Underwater electric steering engine and rudder angle detection method

Abstract

The invention relates to a steering gear, in particular to an underwater electric steering engine and a rudder angle detection method. The underwater electric steering engine comprises an output shaft, an engine base, a worm wheel, a worm, a power system and a steering engine controller. The power system drives the output shaft to rotate through transmission of the worm and the worm wheel. The output shaft extends out of the end, provided with a shaft end cap, of the engine base, and the output shaft is provided with a limiting swing piece at the end. A swing groove is formed in the shaft end cap. The limiting swing piece swings in the swing groove. The steering engine controller is connected with a motor in the power system. An incremental encoder is arranged on the motor. The limiting swing piece and the steering engine controller are used for determining the rudder angle zero point position. The incremental encoder is used for detecting angle change values of a motor output shaft so as to determine the absolute position of the current rudder angle. The power system is arranged in a shell. The shell communicates with the engine base, and the interior of the shell is an oil-filled sealed space. An oil pipe is connected with the shell. The underwater electric steering engine is compact in overall structure and capable of meeting operation demands of full-ocean-depth low-speed large-torque and large-moment output.

Description

technical field [0001] The invention relates to a steering device, in particular to an underwater electric steering gear and a rudder angle detection method. Background technique [0002] In the prior art, propellers are usually installed on the stern of autonomous underwater robots to achieve propulsion, and steering gears are arranged in front of or behind the propellers to realize continuous motion control of multiple degrees of freedom in three-dimensional coordinates, such as orientation, depth, and height. , floating, diving, turning the bow, etc. The working mode of the steering gear of the autonomous underwater robot propeller working in shallow water is similar to that of torpedoes. As the diving depth increases, the requirements for the pressure-bearing capacity of the autonomous underwater robot body also rise sharply. Sealing the propulsion device, steering gear, etc. in the shell will eventually cause the shell to fail to provide sufficient residual positive bu...

AI Technical Summary

Problems solved by technology

The working mode of the steering gear of the autonomous underwater robot propeller working in shallow water is similar to that of torpedoes. As the diving depth increases, the requirements for the pressure-bearing capacity of the autonomous underwater robot body also rise sharply. Sealing the propulsion device, steering gear, etc. in the shell will eventually cause the shell to fail to provide sufficient residual positive buoyancy, so that the autonomous underwater robot can Robots cannot meet the navigation requirements, so deep-sea autonomous underwater robots usually adopt an open permeable structure, and the equipment, sensors, etc. are directly watertight and installed on the frame of the autonomous underwater robot, and additional positive buoyancy is provided through buoyancy materials

The traditional steering gear is designed to be large in size, and absolute sensors such as photoelectric encoders are installed on the output shaft end for rudder angle detection. In deep sea applications, the volume of the steering gear is too large and it is necessary to design a cylinder with a larger diameter for packaging. The large-diameter cylinder requires a large shell thickness to withstand deep sea water pressure. On the other hand, installing a photoelectric sensor at the output shaft end requires an additional sealed cabin, which further increases the volume and makes the structure complex.

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