360 degree rotary composite propulsion mechanism for AUV

Abstract

The invention relates to a 360-degree rotary synthetic propulsion mechanism for an AUV, wherein a bow rotary section comprises a bow mounting barrel, a bow buoyancy section and a bow thruster, a slewing drive assembly is arranged inside the bow mounting barrel, the bow buoyancy section is rotatably connected to the front end of the bow mounting barrel and driven to rotate by the slewing drive assembly, bow thrusters are arranged on both sides of the bow buoyancy section, and the axial directions of the bow thrusters on both sides are the same and perpendicular to the axial direction of the AUV, a stern rotary section comprises a stern mounting barrel, a stern buoyancy section and a stern thruster, a stern rotary motor is arranged inside the stern mounting barrel, the stern buoyancy section is rotatably connected to the rear end of the stern mounting barrel and driven to rotate by the stern rotary motor, stern thrusters are arranged on both sides of the stern buoyancy section, and the axial directions of the stern thrusters are arranged at an angle α to the axial direction of the AUV. The present invention can control the motion of the AUV by direct drive of space motion, the whole control process has a high response speed, and the control system model is relatively streamlined.

Description

Technical Field

[0001] The invention relates to the field of underwater robots, in particular to a 360-degree rotary synthetic propulsion mechanism for AUVs. Background Art

[0002] Under the strategic background of building a strong maritime nation, autonomous underwater vehicles (AUVs) have played an irreplaceable role in the fields of ocean exploration and deep-sea resource exploration. The motion control of traditional AUVs uses independent control in the two control planes of the transverse section and the longitudinal section. The motion of the AUV in three-dimensional space is actually the vector sum of the motion in the two control planes. However, this method has approximate errors in motion decomposition, numerical errors in the vector synthesis process, low response speed of the entire control process, and a relatively complex control system. Summary of the invention

[0003] The object of the present invention is to provide a 360-degree rotary synthetic propulsion mechanism for AUV, which can control the motion of AUV by direct drive of spatial motion, the whole control process has high response speed and the control system model is relatively streamlined.

[0004] The objective of the present invention is achieved through the following technical solutions:

[0005] A 360-degree rotary synthetic propulsion mechanism for an AUV comprises a bow rotary section and a stern rotary section, wherein the bow rotary section comprises a bow mounting cylinder, a bow buoyancy section and a bow thruster, the bow mounting cylinder is arranged at the front end of the AUV cabin section and is provided with a rotary drive assembly inside, the bow buoyancy section is rotatably connected to the front end of the bow mounting cylinder and is driven to rotate by the rotary drive assembly, bow thrusters are arranged on both sides of the bow buoyancy section, and the bow thrusters on both sides are provided with a bow thruster. The stern thrusters have the same axial direction and are perpendicular to the axial direction of the AUV. The stern rotating section includes a stern mounting cylinder, a stern buoyancy section and a stern thruster. The stern mounting cylinder is arranged at the rear end of the AUV cabin and is provided with a stern rotating motor inside. The stern buoyancy section is rotatably connected to the rear end of the stern mounting cylinder and is driven to rotate by the stern rotating motor. Stern thrusters are arranged on both sides of the stern buoyancy section, and the axial direction of the stern thruster is arranged at an angle α with the axial direction of the AUV.

[0006] The slewing drive assembly includes a gear ring, a driving gear and a bow slewing motor, wherein the bow slewing motor is fixed in the bow mounting tube, the driving gear is installed at the output end of the bow slewing motor, the gear ring is rotatably arranged in the bow mounting tube and is fixedly connected to the bow buoyancy section, and the driving gear is meshed with the inner side teeth of the gear ring.

[0007] A gear limit frame is provided in the bow mounting tube, and the front and rear sides of the driving gear are respectively abutted against the gear limit frames on the corresponding sides; a clamping ring is provided at the front end of the bow mounting tube, a clamping groove is provided on the outer wall of the gear ring, and the clamping ring is clamped in the clamping groove.

[0008] The gear limiting frame includes a connecting frame body and a limiting ring portion, wherein the connecting frame body is fixedly arranged in the bow mounting tube, and the limiting ring portion is arranged at the upper end of the connecting frame body and abuts against the corresponding side wall of the driving gear.

[0009] An anti-wear ring is arranged between the clamping ring and the bottom of the clamping groove.

[0010] The bow buoyancy section includes a bow buoyancy material and a bow thruster fixing cylinder arranged between the bow buoyancy materials, and the axial direction of the bow thruster fixing cylinder is perpendicular to the axial direction of the AUV, and two bow thrusters are arranged at two ends inside the bow thruster fixing cylinder.

[0011] The stern buoyancy section of the stern rotating section includes a rotating support cylinder, a mounting support plate, a stern buoyancy material and a stabilizing wing, wherein the rotating support cylinder is rotatably connected to the stern mounting cylinder, and a mounting support plate is provided in the middle of the rotating support cylinder, the stern rotating motor is fixedly arranged in the stern mounting cylinder, and the output end of the stern rotating motor is fixedly connected to the front end of the mounting support plate, and the stern buoyancy material, the stabilizing wing and the stern propeller are all fixedly mounted on the mounting support plate.

[0012] A connecting end plate is provided at the rear end of the stern mounting tube, and a clamping hoop is provided between the outer wall of the connecting end plate and the side tube wall of the swivel support tube, a Z-shaped clamping hoop inlet is provided on the swivel support tube, a gap with a Z-shaped cross-section is formed between the outer wall of the connecting end plate and the inner side of the side tube wall of the swivel support tube, and the clamping hoop enters into the Z-shaped gap through the clamping hoop inlet.

[0013] A motor fixing plate is provided in the stern mounting tube, the stern rotary motor is fixedly installed in the middle of the motor fixing plate, a support plate fixing plate is provided on one side of the rotary support tube, a fixing part is provided at the front end of the mounting support plate, and the fixing part is fixedly arranged in the middle of the support plate fixing plate.

[0014] The mounting support plate is vertically provided with stabilizing wings on both upper and lower sides, and the two stabilizing wings are in the same plane, the mounting support plate is provided with propeller connecting frames on both left and right sides, and the stern propeller is arranged on the propeller connecting frames on the corresponding sides, the stern buoyancy section includes a plurality of stern buoyancy materials evenly distributed along the circumferential direction, and installation gaps are formed between adjacent stern buoyancy materials, the mounting support plate, stabilizing wings and propeller connecting frames are respectively arranged in the corresponding installation gaps, and the stern propeller is arranged on the outside of the stern buoyancy material.

[0015] The advantages and positive effects of the present invention are:

[0016] 1. The present invention can control the motion of the AUV by direct drive of spatial motion, without the need to rely on motion decomposition and spatial vector synthesis in two operating planes to achieve AUV spatial motion control, thus avoiding the approximate error in motion decomposition and the numerical error in vector synthesis. The entire control process has a high response speed and the control system model is relatively streamlined.

[0017] 2. The bow rotating section of the present invention realizes 360° rotation through the cooperation of the driving gear and the gear ring, which is easy to control the rotation angle and ensure accurate rotation. The driving gear realizes axial limitation through the gear limit frames on both sides, and the gear ring realizes axial limitation through the clamping ring. The overall structure is more compact and will not take up too much installation space.

[0018] 3. In the stern rotating section of the present invention, the stern mounting cylinder and the rotating support cylinder are rotatedly connected by wedging and locking a Z-shaped clamp, which simplifies the connection structure between the two. In addition, a mounting support plate is arranged in the middle of the rotating support cylinder, and the stern buoyancy material, stabilizing wing, stern propeller and other components are all arranged on the mounting support plate, which simplifies the structure and makes installation easier and more convenient.

[0019] 4. The present invention eliminates the turning moment of the thruster on the AUV through symmetrically installed thrusters, and can achieve self-balancing and stable control. The angle between the stern thruster axis and the AUV axis is 22.5 degrees, which is an efficient arrangement angle in the AUV cruising mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the structure of the present invention on AUV,

[0021] Figure 2 for Figure 1 AUV cross-sectional view in

[0022] Figure 3 for Figure 1 Schematic diagram of the bow turning section structure.

[0023] Figure 4 for Figure 3 The cross-sectional view of the bow turning section in

[0024] Figure 5 for Figure 3 The structural diagram of the bow turning section after removing the buoyancy material.

[0025] Figure 6 for Figure 5 The cross-sectional view of the bow turning section after removing the buoyancy material.

[0026] Figure 7 for Figure 1 The schematic diagram of the stern rotating section structure in the figure is as follows:

[0027] Figure 8 for Figure 7 The structural diagram of the stern rotating section after removing the buoyancy material,

[0028] Fig. 9 for Figure 8 Schematic diagram of the connection between the slewing support cylinder and the stern mounting cylinder,

[0029] Fig.10 for Figure 8 The cross-sectional view of the stern turning section after removing the buoyancy material.

[0030] Fig.11 for Fig.10 A in the enlarged view,

[0031] Fig.12 for Figure 8 Another angle cross-sectional view of the stern rotating section after removing the buoyancy material.

[0032] Among them, 1 is the bow rotating section, 101 is the bow installation cylinder, 1011 is the limit plate, 102 is the gear ring, 103 is the bow thruster, 104 is the bow buoyancy material, 105 is the bow thruster fixing cylinder, 1051 is the clamp, 106 is the driving gear, 107 is the gear limit frame, 1071 is the connecting frame body, 1072 is the limit ring part, 108 is the bow rotating motor, 109 is the clamping ring, 1091 is the anti-wear ring, 2 is the stern Rotating section, 201 is the stern rotating motor, 202 is the stern mounting cylinder, 2021 is the motor fixing plate, 2022 is the connecting end plate, 203 is the stern propeller, 204 is the stern buoyancy material, 205 is the mounting support plate, 2051 is the fixing part, 206 is the rotating support cylinder, 2061 is the support plate fixing plate, 2062 is the clamping hoop inlet, 2063 is the side cylinder wall, 207 is the stabilizing wing, 208 is the propeller connecting frame, and 209 is the clamping hoop. DETAILED DESCRIPTION

[0033] The present invention will be further described below in conjunction with the accompanying drawings.

[0034] like Figures 1 to 12 As shown, the present invention comprises a bow revolving section 1 and a stern revolving section 2. Figures 2 to 6 As shown, the bow slewing section 1 includes a bow mounting cylinder 101, a bow buoyancy section and a bow thruster 103, wherein the bow mounting cylinder 101 is arranged at the front end of the AUV cabin section, and a slewing drive assembly is arranged inside the bow mounting cylinder 101, the bow buoyancy section is rotatably connected to the front end of the bow mounting cylinder 101, and the bow buoyancy section is driven to rotate by the slewing drive assembly, and bow thrusters 103 are arranged on both sides of the bow buoyancy section, and the axial directions of the bow thrusters 103 on both sides are the same and perpendicular to the axial direction of the AUV, as shown in FIG. Figure 2 and Figures 7 to 12As shown, the stern rotating section 2 includes a stern mounting cylinder 202, a stern buoyancy section and a stern thruster 203, wherein the stern mounting cylinder 202 is arranged at the rear end of the AUV cabin, and a stern rotating motor 201 is arranged in the stern mounting cylinder 202, the stern buoyancy section is rotatably connected to the rear end of the stern mounting cylinder 202, and the stern buoyancy section is driven to rotate by the stern rotating motor 201, as shown in FIG. Figure 2 As shown, both sides of the stern buoyancy section are provided with stern thrusters 203, and the axial direction of the stern thruster 203 is arranged at an angle α with the axial direction of the AUV. In this embodiment, the angle α is 22.5 degrees.

[0035] like Figures 2 to 6 As shown, the slewing drive assembly includes a gear ring 102, a driving gear 106 and a bow slewing motor 108, wherein the bow slewing motor 108 is fixedly arranged in the bow mounting cylinder 101, the driving gear 106 is installed at the output end of the bow slewing motor 108, the gear ring 102 is rotatably arranged in the bow mounting cylinder 101 and is fixedly connected to the bow buoyancy section, and the driving gear 106 is toothedly meshed with the inner side of the gear ring 102. When the present invention is working, the bow slewing motor 108 drives the driving gear 106 to rotate, thereby driving the toothed ring 102 to drive the bow buoyancy section to rotate.

[0036] like Figures 2 to 6 As shown, a gear limiting frame 107 is provided in the bow mounting cylinder 101, and the front and rear sides of the driving gear 106 are respectively abutted against the gear limiting frames 107 on the corresponding sides to achieve axial limitation, so that the driving gear 106 can only achieve rotational movement.

[0037] like Figure 5 As shown, the gear limiting frame 107 includes a connecting frame body 1071 and a limiting ring portion 1072, wherein the connecting frame body 1071 is fixedly arranged in the bow mounting cylinder 101, and the limiting ring portion 1072 is arranged at the upper end of the connecting frame body 1071 and abuts against the corresponding side wall of the driving gear 106. A circle of limiting plates 1011 is arranged on the inner wall of the bow mounting cylinder 101, as shown in FIG. Figure 4 As shown, the lower end of the gear limit frame 107 at the rear side of the driving gear 106 is fixed on the limit plate 1011. Figure 5 As shown, the lower end of the gear limiting frame 107 on the front side of the driving gear 106 is fixedly mounted on the front end surface of the bow mounting tube 101 .

[0038] like Figures 2 to 6As shown, a clamping ring 109 is provided at the front end of the bow mounting cylinder 101, a clamping groove is provided in the middle of the outer wall of the gear ring 102, and the clamping ring 109 is clamped in the clamping groove to realize the axial limitation of the gear ring 102, and an anti-wear ring 1091 made of plastic material is provided between the clamping ring 109 and the bottom of the groove. In this embodiment, the clamping ring 109 includes two clamping half rings for convenient symmetrical installation, and the anti-wear ring 1091 is correspondingly provided with two anti-wear half rings.

[0039] like Figures 2 to 6 As shown, the bow buoyancy section includes a bow buoyancy material 104 and a bow thruster fixing cylinder 105 disposed between the bow buoyancy materials 104, and the axial direction of the bow thruster fixing cylinder 105 is perpendicular to the axial direction of the AUV, and two bow thrusters 103 are disposed at both ends of the bow thruster fixing cylinder 105. In this embodiment, two upper and lower bow buoyancy materials 104 are included, and the bow thruster fixing cylinder 105 is disposed between the two bow buoyancy materials 104, as shown in FIG. Figure 5 As shown, the bow thruster fixing tube 105 is fixed by a clamp 1051.

[0040] like Figure 2 and Figures 7 to 12 As shown, the stern buoyancy section of the stern rotating section 2 includes a rotating support cylinder 206, a mounting support plate 205, a stern buoyancy material 204 and a stabilizing wing 207, wherein the rotating support cylinder 206 is rotatably connected to the stern mounting cylinder 202, a mounting support plate 205 is fixedly provided in the middle of the rotating support cylinder 206, a stern rotating motor 201 is fixedly arranged in the stern mounting cylinder 202, and the output end of the stern rotating motor 201 is fixedly connected to the front end of the mounting support plate 205, and the stern buoyancy material 204, the stabilizing wing 207 and the stern thruster 203 are all fixedly mounted on the mounting support plate 205.

[0041] like Figures 7 to 12 As shown, a motor fixing plate 2021 is provided in the stern mounting cylinder 202, and the stern rotary motor 201 is fixedly mounted in the middle of the motor fixing plate 2021. A support plate fixing plate 2061 is provided on one side of the rotary support cylinder 206. Fig.12 As shown, a fixing portion 2051 is disposed at the front end of the mounting support plate 205 , and the fixing portion 2051 is fixedly disposed at the middle portion of the support plate fixing plate 2061 .

[0042] like Figures 10-12 As shown, the motor fixing plate 2021 is provided with a connecting end plate 2022 on one side close to the stern buoyancy section, and the outer wall of the connecting end plate 2022 is rotatably connected to the inner side of the side cylinder wall 2063 of the slewing support cylinder 206. In this embodiment, a clamping hoop 209 made of plastic material is provided between the outer wall of the connecting end plate 2022 and the side cylinder wall 2063 of the slewing support cylinder 206. Fig. 9 As shown, the rotary support cylinder 206 is provided with a Z-shaped clamping hoop inlet 2062. Fig.11 As shown, a Z-shaped gap is formed between the outer wall of the connecting end plate 2022 and the inner side of the side wall 2063 of the slewing support cylinder 206, and the gap is connected to the clamping hoop inlet 2062. When installing, the side wall 2063 of the slewing support cylinder 206 is first placed on the outer side of the connecting end plate 2022 of the stern installation cylinder 202, and then Fig. 9 As shown, the long strip-shaped clamping hoop 209 is knocked and slid into the clamping hoop inlet 2062 so that the clamping hoop 209 fills the Z-shaped gap between the outer wall of the connecting end plate 2022 and the inner side of the side cylinder wall 2063 of the rotating support cylinder 206, thereby realizing the axial connection between the stern mounting cylinder 202 and the rotating support cylinder 206.

[0043] like Fig.12 As shown, the mounting support plate 205 is vertically provided with stabilizing wings 207 on both the upper and lower sides, and the two stabilizing wings 207 are on the same plane. Fig.10 As shown, the left and right sides of the mounting support plate 205 are provided with a propeller connecting frame 208, and the stern propeller 203 is arranged on the propeller connecting frame 208 on the corresponding side, and the propeller connector 208 is bent so that the axial direction of the stern propeller 203 forms an angle α with the axial direction of the AUV. In this embodiment, there are four stern buoyancy materials 204 evenly distributed along the circumferential direction, and installation gaps are formed between adjacent stern buoyancy materials 204. The mounting support plate 205, the stabilizing wing 207 and the propeller connecting frame 208 are respectively arranged in the corresponding installation gaps, and the stern propeller 203 is arranged outside the stern buoyancy material 204.

[0044] The working principle of the present invention is:

[0045] When the present invention is working, the bow rotary motor 108 in the bow rotary section 1 drives the bow buoyancy section 360° through the driving gear 106 and the gear ring 102, thereby realizing the bow thruster 103 in the bow buoyancy section to rotate 360° around the AUV axis, and the stern rotary motor 201 in the stern rotary section 2 can drive the stern buoyancy section to rotate 360° around the AUV axis, thereby realizing the stern thrusters 203 on both sides of the stern buoyancy section to rotate 360° around the AUV axis, so that the present invention can directly control the rotation of the bow and stern of the AUV to realize motion control, that is, the present invention can control the motion of the AUV by direct drive of spatial motion, without the need to rely on motion decomposition and spatial vector synthesis in two operating planes to realize AUV spatial motion control, avoiding the approximate error in motion decomposition and the numerical error in vector synthesis, the whole control process has a high response speed, and the control system model is relatively simple. In addition, the present invention eliminates the turning moment of the thruster on the AUV through the symmetrically installed thrusters, and can achieve self-balancing and stable control. The angle between the axis of the stern thruster 203 and the axis of the AUV is 22.5 degrees, which is an efficient arrangement angle in the cruising mode of the AUV.

Claims

1. A 360-degree rotary synthetic propulsion mechanism for AUV, characterized by: The invention comprises a bow rotating section (1) and a stern rotating section (2), wherein the bow rotating section (1) comprises a bow mounting cylinder (101), a bow buoyancy section and a bow thruster (103); the bow mounting cylinder (101) is arranged at the front end of the AUV cabin and is provided with a slewing drive assembly inside; the bow buoyancy section is rotatably connected to the front end of the bow mounting cylinder (101) and is driven to rotate by the slewing drive assembly; bow thrusters (103) are provided on both sides of the bow buoyancy section, and the axial directions of the bow thrusters (103) on both sides are the same and perpendicular. In the axial direction of the AUV, the stern rotating section (2) comprises a stern mounting cylinder (202), a stern buoyancy section and a stern propeller (203); the stern mounting cylinder (202) is arranged at the rear end of the AUV cabin and is provided with a stern rotating motor (201) therein; the stern buoyancy section is rotatably connected to the rear end of the stern mounting cylinder (202) and is driven to rotate by the stern rotating motor (201); stern propellers (203) are arranged on both sides of the stern buoyancy section, and the axial direction of the stern propeller (203) is arranged at an angle α with the axial direction of the AUV; The slewing drive assembly comprises a gear ring (102), a driving gear (106) and a bow slewing motor (108), wherein the bow slewing motor (108) is fixedly arranged in the bow mounting tube (101), the driving gear (106) is installed at the output end of the bow slewing motor (108), the gear ring (102) is rotatably arranged in the bow mounting tube (101) and is fixedly connected to the bow buoyancy section, and the driving gear (106) is meshed with the inner side teeth of the gear ring (102); A gear limiting frame (107) is provided inside the bow installation cylinder (101), and the front and rear sides of the driving gear (106) are respectively abutted against the gear limiting frames (107) on the corresponding sides; a clamping ring (109) is provided at the front end of the bow installation cylinder (101), a clamping groove is provided on the outer wall of the gear ring (102), and the clamping ring (109) is clamped in the clamping groove; The gear limiting frame (107) comprises a connecting frame body (1071) and a limiting ring portion (1072), wherein the connecting frame body (1071) is fixedly arranged in the bow mounting cylinder (101), and the limiting ring portion (1072) is arranged at the upper end of the connecting frame body (1071) and abuts against the corresponding side wall of the driving gear (106).

2. The 360-degree rotary synthetic propulsion mechanism for AUV according to claim 1, characterized in that: An anti-wear ring (1091) is provided between the clamping ring (109) and the bottom of the slot.

3. The 360-degree rotary synthetic propulsion mechanism for AUV according to claim 1, characterized in that: The bow buoyancy section comprises a bow buoyancy material (104) and a bow thruster fixing tube (105) arranged between the bow buoyancy material (104), and the axial direction of the bow thruster fixing tube (105) is perpendicular to the axial direction of the AUV, and two bow thrusters (103) are arranged at two ends inside the bow thruster fixing tube (105).

4. The 360-degree rotary synthetic propulsion mechanism for AUV according to claim 1, characterized in that: The stern buoyancy section of the stern rotating section (2) comprises a rotating support cylinder (206), a mounting support plate (205), a stern buoyancy material (204) and a stabilizing wing (207), wherein the rotating support cylinder (206) is rotatably connected to the stern mounting cylinder (202), and a mounting support plate (205) is provided in the middle of the rotating support cylinder (206), a stern rotating motor (201) is fixedly arranged in the stern mounting cylinder (202), and an output end of the stern rotating motor (201) is fixedly connected to a front end of the mounting support plate (205), and the stern buoyancy material (204), the stabilizing wing (207) and the stern propeller (203) are all fixedly mounted on the mounting support plate (205).

5. The 360-degree rotary synthetic propulsion mechanism for AUV according to claim 4, characterized in that: A connecting end plate (2022) is provided at the rear end of the stern mounting cylinder (202), and a clamping hoop (209) is provided between the outer wall of the connecting end plate (2022) and the side cylinder wall (2063) of the rotating support cylinder (206), and a Z-shaped clamping hoop inlet (2062) is provided on the rotating support cylinder (206), and a gap with a Z-shaped cross-section is formed between the outer wall of the connecting end plate (2022) and the inner side of the side cylinder wall (2063) of the rotating support cylinder (206), and the clamping hoop (209) enters the Z-shaped gap from the clamping hoop inlet (2062).

6. The 360-degree rotary synthetic propulsion mechanism for AUV according to claim 4, characterized in that: A motor fixing plate (2021) is provided in the stern mounting tube (202), the stern rotary motor (201) is fixedly mounted in the middle of the motor fixing plate (2021), a support plate fixing plate (2061) is provided on one side of the rotary support tube (206), a fixing portion (2051) is provided at the front end of the mounting support plate (205), and the fixing portion (2051) is fixedly mounted in the middle of the support plate fixing plate (2061).

7. The 360-degree rotary synthetic propulsion mechanism for AUV according to claim 4, characterized in that: The mounting support plate (205) is vertically provided with stabilizing wings (207) on both upper and lower sides, and the two stabilizing wings (207) are located on the same plane. The mounting support plate (205) is provided with propeller connecting frames (208) on both left and right sides, and the stern propeller (203) is arranged on the propeller connecting frame (208) on the corresponding side. The stern buoyancy section includes a plurality of stern buoyancy materials (204) uniformly distributed along the circumferential direction, and installation gaps are formed between adjacent stern buoyancy materials (204). The mounting support plate (205), the stabilizing wings (207) and the propeller connecting frame (208) are respectively arranged in the corresponding installation gaps, and the stern propeller (203) is arranged on the outside of the stern buoyancy material (204).

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