CN112623166B - Can accomodate stealthy mast of formula - Google Patents

Can accomodate stealthy mast of formula Download PDF

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Publication number
CN112623166B
CN112623166B CN202011553674.6A CN202011553674A CN112623166B CN 112623166 B CN112623166 B CN 112623166B CN 202011553674 A CN202011553674 A CN 202011553674A CN 112623166 B CN112623166 B CN 112623166B
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China
Prior art keywords
course
pitching
cabin
shaft
motor
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CN112623166A (en
Inventor
胡秋实
刘利杰
贾兴豪
赵凯
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Beijing Huahang Radio Measurement Research Institute
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Beijing Huahang Radio Measurement Research Institute
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Publication of CN112623166A publication Critical patent/CN112623166A/en
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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
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B15/00—Superstructures, deckhouses, wheelhouses or the like; Arrangements or adaptations of masts or spars, e.g. bowsprits
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B15/00—Superstructures, deckhouses, wheelhouses or the like; Arrangements or adaptations of masts or spars, e.g. bowsprits
    • B63B2015/0016—Masts characterized by mast configuration or construction
    • B63B2015/005—Masts characterized by mast configuration or construction with means for varying mast position or orientation with respect to the hull

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Motor Or Generator Frames (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention relates to a storable invisible mast, belongs to the technical field of submergence vehicles, and solves the problem that the mast of the existing submergence vehicle cannot meet the detection requirement. The retractable invisible mast comprises: the pitching shaft body is hinged with the underwater vehicle; a dual-axis servo system comprising: the output end of the pitching motor is connected with the pitching shaft body; the course motor is fixedly connected with the pitching motor; the course shaft body is fixedly connected with the cabin body of the retractable invisible mast and is fixedly connected with the output end of the course motor; the axis of the course axis body is vertical to the pitching axis body. The unmanned underwater vehicle can meet the low resistance requirement and the detection requirement of unmanned underwater vehicle navigation, has the folding and unfolding functions, is favorable for reducing resistance and improving concealment.

Description

Retractable invisible mast
Technical Field
The invention relates to the technical field of underwater vehicles, in particular to a retractable invisible mast.
Background
The detection mast is detection equipment of the unmanned underwater vehicle, and the submarine body is collected to be underwater along with the underwater vehicle when the unmanned underwater vehicle does not work; when the underwater vehicle works, the underwater vehicle floats to the near water surface, the mast is lifted to start detection, the navigation resistance and noise are reduced, and the secrecy is improved. The comprehensive detection mast can accommodate various detection devices and has multifunctional comprehensive detection capability.
The comprehensive detection mast needs to adapt to deep sea diving and near-water surface working environment along with the unmanned underwater vehicle, and has higher requirements on sealing, pressure resistance and corrosion resistance. The unmanned underwater vehicle has different tasks, the comprehensive detection masts have different functions, and the task load carried in the masts is different even the external structures of the masts are different.
The comprehensive detection mast generally consists of a servo system, a functional cabin and a comprehensive control system. The servo system is a main part for detecting the mast and realizes the unfolding, rotation and folding of the mast; the functional cabin section contains various devices such as acoustoelectric, optical, positioning and communication devices, and is a necessary component of a detection function; the comprehensive control system is the core of the detection mast and controls the comprehensive mast to work normally.
In a broad sense, the comprehensive detection mast system further comprises a ground control system matched with the comprehensive detection mast system and used for receiving and transmitting the command and detection data of the comprehensive detection mast, and sometimes the system is integrated into an unmanned underwater vehicle control system.
Disclosure of Invention
In view of the above analysis, the present invention aims to provide a stowable invisible mast to solve the problem that the mast of the existing underwater vehicle does not meet the detection requirement.
The purpose of the invention is mainly realized by the following technical scheme:
in the technical scheme of the invention, the storable invisible mast comprises:
the pitching shaft body is hinged with the underwater vehicle;
a dual-axis servo system comprising: the output end of the pitching motor is connected with the pitching shaft body; the course motor is fixedly connected with the pitching motor; the course shaft body is fixedly connected with the cabin body of the retractable invisible mast and is fixedly connected with the output end of the course motor; the axis of the course shaft body is vertical to the pitching shaft body.
In the technical scheme of the invention, the double-shaft servo system further comprises:
the pitching speed reducer is arranged between the output end of the pitching motor and the pitching shaft body;
and the pitching rotary transformation device is used for measuring the rotating angle of the pitching shaft body.
In the technical scheme of the invention, the pitching speed reducer comprises:
the worm is in power connection with the output end of the pitching motor;
the worm wheel is fixedly connected with the pitching shaft body and meshed with the worm;
and the worm support is fixedly connected with the pitching motor, and the worm is hinged with the worm support.
In the technical scheme of the invention, the double-shaft servo system further comprises:
the course speed reducer is arranged between the output end of the course motor and the course shaft body;
and the course rotary change device is used for measuring the rotating angle of the course shaft body.
In the technical scheme of the invention, the double-shaft servo system further comprises:
the auxiliary supporting shaft is coaxial with the pitching shaft body and is hinged with the underwater vehicle; the pitching motor is positioned between the auxiliary supporting shaft and the pitching shaft body.
In the technical scheme of the invention, the double-shaft servo system further comprises:
the servo system shell, the pitching motor, the course motor, the pitching reducer, the pitching rotary-change device, the course reducer and the course rotary-change device are all arranged in the servo system shell.
In the technical scheme of the invention, the course shaft body comprises:
the course shaft core is connected with the output end of the course motor and the cabin body;
and the course shaft shell is fixedly connected with the course motor and fixedly connected with the servo system shell through a course flange.
In the technical scheme of the invention, the course shaft core and the course shaft shell are sealed by the second dynamic sealing ring.
In the technical scheme of the invention, the double-shaft servo system further comprises:
and the fourth sealing ring is arranged between the servo system shell and the servo system shell.
In the technical scheme of the invention, the double-shaft servo system further comprises:
and the fifth sealing ring is arranged between the course shaft core and the cabin body.
The technical scheme of the invention can at least realize one of the following effects:
1. the unmanned underwater vehicle can meet the low resistance requirement and the detection requirement of unmanned underwater vehicle navigation, has the folding and unfolding functions, is favorable for reducing resistance and improving concealment;
2. the invention can rotate the pitching axis by 0-90 degrees, rotate the course axis by +/-176 degrees, and has large detection range;
3. the pitching shaft is driven through the worm gear structure, has a power-off self-locking function, is reliable in locking, saves electric energy of the underwater vehicle, and keeps the mast stable relative to the boat body;
4. the invention adopts weight reduction design and dynamic and static multi-stage sealing redundancy design, can bear 1MPa pressure water tightness and can resist seawater corrosion.
In the invention, the technical schemes can be combined with each other to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
FIG. 1 is an overall schematic diagram of an embodiment of the present invention;
FIG. 2 is a side view of an embodiment of the present invention;
FIG. 3 is a top view of an embodiment of the present invention;
FIG. 4 is a schematic diagram of a state of the embodiment of the invention stowed on the underwater vehicle;
FIG. 5 is a schematic diagram of the embodiment of the invention in an extended state on the underwater vehicle;
FIG. 6 is a schematic view of the embodiment of the present invention for adjusting the heading state on the underwater vehicle;
FIG. 7 is a schematic view of the rotation of the cabin according to the embodiment of the present invention;
FIG. 8 is a schematic diagram of a dual-axis servo system according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of an internal structure of a dual-axis servo system according to an embodiment of the present invention;
FIG. 10 is a schematic illustration of a nacelle section housing configuration according to an embodiment of the invention;
FIG. 11 is a schematic view of a first double-layer sealing structure according to an embodiment of the present invention;
fig. 12 is a schematic view of a second double-layer sealing structure according to an embodiment of the present invention.
Reference numerals
1, a pitching shaft body; 2, an underwater vehicle; 3, a cabin body; 4, a pitching motor; 5, a course motor; 6, a course shaft body; 7, a weight reduction space; 8, a pitching rotation device; 9, a worm; 10, a worm gear; 11, a worm support; 12, inner wall of cabin section; 13, a course speed reducer; 14, a course rotating device; 15, auxiliary supporting shaft; 16, a servo system housing; 17, an electrical signal interface; 18, a pitch axis housing; 19, a first seal ring; 20, a second sealing ring; 21, a third sealing ring; 22, a course axis core; 23, a course shaft housing; 24, a first dynamic seal ring; 25, a second dynamic sealing ring; 26, a fourth seal ring; 27, a fifth sealing ring; 28, an equipment compartment; 29, an optics bay; 30, an antenna cabin; 31, an optics compartment housing; 32, an optical lens; 33, an antenna bay housing; 34, an equipment bay enclosure; and 35, outer wall of the cabin section.
Detailed Description
The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form a part hereof, and which together with the embodiments of the invention serve to explain the principles of the invention and not to limit its scope.
In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly stated or limited, the term "connected" should be interpreted broadly, and may be, for example, a fixed connection, a detachable connection, or an integral connection, which may be a mechanical connection, an electrical connection, which may be a direct connection, or an indirect connection via an intermediate medium. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The terms "top," "bottom," "above … …," "below," and "on … …" as used throughout the description are relative positions with respect to components of the device, such as the relative positions of the top and bottom substrates inside the device. It will be appreciated that the devices are multifunctional, regardless of their orientation in space.
As shown in fig. 1 to 12, an embodiment of the present invention provides a synthetic mast system of a submersible vehicle, the synthetic mast system including: the pitching shaft body 1 is hinged with the underwater vehicle 2, the pitching shaft body 1 comprises a first axis, and the comprehensive mast system can perform pitching swinging relative to the underwater vehicle 2 through the pitching shaft body 1, so that the comprehensive mast system can be collected into the underwater vehicle 2 when the underwater vehicle 2 is in navigation, and can be extended out of the underwater vehicle 2 through the pitching swinging when the comprehensive mast system is required to perform investigation, shooting and other work; functional components of the comprehensive mast system are arranged in the cabin 3, such as shooting, signal receiving and transmitting and the like; the double-shaft servo system is fixedly connected with the pitching shaft body 1, is connected with the cabin body 3 and comprises a second axis, and the second axis is vertical to the first axis; the double-shaft servo system drives the comprehensive mast system to rotate around the first axis and the second axis, pitching swinging of the comprehensive mast system and heading swinging of the cabin 3 can be achieved through the double-shaft servo system, and therefore the cabin 3 can adjust both the pitching angle and the heading angle. The hinge joint of the pitching shaft body 1 and the underwater vehicle 2 is sealed through a first double-layer sealing structure; the hinged part of the cabin body 3 and the double-shaft servo system is sealed through a second double-layer sealing structure. By arranging the first double-layer sealing structure and the second double-layer sealing structure, the sealing performance of the comprehensive mast system provided by the embodiment of the invention can be improved, and the comprehensive mast system can be more suitable for working in high-salt, high-pressure and high-corrosivity environments such as seawater.
In some alternative embodiments of the invention, a dual-axis servo system comprises: the output end of the pitching motor 4 is connected with the pitching shaft body 1 and is used for driving the comprehensive mast system to perform pitching swinging; the course motor 5 is fixedly connected with the pitching motor 4 and used for driving the comprehensive mast system to carry out course swinging; the course shaft body 6 is fixedly connected with the cabin body 3 and is fixedly connected with the output end of the course motor 5, and when the output shaft of the course motor 5 rotates, the course shaft body 6 rotates to drive the cabin body 3 to rotate; the axis of the heading shaft body 6 coincides with the second axis.
In some optional embodiments of the invention, the dual-axis servo system further comprises: the pitching speed reducer is arranged between the output end of the pitching motor 4 and the pitching shaft body 1 and is used for adjusting the transmission ratio between the pitching motor 4 and the pitching shaft body 1 so as to realize the adjustment of a pitching angle of 0-90 degrees; the pitching rotary transformer device 8 is used for measuring the rotating angle of the pitching shaft body 1 and feeding back the rotating angle to the control system of the comprehensive mast system in the embodiment of the invention to form feedback control, so that the comprehensive mast system in the embodiment of the invention can more accurately control the pitching angle of the comprehensive mast system.
In some alternative embodiments of the invention, the pitch reducer comprises: the worm 9 is in power connection with the output end of the pitching motor 4; the worm wheel 10 is fixedly connected with the pitching shaft body 1 and meshed with the worm 9; and the worm support 11 is fixedly connected with the pitching motor 4, and the worm 9 is hinged with the worm support 11. The pitch motor 4 of the embodiment of the invention drives the worm 9 to rotate, and the rotation of the pitch shaft body 1 is realized through the speed reduction transmission of the worm gear, and the worm gear can realize the transmission with large speed reduction ratio because the rotation range of the pitch shaft body 1 is 0-90 degrees.
In some optional embodiments of the invention, the dual-axis servo system further comprises: the course speed reducer 13 is arranged between the output end of the course motor 5 and the course shaft body 6 and is used for adjusting the transmission ratio between the course motor 5 and the course shaft body 6 so as to realize the adjustment of a course angle of +/-176 degrees; and the course rotary change device 14 is used for measuring the rotation angle of the course shaft body 6 and feeding back the rotation angle to the control system of the comprehensive mast system in the embodiment of the invention to form feedback control, so that the comprehensive mast system in the embodiment of the invention can more accurately control the course angle of the comprehensive mast system.
Through the worm gear structure and the course speed reducer 13 with a large transmission ratio, the double-shaft servo system can realize self-locking of a pitching angle and a course angle when the power is off, can avoid the situation that the comprehensive detection mast swings relative to the underwater vehicle due to wave disturbance and influences detection, saves the space for arranging the electric control brake, and reduces the electric energy consumption caused by arranging the brake. In order to further improve the self-locking capability, a band-type brake mechanism is arranged at the pitching shaft body 1 and the course shaft body 6, the band-type brake mechanism is driven by a band-type brake motor, a stop mechanism can also be arranged, the stop mechanism is driven by the stop motor, and the self-locking capability of the double-shaft servo system is further improved by the band-type brake mechanism and/or the stop mechanism.
In addition, the double-shaft servo system is provided with a gyroscope and/or an acceleration sensor and is used for monitoring the motion state of the comprehensive detection mast, introducing speed loop control, decoupling sea wave disturbance to a certain extent and realizing that the detection field of the comprehensive detection mast is relatively stable to the ground.
In some optional embodiments of the invention, the dual-axis servo system further comprises: the auxiliary support shaft 15 is coaxial with the pitching shaft body 1, and the auxiliary support shaft 15 is hinged with the underwater vehicle 2; the pitch motor 4 is located between the auxiliary support shaft 15 and the pitch shaft body 1. Through setting up auxiliary stay 15 for there are two articulated departments in the first axis direction between comprehensive mast system and the underwater vehicle 2, thereby synthesize mast system and can carry out stable rotation relative underwater vehicle 2, avoid the every single move axis body 1 to bear too big moment of flexure and lead to damaging.
In some optional embodiments of the invention, the dual-axis servo system further comprises: the servo system shell 16, the pitching motor 4, the course motor 5, the pitching speed reducer, the pitching rotary-change device 8, the course speed reducer 13 and the course rotary-change device 14 are all arranged in the servo system shell 16. The servo housing 16 protects the internal components from damage caused by high salt, high pressure, and highly corrosive substances such as seawater.
In some alternative embodiments of the invention, the pitch shaft body 1 passes through the servo housing 16; the pitch shaft body 1 and the servo system housing 16 are sealed by a first dynamic seal ring 24. In actual operation, the pitching shaft body 1 rotates relative to the servo system housing 16, and the pitching shaft body 1 is connected with the underwater vehicle 2, so that the comprehensive mast system can perform pitching oscillation relative to the underwater vehicle 2, and meanwhile, a gap between the pitching shaft body 1 and the servo system housing 16 is sealed through the first dynamic seal ring 24, so that foreign matters are prevented from entering and damaging components inside the servo system housing 16.
In some alternative embodiments of the invention, the pitch shaft body 1 comprises: the electric signal interface 17 is electrically connected with the underwater vehicle 2 and is used as a communication interface and an electric power interface of the comprehensive mast system and the underwater vehicle 2; the pitching shaft shell 18 and the electrical signal interface 17 are arranged in the pitching shaft shell 18, the electrical signal interface 17 is hinged with the pitching shaft shell 18, the pitching shaft shell 18 is fixedly connected with the underwater vehicle 2 and serves as one of power parts of a pitching angle, the electrical signal interface 17 rotates along with the comprehensive mast system, and therefore the electrical signal interface 17 is hinged with the pitching shaft shell 18.
In some alternative embodiments of the present invention, the first double-layer sealing structure includes: a first seal ring 19 provided between the electrical signal interface 17 and the pitch shaft housing 18; the second sealing ring 20 is arranged between the electric signal interface 17 and the underwater vehicle 2; and a third seal ring 21 provided between the pitch shaft housing 18 and the underwater vehicle 2. The third sealing ring 21 is an outermost sealing structure at the joint of the pitching shaft body 1 and the underwater vehicle 2, and when the third sealing ring 21 fails, even if a small amount of liquid enters a gap at the joint of the pitching shaft body 1 and the underwater vehicle 2, due to the arrangement of the first sealing ring 19 and the second sealing ring 20, the liquid can be prevented from entering an electric connection part between the electric signal interface 17 and the underwater vehicle 2, the normal operation of the embodiment of the invention can be still ensured, and the double sealing of the joint of the pitching shaft body 1 and the underwater vehicle 2 is realized.
In some alternative embodiments of the present invention, a first dynamic seal 24 is disposed between the pitch shaft housing 18 and the servo housing 16 to provide a dynamic seal between the pitch shaft housing 18 and the servo housing 16, allowing for rotation of the pitch shaft housing 18 relative to the servo housing 16.
In some optional embodiments of the present invention, the heading shaft 6 includes: the course shaft core 22 is connected with the output end of the course motor 5 and the cabin 3 and is used for transmission and adjusting the course angle of the cabin 3; the course shaft shell 23 is fixedly connected with the course motor 5 and fixedly connected with the servo system shell 16 through a course flange; the heading shaft core 22 drives the cabin 3 to rotate, and the heading shaft housing 23 is fixedly connected with the servo system housing 16, so that the heading shaft core 22 and the heading shaft housing 23 are dynamically sealed through the second dynamic sealing ring 25.
In some alternative embodiments of the present invention, the second double-layered sealing structure comprises: a fourth seal ring 26 provided between the servo housing 16 and the servo housing 16; and a fifth seal ring 27 disposed between the heading axis 22 and the cabin 3. The fourth seal ring 26 and the fifth seal ring 27 are provided to seal the course shaft body 6 from the servo housing 16 and the nacelle 3.
In some alternative embodiments of the invention, the nacelle 3 has the same cross-sectional shape perpendicular to the second axis, and is integrally formed as a structure close to a rod shape, and the side surface of the nacelle 3 opposite to the second axis is at least partially a part of a solid of revolution for reducing the water flow resistance during the erection work of the integrated mast system. When the comprehensive mast system can be retracted into the underwater vehicle 2, the non-revolving body part of the cabin 3 can be modeled with the shell of the underwater vehicle 2, so that the resistance of the comprehensive mast system during retraction is reduced.
In some alternative embodiments of the invention, the cabin 3 comprises: the equipment cabin 28 is connected with the course shaft body 6 and is used as a main cabin of a control system of the comprehensive mast system; an optical cabin 29, which is used for shooting images and is fixedly connected with the equipment cabin 28 to be used as a cabin of shooting equipment; the antenna cabin 30 is used for receiving and transmitting wireless signals, is fixedly connected with the optical cabin 29, serves as a cabin of signal receiving and transmitting equipment, and is located at the end of the whole cabin body 3 to facilitate signal receiving and transmitting.
In some alternative embodiments of the present invention, the optical capsule 29 comprises: the side wall of the optical cabin shell 31 is provided with a shooting hole; an optical lens 32 located at the shooting hole; and the shooting system is positioned in the optical cabin shell 31, and the lens of the shooting system is connected with the optical lens 32. The lens of the shooting system shoots an image around the underwater vehicle 2 through the optical lens 32.
In some alternative embodiments of the present invention, antenna pod 30 includes: an antenna chamber housing 33 fixedly connected to the optical chamber housing 31; and the transceiving antenna is positioned in the antenna cabin shell 33. Through the receiving and transmitting antenna, the comprehensive mast system can perform wireless information interaction with the outside, and images obtained through shooting are transmitted.
In some alternative embodiments of the invention, the equipment bay 28 includes: one end of the equipment cabin shell 34 is fixedly connected with the optical cabin shell 31, the other end of the equipment cabin shell is fixedly connected with the course shaft body 6, and the control equipment of the comprehensive mast system is positioned in the equipment cabin 28.
In some alternative embodiments of the present invention, both the equipment bay housing 34 and the optical bay housing 31 are bay section housings; the deck section housing includes: a cabin outer wall 35; a cabin inner wall 12, at least part of the cabin inner wall 12 being connected to the cabin outer wall 35; wherein a weight-reducing space 7 is arranged between the cabin inner wall 12 and the cabin outer wall 35. The optical cabin 29 and the equipment cabin 28 are both positioned in the middle of the comprehensive mast system, the equipment cabin shell 34 and the optical cabin shell 31 can adopt the same structure, the interior of the cabin inner wall 12 is used as an installation space of devices, and the weight reduction space 7 between the cabin inner wall 12 and the cabin outer wall 35 is used for reducing the weight of the comprehensive mast system and improving the cruising ability of the underwater vehicle 2 under the condition of the same energy source.
In some optional embodiments of the present invention, considering that the cabin 3 needs to rotate around the second axis in the heading direction, the inner wall 12 of the cabin segment is a cylindrical structure, and the inner wall 12 of the cabin segment is coaxial with the heading shaft body 6, so that the heading rotation of the cabin 3 is smoother.
In some optional embodiments of the invention, the weight-reducing space 7 is communicated with the outer side of the cabin section outer wall 35, that is, the pressure of the weight-reducing space 7 is equal to that of the outer side of the cabin section outer wall 35, so that the thickness of the cabin single outer wall can be reduced properly; the weight-reduction space 7 is sealed from the inside of the cabin section inner wall 12, and the cabin section inner wall 12 bears external forces as a main structural component of the cabin body 3.
In some alternative embodiments of the present invention, the outer wall 35 of the cabin segment is provided with a plurality of through holes penetrating through the inside and outside of the outer wall 35 of the cabin segment; the weight-reducing space 7 is communicated with the outer side of the cabin section outer wall 35 through a through hole. The through holes can balance the pressure of the weight reduction space 7 and the pressure of the outer side of the cabin section outer wall 35, the weight of the cabin section shell can be further reduced, and the cruising ability of the underwater vehicle 2 is further improved.
In conclusion, the unmanned underwater vehicle can meet the low resistance requirement and the detection requirement of unmanned underwater vehicle navigation, has the folding and unfolding functions, is favorable for reducing resistance and improving concealment; the invention can rotate the pitching axis by 0-90 degrees, rotate the course axis by +/-176 degrees, and has large detection range; the pitching shaft is driven through the worm gear structure, has a power-off self-locking function, is reliable in locking, saves electric energy of the underwater vehicle, and keeps the mast stable relative to the hull; the invention adopts a weight reduction design and a dynamic and static multi-stage sealing redundancy design, can bear the pressure watertight of 1MPa and can resist the seawater corrosion.
While the invention has been described with reference to specific preferred embodiments, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the following claims.

Claims (7)

1. A stowable invisible mast, comprising:
a pitch shaft body (1);
a dual-axis servo system comprising:
the output end of the pitching motor (4) is connected with a pitching shaft shell (18) of the pitching shaft body (1), and the pitching shaft shell (18) is fixedly connected with the underwater vehicle (2);
the course motor (5) is fixedly connected with the pitching motor (4);
the course shaft body (6) is connected with the cabin body (3) of the storable invisible mast and is connected with the output end of the course motor (5); the axis of the course shaft body (6) is vertical to the axis of the pitching shaft body (1);
a pitch reducer provided between an output end of the pitch motor (4) and the pitch shaft body (1), the pitch reducer including: the worm (9) is in power connection with the output end of the pitching motor (4); the worm wheel (10) is fixedly connected with the pitching shaft shell (18) and is meshed with the worm (9); the worm support (11) is fixedly connected with the pitching motor (4), and the worm (9) is hinged with the worm support (11);
the course speed reducer (13) is arranged between the output end of the course motor (5) and the course shaft body (6); the stopping mechanism is arranged at the pitching shaft body (1) and the course shaft body (6) and is driven by the stopping motor;
the pitching motor (4) and the heading motor (5) are both arranged in the servo system shell (16);
the pitch shaft shell (18) and the servo system shell (16) are sealed through a first dynamic sealing ring (24);
the course axis body (6) comprises:
the course shaft core (22) is fixedly connected with the cabin body (3) and is fixedly connected with the output end of the course motor (5);
the course shaft shell (23) is fixedly connected with the servo system shell (16) through a course flange;
the course shaft core (22) and the course shaft shell (23) are sealed through a second dynamic sealing ring (25);
the cabin body (3) comprises an equipment cabin (28) and an optical cabin (29), the equipment cabin (28) is connected with the course shaft body (6), and the optical cabin (29) is fixedly connected with the equipment cabin (28);
the equipment bay (28) comprises an equipment bay housing (34), the optical bay (29) comprises an optical bay housing (31);
the equipment cabin shell (34) and the optical cabin shell (31) are both cabin section shells;
the deck section outer shell comprises a deck section outer wall (35) and a deck section inner wall (12);
a weight-reducing space (7) is arranged between the inner wall (12) of the cabin section and the outer wall (35) of the cabin section, and the weight-reducing space (7) is used for reducing the weight of the retractable invisible mast;
the outer wall (35) of the cabin section is provided with a plurality of through holes penetrating through the inner part and the outer part of the outer wall (35) of the cabin section; the weight reducing space (7) is communicated with the outer side of the outer wall (35) of the cabin section through a through hole.
2. The stowable invisible mast of claim 1, wherein the two-axis servo system further comprises:
and the pitching rotation device (8) is used for measuring the rotation angle of the pitching shaft body (1).
3. The stowable invisible mast of claim 2, wherein the two-axis servo system further comprises:
and the course rotary change device (14) is used for measuring the rotating angle of the course shaft body (6).
4. The stowable invisible mast of claim 3, wherein the two-axis servo system further comprises:
an auxiliary support shaft (15) coaxial with the pitch shaft body (1), the auxiliary support shaft (15) being hinged to the underwater vehicle (2); the pitching motor (4) is positioned between the auxiliary supporting shaft (15) and the pitching shaft body (1).
5. Stowable invisible mast according to claim 4, characterized in that the pitch reducer, pitch resolver (8), course reducer (13) and course resolver (14) are all arranged within the servo housing (16).
6. Stowable invisible mast according to claim 5, characterized in that the course shaft housing (23) is fixedly connected with the course motor (5).
7. The stowable invisible mast of claim 6, wherein the two-axis servo system further comprises:
and the fourth sealing ring (26) is arranged between the servo system shell (16) and the heading shaft shell (23).
CN202011553674.6A 2020-12-24 2020-12-24 Can accomodate stealthy mast of formula Active CN112623166B (en)

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CN202011553674.6A CN112623166B (en) 2020-12-24 2020-12-24 Can accomodate stealthy mast of formula

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CN112623166B true CN112623166B (en) 2022-09-30

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