CN201099351Y - Modular steering gear for underwater vehicles - Google Patents

Abstract

The utility model provides a modular steering gear for an underwater navigation body. It includes three parts: the steering rudder module, the heave rudder module and the sealed box; the steering stepper motor and the heave stepper motor are set in the sealed box; the steering rudder module is set at the front end of the sealed box, and the two steering rudders pass through The rudder connecting shaft is installed on the output shaft of the steering stepping motor; the heave rudder module is located at the rear end of the sealed box. a heave rudder. The utility model is applied to an underwater vehicle, and can realize simultaneous control of a steering rudder and a heave rudder; it is driven by a stepping motor, and its transmission is precise. Moreover, the utility model has the advantages of small size, light weight, safe sealing, simple structure, flexible functions, and low manufacturing cost.

Description

Modular steering gear for underwater vehicles

(1) Technical field

The utility model provides a steering gear applied to an underwater vehicle.

(2) Background technology

The rudder is a thin streamlined object, which is very suitable for controlling the motion of underwater vehicles such as streamlined underwater robots moving at high speed. When the rudder blade is turned to change its position, the water pressure generates a torque on the vehicle through the rudder blade, and this torque makes the vehicle rotate to control its course. However, due to the limitations of the underwater vehicle's shape, weight, sealing conditions, and the installation position of the steering gear inside the underwater vehicle, the design of the steering gear system has become a difficult problem in the structural design of the underwater vehicle.

With the rapid development of underwater vehicle technology, the modular design of underwater vehicle and its internal components has become a trend in the structural design of underwater vehicles. The so-called modularization refers to: on the basis of functional analysis and decomposition of different products within a certain range, divide, design and produce a series of general modules or standard modules, and then select corresponding modules from these modules and supplement new ones. The specially designed modules and components are combined accordingly to form a standardized form of products that meet various needs. A module can be composed of a part, or it can be an assembly or part. A product should be divided into several modules. The modules of the modular structure should be interchangeable, which facilitates the combination of the modules to meet the requirements of different functions. Moreover, each module is a group of basic units with different uses and different structures, which can be selectively combined to meet different functional requirements to meet different needs. The modular design of the steering gear system can improve the reorganization and interchangeability of the steering gear structure, increase the flexibility and diversity of the steering gear functions, and enable the steering gear system to be manufactured and installed in an integrated manner, thereby reducing its manufacturing cost.

The patent application number is 200520098347.0, and the patent named "Integrated Small Steering Gear" uses an oil pump to drive a hydraulic cylinder to realize the rotation of the rudder blade, and is mainly used on ships and other water surface vehicles. It has complex structure, large volume, waste of energy and high cost.

(3) Contents of utility model

The purpose of this utility model is to provide an underwater vehicle that is small in size and light in weight, can be manufactured and installed in a modular manner, and can be directly applied in a neutral or slightly acidic liquid environment, and can simultaneously realize steering and heave motion control. Modular steering gear.

The purpose of this utility model is achieved like this: it comprises three parts of steering rudder module, heave rudder module and sealing box; The box end cover, the steering stepper motor, the steering rudder, the steering rudder module is located at the front end of the sealed box, and the steering stepper motor is set in the sealed box. The shaft extends out of the end cover of the box body, and a sealing support mechanism is arranged between the end cover of the box body. Both ends are sealed by O-rings; the heave rudder module consists of a heave stepping motor and a heave rudder. The output shaft of the heave stepping motor protrudes from one side of the sealed box, and a sealed support mechanism is set between the box and the box. Passed to two heave rudders.

The utility model can also include such structural features:

1. The seal support mechanism between the output shaft of the steering stepper motor and the end cover includes a seal end cover installed on the box end cover, an O-ring between the seal end cover and the end cover, and an O-ring arranged on the seal Skeleton oil seal and stainless steel bearing between the end cover and the steering rudder connecting shaft.

2. The steering rudder is installed on the connecting shaft of the steering rudder through a coupling, and a buffer element is arranged between the coupling and the stainless steel bearing.

3. The sealing support mechanism between the output shaft of the steering stepper motor and the end cover of the box body includes a skeleton oil seal installed on the end cover of the box body.

4. There are two parallel bosses on the inner side of a box end cover.

5. The sealing support mechanism between the output shaft of the heave stepper motor and the side wall of the box includes a sealing end cover installed on the side wall of the box, and an O-shaped seal between the sealing end cover and the side wall of the box. There are skeleton oil seals and stainless steel bearings between the ring, the sealing end cover and the connecting shaft of the motor.

6. The sealing support mechanism between the output shaft of the heave stepper motor and the side wall of the box includes a skeleton oil seal installed on the side wall of the box.

The utility model has the advantages of:

1. Simultaneously realize the heave rudder and steering rudder rotation.

Many steering gears are designed only for individual heave rudders or steering rudders. This steering gear system can simultaneously drive the heave rudders and steering rudders to operate. It can be coupled and cooperate or work independently, which improves the working performance of the steering gear.

2. Modular structure design

The steering gear system is composed of three modules, which can be manufactured and installed in an integrated way. The cost is cheap, and the functional modules can be easily replaced to realize the restructuring of the steering gear structure. This also enables the steering gear system to adapt to various work requirements and enriches the steering gear. function.

3. Large steering moment with double rudder blades

It can be seen from the rudder force calculation formula that the steering moment generated by the rudder blade is proportional to its front flow area. The utility model installs double steering rudder blades symmetrically in each direction without increasing the volume of the entire steering gear. Even if the rudder The force of the machine is more balanced and stable, and the torque value is increased, which improves the efficiency of the steering gear.

4. The functions of heave rudder and steering rudder can be interchanged.

This steering gear system adopts the design scheme that the steering rudder is at the front and the heave rudder is at the rear. However, when the working environment requires it, the steering rudder and the heave rudder can also be interchanged so that the heave rudder is at the front and the steering rudder is at the rear. , to improve the adaptability of the steering gear system. Moreover, since the heave rudder blades and the steering rudder blades of this system are vertically and symmetrically distributed to each other, if the vehicle rolls or capsizes during operation, the heave rudder blades and the steering rudder blades can exchange roles immediately to ensure navigation The body continues to move forward, completes the return mission, and prevents accidents from happening.

5. It is not only suitable for low-speed and small underwater vehicles, but also suitable for high-speed and large-scale underwater vehicles.

According to the knowledge of hydrodynamics, when the moment of inertia of the underwater vehicle is large (proportional to the square of the mass and the radius of inertia), the required deflection moment is large; The steering moment is proportional to the square of the sailing speed of the underwater vehicle. Therefore, the moment on the rudder blade of the low-speed and small underwater vehicle is small; the moment on the rudder blade of the high-speed and large underwater vehicle is large. The utility model provides different implementations applicable to the above two situations: as can be seen in the steering gear structure shown in accompanying drawing 3, a buffer element is arranged between each stainless steel bearing and the coupling (or bevel gear shaft), To offset the axial force of the rudder blade, and the stainless steel bearing and skeleton oil seal can absorb and offset the radial force of the rudder blade, so that the entire steering gear system can withstand a large range of external load fluctuations. This embodiment is suitable for rudder The working environment with heavy force on the blade; it can be seen from the structure of the steering gear shown in Figures 6 and 7 that the output shaft of the stepping motor is directly connected to the connecting shaft, which simplifies the stainless steel bearing and the buffer element. This embodiment is suitable for the rudder blade Working conditions with low stress.

6. Compact structure, small size and light weight.

The utility model fully considers the miniaturization of the structure, and has a compact structure design. The size of the sealed box is only slightly larger than the external dimensions of the two driving motors. The specific position of the rudder blade can also be guaranteed by changing the length of the rudder shaft.

7. Precise angle control and self-locking of stepping motor.

Many steering gears use complex mechanisms to achieve precise angle control of the rudder blades. This steering gear uses a stepping motor as the core drive component, which can achieve precise angle control and necessary self-locking functions. While improving the control efficiency of the steering gear, A complicated control system is also omitted.

8. It provides a new solution for other mechanisms that need to realize the simultaneous operation of vertical output shafts.

In harsh and narrow industrial and mining environments such as humidity and dust, other mechanisms that can realize the simultaneous operation of mutually perpendicular output shafts are often required. The utility model provides a new solution for it.

In view of the shortcomings of most current underwater vehicles such as steering and heave rudder separation, the steering gear structure is complex, the mass is large and the torque is small, we use modular technology to develop this modular steering gear system to make it integrated steering , heave and heave rudder control in one body, which simplifies the internal structure of the vehicle body, makes the functions of the steering gear more flexible and diverse, and the double rudder blade control in each direction enables the vehicle body to obtain a stronger deflection moment, and the modular design greatly improves The reliability and interchangeability of the steering gear system make the integrated manufacture and installation of the steering gear system possible, and reduce the manufacturing cost of the steering gear system. The research and development of the steering gear system has opened up the design idea of the underwater vehicle steering gear, and has made further attempts in the miniaturization and modularization of the underwater vehicle, which plays an important role in reducing energy consumption and improving propulsion efficiency. exploration value.

The utility model is applied to an underwater vehicle, and can realize simultaneous control of a steering rudder and a heave rudder; it is driven by a stepping motor, and its transmission is precise. Moreover, the utility model has the advantages of small size, light weight, safe sealing, simple structure, flexible functions, and low manufacturing cost.

(4) Description of drawings

Fig. 1 is the front view of the profile of the present utility model;

Fig. 2 is the top view of Fig. 1;

Fig. 3 is a structural diagram of the steering rudder module of the present utility model;

Fig. 4 is a schematic structural view of Embodiment 1 of the present utility model;

Fig. 5 is a structural diagram of the heave rudder module;

Fig. 6 is a schematic structural view of Embodiment 2 of the present utility model;

Fig. 7 is a structural schematic diagram of Embodiment 3 of the present utility model.

(5) Specific implementation methods

The utility model is described in more detail below in conjunction with accompanying drawing example:

The modular steering gear of the underwater vehicle of the utility model is composed of three parts: a steering rudder module, a heave rudder module and a sealed box. The three parts are independent of each other in function and do not interfere with each other, which not only ensures the stable and reliable operation of the steering gear system, but also can be adjusted freely; when necessary, it can be disassembled to further simplify the structure of the navigation body.

Combined with Figures 1, 2, 3 and 4, the steering rudder module is basically a symmetrical structure up and down, and the lower structure is taken for illustration. The lower structure consists of an O-ring 1, a sealing end cover 2, a steering rudder connecting shaft 3, and a steering rudder blade 4. Coupling 5, buffer element 6, stainless steel bearing 7, skeleton oil seal 8, box end cover I9 and stepping motor 10, etc. The sealing end cover 2 is fixedly connected on the box end cover I9, and realizes the static sealing inside and outside of the steering gear through the O-ring 1. The coupling 5 connects the steering rudder connecting shaft 3 and the steering rudder blade 4, and the steering rudder connecting shaft 3 is installed on the output shaft of the stepping motor 10, so that the power of the stepping motor 10 passes through the steering rudder connecting shaft 3 and the coupling. The shaft joint 5 is finally transmitted to the steering rudder blade 4, thereby realizing the free rotation of the steering rudder of the steering gear system. The steering rudder connecting shaft 3 is positioned through the stainless steel bearing 7 installed on the sealing end cover 2, and the dynamic sealing inside and outside the steering gear is realized through the skeleton oil seal 8. The stainless steel bearing 7 and the skeleton oil seal 8 are both nested in the sealing end cap 2. The buffer element 6 is sandwiched between the coupling 5 and the stainless steel bearing 7, and is set on the steering rudder connecting shaft 3 to transmit the radial force on the steering rudder blade 4. The upper structure of the steering rudder module is basically the same as above, except that the box end cover II13 is different from the box end cover I9, see attached drawings 3 and 4. In order to provide the installation interface for the stepper motor 10, two parallel bosses are designed inside the box end cover I9, so that the stepper motor 10 can be precisely fixed thereto and installed inside the steering gear. In addition, the stepper motor 10 is a synchronous output motor at both ends, the upper output shaft drives the upper mechanism of the steering rudder module, and the lower output shaft drives the lower mechanism of the steering rudder, so the upper and lower steering rudder blades will work synchronously to improve the steering efficiency of the vehicle. Stabilize the operation of the aircraft body.

Combining Figure 4 and Figure 5, the heave rudder module is composed of a stepper motor 14, a sealing end cover 15, an O-ring 16, a skeleton oil seal 17, a stainless steel bearing 18, a bevel gear shaft 19, a motor connecting shaft 20, and a heave rudder. Shaft I21, bevel gear pair 22, 23, buffer 24, heave rudder blade 25, coupling 26, buffer element 27, heave rudder bearing 28, bearing bracket 29, coupling 30, heave rudder connecting shaft II31 and so on. The stepper motor 14 is fixed inside the steering gear, and its output shaft transmits the rotary motion to the bevel gear pair 22, 23 through the motor connecting shaft 20 and the bevel gear shaft 19 connected thereto. The motor connecting shaft 20 realizes the dynamic sealing inside and outside of the steering gear through the skeleton oil seal 17, and realizes the positioning installation with the sealing end cover 15 through the stainless steel bearing 18, and the stainless steel bearing 18 and the skeleton oil seal 17 are all nested in the sealing end cover 15. The sealing end cover 15 is fixed on the sealing box 11 of the steering gear, and realizes the static sealing inside and outside of the steering gear through an O-ring 16 . The buffer member 24 is sleeved on the motor connecting shaft 20 and sandwiched between the stainless steel bearing 18 and the bevel gear shaft 19 . Because one of the gears in the bevel gear pair 22, 23 is installed on the end of the bevel gear shaft 19, and the other is installed on the middle part of the heave rudder connecting shaft I21, then the rotary motion drives the heave rudder after the bevel gear pair 22, 23 changes direction. The connecting axis I21 moves. The heave rudder connection shaft I21 and the heave rudder connection shaft II31 are coaxially connected through the coupling 30, and the two are respectively sleeved in two heave rudder bearings 28 to realize their positioning and installation, while two ends are covered with two The coupling 26 is connected with two heave rudder blades 25. In addition, a buffer element 27 is installed between each coupling 26 and the heave rudder bearing 28 to transmit the axial force on the heave rudder blade 25. . Two heave rudder bearings are nested in the bearing bracket 29 installed on the box body 11 to realize the complete connection with the whole steering gear. The rotary motion of stepper motor 14 is just finally transmitted on the heave rudder blade 25 like this, drives the operation of steering gear system heave rudder. Similarly, the design of the double heave rudder blades not only takes into account the principle of force balance but also improves the steering efficiency of the vehicle.

The sealed box is composed of a box 11 and a special O-ring 12 and the like. The box body 11 is a rectangular box body with openings at both ends, which provides an installation carrier for the stepper motor 14, the sealing end cover 15 and the heave rudder bearing 28, and is connected to the box body end cover 19 by two O-shaped sealing rings 12 respectively. It realizes static sealing and closing with the box end cover II13, so that the heave rudder module and the steering rudder module are organically connected to form a complete steering gear system. The entire sealed box provides an installation platform for the heave rudder module and the steering rudder module, and seals and protects the core drive unit of the two modules, saving the space of the steering gear. At the same time, they do not interfere with each other, work independently, and are easy to reassemble, making The functions of the steering gear are flexible and diverse.

The above is only a specific embodiment of the present utility model, and the present utility model can also adopt other specific embodiments according to needs. The second embodiment of the utility model is simplified on the basis of the first embodiment. When the force on the steering rudder blade is small, the steering rudder module is replaced on the basis of the above-mentioned specific implementation methods in combination with the characteristics of modularization, and a second implementation mode is produced, see accompanying drawing 6 for details. The steering rudder module is composed of steering rudder blade 4, coupling 5, skeleton oil seal 8, box end cover I9, long output shaft stepper motor 10, box end cover II13, etc. The output shafts on both sides of the stepping motor 10 with synchronous output at both ends protrude from the box end cover I9 and the box end cover II13 equipped with the skeleton oil seal 8 respectively, and the coupling 5 is directly installed on both sides of the stepping motor 10 On the output shaft, it is connected with the steering rudder blade 4. In this way, the power of the stepper motor 10 is directly transmitted to the steering rudder blade 4 through the coupling 5, thereby realizing the free rotation of the steering rudder of the steering gear system. It can be seen that the force transmitted from the steering rudder blade 4 through the coupling 5 is directly applied to the output shaft of the motor, but since the steering rudder is less stressed, it will not affect the performance of the motor. It can be seen from Figures 3, 4, and 6 that the number of components of the steering rudder module has been reduced from the original 11 to 6, and the original support and static sealing parts have been removed, which further simplifies the structure and facilitates manufacturing and assembly . It can be seen from Figures 4 and 6 that, except for the replacement of the steering rudder module, no changes have been made.

When the force on the steering rudder and the heave rudder is very small, a third embodiment can be adopted, see accompanying drawing 7 for details. On the basis of the second embodiment, the side where the sealing box is connected to the heave rudder module is changed to directly cooperate with the skeleton oil seal 17; in the heave rudder module, the output shaft of the stepping motor 14 is lengthened to simplify the sealing End cover 15, O-ring seal 16, stainless steel bearing 18, motor connecting shaft 20, retaining skeleton oil seal 17, bevel gear shaft 19, heave rudder connecting shaft I21, bevel gear pair 22, 23, buffer 24, heave rudder Leaf 25, shaft coupling 26, buffer element 27, heave rudder bearing 28, bearing bracket 29, shaft coupling 30, heave rudder connecting shaft II31. Because the force of the heave rudder is very small, the meshing force of the bevel gear pair 22, 23 need not be very large, and the power delivered to the output shaft of the stepper motor 14 through the bevel gear shaft 19 will not affect the motor performance.

It can be seen from the above description that in actual implementation, according to the different working environments, only part of the modules in the utility model can be replaced to achieve the purpose of mode conversion.

Claims (9)

1. A modular steering gear for an underwater vehicle, which includes three parts: a steering rudder module, a heave rudder module, and a sealed box; Composition; the composition of the steering rudder module includes the box end cover, the steering stepping motor, and the steering rudder. The steering rudder module is located at the front end of the sealed box and the steering stepping motor is set in the sealed box. The output shafts at both ends of the steering stepper motor protrude from the end cover of the box body, and a sealing support mechanism is arranged between the end cover of the box body, and the two steering rudders are installed on the output shaft of the steering stepper motor through the steering rudder connecting shaft. The end covers of the box are installed at both ends of the box and sealed by O-rings; the heave rudder module consists of a heave stepping motor and a heave rudder, and the heave rudder module is located at the rear end of the sealed box. The motor is set in the sealed box, and the output shaft of the heave stepper motor protrudes from one side of the sealed box, and a sealed support mechanism is set between the box and the box. The power output by the heave stepper motor is steered through the bevel gear pair. After that, it is transmitted to two heave rudders through the heave rudder connecting shaft. 2. The modular steering gear of underwater vehicle according to claim 1, characterized in that: the sealing support mechanism between the output shaft of the steering stepping motor and the end cover includes a box mounted on the end cover The sealing end cover, the O-ring between the sealing end cover and the end cover, the skeleton oil seal and the stainless steel bearing arranged between the sealing end cover and the steering rudder connecting shaft. 3. The modular steering gear of underwater vehicle according to claim 2, characterized in that: the steering rudder is installed on the steering rudder connecting shaft through a coupling, and a buffer element is arranged between the coupling and the stainless steel bearing . 4. The modular steering gear of underwater vehicle according to claim 1, characterized in that: the sealing support mechanism between the output shaft of the steering stepper motor and the end cover of the box includes a seal mounted on the end cover of the box The upper skeleton oil seal. 5. The modular steering gear for underwater vehicles according to any one of claims 1-4, characterized in that: there are two parallel bosses on the inner side of a box end cover. 6. The modular steering gear for underwater vehicles according to any one of claims 1-4, characterized in that: the sealing support mechanism between the output shaft of the heave stepper motor and the side wall of the box body includes The sealing end cover installed on the side wall of the box body, there is an O-shaped sealing ring between the sealing end cover and the side wall of the box body, and there is a skeleton oil seal and a stainless steel bearing between the sealing end cover and the connecting shaft of the motor. 7. The modular steering gear of underwater vehicle according to claim 5, characterized in that: the sealing support mechanism between the output shaft of the heave stepping motor and the side wall of the box includes a seal mounted on the side of the box The sealing end cover on the wall, an O-ring seal is arranged between the sealing end cover and the side wall of the box body, and a skeleton oil seal and a stainless steel bearing are arranged between the sealing end cover and the connecting shaft of the motor. 8. The modular steering gear for underwater vehicles according to any one of claims 1-4, characterized in that: the sealing support mechanism between the output shaft of the heave stepping motor and the side wall of the box includes Skeleton oil seal installed on the side wall of the box. 9. The modular steering gear of underwater vehicle according to claim 5, characterized in that: the sealing support mechanism between the output shaft of the heave stepper motor and the side wall of the box includes a seal mounted on the side of the box Skeleton oil seal on the wall.

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