propeller, namely the kinematic inverse solution calculation method for determining the moving distance of the driven magnet by the swing angle of the required underwater propeller is as follows:
Bi(i ═ 1, 2, 3) is the initial position of the three ball joints, Ri(i-1, 2, 3) three tie rod collet home positions, ai(i is 1, 2, 3) is the initial position of the three driven magnets, O2Is the center of a large spherical hinge of the propeller rb，b1Are respectively represented byiAnd Bi(i is 1, 2, 3) the radius of the circumscribed circle, l is RiAnd BiLength of the output shaft Ri、Bi(i-1, 2, 3) with a vertical distance Di，Ai、Ri(i is 1, 2, 3) with a distance di；
With O1Is the origin, O1A1In the positive X-axis direction, O1O2Is the positive direction of Z axis and is perpendicular to O1An inward XZ surface is the positive direction of the Y axis, and a rectangular coordinate system O is established1-XYZ；
According to a fixed coordinate system O1XYZ initial geometric relationship:
R1＝[rb0 d1]T 
in the process of small change of the propulsion direction of the underwater propeller, BiRi(i ═ 1, 2, 3) at O1The angle projected on the XY plane is small, neglecting, then BiThe coordinates are:
after combination can be solved to obtain delta d1Δd2Δd3Wherein Δ d1、Δd2、Δd3The respective distances traveled by the respective drive devices, from which the coordinates Bi (i ═ 1, 2, 3) and Δ d are obtained1Δd2Δd3Is close toIs a step of; let BiThe position vector is Bi＝[BixBiyBiz]T(i ═ 1, 2, 3), based on the three ball joint position vectors Bi＝[BixBiyBiz]T(i＝1，2，3)，Bi(i ═ 1, 2, 3) these three points may form 3 vectors B1B2、B1B3、B2B3Obtaining B1B2(B2x-B1x，B2y-B1y，B2z-B1z),B1B3(B3x-B1x，B3y-B1y，B3z-B1z),B2B3(B3x-B2x，B3y-B2y，B3z-B2z) (ii) a Let the underwater propeller direction vector n be (a, b, c), then defined according to the normal vector: (B)2x-B1x)*a+(B2y-B1y)*b+(B2z-B1z) C is 0 and (B)3x-B1x)*a+(B3y-B1y)*b+(B3z-B1z) C is 0 and (B)3x-B2x)*a+(B3y-B2y)*b+(B3z-B2z) Obtaining the direction vector n of the underwater propeller as (a, b, c) when c is 0; the angle of the underwater propeller deviating from the positive direction of the Y axis of the fixed coordinate system in the direction of the vector mu (a, b) is
The invention has the beneficial effects that: steering is carried out in a vector propulsion mode, so that the AUV can still keep maneuverability in low-speed navigation. The propulsion direction of the underwater propeller is changed by adopting the magnetic coupling mode for transmission, the whole device is not provided with dynamic seal, the friction loss of the conventional dynamic seal mode is reduced, meanwhile, the water leakage risk caused by the abrasion of a sealing ring is avoided, and the reliability of the device is improved. In addition, the outer diameter of the whole vector propulsion device is smaller than that of the AUV shell, so that a convex structure is not arranged outside the outer diameter of the AUV main body, damage of the convex structure due to collision in the ice hole distribution process is avoided, and the vector propulsion device is more suitable for ice hole distribution and recovery.
Drawings
Figure 1 is a side view of the entirety of the present invention.
Fig. 2 is a schematic perspective view of the present invention with the pod and the pod removed.
Fig. 3 is a half-sectional view of the present invention with the pod and adapter removed.
Fig. 4 is a schematic perspective view of the arrangement of the driving module inside the cabin according to the present invention.
Fig. 5 is a half sectional view of the driven magnet module of the present invention.
Fig. 6 is a perspective view of the steering module of the present invention.
FIG. 7 is a schematic diagram of the vector representation of the basic parameters of the 3-PRS parallel mechanism and the first drive train of the present invention.
FIG. 8 is a schematic diagram of the fixed coordinate system O-XYZ initial geometry of the present invention.
Detailed Description
The present invention is further illustrated by the following examples, which are not intended to limit the invention to these embodiments. It will be appreciated by those skilled in the art that the present invention encompasses all alternatives, modifications and equivalents as may be included within the scope of the claims.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "a plurality" means two or more unless explicitly defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
Referring to fig. 1 to 6, the embodiment provides an AUV magnetic coupling vector propulsion device suitable for ice hole arrangement, including an underwater propeller 4, a steering module, a magnetic coupling device, a driving device, and a cabin body 6, where an installation frame 15 is provided in the cabin body 6, a driving device is installed on each side surface of the installation frame 15, the steering module is disposed outside the cabin body 6, the underwater propeller 4 is disposed at the rear side of the cabin body 6 and connected to the steering module, the cabin body 6 is located at one end of the underwater propeller and is provided with a sealing cabin cover 8, and the other end is connected to a transfer cabin 1. The adapter 1 is used for connecting with the main body of an underwater vehicle. And the nacelle body 6 is externally provided with a flow guide sleeve 2. In this embodiment, the mounting frame 15 is a stepped triangular prism structure, and a driving device is installed on the side surface of each stepped triangular prism, that is, 3 driving devices are installed in this embodiment, and 3 corresponding magnetic coupling devices are also installed.
In this embodiment, each driving device drives the steering module to perform steering action through a magnetic coupling device, the magnetic coupling device includes a constraint track 5, a driven magnet module and a driving magnet 11, the driving magnet 11 is installed on the driving module and is driven by the driving module to move, the driven magnet module can be driven by the driving magnet 11 to be installed in the constraint track 5 along the constraint track 5 in a moving manner, the constraint track 5 is arranged on the circumferential surface of the cabin 6, and the driven magnet module is connected with the steering module. According to the invention, the steering module is arranged outside the cabin body 6 and is driven to steer through the magnetic coupling device, the dynamic seal is not required to be arranged on the cabin body 6, the friction loss of a conventional dynamic seal mode is reduced, the water leakage risk caused by the abrasion of the sealing ring is avoided, and the reliability is improved. And the purpose of steering is achieved by changing the direction of the underwater propeller 4, so that the underwater propeller can still keep maneuverability during low-speed navigation.
The steering module comprises 3 steering mechanisms and a connecting piece 3, wherein the connecting piece 3 is positioned outside the end part of the air guide sleeve 2, one end of the connecting piece 3 is of a connecting plate structure, the other end of the connecting piece 3 is of a hollow hemispherical structure, the connecting plate structure of the connecting piece 3 is connected with the underwater propeller 4, and a fixed disc 26 is arranged on the hemispherical structure of the connecting piece 3; the steering mechanism comprises an input shaft 21 and an output shaft 24, wherein the input end of the input shaft 21 penetrates through a hole formed in a driven magnet to be connected with the driven magnet module, the input shaft 21 is hinged with the output shaft 24, the output end of the output shaft 24 is connected with a spherical hinge 25, and the spherical hinge 25 is movably arranged in a space between a fixed disc 26 and a connecting piece 3. The underwater propeller 4 is steered by matching the plurality of steering mechanisms, and the steering is reliable and the operation efficiency is high. The input shaft 21 is connected with the output shaft 24 through a hinged piece, the hinged piece comprises a pull rod chuck 22 and a pull rod chuck connecting piece 23, the pull rod chuck 22 is connected to the input shaft 21, the pull rod chuck connecting piece 23 is connected to the output shaft 24, and the pull rod chuck 22 is hinged to the pull rod chuck connecting piece 23 through a pin shaft.
This embodiment the driven magnet module includes driven magnet 16, screw rod 20, bearing 18, axle sleeve 17, screw rod 20 wears to locate in driven magnet 16, axle sleeve 17 and bearing 18 and fixed through nut 19 are all installed to the both ends of screw rod 20, bearing 18 and restraint track 5 cooperation installation. The bearing 18 is a seawater corrosion resistant ceramic bearing. In the present embodiment, 2 screws 20 are inserted into the driven magnet 16, and the driven magnet 16 is driven by the driving magnet 11 to move along the constraint track 5 through the bearing 18, so as to ensure the stability of the movement of the driven magnet 16.
This embodiment drive arrangement includes lead screw step motor 14, lead screw nut 12, guide rail 9, slider 10, install lead screw nut 12 on lead screw step motor 14's the lead screw, driving magnet 11 is connected on lead screw nut 12, be connected with slider 10 on the driving magnet 11, slider 10 can follow guide rail 9 and remove, guide rail 9 is fixed in on the mounting bracket 15. The driving magnet 11 is driven by the lead screw nut 12 to move, and the driving magnet 11 can stably move through the matching of the slide block 10 and the guide rail 9, so that the reliability is improved. The lead screw stepping motor 14 is mounted on the mounting frame 15 through a stepping motor support 13. The invention can install the lead screw stepping motor 14 and the guide rail 9 on different step surfaces of the step triangular prism to ensure that the driving magnet 11 moves stably and smoothly.
In this embodiment, the torque transfer process of the magnetic coupling vector propulsion device is as follows: firstly, a screw stepping motor 14 works, the screw rotates, further, the rotation of the screw is converted into the displacement of the screw nut 12 in the axial direction through the inclined surface action of the screw nut 12 and the screw, the further displacement is transmitted to a driving magnet 11, the driving magnet 11 slides along a guide rail 9 through a slide block 10, meanwhile, a driven magnet 16 is arranged on the outer side of a cabin 6 opposite to the driving magnet 11, under the action of magnetic force, the displacement of the driving magnet 11 is transmitted to the driven magnet 16, the further displacement is transmitted to an input shaft 21, further, the movement of the input shaft 21 is transmitted to an output shaft 24 through a pull rod chuck 22 and a pull rod chuck connecting piece 23 to generate swing, the further swing of the output shaft 24 is transmitted to a connecting piece 3 through a spherical hinge 25, the connecting piece 3 rotates, and further, the propelling direction of the underwater propeller 4 is changed. The underwater propeller 4 can rotate in any direction under the matching of 3 different driving devices and the magnetic coupling device, so that the control of the AUV yaw angle and the pitch angle is realized.
The relationship between the driving device motion and the swing angle of the underwater thruster (the inverse kinematics solution calculation method for determining the moving distance of the driven magnet according to the swing angle of the underwater thruster) in this embodiment is as follows:
see FIG. 7, wherein Bi(i ═ 1, 2, 3) is the initial position of the three ball joints, Ri(i-1, 2, 3) three tie rod collet home positions, ai(i-1, 2, 3) is the initial position of the three driven magnets, O2Is the center of a large spherical hinge of the propeller rb，b1Are respectively represented byiAnd Bi(i is 1, 2, 3) the radius of the circumscribed circle, l is RiAnd BiLength of the output shaft Ri、Bi(i-1, 2, 3) with a vertical distance Di，Ai、Ri(i is 1, 2, 3) with a distance di；
With O1Is the origin, O1A1In the positive X-axis direction, O1O2Is the positive direction of Z axis and is perpendicular to O1An inward XZ surface is the positive direction of the Y axis, and a rectangular coordinate system O is established1-XYZ。
Fixed coordinate system O according to FIG. 81XYZ initial geometric relationship:
R1＝[rb0 d1]T 
in the process of small change of the propulsion direction of the underwater propeller, BiRi(i ═ 1, 2, 3) at O1The angle projected on the XY plane is small, neglecting, then BiThe coordinates are:
after combination can be solved to obtain delta d1Δd2Δd3Wherein Δ d1、Δd2、Δd3The respective distances traveled by the respective drive devices, from which the coordinates Bi (i ═ 1, 2, 3) and Δ d are obtained1Δd2Δd3The relationship between;
let BiThe position vector is Bi＝[BixBiyBiz]T(i ═ 1, 2, 3), based on the three ball joint position vectors Bi＝[BixBiyBiz]T(i＝1，2，3)，Bi(i ═ 1, 2, 3) these three points may form 3 vectors B1B2、B1B3、B2B3Obtaining B1B2(B2x-B1x，B2y-B1y，B2z-B1z),B1B3(B3x-B1x，B3y-B1y，B3z-B1z),B2B3(B3x-B2x，B3y-B2y，B3z-B2z) (ii) a Let the underwater propeller direction vector n be (a, b, c), then defined according to the normal vector: (B)2x-B1x)*a+(B2y-B1y)*b+(B2z-B1z) C is 0 and (B)3x-B1x)*a+(B3y-B1y)*b+(B3z-B1z) C is 0 and (B)3x-B2x)*a+(B3y-B2y)*b+(B3z-B2z) Obtaining the direction vector n of the underwater propeller as (a, b, c) when c is 0; the angle of the underwater propeller deviating from the positive direction of the Y axis of the fixed coordinate system in the direction of the vector mu (a, b) is
Claims (10)
1. An AUV magnetic coupling vector propulsion unit suitable for ice hole distribution, characterized by: the underwater propeller comprises an underwater propeller, a steering module, a magnetic coupling device, a driving device and a cabin body, wherein a mounting frame is arranged in the cabin body, the driving device is arranged on each side surface of the mounting frame, the steering module is arranged outside the cabin body, the underwater propeller is arranged on the rear side of the cabin body and connected to the steering module, and the outer diameter of the underwater propeller is smaller than that of an outer shell of the cabin body; each driving device drives the steering module to perform steering action through a magnetic coupling device, the magnetic coupling device comprises a constraint track, a driven magnet module and a driving magnet, the driving magnet is installed on the driving module, the driven magnet module can be driven by the driving magnet to be installed in the constraint track in a moving mode along the constraint track, the constraint track is arranged on the peripheral surface of the cabin body, and the driven magnet module is connected with the steering module; when the driving device drives the driving magnet to move, the driven magnet module follows to move and transmits the displacement to the steering module, and the steering module drives the propelling direction of the underwater propeller to change.
2. An AUV magnetic coupled vector propulsion device suitable for ice hole deployment as claimed in claim 1, wherein: the steering module comprises a plurality of steering mechanisms and connecting pieces, the connecting pieces are connected with the underwater propeller, and fixed disks are mounted on the connecting pieces; the reversing mechanism comprises an input shaft and an output shaft, the input end of the input shaft is connected with the driven magnet module, the input shaft is hinged with the output shaft, the output end of the output shaft is connected with a spherical hinge, and the spherical hinge is movably arranged between the fixed disc and the connecting piece.
3. An AUV magnetic coupled vector propulsion device suitable for ice hole deployment as claimed in claim 2, wherein: the input shaft is connected with the output shaft through an articulated piece, the articulated piece comprises a pull rod chuck and a pull rod chuck connecting piece, the pull rod chuck is connected to the input shaft, the pull rod chuck connecting piece is connected to the output shaft, and the pull rod chuck is hinged to the pull rod chuck connecting piece through a pin shaft.
4. An AUV magnetic coupling vector propulsion unit suitable for ice hole distribution according to claim 3, characterized in that: the nacelle body is externally provided with a flow guide cover, and the connecting piece is positioned outside the end part of the flow guide cover.
5. An AUV magnetic coupled vector propulsion device suitable for ice hole deployment as claimed in claim 1, wherein: the driven magnet module comprises a driven magnet, a screw rod, a bearing and a shaft sleeve, the screw rod is arranged in the driven magnet in a penetrating mode, the shaft sleeve and the bearing are installed at the two ends of the screw rod and fixed through nuts, and the bearing is installed in a constraint track in a matched mode.
6. An AUV magnetic coupled vector propulsion device suitable for ice hole deployment as claimed in claim 1, wherein: the driving device comprises a lead screw stepping motor, a lead screw nut, a guide rail and a sliding block, the lead screw nut is installed on a lead screw of the lead screw stepping motor, the driving magnet is connected onto the lead screw nut, the sliding block is connected onto the driving magnet, the sliding block can move along the guide rail, and the guide rail is fixed on the mounting frame.
7. An AUV magnetic coupling vector propulsion unit suitable for ice hole distribution according to claim 6, characterized in that: the lead screw stepping motor is arranged on the mounting frame through a stepping motor support.
8. An AUV magnetic coupling vector propulsion device suitable for ice hole distribution according to any one of claims 1 to 7, characterized in that: the mounting bracket is of a stepped triangular prism structure.
9. An AUV magnetic coupled vector propulsion device suitable for ice hole deployment as claimed in claim 1, wherein: one end of the cabin body, which is positioned on the underwater propeller, is provided with a sealed cabin cover, and the other end of the cabin body is connected with a switching cabin.
10. An AUV magnetic coupling vector propulsion unit suitable for ice hole distribution according to claim 3, characterized in that: the kinematic inverse solution calculation method for determining the moving distance of the driven magnet according to the swing angle of the underwater propeller is as follows:
Bi(i ═ 1, 2, 3) is the initial position of the three ball joints, Ri(i-1, 2, 3) three tie rod collet home positions, ai(i is 1, 2, 3) is the initial position of the three driven magnets, O2Is the center of a large spherical hinge of the propeller rb，b1Are respectively represented byiAnd Bi(i is 1, 2, 3) the radius of the circumscribed circle, l is RiAnd BiLength of the output shaft Ri、Bi(i-1, 2, 3) with a vertical distance Di，Ai、Ri(i is 1, 2, 3) with a distance di；
With O1Is the origin, O1A1In the positive X-axis direction, O1O2Is the positive direction of Z axis and is perpendicular to O1An inward XZ surface is the positive direction of the Y axis, and a rectangular coordinate system O is established1-XYZ；
According to a fixed coordinate system O1XYZ initial geometric relationship: r1＝[rb0 d1]T 
In the process of small change of the propulsion direction of the underwater propeller, BiRi(i ═ 1, 2, 3) at O1The angle projected on the XY plane is small, neglecting, then BiThe coordinates are:
after combination can be solved to obtain delta d1Δd2Δd3Wherein Δ d1、Δd2、Δd3The respective distances traveled by the respective drive devices, from which the coordinates Bi (i ═ 1, 2, 3) and Δ d are obtained1Δd2Δd3The relationship between; let BiThe position vector is Bi＝[BixBiyBiz]T(i ═ 1, 2, 3), based on the three ball joint position vectors Bi＝[BixBiyBiz]T(i＝1，2，3)，Bi(i ═ 1, 2, 3) these three points may form 3 vectors B1B2、B1B3、B2B3Obtaining B1B2(B2x-B1x，B2y-B1y，B2z-B1z),B1B3(B3x-B1x，B3y-B1y，B3z-B1z),B2B3(B3x-B2x，B3y-B2y，B3z-B2z) (ii) a Let the underwater propeller direction vector n be (a, b, c), then defined according to the normal vector: (B)2x-B1x)*a+(B2y-B1y)*b+(B2z-B1z) C is 0 and (B)3x-B1x)*a+(B3y-B1y)*b+(B3z-B1z) C is 0 and (B)3x-B2x)*a+(B3y-B2y)*b+(B3z-B2z) Obtaining the direction vector n of the underwater propeller as (a, b, c) when c is 0; the angle of the underwater propeller deviating from the positive direction of the Y axis of the fixed coordinate system in the direction of the vector mu (a, b) is
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