An underwater vehicle or towed body attitude and heading single actuator control device

Abstract

The application provides a single rudder machine control device for the posture and heading of an underwater vehicle or a towed body. The device can control the posture and heading of the underwater vehicle or the towed body by using a single rudder machine, thereby saving the installation space of the underwater vehicle or the towed body, reducing the weight of the equipment, and being simple in principle and reliable in operation. The control device comprises a shell, a rudder machine, three rudder plate shafts, three electromagnetic clutches, a first rotating arm and a second rotating arm. Each rudder plate is connected with a rudder plate shaft, each rudder plate shaft is connected with a rotating shaft through an electromagnetic clutch, two horizontal rotating shafts are coaxially connected through the second rotating arm, one end of the first rotating arm is connected with the vertical rotating shaft, and the other end of the first rotating arm is matched with the second rotating arm. When the second rotating arm rotates, the vertical rotating shaft connected with the first rotating arm can rotate around the axis of the vertical rotating shaft. The front end of the push rod of the rudder machine is hinged with the second rotating arm, and the second rotating arm can convert the linear motion of the push rod of the rudder machine into the rotation of the two horizontal rotating shafts around the axes of the two horizontal rotating shafts.

Description

Technical Field

[0001] This invention relates to a control device, specifically to an attitude and heading control device for an underwater vehicle or towed body, belonging to the field of underwater vehicle and underwater towing technology. Background Technology

[0002] An underwater vehicle or towed body mainly consists of a main structure, rudders, and control equipment. The attitude and heading of the vehicle or towed body are adjusted by changing the angle of attack of the rudders. Horizontally, adjusting the angle of attack of the horizontal rudder increases or decreases the lift on the rudder, thus changing the pitch attitude of the underwater vehicle or towed body; adjusting the angle of attack of a single rudder increases or decreases the lift on that rudder, thus changing the roll attitude of the underwater vehicle or towed body. Vertically, adjusting the angle of attack of the vertical rudder increases or decreases the lift on the vertical rudder, thus changing the heading of the underwater vehicle or towed body.

[0003] Currently, the common method for real-time attitude and heading adjustments of underwater vehicles or towed bodies involves arranging two horizontal servo motors to independently adjust the angle of attack of the left and right horizontal rudder plates, and then arranging one vertical servo motor to independently adjust the angle of attack of the vertical rudder plate. This method suffers from problems such as large installation space, long servo motor travel, heavy weight, high cost, and complex structure.

[0004] Therefore, it is necessary to develop an underwater vehicle or towed body attitude and heading control device that has a small installation space, short servo travel, light weight, low cost, and simple structure. Summary of the Invention

[0005] In view of this, the present invention provides a single servo motor control device for the attitude and heading of an underwater vehicle or towed body. It can simultaneously control the attitude and heading of the underwater vehicle or towed body with a single servo motor, saving installation space for the underwater vehicle or towed body, reducing equipment weight, and is simple, reliable, and easy to disassemble and assemble.

[0006] The technical solution of the present invention is: a single rudder control device for the attitude and heading of an underwater vehicle or towed body, comprising three rudder plates, namely a right horizontal rudder, a left horizontal rudder and a vertical rudder, and further comprising: a housing, a rudder, three rudder plate shafts, three electromagnetic clutches, a first rotating arm and a second rotating arm;

[0007] The mounting base is used to support the servo motor inside the housing, and the servo motor is hinged to the mounting base; the servo motor is a linear servo motor.

[0008] Each rudder is connected to a rudder shaft, and each rudder shaft is connected to a transfer shaft via an electromagnetic clutch.

[0009] The adapter shaft connected with the rudder plate shaft of the right horizontal rudder and the left horizontal rudder is a horizontal adapter shaft, and the two horizontal adapter shafts are coaxially connected through a second rotating arm; the adapter shaft connected with the rudder plate shaft of the vertical rudder is a vertical adapter shaft; one end of the first rotating arm is connected with the vertical adapter shaft, and the other end is matched with the second rotating arm; when the second rotating arm rotates, the vertical adapter shaft connected with the first rotating arm can rotate around the axis thereof;

[0010] The front end push rod of the rudder is hinged with the second rotating arm, and the second rotating arm can convert the linear motion of the rudder push rod into the rotation of the two horizontal adapter shafts around the axes thereof.

[0011] As a preferred mode of the present application: the first rotating arm is horizontally arranged, one end of which is provided with a connecting notch connected with the vertical adapter shaft; the other end has a cylindrical protrusion;

[0012] The middle part of the second rotating arm is used for coaxial connection with the two horizontal adapter shafts, the lower end of which extends a double-ear hinged seat used for connection with the rudder; the axial one end extends a sheet-shaped yoke upward, and a yoke notch is vertically formed in the yoke;

[0013] The cylindrical protrusion at the end of the first rotating arm is inserted into the yoke notch and can slide up and down in the yoke notch; the axis of the cylindrical protrusion is perpendicular to the axis of the vertical adapter shaft.

[0014] As a preferred mode of the present application: the yoke notch is a U-shaped groove arranged at the upper end of the yoke, and a baffle is fixed in the U-shaped opening of the yoke notch;

[0015] A semicircular groove is arranged on the lower surface of the baffle at a position corresponding to the cylindrical protrusion.

[0016] As a preferred mode of the present application: one end of the rudder plate shaft is fixed with the rudder plate by using the inclined surface locking principle; the other end is provided with a key groove connected with the electromagnetic clutch, and the electromagnetic clutch is connected through a pin key.

[0017] As a preferred mode of the present application: a shaft elastic baffle is arranged on the rudder plate shaft to prevent the axial movement of the rudder plate shaft.

[0018] As a preferred mode of the present application: when the two horizontal electromagnetic clutches are energized and the vertical electromagnetic clutch is de-energized, the right horizontal rudder and the left horizontal rudder are linked, and the vertical rudder is stationary, so as to control the pitch of the underwater vehicle or the tow body;

[0019] When the horizontal electromagnetic clutch on one side is energized and the vertical electromagnetic clutch is de-energized, only the horizontal rudder on the energized side rotates, and the vertical rudder is stationary, so as to control the roll of the underwater vehicle or the tow body.

[0020] When two horizontal direction electromagnetic clutches are powered off and the vertical direction electromagnetic clutch is powered on, the right horizontal rudder and the left horizontal rudder are not moved, and the vertical rudder is rotated, so that the heading of the underwater vehicle or the tow body can be controlled.

[0021] Advantages:

[0022] (1) The underwater vehicle or the tow body posture and heading single rudder control device can realize the functions of controlling the posture and the heading of the underwater vehicle or the tow body simultaneously by means of a single rudder, saves the installation space of the underwater vehicle or the tow body, reduces the weight of the equipment, and has simple and reliable principle and simple and easy disassembly.

[0023] (2) In the underwater vehicle or the tow body posture and heading single rudder control device, the rudder can be continuously returned to zero position by controlling the on-off of the three electromagnetic clutches, the second rotating arm is cyclically pushed, the requirement for the stroke of the rudder is greatly reduced, the size and the weight of the rudder are reduced, and the space and the weight of the underwater vehicle or the tow body are saved.

[0024] (3) The underwater vehicle or the tow body posture and heading single rudder control device has wide applicability, and when the rudder and the electromagnetic clutch are water-tight designed, the device can be used for a water-permeable structure; when the right horizontal rudder, the left horizontal rudder and the vertical rudder are dynamically sealed with the shell, the device can also be used for a water-tight structure. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 It is an overall structure diagram of the underwater vehicle or the tow body posture and heading single rudder control device.

[0026] Figure 2 It is a first rotating arm structure schematic diagram.

[0027] Figure 3 It is a first rotating arm and second rotating arm connection schematic diagram.

[0028] Figure 4 It is a rudder plate shaft structure schematic diagram.

[0029] Wherein, 1 is a shell, 2 is a rudder, 21 is a double-ear hinged seat, 3 is a right horizontal rudder, 4 is a rudder plate shaft, 5 is an electromagnetic clutch, 6 is an adapter shaft, 7 is a vertical rudder, 8 is a first rotating arm, 9 is a left horizontal rudder, 10 is a second rotating arm, 11 is a pin shaft, 12 is a mounting base, 121 is a single-ear hinged seat, 13 is a connection notch, 14 is a cylindrical protrusion, 15 is a baffle, 16 is a U-shaped shaft, 17 is a groove, 18 is a key groove, 19 is a yoke slot, and 20 is a yoke. DETAILED DESCRIPTION

[0030] The underwater vehicle or the tow body posture and heading single rudder control device will be further described in detail below in combination with the drawings and examples.

[0031] This embodiment provides a single servo control device for the attitude and heading of an underwater vehicle or towed body, which can simultaneously control the attitude and heading of the underwater vehicle or towed body using a single servo motor.

[0032] like Figure 1 As shown, the underwater vehicle or towed body attitude and heading single rudder control device includes: a housing 1, a rudder 2, three rudder shafts 4, three electromagnetic clutches 5, a first rotating arm 8, a second rotating arm 10, and three rudders, namely a right horizontal rudder 3, a left horizontal rudder 9, and a vertical rudder 7.

[0033] The right horizontal rudder 3 is used to provide lift for underwater vehicles or towed bodies to change attitude, and is arranged on the right side of the hull 1 in the horizontal direction; the left horizontal rudder 9 is used to provide lift for underwater vehicles or towed bodies to change attitude, and is arranged on the left side of the hull 1 in the horizontal direction; the vertical rudder 7 is used to provide lift for underwater vehicles or towed bodies to change course, and is arranged on the upper surface of the hull 1 in the vertical direction.

[0034] The housing 1 provides a mounting platform for the mounting base 12 and the servo shaft 4; the mounting base 12 supports the servo 2 inside the housing 1, and the mounting base 12 has a base connected to the housing 1 and a single-ear hinge seat 121 connected to the servo 2.

[0035] Servo 2 is used to drive the entire device. Servo 2 can be an electrically driven linear actuator, or a hydraulically or pneumatically driven linear actuator; its front actuator (i.e., the power output end of servo 2) can perform linear reciprocating motion. The front actuator of servo 2 has a fisheye bearing as a hinge seat (for easy installation and to eliminate the influence of torque). At the middle position of servo 2, there is a double-eared hinge seat 21 that connects to the mounting base 12. That is, servo 2 is hinged to the single-eared hinge seat 121 on the mounting base 12 through the double-eared hinge seat 21, so that servo 2 can rotate freely around the hinge point between it and the mounting base 12.

[0036] The rudder shaft 4 is used to transmit torque. There is one rudder shaft 4 for each of the right horizontal rudder 3, left horizontal rudder 9, and vertical rudder 7. One end of the rudder shaft 4 is fixed to the right horizontal rudder 3, left horizontal rudder 9, or vertical rudder 7, and the other end is fixed to the electromagnetic clutch 5 by fasteners and pins. That is, the rudder shaft 4 connected to the vertical rudder 7 is set vertically, with the upper end connected to the vertical rudder 7 and the lower end connected to an electromagnetic clutch 5; the rudder shaft 4 connected to the right horizontal rudder 3 is set horizontally, with the right end connected to the right horizontal rudder 3 and the left end connected to an electromagnetic clutch 5; the rudder shaft 4 connected to the left horizontal rudder 9 is set horizontally, with the left end connected to the right horizontal rudder 3 and the right end connected to an electromagnetic clutch 5.

[0037] Each rudder plate shaft 4 is connected with a transfer shaft 6 through an electromagnetic clutch 5, that is, the electromagnetic clutch 5 is arranged between the corresponding rudder plate shaft 4 and the transfer shaft 6. The electromagnetic clutch 5 is used for the connection and disconnection between the corresponding rudder plate shaft 4 and the transfer shaft 6, thereby controlling the right horizontal rudder 3, the vertical rudder 7 and the left horizontal rudder 9 to move alone or simultaneously with the rudder 2.

[0038] For the convenience of description, the transfer shaft 6 connected with the rudder plate shaft 4 corresponding to the right horizontal rudder 3 and the left horizontal rudder 9 is a horizontal transfer shaft, and the two horizontal transfer shafts are coaxially connected through a second transfer arm 10; the transfer shaft 6 connected with the rudder plate shaft 4 corresponding to the vertical rudder 7 is a vertical transfer shaft, and the vertical transfer shaft is connected with one end of the first transfer arm 8. The transfer shaft 6 (including the horizontal transfer shaft and the vertical transfer shaft) is used for transmitting the torque of the second transfer arm 10.

[0039] The push rod at the front end of the rudder 2 is hinged with the second transfer arm 10 through a pin shaft 11, and the rudder 2 can freely rotate around the hinge, so that the second transfer arm 10 can convert the linear motion of the push rod of the rudder 2 into the rotation of the two horizontal transfer shafts around their own axes.

[0040] At the same time, the other end of the first transfer arm 8 cooperates with the second transfer arm 10, and can transmit the rotation of the second transfer arm 10, that is, when the second transfer arm 10 rotates, it can drive the vertical transfer shaft connected with the first transfer arm 8 to rotate around its own axis.

[0041] The specific structures of the first transfer arm 8, the second transfer arm 10 and the rudder plate shaft 4 are given below.

[0042] As shown in Figure 2 , the first transfer arm 8 is horizontally arranged, one end of which is provided with a connecting notch 13 for connecting with the vertical transfer shaft, and the other end is designed with a cylindrical protrusion 14, the axis of which is coplanar and perpendicular to the rotation center line of the first transfer arm 8.

[0043] As shown in Figure 3 , the second transfer arm 10 is coaxially connected with the two horizontal transfer shafts in the middle part (a notch is provided in the middle part for connecting with the horizontal transfer shaft), the lower end of which extends a double-ear hinged seat connected with the rudder 2, and the double-ear hinged seat is provided with a double-ear hinged hole; an sheet-shaped fork 20 extends upward at one axial end, and a fork notch 19 is vertically arranged on the fork 20. When the first transfer arm 8 is connected with the second transfer arm 10, the cylindrical protrusion 14 at the front end of the first transfer arm 8 is inserted into the fork notch 19 of the second transfer arm 10, and can slide up and down in the fork notch 19; the axis of the cylindrical protrusion 14 is perpendicular to the axis of the vertical transfer shaft.

[0044] As an example, the fork notch 19 is a U-shaped groove arranged at the upper end of the fork 20, and the U-shaped opening is fixed with a baffle 15 to prevent the cylindrical protrusion 14 at the front end of the first rotating arm 8 from falling off when sliding along the fork notch 19 of the second rotating arm 10. The lower surface of the baffle 15 is provided with a semicircular groove corresponding to the position of the cylindrical protrusion 14.

[0045] Thus, when the steering engine 2 is started, its push rod extends and pushes the second rotating arm 10 to rotate around its own axis, driving the two horizontal transfer shafts to rotate; at the same time, the fork notch 19 of the second rotating arm 10 guides the cylindrical protrusion 14 at the front end of the first rotating arm 8 (i.e. the fork of the second rotating arm 10 pushes the cylindrical protrusion 14 at the front end of the first rotating arm 8), driving the first rotating arm 8 to rotate around its own axis.

[0046] As shown in Figure 4 the rudder plate shaft 4 is designed as a U-shaped shaft 16 at one end, connected with the corresponding rudder plate, and then fixed with the rudder plate by using the inclined surface locking principle; the rudder plate shaft 4 is designed with a groove 17 for installing a shaft elastic retainer ring, preventing the rudder plate shaft 4 from being detached from the shell 1 outward during installation; the other end of the rudder plate shaft 4 is left with a key groove 18 connected with the electromagnetic clutch 5, connected with the electromagnetic clutch 5 through a pin key.

[0047] The working principle of the control device is as follows:

[0048] The two electromagnetic clutches 5 in the horizontal direction are arranged between the left and right rudder plate shafts 4 and the corresponding side transfer shafts 6, the rudder plate shafts 4 are connected and fixed with the corresponding side rudder plates, and the left and right transfer shafts 6 are connected and fixed with the second rotating arm 10; the straight line motion of the push rod at the front end of the steering engine 2 is controlled, driving the second rotating arm 10 to rotate, and the on-off of the left and right electromagnetic clutches 5 is controlled, realizing the independent or simultaneous rotation of the left horizontal rudder 9 and the right horizontal rudder 3, and further controlling the roll and pitch of the underwater vehicle or the tow body.

[0049] The electromagnetic clutch 5 in the vertical direction is also arranged between the vertically arranged rudder plate shaft 4 and the vertical transfer shaft, the vertically arranged rudder plate shaft 4 is connected and fixed with the vertical rudder 7, the vertical transfer shaft is connected and fixed with the first rotating arm 8, the first rotating arm 8 cooperates with the second rotating arm 10, the steering engine 2 drives the second rotating arm 10 to rotate, and further drives the first rotating arm 8 and the vertical transfer shaft to rotate around the axis of the vertical transfer shaft, the on-off of the electromagnetic clutch 5 is controlled, realizing the independent or simultaneous rotation of the vertical rudder 7 with the right horizontal rudder 3 and the left horizontal rudder 9, and further controlling the heading of the underwater vehicle or the tow body.

[0050] Thus, the control device can control whether the right horizontal rudder 3, the left horizontal rudder 9 and the vertical rudder 7 move with the steering engine 2 by controlling the on-off of the three electromagnetic clutches 5. The typical control conditions are as follows:

[0051] I. Both horizontal electromagnetic clutches 5 are powered, the right horizontal rudder 3 and the left horizontal rudder 9 are linked, the vertical electromagnetic clutch 5 is powered off, the vertical rudder 7 is not moved, and the pitch of the underwater vehicle or the tow body is controlled.

[0052] II. One side of the horizontal electromagnetic clutch 5 is powered, the right horizontal rudder 3 and the left horizontal rudder 9 are only individually rotated, the vertical electromagnetic clutch 5 is powered off, the vertical rudder 7 is not moved, and the roll of the underwater vehicle or the tow body is controlled.

[0053] III. Both horizontal electromagnetic clutches 5 are powered off, the right horizontal rudder 3 and the left horizontal rudder 9 are not moved, the vertical electromagnetic clutch 5 is powered, the vertical rudder 7 is rotated, and the heading of the underwater vehicle or the tow body is controlled.

[0054] The control device can make the rudder 2 return to zero position constantly, and cyclically push the second rotating arm 10 by controlling the on-off of the three electromagnetic clutches 5, so as to greatly reduce the requirement for the stroke of the rudder 2 and reduce the size and weight of the rudder 2.

[0055] In the control device, in the horizontal direction, the rotation center line of the second rotating arm 10 coincides with the rotation center lines of the right horizontal rudder 3 and the left horizontal rudder 9, and coincides with the axis lines of the horizontally arranged rudder plate shaft 4, the horizontally arranged electromagnetic clutch 5, and the horizontally arranged switching shaft 6, and the right horizontal rudder 3 and the left horizontal rudder 9 can rotate around the axis line; in the vertical direction, the rotation center line of the vertical rudder 7 coincides with the axis lines of the vertically arranged rudder plate shaft 4, the vertically arranged electromagnetic clutch 5, and the vertically arranged switching shaft 6, and the axis line is also the rotation center line of the first rotating arm 8, and the vertical rudder 7 can rotate around the axis line.

[0056] The rudder 2 is hingedly fixed with the mounting base 12, the front end push rod of the rudder 2 is hingedly connected with the second rotating arm 10, the first rotating arm 8 is slidingly connected with the second rotating arm 10, the push rod of the rudder 2 can make linear reciprocating motion, drive the second rotating arm 10 to rotate, and drive the first rotating arm 8 to rotate.

[0057] The control device is widely applicable, and when the rudder 2 and the electromagnetic clutch 5 are designed to be water-tight, the device can be used for a water-permeable structure; when the right horizontal rudder 3, the left horizontal rudder 9, and the vertical rudder 7 are connected with the shell 1 through dynamic sealing, the device can also be used for a water-tight structure.

[0058] Although the present application has been described in detail by the general description and specific embodiments above, some modifications or improvements can be made on the basis of the present application, which is obvious to those skilled in the art. Therefore, these modifications or improvements made on the basis of not deviating from the spirit of the present application are within the scope of the present application.

Claims

1. An underwater vehicle or tow body attitude and heading single actuator control device comprising three rudders, right horizontal rudder, left horizontal rudder and vertical rudder, respectively, characterized in that, Also include: The shell, rudder, three rudder plate shaft, three electromagnetic clutch, the first swing arm and the second swing arm; The shell is used for providing installation platform for installation base and rudder plate shaft; The installation base is used for supporting the rudder in the shell, and the rudder is hinged on the installation base; The rudder is a linear rudder; Each rudder plate is connected with one rudder plate shaft, and each rudder plate shaft is connected with one swing shaft through one electromagnetic clutch; The swing shaft connected with the rudder plate shaft corresponding to the right horizontal rudder and the left horizontal rudder is a horizontal swing shaft, and the two horizontal swing shafts are coaxially connected through the second swing arm; The swing shaft connected with the rudder plate shaft corresponding to the vertical rudder is a vertical swing shaft; One end of the first swing arm is connected with the vertical swing shaft, and the other end cooperates with the second swing arm, and the second swing arm can drive the vertical swing shaft connected with the first swing arm to rotate around its own axis when rotating; The front end push rod of the rudder is hinged with the second swing arm, and the second swing arm can convert the linear motion of the rudder push rod into the rotation of the two horizontal swing shafts around their own axes; The first swing arm is horizontally arranged, one end of which is provided with a connecting notch connected with the vertical swing shaft; The other end has a cylindrical protrusion; The middle part of the second swing arm is used for coaxial connection with the two horizontal swing shafts, the lower end of which extends a double ear hinged seat used for connection with the rudder; The axial one end extends a sheet-shaped fork, and a fork notch is vertically formed in the fork; The cylindrical protrusion at the end of the first swing arm is inserted into the fork notch and can slide up and down in the fork notch; The axis of the cylindrical protrusion is perpendicular to the axis of the vertical swing shaft.

2. An underwater vehicle or towbody attitude and heading single-actuator control apparatus as claimed in claim 1, characterised in that, The fork notch is a U-shaped groove arranged on the upper end of the fork, and a baffle is fixed on the U-shaped opening of the fork notch; A semicircular groove is arranged on the lower surface of the baffle corresponding to the position of the cylindrical protrusion.

3. An underwater vehicle or towbody attitude and heading single-actuator control apparatus as claimed in claim 1 or 2, characterised in that, One end of the rudder plate shaft is fixed with the rudder plate by using the inclined surface locking principle; The other end is provided with a key groove connected with the electromagnetic clutch, and the electromagnetic clutch is connected through a pin key.

4. An underwater vehicle or towbody attitude and heading single-actuator control apparatus as claimed in claim 3, characterised in that, The rudder plate shaft is provided with an elastic retaining ring for shaft.

5. An underwater vehicle or towbody attitude and heading single-actuator control apparatus as claimed in claim 1 or 2, characterised in that, When the two horizontal electromagnetic clutches are powered on and the vertical electromagnetic clutch is powered off, the right horizontal rudder and the left horizontal rudder are linked, the vertical rudder is stationary, and the pitch of the underwater vehicle or the tow body can be controlled; When the electromagnetic clutch on one side of the horizontal direction is powered on and the vertical electromagnetic clutch is powered off, only the horizontal rudder on the powered side rotates, and the vertical rudder is stationary, so that the roll of the underwater vehicle or the tow body can be controlled; When the two horizontal electromagnetic clutches are powered off and the vertical electromagnetic clutch is powered on, the right horizontal rudder and the left horizontal rudder are stationary, and the vertical rudder rotates, so that the heading of the underwater vehicle or the tow body can be controlled.

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