CN207617947U - Three rudder formula tail integration structures of micro-unmanned submariner device - Google Patents
Three rudder formula tail integration structures of micro-unmanned submariner device Download PDFInfo
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- CN207617947U CN207617947U CN201721310345.2U CN201721310345U CN207617947U CN 207617947 U CN207617947 U CN 207617947U CN 201721310345 U CN201721310345 U CN 201721310345U CN 207617947 U CN207617947 U CN 207617947U
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Abstract
The utility model discloses a kind of three rudder formula tail integration structures of micro-unmanned submariner device, it is related to autonomous underwater vehicle technical field, tail integration structure in the utility model is used in 120 degree of three rudders being spaced apart configurations, compared to traditional cross four rudder, smaller is set on internal space hold, be conducive to cramped construction design and reduce cost, tail integration structure uses the propulsion gearing and steering control of longitudinal parallel nested, efficiently solves the compact design problem of the transmission device of micro-unmanned submariner device.Simultaneously, any one rudder of the utility model can individually generate steerage in horizontal or vertical direction, the operating method announced by the utility model can make steerage superposition of two or three rudder pieces on some direction, alleviate handling decrease and stability decrease problem that autonomous underwater vehicle miniaturized design is brought.
Description
Technical field
The utility model is related to autonomous underwater vehicle technical fields, and in particular to a kind of three rudder formula tails of micro-unmanned submariner device
Portion's integrated morphology.
Background technology
Micro-unmanned submariner device is a kind of microminiature autonomous underwater vehicle, it has and conventional large-scale autonomous underwater vehicle complete one
The AUTONOMOUS TASK function of sample, but volume even only Conventional compact autonomous underwater vehicle 1/3 to 1/4 or so.It is same with large volume
Class product ratio, micro-unmanned submariner utensil have it is of low cost, manipulation flexibly, be easy to the advantages of large scale deployment.
Micromation is the new trend of autonomous underwater vehicle development, and subminiature volume can bring some new applications.For example,
They can carry out automatic deployment by the naval vessels of water surface autonomous navigation, corrosion condition for monitoring communal facility such as pipeline or
Person greatly reduces operating cost either with or without potential leakage.Further, the micro-unmanned submariner device of a group cooperates with work
Make, it is well many than the effect of single conventional autonomous underwater vehicle.They can quickly investigate extensive area, cover number
Hundred kilometers.Meanwhile if arrange in pairs or groups some complementary technologies, such as water surface autonomous navigation naval vessels and satellite, can build than previous
More accurately marine environmental chart.
The tail portion of autonomous underwater vehicle typically serves to promote and the effect of motion control, general miniature self-service submariner device are usual
Single screw is equipped on tail portion to promote and cross rudder piece.Wherein upper and lower two rudder linkage, manipulate autonomous underwater vehicle a left side,
Right turn, left and right two rudders linkage manipulation control latent, the floating operation of autonomous underwater vehicle.Above structure is difficult at following two aspects
Meet micromation demand：
(1) relative to micro-unmanned submariner device, the trailing space of general miniature self-service submariner device is relatively large, four rudderposts
It is usually directly driven by four steering engines for being arranged in the same cross section, propulsion electric machine is also as far as possible close to tail undercarriage.When
When being miniaturized, since lateral cross section reduces, four sets of steering engines of such structure, rudderpost can interfere.
(2) after volume microminiaturization, the cruising speed and rudder piece area of autonomous underwater vehicle inevitably reduce, and steerage will
Can substantially weaken causes handling decrease, control stability to die down, and roll is easy to happen when there are flow interference.
Utility model content
In view of the deficiencies in the prior art, the purpose of this utility model is to provide a kind of micro-unmanned submariner devices
Three rudder formula tail integration structures, efficiently solve the compact design problem of the transmission device of micro-unmanned submariner device.
To achieve the above objectives, the technical scheme adopted by the utility model is that：
Based on the above technical solution
Compared with prior art, the utility model has the advantage of：
The utility model compares traditional cross four rudder structure, and the smaller on internal space hold is designed using three rudders,
Be conducive to the cramped construction design of micro-unmanned submariner device and reduce cost, at the same tail integration structure use it is longitudinal parallel
Nested propulsion gearing and steering control, the compact design for efficiently solving the transmission device of micro-unmanned submariner device are difficult
Topic.
Meanwhile the utility model uses completely self-contained three rudders design, any one rudder can be horizontally or vertically
Steerage is individually generated on direction, drives rudder piece that can realize that steerage of the three rudder pieces on some direction is folded by operating steering engine
Add, the handling decrease of rudder piece and stability for alleviating micro-unmanned submariner device weaken problem.
Description of the drawings
Fig. 1 is the structural representation of three rudder formula tail integration structures of micro-unmanned submariner device in the utility model embodiment
Figure；
Fig. 2 is the integrated pusher of three rudder formula tail integration structures of micro-unmanned submariner device in the utility model embodiment
The structural schematic diagram of structure；
Fig. 3 is the rudder operating mechanism of three rudder formula tail integration structures of micro-unmanned submariner device in the utility model embodiment
Structural schematic diagram；
Fig. 4 is the rudderpost dynamic sealing of three rudder formula tail integration structures of micro-unmanned submariner device in the utility model embodiment
The structural schematic diagram of component；
Fig. 5 moves close for the cardan shaft of three rudder formula tail integration structures of micro-unmanned submariner device in the utility model embodiment
The structural schematic diagram of sealing assembly；
Fig. 6 is in the steering method of three rudder formula tail integration structures of micro-unmanned submariner device in the utility model embodiment
α>0、β>0、γ>0 schematic diagram；
Fig. 7 is in the steering method of three rudder formula tail integration structures of micro-unmanned submariner device in the utility model embodiment
α<0、β<0、γ<0 schematic diagram；
Fig. 8 is in the steering method of three rudder formula tail integration structures of micro-unmanned submariner device in the utility model embodiment
α=0, β=0, the schematic diagrames of γ=0；
Fig. 9 is in the steering method of three rudder formula tail integration structures of micro-unmanned submariner device in the utility model embodiment
γ>0 schematic diagram；
Figure 10 is the steering method of three rudder formula tail integration structures of micro-unmanned submariner device in the utility model embodiment
Middle γ<0 schematic diagram；
Figure 11 is the steering method of three rudder formula tail integration structures of micro-unmanned submariner device in the utility model embodiment
Tail view when middle dive operation；
Figure 12 is the steering method of three rudder formula tail integration structures of micro-unmanned submariner device in the utility model embodiment
Right view when middle dive operation；
Figure 13 is the steering method of three rudder formula tail integration structures of micro-unmanned submariner device in the utility model embodiment
Tail view when middle floating operation；
Figure 14 is the steering method of three rudder formula tail integration structures of micro-unmanned submariner device in the utility model embodiment
Right view when middle floating operation；
Figure 15 is the steering method of three rudder formula tail integration structures of micro-unmanned submariner device in the utility model embodiment
Tail view when middle right-hand rotation operation；
Figure 16 is the steering method of three rudder formula tail integration structures of micro-unmanned submariner device in the utility model embodiment
Top view when middle right-hand rotation operation；
Figure 17 is the steering method of three rudder formula tail integration structures of micro-unmanned submariner device in the utility model embodiment
Tail view when middle left-hand rotation operation；
Figure 18 is the steering method of three rudder formula tail integration structures of micro-unmanned submariner device in the utility model embodiment
Top view when middle left-hand rotation operation.
In figure：1- integrates propulsive mechanism, 11- propulsion electric machines, 12- propulsion gearings, 121- motor side dog bone cups, 122-
Transmission dog bone, 123- propellers end dog bone cup, 124- cardan shaft dynamic sealing assemblies, 124a- cardan shafts, 124b- cardan shaft axle sleeves,
124c- promotes axle bearing, 124d- cardan shaft dynamic sealing O-rings, 13- propellers, 2- rudder operating mechanisms, 21- steering engines, 22- rudders biography
Dynamic device, 221- rudder push rods, 222- rudderpost dynamic sealing assemblies, 222a- rudderposts, 222b- rudderpost dynamic sealing O-rings, 222c- rudderposts
Crank, 222d- rudderpost sets, 23- rudder pieces, 231- the first rudder pieces, 232- the second rudder pieces, 233- third rudder pieces, 3- steering engine holders, 4-
Tapered shell.
Specific implementation mode
The utility model is described in further detail with reference to the accompanying drawings and embodiments.
Shown in Figure 1, the utility model embodiment provides a kind of integrated knot in three rudder formula tail portions of micro-unmanned submariner device
Structure, including：
Integrated propulsive mechanism 1, integrated propulsive mechanism 1 include the propulsion electric machine 11 being sequentially connected, 12 He of propulsion gearing
Propeller 13；
Three sets of rudder operating mechanisms 2, it includes a steering engine 21, a steering control 22 and a rudder piece 23 often to cover rudder operating mechanism 2；
Three sets of rudder operating mechanisms 2 are spaced apart around propulsion gearing 12 in 120 degree, shown in Figure 3.
Shown in Figure 2, propulsion gearing 12 includes the motor side dog bone cup 121 being sequentially connected, and is driven dog bone 122,
Propeller end dog bone cup 123 and cardan shaft 124a dynamic sealing assemblies 124.It is shown in Figure 5, cardan shaft 124a dynamic sealing assemblies
124 include cardan shaft 124a, cardan shaft axle sleeve 124b, the cardan shaft positioned at axle sleeve rear and front end being sheathed on outside cardan shaft 124a
The bearing 124c and cardan shaft dynamic sealing O-ring 124d on the inside of propulsion axle bearing 124c.
Shown in ginseng is seen figures 3 and 4, steering control 22 includes rudder push rod 221 and rudderpost 222a dynamic sealing assemblies 222.Rudderpost
222a dynamic sealing assemblies 222 include sequentially connected rudderpost 222a, rudderpost dynamic sealing O-ring 222b and rudderpost crank 222c, with
And the rudderpost set 222d, rudderpost crank 222c and rudder push rod 221 being sheathed on outside rudderpost 222a and rudderpost dynamic sealing O-ring 222b are cut with scissors
It connects, rudderpost 222a is fixedly connected with rudder piece 23.
Tail integration structure further includes steering engine holder 3, and three sets of rudder operating mechanisms 2 are in 120 degree around propulsion gearing 12
It is spaced apart, and is fixed on steering engine holder 3.Tail integration structure further includes tapered shell 4, integrates propulsive mechanism 1, three sets of rudders
Operating mechanism 2 is set in tapered shell 4.
The operation principle of tail integration structure is as follows in the utility model：
Coordinate system is established with the common place planes of the rudderpost 222a of the three rudder pieces 23, is prolonged with the rudderpost 222a of three rudder pieces 23
Long line intersection point is coordinate origin, and horizontal direction is X-axis, and vertical direction is Y-axis；
The resultant moment that the rudder angle for adjusting separately the three rudder pieces 23 makes three rudder pieces 23 be generated in Y direction is offset, and X-axis is generated
The resultant moment of negative direction, the micro-unmanned submariner device dive；
The resultant moment that the rudder angle for adjusting separately the three rudder pieces 23 makes three rudder pieces 23 be generated in Y direction is offset, and X-axis is generated
The resultant moment of positive direction, the micro-unmanned submariner device float；
The resultant moment that the rudder angle for adjusting separately the three rudder pieces 23 makes three rudder pieces 23 be generated in X-direction is offset, and Y-axis is generated
The resultant moment of negative direction, the micro-unmanned submariner device are turned right；
The resultant moment that the rudder angle for adjusting separately the three rudder pieces 23 makes three rudder pieces 23 be generated in X-direction is offset, and Y-axis is generated
The resultant moment of positive direction, the micro-unmanned submariner device turn left.
Specifically, the rudder piece 23 includes the first rudder piece 23, the second rudder piece 23 and third rudder piece 23, wherein described first
The rudderpost 222a of rudder piece 23 is located at X-axis negative direction, and the rudderpost 222a of the second rudder piece 23 is located at X-axis positive direction, and described
One rudder piece 23 is to the rudderpost 222a of rudderpost 222a and the second rudder piece 23 with the X-axis in 30 degree of angles, the third rudder
The rudderpost 222a of piece 23 is located at Y-axis positive direction and Chong Die with Y-axis；
If 23 corner of the first rudder piece is α, 23 corner of the second rudder piece is β, and 23 corner of third rudder piece is γ,
Allow thumb direction along the rudderpost 222a point coordinates origins of three rudder pieces 23, four directions for referring to curling meaning are α, the pros of beta, gamma
To negative direction is negative direction.With reference to figure 6, α>0、β>0、γ>0；With reference to figure 7, α<0、β<0、γ<0；With reference to figure 8, α=0, β
=0, γ=0.
With reference to figure 9 and Figure 10, the first rudder piece 23, the second rudder piece 23 and third rudder piece 23 are in entire autonomous underwater vehicle center of gravity G
The moment of turning ship of upper generation is M (α), M (β), M (γ).According to the right-hand rule of moment vector, γ in Fig. 9>0, moment of turning ship M
(γ) vector is directed toward outside paper by autonomous underwater vehicle center of gravity G and (is parallel to rudderpost 222a to be directed toward by autonomous underwater vehicle center of gravity G
Outside), it is indicated with solid dot；γ in Figure 10<0, moment of turning ship M (γ) vector are directed toward paper by autonomous underwater vehicle center of gravity G
(being parallel to rudderpost 222a by outer direction autonomous underwater vehicle center of gravity G), with fork symbolic indication.
When executing dive operation, with reference to figure 11 and Figure 12, as shown in figure 11, γ=0, α are made by the corresponding operation of steering engine 21>
0, β=- α<0.At this point, third rudder piece 233 does not generate steerage, the first rudder piece 231 generates moment of turning ship in autonomous underwater vehicle center of gravity G
M (α), the second rudder piece 232 generate moment of turning ship M (β) in autonomous underwater vehicle center of gravity G；Due to β=- α, | M (α) |=| M (β)
|, and then M (α) and M (β) cancel out each other in vertical direction component, resultant moment Σ M are to pass through autonomous underwater vehicle center of gravity G, horizontal direction
It is left.The right view with reference to shown in figure 12, resultant moment Σ M are the direction by autonomous underwater vehicle center of gravity G and perpendicular to paper inwards,
It is acted on so that autonomous underwater vehicle head is downward, and tail portion is upward, that is, realizes dive operation.
When executing floating operation, with reference to figure 13 and Figure 14, as shown in figure 13, γ=0, α are made by the corresponding operation of steering engine 21<
0, β=- α>0.At this point, third rudder piece 233 does not generate steerage, the first rudder piece 231 generates moment of turning ship in autonomous underwater vehicle center of gravity G
M (α), the second rudder piece 232 generate moment of turning ship M (β) in autonomous underwater vehicle center of gravity G；Due to β=- α, | M (α) |=| M (β)
|, and then M (α) and M (β) cancel out each other in vertical direction component, resultant moment Σ M are to pass through autonomous underwater vehicle center of gravity G, horizontal direction
It is right.The right view with reference to shown in figure 14, resultant moment Σ M be by autonomous underwater vehicle center of gravity G and perpendicular to paper outwardly direction,
It is acted on so that autonomous underwater vehicle head is upward, operation of floating is realized in tail down.
When executing right-hand rotation operation, with reference to figure 15 and Figure 16, as shown in figure 15, γ is made by the corresponding operation of steering engine 21<0、α>
0, β=α>0.At this point, the first rudder piece 231, the second rudder piece 232 and the second rudder piece 233 generate at autonomous underwater vehicle center of gravity G respectively
Moment of turning ship M (α), M (β) and M (γ)；Due to β=α, thus | M (α) |=| M (β) |, and then M (α) and M (β) are in the horizontal direction
Component is cancelled out each other, and M (α), M (β) and M (γ) and resultant moment Σ M are by autonomous underwater vehicle center of gravity G, under horizontal direction.With reference to 16
Shown in top view, resultant moment Σ M are direction by autonomous underwater vehicle center of gravity G and perpendicular to paper inwards, effect so that
To the right, right turn operation to the left, that is, is realized in tail portion on autonomous underwater vehicle head.
When executing operation, with reference to figure 17 and Figure 18, as shown in figure 17, γ is made by the corresponding operation of steering engine 21>0、α<
0, β=α<0.At this point, the first rudder piece 231,12-2 and 12-3 generate moment of turning ship M (α), M at autonomous underwater vehicle center of gravity G respectively
(β) and M (γ)；Due to β=α, thus | M (α) |=| M (β) |, and then component is cancelled out each other in the horizontal direction by M (α) and M (β), M
(α), M (β) and M (γ) and resultant moment Σ M are by autonomous underwater vehicle center of gravity G, in horizontal direction.The top view with reference to shown in figure 18
Figure, resultant moment Σ M are by autonomous underwater vehicle center of gravity G and perpendicular to paper outwardly direction, and effect is so that autonomous underwater vehicle
To the left, left steering operation to the right, that is, is realized in tail portion on head.
The utility model is not limited to the above embodiment, for those skilled in the art, not
Under the premise of being detached from the utility model principle, several improvements and modifications can also be made, these improvements and modifications are also considered as this reality
Within novel protection domain.The content not being described in detail in this specification belongs to well known to professional and technical personnel in the field
The prior art.
Claims (8)
1. a kind of three rudder formula tail integration structures of micro-unmanned submariner device, which is characterized in that including：
Integrated propulsive mechanism (1), the integrated propulsive mechanism (1) includes the propulsion electric machine (11) being sequentially connected, and promotes transmission dress
Set (12) and propeller (13)；
Steering engine holder (3)；
Three sets of rudder operating mechanisms (2), often cover the rudder operating mechanism (2) include a steering engine (21), a steering control (22) and
One rudder piece (23)；Three sets of rudder operating mechanisms (2) are spaced apart around the propulsion gearing (12), and are fixed on described
On steering engine holder (3)；
Tapered shell (4), the integrated propulsive mechanism (1), three sets of rudder operating mechanisms (2) and steering engine holder (3) are all provided with
In the tapered shell (4).
2. a kind of three rudder formula tail integration structures of micro-unmanned submariner device as described in claim 1, it is characterised in that：Three sets
The rudder operating mechanism (2) is spaced apart around the propulsion gearing (12) in 120 degree.
3. a kind of three rudder formula tail integration structures of micro-unmanned submariner device as described in claim 1, it is characterised in that：It is described
Propulsion gearing (12) includes the motor side dog bone cup (121) being sequentially connected, transmission dog bone (122), propeller end dog bone cup
(123) and cardan shaft dynamic sealing assembly (124).
4. a kind of three rudder formula tail integration structures of micro-unmanned submariner device as claimed in claim 3, it is characterised in that：It is described
Cardan shaft dynamic sealing assembly (124) includes cardan shaft (124a), be sheathed on cardan shaft (124a) outer cardan shaft axle sleeve (124b),
Positioned at the propulsion axle bearing (124c) of axle sleeve rear and front end and positioned at the cardan shaft dynamic sealing O promoted on the inside of axle bearing (124c)
Type circle (124d).
5. a kind of three rudder formula tail integration structures of micro-unmanned submariner device as claimed in claim 4, it is characterised in that：It is described
Steering control (22) includes rudder push rod (221) and rudderpost dynamic sealing assembly (222).
6. a kind of three rudder formula tail integration structures of micro-unmanned submariner device as claimed in claim 5, it is characterised in that：It is described
Rudderpost dynamic sealing assembly (222) includes sequentially connected rudderpost (222a), rudderpost dynamic sealing O-ring (222b) and rudderpost crank
(222c), and it is sheathed on the rudderpost set (222d) of rudderpost (222a) and rudderpost dynamic sealing O-ring (222b) outside, the rudderpost is bent
Handle (222c) and the rudder push rod (221) are hinged, and the rudderpost (222a) is fixedly connected with the rudder piece (23).
7. a kind of three rudder formula tail integration structures of micro-unmanned submariner device as described in claim 1, it is characterised in that：
Coordinate system is established with the common place plane of the rudderpost (222a) of the three rudder pieces (23), with the rudderpost of the three rudder pieces (23)
(222a) extending line intersection point is coordinate origin, and horizontal direction is X-axis, and vertical direction is Y-axis；
The rudder piece (23) includes the first rudder piece (231), the second rudder piece (232) and third rudder piece (233), wherein first rudder
The rudderpost (222a) of piece (231) is located at X-axis negative direction, and the rudderpost (222a) of the second rudder piece (232) is located at X-axis positive direction,
And the first rudder piece (231) to rudderpost (222a) and the rudderpost (222a) of the second rudder piece (232) is in 30 with the X-axis
Spend angle, the rudderpost (222a) of the third rudder piece (233) is located at Y-axis positive direction and Chong Die with Y-axis.
8. a kind of three rudder formula tail integration structures of micro-unmanned submariner device as claimed in claim 7, it is characterised in that：
If the first rudder piece (231) corner is α, the second rudder piece (232) corner is β, third rudder piece (233) corner
For γ, allow thumb direction along rudderpost (222a) point coordinates origin of three rudder pieces (23), four directions for referring to curling meaning are α,
The positive direction of beta, gamma, negative direction are negative direction；
γ=0, α>0, β=- α<When 0, the micro-unmanned submariner device dive；
γ=0, α<0, β=- α>When 0, the micro-unmanned submariner device floats；
γ<0、α>0, β=α>When 0, the micro-unmanned submariner device is turned right；
γ>0、α<0, β=α<When 0, the micro-unmanned submariner device turns left.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721310345.2U CN207617947U (en) | 2017-10-12 | 2017-10-12 | Three rudder formula tail integration structures of micro-unmanned submariner device |
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| CN201721310345.2U CN207617947U (en) | 2017-10-12 | 2017-10-12 | Three rudder formula tail integration structures of micro-unmanned submariner device |
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ID=62825666
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111634410A (en) * | 2020-05-07 | 2020-09-08 | 北京航天控制仪器研究所 | Convenient small-size rudder cabin interior mounting structure who dismantles |
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2017
- 2017-10-12 CN CN201721310345.2U patent/CN207617947U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111634410A (en) * | 2020-05-07 | 2020-09-08 | 北京航天控制仪器研究所 | Convenient small-size rudder cabin interior mounting structure who dismantles |
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