Self-unfolding folding rudder without changing self fluid appearance and assembling method

Abstract

The invention discloses a self-unfolding folding rudder without changing self fluid appearance and an assembling method, and belongs to the technical field of underwater unmanned equipments.The self-unfolding folding rudder is characterized in that a rudder shaft, a torsional spring mounting box and a torsional spring are all located in a rudder plate, the fluid appearance of the rudder plate is not changed, and a fixed rudder plate and a movable rudder plate are meshed through sawteeth, so that the rudder plate is fixed; when the self-unfolding folding rudder is in an unfolding state, almost no gap exists between the fixed rudder plate and the movable rudder plate, the movable rudder plate does not interfere with each other in the rotating process, the whole folding rudder does not generate gaps, protrusions or recesses due to a folding structure, the loss of hydrodynamic force is reduced, and the dynamic performance of an underwater navigation body is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater unmanned equipment, and specifically relates to a self-deployable folding rudder without changing its own fluid shape and an assembly method, which is used for underwater unmanned autonomous vehicles and underwater unmanned carrier platforms. Background Art

[0002] In recent years, the competition among countries for marine rights and resources has become increasingly fierce, and underwater equipment has gradually developed towards large-scale and unmanned operations. As an important component of underwater navigation bodies, the rudder area will directly affect the maneuverability of the navigation body, while an excessively large rudder area will make the rudder too large, making it difficult to transport and deploy the navigation body, and difficult to install and adapt with other structures.

[0003] The rudder needs a lot of space to be fully unfolded, which is not conducive to the deployment and adaptation of the navigation body. Referring to the design of the folding wing, although the use of the folding rudder is conducive to the transportation, deployment and adaptation of the navigation body, the applicant has noticed that the folding structure of the current folding rudder will cause a gap, bulge or depression between the fixed rudder and the movable rudder after the folding rudder is unfolded, which affects the fluid shape after the folding rudder is unfolded, resulting in a decrease in the dynamic performance of the underwater navigation body. Summary of the invention

[0004] In view of this, the present invention provides a self-deployable folding rudder and an assembly method that do not change the fluid shape of the folding rudder itself, so that after the folding rudder is deployed, there will be no gap, protrusion or depression between the fixed rudder and the movable rudder, thereby improving the dynamic performance of the underwater vehicle.

[0005] The present invention provides a self-deployable folding rudder that does not change its own fluid shape, which adopts the following technical solutions:

[0006] A self-deployable folding rudder without changing its own fluid shape, comprising:

[0007] The movable rudder plate and the fixed rudder plate are both provided with a sawtooth structure, the sawtooth structure is provided with a coaxial shaft hole, the sawteeth of the movable rudder plate and the fixed rudder plate are meshed with each other, and the front end and the rear end of the fixed rudder plate are located at the outermost sides of the meshing sawteeth, and the front end and the rear end are provided with a chamber;

[0008] Torsion spring installation box: installed in the chambers at the front end and rear end of the fixed rudder plate; and notches are provided on the outside of the front end and the rear end for pushing the torsion spring installation box into the chamber at the notches;

[0009] Rudder shaft: Passing through the sawtooth shaft hole between the front end and the rear end; force transmission rods are provided at both ends of the rudder shaft;

[0010] Front-end separation rudder plate and rear-end separation rudder plate: respectively embedded in the notches of the front end and the rear end, used to keep the shape of the fixed rudder plate streamlined;

[0011] Torsion spring: installed in the torsion spring installation box, and the fixed part at one end of the torsion spring is limited by the inside of the torsion spring installation box; the force transmission rod on the rudder shaft extends into the torsion spring installation box through the opening on the torsion spring installation box, and is hooked with the fixed part at the other end of the torsion spring;

[0012] In the unfolded state, the movable rudder plate is kept in the same plane with the fixed rudder plate under the action of the preload force of the torsion spring; when the movable rudder plate is folded, the movable rudder plate rotates relative to the fixed rudder plate around the axis of the rudder shaft, and the rudder shaft rotates around its own axis, and the force transmission rod on the rudder shaft causes the torsion spring to twist.

[0013] Furthermore, the torsion spring installation box is open at both ends in the axial direction of the rudder shaft, and the open end of the torsion spring installation box close to the notch is threadedly connected with a torsion spring retaining ring, a limiting rod is provided on the torsion spring retaining ring, and the fixed part at one end of the torsion spring is limited by the limiting rod.

[0014] Further, the torsion spring is an inner arm torsion spring;

[0015] The fixing parts at both ends of the inner arm torsion spring are hooks.

[0016] Furthermore, a fastening tool insertion hole parallel to the rudder shaft is provided on the outer side of the torsion spring installation box;

[0017] A screw hole is provided at one end of the fastening tool insertion hole close to the rudder shaft, and a fastening tool can be inserted into the fastening tool insertion hole to tighten the screw on the screw hole so that the torsion spring installation box is fixed in the cavity of the front end and the rear end.

[0018] The present invention provides a method for assembling a self-deployable folding rudder without changing its own fluid shape, which adopts the following technical solutions:

[0019] The installation of the above-mentioned self-deployable folding rudder without changing its own fluid shape comprises the following steps:

[0020] The first step is to engage the movable rudder plate with the saw teeth of the fixed rudder plate, align the shaft holes on the saw teeth of the movable rudder plate and the fixed rudder plate, and adjust the movable rudder plate to the unfolded state;

[0021] The second step is to insert the rudder shaft from the notch at one end of the fixed rudder plate into the shaft holes of the fixed rudder plate and the movable rudder plate saw teeth, so that the fixed rudder plate and the movable rudder plate are rotatably connected as a whole;

[0022] The third step is to push the torsion spring installation box into the notch and fix it in the cavity of the front end;

[0023] Step 4: Push the torsion spring into the torsion spring installation box at the notch, so that the hook at the end of the torsion spring close to the rudder shaft is hooked with the force transmission rod on the rudder shaft;

[0024] Step 5: Push the torsion spring retaining ring into the notch at the front end so that the limit rod on the torsion spring retaining ring is hooked with the hook at the end of the torsion spring facing away from the rudder shaft;

[0025] Step 6: Tighten the torsion spring retaining ring to twist the torsion spring so that the torsion spring reaches the set preload force, and embed the front separation rudder plate in the notch of the front end;

[0026] Step 7, repeat the installation process of steps 3 to 6 at the rear end of the fixed rudder plate, complete the installation of the torsion spring, torsion spring installation box, and torsion spring retaining ring at the rear end, and embed and fix the rear end separation rudder plate in the notch of the rear end.

[0027] Beneficial effects:

[0028] 1. The rudder shaft, torsion spring installation box and torsion spring of the self-deployable folding rudder are all located inside the rudder plate, without changing the fluid shape of the rudder plate. Moreover, the fixed rudder plate and the movable rudder plate are meshed by saw teeth, so that when the self-deployable folding rudder is in the deployed state, there is almost no gap between the fixed rudder plate and the movable rudder plate, and the movable rudder plate does not interfere with each other during the rotation process. The entire folding rudder will not have gaps, bulges or depressions due to the folding structure, thereby reducing the loss of fluid power and improving the dynamic performance of the underwater navigation body.

[0029] 2. The self-deployment of the rudder plate does not contain complex mechanisms and components, has high reliability and low cost, and after the self-deployable folding rudder is manually reset from the unfolded state to the folded state, the preload force can be released by the torsion spring, so that the self-deployable folding rudder is transferred from the folded state to the unfolded state, so as to achieve the effect of repeated use instead of one-time use.

[0030] 3. The torsion spring installation box is limited in the cavity at the front end / rear end on the one hand, and is fastened by screws on the other hand, so it has high reliability. In addition, the torsion spring installation box can be fastened by screws by inserting the fastening tool into the hole at the notch at the front end / rear end. The structure is simple and easy to operate. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic diagram of a fully deployed state of a self-deployable folding rudder without changing its own fluid shape provided by the first embodiment of the present invention;

[0032] Figure 2 It is a partial cross-sectional view of a torsion spring portion in a self-deployable folding rudder without changing its own fluid shape provided by the first embodiment of the present invention;

[0033] Figure 3It is a partial cross-sectional view of a folded state of a self-deployable folding rudder without changing its own fluid shape provided by the first embodiment of the present invention;

[0034] Figure 4 is a schematic structural diagram of a chamber provided by an embodiment of the present invention;

[0035] Figure 5 is a schematic diagram of the result after the saw teeth on the chamber and the fixed rudder plate provided by the embodiment of the present invention are made transparent;

[0036] Figure 6 The embodiment of the present invention provides Figure 5 The result diagram after omitting the movable rudder plate is shown in the figure;

[0037] Figure 7 2 is a schematic diagram of the structure of a front-end separation rudder plate / rear-end separation rudder plate provided by an embodiment of the present invention;

[0038] Figure 8 is a schematic structural diagram of a torsion spring retaining ring provided in an embodiment of the present invention;

[0039] Fig. 9 It is a schematic diagram of installing a rudder shaft and a torsion spring installation box provided by an embodiment of the present invention;

[0040] Fig.10 The embodiment of the present invention provides Fig. 9 The enlarged schematic diagram at I in the middle;

[0041] Fig.11 is a schematic structural diagram of a rudder shaft provided by an embodiment of the present invention;

[0042] Among them: 1-movable rudder plate, 2-fixed rudder plate, 3-front end separation rudder plate, 4-rear end separation rudder plate, 5-torsion spring, 6-torsion spring installation box, 7-torsion spring retaining ring, 701-limiting rod, 8-rudder shaft, 9-front end, 10-rear end, 11-fastening tool insertion hole, 12-screw, 13-chamber, 14-notch, 15-countersunk screw, 16-force transmission rod. DETAILED DESCRIPTION

[0043] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0044] Embodiment 1:

[0045] Reference Figures 1 to 11 , a self-deployable folding rudder without changing its own fluid shape, comprising:

[0046] The movable rudder plate 1 and the fixed rudder plate 2 are both provided with a sawtooth structure (especially, in this embodiment, refer to Figure 1, the sawtooth shape is square), the sawtooth structure is provided with a coaxial shaft hole, the sawtooths of the movable rudder plate 1 and the fixed rudder plate 2 are meshed with each other, and the front end 9 and the rear end 10 on the fixed rudder plate 2 are located at the outermost sides of the meshing sawtooths, and a chamber 13 is provided on the front end 9 and the rear end 10; the fixed rudder plate 2 is a rudder plate fixed on the underwater navigation body, the movable rudder plate 1 is rotatably connected with the fixed rudder plate 2, and the movable rudder plate 1 can rotate around the fixed rudder plate 2 to change between an unfolded state and a folded state;

[0047] The torsion spring installation box 6 is installed in the chamber 13 of the front end 9 and the rear end 10 of the fixed steering plate 2; and the front end 9 and the rear end 10 are provided with a notch 14 on the outside, which is used to push the torsion spring installation box 6 into the chamber 13 of the front end 9 and the rear end 10 at the notch 14;

[0048] The rudder shaft 8 is inserted into the sawtooth shaft hole between the front end 9 and the rear end 10; both ends of the rudder shaft 8 are provided with force transmission rods 16;

[0049] The front end separation rudder plate 3 and the rear end separation rudder plate 4 are respectively embedded in the notches 14 of the front end portion 9 and the rear end portion 10 ( Figure 1 As shown in the figure, the front end separation rudder plate 3 is embedded in the notch 14 of the front end portion 9 and fixed by the countersunk screw 15, and the rear end separation rudder plate 4 is embedded in the notch 14 of the rear end portion 10 and fixed by the countersunk screw 15), so as to keep the shape of the fixed rudder plate 2 streamlined;

[0050] Torsion spring 5: installed in torsion spring installation box 6 along the axis of rudder shaft 8, and the fixed part of one end of torsion spring 5 is limited by the inside of torsion spring installation box 6; the force transmission rod 16 on rudder shaft 8 extends into torsion spring installation box 6 through the opening on torsion spring installation box 6, and is hooked with the fixed part of the other end of torsion spring 5;

[0051] Reference Figure 1 In the unfolded state, the movable rudder plate 1 is kept in the same plane with the fixed rudder plate 2 under the preload force of the torsion spring 5; when the movable rudder plate 1 is folded, the movable rudder plate 1 rotates around the axis of the rudder shaft 8 relative to the fixed rudder plate 2, and the rudder shaft 8 rotates around its own axis, and the force transmission rod 16 on the rudder shaft 8 causes the torsion spring 5 to twist.

[0052] In this way, the rudder shaft 8, the torsion spring installation box 6, and the torsion spring 5 of the self-deployable folding rudder are all located inside the rudder plate, without changing the fluid shape of the rudder plate. Moreover, the fixed rudder plate 2 and the movable rudder plate 1 are meshed by saw teeth, so that when the self-deployable folding rudder is in the unfolded state, there is almost no gap between the fixed rudder plate 2 and the movable rudder plate 1, and the movable rudder plate 1 does not interfere with each other during the rotation process. The entire folding rudder will not produce gaps, protrusions or depressions due to the folding structure, which reduces the loss of fluid power and improves the dynamic performance of the underwater navigation body. After the rudder plate is folded, it is beneficial to the transportation, deployment and adaptation of the navigation body, and the rudder plate can be self-deployed by releasing the preload of the torsion spring 5. The self-deployment of the rudder plate does not contain complex mechanisms and components, has high reliability and low cost, and after the self-deployable folding rudder is manually reset from the unfolded state to the folded state, the preload can be released by the torsion spring 5, so that the self-deployable folding rudder is transferred from the folded state to the unfolded state, so as to achieve the effect of repeated use instead of one-time use.

[0053] As an example, the torsion spring installation box 6 is open at both ends in the axial direction of the rudder shaft 8, and the open end of the torsion spring installation box 6 close to the notch 14 is threadedly connected with a torsion spring retaining ring 7; a limiting rod 701 is provided on the torsion spring retaining ring 7, and the fixed part of one end of the torsion spring 5 is limited by the limiting rod 701.

[0054] In particular, in the present embodiment, the torsion spring 5 is an inner arm torsion spring, and the hook structures at both ends of the inner arm torsion spring serve as fixing parts. In this way, when assembling the self-deployable folding rudder, after installing the rudder shaft 8, taking the installation of the torsion spring 5, the torsion spring installation box 6, and the torsion spring retaining ring 7 in the cavity 13 of the front end portion 9 as an example, the torsion spring installation box 6 can be pushed into the cavity 13 of the front end portion 9 from the notch 14 of the front end portion 9, and then the inner arm torsion spring is pushed into the torsion spring installation box 6 at the notch 14 of the front end portion 9, and then the torsion spring retaining ring 7 is pushed into the torsion spring installation box 6 at the notch 14 of the front end portion 9, and the torsion spring retaining ring 7 is tightened to the torsion spring installation box 6. After the torsion spring installation box 6, the torsion spring 5, and the torsion spring retaining ring 7 are installed, the front end separated rudder plate 3 is fixedly embedded in the notch 14 of the front end portion 9 by the countersunk screws 15, so that the rudder shaft 8, the torsion spring installation box 6, and the torsion spring 5 are all located inside the rudder plate, without changing the fluid appearance of the rudder plate. The installation is also very simple and can be used repeatedly instead of being disposable.

[0055] More specifically, refer to Figure 2The outer side of the torsion spring installation box 6 is provided with a fastening tool insertion hole 11 parallel to the rudder shaft 8; the fastening tool insertion hole 11 is provided with a screw hole at one end close to the rudder shaft 8, and a fastening tool can be inserted into the fastening tool insertion hole 11 to tighten the screw 12 in the screw hole so that the torsion spring installation box 6 is fixed in the chamber 13 of the fixed rudder plate 2. The torsion spring installation box 6 is limited in the chamber 13 of the front end 9 and the rear end 10 on the one hand, and is fastened by the screw 12 on the other hand, so that the reliability is high. In addition, the torsion spring installation box 6 can be fastened by the screw 12 by inserting the fastening tool into the fastening tool insertion hole 11 from the notch 14 of the front separation rudder plate 3 or the rear separation rudder plate 4, so that the structure is simple and easy to operate.

[0056] Embodiment 2:

[0057] Based on the first embodiment, a method for assembling a self-deployable folding rudder without changing its own fluid shape is provided, comprising the following steps:

[0058] The first step is to mesh the saw teeth of the movable rudder plate 1 with the fixed rudder plate 2, align the shaft holes on the saw teeth of the movable rudder plate 1 with those of the fixed rudder plate 2, and adjust the movable rudder plate 1 to the unfolded state;

[0059] The second step is to insert the rudder shaft 8 from the notch 14 at one end of the fixed rudder plate 2 into the axial holes of the serrated teeth of the fixed rudder plate 2 and the movable rudder plate 1, so that the fixed rudder plate 2 and the movable rudder plate 1 are rotatably connected as a whole;

[0060] The third step is to push the torsion spring installation box 6 into the notch 14 and fix it in the chamber 13 of the front end 9 of the fixed steering plate 2;

[0061] The fourth step is to push the torsion spring 5 into the torsion spring installation box 6 at the notch, and make the hook of the torsion spring 5 close to the rudder shaft 8 be hooked with the force transmission rod 16 on the rudder shaft 8;

[0062] Step 5: Push the torsion spring retaining ring 7 into the notch 14 of the front end portion 9, and make the limiting rod 701 on the torsion spring retaining ring 7 hook with the hook at the end of the torsion spring 5 away from the rudder shaft 8;

[0063] Step 6: Tighten the torsion spring retaining ring 7 to twist the torsion spring 5 so that the torsion spring 5 reaches the set preload force, and embed the front separation rudder plate 3 in the notch 14 of the front end portion 9;

[0064] In the seventh step, repeat the installation process of the third to sixth steps at the rear end portion 10 of the fixed rudder plate 2, complete the installation of the torsion spring 5, the torsion spring installation box 6, and the torsion spring retaining ring 7 at the rear end portion 10, and embed and fix the rear end separation rudder plate 4 in the notch 14 of the rear end portion 10.

[0065] In particular, during the second step, grease can be evenly applied to the rudder shaft 8 to facilitate the installation of the rudder shaft 8. In this embodiment, before the assembled self-expanding folding rudder that does not change its fluid shape is folded, the movable rudder plate 1 is kept in a plane with the fixed rudder plate 2 under the action of the preload force of the torsion spring 5 (the folding angle is 0 degrees), and the movable rudder plate 1 is in a foldable state. After folding, the folded state can be maintained by other specific devices or mechanisms on the underwater vehicle. When work is required, the movable rudder plate 1 is released. After being released, the movable rudder plate 1 begins to unfold under the action of the torsion spring 5 and rotates around the rudder shaft 8. When the movable rudder plate 1 is gradually unfolded until the folding angle is 0 degrees, the movable rudder plate 1 is fully unfolded.

[0066] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A self-deployable folding rudder that does not change its own fluid shape, characterized in that: include: The movable rudder plate and the fixed rudder plate are both provided with a sawtooth structure, the sawtooth structure is provided with a coaxial shaft hole, the sawteeth of the movable rudder plate and the fixed rudder plate are meshed with each other, and the front end and the rear end of the fixed rudder plate are located at the outermost sides of the meshing sawteeth, and the front end and the rear end are provided with a chamber; Torsion spring installation box: installed in the chambers at the front end and rear end of the fixed rudder plate; and notches are provided on the outside of the front end and the rear end for pushing the torsion spring installation box into the chamber at the notches; Rudder shaft: Passing through the sawtooth shaft hole between the front end and the rear end; force transmission rods are provided at both ends of the rudder shaft; Front-end separation rudder plate and rear-end separation rudder plate: respectively embedded in the notches of the front end and the rear end, used to keep the shape of the fixed rudder plate streamlined; Torsion spring: installed in the torsion spring installation box, and the fixed part at one end of the torsion spring is limited by the inside of the torsion spring installation box; the force transmission rod on the rudder shaft extends into the torsion spring installation box through the opening on the torsion spring installation box, and is hooked with the fixed part at the other end of the torsion spring; In the unfolded state, the movable rudder plate is kept in the same plane with the fixed rudder plate under the action of the preload force of the torsion spring; when the movable rudder plate is folded, the movable rudder plate rotates relative to the fixed rudder plate around the axis of the rudder shaft, and the rudder shaft rotates around its own axis, and the force transmission rod on the rudder shaft causes the torsion spring to twist.

2. A self-deployable folding rudder without changing its own fluid shape according to claim 1, characterized in that: The torsion spring installation box is located at both ends of the rudder shaft axis direction, and the torsion spring installation box is threadedly connected to the open end near the notch with a torsion spring retaining ring, a limiting rod is provided on the torsion spring retaining ring, and the fixing part at one end of the torsion spring is limited by the limiting rod.

3. A self-deployable folding rudder without changing its own fluid shape according to claim 2, characterized in that: The torsion spring is an inner arm torsion spring; The fixing parts at both ends of the inner arm torsion spring are hooks.

4. A self-deployable folding rudder without changing its own fluid shape according to any one of claims 1 to 3, characterized in that: The outer side of the torsion spring installation box is provided with a fastening tool insertion hole parallel to the rudder shaft; A screw hole is provided at one end of the fastening tool insertion hole close to the rudder shaft, and a fastening tool can be inserted into the fastening tool insertion hole to tighten the screw on the screw hole so that the torsion spring installation box is fixed in the cavity of the front end and the rear end.

5. A method for assembling a self-deployable folding rudder without changing its own fluid shape, characterized in that: Installing a self-deployable folding rudder that does not change its own fluid shape as described in claim 2 or 3, The following steps are involved: The first step is to engage the movable rudder plate with the saw teeth of the fixed rudder plate, align the shaft holes on the saw teeth of the movable rudder plate and the fixed rudder plate, and adjust the movable rudder plate to the unfolded state; The second step is to insert the rudder shaft from the notch at one end of the fixed rudder plate into the shaft holes of the fixed rudder plate and the movable rudder plate saw teeth, so that the fixed rudder plate and the movable rudder plate are rotatably connected as a whole; The third step is to push the torsion spring installation box into the notch and fix it in the cavity of the front end; Step 4: Push the torsion spring into the torsion spring installation box at the notch, so that the hook at the end of the torsion spring close to the rudder shaft is hooked with the force transmission rod on the rudder shaft; Step 5: Push the torsion spring retaining ring into the notch at the front end so that the limit rod on the torsion spring retaining ring is hooked with the hook at the end of the torsion spring facing away from the rudder shaft; Step 6: Tighten the torsion spring retaining ring to twist the torsion spring so that the torsion spring reaches the set preload force, and embed the front separation rudder plate in the notch of the front end; Step 7, repeat the installation process of steps 3 to 6 at the rear end of the fixed rudder plate, complete the installation of the torsion spring, torsion spring installation box, and torsion spring retaining ring at the rear end, and embed and fix the rear end separation rudder plate in the notch of the rear end.

Images