Foldable rudder for underwater vehicle

Abstract

A foldable rudder for underwater vehicle, comprising a casing, a rotating seat, a rudder, a trigger mechanism, a steering motor and a transmission assembly, the casing has a release port; the rotating seat is rotatably installed on the casing and is provided with a torsional spring; one side of the rudder plate of the rudder is provided with a rudder shaft, the rudder shaft is rotatably installed on the rotating seat; the trigger mechanism and the steering motor are installed on the casing; the transmission assembly comprises a first transmission member and a second transmission member capable of being detachably connected with the first transmission member; when the trigger mechanism is disconnected with the rudder by fusing, the rotating seat is driven to rotate by the torsional spring, and the rudder is extended through the release port. The embodiment of the present application realizes the fixed storage of the rudder through the trigger mechanism capable of fusing, so that the rudder can always be located in the casing during the deployment of the underwater vehicle, the influence on the overall streamline of the underwater vehicle is eliminated, and the rudder is extended and unfolded through the trigger mechanism and the torsional spring accumulating the elastic force after the deployment of the underwater vehicle is completed.

Description

Technical Field

[0001] This invention belongs to the field of underwater robot technology, and in particular relates to a foldable rudder for underwater vehicles. Background Technology

[0002] In recent years, my country's marine economy has grown rapidly, and the marine industry has developed at a breakneck pace, placing higher demands on marine equipment. Underwater vehicles are currently the most common type of marine equipment, playing an important role in both civilian and military applications. An underwater vehicle generally consists of a pressure-resistant main body unit, a mission sensor unit, an attitude control and power unit, a navigation control unit, a communication unit, a buoyancy drive unit, and a propeller propulsion unit. Most underwater vehicles achieve underwater attitude control through rudder control.

[0003] A rudder is a navigation device used to change or maintain its direction of travel. In underwater vehicles, rudders are generally located at the rear and are divided into vertical and horizontal rudders. The vertical rudder can turn left and right, while the horizontal rudder can turn up and down. By coordinating the vertical and horizontal rudders, the underwater vehicle can adjust its attitude. However, the installation of rudders can disrupt the overall streamlined shape of the underwater vehicle and may affect its deployment attitude during deployment. Summary of the Invention

[0004] In view of the shortcomings of related technologies, the present invention provides a foldable rudder for underwater vehicles to solve the problem that the extension of the rudder of current underwater vehicles affects the deployment attitude.

[0005] This invention provides a deployable rudder for an underwater vehicle, comprising:

[0006] The housing has a release port;

[0007] The swivel mount is rotatably mounted on the housing and is equipped with a torsion spring;

[0008] The rudder has a rudder shaft on one side of its rudder plate, and the rudder shaft is rotatably mounted on the swivel.

[0009] The triggering mechanism, mounted on the housing, has a power supply and a thermal fuse electrically connected to the power supply. When the thermal fuse is connected to the rudder, it pulls the rudder into the housing and causes the torsion spring to produce an elastic deformation that can drive the rotary table to rotate.

[0010] The steering motor is mounted on the housing, and its output shaft is set vertically.

[0011] The transmission assembly includes a first transmission component and a second transmission component. The first transmission component is mounted on the output shaft and has a slot for inserting the first transmission component. The second transmission component is mounted on the end of the rudder shaft away from the rudder plate.

[0012] When the triggering mechanism supplies power to the thermal fuse to melt it and disconnect it from the rudder, the torsion spring drives the rotary seat to rotate, the rudder extends out through the release port, the rudder shaft swings to be coaxial with the output shaft, the second transmission component is inserted into the slot of the first transmission component, and is driven by the transmission pair.

[0013] In some embodiments, the steering motor is located below the rotary table, and the rudder shaft is mounted in a shaft hole provided in the rotary table.

[0014] In some embodiments, the rotating base has rotating shafts on both sides, the rotating shafts are rotatably mounted on corresponding connecting seats on the housing, and torsion springs are sleeved on the rotating shafts.

[0015] In some embodiments, the top and front of the slot are open to allow the second connector to be inserted and the rudder shaft to enter, respectively.

[0016] In some embodiments, the transmission pair includes a second transmission surface disposed on the side wall of the second connector and a first transmission surface disposed on the inner wall of the slot, the first transmission surface being abutted against the second transmission surface.

[0017] In some embodiments, the sidewall of the slot is provided with a limiting groove, which is provided on at least one of the left and right sides and extends to the end face of the front side of the first connector. When the second connector is inserted into the first connector, the limiting block provided on the sidewall of the second connector is inserted into the limiting groove.

[0018] In some embodiments, the sidewall of the slot is provided with a positioning groove, and the positioning groove is provided on at least one of the left and right sides. When the second connector is plugged into the first connector, the elastic ball installed on the second connector is engaged in the positioning groove.

[0019] In some embodiments, the slot tapers from the outside in.

[0020] In some embodiments, when the rudder shaft is coaxial with the output shaft, the rudder shaft is pressed against the inner wall at the front end of the release port under the drive of the torsion spring.

[0021] In some embodiments, the housing is a fairing.

[0022] Based on the above technical solution, this embodiment of the invention uses a fusible trigger structure to achieve fixed retraction of the rudder, ensuring that the rudder remains within the hull during underwater vehicle deployment, eliminating its impact on the overall streamlined shape of the underwater vehicle. After deployment, the rudder extends and deploys via a trigger mechanism and a torsion spring that stores elastic force. The transmission component employs a plug-in detachable connection structure, allowing disconnection when the rudder is fixed and reconnection when it is extended. This simple structure saves space and reduces the rudder's swing radius, enabling the rudder to extend and retract within a smaller space, further reducing the hull size and facilitating the miniaturization of the underwater vehicle. This solves the problem of rudder extension affecting deployment attitude in current underwater vehicles. Attached Figure Description

[0023] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0024] Figure 1 This is a schematic diagram of the structure of the foldable rudder of the present invention for an underwater vehicle when it is in a fixed retracted state;

[0025] Figure 2 This is a schematic diagram of the structure of the present invention for an underwater vehicle with the deployable rudder in a fixed retracted state and hidden behind the hull.

[0026] Figure 3 This is a schematic diagram of the structure of the foldable rudder of the present invention for an underwater vehicle when it is in the extended and deployed state.

[0027] In the picture:

[0028] 1. Housing; 11. Release port; 12. Connecting base;

[0029] 2. Rotary base; 21. Shaft hole; 22. Rotating shaft;

[0030] 3. Rudder; 31. Rudder plate; 32. Rudder shaft;

[0031] 4. Triggering mechanism; 41. Thermal fuse;

[0032] 5. Steering motor;

[0033] 6. Transmission assembly; 61. First transmission component; 62. Second transmission component; 63. Slot; 64. Limiting slot; 65. First transmission surface; 66. Second transmission surface; 67. Limiting block;

[0034] 7. Torsion spring. Detailed Implementation

[0035] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0036] In the description of this invention, it should be understood that the terms "center", "lateral", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "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 invention 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 invention.

[0037] The terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first," "second," or "third" may explicitly or implicitly include one or more of that feature.

[0038] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0039] like Figures 1 to 3 As shown, in an illustrative embodiment of the foldable rudder for an underwater vehicle according to the present invention, the foldable rudder for an underwater vehicle includes a housing 1, a pivot 2, a rudder 3, a triggering mechanism 4, a steering motor 5, and a transmission assembly 6.

[0040] The housing 1 has a release port 11 through which the rudder 3 can pass. A rotating base 2 is rotatably mounted on the housing 1, and a torsion spring 7 is mounted on the rotating base 2. The rudder 3 includes a connected rudder plate 31 and a rudder shaft 32. The rudder shaft 32 is located on one side of the rudder plate 31 and rotatably mounted on the rotating base 2. The steering motor 5 is mounted on the housing 1, and its output shaft is vertically oriented. The transmission assembly 6 includes a first transmission member 61 and a second transmission member 62. The first transmission member 61 has a slot 63. When the second transmission member 62 is inserted into the slot 63, it can be connected to the first transmission member 61 in a transmission manner, and the transmission connection is detachable.

[0041] The triggering mechanism 4 is a device capable of disconnecting the mechanical connection upon triggering; various triggering mechanisms in the prior art can achieve this function. For example... Figures 1 to 2 As shown, the triggering mechanism 4 has a power supply and a thermal fuse 41. The power supply is electrically connected to the thermal fuse 41, which is fixed to the housing 1. When the thermal fuse 41 is connected to the rudder 3, the rudder 3 is in a fixed, retracted state. The housing 1 uses the thermal fuse 41 to overcome the elastic force of the torsion spring 7, pulling and fixing the rudder 3 inside the housing 1. At the same time, the torsion spring is in an elastic deformation state, possessing the elastic force to drive the rotating base 2 to rotate, causing the rudder 3 to extend and unfold. After the underwater vehicle is deployed, as... Figure 3 As shown, the trigger mechanism power supply supplies power to the thermal fuse 41. The thermal fuse 41 heats up when energized and melts at a certain temperature, thereby disconnecting the fixed connection between the trigger mechanism 4 and the rudder 3. The rudder 3 loses the tension and fixation of the thermal fuse 41 and drives the rotating seat 2 to rotate under the elastic force of the torsion spring 7. The rudder 3 swings with the rotation of the rotating seat 2 and extends through the release port 11 on the housing 1. At the same time, the second transmission component 62 aligns with the swing of the rudder shaft 32 and connects to the slot 63 of the first transmission component 61. At this time, the rudder 3 is in the extended and unfolded state. The rudder shaft 32 is coaxial with the output shaft of the steering motor 5, and the first transmission component 61 and the second transmission component 62 are connected by a transmission pair. The steering motor 5 can drive the rudder 3 to rotate through the transmission component 6, thereby realizing the control of the underwater vehicle's navigation direction.

[0042] In the above illustrative embodiments, the deployable rudder of the underwater vehicle uses a fusible trigger structure to achieve fixed retraction of the rudder. This ensures that the rudder remains within the hull during deployment, eliminating any impact on the overall streamlined shape of the underwater vehicle. After deployment, the rudder extends via the trigger mechanism and a torsion spring that stores elasticity, ensuring the underwater vehicle's directional control needs. The trigger mechanism, using a thermally fused wire, is not only simple in structure, stable in function, and low in cost, but also occupies less installation space. Furthermore, after the thermally fused wire melts, it detaches from the center of the hull, not occupying internal space, allowing for smooth water flow and sufficient thrust when the thruster is installed. The transmission assembly uses a detachable plug-in connection structure, ensuring the rudder is fixed... The connection is disconnected when the rudder is retracted and connected when the rudder is extended. This design not only simplifies the structure but also allows the rudder shaft to be distributed on both sides of its rotation center, thereby reducing the rudder's swing radius and minimizing the space occupied by the rudder during deployment. This further reduces the size of the casing, facilitating the miniaturization of the underwater vehicle, shortening the length required for the release port, and reducing the impact of the release port on the casing's strength. The rudder shaft is supported by the side wall behind the slot, fixing the rudder in a vertical position under the torsion of the torsion spring. This limits the rudder shaft, keeping it coaxial with the output shaft, ensuring that the steering motor can smoothly drive the rudder to rotate and change the underwater vehicle's direction of travel. Ultimately, this solves the problem of the current underwater vehicle's rudder extension affecting the deployment attitude.

[0043] In some embodiments, the steering motor 5 is located below the rotary seat 2, and the release port 11 is located on the top of the housing 1. When the trigger mechanism 4 disconnects from the rudder 3, the rudder 3 can extend upward under the drive of the torsion spring 7, and the other end of the rudder shaft 32 swings downward, causing the second transmission member 62 to connect downward to the first transmission member 61 located below. The rudder shaft 32 is installed in the shaft hole 21 provided in the rotary seat 2, thereby realizing the rotation of the rudder shaft 32. In order to maximize the driving effect of the rotation of the rotary seat 2 on the rudder swing, the rudder shaft 32 is perpendicular to the rotary seat 2.

[0044] In some embodiments, the rotary base 2 has rotating shafts 22 on both sides. The rotating shafts 22 are rotatably mounted on the corresponding connecting seats 12 provided on the housing 1. The rotary base 2 is rotatably mounted by rotating the rotating shafts 22 and the connecting seats 12. A torsion spring 7 is sleeved on the rotating shafts 22 to achieve mounting on the rotary base 2. The torsion spring 7 is fixedly connected to the housing 1 and the rotating shafts 22, thereby generating elastic deformation when the rotating shafts 22 and the housing 1 undergo relative deformation.

[0045] In some embodiments, the top and front of the slot 63 are open, so that when the rudder 3 is extended, the second connector 62, which swings with the rudder shaft 32, is inserted into the slot 63 from the front. At the same time, as the second connector 62 enters the slot 63, the rudder shaft 32 extends out from the top of the slot 63. The insertion method makes it convenient to connect and disconnect the first connector 61 and the second connector 62.

[0046] In some embodiments, the transmission pair includes a second transmission surface 66 disposed on the side wall of the second connector 62 and a first transmission surface 65 disposed on the inner wall of the slot 63, the first transmission surface 65 being in contact with the second transmission surface 66. Through surface contact not perpendicular to the axis, the rotation of the output shaft is transmitted to the rudder shaft 32, causing the rudder 3 to rotate under the drive of the steering motor 5, thereby changing the navigation direction of the underwater vehicle.

[0047] In some embodiments, the sidewall of the slot 63 is provided with a limiting groove 64, which is provided on at least one of the left and right sides. The limiting groove 64 extends to the front end face of the first connector 61. During the insertion of the second connector 62 into the slot 63, a limiting block 67 provided on the sidewall of the second connector 62 is inserted into the limiting groove 64 from the front port. The cooperation between the limiting groove 64 and the limiting block 67 achieves axial limiting of the rudder shaft 32, preventing the rudder from floating up and down, and ensuring that the rudder 3 is always fully extended outside the housing 1 during navigation, thus ensuring steering performance. Since the limiting block 67 moves with the second connector 62, its movement trajectory is arc-shaped. In order to ensure that the limiting block 67 can be smoothly inserted into the limiting groove 64, the limiting groove 64 has a certain width or is arc-shaped to match the movement trajectory of the limiting block 67. To improve the stability of the connection between the limiting block 67 and the limiting groove 67, the limiting groove 67 adopts a dovetail groove, which matches the limiting block 67.

[0048] In some embodiments, the sidewall of the slot 63 is provided with a positioning groove, and the positioning groove is provided on at least one of the left and right sides. When the second connector 62 is inserted and connected to the first connector 61, the elastic ball installed on the second connector 62 is engaged in the positioning groove. By assembling the elastic ball with the positioning groove, the rudder 3 is fixed, preventing the rudder from swinging backward against the elastic force of the torsion spring 7 under the impact of water flow, thus preventing the transmission from being disconnected. The rudder 3 is partially or completely retracted, ensuring the transmission stability between the rudder 3 and the steering motor 5, and keeping the rudder fully extended.

[0049] In some embodiments, the slot 63 is tapered from the outside in, so that when the second connector 62 is inserted into the slot 63, the slot 63 can guide and center the second connector 62, thereby ensuring that the second connector 62 can stably and accurately dock with the first connector 61 when the rudder 3 is deployed.

[0050] In some embodiments, when the rudder shaft 32 is coaxial with the output shaft, the rudder shaft 32 is attached to the inner wall of the front end of the release port 11 under the drive of the torsion spring 7. The end of the release port 11 limits the swing of the rudder shaft 32, thereby keeping the rudder shaft 32 vertical and coaxially aligned with the output shaft under the cooperation of the torsion spring 7, and maintaining the transmission connection of the transmission assembly.

[0051] In some embodiments, the housing 1 is a fairing. Since the fairing is generally fitted onto the thruster and extends rearward, and the rudder is mounted on the fairing, acting on the rear end of the underwater vehicle, it is easier to change the course of the underwater vehicle.

[0052] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0053] The above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of the present invention or equivalent substitutions can be made to some technical features without departing from the spirit of the technical solutions of the present invention, and all such modifications and substitutions should be covered within the scope of the technical solutions claimed in the present invention.

Claims

1. A foldable rudder for an underwater vehicle, characterized in that, include: The housing has a release port; A swivel mount is rotatably mounted on the housing and is equipped with a torsion spring; A rudder, having a rudder shaft on one side of its rudder plate, the rudder shaft being rotatably mounted on the swivel base; A triggering mechanism, mounted on the housing, has a power supply and a thermal fuse electrically connected to the power supply. When the thermal fuse is connected to the rudder, it pulls the rudder into the housing and causes the torsion spring to produce an elastic deformation that can drive the rotary seat to rotate. A steering motor is mounted on the housing, and its output shaft is vertically arranged. The transmission assembly includes a first transmission component and a second transmission component. The first transmission component is mounted on the output shaft and has a slot for inserting the second transmission component. The second transmission component is mounted on the end of the rudder shaft away from the rudder plate. When the triggering mechanism supplies power to the thermal fuse to melt it and disconnect it from the rudder, the torsion spring drives the rotating base to rotate, the rudder extends out through the release port, the rudder shaft swings to be coaxial with the output shaft, the second transmission component is inserted into the slot of the first transmission component, and is driven by the transmission pair.

2. The deployable rudder for an underwater vehicle according to claim 1, characterized in that, The steering motor is located below the rotary base, and the rudder shaft is installed in the shaft hole provided in the rotary base.

3. The deployable rudder for an underwater vehicle according to claim 1, characterized in that, The rotating base has rotating shafts on both sides, and the rotating shafts are rotatably mounted on the corresponding connecting seats on the housing. The torsion spring is sleeved on the rotating shaft.

4. The deployable rudder for an underwater vehicle according to claim 1, characterized in that, The top and front of the slot are open, allowing the second transmission component to be inserted and the rudder shaft to enter, respectively.

5. The deployable rudder for an underwater vehicle according to claim 1, characterized in that, The transmission pair includes a second transmission surface disposed on the side wall of the second transmission member and a first transmission surface disposed on the inner wall of the slot, wherein the first transmission surface is attached to the second transmission surface.

6. The deployable rudder for an underwater vehicle according to claim 1, characterized in that, The slot has a limiting groove on its side wall, and the limiting groove is provided on at least one of the left and right sides. The limiting groove extends to the end face of the front side of the first transmission member. When the second transmission member is plugged into the first transmission member, the limiting block provided on the side wall of the second transmission member is plugged into the limiting groove.

7. The deployable rudder for an underwater vehicle according to claim 1, characterized in that, The slot has a positioning groove on its side wall, and the positioning groove is provided on at least one of the left and right sides. When the second transmission component is plugged into the first transmission component, the elastic ball installed on the second transmission component is engaged in the positioning groove.

8. The deployable rudder for an underwater vehicle according to claim 1, characterized in that, The slot is tapered from the outside in.

9. The deployable rudder for an underwater vehicle according to claim 1, characterized in that, When the rudder shaft is coaxial with the output shaft, the rudder shaft adheres to the inner wall at the front end of the release port under the drive of the torsion spring.

10. The deployable rudder for an underwater vehicle according to claim 1, characterized in that, The casing is a flow guide.

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