Highly integrated outboard self-locking steering gear system for deep diving UUV

Abstract

The invention discloses a highly integrated outboard self-locking steering gear system for a deep-diving UUV, wherein a control driver is connected to an oil-immersed steering gear through a pressure-resistant junction box and a structured cable in sequence; the pressure-resistant junction box, the structured cable and the oil-immersed steering gear are located outside the cabin; the control driver is located inside or outside the cabin; the pressure-resistant junction box includes a watertight connector and a common connector; when the control driver is located inside the cabin, the control driver is a non-pressure-resistant control driver; when the control driver is located outside the cabin, the control driver is a pressure-resistant control driver, comprising a second shell and a circuit board arranged inside the second shell, a first cavity and a second cavity are arranged in the second shell, the first cavity is connected to the pressure-resistant junction box, the circuit board is arranged in the second cavity, the circuit board is connected to one end of the cable, the other end of the cable passes through the first cavity to connect the watertight connector, and a sealing mechanism is arranged between the cable and the first cavity. The invention has a compact structure and high integration, and is suitable for deep-water environments below 4,000 meters underwater.

Description

Technical Field

[0001] The present invention relates to a steering gear system for underwater equipment UUV, in particular to a highly integrated, outboard, deep diving, self-locking, long-time working and reliable steering gear system, belonging to the technical field of underwater unmanned submersibles. Background Art

[0002] In recent years, the technology of underwater unmanned underwater vehicle (UUV) has developed rapidly.

[0003] The electric steering device is the actuator of the UUV steering system and one of the important components of the steering system. Its performance directly determines the real-time steering performance of the UUV system. Since the traditional steering system cannot adapt to the deep water pressure, the steering system is generally installed inboard, but this will result in a large steering cabin and cannot meet the needs of miniaturization. Summary of the invention

[0004] The purpose of the present invention is to overcome the above-mentioned defects and provide a highly integrated outboard self-locking steering gear system for a deep-diving UUV, which solves the technical problem that the existing steering gear system cannot adapt to the environment outside the cabin. The present invention has a compact structure and high integration, and is suitable for deep-water environments below 4,000 meters underwater.

[0005] In order to achieve the above-mentioned object of the invention, the present invention provides the following technical solutions:

[0006] The steering gear system of the present invention proposes three solutions: segmented, outboard and inboard, which meet the requirements of different placement positions of the steering gear system and realize a highly integrated system design.

[0007] A highly integrated outboard self-locking steering gear system for deep-diving UUV, comprising a control driver, a pressure-resistant junction box, a structured cable and an oil-immersed steering gear;

[0008] The control driver is connected to the oil-immersed servo in turn through a voltage-resistant junction box and a structured cable;

[0009] The voltage-resistant junction box, structured cables and oil-immersed steering gear are located outside the cabin; the control drive is located inside or outside the cabin;

[0010] The pressure-resistant junction box includes watertight connectors and common connectors connected to each other;

[0011] When the control driver is located in the cabin, the control driver is a non-pressure-resistant control driver, and the non-pressure-resistant control driver includes a first shell and a circuit board arranged inside the first shell, and the circuit board is connected to the watertight connector in the pressure-resistant junction box through a cable;

[0012] When the control driver is located outside the cabin, the control driver is a pressure-resistant control driver, which includes a second shell and a circuit board arranged inside the second shell, a first cavity and a second cavity are arranged in the second shell, the first cavity is communicated with the pressure-resistant junction box, the circuit board is placed in the second cavity, the circuit board is connected to one end of the cable, the other end of the cable passes through the first cavity and is connected to the watertight connector in the pressure-resistant junction box, and a sealing mechanism is provided between the cable and the first cavity;

[0013] The circuit board is used for driving and controlling the oil-immersed steering gear.

[0014] Further, it also includes a pressure compensator;

[0015] The pressure compensator is fixed on the bulkhead and is connected to the inside of the pressure-resistant junction box. A bellows is used inside the pressure compensator to increase the pressure so that the oil pressure inside the pressure-resistant junction box is always greater than the seawater pressure outside the pressure-resistant junction box.

[0016] Further, the oil-immersed steering gear comprises a permanent magnet synchronous motor, a steering gear housing, and a spur gear pinion, a spur gear wheel, a worm wheel, a worm, an output shaft, a first rotary transformer, and a second rotary transformer arranged inside the steering gear housing;

[0017] The permanent magnet synchronous motor is filled with oil;

[0018] The spur gear rotates synchronously with the permanent magnet synchronous motor, the spur gear meshes with the spur gear, the axes of the spur gear and the spur gear are parallel, the spur gear and the worm are coaxial integrated structures, the worm meshes with the worm wheel, the worm wheel is connected to the output shaft, and the output shaft is connected to the load rudder blade;

[0019] The first rotary transformer is used to feed back the speed of the permanent magnet synchronous motor;

[0020] The second resolver is used to detect the rotation angle of the worm gear.

[0021] Furthermore, a protrusion is provided on the inner wall of the steering gear housing, and an arc hole is provided on the worm gear. The arc hole cooperates with the protrusion. When the worm gear rotates until the two ends of the arc hole clamp the protrusion, mechanical limiting of the oil-immersed steering gear is achieved, and the oil-immersed steering gear stops rotating and outputting.

[0022] Furthermore, the oil-immersed steering gear also includes an electrical connector and an electrical connector sealing seat;

[0023] The electric connector is installed on the steering gear housing through the electric connector sealing seat, and the inner wall of the steering gear housing is provided with a first wiring groove and a second wiring groove;

[0024] The cables of the permanent magnet synchronous motor and the first rotary transformer are connected to one end of the electrical connector through the first wiring groove, the cables of the second rotary transformer are connected to one end of the electrical connector through the second wiring groove, and the structured cable is connected to the electrical connector sealing seat and the other end of the electrical connector.

[0025] Furthermore, the steering gear housing includes a reduction gear housing, a worm gear end cover and a resolver end cover;

[0026] The reduction box housing, the worm gear end cover and the resolver end cover are combined to form a closed inner cavity, the worm gear end cover is arranged at the worm gear, and the resolver end cover is arranged at the second resolver;

[0027] The first wiring groove is arranged on the inner wall of the reduction box housing, and the second wiring groove is arranged on the inner walls of the worm gear end cover and the resolver end cover.

[0028] Furthermore, independent cable channels and oil supply channels are provided inside the structured cable. One end of the cable channel is connected to the other end of the electrical connector in the oil-immersed servo, and the other end is connected to the ordinary connector in the junction box. One end of the oil supply channel is connected to the interior of the permanent magnet synchronous motor through the electrical connector sealing seat, and the other end is connected to the interior of the junction box.

[0029] Furthermore, when the control driver is located in the cabin, the voltage-resistant junction box is fixed on the cabin wall.

[0030] Furthermore, there are 4 oil-immersed servos.

[0031] Furthermore, the sealing mechanism provided between the cable and the first cavity is a double-pass radial O-ring.

[0032] Compared with the prior art, the present invention has at least one of the following beneficial effects:

[0033] (1) The present invention creatively proposes a highly integrated outboard self-locking steering gear system for a deep-diving UUV. By adopting control drivers with different structures, the arrangement of the steering gear system in different scenarios can be realized, which can meet the requirements of a large space in the cabin;

[0034] (2) The present invention realizes electrical circuit connection and oil circuit connection with the compensator through structured cables, thereby achieving pressure balance of the steering gear and preventing seawater from entering the system and damaging the equipment;

[0035] (3) The present invention adopts a system universal design to design the non-pressure-resistant housing of the controller into a pressure-resistant housing and integrates it with the junction box to achieve pressure resistance of the entire system, thereby achieving stable operation of the system in an extravehicular environment;

[0036] (4) The servo motor in this invention patent has a compact structure with unified outgoing wires, all of which are inside the servo motor and do not come into contact with seawater.

[0037] (5) The arrangement of the internal and external oil plugs at the steering gear electrical connector of the present invention enables the steering gear to be used both outside the ship and inside the cabin;

[0038] (6) The present invention designs the structure of the oil-immersed servo so that it has mechanical limit and locking functions, and also designs the connection method between the oil-immersed servo and the junction box so that it has high sealing performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is a composition diagram of the high-diving electric steering gear segment system of the present invention;

[0040] Figure 2 This is a schematic diagram of the full-pressure-resistant system of the electric steering gear with a large diving depth according to the present invention;

[0041] Figure 3 This is a non-pressure-resistant system diagram of the deep-diving electric steering gear of the present invention;

[0042] Figure 4 The motor wiring groove of the present invention;

[0043] Figure 5 It is the wiring groove of the second rotary transformer of the present invention;

[0044] Figure 6 It is the opening, closing and blocking of the internal and external oil circuits of the steering gear of the present invention;

[0045] Figure 7 This is a bottom view of a single steering gear structure of the present invention;

[0046] Figure 8 This is a front view of a single steering gear structure of the present invention;

[0047] Fig. 9 This is a right side view of a single steering gear structure of the present invention;

[0048] In the figure, 1- non-pressure-resistant control drive, 2- ordinary cable in the cabin, 3- bulkhead, 4- pressure-resistant junction box, 5- structured cable, 6, 7, 8, 9- oil-filled servo, 10- compensator, 11- pressure-resistant control drive, 12- watertight connector, 13, 14, 15, 16- non-oil-filled servo, 17- motor seat 18- reduction box housing 19- permanent magnet synchronous motor, 20- electrical connector, 21- second rotary transformer, 22- worm gear end cover, 23- Rotary transformer end cover, 24-oil circuit on-off plug, 25-spur gear pinion, 26-first deep groove ball bearing, 27-spur gear, 28-bidirectional angular contact ball bearing, 29-worm gear, 30-worm, 31-cylindrical pin, 32-second deep groove ball bearing, 33-electric connector sealing seat, 34-flat key, 35-output shaft, 36-car-type combined seal, 37-angular contact ball bearing, 38-O-ring, 39-connecting shaft, 40-first rotary transformer. DETAILED DESCRIPTION

[0049] The following detailed description of the present invention will make the features and advantages of the present invention more clear and explicit.

[0050] The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. Although various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless otherwise noted.

[0051] The present invention proposes a highly integrated, high-power, outboard, mechanically limited and self-lockable electric steering gear system for deep-diving UUVs at depths of 4,000 meters. The present invention also proposes a solution in which the entire system can be applied to outboard pressure-resistant or inboard non-pressure-resistant and a pressure compensation channel can be provided through a structured cable.

[0052] The steering gear of the present invention is realized by a permanent magnet synchronous servo motor driving a first-stage gear reducer and a first-stage worm gear reduction scheme. The permanent magnet synchronous motor is immersed in oil, and a pressure compensation device is used to balance the pressure of the oil inside the steering gear and the external seawater, thereby achieving the purpose of compact design of the steering gear. The worm gear reduction is adopted, and the structure and parameter design are optimized, so that the electric steering gear has the function of self-locking at any position.

[0053] The present invention realizes the simplification of the UUV electric steering gear structural design, high integration, self-locking at any position when power is off, and low-power and high-torque output.

[0054] The purpose of the present invention is to provide a highly integrated steering gear system that meets the requirements of deep-diving UUV applications, which can achieve working capabilities such as 4000 meters underwater, outboard, mechanical limit and self-locking.

[0055] The electric servo system consists of a one-to-four control drive, cabin cables, junction boxes, structured cables, four oil-immersed servos and a pressure compensator.

[0056] A single electric servo is composed of a permanent magnet synchronous motor (including a resolver), a spur pinion, a spur gear, a worm gear, a worm, an electrical connector, an electrical connector sealing seat, a reduction gear housing, a resolver end cover, a worm gear end cover and an output shaft.

[0057] The permanent magnet synchronous motor contains an integrated design of the first rotary transformer (to detect the motor's angular position) and is filled with oil. The first-stage gear transmission is composed of a spur gear and a spur gear to achieve a first-stage deceleration function. One end of the spur gear is connected to the permanent magnet synchronous motor, and the other end is arranged parallel to the axis of the spur gear. The spur gear and the worm are designed in an integrated manner.

[0058] The lower reduction transmission consists of a worm gear and a worm. The worm gear has a self-locking function, which enables the electric servo to be locked at any position. The worm gear is directly connected to the output shaft as the output end. The protrusion of the worm gear end cover and the arc hole on the worm gear structure cooperate to realize the mechanical limit of the servo. The arc hole of the worm gear realizes the mechanical limit function and weight reduction function. One end of the worm gear is connected to the output shaft through a flat key, and the other end is connected to another rotary transformer through a rotary transformer shaft, realizing the feedback of the electric servo's rotation angle.

[0059] In terms of electrical, the wiring layout of the electric servo system is all set up inside, and the entire electric servo is connected to the outside through only one electrical connector, realizing the high integration of the electric servo system. In addition, there is an electrical connector sealing seat outside the electrical connector, and the wiring is inside the structured cable, which is used for both wiring and oil.

[0060] The electric steering gear system is structurally interconnected and is equipped with a pressure compensator to balance the internal and external pressures when the steering gear is outboard.

[0061] Working principle:

[0062] The highly integrated outboard self-locking steering gear system for deep-diving UUV adopts a one-to-four steering gear system solution. The junction box is arranged on the bulkhead and connected to the four oil-immersed steering gears and compensators through structured cables. The electric steering gear is driven by a permanent magnet synchronous motor, and the output shaft is driven by the worm gear after a first-stage spur gear reduction and a first-stage worm gear reduction. Two rotary transformers realize the speed feedback of the motor inside the motor, and the rotary transformer on the worm gear side realizes the position feedback of the electric steering gear. The two rotary transformers realize the closed-loop control of the speed and position of the rudder angle. A water leakage detection is set inside the control driver to prevent leakage at the system seal and seawater from entering the system to damage the equipment.

[0063] Example:

[0064] The composition diagram of the electric steering gear system of the present invention is as follows Figures 1 to 9 As shown, the electric steering gear system of the present invention includes three types: an electric steering gear segmented system, an outboard electric steering gear system and an inboard electric steering gear system, which can meet the different requirements of UUV for the placement of the steering gear system.

[0065] Electric steering gear segment system, such as Figure 1 As shown, it includes a non-pressure-resistant control driver 1, an ordinary cable 2 in the cabin, a pressure-resistant junction box 4, a structured cable 5, four oil-immersed servos (6-9) and a pressure compensator 10, wherein the non-pressure-resistant control driver 1 and the ordinary cable 2 in the cabin are in the cabin, and the pressure-resistant junction box 4, the structured cable 5, the four oil-immersed servos and the pressure compensator 10 are installed outside the ship.

[0066] The pressure-resistant junction box 4 is fixedly mounted on the bulkhead 3 , the non-pressure-resistant control driver 1 is connected to four oil-immersed servos via ordinary cables 2 in the cabin, the pressure-resistant junction box 4 and the structured cable 5 in sequence, the pressure compensator 10 is connected to the pressure-resistant junction box 4 , and the pressure compensator 10 is fixedly mounted on the bulkhead 3 .

[0067] The pressure-resistant junction box 4 realizes the conversion between the common electrical connector and the watertight connector and the separation of the power and control electricity of the four steering gears by setting a watertight electrical connector. The pressure-resistant junction box 4 is connected to the pressure compensator 10. The pressure compensator 10, the pressure-resistant junction box 4, the structured cable 5 and the internal oil circuits of the four steering gears are connected.

[0068] A cable channel and an oil supply channel are provided inside the structured cable 5. One end of the cable channel is connected to the cable on the oil-immersed steering gear, and the other end is connected to the cable on the junction box. One end of the oil supply channel is fixed to the interface on the oil-immersed steering gear, and the other end is fixed to the interface on the junction box. The structured cable 5 is provided with a sealing ring to achieve both oil and wiring inside; the structured cable 5 realizes the connectivity of the internal oil circuit of the system.

[0069] like Figure 7 , Figure 8 , Fig. 9The oil-immersed servo includes a permanent magnet synchronous motor 19, a spur gear 25, a spur gear 27, a worm gear 29, a worm 30, an electrical connector 20, an electrical connector sealing seat 33, a reduction gear housing 18, a resolver end cover 23, a worm gear end cover 22 and an output shaft 35. The rotor shaft of the permanent magnet synchronous motor 19 is coaxially designed with the first rotary transformer 40. The first rotary transformer 40 is used to detect the angular position of the permanent magnet synchronous motor 19. It is filled with oil inside (the motor winding is encapsulated to facilitate insulation in oil and is suitable for high voltage). One end of the spur gear 25 is connected to the permanent magnet synchronous motor 19, and the other end is arranged parallel to the axis of the spur gear 27. The spur gear 27 meshes with the spur gear 25. The spur gear 27 and the worm 30 are designed as an integrated structure. The worm 30 meshes with the worm wheel 29, and the worm 30 realizes a self-locking function by optimizing the design parameters (making the helix angle of the worm smaller than the equivalent friction angle between the meshing teeth of the worm and worm wheel). One end of the worm wheel 29 is directly connected to the output shaft 35 as the output end, and the output shaft 35 is used to connect the load rudder blade. The reduction box housing 18 is arranged at the outermost part, and the electrical connector 20 is placed at the cable outlet of the reduction box housing 18. One end of the electrical connector sealing seat 33 realizes the sealing at the cable outlet, and the other end realizes the connection with the structured cable 5. The worm gear end cover 22 is fixed to the worm gear protruding end of the reduction box housing 18, and the rotary transformer end cover 23 is fixed to the worm gear end cover 22 to realize the sealing of the internal cavity of the reduction box housing 18. The worm gear end cover 22 is provided with a protrusion, and the worm gear 29 is provided with an arc hole. When the worm gear 29 rotates to the arc hole and the protrusion, the mechanical limit of the steering gear is realized, and the steering gear stops rotating and outputting. The other end of the worm gear 29 is connected to the second rotary transformer 21, and the second rotary transformer 21 is used to detect the rotation angle of the worm gear 29 to realize the feedback of the electric steering gear rotation angle. Through the feedback of the first rotary transformer 40 and the second rotary transformer 21, the motor speed and the steering gear rotation angle position can be obtained. According to these two quantities, the speed control and position control of the steering gear rotation can be realized. The cables of the permanent magnet synchronous motor 19 and the first rotary transformer 40 are routed through the wiring grooves in the motor seat 17 and the reduction gearbox housing 18 to the electrical connector 20 of the housing 18, as shown in FIG. Figure 4 The cable of the second rotary transformer 21 passes through the wiring groove inside the worm gear end cover 22 and the rotary transformer end cover 23 to the electrical connector 20 of the reduction gearbox housing 18 and is fixed thereto. Figure 5 As shown. In the oil-immersed steering gear of the present invention, internal wiring channels of the permanent magnet synchronous motor 19, the first rotary transformer 40, and the second rotary transformer 21 are designed. The two channels together place the cables inside the steering gear, realizing a compact structure and an external cable-free design. The oil-immersed steering gear also includes a first deep groove ball bearing 26, a double-direction angular contact ball bearing 28, a cylindrical pin 31, a second deep groove ball bearing 32, a flat key 34 provided between the output shaft 35 and the worm gear 29, a car-type combined seal 36, an angular contact ball bearing 37, an O-ring 38, and a connecting shaft 39.

[0070] The oil circuit on-off plug 24 of the oil-immersed steering gear is arranged inside the reduction gearbox housing 18, near the electrical connector, to achieve the isolation of the internal oil circuit of the steering gear from the external oil circuit. The steering gear can be placed outside the ship to be filled with oil, and can be placed in the cabin without filling with oil. Figure 6 shown.

[0071] The pressure compensator 10 is provided with a bellows pressurization inside so that the internal oil pressure of the system connected to the compensator is always greater than the external oil pressure, thereby preventing seawater from entering the system and damaging the equipment.

[0072] The outboard electric steering gear system of the present invention is as follows: Figure 2 As shown, it includes a pressure-resistant control driver 11, a watertight cable 12, a bulkhead 3 (UUV), a pressure-resistant junction box 4, a structured cable 5, four oil-immersed steering gears and a pressure compensator 10. The system can be placed entirely outside the shipboard to meet the need for a large space in the cabin.

[0073] The pressure-resistant control driver 11 includes two chambers, A and B. The A chamber is a wet chamber that can be connected to the system oil circuit, and the wet chamber and the pressure-resistant junction box 4 are an integral structure with an integrated design to achieve a compact structure; the B chamber is a dry chamber that is not connected to the system oil circuit and has a built-in control circuit board and a drive circuit board. By setting up two chambers, the entire control driver can be placed outside the ship and exposed to seawater.

[0074] The watertight connector 12 is disposed in the middle of the dry and wet chambers of the pressure-resistant control driver 11 to achieve cable connection between the dry and wet chambers.

[0075] Another form of the present invention is an in-cabin electric steering gear system, such as Figure 3 As shown, it includes a non-pressure-resistant control driver 1, a common cable 2 in the cabin, and four non-oil-filled steering gears (13-16). The steering gear no longer needs to be immersed in oil, and no longer needs a compensator and a watertight cable. The system can be realized by directly controlling four non-oil-filled steering gears through a common cable 2, and all are placed in the cabin.

[0076] The present invention can meet the 30 Nm output of a single electric steering gear of a UUV at 4000 meters underwater (the full-load starting power of a single steering gear is less than 17 watts).

[0077] The present invention has been described in detail above in conjunction with specific implementations and exemplary examples, but these descriptions cannot be understood as limiting the present invention. Those skilled in the art understand that, without departing from the spirit and scope of the present invention, a variety of equivalent substitutions, modifications or improvements may be made to the technical solution of the present invention and its implementation methods, all of which fall within the scope of the present invention. The scope of protection of the present invention shall be subject to the attached claims.

[0078] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. A highly integrated outboard self-locking steering gear system for deep-diving UUV, characterized in that: It comprises a control driver, a pressure-resistant junction box (4), a structured cable (5), an oil-immersed steering gear and a pressure compensator (10); The control driver is connected to the oil-immersed steering gear in turn through a voltage-resistant junction box (4) and a structured cable (5); The pressure-resistant junction box (4), the structured cable (5) and the oil-immersed steering gear are located outside the cabin; the control drive is located inside or outside the cabin; The pressure-resistant junction box (4) comprises a watertight connector and a common connector which are connected to each other; When the control driver is located in the cabin, the control driver is a non-pressure-resistant control driver (1), and the non-pressure-resistant control driver (1) comprises a first shell and a circuit board arranged inside the first shell, and the circuit board is connected to a watertight connector in a pressure-resistant junction box (4) via a cable; When the control driver is located outside the cabin, the control driver is a pressure-resistant control driver (11), the pressure-resistant control driver (11) comprises a second shell and a circuit board arranged inside the second shell, the second shell is provided with a first cavity and a second cavity, the first cavity is communicated with the pressure-resistant junction box (4), the circuit board is placed in the second cavity, the circuit board is connected to one end of the cable, the other end of the cable passes through the first cavity and is connected to a watertight connector in the pressure-resistant junction box (4), and a sealing mechanism is provided between the cable and the first cavity; The pressure compensator (10) is fixed on the bulkhead (3), the pressure compensator (10) is connected to the inside of the pressure-resistant junction box (4), and the oil pressure inside the pressure-resistant junction box (4) is always greater than the seawater pressure outside the pressure-resistant junction box (4); The circuit board is used to drive and control the oil-immersed servo; The oil-immersed steering gear comprises a permanent magnet synchronous motor (19), a steering gear housing, and a spur gear pinion (25), a spur gear wheel (27), a worm wheel (29), a worm (30), an output shaft (35), a first rotary transformer (40), and a second rotary transformer (21) arranged inside the steering gear housing; The permanent magnet synchronous motor (19) is filled with oil; The spur gear (25) rotates synchronously with the permanent magnet synchronous motor (19), the spur gear (25) meshes with the spur gear (27), the axes of the spur gear (25) and the spur gear (27) are parallel, the spur gear (27) and the worm (30) are coaxial integrated structures, the worm (30) meshes with the worm wheel (29), the worm wheel (29) is connected to the output shaft (35), and the output shaft (35) is connected to the load rudder blade; The first rotary transformer (40) is used to feed back the rotation speed of the permanent magnet synchronous motor (19); The second rotary transformer (21) is used to detect the rotation angle of the worm gear (29).

2. A highly integrated outboard self-locking steering gear system for a deep-diving UUV according to claim 1, characterized in that: The pressure compensator (10) uses a bellows to increase pressure inside, so that the oil pressure inside the pressure-resistant junction box (4) is always greater than the seawater pressure outside the pressure-resistant junction box (4).

3. The highly integrated outboard self-locking steering gear system for deep-diving UUV according to claim 1 is characterized in that: The inner wall of the steering gear housing is provided with a protrusion, and the worm wheel (29) is provided with an arc hole, which cooperates with the protrusion. When the worm wheel (29) rotates until the two ends of the arc hole clamp the protrusion, the mechanical limit of the oil-immersed steering gear is achieved, and the oil-immersed steering gear stops rotating and outputting.

4. The highly integrated outboard self-locking steering gear system for deep-diving UUV according to claim 1 is characterized in that: The oil-immersed steering gear further comprises an electrical connector (20) and an electrical connector sealing seat (33); The electric connector (20) is installed on the steering gear housing through an electric connector sealing seat (33), and the inner wall of the steering gear housing is provided with a first wiring groove and a second wiring groove; The cables of the permanent magnet synchronous motor (19) and the first rotary transformer (40) are connected to one end of the electrical connector (20) through a first wiring groove, the cables of the second rotary transformer (21) are connected to one end of the electrical connector (20) through a second wiring groove, and the structured cable (5) is connected to the electrical connector sealing seat (33) and the other end of the electrical connector (20).

5. The highly integrated outboard self-locking steering gear system for deep-diving UUV according to claim 4 is characterized in that: The steering gear housing comprises a reduction gear housing (18), a worm gear end cover (22) and a resolver end cover (23); The reduction box housing (18), the worm gear end cover (22) and the resolver end cover (23) are combined to form a closed inner cavity, the worm gear end cover (22) is arranged at the worm gear (29), and the resolver end cover (23) is arranged at the second resolver (21); The first wiring groove is arranged on the inner wall of the reduction box housing (18), and the second wiring groove is arranged on the inner walls of the worm gear end cover (22) and the rotary transformer end cover (23).

6. The highly integrated outboard self-locking steering gear system for deep-diving UUV according to claim 4 is characterized in that: A cable channel and an oil supply channel are provided inside the structured cable (5), wherein one end of the cable channel is connected to the other end of an electric connector (20) in the oil-immersed steering gear, and the other end is connected to a common connector in a junction box (4); one end of the oil supply channel is connected to the inside of the permanent magnet synchronous motor (19) through an electric connector sealing seat (33), and the other end is communicated with the inside of the junction box (4).

7. The highly integrated outboard self-locking steering gear system for deep-diving UUV according to claim 1, characterized in that: When the control driver is located in the cabin, the voltage-resistant junction box (4) is fixed on the cabin wall.

8. The highly integrated outboard self-locking steering gear system for deep-diving UUV according to claim 1, characterized in that: There are 4 oil-immersed servos.

9. The highly integrated outboard self-locking steering gear system for deep-diving UUV according to claim 1, characterized in that: The sealing mechanism provided between the cable and the first cavity is a double-pass radial O-ring.

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