Steering engine real rudder angle redundancy judgment device, steering engine and wave glider

A steering gear and redundant judgment technology, which is applied to steering with rudder and other directions, can solve the problems of heading control error, prone to error, difficult to judge the real rudder angle, etc., to achieve accurate control, eliminate inaccurate positioning, and ensure accuracy The effect of positioning

Inactive Publication Date: 2022-06-24
青岛海舟科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The steering gear of the wave glider needs to operate reliably in the ocean for a long time, so a non-contact magnetic coupling transmission is used. However, the traditional non-contact magnetic coupling transmission is difficult to judge the real rudder angle and is prone to errors. The real rudder If there is an error in the angle judgment, it will also lead to an error in the heading control.

Method used

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  • Steering engine real rudder angle redundancy judgment device, steering engine and wave glider
  • Steering engine real rudder angle redundancy judgment device, steering engine and wave glider
  • Steering engine real rudder angle redundancy judgment device, steering engine and wave glider

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Embodiment 1

[0032] like Figure 1-Figure 11 As shown in the figure, this embodiment provides a device for judging true rudder angle redundancy of the steering steering gear of a wave glider, including a linear displacement sensor 17 arranged inside the steering steering gear housing 14, a trigger switch 1, a follow-up trigger 2 and a control 16, the steering gear drives the rack 4 to reciprocate linearly through the linear motor 3, the rack 4 drives the gear 5 to rotate, and the gear 5 is magnetically coupled and connected to the output shaft 6 of the steering steering gear to realize the control of the rudder angle, and the linear displacement sensor 17 is used to measure the displacement of the rack 4 to obtain the rotation angle of the gear 5. The follow-up trigger 2 is arranged on the rack 4, and a trigger switch 1 is provided on each side of the follow-up trigger 2. The rack 4 moves to At the two extreme positions, the follow-up trigger 2 respectively triggers the two trigger switche...

Embodiment 2

[0038] like Figure 1-Figure 12 As shown, this embodiment provides a wave glider steering steering gear 200, including a steering steering gear housing 14, a linear motor 3, a rack 4, a gear 5 and an output shaft 6, and also includes the wave glider steering gear described above. The true rudder angle redundancy judgment device of the steering gear, the linear motor 3, the rack 4 and the gear 5 are all arranged in the steering gear housing 14, the linear motor 3 is connected with the rack 4, and is used to drive the rack 4 to reciprocate linearly. The gear 5 is rotatably connected to the steering gear housing 14 and meshes with the rack 4 . The gear 5 is magnetically coupled and connected to the output shaft 6 for transmission. The rotation of the gear 5 drives the output shaft 6 to rotate to drive the steering plate 15 . Among them, the magnetic coupling transmission such as Figure 4-Figure 9 As shown, an inner fixing frame 18 is fixedly connected inside the gear 5, and the...

Embodiment 3

[0040] like Figure 12 As shown, this embodiment provides a wave glider 100 , including the wave glider steering steering gear 200 described above, and the wave glider steering steering gear 200 is installed at the tail of the underwater tractor 10 .

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Abstract

The invention discloses a steering engine real rudder angle redundancy judgment device, a steering engine and a wave glider, and relates to the technical field of wave gliders, the steering engine real rudder angle redundancy judgment device comprises a linear displacement sensor, a trigger switch, a follow-up trigger and a controller which are arranged in a steering engine shell, and the steering engine drives a rack to do reciprocating linear motion through a linear motor; the rack drives the gear to rotate, the gear is in magnetic coupling transmission connection with an output shaft of the steering engine to control a rudder angle, the linear displacement sensor is used for measuring displacement of the rack to obtain a rotation angle of the gear, the follow-up trigger is arranged on the rack, and the two sides of the follow-up trigger are each provided with a trigger switch. When the rack moves to two limit positions, the follow-up trigger triggers the two trigger switches to be closed, and the linear displacement sensor and the trigger switches are electrically connected with the controller. The real rudder angle of the steering engine can be accurately judged, and the accuracy of course control of the wave glider is ensured.

Description

technical field [0001] The invention relates to the technical field of wave gliders, in particular to a redundant judging device for the true rudder angle of a steering steering gear, a steering steering gear and a wave glider. Background technique [0002] The wave glider is an autonomous sailing unmanned surface vessel that uses wave energy as the main driving force and adopts solar power generation. Navigation measurement equipment for environmental parameters such as sea surface meteorology. [0003] The steering gear of the wave glider needs to operate reliably in the ocean for a long time, so the non-contact magnetic coupling transmission is used, but the traditional non-contact magnetic coupling transmission is difficult to judge the real rudder angle, and errors are prone to occur. Errors in angle judgment will also lead to errors in heading control. SUMMARY OF THE INVENTION [0004] The purpose of the present invention is to provide a steering steering gear true...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63H25/26
CPCB63H25/26
Inventor 孙秀军桑宏强彭彬李灿王雷王力伟刘金成
Owner 青岛海舟科技有限公司
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