A magnetically coupled vector propulsion device for AUVs suitable for ice hole deployment

Abstract

A magnetic coupling vector propulsion device for an AUV suitable for ice hole deployment comprises an underwater thruster, a steering module and a cabin, wherein a mounting frame is arranged in the cabin, a driving device is installed on each side of the mounting frame, the steering module is arranged outside the cabin, the underwater thruster is arranged at the rear side of the cabin and connected to the steering module, and the outer diameter of the underwater thruster is smaller than the outer diameter of the cabin shell; each driving device drives the steering module to make a steering movement through a magnetic coupling device, the magnetic coupling device comprises a constraint track, a driven magnet module and an active magnet, the active magnet is arranged on the driving module, the driven magnet module can be driven by the active magnet to be movably installed in the constraint track along the constraint track, the constraint track is arranged on the circumference of the cabin, and the driven magnet module is connected to the steering module; when the driving device drives the active magnet to move, the driven magnet module moves accordingly and transmits the displacement to the steering module, and the steering module drives the underwater thruster to change its propulsion direction.

Description

Technical Field

[0001] The invention belongs to the field of marine engineering technology and polar exploration, and relates to an AUV magnetic coupling vector propulsion device suitable for ice hole deployment. Background Art

[0002] There are floating ice areas and ice shelves connecting the ocean and polar ice sheets at the two poles of the earth. The detection and sampling of the subglacial environment, including observation of subglacial ocean thermohaline circulation, detection of subglacial ocean ecological environment, sampling of subglacial seawater and sediment, etc., are important means to study subglacial ocean thermohaline circulation and the interaction between ice shelves and oceans, and have important scientific significance. At present, there are two main ways to detect the subglacial environment. One is to drill holes in the ice surface and place instruments and equipment with cables into them. The instruments and equipment deployed in this way are limited to a very limited range under the ice hole, and cannot be used for large-scale detection under the ice. The second is to use autonomous underwater vehicles (AUVs) sailing underwater. In this way, AUVs are usually deployed and recovered in larger ice holes by chiseling the ice layer, but for thick ice layers, they need to be deployed and recovered in ice holes with limited diameters. For example, the ice shelves in the Antarctic region with a thickness of thousands of meters usually need to be drilled by polar hot water drills, and the diameter of the ice holes opened is usually on the order of 35cm to 80cm. Conventional AUVs have protruding parts outside their shells, such as antennas, rudders for controlling the AUV, etc. These parts are easily damaged by collision with the ice hole during deployment, so conventional AUVs are not suitable for deployment through ice holes.

[0003] In addition, the control of conventional AUVs mainly relies on the interaction of the rudder. When the vehicle is sailing at a low speed, this control method is very inefficient and the maneuverability is greatly affected. The use of vector propulsion can improve the maneuverability of the AUV, especially the steering performance at low speed. However, conventional steering or vector propulsion methods rely on contact dynamic seals to transfer the torque or thrust in the sealed cavity to the outside of the sealed cavity to achieve steering. For example, the magnetic coupling thruster disclosed in CN208723765U includes a cylinder, with a front cover and a rear cover fixed at both ends of the cylinder respectively; a servo motor is fixed between the rear cover and the motor frame, and the impeller is connected to the front cover through the impeller. The end of the driving shaft of the servo motor is connected with an outer rotor, and a group of outer rotor permanent magnets are arranged on the inner wall of the outer rotor; the end of the output shaft of the impeller is connected with an inner rotor, and the inner rotor has an inner sleeve shaft for sleeved on the end of the output shaft, and a group of inner rotor permanent magnets are respectively arranged on the inner sleeve shaft and the inner wall of the inner rotor; the number of outer rotor permanent magnets is equal to that of each group of inner rotor permanent magnets; along the circumferential direction, each outer rotor permanent magnet has an inner rotor permanent magnet on the inner sleeve shaft and an inner rotor permanent magnet on the inner wall of the inner rotor on both sides; a coupling sleeve is sleeved inside the cylinder and between the outer rotor and the inner rotor, and the coupling sleeve is squeezed from the outside to the inside by the front cover on the motor frame, and magnetic coupling is formed between the inner and outer rotors through the coupling sleeve. The output torque of the servo motor is transmitted to the impeller, and the output shaft of the impeller rotates synchronously with the driving shaft of the servo motor. Finally, by controlling the direction and torque of the output shaft of the servo motor, the displacement propulsion and attitude adjustment of the propeller are realized. In this type of contact dynamic seal, the shaft and the stationary seal ring are in contact with a certain pre-pressure and move relative to each other. Due to the friction between the two, there will inevitably be friction power loss. In addition, after working for a long time, the seal ring will wear out and there is a risk of water leakage. Summary of the invention

[0004] The present invention provides an AUV magnetic coupling vector propulsion device suitable for ice hole deployment. The outer diameter of the entire propulsion device is smaller than the outer diameter of the AUV shell, thereby avoiding damage due to collision during ice hole deployment. In addition, the use of a vector thruster improves maneuverability during low-speed navigation. At the same time, the vector thruster is driven by magnetic coupling to avoid friction loss caused by dynamic sealing and water leakage risk caused by wear of the sealing ring, thereby improving waterproof performance and reliability.

[0005] The technical solution adopted by the present invention is:

[0006] A magnetic coupling vector propulsion device for an AUV suitable for ice hole deployment, characterized in that it comprises an underwater thruster, a steering module, a magnetic coupling device, a driving device, and a cabin, wherein a mounting frame is arranged in the cabin, and a driving device is installed on each side of the mounting frame, the steering module is arranged outside the cabin, the underwater thruster is arranged at the rear side of the cabin and connected to the steering module, and the outer diameter of the underwater thruster is smaller than the outer diameter of the cabin shell; each of the driving devices drives the steering module to turn through the magnetic coupling device, and the magnetic coupling device comprises a constraint track, a driven magnet module, and an active magnet, and the active magnet is installed on the driving module, and the driven magnet module can be driven by the active magnet to be movably installed in the constraint track along the constraint track, and the constraint track is arranged on the circumference of the cabin, and the driven magnet module is connected to the steering module; when the driving device drives the active magnet to move, the driven magnet module moves with it and transmits the displacement to the steering module, and the steering module drives the propulsion direction of the underwater thruster to change. The present invention achieves the purpose of steering by changing the direction of the underwater propeller, which can keep the maneuverability when sailing at low speed, and sets the steering module outside the cabin, and drives the steering through the magnetic coupling device, so there is no need to set a dynamic seal on the cabin, which reduces the friction loss of the conventional dynamic sealing method, and avoids the risk of water leakage caused by the wear of the sealing ring, thereby improving reliability. In addition, more importantly, the vector propulsion method avoids the use of conventional tail rudder control methods, so that there is no protruding structure outside the outer diameter of the AUV body, which is more suitable for deployment and recovery in ice holes.

[0007] Furthermore, the steering module includes a plurality of steering mechanisms and a connecting piece, the connecting piece is connected to the underwater thruster, and a fixed plate is installed on the connecting piece; the steering mechanism includes an input shaft and an output shaft, the input end of the input shaft passes through a hole opened on the driven magnet and is connected to the driven magnet module, the input shaft is hingedly connected to the output shaft, the output end of the output shaft is connected to a ball joint, and the ball joint is movably installed between the fixed plate and the connecting piece. The present invention uses a plurality of steering mechanisms to coordinate and steer the underwater thruster, and the steering is reliable and the operation efficiency is high.

[0008] Furthermore, the input shaft and the output shaft are connected by a hinge, and the hinge includes a tie rod chuck and a tie rod chuck connector. The tie rod chuck is connected to the input shaft, and the tie rod chuck connector is connected to the output shaft. The tie rod chuck and the tie rod chuck connector are hingedly connected by a pin shaft.

[0009] Furthermore, a deflector is installed outside the cabin, and the connecting piece is located outside the end of the deflector.

[0010] Furthermore, the driven magnet module includes a driven magnet, a screw, a bearing, and a sleeve. The screw is inserted into the driven magnet. Both ends of the screw are equipped with sleeves and bearings and fixed by nuts. The bearing is installed in cooperation with the constraint track.

[0011] Furthermore, the bearing is a ceramic bearing.

[0012] Furthermore, the driving device includes a lead screw stepper motor, a lead screw nut, a guide rail, and a slider. The lead screw of the lead screw stepper motor is equipped with a lead screw nut, the active magnet is connected to the lead screw nut, a slider is connected to the active magnet, the slider can move along the guide rail, and the guide rail is fixed to the mounting frame. The active magnet of the present invention is driven to move by the lead screw nut, and the active magnet moves smoothly through the cooperation of the slider and the guide rail, thereby improving reliability.

[0013] Furthermore, the lead screw stepper motor is mounted on a mounting frame via a stepper motor bracket.

[0014] Furthermore, the mounting frame is a stepped triangular prism structure. The present invention can install the lead screw stepping motor and the guide rail on different stepped surfaces to ensure that the active magnet moves smoothly and stably.

[0015] Furthermore, the cabin is provided with a sealed hatch cover at one end of the underwater propeller, and is connected with a transfer cabin at the other end. The transfer cabin is used to connect with the main body of the underwater vehicle.

[0016] Furthermore, the relationship between the motion of the driving device and the swing angle of the underwater propeller, that is, the kinematic inverse solution calculation method for determining the moving distance of the driven magnet by the required swing angle of the underwater propeller is as follows:

[0017] B i (i=1,2,3) are the initial positions of the three ball joints, R i (i=1,2,3) are the initial positions of the three tie rod chucks, A i (i=1,2,3) are the initial positions of the three driven magnets, O2 is the center of the thruster's large ball joint, r b , b1 are respectively i and B i (i=1,2,3) The radius of the circumscribed circle, l is R i With B i The length of the output shaft, R i , B i The vertical distance between (i=1, 2, 3) is D i , A i , R i The distance between (i=1, 2, 3) is d i ;

[0018] With O1 as the origin, O1A1 as the positive direction of the X axis, O1O2 as the positive direction of the Z axis, and the positive direction of the Y axis perpendicular to the O1-XZ plane, establish the rectangular coordinate system O1-XYZ;

[0019] Based on the fixed coordinate system O1-XYZ initial geometric relationship:

[0020] R1=[r b 0 d1] T

[0021] When the underwater propeller propulsion direction changes slightly, B i R i The angle formed by the projection of (i=1, 2, 3) on the O1-XY plane is small and can be ignored. Then B i The coordinates are:

[0022]

[0023]

[0024]

[0025]

[0026] After the combination, we can get Δd1Δd2Δd3, where Δd1, Δd2, and Δd3 are the moving distances of the corresponding driving devices, thus obtaining the relationship between the Bi (i = 1, 2, 3) coordinates and Δd1Δd2Δd3; let B i The position vector is B i =[B ix B iy B iz ] T (i=1,2,3), according to the three spherical joint position vectors B i =[B ix B iy B iz ] T (i=1,2,3), B i (i=1,2,3) These three points can form three vectors B1B2,B1B3,B2B3, and we can get B1B2(B 2x -B 1x , B 2y -B 1y , B 2z -B 1z ),B1B3(B 3x -B 1x , B 3y -B 1y , B 3z -B1z ), B2B3(B 3x - B 2x , B 3y - B 2y , B 3z - B 2z ); Let the underwater thruster direction vector n = (a, b, c), then according to the definition of the normal vector: (B 2x - B 1x ) * a + (B 2y - B 1y ) * b + (B 2z - B 1z ) * c = 0 and (B 3x - B 1x ) * a + (B 3y - B 1y ) * b + (B 3z - B 1z ) * c = 0 and (B 3x - B 2x ) * a + (B 3y - B 2y ) * b + (B 3z - B 2z ) * c = 0, then the underwater thruster direction vector n = (a, b, c) can be obtained; The angle by which the underwater thruster deviates from the positive direction of the Y-axis of the fixed coordinate system in the direction of the vector μ = (a, b) is

[0027] Advantages of the present invention: By using vector propulsion for steering, the AUV can maintain maneuverability even at low speeds. The magnetic coupling method is used for transmission to change the propulsion direction of the underwater thruster. The whole device has no dynamic seal, reducing the frictional loss of the conventional dynamic seal method and avoiding the risk of water leakage caused by the wear of the sealing ring, thus improving the reliability of the device. In addition, the outer diameter of the whole vector propulsion device is smaller than the outer diameter of the AUV shell, so that there is no protruding structure outside the main body outer diameter of the AUV, avoiding damage due to collision during the ice hole deployment process, and thus being more suitable for ice hole deployment and recovery. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a side view of the whole of the present invention.

[0029] Figure 2 is a three-dimensional structural schematic diagram of the present invention after removing the fairing and the adapter bin.

[0030] Figure 3 is a half-sectional structural view of the present invention after removing the fairing and the adapter bin.

[0031] Figure 4 is a three-dimensional structural schematic diagram of the internal drive module arrangement of the cabin of the present invention.

[0032] Figure 5 It is a half-section structural view of the driven magnet module of the present invention.

[0033] Figure 6 It is a three-dimensional structural schematic diagram of the steering module of the present invention.

[0034] Figure 7 It is a vector expression diagram of the basic parameters of the 3-PRS parallel mechanism of the present invention and the first drive device chain.

[0035] Figure 8 It is a schematic diagram of the initial geometric relationship of the fixed coordinate system O—XYZ of the present invention. DETAILED DESCRIPTION

[0036] The present invention is further described below in conjunction with specific embodiments, but the present invention is not limited to these specific embodiments. Those skilled in the art should recognize that the present invention covers all possible alternatives, improvements and equivalents within the scope of the claims.

[0037] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to 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 only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, the meaning of "multiple" is two or more, unless otherwise clearly defined.

[0038] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0040] See also Figure 1-6 , this embodiment provides an AUV magnetic coupling vector propulsion device suitable for ice hole deployment, including an underwater thruster 4, a steering module, a magnetic coupling device, a driving device, and a cabin 6. A mounting frame 15 is provided in the cabin 6, and a driving device is installed on each side of the mounting frame 15. The steering module is provided outside the cabin 6. The underwater thruster 4 is provided at the rear side of the cabin 6 and connected to the steering module. The cabin 6 is located at one end of the underwater thruster and is provided with a sealed hatch 8, and the other end is connected to a transfer chamber 1. The transfer chamber 1 is used to connect with the main body of the underwater vehicle. A fairing 2 is installed outside the cabin 6. The mounting frame 15 in this embodiment is a stepped triangular prism structure, and a driving device is installed on the side of each stepped triangular prism, that is, three driving devices are provided in this embodiment, and three corresponding magnetic coupling devices are also provided.

[0041] In this embodiment, each of the driving devices drives the steering module to turn through a magnetic coupling device. The magnetic coupling device includes a constraint track 5, a driven magnet module, and an active magnet 11. The active magnet 11 is installed on the driving module and driven to move by the driving module. The driven magnet module can be driven by the active magnet 11 to be movably installed in the constraint track 5 along the constraint track 5. The constraint track 5 is arranged on the circumference of the cabin 6, and the driven magnet module is connected to the steering module. The present invention arranges the steering module outside the cabin 6 and drives the steering through a magnetic coupling device. There is no need to arrange a dynamic seal on the cabin 6, which reduces the friction loss of the conventional dynamic sealing method, and at the same time avoids the risk of water leakage caused by the wear of the sealing ring, thereby improving reliability. In addition, the purpose of steering is achieved by changing the direction of the underwater thruster 4, so that it can still maintain maneuverability when sailing at a low speed.

[0042] The steering module described in this embodiment includes three steering mechanisms and a connector 3. The connector 3 is located outside the end of the fairing 2. One end of the connector 3 is a connecting plate structure, and the other end is a hollow hemispherical structure. The connecting plate structure of the connector 3 is connected to the underwater thruster 4, and a fixed disk 26 is installed on the hemispherical structure of the connector 3. The steering mechanism includes an input shaft 21 and an output shaft 24. The input end of the input shaft 21 passes through a hole opened on the driven magnet and is connected to the driven magnet module. The input shaft 21 is hingedly connected to the output shaft 24. The output end of the output shaft 24 is connected to a ball joint 25, and the ball joint 25 is movably installed in the space between the fixed disk 26 and the connector 3. The present invention uses multiple steering mechanisms to coordinate to steer the underwater thruster 4, and the steering is reliable and the operation efficiency is high. The input shaft 21 and the output shaft 24 are connected by a hinge, and the hinge includes a tie rod chuck 22 and a tie rod chuck connector 23. The tie rod chuck 22 is connected to the input shaft 21, and the tie rod chuck connector 23 is connected to the output shaft 24. The tie rod chuck 22 and the tie rod chuck connector 23 are hingedly connected by a pin.

[0043] The driven magnet module of this embodiment includes a driven magnet 16, a screw 20, a bearing 18, and a sleeve 17. The screw 20 is inserted into the driven magnet 16. Both ends of the screw 20 are equipped with sleeves 17 and bearings 18 and fixed by nuts 19. The bearings 18 are installed in cooperation with the constraint track 5. The bearings 18 are ceramic bearings resistant to seawater corrosion. Two screws 20 are inserted into the driven magnet 16 of this embodiment. The driven magnet 16 moves along the constraint track 5 through the bearings 18 under the drive of the active magnet 11 to ensure the stability of the movement of the driven magnet 16.

[0044] The driving device described in this embodiment includes a screw stepper motor 14, a screw nut 12, a guide rail 9, and a slider 10. The screw of the screw stepper motor 14 is equipped with a screw nut 12, the active magnet 11 is connected to the screw nut 12, and the active magnet 11 is connected to a slider 10. The slider 10 can move along the guide rail 9, and the guide rail 9 is fixed on the mounting frame 15. The active magnet 11 of the present invention is driven to move by the screw nut 12, and the active magnet 11 moves smoothly through the cooperation of the slider 10 and the guide rail 9, thereby improving reliability. The screw stepper motor 14 is installed on the mounting frame 15 through the stepper motor bracket 13. The present invention can install the screw stepper motor 14 and the guide rail 9 on different step surfaces of the stepped triangular prism to ensure that the active magnet 11 moves smoothly.

[0045] In this embodiment, the torque transmission process of the magnetic coupling vector propulsion device is as follows: initially, the lead screw stepper motor 14 works, the lead screw rotates, and further through the inclined surface action of the lead screw nut 12 and the lead screw, the rotation of the lead screw is converted into the displacement of the lead screw nut 12 in the axial direction, and the further displacement is transmitted to the active magnet 11, and the active magnet 11 slides along the guide rail 9 through the slider 10. At the same time, there is a driven magnet 16 on the outer side of the cabin 6 facing the active magnet 11. Under the action of magnetic force, the displacement of the active magnet 11 is transmitted to the driven magnet 16, and the further displacement is transmitted to the input shaft 21. Further, the movement of the input shaft 21 is transmitted to the output shaft 24 through the tie rod clamp 22 and the tie rod clamp connector 23, so that it swings, and further the swing of the output shaft 24 is transmitted to the connector 3 through the ball joint 25, and the connector 3 rotates, and further, the propulsion direction of the underwater propeller 4 changes. Under the cooperation of three different driving devices and the magnetic coupling device, the underwater propeller 4 can be rotated in any direction, thereby realizing the control of the yaw angle and pitch angle of the AUV.

[0046] The relationship between the motion of the driving device and the swing angle of the underwater propeller in this embodiment (the kinematic inverse solution calculation method for determining the moving distance of the driven magnet by the required swing angle of the underwater propeller) is as follows:

[0047] See also Figure 7 , where B i (i=1,2,3) are the initial positions of the three ball joints, R i (i=1,2,3) are the initial positions of the three tie rod chucks, A i (i=1,2,3) are the initial positions of the three driven magnets, O2 is the center of the thruster's large ball joint, r b , b1 are respectively i and B i (i=1,2,3) The radius of the circumscribed circle, l is R i With B i The length of the output shaft, R i , B i The vertical distance between (i=1, 2, 3) is D i , A i , R i The distance between (i=1, 2, 3) is d i ;

[0048] With O1 as the origin, O1A1 as the positive direction of the X axis, O1O2 as the positive direction of the Z axis, and the positive direction of the Y axis perpendicular to the O1-XZ plane, establish the rectangular coordinate system O1-XYZ.

[0049] in accordance with Figure 8 Fixed coordinate system O1—XYZ initial geometric relationship:

[0050] R1=[r b 0 d1] T

[0051] When the underwater propeller propulsion direction changes slightly, B i R i The angle formed by the projection of (i=1, 2, 3) on the O1-XY plane is small and can be ignored. Then B i The coordinates are:

[0052]

[0053]

[0054]

[0055]

[0056] After the combination, Δd1Δd2Δd3 can be obtained, where Δd1, Δd2, and Δd3 are the moving distances of the corresponding driving devices, thereby obtaining the relationship between the Bi (i = 1, 2, 3) coordinates and Δd1Δd2Δd3;

[0057] Let B i The position vector is B i =[B ix B iy B iz ] T (i=1,2,3), according to the three spherical joint position vectors B i =[B ix B iy B iz ] T (i=1,2,3), B i (i=1,2,3) These three points can form three vectors B1B2,B1B3,B2B3, and we can get B1B2(B 2x -B 1x , B 2y -B 1y , B 2z -B 1z ),B1B3(B 3x -B 1x , B 3y -B 1y , B 3z -B 1z ),B2B3(B 3x -B 2x , B 3y -B 2y , B 3z -B 2z); Let the underwater thruster direction vector n = (a, b, c). Then, according to the definition of the normal vector: (B 2x -B 1x ) * a + (B 2y -B 1y ) * b + (B 2z -B 1z ) * c = 0 and (B 3x -B 1x ) * a + (B 3y -B 1y ) * b + (B 3z -B 1z ) * c = 0 and (B 3x -B 2x ) * a + (B 3y -B 2y ) * b + (B 3z -B 2z ) * c = 0. Then, the underwater thruster direction vector n = (a, b, c) can be obtained. The angle by which the underwater thruster deviates from the positive direction of the Y-axis of the fixed coordinate system in the direction of the vector μ = (a, b) is

Claims

1. A magnetically coupled vector propulsion device for AUVs suitable for ice hole deployment, characterized by: It comprises an underwater thruster, a steering module, a magnetic coupling device, a driving device, and a cabin. A mounting frame is arranged in the cabin, and a driving device is installed on each side of the mounting frame. The steering module is arranged outside the cabin, and the underwater thruster is arranged at the rear side of the cabin and connected to the steering module. The outer diameter of the underwater thruster is smaller than the outer diameter of the cabin shell. Each of the driving devices drives the steering module to turn through the magnetic coupling device. The magnetic coupling device comprises a constraint track, a driven magnet module, and an active magnet. The active magnet is installed on the driving device. The driven magnet module can be driven by the active magnet to be installed in the constraint track so as to be movable along the constraint track. The constraint track is arranged on the circumference of the cabin, and the driven magnet module is connected to the steering module. When the driving device drives the active magnet to move, the driven magnet module moves accordingly and transmits the displacement to the steering module, and the steering module drives the underwater thruster to change its propulsion direction. The driven magnet module comprises a driven magnet, a screw, a bearing and a sleeve. The screw is inserted into the driven magnet. Both ends of the screw are equipped with sleeves and bearings and fixed by nuts. The bearing is installed in cooperation with the constraint track. The steering module includes multiple reversing mechanisms and connecting parts, the connecting parts are connected to the underwater thrusters, and a fixed plate is installed on the connecting parts; the reversing mechanism includes an input shaft and an output shaft, the input end of the input shaft is connected to the driven magnet module, the input shaft is hingedly connected to the output shaft, the output end of the output shaft is connected to a ball joint, and the ball joint is movably installed between the fixed plate and the connecting part.

2. The AUV magnetic coupling vector propulsion device suitable for ice hole deployment according to claim 1, characterized in that: The input shaft and the output shaft are connected by a hinge, and the hinge includes a tie rod chuck and a tie rod chuck connector. The tie rod chuck is connected to the input shaft, and the tie rod chuck connector is connected to the output shaft. The tie rod chuck and the tie rod chuck connector are hingedly connected by a pin shaft.

3. The AUV magnetic coupling vector propulsion device suitable for ice hole deployment according to claim 2, characterized in that: A deflector is installed outside the cabin, and the connecting piece is located outside the end of the deflector.

4. The AUV magnetic coupling vector propulsion device suitable for ice hole deployment according to claim 1, characterized in that: The driving device includes a screw stepper motor, a screw nut, a guide rail, and a slider. The screw of the screw stepper motor is installed with a screw nut, the active magnet is connected to the screw nut, and a slider is connected to the active magnet. The slider can move along the guide rail, and the guide rail is fixed to the mounting frame.

5. The magnetically coupled vector propulsion device for an AUV suitable for ice hole deployment according to claim 4, characterized in that: The lead screw stepper motor is installed on the mounting frame through a stepper motor bracket.

6. A magnetically coupled vector propulsion device for an AUV suitable for ice hole deployment according to any one of claims 1 to 5, characterized in that: The mounting frame is a stepped triangular prism structure.

7. The AUV magnetic coupling vector propulsion device suitable for ice hole deployment according to claim 1, characterized in that: The cabin body is provided with a sealed hatch cover at one end of the underwater thruster, and is connected with a transfer cabin at the other end.

8. The AUV magnetic coupling vector propulsion device suitable for ice hole deployment according to claim 2, characterized in that: The relationship between the motion of the driving device and the swing angle of the underwater propeller, that is, the kinematic inverse solution calculation method for determining the moving distance of the driven magnet by the required swing angle of the underwater propeller is as follows: B i (i=1,2,3) are the initial positions of the three ball joints, R i (i=1,2,3) are the initial positions of the three tie rod chucks, A i (i=1, 2, 3) are the initial positions of the three driven magnets, O2 is the i (i=1,2,3) The center of the circumscribed circle, O1, is the center of the circumscribed circle passing through A. i (i=1,2,3) The center of the circumscribed circle, r b , b1 are respectively i and B i (i=1,2,3) The radius of the circumscribed circle, l is R i With B i The length of the output shaft, R i , B i The vertical distance between (i=1, 2, 3) is D i , A i , R i The distance between (i=1, 2, 3) is d i ; With O1 as the origin, O1A1 as the positive direction of the X axis, O1O2 as the positive direction of the Z axis, and the positive direction of the Y axis perpendicular to the O1-XZ plane, establish the rectangular coordinate system O1-XYZ; Based on the fixed coordinate system O1-XYZ initial geometric relationship: When the underwater propeller propulsion direction changes slightly, B i R i The angle formed by the projection of (i=1, 2, 3) on the O1-XY plane is small and can be ignored. Then B i The coordinates are: After the combination, Δd1Δd2Δd3 can be obtained, where Δd1, Δd2, and Δd3 are the moving distances of the corresponding driving devices, thereby obtaining the relationship between the Bi (i = 1, 2, 3) coordinates and Δd1Δd2Δd3; Let B i The position vector be B i =[B ix B iy B iz T (i = 1, 2, 3). According to the three position vectors of the ball joints B i =[B ix B iy B iz T (i = 1, 2, 3), the three points B i (i = 1, 2, 3) can form 3 vectors B1B2, B1B3, B2B3. We can obtain B1B2 (B 2x - B 1x , B 2y - B 1y , B 2z - B 1z ), B1B3 (B 3x - B 1x , B 3y - B 1y , B 3z - B 1z ), B2B3 (B 3x - B 2x , B 3y - B 2y , B 3z - B 2z ). Let the direction vector of the underwater thruster be n = (a, b, c). Then, according to the definition of the normal vector: (B 2x - B 1x ) * a + (B 2y - B 1y ) * b + (B 2z - B 1z ) * c = 0 and (B 3x - B 1x ) * a + (B 3y - B 1y ) * b + (B 3z - B 1z ) * c = 0 and (B 3x - B 2x ) * a + (B 3y - B 2y ) * b + (B 3z - B 2z ) * c = 0, we can obtain the direction vector of the underwater thruster n = (a, b, c). The angle by which the underwater thruster deviates from the positive direction of the Y-axis of the fixed coordinate system in the direction of the vector μ = (a, b) is ​​

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