Submersible and submersible tail rudder adjustment mechanism based on linear transmission

Abstract

The present invention discloses a submersible and a submersible tail rudder adjustment mechanism based on linear transmission. The tail rudder adjustment structure includes a submersible tail shell, a first chuck, a second chuck, a linear magnetic coupling motor and a tail rudder assembly component. The first chuck and the second chuck are respectively fixedly installed in the clamping groove of the submersible tail shell. The tail of the linear magnetic coupling motor is hingedly connected to the first chuck, the telescopic head of the linear magnetic coupling motor is hingedly connected to a side wing plate in the tail rudder assembly component, and the tail rudder assembly component is hingedly connected to the second chuck. The present invention realizes the rotation and swing of the tail rudder around the rotation center by means of axial magnetic coupling and hinged connecting rod, realizes the rapid adjustment of the vertical pitch or horizontal heading of the underwater submersible attitude, and has the characteristics of fast maneuvering speed, low power consumption, large swing torque and high reliability.

Description

Technical Field

[0001] The present invention relates to the technical field of autonomous underwater submersibles, and in particular to a submersible and a submersible tail rudder adjustment mechanism based on linear transmission. Background Art

[0002] As the development of the ocean becomes more frequent and in-depth, the application of underwater submersibles is becoming more and more extensive, and the types are increasing. The navigation of underwater submersibles requires that they must have a high degree of autonomy and be able to adjust their attitude and maneuver quickly according to the set goals. Since the shape design of underwater submersibles usually takes into account the drag reduction effect of water flow, their shells are often designed as low-drag streamlined rotating bodies. Therefore, the tail fin plays an important role in increasing the balance stability of underwater submersibles under water flow and changing their underwater attitude.

[0003] Currently, there are usually two ways to change the attitude of an underwater submersible: the first is to adjust the pitch attitude of the submersible by changing the center of gravity of the submersible. This method is often used in underwater gliders (AUGs) with slower sailing speeds and has the characteristics of low power consumption, low noise and easy operation. The second is to adjust the pitch and heading attitude of the submersible by changing the yaw angle of the tail rudder. This method is often used in AUVs with fast propulsion and has the characteristics of high stability and high steering adjustment accuracy.

[0004] As for changing the attitude of a submersible by changing the yaw angle of the tail rudder, the commonly used method is to use a rotating motor to directly drive the tail rudder plate to rotate around the rotating shaft through a dynamic seal or a disc rotating magnetic coupling to change the yaw angle of the tail rudder plate, and use the fluid dynamics of the relative water flow to change the force on the tail, so that it rotates up and down or swings left and right around the center of buoyancy of the submersible, so as to achieve adjustment of the attitude of the submersible.

[0005] The prior art uses a rotating DC motor for direct drive. If a dynamic seal drive is used, the large radial extrusion friction between the motor output shaft and the radial sealing ring will lead to high power consumption of the motor and high noise generated by friction. In addition, the dynamic seal will age and corrode with the increase of diving depth and the long-term use of the sealing ring, and there is a risk of motor leakage. If a disc-type rotating magnetic coupling is used, the isolation surface between the two coupled magnetic rotors is a rotating body curved surface, which makes the coupling torque small. Moreover, as the diving depth increases, the thickness of the isolation curved plate is correspondingly designed to be thicker, resulting in a significant reduction in the torque of the magnetic coupling transmission. When the submersible moves at high speed, the torque is not enough to drive the tail rudder plate to overcome the fluid dynamics of the relative water flow and swing. Summary of the invention

[0006] Based on this, the present invention provides a submersible and a submersible tail rudder adjustment mechanism based on linear transmission to solve the technical problem of insufficient torque of the rotary magnetic coupling transmission.

[0007] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solutions:

[0008] A submersible tail rudder adjustment mechanism based on linear transmission, comprising a submersible tail shell, a first chuck, a second chuck, a linear magnetic coupling motor and a tail rudder assembly component, wherein the first chuck and the second chuck are respectively fixedly mounted in the card slots of the submersible tail shell, the tail of the linear magnetic coupling motor is hingedly connected to the first chuck, the telescopic head of the linear magnetic coupling motor is hingedly connected to a side wing plate in the tail rudder assembly component, and the tail rudder assembly component is hingedly connected to the second chuck.

[0009] As described above, the tail rudder adjustment mechanism of a submersible based on linear transmission, the tail rudder assembly assembly includes a first wing plate and a second wing plate, and the linear magnetic coupling motor drives the first wing plate and the second wing plate to swing through the axial movement of the telescopic rod.

[0010] As described above, in the submersible tail rudder adjustment mechanism based on linear transmission, the linear magnetic coupling motor drives the first wing plate and the second wing plate to swing in the first direction through the axial movement of the telescopic rod, and the submersible rotates around the direction of its axis, and the linear magnetic coupling motor drives the first wing plate and the second wing plate to swing in the second direction through the axial movement of the telescopic rod.

[0011] As described above, in the submersible tail rudder adjustment mechanism based on linear transmission, the first direction is perpendicular to the second direction.

[0012] As described above, the tail rudder adjustment mechanism of a submersible based on linear transmission, the tail rudder assembly assembly includes a third wing plate and a fourth wing plate, the first wing plate is arranged opposite to the second wing plate, and the third wing plate is arranged opposite to the fourth wing plate.

[0013] As described above, the tail rudder adjustment mechanism of a submersible based on linear transmission, the linear magnetic coupling motor includes a tail end cover, an intermediate cylinder, a linear motor mounting bracket, a linear motor, a connecting cylinder, an outer magnetic ring, a sealing ring, an isolation sleeve, a guide support and an inner magnetic ring telescopic rod, the tail end cover and the intermediate cylinder, the sealing ring and the isolation sleeve are combined to form a static sealed cabin, the linear motor mounting bracket is fixedly connected to the intermediate cylinder, the linear motor is mounted on the linear motor mounting bracket, the linear motor telescopic shaft is fixedly connected to one end of the connecting cylinder, and the other end of the connecting cylinder is fixedly connected to the outer magnetic ring, the inner wall of the connecting cylinder can slide along the outer wall of the isolation sleeve, the guide support is located on the isolation sleeve, and the inner magnetic ring telescopic rod and the guide support can slide axially.

[0014] A submersible, comprising the above-mentioned tail rudder adjustment mechanism.

[0015] Compared with the prior art, the advantages and positive effects of the present invention are:

[0016] The present invention utilizes axial magnetic coupling and hinged connecting rods to realize the rotation and swing of the tail rudder around the rotation center, realizes the rapid adjustment of the vertical pitch or horizontal heading of the underwater submersible attitude, and has the characteristics of fast maneuvering speed, low power consumption, large swing torque and high reliability. The present invention adopts a multi-link method to realize the rotation and swing of the tail rudder around the hinged support axis. The tail rudder of the present invention is integrally packaged.

[0017] The present invention realizes the non-contact transmission of the thrust (axial force) of the linear motor by adopting the axial magnetic coupling method, and can be used in the deep sea. The transmitted thrust can drive the tail rudder to rotate around the rotation center as a whole, realize the up and down or left and right swing of the tail rudder, and realize the change of the pitch of the underwater submersible in the vertical plane and the heading in the horizontal plane by the fluid dynamic effect of the water flow. The present invention can be used for the attitude adjustment of unmanned underwater submersibles such as underwater gliders (AUGs), AUVs and torpedoes during movement.

[0018] Experiments have shown that the linear magnetic coupling axial force of the present invention can reach 60N. When the lever arm L is 80mm, it can generate a swing torque of 4.8N*m, which is in line with the tail rudder swing adjustment of the submersible underwater, especially in the deep sea. It has the advantages of large adjustment torque, low power consumption, deep underwater working depth, stable and reliable swing, etc.

[0019] After reading the specific embodiments of the present invention in conjunction with the accompanying drawings, other features and advantages of the present invention will become more clear. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 It is a cross-sectional perspective view of a tail rudder adjustment mechanism according to a specific embodiment of the present invention;

[0022] Figure 2 It is a cross-sectional plan view of a tail rudder adjustment mechanism according to a specific embodiment of the present invention;

[0023] Figure 3 for Figure 2 Sectional view along AA direction;

[0024] Figure 4 for Figure 3 Enlarged view of point C;

[0025] Figure 5 This is a schematic diagram of the magnetic pole arrangement;

[0026] Figure 6 for Figure 2 Cross-sectional view along BB direction.

[0027] Description of reference numerals:

[0028] 1-first chuck 2-linear magnetic coupling motor 3-second chuck 4-tail rudder assembly 5-submersible tail shell; 6-tail end cover 7-intermediate cylinder 8-linear motor mounting bracket 9-linear motor 10-connecting cylinder 11-outer magnetic ring 12-sealing ring 13-isolation sleeve 14-guide support 15-inner magnetic ring telescopic rod 16-pin shaft 17-open pin 18-first rotating shaft 19-second rotating shaft. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0030] It should be noted that in the description of the present invention, the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings, which are only for the convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0031] like Figure 1 , 2 As shown, a submersible tail rudder adjustment mechanism based on linear transmission includes a submersible tail shell 5, a first chuck 1, a second chuck 3, a linear magnetic coupling motor 2 and a tail rudder assembly component 4.

[0032] The first chuck 1 and the second chuck 3 are respectively fixedly mounted in the slots of the rear shell 5 of the submersible.

[0033] The tail of the linear magnetic coupling motor 2 is hingedly connected to the first chuck 1, the telescopic head of the linear magnetic coupling motor 2 is hingedly connected to a side wing plate in the tail rudder assembly component 4, and the tail rudder assembly component 4 is hingedly connected to the second chuck 3, so that the overall combination is in the form of a multi-link.

[0034] The tail rudder assembly component includes a first wing plate and a second wing plate. The linear magnetic coupling motor 2 drives the first wing plate and the second wing plate to swing through the axial movement of the telescopic rod.

[0035] The linear magnetic coupling motor 2 drives the first wing plate and the second wing plate to swing in the first direction by axial movement of the telescopic rod; the submersible rotates around the direction of its axis, and the linear magnetic coupling motor 2 drives the first wing plate and the second wing plate to swing in the second direction by axial movement of the telescopic rod. Preferably, the first direction is perpendicular to the second direction.

[0036] The tail rudder assembly component comprises a third wing plate and a fourth wing plate, the first wing plate is arranged opposite to the second wing plate, and the third wing plate is arranged opposite to the fourth wing plate.

[0037] Its working principle is as follows: according to the pitch attitude adjustment analysis, the linear magnetic coupling motor 2 moves axially through the telescopic rod, driving the lower wing plate in the tail rudder assembly to rotate and swing ±10° around the rotating shaft hinged between the tail rudder assembly and the second chuck 3 under the condition of a force arm of L, so as to realize the up and down swinging of the wing plate in the left and right directions of the tail rudder assembly 4. Under the fluid dynamic effect of the relative water flow, the pitch attack angle of the tail rudder can make the submersible swing up and down around the center of buoyancy, thereby realizing the adjustment of the pitch attitude of the submersible; if the submersible rotates 90° in this state, the swing of the upper and lower wing plates is adjusted, thereby realizing the adjustment of the heading attitude of the submersible.

[0038] like Figure 3-4 As shown, the linear magnetic coupling motor includes a tail end cover 6, an intermediate cylinder 7, a linear motor mounting bracket 8, a linear motor 9, a connecting cylinder 10, an outer magnetic ring 11, a sealing ring 12, an isolation sleeve 13, a guide support 14 and an inner magnetic ring telescopic rod 15.

[0039] The tail end cover 6, the intermediate tube 7, the sealing ring 12 and the isolation sleeve 13 are combined to form a static sealed cabin.

[0040] The linear motor mounting bracket 8 is fixedly connected to the intermediate cylinder 7. Specifically, the linear motor mounting bracket 8 is fixedly connected to the partition plate in the intermediate cylinder 7 by bolts. The linear motor 9 is mounted on the linear motor mounting bracket 8 by bolts.

[0041] The telescopic shaft of the linear motor 9 is fixedly connected to one end of the connecting tube 10 by bolts, and the other end of the connecting tube 10 is fixedly connected to the outer magnetic ring 11 equipped with a yoke, and the inner wall of the connecting tube 10 can slide along the outer wall of the isolation sleeve 13. There is a single-side gap of 0.8mm between the inner wall of the outer magnetic ring 11 and the outer wall of the isolation sleeve 13, so the telescopic shaft of the linear motor can drive the outer magnetic ring 11 to move axially along the inner wall of the intermediate tube 7.

[0042] The inner magnetic ring telescopic rod 15 is coupled with the magnetic pole and is installed on the inner wall of the isolation sleeve 13, and has a 0.8mm gap on one side of the inner wall of the isolation sleeve 13. The end face of the magnetic pole installation has a support plate and is slidably supported by the inner wall of the isolation sleeve 13. The guide support 14 is located on the isolation sleeve 13, and the inner magnetic ring telescopic rod 15 and the guide support 14 can slide axially. The guide support 14 is made of ultra-high molecular weight polyethylene and also plays a role in preventing sand and mud.

[0043] The tail end cover 6 of the linear magnetic coupling motor 2 is provided with a hinged ear plate, which is hingedly connected to the hinged ear plate on the first chuck 1 through the first rotating shaft 18. A slot and a connecting hole are opened at the end of the inner magnetic ring telescopic rod 15. A side wing plate in the tail rudder assembly component 4 is installed in the slot and is hingedly connected through a pin shaft and a cotter pin.

[0044] In this embodiment, the number of axial combination pairs of the outer magnetic ring 11 and the inner magnetic ring is set according to the need of the axial force. In this embodiment, four pairs are used, and the axial force coupling method is as follows: Figure 5 shown.

[0045] like Figure 6 As shown, the rudder assembly component 4 is composed of four wing plates in total, which are fixedly connected by bolts. A hinged ear plate is designed on the rudder assembly component 4 and is hingedly connected with the hinged ear plate in the second chuck 3 through the second rotating shaft 19. The rudder assembly component 4 can rotate around the second rotating shaft 19 by ±10° as a whole.

[0046] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for a person skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to replace some of the technical features therein by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions claimed to be protected by the present invention.

Claims

1. A submersible tail rudder adjustment mechanism based on linear transmission, It is characterized in that The invention comprises a tail shell of a submersible, a first chuck, a second chuck, a linear magnetic coupling motor and a tail rudder assembly component, wherein the first chuck and the second chuck are respectively fixedly mounted in the card slots of the tail shell of the submersible, the tail of the linear magnetic coupling motor is hingedly connected to the first chuck, the telescopic head of the linear magnetic coupling motor is hingedly connected to a side wing plate in the tail rudder assembly component, and the tail rudder assembly component is hingedly connected to the second chuck; the linear magnetic coupling motor comprises a tail end cover, an intermediate cylinder, a linear motor mounting bracket, a linear motor, a connecting cylinder, an outer magnetic ring , sealing ring, isolation sleeve, guide support and inner magnetic ring telescopic rod, the tail end cover and the intermediate tube, the sealing ring and the isolation sleeve are combined to form a static sealed cabin, the linear motor mounting bracket is fixedly connected to the intermediate tube, the linear motor is mounted on the linear motor mounting bracket, the linear motor telescopic shaft is fixedly connected to one end of the connecting tube, the other end of the connecting tube is fixedly connected to the outer magnetic ring, the inner wall of the connecting tube can slide along the outer wall of the isolation sleeve, the guide support is located on the isolation sleeve, and the inner magnetic ring telescopic rod and the guide support can slide axially.

2. The submersible tail rudder adjustment mechanism based on linear transmission according to claim 1, It is characterized in that The tail rudder assembly assembly comprises a first wing plate and a second wing plate, and the linear magnetic coupling motor drives the first wing plate and the second wing plate to swing by axial movement of the telescopic rod.

3. The submersible tail rudder adjustment mechanism based on linear transmission according to claim 2, It is characterized in that The linear magnetic coupling motor drives the first wing plate and the second wing plate to swing in the first direction through the axial movement of the telescopic rod, and the submersible rotates around the direction of its axis. The linear magnetic coupling motor drives the first wing plate and the second wing plate to swing in the second direction through the axial movement of the telescopic rod.

4. The submersible tail rudder adjustment mechanism based on linear transmission according to claim 3, It is characterized in that The first direction is perpendicular to the second direction.

5. The submersible tail rudder adjustment mechanism based on linear transmission according to claim 2, It is characterized in that The tail rudder assembly assembly comprises a third wing plate and a fourth wing plate, the first wing plate is arranged opposite to the second wing plate, and the third wing plate is arranged opposite to the fourth wing plate.

6. A submersible vehicle, It is characterized in that The submersible comprises the rudder adjustment mechanism as described in any one of claims 1-5.

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