CN111409810A - Wave glider steering mechanism based on hub type magnetic coupling transmission - Google Patents
Wave glider steering mechanism based on hub type magnetic coupling transmission Download PDFInfo
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- CN111409810A CN111409810A CN202010451314.9A CN202010451314A CN111409810A CN 111409810 A CN111409810 A CN 111409810A CN 202010451314 A CN202010451314 A CN 202010451314A CN 111409810 A CN111409810 A CN 111409810A
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- Prior art keywords
- steering mechanism
- magnetic coupling
- wave glider
- type magnetic
- fixedly connected
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
- B63H25/08—Steering gear
- B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
- B63H25/08—Steering gear
- B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
- B63H25/34—Transmitting of movement of engine to rudder, e.g. using quadrants, brakes
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention provides a wave glider steering mechanism based on hub type magnetic coupling transmission, and relates to the field of underwater robots. This wave glider steering mechanism based on hub type magnetic coupling transmission, including the cabin body, the inside fixedly connected with support frame in the cabin body, the last fixed surface of support frame installs the circuit board, the lateral wall fixedly connected with linear electric motor of support frame, linear electric motor's output runs through support frame and fixedly connected with driving medium, the inside of the cabin body and the one side that is located the support frame rotate and are connected with the rotation piece, the inside fixedly connected with internal fixation frame that rotates the piece, the surface of internal fixation frame is provided with interior magnet. Through reasonable structural design, the steering mechanism is simple in mechanism and high in reliability, the offshore operation capacity of the wave glider for at least one year is realized, the course control capacity is high, the power consumption is low, and the wave glider for large-scale long-range operation is excellent in energy, environment and does not pollute the environment.
Description
Technical Field
The invention relates to the technical field of underwater robots, in particular to a wave glider steering mechanism based on hub type magnetic coupling transmission.
Background
The wave glider is a novel ocean mobile observation platform which advances by wave power and supplies energy for instrument communication, control, positioning, navigation, sensor data acquisition and the like by utilizing solar energy, the wave glider can be involved in steering when working, and at the moment, the aim of steering is fulfilled by matching work of a steering mechanism.
At present, the steering mechanism technology used at present mostly adopts an oil seal mode, oil leakage is easy to occur, the environment is polluted, and the oil seal can bring about the loss of torque; the prior art has low transmission efficiency, large motor power, high power consumption, complex structure and poor reliability.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a wave glider steering mechanism based on hub type magnetic coupling transmission, which solves the problems that the existing wave glider steering mechanism adopts an oil seal mode mostly, the environment is polluted by oil leakage easily, and the oil seal can bring torque loss; the prior art has the problems of low transmission efficiency, large motor power, high power consumption, complex structure and poor reliability.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides a wave glider steering mechanism based on driven of hub formula magnetic coupling, includes the cabin body, the inside fixedly connected with support frame of the cabin body, the last fixed surface of support frame installs the circuit board, the lateral wall fixedly connected with linear electric motor of support frame, linear electric motor's output runs through support frame and fixedly connected with driving medium, the inside of the cabin body just is located one side rotation of support frame and is connected with the rotation piece, the inside fixedly connected with internal fixation frame of rotation piece, the surface of internal fixation frame is provided with interior magnet, the inside of internal fixation frame is provided with isolation sleeve, isolation sleeve's inside is provided with the rudder pivot, the inside of rudder pivot is provided with the external fixation frame, the surface of external fixation frame is provided with outer magnet, the surface of rudder pivot is provided with.
Preferably, the surfaces of the rotating part and the transmission part are respectively provided with a rack structure, and the racks are meshed with each other.
Preferably, the bottom of the rudder rotating shaft penetrates through the bottom of the cabin body and is fixedly connected with a steering rudder through a bolt.
Preferably, the surface of the isolation sleeve is provided with a threaded structure, the isolation sleeve is in threaded connection with the bottom of the cabin body, and a sealing gasket is arranged between the isolation sleeve and the cabin body.
Preferably, the external fixing frame and the external magnet are integrally assembled inside the rudder rotating shaft and are sealed and fixed through pouring sealant.
Preferably, the rotating ring is in contact with the inner surface of the isolation sleeve.
Preferably, the surface of the cabin body is fixedly connected with a cabin cover, and the side wall of the cabin body is fixedly connected with a wire cabin passing component.
Preferably, the number of the inner magnets and the number of the outer magnets are multiple, and the inner magnets and the outer magnets are matched with each other.
Preferably, a linear displacement sensor is fixedly arranged on the surface of the support frame and electrically connected with the linear motor.
The working principle is as follows: by starting the linear motor 6, the linear motor 6 pushes the transmission part 14 to move, the transmission part 14 enables the rotation part 7 to rotate through meshing with the rack, and then the rotation of the rotation part 7 enables the rudder rotating shaft 8 to rotate through the magnetic coupling relation between the inner magnet 16 and the outer magnet 11, and further control over the rudder 9 is achieved.
(III) advantageous effects
The invention provides a wave glider steering mechanism based on hub type magnetic coupling transmission. The method has the following beneficial effects:
1. through reasonable structural design, the steering mechanism is simple in mechanism and high in reliability, the offshore operation capacity of the wave glider for at least one year is realized, the course control capacity is high, the power consumption is low, and the wave glider for large-scale long-range operation is excellent in energy, environment and does not pollute the environment.
2. Through the design to rotating member and driving medium for this steering mechanism when using, transmission efficiency is high, is favorable to maintaining efficient operating condition.
3. The design of outer magnet of the embedment of outer mount realizes waterproof fixed, and in addition, the mode of interior mount fixed magnet, the position is accurate, and the manufacturing degree of difficulty is low.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the internal structure of the present invention;
FIG. 3 is a schematic view of the transmission structure and the components of the present invention;
FIG. 4 is an exploded view of the magnetic coupling structure of the present invention;
fig. 5 is a schematic view of the magnet arrangement of the present invention.
Wherein, 1, a cabin body; 2. a hatch cover; 3. a wire passing cabin part; 4. a circuit board; 5. a support frame; 6. a linear motor; 7. a rotating member; 8. a rudder rotating shaft; 9. steering; 10. an isolation sleeve; 11. an external magnet; 12. an outer fixing frame; 13. an inner fixing frame; 14. a transmission member; 15. a linear displacement sensor; 16. an inner magnet; 17. the ring is rotated.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example (b):
as shown in fig. 1-5, an embodiment of the present invention provides a wave glider steering mechanism based on hub type magnetic coupling transmission, including a cabin 1, a support frame 5 fixedly connected to the inside of the cabin 1 to undertake installation of elements, a circuit board 4 fixedly installed on the upper surface of the support frame 5 to process communication signals and control normal operation of the whole system, a linear motor 6 fixedly connected to the side wall of the support frame 5 to provide power for a steering structure, an output end of the linear motor 6 penetrating the support frame 5 and fixedly connected to a transmission member 14, a rotating member 7 rotatably connected to the inside of the cabin 1 and located at one side of the support frame 5, an inner fixing frame 13 fixedly connected to the inside of the rotating member 7, an inner magnet 16 disposed on the outer surface of the inner fixing frame 13, an isolation sleeve 10 disposed inside the inner fixing frame 13 and mainly used for isolating the inner magnet 16 from an outer magnet 11, so, the water in the cabin body 1 can be prevented from entering and damaging an internal electric system, the isolation sleeve 10 is internally provided with a steering rotating shaft 8 which is a magnetic coupling output shaft and transmits torque generated by magnetic coupling to a steering 9, the steering rotating shaft 8 is internally provided with an external fixing frame 12, the outer surface of the external fixing frame 12 is provided with an external magnet 11, and the surface of the steering rotating shaft 8 is provided with a rotating ring 17, so that the anti-abrasion effect is achieved.
The surfaces of the rotating part 7 and the transmission part 14 are both provided with rack structures, and the racks are meshed with each other.
The bottom of the rudder rotating shaft 8 penetrates through the bottom of the cabin body 1 and is fixedly connected with a rudder 9 through bolts, and the rudder is a final purpose action component of the steering mechanism.
The surface of the isolation sleeve 10 is provided with a threaded structure, the isolation sleeve 10 is in threaded connection with the bottom of the cabin body 1, and a sealing gasket is arranged between the isolation sleeve 10 and the cabin body 1.
The outer fixing frame 12 and the outer magnet 11 are integrally assembled inside the rudder rotating shaft 8, and are sealed and fixed by pouring sealant.
The swivel ring 17 is in contact with the inner surface of the isolation sleeve 10, avoiding frictional wear of the rudder rotor shaft 8 against the inner wall of the isolation sleeve 10.
The surface of the cabin body 1 is fixedly connected with a cabin cover 2, the side wall of the cabin body 1 is fixedly connected with a wired cabin passing part 3 and is an electrical interface of the steering mechanism, an external system can communicate with an internal electrical element of the steering mechanism through the cabin passing part 3, and the external system can supply power to the internal electrical element of the steering mechanism through the external system.
The number of the inner magnets 16 and the number of the outer magnets 11 are multiple, the inner magnets 16 and the outer magnets 11 are matched with each other, and the inner magnets 16 and the outer magnets 11 of the rudder rotating shaft 8 synchronously rotate under the action of magnetic coupling.
The fixed surface of support frame 5 is provided with linear displacement sensor 15, for the main components and parts of negative feedback control are realized to the system to control system adjusts linear motor 6's output, linear displacement sensor 15 and linear motor 6 electric connection.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The utility model provides a wave glider steering mechanism based on driven of hub type magnetic coupling, includes cabin body (1), its characterized in that: the internal fixing structure of the cabin comprises a supporting frame (5) and a supporting body (1), wherein a circuit board (4) is fixedly mounted on the upper surface of the supporting frame (5), a linear motor (6) is fixedly connected to the side wall of the supporting frame (5), the output end of the linear motor (6) penetrates through the supporting frame (5) and is fixedly connected with a transmission part (14), a rotating part (7) is rotatably connected to the internal part of the cabin (1) and one side of the cabin, which is located on the supporting frame (5), an internal fixing frame (13) is fixedly connected to the internal part of the rotating part (7), an internal magnet (16) is arranged on the outer surface of the internal fixing frame (13), an isolation sleeve (10) is arranged in the internal part of the internal fixing frame (13), a steering rotating shaft (8) is arranged in the internal part of the isolation sleeve (10), an external fixing frame (12) is arranged, the surface of the rudder rotating shaft (8) is provided with a rotating ring (17).
2. A hub type magnetic coupling transmission based wave glider steering mechanism according to claim 1, wherein: the surfaces of the rotating piece (7) and the transmission piece (14) are respectively provided with a rack structure, and the racks are meshed with each other.
3. A hub type magnetic coupling transmission based wave glider steering mechanism according to claim 1, wherein: the bottom of the rudder rotating shaft (8) penetrates through the bottom of the cabin body (1) and is fixedly connected with a steering rudder (9) through bolts.
4. A hub type magnetic coupling transmission based wave glider steering mechanism according to claim 1, wherein: the surface of the isolation sleeve (10) is provided with a thread structure, the isolation sleeve (10) is in threaded connection with the bottom of the cabin body (1), and a sealing gasket is arranged between the isolation sleeve (10) and the cabin body (1).
5. A hub type magnetic coupling transmission based wave glider steering mechanism according to claim 1, wherein: the outer fixing frame (12) and the outer magnet (11) are integrally assembled inside the rudder rotating shaft (8) and are sealed and fixed through pouring sealant.
6. A hub type magnetic coupling transmission based wave glider steering mechanism according to claim 1, wherein: the rotating ring (17) is in contact with the inner surface of the insulating sleeve (10).
7. A hub type magnetic coupling transmission based wave glider steering mechanism according to claim 1, wherein: the surface of the cabin body (1) is fixedly connected with a cabin cover (2), and the side wall of the cabin body (1) is fixedly connected with a wired cabin passing part (3).
8. A hub type magnetic coupling transmission based wave glider steering mechanism according to claim 1, wherein: the number of the inner magnets (16) and the number of the outer magnets (11) are multiple, and the inner magnets (16) are matched with the outer magnets (11).
9. A hub type magnetic coupling transmission based wave glider steering mechanism according to claim 1, wherein: the surface of the support frame (5) is fixedly provided with a linear displacement sensor (15), and the linear displacement sensor (15) is electrically connected with the linear motor (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010451314.9A CN111409810A (en) | 2020-05-25 | 2020-05-25 | Wave glider steering mechanism based on hub type magnetic coupling transmission |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010451314.9A CN111409810A (en) | 2020-05-25 | 2020-05-25 | Wave glider steering mechanism based on hub type magnetic coupling transmission |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111409810A true CN111409810A (en) | 2020-07-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010451314.9A Pending CN111409810A (en) | 2020-05-25 | 2020-05-25 | Wave glider steering mechanism based on hub type magnetic coupling transmission |
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| CN (1) | CN111409810A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114655417A (en) * | 2022-05-26 | 2022-06-24 | 青岛海舟科技有限公司 | Steering engine real rudder angle redundancy judgment device, steering engine and wave glider |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4184090A (en) * | 1977-10-13 | 1980-01-15 | Nova Research Foundation Corporation | Rotary magnetic isolation coupling |
| JPS62137297A (en) * | 1985-12-10 | 1987-06-20 | Kaiyo Kagaku Gijutsu Center | Watertight rotation transmitting device |
| DE202009013178U1 (en) * | 2009-09-30 | 2009-12-10 | Burgmann Industries Gmbh & Co. Kg | Drive arrangement for watercraft |
| CN107792322A (en) * | 2017-10-24 | 2018-03-13 | 深圳乐智机器人有限公司 | Magnetic coupling bionic coatings device and underwater robot |
| CN109677573A (en) * | 2018-12-26 | 2019-04-26 | 中国船舶重工集团公司第七一0研究所 | A kind of deep-sea magnetic coupling transmission load rejection mechanism |
| CN109703728A (en) * | 2019-02-26 | 2019-05-03 | 中国计量大学 | A kind of deep-sea Autonomous Underwater Vehicle magnetic coupling helm |
| CN110733621A (en) * | 2019-09-30 | 2020-01-31 | 青岛海洋科学与技术国家实验室发展中心 | Underwater vehicle and tail vane adjusting mechanism based on linear transmission |
| CN111055988A (en) * | 2019-12-13 | 2020-04-24 | 中国船舶重工集团有限公司第七一0研究所 | Steering engine for wave energy autonomous glider |
-
2020
- 2020-05-25 CN CN202010451314.9A patent/CN111409810A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4184090A (en) * | 1977-10-13 | 1980-01-15 | Nova Research Foundation Corporation | Rotary magnetic isolation coupling |
| JPS62137297A (en) * | 1985-12-10 | 1987-06-20 | Kaiyo Kagaku Gijutsu Center | Watertight rotation transmitting device |
| DE202009013178U1 (en) * | 2009-09-30 | 2009-12-10 | Burgmann Industries Gmbh & Co. Kg | Drive arrangement for watercraft |
| CN107792322A (en) * | 2017-10-24 | 2018-03-13 | 深圳乐智机器人有限公司 | Magnetic coupling bionic coatings device and underwater robot |
| CN109677573A (en) * | 2018-12-26 | 2019-04-26 | 中国船舶重工集团公司第七一0研究所 | A kind of deep-sea magnetic coupling transmission load rejection mechanism |
| CN109703728A (en) * | 2019-02-26 | 2019-05-03 | 中国计量大学 | A kind of deep-sea Autonomous Underwater Vehicle magnetic coupling helm |
| CN110733621A (en) * | 2019-09-30 | 2020-01-31 | 青岛海洋科学与技术国家实验室发展中心 | Underwater vehicle and tail vane adjusting mechanism based on linear transmission |
| CN111055988A (en) * | 2019-12-13 | 2020-04-24 | 中国船舶重工集团有限公司第七一0研究所 | Steering engine for wave energy autonomous glider |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114655417A (en) * | 2022-05-26 | 2022-06-24 | 青岛海舟科技有限公司 | Steering engine real rudder angle redundancy judgment device, steering engine and wave glider |
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