Underwater tractor with integrated tailfin propulsion

Abstract

The application provides an underwater towing machine with integrated tail rudder propulsion, comprising, in sequence, a towing machine head, a towing machine main frame, a tail transition piece, a rudder cabin assembly, a tail rudder and a propulsion assembly, wherein both sides of the towing machine main frame are provided with hydrofoils, the upper edge of the towing machine main frame is provided with an upper fairing, the lower edge of the towing machine main frame is provided with a lower fairing, the top of the towing machine main frame is provided with a cable connector, the upper part of the towing machine main frame is provided with a tension spring slot patch, and the inside of the towing machine main frame is provided with an adjusting weight; the rudder cabin assembly is in transmission connection with the tail rudder, and the tail rudder can rotate around the vertical direction. The application realizes the closed underwater towing machine with integrated tail rudder propulsion through assembly connection, realizes the simple streamlined appearance of the underwater towing machine, has small overall streamline damage and low resistance, and is helpful to reduce the manufacturing cost of the underwater towing machine.

Description

Technical Field

[0001] This invention relates to the field of marine robotics technology, and more specifically, to an underwater tractor with an integrated tail rudder propulsion design. Background Technology

[0002] A wave glider is a new type of mobile marine observation platform that uses wave power for propulsion and solar energy to power instrument communication, control, positioning, navigation, and sensor data acquisition. Under the influence of waves, the surface-mounted floating vessel generates oscillating motion, which, via cables, pulls an underwater tractor in an up-and-down oscillating motion. The hydrofoils of the underwater tractor generate semi-active flapping motion, producing forward thrust and converting wave energy into forward propulsion. The required steering torque is generated by deflecting the tail rudder at the tail of the underwater tractor, thus enabling turning. The design of the underwater tractor is a key technical challenge in wave glider design.

[0003] A Chinese patent with publication number CN110803271A discloses an underwater towing mechanism for a wave glider, comprising a symmetrically structured towing mechanism main beam side plate I and towing mechanism main beam side plate II, wing plates, protective plates I and II, collars, wing limiting components, titanium alloy shafts I and II, main beam supports, bushings I and II. Through holes are formed in the towing mechanism main beam side plate I and towing mechanism main beam side plate II. Bolts are sequentially passed through towing mechanism main beam side plate I, collars, and towing mechanism main beam side plate II to assemble a frame structure. One side of the wing limiting component is fixed to the titanium alloy shaft II, and the other side is fixed to the bolts. Furthermore, the tension spring in the wing limiting component is replaced with a compression spring, which can limit the wing's swing amplitude.

[0004] Traditional underwater towing machines employ an open steel structure design, resulting in high surface drag; exposed cables are easily damaged; the tail rudder and propeller structures are complex and generate significant drag; and the cable-stayed towing machine connectors occupy considerable space, affecting the arrangement of the hydrofoils. To overcome the shortcomings of existing technologies, a novel underwater towing machine device needs to be designed. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the purpose of this invention is to provide an underwater tractor with an integrated tail rudder and propulsion design.

[0006] An underwater towing machine with an integrated tail rudder and propulsion design according to the present invention includes, in sequence: a towing head, a towing main frame, a tail transition piece, a rudder cabin assembly, a tail rudder, and a propulsion assembly. Hydrofoils are provided on both sides of the towing main frame. An upper fairing is installed on the upper edge of the towing main frame, a lower fairing is installed on the lower edge of the towing main frame, a cable connector is installed on the top of the towing main frame, a tension spring groove patch is installed on the upper part of the towing main frame, and an adjustment counterweight is installed inside the towing main frame. The rudder cabin assembly is drivenly connected to the tail rudder, and the tail rudder is capable of rotating in a vertical direction.

[0007] Preferably, the main frame of the traction machine includes two frame main boards, which are fastened together by an isolation support column; a tension spring groove is provided on the upper part of the frame main board, and a tension spring groove patch is installed on the tension spring groove.

[0008] Preferably, the top of the frame main board is provided with a cable connector protrusion, the cable connector protrusion is provided with a cable connection mounting hole, and the bottom of the cable connector is provided with a fixing seat protrusion on both sides, the fixing seat protrusion passes through the cable connection mounting hole, and the two frame main boards clamp the cable connector.

[0009] Preferably, the servo housing assembly includes: a servo housing box, a servo housing cover, a servo housing sealing strip, a lower tail rudder shaft, an upper tail rudder shaft, and a servo. The servo housing box, the servo housing cover, and the servo housing sealing strip are connected to form a sealed servo housing. The servo is securely installed inside the sealed servo housing. The lower tail rudder shaft and the upper tail rudder shaft are arranged vertically on the same line. The lower tail rudder shaft does not penetrate the servo housing box, while the upper tail rudder shaft passes through the servo housing box and connects to the servo. The other end of the upper tail rudder shaft is connected to the tail rudder.

[0010] Preferably, the servo housing assembly further includes a tail rudder shaft upper chuck, which is fastened to the tail rudder shaft; both sides of the tail rudder shaft upper chuck are provided with fixing lugs, and the tail rudder includes a shaft chuck mounting seat, in which the tail rudder shaft upper chuck is fastened to the shaft chuck mounting seat.

[0011] Preferably, the tail transition component includes an arc transition edge that matches the arc edge of the transition component of the tail rudder, with a 2mm gap between their arc surfaces; the servo housing assembly includes an arc edge of the fixed housing box that matches the arc edge of the servo housing of the tail rudder, with a 2mm gap.

[0012] Preferably, the propulsion assembly includes: a tail thruster, a thruster T-shaped connector, a waterproof thruster ESC, and a thruster cable. The tail thruster is securely mounted on the thruster T-shaped connector, and the thruster T-shaped connector is securely mounted on the tail rudder. The upper shaft of the tail rudder is a hollow shaft, and the tail rudder has a thruster ESC and cable fixing channel inside. The waterproof thruster ESC and the thruster cable pass through the inside of the tail rudder and enter the sealed servo compartment through the upper shaft of the tail rudder.

[0013] Preferably, the upper half of the cross-section of the upper guide shield is semi-circular, and the lower half is concave to form a first docking platform that matches the main frame, and is fixed by an isolation support column passing through the first docking platform; the lower half of the cross-section of the lower guide shield is semi-circular, and the upper half is concave to form a second docking platform that matches the main frame, and is fixed by an isolation support column passing through the second docking platform.

[0014] Preferably, the tail transition piece has a tail cable routing hole inside, and the servo housing assembly has a through-house connector. The control cable passes through the semi-circular space of the upper fairing from the cable connector, passes through the through-house connector, and connects to the interior of the servo sealed housing.

[0015] Preferably, the adjusting counterweight includes a counterweight block sandwiched between two main frame plates. The counterweight block has multiple fixing pin holes, and a fixing pin shaft passes through the fixing pin holes to fix it to the main frame plate. The multiple fixing pin holes are arranged in an equally spaced array. A support pin shaft is provided at the bottom of the counterweight block.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] This invention achieves an integrated, enclosed underwater towing machine with a tail rudder and propulsion system through assembly and connection. This results in a streamlined shape with minimal disruption to the overall flow, lower drag, and reduced manufacturing costs. The tail rudder and propulsion components are integrated, resulting in a simple and reliable structure that reduces drag caused by the complex appendages at the tail of traditional underwater towing machines. The main frame of the underwater towing machine features spring slots for easy spring replacement, especially during prototype testing. The cable connector is positioned higher, and the hook seat is boltless and protruding, preventing interference with hydrofoil movement. This allows for evenly spaced hydrofoils longitudinally, improving propulsion efficiency. The cables for the tail propeller pass through the inside of the tail rudder shaft, minimizing cable exposure and damage. Tail cables are routed inside the upper fairing, resulting in a simple, efficient, and less susceptible-to-damage wiring method. An adjustable counterweight is incorporated within the underwater towing machine for easy adjustment of the center of gravity. Attached Figure Description

[0018] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0019] Figure 1 This is a schematic diagram of the overall structure of the underwater tractor that embodies the integrated tail rudder propulsion design of this invention;

[0020] Figure 2 This is an exploded structural diagram of the main frame of the traction machine, which is the main feature of this invention.

[0021] Figure 3 This is a schematic diagram illustrating the structure of the cable connector, which is the main feature of this invention.

[0022] Figure 4 This is a schematic diagram illustrating the structure for adjusting the counterweight, which is the main feature of this invention.

[0023] Figure 5 This invention is mainly embodied in Figure 4 Schematic diagram of mid-section BB;

[0024] Figure 6 This invention is mainly embodied in Figure 5 Enlarged view of section I in the middle;

[0025] Figure 7 This invention is mainly embodied in Figure 5 Enlarged view of section II in the middle;

[0026] Figure 8 This is a structural diagram illustrating the main components of the invention: the tail section transition piece, the servo bay assembly, and the tail rudder.

[0027] Figure 9 This is a schematic diagram illustrating the structure of the tail rudder and propulsion assembly, which are the main components of this invention.

[0028] Figure 10 This is a schematic diagram illustrating the main structure of the tail rudder in this invention;

[0029] Figure 11 This invention is mainly embodied in Figure 11 Schematic diagram of the midsection CC;

[0030] Figure 12 This invention is mainly embodied in Figure 11 Schematic diagram of the midsection DD;

[0031] Figure 13 This is a schematic diagram illustrating the tail structure of the underwater tractor, which is the main feature of this invention.

[0032] Figure 14 This invention is mainly embodied in Figure 13 Schematic diagram of midsection AA;

[0033] Figure 15 This invention is mainly embodied in Figure 14 Enlarged view of section III in the middle;

[0034] Figure 16 This invention is mainly embodied in Figure 14 Enlarged view of part IV in the middle;

[0035] Figure 17 This is a schematic diagram illustrating the installation structure of the tail rudder and rudder bay assembly, which are the main components of this invention. The diagram shows:

[0036] 1. Tractor Head; 67. Tail Rudder Shaft Clamp; 2. Tractor Main Frame; 68. Tail Rudder Shaft Sealing Ring; 21. Frame Main Board; 69. Through-Cavity Connector; 211. Tension Spring Groove; 610. Servo Gear; 212. Cable Connector Protrusion; 611. Servo Gear Fixing Cabin Arc Edge; 213. Cable Connection Mounting Hole; 7. Tail Rudder

[0037] 22 Isolation Support Column; 71 Tail Rudder Main Body; 3 Hydrofoil; 72 Tail Rudder Filler; 4 Cable Connector; 711 Shaft Clamp Mounting Base; 41 Transition Part Rounded Edge; 712 Mounting Base Boss; 411 Servo Cabin Rounded Edge; 713 Roller Plate; 42 Propulsion Assembly; 8 Pitch Clamp; 43 Tail Thruster; 81 Cable Fixing Part; 44 Thruster T-Connector; 82 Tail Transition Part; 5 Thruster Waterproof ESC; 83 Rounded Transition Edge; 511 Thruster Cable; 84 Frame Plate Connecting Boss; 512 Upper Shielding; 9

[0038] Servo bay connecting boss 513, lower fairing 10

[0039] Servo housing assembly 6, tension spring groove patch 11

[0040] Servo mounting box 61 Adjusting counterweight 12

[0041] Servo hatch 62, counterweight 121

[0042] Servo bay sealing strip 63, fixing pin 122

[0043] Tail rudder lower pivot 64, fixing pin hole 123

[0044] Tail rudder upper pivot 65, support pin 124

[0045] Tail rudder shaft bearing 66, control cable 13 Detailed Implementation

[0046] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0047] like Figure 1 and 2 As shown, an underwater towing machine with an integrated tail rudder and propulsion design according to the present invention includes, in sequence: a towing head 1, a towing main frame 2, a tail transition piece 5, a rudder cabin assembly 6, a tail rudder 7, and a propulsion assembly 8. Hydrofoils 3 are provided on both sides of the towing main frame 2. An upper fairing 9 is installed on the upper edge of the towing main frame 2, a lower fairing 10 is installed on the lower edge of the towing main frame 2, a cable connector 4 is installed on the top of the towing main frame 2, a tension spring groove patch 11 is installed on the upper part of the towing main frame 2, and an adjustment counterweight 12 is installed inside the towing main frame 2. The rudder cabin assembly 6 is connected to the tail rudder 7 by transmission, and the tail rudder 7 can rotate around the vertical direction.

[0048] The towing aircraft nose 1, hydrofoil 3, cable connector 4, tail transition piece 5, upper fairing 9, lower fairing 10, tension spring groove patch 11, and adjusting counterweight 12 are respectively fixed to the towing aircraft main frame 2; the rudder housing assembly 6 is fixed to the tail transition piece 5, the tail rudder 7 is connected to the rudder housing assembly 6, and the propulsion assembly 8 is fixed to the tail rudder 7. The rudder housing assembly 6 contains two collinear rotating shafts, and the rotation of the rotating shafts is controlled by the rudders inside the rudder housing assembly 6, thereby driving the tail rudder 7 and the propulsion assembly 8 to turn, generating the required yaw moment for the underwater towing aircraft.

[0049] The main frame 2 of the tractor includes two frame main plates 21, which are fastened together by isolation support columns 22. The inner distance between the two frame main plates 21 is 22mm. A tension spring groove 211 is formed on the upper part of the frame main plate 21, and a tension spring groove patch 11 is installed on the tension spring groove 211. The tension spring groove patch 11 is a 0.5mm thick 316L sheet. The frame main plate 21 is made of 316L stainless steel and is 4mm thick. The 22mm inner distance between the two frame main plates 21 provides sufficient space to accommodate the hydrofoil spring without generating significant shape drag. The tension spring groove 211 on the frame main plate 21 allows for replacement of the hydrofoil 3 of the underwater tractor without disassembling the entire unit. The tension spring groove patch 11, a thin 0.5mm thick 316L sheet, is assembled and fixed onto the tension spring groove 211 to maintain the continuous shape of the frame main plate 21 and reduce flow field interference. Meanwhile, since the spring groove 211 is located at the top, the center of gravity of the underwater towing machine can be lowered, which helps to maintain the pitch stability of the underwater towing machine.

[0050] like Figure 3 As shown, the top of the frame main board 21 is provided with a cable connector protrusion 212, which moves the fixed position of the cable connector 4 upward to avoid the rotation of the semi-active flapping wing of the hydrofoil 3. The cable connector protrusion 212 is provided with a cable connection mounting hole 213, and the fixing seat 41 at the bottom of the cable connector 4 is provided with fixing seat bosses 411 on both sides. The fixing seat bosses 411 pass through the cable connection mounting hole 213. The two frame main boards 21 clamp the cable connector 4. The fixing seat bosses 411 are 6mm high and 12mm in diameter.

[0051] The cable connector 4 includes a mounting base 41, a horizontal rocker plate 42, a vertical rocker plate 43, and a cable fastener 44. The two vertical rocker plates 43 are fixed to the cable fastener 44 with screws. The vertical rocker plates 43 and the horizontal rocker plate 42 are connected by a pivot, allowing relative rotation. The horizontal rocker plate 42 is connected to the lifting lug hole of the mounting base 41 by a pin, providing relative rotational freedom. The distance between the horizontal rocker plate 42 and the mounting base is adjusted so that the relative rotation angle between them is controlled within ±30 degrees to prevent breakage of the internal wires and cables of the cable connector. The mounting base bosses 411 on both sides of the mounting base 41, with a height of approximately 6mm and a diameter of 12mm, pass through mounting holes on the main frame for fixation, eliminating the need for bolt connections and avoiding structural protrusions.

[0052] like Figure 4 As shown, the adjusting counterweight 12 includes a counterweight block 121, which is sandwiched between two main frame plates 21. The counterweight block 121 has multiple fixing pin holes 123, through which fixing pins 122 pass to fix it to the main frame plate 21. The fixing pin holes 123 are arranged in an equally spaced array. A support pin 124 is provided at the bottom of the counterweight block 121. The counterweight block 121 is sandwiched between the two main frame plates 21, with its vertical position lower and its front-to-back position centered. The series of fixing pin holes 123 on the counterweight block allows the fixing pins 122 to pass through and fix it to the main frame plate. The equally spaced array of fixing pin holes 123 is used to adjust the front-to-back position of the counterweight block, so that after the towing machine carries the detection equipment, the center of gravity of the underwater towing machine can be adjusted to maintain balance. Two support pins 124 are provided at the bottom of the counterweight block, allowing it to slide horizontally on the support pins for adjustment.

[0053] like Figure 5-7As shown, an upper guide fairing 9 is installed on the upper edge of the main frame 2 of the underwater towing machine. The upper half of the cross-section of the upper guide fairing 9 is semi-circular, and the lower half is concave to form a first docking platform that matches the main frame 21. Holes are opened on the first docking platform, through which isolation support columns 22 pass and are fixedly clamped. The control cable 13 emerges from the cable connector, passes through the upper semi-circular space of the upper guide fairing 9, and reaches the tail. Similarly, a lower guide fairing 10 is installed on the lower edge of the main frame 2 of the towing machine. The lower half of the cross-section of the lower guide fairing 10 is semi-circular, and the upper half is concave to form a second docking platform that matches the main frame 21. Isolation support columns 22 pass through the second docking platform and are fixed. The difference is that during assembly and debugging, the lower guide fairing 10 needs to support the entire underwater towing machine, requiring strengthened structural strength. In terms of dimensions, the upper guide fairing 9 is 4mm thick, and the lower guide fairing 10 is 8mm thick. The material is easily customizable plastic or 3D printed resin.

[0054] like Figure 8 As shown, the tail section transition piece 5, at its connection end with the tractor main frame 2, includes a C-shaped frame plate connecting boss 512. This boss is embedded within the tractor main frame 2, and the frame plate connecting boss 512 has connecting holes. It is connected and fixed to the tractor main frame 2 via an isolation support column. The tail section transition piece 5, at its connection end with the servo housing assembly 6, also includes a C-shaped servo housing connecting boss 513, which is embedded in the servo housing and fixed to it with screws. The tail section transition piece 5 contains cable channel holes to transmit cables to the servo housing assembly 6.

[0055] like Figure 9-12 As shown, the tail rudder 7 is disassembled into two parts during manufacturing: the tail rudder main body 71 and the tail rudder filler 72, which secures the propeller and propeller cable routing. The tail rudder main body 71 and the tail rudder filler 72 are joined together with screws and adhesive. To minimize the disruption to the streamline when the tail rudder rotates, the tail transition piece 5 includes an arc transition edge 511 that matches the arc edge 712 of the tail rudder's transition piece, with a 2mm gap between the two arc surfaces. Similarly, the arc edge 611 of the servo mounting box matches the arc edge 713 of the tail rudder's servo housing, with a 2mm gap, to maintain a better streamlined structure.

[0056] like Figure 13-16As shown, the servo housing assembly 6 includes: a servo housing box 61, a servo housing cover 62, a servo housing sealing strip 63, a tail rudder lower pivot 64, a tail rudder upper pivot 65, a tail rudder pivot bearing 66, a tail rudder pivot sealing ring 68, a through-housing connector 69, and a servo 610. The servo housing box 61, the servo housing cover 62, and the servo housing sealing strip 63 are connected to form a servo sealed housing, which is sealed by the tail rudder pivot sealing ring 68. The servo 610 is securely installed inside the servo sealed housing. The tail rudder lower pivot 64 and the tail rudder upper pivot 65 are arranged vertically on the same line. The tail rudder lower pivot 64 does not penetrate the servo housing box 61, while the tail rudder upper pivot 65 passes through the servo housing box 61 and connects to the servo 610. The other end of the tail rudder upper pivot 65 is connected to the tail rudder 7. The servo housing assembly 6 contains two collinear shafts: a lower tail rudder shaft 64 and an upper tail rudder shaft 65. The rotation of these shafts is controlled by a servo motor 610 within the servo housing assembly 6, thereby steering the tail rudder 7 and propulsion assembly 8 and generating the required yaw torque for the underwater tractor. The upper tail rudder shaft 65 is a hollow shaft to facilitate cable routing; after routing, the hollow shaft is sealed with adhesive. The lower tail rudder shaft 64 does not penetrate the servo motor mounting box to reduce the number of channels requiring sealing. The tail transition piece 5 has a tail wiring hole, and the servo housing assembly 6 has a through-cabin connector 69. The tail control cable 13 passes through the cable connector 4, through the semi-circular space of the upper fairing 9, and through the through-cabin connector 69 to connect to the sealed servo motor compartment, thereby driving and controlling the operation of the propeller and tail rudder.

[0057] like Figure 17 As shown, the servo housing assembly 6 also includes a tail rudder shaft chuck 67, which is fastened to the tail rudder shaft 65. The tail rudder shaft chuck 67 has fixing ears on both sides. The tail rudder 7 includes a shaft chuck mounting base 711, and the tail rudder shaft chuck 67 is fastened in the shaft chuck mounting base 711 to increase the contact area with the tail rudder.

[0058] To enhance torque transmission reliability, the tail rudder upper shaft 65 is first connected to the tail rudder upper shaft chuck 67, which is then connected to the tail rudder 7 to increase the force-bearing area. The tail rudder 7 includes a shaft chuck mounting base 711, to which the tail rudder upper shaft chuck 67 is fixed with screws. The tail rudder upper shaft chuck 67 has mounting holes and is fixed to the tail rudder upper shaft 65 by set screws. The shaft chuck mounting base 711 has set screw mounting holes for tightening tools to pass through and tighten the set screws. The tail rudder upper shaft 65 passes through a stepped hole in the servo mounting housing and reaches the servo housing via a bearing 66 to connect with the servo. The stepped hole abuts against the outer ring of the bearing, and the boss below the tail rudder upper shaft chuck 67 abuts against the inner ring of the bearing. The servo 610 inside the servo housing is fixed to the servo housing boss and controls the required angle of tail rudder rotation via the tail rudder upper shaft 65. The tail rudder lower pivot 64 is fastened to the tail rudder 7 with screws. The inner ring of the bearing is held in place by the shoulder of the tail rudder lower pivot 64, and the outer ring of the bearing is held in place by the stepped hole at the bottom of the servo mounting box, thus completing the positioning of the bearing.

[0059] The propulsion assembly 8 is fixed to the tail rudder 7 of the tractor and steers together with the tail rudder 7. The propulsion assembly 8 includes: a tail thruster 81, a thruster T-connector 82, a waterproof thruster ESC 83, and a thruster cable 84. The tail thruster 81 is securely mounted on the thruster T-connector 82, and the thruster T-connector 82 is securely mounted on the tail rudder 7. The upper shaft 65 of the tail rudder is a hollow shaft. The tail rudder 7 has a channel for securing the thruster ESC and cable. The waterproof thruster ESC 83 and the thruster cable 84 pass through the interior of the tail rudder 7 and enter the sealed servo compartment through the upper shaft 65. The thruster cable is not exposed, reducing the risk of damage. After routing, the inner hole of the shaft is filled with insulating sealant for sealing.

[0060] This application achieves an integrated, enclosed underwater towing machine with tail rudder and propulsion through assembly and connection, resulting in a simple, streamlined shape with minimal disruption to the overall streamline and lower drag, thus helping to reduce manufacturing costs. The tail rudder 7 and propulsion assembly 8 are integrated, with a simple and reliable structure, reducing the drag caused by the complex appendage structure at the tail of traditional underwater towing machines. The main frame 2 of the underwater towing machine has a tension spring groove 211 for easy replacement of tension springs, especially during prototype testing. The cable connector 4 of the towing machine is moved upwards, and the hook seat is boltless and has no protrusions, thus not interfering with the hydrofoil oscillation. This allows for a uniformly spaced longitudinal arrangement of the hydrofoils 3, improving the propulsion efficiency of the underwater towing machine. The cable of the tail propeller 81 passes through the inside of the tail rudder shaft, preventing cable exposure and reducing the possibility of damage. The tail cable is routed inside the upper fairing 9, with a simple, efficient, and less prone to damage wiring method. An adjustable counterweight 12 is installed inside the underwater towing machine for easy adjustment of the center of gravity.

[0061] In the description of this application, it should be understood that "lateral" refers to the direction along the width of the ship, and "longitudinal" refers to the direction along the length of the ship. The terms "upper," "lower," "forward," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0062] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. An underwater tractor of tail rudder propulsion integrated design, characterized in that, The traction machine head (1), the traction machine main frame (2), the tail transition piece (5), the rudder cabin assembly (6), the tail rudder (7) and the propulsion assembly (8) are sequentially connected, the traction machine main frame (2) is provided with hydrofoils (3) on both sides, the upper edge of the traction machine main frame (2) is provided with an upper fairing (9), the lower edge of the traction machine main frame (2) is provided with a lower fairing (10), the top of the traction machine main frame (2) is provided with a cable connector (4), the upper part of the traction machine main frame (2) is provided with a tension spring slot patch (11), the inside of the traction machine main frame (2) is provided with an adjusting weight (12); The rudder cabin assembly (6) is in transmission connection with the tail rudder (7), and the tail rudder (7) can rotate around the vertical direction; The rudder cabin assembly (6) comprises a rudder fixed cabin box (61), a rudder cabin cover (62), a rudder cabin sealing rubber strip (63), a tail rudder lower rotating shaft (64), a tail rudder upper rotating shaft (65) and a rudder (610), the rudder fixed cabin box (61), the rudder cabin cover (62) and the rudder cabin sealing rubber strip (63) are connected to form a rudder sealing cabin room, and the rudder (610) is tightly installed in the rudder sealing cabin room; The tail rudder lower rotating shaft (64) and the tail rudder upper rotating shaft (65) are arranged in line above and below, the tail rudder lower rotating shaft (64) does not penetrate the rudder fixed cabin box (61), the tail rudder upper rotating shaft (65) penetrates the rudder fixed cabin box (61) and is connected with the rudder (610), and the other end of the tail rudder upper rotating shaft (65) is connected with the tail rudder (7).

2. The tail rudder propulsion integrated design underwater tractor of claim 1, wherein, The traction machine main frame (2) comprises two frame main plates (21), and the two frame main plates (21) are tightly connected through isolation support columns (22); The upper part of the frame main plate (21) is provided with a tension spring slot (211), and the tension spring slot patch (11) is installed on the tension spring slot (211); 3. The tail rudder propulsion integrated design underwater tractor of claim 2, wherein, The top of the frame main plate (21) is provided with a cable connector convex edge (212), the cable connector convex edge (212) is provided with a cable connection mounting hole (213), the two sides of the fixed seat (41) at the bottom of the cable connector (4) are provided with fixed seat bosses (411), the fixed seat bosses (411) penetrate the cable connection mounting hole (213), and the two frame main plates (21) clamp the cable connector (4).

4. The tail rudder propulsion integrated design underwater tractor of claim 1, wherein, The rudder cabin assembly (6) further comprises a tail rudder rotating shaft upper chuck (67), and the tail rudder rotating shaft upper chuck (67) is tightly connected with the tail rudder upper rotating shaft (65); The tail rudder rotating shaft upper chuck (67) is provided with fixed ears on both sides, the tail rudder (7) comprises a rotating shaft chuck mounting seat (711), and the tail rudder rotating shaft upper chuck (67) is tightly installed in the rotating shaft chuck mounting seat (711).

5. The tail rudder propulsion integrated design underwater tractor of claim 1, wherein, The tail transition piece (5) comprises a circular arc transition edge (511) which is matched with a transition piece circular arc edge (712) of the tail rudder (7), and the distance between the two circular arc surfaces is 2mm. The rudder cabin assembly (6) includes a rudder fixed cabin box arc edge (611) which is matched with the rudder cabin arc edge (713) of the tail rudder (7) with a distance of 2mm.

6. The tail rudder propulsion integrated design underwater tractor of claim 1, wherein, The propulsion assembly (8) includes a tail propeller (81), a propeller T-shaped connector (82), a propeller waterproof electric governor (83) and a propeller cable (84), the tail propeller (81) is fixedly installed on the propeller T-shaped connector (82), and the propeller T-shaped connector (82) is fixedly installed on the tail rudder (7); The tail rudder upper rotating shaft (65) is a hollow shaft, the tail rudder (7) is internally provided with a propeller electric governor and a cable fixing channel, the propeller waterproof electric governor (83) and the propeller cable (84) pass through the tail rudder (7) from the inside to the inside of the rudder sealed cabin.

7. The tail rudder propulsion integrated design underwater tractor of claim 1, wherein, The upper fairing (9) is a semicircular ring shape in the upper half of the cross section, and the lower half is concave to form a first docking platform matched with the frame main plate (21), and is fixed by passing through the first docking platform through the isolation support column (22); The lower fairing (10) is a semicircular ring shape in the lower half of the cross section, and the upper half is concave to form a second docking platform matched with the frame main plate (21), and is fixed by passing through the second docking platform through the isolation support column (22).

8. The tail rudder propulsion integrated design underwater tractor of claim 7, wherein, The tail transition piece (5) is internally provided with a tail wiring hole, the rudder cabin assembly (6) is provided with a cabin connecting piece (69), the control cable (13) passes through the semicircular ring space of the upper fairing (9) from the cable connector (4), and is connected to the inside of the rudder sealed cabin through the cabin connecting piece (69).

9. The tail rudder propulsion integrated design underwater tractor of claim 2, wherein, The adjusting counterweight (12) includes a counterweight block (121), the counterweight block (121) is clamped between two frame main plates (21), a plurality of fixed pin holes (123) are formed in the counterweight block (121), the fixed pin shaft (122) passes through the fixed pin hole (123) and is fixed on the frame main plate (21), and a plurality of fixed pin holes (123) are arranged in an equidistant array; The counterweight block (121) is provided with a support pin shaft (124) at the bottom.

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