RU213131U1 - Propulsion and steering module of a small underwater vehicle - Google Patents

Abstract

The utility model relates to the field of shipbuilding and can be used in the construction of small-sized floating vehicles, for example, autonomous uninhabited underwater vehicles.

The propulsion-steering module of the small-sized underwater vehicle contains a drive motor designed to rotate the propeller, and actuators for turning four rudders of the steering unit. The rudders of the apparatus are made in the form of a two-link structure, consisting of the main rudder and a movable flap. The rotation of each steering wheel is carried out by an independent actuator made in the form of a rod with the possibility of its rotation and connecting the electric motor of the actuator with the steering wheel through a bevel gear. Between the propeller and the steering block there is a nozzle containing a straightener, and sensors for registering their position in space are installed on the rods of the actuator.

The use of the utility model makes it possible to increase the maneuverability of the underwater vehicle, as well as the reliability of its operation.

Description

The utility model relates to the field of shipbuilding and can be used in the construction of small-sized floating vehicles, for example, autonomous uninhabited underwater vehicles.

Propulsion complexes for small underwater vehicles are known, containing a drive motor that provides rotation of the propeller shaft, a gearbox and a clutch (see, for example, RF patent for invention No. 2557291, IPC V63N 21/00, 2015). The disadvantage of the known propulsion complex is the lack of rudders, providing control of the movement of the underwater vehicle.

The closest to the claimed utility model in terms of technical essence and the achieved result is the propulsion and steering module of a small underwater vehicle, containing a drive motor for rotating the propeller and actuators connected to two pairs of rudders (see RF utility model patent No. 56325, MPK V63S 11/48, 2006). The disadvantage of this propulsion-steering module is the lack of maneuverability of the underwater vehicle on which this module is installed. The fact is that often during the operation of an underwater vehicle it is required to provide this vehicle with a sharp change in the direction of movement. The known design can provide the required maneuver for a long time and along a trajectory with a large radius, which is insufficient in some cases.

The purpose of this utility model is to increase the maneuverability of the underwater vehicle and the reliability of its operation.

This goal is achieved by the fact that in the known propulsion-steering module of a small-sized underwater vehicle, containing a drive motor for rotating the propeller and actuators connected to two pairs of rudders of the steering unit, according to the proposed utility model, all four rudders of the steering unit are made in the form of a two-link structure , including the main rudder and a flap movable relative to the rudder, while each rudder has an independent actuator made in the form of a rod with the possibility of its rotation and connecting the electric motor of this mechanism with the rudder through a bevel gear, and between the propeller and the steering block there is a nozzle containing straightener. A magnetic coupling is installed between the drive motor and the propeller, and sensors for recording their position are installed on the rods of the actuators. The implementation of the rudders in the form of a two-link structure (the main rudder and flaps movable relative to the rudder) makes it possible to direct the water flow from the propeller almost perpendicular to the movement of the vessel and, thereby, sharply reduce the circulation diameter of the underwater vehicle, which significantly increases its maneuverability. Installing a nozzle with a straightener between the propeller and the steering block makes it possible to straighten the structure of the water flow, make the flow more uniform, which improves the controllability of the underwater vehicle and increases its maneuverability. To prevent the penetration of water to the drive motor, a magnetic coupling is installed between it and the propeller, which reliably protects this motor from water. The installation of sensors on the rods of the actuators for recording their position and, accordingly, the position of the rudders makes it possible to reliably control the process of controlling the underwater vehicle.

The figure shows a view of the propulsion and steering module of a small underwater vehicle with the following designations:

1 - housing of the propulsion and steering module;

2 - drive motor;

3 - magnetic coupling;

4 - actuators;

5 - propeller shaft;

6 - propeller;

7 - rod of the actuator;

8 - bevel gear;

9 - nozzle;

10 - straightener;

11 - steering block;

12 - main steering wheel;

13 - flap.

The propulsion and steering complex of a small-sized vehicle consists of a housing 1, inside which a drive motor 2 is located. due to the interaction of magnetic fields. A separating screen is installed between the coupling halves, which ensures the tightness of the “dry” cavity where the electric motor is located. Behind the propeller 6 there is a nozzle 9 with a straightener 10. The straightener has eight profiled blades and is designed to straighten the swirling water flow from the propeller 6 and minimize the heeling moment. The module is closed by a steering unit 11, which includes four two-link rudders, consisting of the main rudder 12 and a flap 13 movable relative to the rudder, which provide high efficiency maneuvering of the underwater vehicle in the entire range of speeds. The rudders are controlled using four independent control mechanisms 4, each of which has its own electric motor (not shown in Fig.), a rod 7 for transmitting torque and a bevel gear 8. Sensors for registering their position are installed on the rods 7 (not shown in Fig. shown) to control the rudders.

Propulsion-steering module operates as follows. The torque from the drive motor 2 through the magnetic coupling 3 is transmitted to the shaft 5 and further to the propeller 6, which provides the module with movement in the aquatic environment. The module is controlled using the steering unit 11, by turning the four rudders. The rotation of the rudders is provided by actuators that drive the rods 7, which, in turn, transmit the torque to the bevel gear 8 that rotates the rudders.

The proposed technical solution allows to significantly increase the maneuverability of the underwater vehicle through the use of two-link rudders and a nozzle with a directing vane, as well as to increase the reliability of the module by using a magnetic coupling.

Claims (3)

1. The propulsion-steering module of a small-sized underwater vehicle, containing a drive motor for rotating the propeller and actuators connected to two pairs of rudders of the steering unit, characterized in that all four rudders of the steering unit are made in the form of a two-link structure, including the main rudder and a relatively movable flap rudder, wherein each rudder has an independent actuator made in the form of a rod with the possibility of its rotation and connecting the electric motor of this mechanism with the rudder through a bevel gear, and between the propeller and the steering block there is a nozzle containing a straightener. 2. The propulsion-steering module of a small underwater vehicle according to claim 1, characterized in that a magnetic coupling is installed between the drive motor and the propeller. 3. The propulsion-steering module of a small-sized underwater vehicle according to claim 1, characterized in that sensors for registering their position are installed on the rods of the actuators.

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