Flexible steering gear device with magnetic coupling for underwater glider

Abstract

The present application belongs to the field of underwater robots, and particularly relates to a flexible rudder mechanism device with a magnetic coupling for underwater gliders. One end of a rudder mechanism cabin seat is sealingly installed on an underwater glider, and the other end of the rudder mechanism cabin seat is sealingly installed with a rudder mechanism cabin cover. A driving mechanism is installed in a space surrounded by the rudder mechanism cabin cover and the rudder mechanism cabin seat. An output end of the driving mechanism is connected with one end of a flexible pivot shaft. The other end of the flexible pivot shaft is connected with one end of a rudder shaft through a magnetic coupling. The other end of the rudder shaft is fixedly connected with a lower end of a rotating piece. A lower end of a fixed wing is fixedly connected with the rudder mechanism cabin seat. One end of a limiting block is installed on an upper end of the fixed wing, and the other end of the limiting block is rotatably connected with an upper end of the rotating piece. A wire tube is installed on the limiting block. The flexible pivot shaft can ensure that the rotating piece is not damaged when rotating a certain angle under the action of an external force, and the rotating piece can return to the original state after the external force disappears. The present application has the advantages of compact structure, low power consumption, good sealing property, collision avoidance, high reliability, easy assembly and maintenance, etc.

Description

Technical Field

[0001] This invention belongs to the field of underwater robots, specifically a magnetic coupling flexible servo device for underwater gliders. Background Technology

[0002] Underwater gliders are a new type of underwater robot that relies on changes in buoyancy and adjustments in attitude angles to obtain propulsion. Currently, underwater gliders generally employ two steering methods. The first method changes the glider's heading by altering the overall tilt angle of the glider. This involves changing the relative position of the glider's center of gravity and center of buoyancy, causing the irregularly shaped battery pack inside the glider to rotate around the glider's axis. This causes the glider's center of gravity to shift to the left or right, while the center of buoyancy remains unchanged, generating a torque that causes the entire glider to tilt around its own axis. This tilt angle, under hydrodynamic forces, changes the glider's heading. This steering method places certain requirements on the shape of the battery pack, limiting the total weight of the batteries. The second method uses a steering device mounted on the glider to change heading. However, the steering device's drive shaft, which drives the rudder through seals, carries certain risks. Firstly, it faces dynamic seal stability issues; secondly, friction at the seals leads to high system energy consumption. Summary of the Invention

[0003] To address the dynamic sealing issue at the drive shaft of existing steering devices and to enhance the anti-collision function of the rudder blades, this invention aims to provide a flexible servo mechanism with a magnetic coupling for underwater gliders. This servo mechanism ensures the controllability of the glider's direction of motion while exhibiting low power consumption and high safety.

[0004] The objective of this invention is achieved through the following technical solution:

[0005] This invention includes a servo mount, a servo mount cover, a drive mechanism, a flexible pivot, a magnetic coupling, a rudder shaft, a rotating plate, a cable conduit, a limiting block, and a fixed wing. One end of the servo mount is sealed and mounted on an underwater glider, and the other end of the servo mount is sealed and mounted on the servo mount cover. The drive mechanism is installed within the space enclosed by the servo mount cover and the servo mount. The output end of the drive mechanism is connected to one end of the flexible pivot, and the other end of the flexible pivot is connected to one end of the rudder shaft via a magnetic coupling. The other end of the rudder shaft is fixedly connected to the lower end of the rotating plate. The lower end of the fixed wing is fixedly connected to the servo mount. One end of the limiting block is mounted on the upper end of the fixed wing, and the other end of the limiting block is rotatably connected to the upper end of the rotating plate, limiting the rotation angle range of the rotating plate. A cable conduit is installed on the limiting block.

[0006] Wherein: the drive mechanism includes a motor, a reducer and a motor connecting shaft. The motor and reducer are fixed in the space enclosed by the servo gear cover and the servo gear seat. The input shaft of the reducer is connected to the motor. The output shaft of the reducer is connected to one end of the motor connecting shaft. The flexible pivot is connected to the other end of the motor connecting shaft.

[0007] A motor connection plate is fixedly connected to the servo gear compartment cover, the reducer is fixedly connected to the motor connection plate, and a potentiometer for monitoring the rotation angle of the rotating plate is installed on the motor connection plate.

[0008] The magnetic coupling is vertically arranged and includes an outer magnetic pole base, an outer magnetic pole, an outer bushing, and inner magnetic poles. Multiple inner magnetic poles are evenly attracted at the other end of the flexible pivot along the circumferential direction. The outer magnetic pole base is rotatably mounted at the other end of the servo housing. The outer magnetic pole base is covered with an outer bushing, and multiple outer magnetic poles are evenly arranged between the outer bushing and the outer magnetic pole base along the circumferential direction. One end of the servo shaft is fixed to the outer bushing and the outer magnetic pole base.

[0009] The other end face of the flexible pivot is fixedly connected to a clamping cover that presses against each inner magnetic pole. The upper end of the outer magnetic pole base is rotatably connected to the servo housing via a deep groove ball bearing A, and the lower end is rotatably connected to the servo housing via a deep groove ball bearing B. The upper end face of the outer magnetic pole base is fixedly connected to a bearing locking cover, which presses against the inner ring of the deep groove ball bearing A and axially limits the inner ring of the deep groove ball bearing A.

[0010] The other end of the rudder shaft is inserted into the light hole C opened on the rotating plate fixing component and fixed by a radial screw. The rotating plate fixing component is fixed to the lower end of the rotating plate by screws.

[0011] The upper end of the rotating plate is rotatably connected to the other end of the limiting block via a screw shaft, and the screw shaft is tightened below the other end of the limiting block via nut B; the end face of the other end of the limiting block is U-shaped, and one side of the rotating plate in the height direction is inserted into the opening of the U-shape, thereby limiting the rotation angle range of the rotating plate through the limiting block.

[0012] The cable tray has a downward protrusion on its underside, and the limiting block has a groove corresponding to the protrusion. When the cable tray is installed with the limiting block, the protrusion on the cable tray is placed in the corresponding groove on the limiting block and fixed to the fixed wing.

[0013] The fixed wing has an antenna hole along the height direction to accommodate the ARGO antenna. The lower end of the ARGO antenna is sealed and mounted on the servo mount. The servo mount has a through hole A for wiring. The signal line of the ARGO antenna passes through the through hole A and is connected to the electrical components of the underwater glider. The upper end of the ARGO antenna is placed in the through hole B on the limiting block and the wiring hole on the wiring tube.

[0014] The servo gear compartment cover and the other end of the servo gear compartment are double-sealed by O-ring C, and the servo gear compartment and the underwater glider are double-sealed by O-ring A and O-ring B.

[0015] The advantages and positive effects of this invention are as follows:

[0016] 1. The present invention uses a flexible pivot, which can ensure that the rotating plate can rotate a certain angle under the action of external force without being damaged, and after the external force disappears, the rotating plate returns to its original position under the action of the flexible pivot.

[0017] 2. This invention uses a magnetic coupling to transmit torque. The vertically arranged magnetic coupling can transmit a larger torque, while avoiding the disadvantages of high power consumption and easy wear and leakage caused by dynamic seals.

[0018] 3. Under the premise of ensuring torque, the present invention eliminates the transmission mechanism by directly connecting the reducer and the motor shaft. At the same time, the magnetic coupling position is reasonably arranged, which makes the whole device highly space-efficient, lightweight, compact and easy to install on the underwater glider carrier, and also easy to maintain.

[0019] 4. Compared with the eccentric battery pack solution, the present invention has the advantages of fast response speed, low power consumption, and convenient maintenance.

[0020] 5. This invention encapsulates the ARGO antenna within a fixed wing, resulting in high integration and excellent positioning performance. Attached Figure Description

[0021] Figure 1 This is a top view of the structure of the present invention;

[0022] Figure 2 for Figure 1 Sectional view A-A in the middle;

[0023] Figure 3 for Figure 2 Enlarged view of the middle limit block and cable conduit;

[0024] Figure 4 for Figure 2 Enlarged view of the central drive mechanism, flexible pivot, and magnetic coupling;

[0025] Wherein: 1 is the servo housing, 2 is O-ring A, 3 is O-ring B, 4 is the radome clamping nut, 5 is O-ring C, 6 is the ARGO antenna, 7 is O-ring D, 8 is the servo housing cover, 9 is the motor, 10 is the reducer, 11 is the pin, 12 is the potentiometer, 13 is the set screw A, 14 is the motor connecting shaft, 15 is the motor connecting plate, 16 is the flexible pivot, 17 is the set screw B, 18 is the deep groove ball bearing B, 19 is the outer magnetic pole base, and 20 is the O-ring. Circle E, 21 is the outer magnetic pole, 22 is the outer bushing, 23 is the inner magnetic pole, 24 is the clamping cover, 25 is the deep groove ball bearing A, 26 is the bearing locking cover, 27 is the rudder shaft, 28 is the rotating plate, 29 is the screw shaft, 30 is the cable tray, 31 is the limiting block, 32 is the fixed wing, 33 is the fixed wing antenna hole, 34 is the O-ring seal F, 35 is the rotating plate fixing component, 36 is the through hole A, 37 is the through hole B, 38 is the protrusion, 39 is the groove, 40 is the cable tray hole, 41 is the nut B, and 42 is the notch. Detailed Implementation

[0026] The invention will now be described in further detail with reference to the accompanying drawings.

[0027] like Figures 1-4 As shown, the present invention includes a servo mount 1, a servo cover 8, a drive mechanism, a flexible pivot 16, a magnetic coupling, a rudder shaft 27, a rotating plate 28, a cable conduit 30, a limiting block 31, and a fixed wing 32. One end of the servo mount 1 is sealed and installed on the underwater glider, and the other end of the servo mount 1 is sealed and installed with the servo cover 8. The drive mechanism is installed in the space enclosed by the servo cover 8 and the servo mount 1. The output end of the drive mechanism is connected to one end of the flexible pivot 16. The other end of the flexible pivot 16 is connected to one end of the rudder shaft 27 through a magnetic coupling. The other end of the rudder shaft 27 is fixedly connected to the lower end of the rotating plate 28. The lower end of the fixed wing 32 is fixedly connected to the servo mount 1. One end of the limiting block 31 is installed on the upper end of the fixed wing 32, and the other end of the limiting block 31 is rotatably connected to the upper end of the rotating plate 28, limiting the rotation angle range of the rotating plate 28. A cable conduit 30 is installed on the limiting block 31.

[0028] In this embodiment, one side of the servo mount 1 is fixed to the underwater glider by a nut A. O-rings A2 and B3 are installed on the servo mount 1 to achieve a double seal with the underwater glider's carrier. The servo mount 1 has a through hole A36 for cable routing.

[0029] In this embodiment, the servo housing cover 8 is fixed to the other end of the servo housing base 1 with screws. At the same time, two O-rings D7 are installed on the servo housing cover 8 to achieve double sealing with the servo housing base 1.

[0030] In this embodiment, the lower end of the fixed wing 32 is fixed to the servo mount 1 with screws. The fixed wing 32 has an antenna hole 33 along the height direction to accommodate the ARGO antenna 6. The lower end of the ARGO antenna 6 is inserted into the through hole A36 on the servo mount 1, and a double seal is achieved by the upper and lower O-rings C5 installed on the ARGO antenna 6 and the through hole A36 on the servo mount 1. The lower end of the ARGO antenna 6 is fitted with an antenna cover clamping nut 4, which is threaded to the outer surface of the through hole A36 to fix the ARGO antenna 6 to the servo mount 1. The signal line of the ARGO antenna 6 passes through the through hole A36 and is connected to the electrical components of the underwater glider. The upper end of the fixed wing 32 is connected to the limiting block 31 by screws. The limiting block 31 has a through hole B37. The cable tray 30 has a cable hole 40 along its length. The upper end of the ARGO antenna 6 is placed in the through hole B37 on the limiting block 31 and the cable hole 40 on the cable tray 30.

[0031] In this embodiment, the end face of the limiting block 31 is U-shaped, and one side of the rotating piece 28 in the height direction is inserted into the opening of the U-shape, thereby limiting the rotation angle range of the rotating piece 28 by the limiting block 31.

[0032] In this embodiment, the cable conduit 30 has a downward protrusion 38 on its underside, and the limiting block 31 has a groove 39 corresponding to the position of the protrusion 38. When the cable conduit 30 and the limiting block 31 are installed, the protrusion 38 on the cable conduit 30 is placed in the corresponding groove 39 on the limiting block 31 and fixed to the fixing wing 32 with screws.

[0033] In this embodiment, the upper end of the rotating plate 28 is rotatably connected to the other end of the limiting block 31 via a screw shaft 29, and the screw shaft 29 is tightened below the other end of the limiting block 31 via a nut B41. The lower end of the screw shaft 29 is rotatably connected to the light hole B opened at the upper end of the rotating plate 28.

[0034] The drive mechanism of this embodiment includes a motor 9, a reducer 10, and a motor connecting shaft 14. A motor connecting plate 15 is fixed to the servo cover 8 with screws, and a notch 42 for wiring is provided at the motor connecting plate 15. The reducer 10 is fixed to the motor connecting plate 15 with screws, and a potentiometer 12 for monitoring the rotation angle of the rotating plate 28 is mounted on the motor connecting plate 15 with screws. The input shaft of the reducer 10 is connected to the motor 9. One end of the motor connecting shaft 14 has a light hole A. The output shaft of the reducer 10 is inserted into the light hole A at one end of the motor connecting shaft 14 and fixed with a set screw A13. A pin 11 is inserted between the output shaft of the reducer 10 and the motor connecting shaft 14 for transmitting torque. One end of the flexible pivot 16 is placed in the hole at the other end of the motor connecting shaft 14 and fixed with a set screw B17.

[0035] The magnetic coupling in this embodiment is vertically arranged and includes an outer magnetic pole base 19, an outer magnetic pole 21, an outer bushing 22 and an inner magnetic pole 23. Multiple inner magnetic poles 23 are evenly attracted to the other end of the flexible pivot 16 along the circumferential direction. A pressure cover 24 is fixed to the end face of the other end of the flexible pivot 16 by screws, and the pressure cover 24 is used to press each inner magnetic pole 23. A deep groove ball bearing A25 is installed in the bearing hole at the upper end of the outer magnetic pole base 19, and a deep groove ball bearing B18 is installed in the bearing hole at the lower end. The upper end of the outer magnetic pole base 19 is rotatably connected to the other end of the servo housing 1 through the deep groove ball bearing A25, and the lower end is rotatably connected to the other end of the servo housing 1 through the deep groove ball bearing B18. The inner ring of the deep groove ball bearing A25 is fitted on the servo housing 1. A bearing locking cover 26 is fixed to the upper end face of the outer magnetic pole base 19 by screws. The bearing locking cover 26 presses against the inner ring of the deep groove ball bearing A25 and limits the axial movement of the inner ring of the deep groove ball bearing A25. An outer sleeve 22 is fitted around the outer magnetic pole base 19. Multiple outer magnetic poles 21 are evenly arranged along the circumferential direction between the outer sleeve 22 and the outer magnetic pole base 19. The outer sleeve 22 is connected to the outer magnetic pole base 19 by screws. At the same time, an O-ring seal E20 is installed on the outer magnetic pole base 19, and an O-ring seal F34 is installed on the outer sleeve 22 to achieve sealing between the outer sleeve 22 and the outer magnetic pole base 19.

[0036] In this embodiment, one end of the rudder shaft 27 is fixed to the outer bushing 22 and the outer magnetic pole base 19 by screws, and the other end of the rudder shaft 27 is inserted into the light hole C opened on the rotating plate fixing member 35 and fixed by radial screws. The rotating plate fixing member 35 is fixed to the lower end of the rotating plate 28 by screws.

[0037] The flexible pivot of this invention is a commercially available product, purchased from C-Flex GmbH, Germany, model E-20.

[0038] The working principle of this invention is as follows:

[0039] During operation, after receiving a control signal from the main control unit, the output shaft of the reducer 10 rotates in the corresponding direction, driving the motor connecting shaft 14 to rotate. The motor connecting shaft 14 then drives the flexible pivot 16 to rotate. The inner magnetic poles 23 in the magnetic coupling attracted to the flexible pivot 16 rotate synchronously. The inner magnetic poles 23 drive the outer magnetic poles 21 to rotate, which in turn drives the outer bushing 22 and the rudder shaft 27 to rotate. The rudder shaft 27 drives the rotating plate 28 to rotate. The angle of rotation of the rotating plate 28 is fed back to the main control unit by the potentiometer 12. After the rotating plate 28 leaves the center position, it forms an angle with the water flow direction, and the resulting deflection torque changes the direction of motion of the underwater glider.

[0040] Application of this invention in underwater gliders:

[0041] The servo mechanism of the present invention is installed at the stern of the underwater glider carrier. The servo housing 1 is inserted into the through hole of the stern end cap and secured with a nut on the back. The servo housing 1 and the stern end cap are sealed with double O-rings. To prevent the servo housing 1 from rotating, screws are used to fix it to the stern end cap at the notch. During the ascent or descent of the underwater glider, the main control unit issues a rotation angle command, controlling the motor 9 to rotate by a set angle, which in turn drives the rotating plate 28 to rotate by the corresponding angle, thereby controlling the underwater glider to move forward in a predetermined direction.

[0042] In summary, this invention provides a flexible servo mechanism with a magnetic coupling for underwater gliders. The invention employs a flexible pivot, which ensures that the rotating plate rotates at a certain angle when subjected to external destructive forces, protecting it from damage, and automatically resets after the external force disappears. The invention uses a magnetic coupling to transmit torque, avoiding dynamic seals and improving the reliability of the device. Compared to horizontally arranged magnetic couplings, the vertical arrangement can transmit greater torque while maintaining a smaller overall size. The rotation angle of the rotating plate is precisely controlled via a potentiometer closed-loop system, ensuring simple and reliable control. This invention offers advantages such as collision avoidance, compact structure, light weight, and ease of installation and maintenance.

Claims

1. A flexible servo mechanism with a magnetic coupling for an underwater glider, characterized in that: The system includes a servo mount (1), a servo cover (8), a drive mechanism, a flexible pivot (16), a magnetic coupling, a servo shaft (27), a rotating plate (28), a cable conduit (30), a limiting block (31), and a fixed wing (32). One end of the servo mount (1) is sealed and installed on the underwater glider, and the other end of the servo mount (1) is sealed and installed with the servo cover (8). The drive mechanism is installed within the space enclosed by the servo cover (8) and the servo mount (1). The output end of the drive mechanism is connected to one end of the flexible pivot (16). The other end of the flexible pivot (16) is connected to one end of the rudder shaft (27) via a magnetic coupling, and the other end of the rudder shaft (27) is fixedly connected to the lower end of the rotating plate (28); the lower end of the fixed wing (32) is fixedly connected to the rudder mount (1), one end of the limiting block (31) is installed on the upper end of the fixed wing (32), and the other end of the limiting block (31) is rotatably connected to the upper end of the rotating plate (28) and limits the rotation angle range of the rotating plate (28); a cable conduit (30) is installed on the limiting block (31); The magnetic coupling is vertically arranged and includes an outer magnetic pole base (19), an outer magnetic pole (21), an outer bushing (22), and an inner magnetic pole (23). The other end of the flexible pivot (16) is uniformly attracted with multiple inner magnetic poles (23) along the circumferential direction. The outer magnetic pole base (19) is rotatably installed on the other end of the servo housing (1). The outer magnetic pole base (19) is covered with an outer bushing (22) on its outer sealing sleeve. Multiple outer magnetic poles (21) are uniformly arranged between the outer bushing (22) and the outer magnetic pole base (19) along the circumferential direction. One end of the servo shaft (27) is fixed to the outer bushing (22) and the outer magnetic pole base (19).

2. The flexible servo device with magnetic coupling for underwater gliders according to claim 1, characterized in that: The drive mechanism includes a motor (9), a reducer (10), and a motor connecting shaft (14). The motor (9) and the reducer (10) are fixed in the space enclosed by the servo cover (8) and the servo seat (1). The input shaft of the reducer (10) is connected to the motor (9), and the output shaft of the reducer (10) is connected to one end of the motor connecting shaft (14). The flexible pivot (16) is connected to the other end of the motor connecting shaft (14).

3. The flexible servo device with magnetic coupling for underwater gliders according to claim 2, characterized in that: A motor connection plate (15) is fixedly connected to the servo cover (8), the reducer (10) is fixedly connected to the motor connection plate (15), and a potentiometer (12) for monitoring the rotation angle of the rotating plate (28) is installed on the motor connection plate (15).

4. The flexible servo device with magnetic coupling for underwater gliders according to claim 1, characterized in that: The other end face of the flexible pivot (16) is fixedly connected to a clamping cover (24) that presses against each inner magnetic pole (23). The upper end of the outer magnetic pole base (19) is rotatably connected to the servo housing (1) through a deep groove ball bearing A (25), and the lower end is rotatably connected to the servo housing (1) through a deep groove ball bearing B (18). The upper end face of the outer magnetic pole base (19) is fixedly connected to a bearing locking cover (26). The bearing locking cover (26) presses against the inner ring of the deep groove ball bearing A (25) and limits the axial movement of the inner ring of the deep groove ball bearing A (25).

5. The flexible servo device with magnetic coupling for underwater gliders according to claim 1, characterized in that: The other end of the rudder shaft (27) is inserted into the light hole C opened on the rotating plate fixing member (35) and fixed by a radial screw. The rotating plate fixing member (35) is fixed to the lower end of the rotating plate (28) by screws.

6. The flexible servo device with magnetic coupling for underwater gliders according to claim 1, characterized in that: The upper end of the rotating plate (28) is rotatably connected to the other end of the limiting block (31) via a screw shaft (29), and the screw shaft (29) is tightened by a nut B (41) below the other end of the limiting block (31); the end face of the other end of the limiting block (31) is U-shaped, and one side of the rotating plate (28) in the height direction is inserted into the opening of the U-shape, thereby limiting the rotation angle range of the rotating plate (28) by the limiting block (31).

7. The flexible servo device with magnetic coupling for underwater gliders according to claim 1, characterized in that: The cable conduit (30) has a downward protrusion (38) on its underside. The limiting block (31) has a groove (39) corresponding to the position of the protrusion (38). When the cable conduit (30) and the limiting block (31) are installed, the protrusion (38) on the cable conduit (30) is placed in the corresponding groove (39) on the limiting block (31) and fixed to the fixed wing (32).

8. The flexible servo device with magnetic coupling for underwater gliders according to claim 1, characterized in that: The fixed wing (32) has an antenna hole (33) for accommodating the ARGO antenna (6) along the height direction. The lower end of the ARGO antenna (6) is sealed and installed on the servo mount (1). The servo mount (1) has a through hole A (36) for wiring. The signal line of the ARGO antenna (6) passes through the through hole A (36) and is connected to the electrical components of the underwater glider. The upper end of the ARGO antenna (6) is placed in the through hole B (37) on the limiting block (31) and the wiring hole (40) on the wiring tube (30).

9. The flexible servo device with magnetic coupling for underwater gliders according to claim 1, characterized in that: The servo cover (8) and the other end of the servo mount (1) are double-sealed by O-ring C (5), and the servo mount (1) and the underwater glider are double-sealed by O-ring A (2) and O-ring B (3).

Images