CN211391649U - Direction control device for underwater robot - Google Patents
Direction control device for underwater robot Download PDFInfo
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- CN211391649U CN211391649U CN201922409541.0U CN201922409541U CN211391649U CN 211391649 U CN211391649 U CN 211391649U CN 201922409541 U CN201922409541 U CN 201922409541U CN 211391649 U CN211391649 U CN 211391649U
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- rudder
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Abstract
The utility model belongs to the field of underwater robots, in particular to a direction control device for an underwater robot.A group of horizontal stable wings and a group of vertical stable wings are arranged on the outer surface of a rudder cabin shell, and the horizontal stable wings and the vertical stable wings are both arranged on the outer surface of the rudder cabin shell through a rudder cabin cover plate; the vertical rudder blade driving device and the horizontal rudder blade driving device are respectively arranged in a rudder cabin shell, a vertical rudder shaft and a horizontal rudder shaft are vertically arranged in the rudder cabin shell in a staggered manner, the vertical rudder shaft is connected with the vertical rudder blade driving device, two ends of the vertical rudder shaft penetrate out of the rudder cabin shell, and the vertical rudder blade positioned at the rear side of the vertical stable wing in the advancing direction is connected through a rudder connecting piece; the horizontal rudder shaft is connected with a horizontal rudder sheet driving device, two ends of the horizontal rudder shaft penetrate out of a rudder cabin shell, and the horizontal rudder sheet positioned on the rear side of the horizontal stable wing in the advancing direction is connected through a rudder connecting piece. The utility model discloses the perpendicular staggered arrangement of rudder axle of two directions can not take place to interfere during the rotation, and the high efficiency utilizes rudder cabin inner space.
Description
Technical Field
The utility model belongs to the underwater robot field, specifically speaking are direction control device for underwater robot.
Background
The underwater robot is a mobile underwater observation platform and is widely applied to various oceanic strong country sea areas in the world; the underwater robot direction control is an indispensable loop for realizing the motions with multiple degrees of freedom and a specific navigation mode. Most underwater robots have enough small resistance when ensuring the movement, most stern parts of the underwater robots are streamline, most devices for controlling the direction are arranged on the stern parts of the underwater robots, so the requirements on the volume are high, and the installation space of the devices in the rudder cabin is limited. Therefore, the design of the direction control device which is compact in structure, stable and reliable is of great significance to the underwater robot.
SUMMERY OF THE UTILITY MODEL
In order to satisfy underwater robot's user demand, the utility model aims to provide a direction control device for underwater robot. The direction control device utilizes the horizontal rudder shaft and the vertical rudder shaft to control the horizontal rudder and the vertical rudder, the two rudder shafts are mutually staggered and vertically arranged to avoid interference, and the transmission device is a parallelogram link mechanism and has a simple structure.
The purpose of the utility model is realized through the following technical scheme:
the utility model comprises a horizontal rudder sheet, a horizontal stabilizing wing, a rudder cabin shell, a rudder connecting piece, a rudder cabin cover plate, a vertical rudder sheet, a vertical stabilizing wing, a vertical rudder shaft, a horizontal rudder shaft, a vertical rudder sheet driving device and a horizontal rudder sheet driving device, wherein the outer surface of the rudder cabin shell is provided with a group of horizontal stabilizing wings and a group of vertical stabilizing wings which are all installed on the outer surface of the rudder cabin shell through the rudder cabin cover plate; the vertical rudder blade driving device and the horizontal rudder blade driving device are respectively arranged in a rudder cabin shell, the vertical rudder shaft and the horizontal rudder shaft are vertically arranged in the rudder cabin shell in a staggered manner, the vertical rudder shaft is connected with the vertical rudder blade driving device, two ends of the vertical rudder shaft penetrate out of the rudder cabin shell, and the vertical rudder blade positioned at the rear side of the vertical stable wing in the advancing direction is connected through a rudder connecting piece; the horizontal rudder shaft is connected with a horizontal rudder sheet driving device, two ends of the horizontal rudder shaft penetrate through a rudder cabin shell, and the horizontal rudder sheet positioned on the rear side of the horizontal stabilizing wing in the advancing direction is connected through a rudder connecting piece; the vertical rudder sheet driving device and the horizontal rudder sheet driving device respectively drive the vertical rudder shaft and the horizontal rudder shaft to rotate, so that the vertical rudder sheet and the horizontal rudder sheet are driven to rotate, and the direction control of the underwater robot is realized.
Wherein: the vertical rudder piece driving device and the horizontal rudder piece driving device have the same structure and respectively comprise a driving motor, a speed reducer, a motor connecting frame upper plate, a stud, a motor connecting frame lower plate, a transmission connecting rod and a transmission disc, wherein the motor connecting frame lower plate is arranged inside the rudder cabin shell; the vertical rudder shaft or the horizontal rudder shaft is penetrated by an upper motor connecting frame plate and a lower motor connecting frame plate, a transmission disc is connected to the vertical rudder shaft or the horizontal rudder shaft, and the output end of the speed reducer is connected with the transmission disc and is connected with the transmission disc connected to the vertical rudder shaft or the horizontal rudder shaft through a transmission connecting rod.
And the transmission disc at the output end of the speed reducer is connected with the transmission disc on the vertical rudder shaft or the horizontal rudder shaft through two transmission connecting rods to form a parallelogram connecting rod mechanism.
Round holes are formed in the two ends of the transmission connecting rod, round holes are formed in the position, connected with the transmission connecting rod, of the transmission disc, the round holes in the transmission connecting rod are connected with the round holes in the transmission disc through screws, and therefore the parallelogram connecting rod mechanism is formed.
The screw is provided with a locknut, and a gap is reserved between the locknut and the transmission connecting rod.
The transmission disc is provided with a through hole, and the outer edge of the through hole is provided with a key groove; the vertical rudder shaft or the horizontal rudder shaft is provided with a protrusion which is inserted into the key groove, so that the transmission disc drives the vertical rudder shaft or the horizontal rudder shaft to rotate.
The inside oil charge of rudder cabin shell, install the compensation oil bag on this rudder cabin end cover of rudder cabin shell, the inside and the inside of rudder cabin shell of compensation oil bag are linked together.
The rudder connecting piece comprises a rudder blade connecting part and a rudder shaft connecting part, one end of the rudder shaft connecting part is connected with the vertical rudder shaft or the horizontal rudder shaft, and the other end of the rudder shaft connecting part is connected with the vertical rudder blade or the horizontal rudder blade.
The rudder cabin cover plate is provided with two stable wing connecting parts, and the vertical stable wing or the horizontal stable wing is inserted between the two stable wing connecting parts and is fixed through screws.
The vertical rudder shaft and the horizontal rudder shaft are one whole or divided into two, when the vertical rudder shaft is divided into two, one end of each vertical rudder shaft penetrates out of the rudder cabin shell and is connected with a vertical rudder sheet, and the other end of each vertical rudder shaft is connected with a coupler; when the horizontal rudder shafts are divided into two, one end of each horizontal rudder shaft penetrates out of the rudder cabin shell and is connected with the horizontal rudder sheet, and the other end of each horizontal rudder shaft is connected with the horizontal rudder sheet through a coupler.
The utility model discloses an advantage does with positive effect:
1. the utility model discloses utilize horizontal rudder axle and perpendicular rudder axle to realize the manipulation of horizontal rudder piece and perpendicular rudder piece, and the rudder axle mutually perpendicular of two directions sets up, can not take place during the motion to interfere, compact structure can effectively utilize narrow and small space in the rudder cabin.
2. The utility model discloses set up the stationary vane before the rudder piece, not only can make underwater robot stably navigate by water, can also avoid underwater sundries such as pasture and water to twine and cause the hidden danger on the steering shaft.
3. The utility model discloses a parallelogram link mechanism couples together speed reducer output shaft and rudder axle, compares in gear drive, its simple structure, shared space is little, very is applicable to the inside narrow and small space of rudder cabin.
4. The utility model discloses a compensation oil pocket has been set up on the rudder cabin end cover, can reduce rudder cabin shell internal pressure and external hydraulic pressure's pressure differential, balanced internal and external pressure.
Drawings
FIG. 1 is a front view of the structure of the present invention;
FIG. 2 is a left side view of FIG. 1;
FIG. 3 is a schematic view of the internal structure of the rudder trunk shown in FIG. 2 with the end caps removed;
fig. 4 is a schematic perspective view of the vertical rudder blade driving device and the horizontal rudder blade driving device in fig. 3;
FIG. 5 is a front view of the structure of FIG. 4;
FIG. 6 is a schematic view of the transmission plate and the transmission link shown in FIGS. 4 and 5;
FIG. 7 is a schematic structural view of the rudder blade connecting part of the present invention;
fig. 8 is a schematic structural view of the rudder shaft connecting part of the present invention;
fig. 9 is a schematic structural view of the rudder trunk cover plate of the present invention;
wherein: the rudder comprises a horizontal rudder sheet 1, a horizontal stabilizer blade 2, a watertight connector 3, a compensation oil sac 4, a rudder cabin end cover 5, a rudder cabin shell 6, a rudder connector 7, a rudder cabin cover plate 8, a vertical rudder sheet 9, a vertical stabilizer blade 10, a driving motor 11, a speed reducer 12, a motor connecting frame upper plate 13, a stud 14, a motor connecting frame lower plate 15, a transmission connecting rod 16, a transmission disc 17, a vertical rudder shaft 18, a coupler 19, a rudder sheet connecting part 20, a bolt hole 21, a rudder shaft connecting part 22, a countersunk hole 23, a stabilizer blade connecting part 24, a horizontal shaft 25, a vertical rudder sheet driving device 26, a horizontal rudder sheet driving device 27, a boss A28 and a boss B29.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1-9, the present invention comprises a horizontal rudder sheet 1, a horizontal stabilizer 2, a watertight connector 3, a compensation oil sac 4, a rudder cabin end cover 5, a rudder cabin shell 6, a rudder connector 7, a rudder cabin cover plate 8, a vertical rudder sheet 9, a vertical stabilizer 10, a vertical rudder shaft 18, a horizontal rudder shaft 25, a vertical rudder sheet driver 26 and a horizontal rudder sheet driver 27, wherein a set of horizontal stabilizer 2 and a set of vertical stabilizer 10 are disposed on the outer surface of the rudder cabin shell 6, and the horizontal stabilizer 2 and the vertical stabilizer 10 are both mounted on the outer surface of the rudder cabin shell 6 through the rudder cabin cover plate 8; the vertical rudder piece driving device 26 and the horizontal rudder piece driving device 27 are respectively installed in the rudder cabin shell 6, the vertical rudder shafts 18 and the horizontal rudder shafts 25 are vertically arranged in the rudder cabin shell 6 in a staggered manner, and do not interfere with each other when rotating, so that the internal space of the rudder cabin shell 6 is efficiently utilized; the vertical rudder shaft 18 is connected with a vertical rudder sheet driving device 26, two ends of the vertical rudder shaft 18 penetrate through the rudder cabin shell 6, and are connected with a vertical rudder sheet 9 positioned at the rear side of the vertical stabilizer 10 in the advancing direction through a rudder connecting piece 7; the horizontal rudder shaft 25 is connected to a horizontal rudder blade drive device 27, both ends of the horizontal rudder shaft 25 are extended from the rudder trunk housing 6, and the horizontal rudder blade 1 located on the rear side in the traveling direction of the horizontal stabilizer 2 is connected to the rudder connector 7. The vertical rudder sheet driving device 26 and the horizontal rudder sheet driving device 27 respectively drive the vertical rudder shaft 18 and the horizontal rudder shaft 25 to rotate, so as to drive the vertical rudder sheet 9 and the horizontal rudder sheet 1 to rotate, and the direction control of the underwater robot is realized. The horizontal rudder sheet 1, the horizontal stabilizer blade 2, the vertical rudder sheet 9 and the vertical stabilizer blade 10 are all positioned on the outer side of the stern of the underwater robot.
In this embodiment four rudder trunk lids 8 are arranged evenly in circumferential direction on the outer surface of the rudder trunk housing 6 for fixing two vertical stabilizers 10 and two horizontal stabilizers 2. Each rudder trunk cover 8 of the present embodiment is provided with two stabilizer connecting portions 24, and the vertical stabilizer 10 or the horizontal stabilizer 2 is inserted between the two stabilizer connecting portions 24 and fixed by screws. The rudder trunk cover plate 8 of the present embodiment is circular, is uniformly provided with four countersunk holes 23 along the circumferential direction, and is fixed on the outer surface of the rudder trunk casing 6 by using countersunk screws.
The vertical rudder piece driving device 26 and the horizontal rudder piece driving device 27 of the present embodiment have the same structure, and both include a driving motor 11, a speed reducer 12, a motor connecting frame upper plate 13, a stud 14, a motor connecting frame lower plate 15, a transmission connecting rod 16 and a transmission disc 17, the motor connecting frame lower plate 15 is installed inside the rudder cabin shell 6, the motor connecting frame upper plate 13 is connected with the motor connecting frame lower plate 15 through the stud 14, the speed reducer 12 is installed on the motor connecting frame upper plate 13, the input end is connected with the driving motor 11, and the output end is located between the motor connecting frame upper plate 13 and the motor connecting frame lower plate 15; the vertical rudder shaft 18 or the horizontal rudder shaft 25 is penetrated by the motor connecting frame upper plate 13 and the motor connecting frame lower plate 15, the vertical rudder shaft 18 or the horizontal rudder shaft 25 is connected with a transmission disc 17, the output end of the speed reducer 12 is connected with the transmission disc 17, and the transmission disc 17 at the output end of the speed reducer 12 is connected with the transmission disc 16 on the vertical rudder shaft 18 or the horizontal rudder shaft 25 through two transmission connecting rods 16 to form a parallelogram connecting rod mechanism.
The upper plate 13 of the motor connecting frame of the embodiment is provided with two round holes for the output end of the speed reducer 12 and the vertical rudder shaft 18 or the horizontal rudder shaft 25 to extend out respectively, and round holes are distributed around the round holes extending out of the output end of the speed reducer 12 and are fixed with the speed reducer 12 through screws; the edge of motor link upper plate 13 is seted up a plurality of screw holes, and every screw hole all threaded connection has a double-screw bolt 14. The lower plate 15 of the motor connecting frame of the embodiment is provided with two upper round holes, wherein one round hole is used for installing a potentiometer, and the other round hole is used for extending out of the vertical rudder shaft 18 or the horizontal rudder shaft 25; the edge of the lower plate 15 of the motor connecting frame is provided with threaded holes with the same number, and the threaded holes are in threaded connection with the studs 14 one by one. The lower plate 15 of the motor connecting frame is provided with a boss A28, and three round holes are arranged on the boss A28 and beside the round hole for the vertical rudder shaft 18 or the horizontal rudder shaft 25 to extend out and are connected with the rudder cabin shell 6 through screws.
The two ends of the transmission connecting rod 16 of the embodiment are both provided with round holes, the transmission disc 17 of the embodiment is semicircular, and the outer side surfaces of the transmission disc 17 are in smooth transition; a round hole is formed in the position, connected with the transmission connecting rod 16, of the transmission disc 17, and the round hole in the transmission connecting rod 16 is connected with the round hole in the transmission disc 17 through a screw to form a parallelogram connecting rod mechanism; the screw is provided with a locknut, and a gap is reserved between the locknut and the transmission connecting rod 16 to ensure the normal work of the transmission connecting rod 16 and the transmission disc 17. The transmission disc 17 of the embodiment is provided with a through hole 29, and the outer edge of the through hole 29 is provided with a key groove 30; the output end of the speed reducer 12 is connected with one of the transmission discs 17, a protrusion is arranged on the vertical rudder shaft 18 or the horizontal rudder shaft 25, and the protrusion is inserted into a key groove 30 on the other transmission disc 17, so that the transmission disc 17 drives the vertical rudder shaft 18 or the horizontal rudder shaft 25 to rotate.
The vertical rudder shaft 18 and the horizontal rudder shaft 25 are one whole or divided into two, and the vertical rudder shaft 18 and the horizontal rudder shaft 25 are both two in the embodiment; one end of each vertical rudder shaft 18 penetrates through the rudder cabin shell 6 and is connected with the vertical rudder sheet 9, and the other end of each vertical rudder shaft is connected with the vertical rudder sheet 9 through a coupler 19; one end of each horizontal rudder shaft 25 penetrates out of the rudder cabin shell 6 and is connected with the horizontal rudder sheet 1, and the other end of each horizontal rudder shaft is connected with the horizontal rudder sheet 1 through a coupler 19.
The rudder connector 7 comprises a rudder blade connector 20 and a rudder shaft connector 22, one end of the rudder shaft connector 22 is connected with the vertical rudder shaft 18 or the horizontal rudder shaft 25, and the other end is connected with the vertical rudder blade 9 or the horizontal rudder blade 1 through the rudder blade connector 20. The rudder connector 7 of the present embodiment includes two rudder blade connection parts 20 and one rudder shaft connection part 22, and the two rudder blade connection parts 20 are respectively located at two sides of the other end of the rudder shaft connection part 22; the end of the rudder sheet connecting part 20 is U-shaped, and round holes are formed in two sides of the U-shaped opening end and are fixedly connected with the horizontal rudder sheet 1 or the vertical rudder sheet 9 through screws. The bottom of the horizontal rudder sheet 1 and the bottom of the vertical rudder sheet 9 are both provided with square grooves and round holes, are convenient to be connected with the rudder sheet connecting part 20 and are fixed through screws. One end of the rudder shaft connecting part 22 is in threaded connection with one end of the vertical rudder shaft 18 or the horizontal rudder shaft 25, and the other end is provided with a bolt hole 21 for connecting with the rudder sheet connecting part 20. The other ends of the vertical rudder shaft 18 and the horizontal rudder shaft 25 of the present embodiment are provided with a platform on a cylindrical surface, and are provided with a threaded hole and a pin hole to realize the connection between the rudder shaft and the coupling 19. The middle cylindrical surfaces of the vertical rudder shaft 18 and the horizontal rudder shaft 25 are provided with protrusions for matching with the key grooves 30 on the transmission disc 17.
The inside oil charge of the rudder cabin shell 6 of this embodiment, install compensation oil bag 4 and watertight connector 3 on the rudder cabin end cover 5 of this rudder cabin shell 6, compensation oil bag 4 is equipped with threaded glib talker, is provided with the screw hole on rudder cabin end cover 5, and compensation oil bag 4's glib talker is connected fixedly with the screw hole, and the inside of rudder cabin shell 6 of compensation oil bag 4 are linked together.
On the outer surface of the rudder trunk housing 6 of the embodiment, bosses B29 are provided at the positions where the vertical rudder shaft 18 and the horizontal rudder shaft 25 extend, and round holes are provided on the bosses B29 for the vertical rudder shaft 18 or the horizontal rudder shaft 25 to extend; threaded holes are formed around the round holes, and the rudder cabin cover plate 8 is connected with the rudder cabin shell 6 through countersunk screws.
The utility model discloses a theory of operation does:
taking the vertical rudder piece 9 as an example, during operation, two transmission discs 17 are connected end to end with two transmission links 16 to form a parallelogram link mechanism on a plane, the driving motor 11 in the vertical rudder piece driving device 26 drives the reducer 12 to rotate, and the parallelogram link mechanism formed by the transmission discs 17 and the transmission links 16 drives the rudder shaft, the coupler 19 and the rudder connector 7 to rotate, thereby driving the vertical rudder piece 9 to rotate. The horizontal rudder 1 rotates the same as the vertical rudder 9. The two vertical rudder shafts 18 and the two horizontal rudder shafts 25 are vertically and staggeredly installed, so that interference is avoided, space is not wasted, and the space utilization rate is extremely high.
The inside of the rudder cabin shell 6 is filled with oil, when the underwater robot works underwater at a set depth, the pressure of water acts on the compensation oil bag 4, oil in the compensation oil bag 4 is extruded into the rudder cabin shell 6, and the pressure in the rudder cabin shell 6 is increased, so that the pressure difference between the pressure in the rudder cabin shell 6 and the external water pressure is reduced, and the internal pressure and the external pressure are balanced.
Claims (10)
1. A direction control device for an underwater robot is characterized in that: the rudder comprises a horizontal rudder sheet (1), a horizontal stabilizing wing (2), a rudder cabin shell (6), a rudder connecting piece (7), a rudder cabin cover plate (8), a vertical rudder sheet (9), a vertical stabilizing wing (10), a vertical rudder shaft (18), a horizontal rudder shaft (25), a vertical rudder sheet driving device (26) and a horizontal rudder sheet driving device (27), wherein the outer surface of the rudder cabin shell (6) is provided with a group of horizontal stabilizing wings (2) and a group of vertical stabilizing wings (10), and the horizontal stabilizing wings (2) and the vertical stabilizing wings (10) are both installed on the outer surface of the rudder cabin shell (6) through the rudder cabin cover plate (8); the vertical rudder blade driving device (26) and the horizontal rudder blade driving device (27) are respectively installed in the rudder cabin shell (6), the vertical rudder shaft (18) and the horizontal rudder shaft (25) are vertically arranged in the rudder cabin shell (6) in a staggered manner, the vertical rudder shaft (18) is connected with the vertical rudder blade driving device (26), two ends of the vertical rudder shaft (18) penetrate out of the rudder cabin shell (6), and a vertical rudder blade (9) positioned at the rear side of the vertical stabilizing wing (10) in the advancing direction is connected through a rudder connecting piece (7); the horizontal rudder shaft (25) is connected with a horizontal rudder sheet driving device (27), two ends of the horizontal rudder shaft (25) penetrate through a rudder cabin shell (6), and the horizontal rudder sheet (1) positioned on the rear side of the horizontal stabilizing wing (2) in the advancing direction is connected through a rudder connecting piece (7); the vertical rudder sheet driving device (26) and the horizontal rudder sheet driving device (27) respectively drive the vertical rudder shaft (18) and the horizontal rudder shaft (25) to rotate, so that the vertical rudder sheet (9) and the horizontal rudder sheet (1) are driven to rotate, and the direction control of the underwater robot is realized.
2. The direction control device for the underwater robot as claimed in claim 1, wherein: the vertical rudder piece driving device (26) and the horizontal rudder piece driving device (27) are identical in structure and respectively comprise a driving motor (11), a speed reducer (12), a motor connecting frame upper plate (13), a stud (14), a motor connecting frame lower plate (15), a transmission connecting rod (16) and a transmission disc (17), the motor connecting frame lower plate (15) is installed inside the rudder cabin shell (6), the motor connecting frame upper plate (13) is connected with the motor connecting frame lower plate (15) through the stud (14), the speed reducer (12) is installed on the motor connecting frame upper plate (13), the input end of the speed reducer is connected with the driving motor (11), and the output end of the speed reducer is located between the motor connecting frame upper plate (13) and the motor connecting frame lower plate (15); the vertical rudder shaft (18) or the horizontal rudder shaft (25) is penetrated by a motor connecting frame upper plate (13) and a motor connecting frame lower plate (15), a transmission disc (17) is connected to the vertical rudder shaft (18) or the horizontal rudder shaft (25), the output end of the speed reducer (12) is connected with the transmission disc (17), and the transmission disc (17) is connected to the vertical rudder shaft (18) or the horizontal rudder shaft (25) through a transmission connecting rod (16).
3. The direction control device for the underwater robot as claimed in claim 2, wherein: and a transmission disc (17) at the output end of the speed reducer (12) is connected with the transmission disc (17) on the vertical rudder shaft (18) or the horizontal rudder shaft (25) through two transmission connecting rods (16) to form a parallelogram connecting rod mechanism.
4. The direction control device for the underwater robot as claimed in claim 3, wherein: round holes are formed in the two ends of the transmission connecting rod (16), round holes are formed in the position, connected with the transmission connecting rod (16), of the transmission disc (17), and the round holes in the transmission connecting rod (16) are connected with the round holes in the transmission disc (17) through screws to form the parallelogram connecting rod mechanism.
5. The direction control device for the underwater robot as claimed in claim 4, wherein: the screw is provided with a locknut, and a gap is reserved between the locknut and the transmission connecting rod (16).
6. The direction control device for the underwater robot as claimed in claim 2, wherein: a through hole (29) is formed in the transmission disc (17), and a key groove (30) is formed in the outer edge of the through hole (29); the vertical rudder shaft (18) or the horizontal rudder shaft (25) is provided with a protrusion which is inserted into the key groove (30), so that the transmission disc (17) drives the vertical rudder shaft (18) or the horizontal rudder shaft (25) to rotate.
7. The direction control device for the underwater robot as claimed in claim 1, wherein: the rudder cabin shell (6) is filled with oil, a compensation oil sac (4) is mounted on a rudder cabin end cover (5) of the rudder cabin shell (6), and the inside of the compensation oil sac (4) is communicated with the inside of the rudder cabin shell (6).
8. The direction control device for the underwater robot as claimed in claim 1, wherein: the rudder connecting piece (7) comprises a rudder blade connecting part (20) and a rudder shaft connecting part (22), one end of the rudder shaft connecting part (22) is connected with the vertical rudder shaft (18) or the horizontal rudder shaft (25), and the other end of the rudder shaft connecting part (20) is connected with the vertical rudder blade (9) or the horizontal rudder blade (1).
9. The direction control device for the underwater robot as claimed in claim 1, wherein: two stable wing connecting parts (24) are arranged on the rudder trunk cover plate (8), and the vertical stable wing (10) or the horizontal stable wing (2) is inserted between the two stable wing connecting parts (24) and is fixed through screws.
10. The direction control device for the underwater robot as claimed in claim 1, wherein: the vertical rudder shaft (18) and the horizontal rudder shaft (25) are integrated or divided into two, when the vertical rudder shaft (18) is divided into two, one end of each vertical rudder shaft (18) penetrates out of the rudder cabin shell (6) and is connected with the vertical rudder sheet (9), and the other end of each vertical rudder shaft is connected with the vertical rudder sheet (9) through a coupler (19); when the horizontal rudder shafts (25) are divided into two, one end of each horizontal rudder shaft (25) penetrates out of the rudder cabin shell (6) and is connected with the horizontal rudder sheet (1), and the other end of each horizontal rudder shaft is connected with the horizontal rudder sheet (1) through a coupler (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922409541.0U CN211391649U (en) | 2019-12-28 | 2019-12-28 | Direction control device for underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922409541.0U CN211391649U (en) | 2019-12-28 | 2019-12-28 | Direction control device for underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211391649U true CN211391649U (en) | 2020-09-01 |
Family
ID=72212872
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922409541.0U Withdrawn - After Issue CN211391649U (en) | 2019-12-28 | 2019-12-28 | Direction control device for underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211391649U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110979603A (en) * | 2019-12-28 | 2020-04-10 | 中国科学院沈阳自动化研究所 | Direction control device for underwater robot |
| CN113716003A (en) * | 2021-09-27 | 2021-11-30 | 中国人民解放军海军工程大学 | X-shaped rudder underwater vehicle and rudder clamp anti-sinking method thereof |
-
2019
- 2019-12-28 CN CN201922409541.0U patent/CN211391649U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110979603A (en) * | 2019-12-28 | 2020-04-10 | 中国科学院沈阳自动化研究所 | Direction control device for underwater robot |
| CN110979603B (en) * | 2019-12-28 | 2023-09-12 | 中国科学院沈阳自动化研究所 | Direction control device for underwater robot |
| CN113716003A (en) * | 2021-09-27 | 2021-11-30 | 中国人民解放军海军工程大学 | X-shaped rudder underwater vehicle and rudder clamp anti-sinking method thereof |
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