A self-deploying folded rudder without changing its fluid shape and assembly method

Abstract

The application discloses a self-expanding folding rudder without changing fluid shape of itself and an assembling method, and belongs to the technical field of underwater unmanned equipment. The rudder shaft, torsional spring mounting box and torsional spring of the self-expanding folding rudder are located in the rudder plate, the fluid shape of the rudder plate is not changed, the fixed rudder plate and the movable rudder plate are engaged through sawteeth, the self-expanding folding rudder has little gap between the fixed rudder plate and the movable rudder plate in the unfolded state, the movable rudder plate does not interfere in the rotating process, the whole folding rudder has no gap, protrusion or depression due to the folding structure, the loss of fluid power is reduced, and the dynamic performance of the underwater vehicle is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of underwater unmanned equipment, and particularly relates to a self-deploying folding rudder without changing its fluid shape and an assembling method thereof, which is used for underwater unmanned autonomous underwater vehicles and underwater unmanned transport platforms. BACKGROUND

[0002] As an important component of underwater vehicles, the rudder plate area will directly affect the maneuvering performance of the vehicle, and an excessively large rudder plate area will make the rudder plate too large, causing the vehicle to be difficult to transport, deploy and adapt to other structures.

[0003] The complete deployment of the rudder plate requires a large space, which is not conducive to the deployment and adaptation of the vehicle. Referring to the design of folding wings, the folding rudder is beneficial to the transportation, deployment and adaptation of the vehicle, but the applicant has noticed that the folding structure of the current folding rudder will cause a gap, protrusion or depression between the fixed rudder and the movable rudder after the folding rudder is deployed, affecting the fluid shape of the deployed folding rudder and leading to a decrease in the dynamic performance of the underwater vehicle. SUMMARY

[0004] Therefore, the present application provides a self-deploying folding rudder without changing its fluid shape and an assembling method thereof, which can prevent a gap, protrusion or depression from occurring between the fixed rudder and the movable rudder after the folding rudder is deployed, and improve the dynamic performance of the underwater vehicle.

[0005] The self-deploying folding rudder without changing its fluid shape provided by the present application adopts the following technical scheme:

[0006] The self-deploying folding rudder without changing its fluid shape comprises:

[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 engaged with each other, the front end portion and the rear end portion on the fixed rudder plate are located at the outermost sides of the engaged sawteeth, and cavities are arranged on the front end portion and the rear end portion;

[0008] The torsional spring mounting box is mounted in the cavities of the front end portion and the rear end portion of the fixed rudder plate, and the outer sides of the front end portion and the rear end portion are provided with notches for pushing the torsional spring mounting box into the cavities at the notches;

[0009] The rudder shaft is arranged in the sawtooth shaft hole between the front end portion and the rear end portion, and the two ends of the rudder shaft are both provided with a force transmission rod;

[0010] The front end separation rudder plate and the rear end separation rudder plate are respectively embedded in the notches of the front end portion and the rear end portion, and are used for keeping the shape of the fixed rudder plate streamlined;

[0011] The torsional spring is installed in the torsional spring installation box, and one end of the torsional spring is fixed by the inner limit of the torsional spring installation box; the transmission rod on the rudder shaft extends into the torsional spring installation box through the opening on the torsional spring installation box, and hooks the other end of the torsional spring.

[0012] In the unfolded state, the movable rudder plate is kept in a plane with the fixed rudder plate under the action of the torsional spring pre-tightening force; 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 transmission rod on the rudder shaft makes the torsional spring twist.

[0013] Further, the torsional spring installation box is open at both ends along the axis of the rudder shaft, and a torsional spring stop ring is threadedly connected to the opening of the torsional spring installation box close to the opening; a limiting rod is arranged on the torsional spring stop ring, and the one end of the torsional spring is limited by the limiting rod.

[0014] Further, the torsional spring is an inner arm torsional spring.

[0015] The fixed part at both ends of the inner arm torsional spring is a hook.

[0016] Further, a fastening tool insertion hole parallel to the rudder shaft is arranged on the outside of the torsional spring installation box.

[0017] A screw hole is arranged 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 torsional spring installation box is fixedly arranged in the cavities of the front end and the rear end.

[0018] The assembly method of the self-unfolding and folding rudder without changing the fluid shape of the self-unfolding and folding rudder provided by the application adopts the following technical scheme:

[0019] The self-unfolding and folding rudder is installed, and the following steps are included:

[0020] Firstly, the movable rudder plate is engaged with the sawtooth of the fixed rudder plate, the shaft hole on the sawtooth of the movable rudder plate is aligned with the shaft hole of the fixed rudder plate, and the movable rudder plate is adjusted to the unfolded state;

[0021] Secondly, the rudder shaft is inserted into the shaft hole of the sawtooth of the fixed rudder plate and the movable rudder plate from the opening at one end of the fixed rudder plate, so that the fixed rudder plate and the movable rudder plate are rotationally connected as a whole;

[0022] Thirdly, the torsional spring installation box is pushed into and fixedly installed in the cavity of the front end at the opening;

[0023] Fourthly, the torsional spring is pushed into the torsional spring installation box at the opening, so that the hook close to the rudder shaft end of the torsional spring hooks the transmission rod on the rudder shaft;

[0024] Fifth step, push the torsion spring stop ring into the notch at the front end, and make the limit rod on the torsion spring stop ring hook with the hook at the end of the rudder shaft away from the torsion spring;

[0025] Sixth step, tighten the torsion spring stop ring, make the torsion spring twist, make the torsion spring reach the set pre-tightening force, and embed and fix the front end separation rudder plate at the notch at the front end;

[0026] Seventh step, repeat the installation process of the third step to the sixth step at the rear end of the fixed rudder plate, complete the installation of the torsion spring, the torsion spring installation box and the torsion spring stop ring at the rear end, and embed and fix the rear end separation rudder plate at the notch at the rear end.

[0027] Beneficial effects:

[0028] 1. The rudder shaft, the torsion spring installation box and the torsion spring of the self-expanding folding rudder are all located inside the rudder plate, which does not change the fluid shape of the rudder plate, and the fixed rudder plate and the movable rudder plate are meshed by the sawtooth, which can make the self-expanding folding rudder have almost no gap between the fixed rudder plate and the movable rudder plate in the expanded state, and the movable rudder plate does not interfere during rotation, so that the entire folding rudder will not have gaps, protrusions or depressions due to the folding structure, reducing the loss of fluid power and improving the dynamic performance of the underwater vehicle.

[0029] 2. The self-expanding of the rudder plate does not contain complex mechanisms and components, has high reliability and low cost, and after manually resetting the self-expanding folding rudder from the expanded state to the folded state, the self-expanding folding rudder can be converted from the folded state to the expanded state by releasing the pre-tightening force of the torsion spring, achieving repeated use instead of one-time use.

[0030] 3. The torsion spring installation box is limited in the chamber at the front end / front end of the rear end, and is fastened by screws, which has high reliability, and the torsion spring installation box can be fastened by screws by inserting the fastening tool into the hole from the notch at the front end / rear end, which has a simple structure and is easy to operate. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 is a fully expanded state schematic view of a self-expanding folding rudder provided by the first embodiment of the present application, which does not change the fluid shape of itself;

[0032] Figure 2 is a partial cross-sectional view of the torsion spring part of the self-expanding folding rudder provided by the first embodiment of the present application, which does not change the fluid shape of itself;

[0033] Figure 3 is a folded state partial cross-sectional view of the self-expanding folding rudder provided by the first embodiment of the present application, which does not change the fluid shape of itself;

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

[0035] Figure 5 is a result schematic diagram of a chamber and a fixed rudder plate after transparent treatment of a sawtooth on the fixed rudder plate provided by an embodiment of the present application;

[0036] Figure 6 is a result schematic diagram of a chamber provided by an embodiment of the present application Figure 5 after removal of a movable rudder plate;

[0037] Figure 7 is a structural schematic diagram of a front-end separated rudder plate / back-end separated rudder plate provided by an embodiment of the present application;

[0038] Figure 8 is a structural schematic diagram of a torsion spring stop ring provided by an embodiment of the present application;

[0039] Figure 9 is an installation schematic diagram of a rudder shaft and a torsion spring installation box provided by an embodiment of the present application;

[0040] Figure 10 is a result schematic diagram of a chamber provided by an embodiment of the present application Figure 9 is an enlarged schematic diagram of I in the chamber;

[0041] Figure 11 is a structural schematic diagram of a rudder shaft provided by an embodiment of the present application;

[0042] In the drawings: 1 - movable rudder plate, 2 - fixed rudder plate, 3 - front-end separated rudder plate, 4 - back-end separated rudder plate, 5 - torsion spring, 6 - torsion spring installation box, 7 - torsion spring stop ring, 701 - limiting rod, 8 - rudder shaft, 9 - front end, 10 - back end, 11 - fastening tool insertion hole, 12 - screw, 13 - chamber, 14 - gap, 15 - countersunk screw, 16 - force transmission rod. DETAILED DESCRIPTION

[0043] The present application will be described in detail below with reference to the drawings and embodiments.

[0044] Embodiment One:

[0045] Referring to Figures 1-11 , a self-deploying folding rudder without changing the fluid shape of itself, comprising:

[0046] The movable rudder plate 1 and the fixed rudder plate 2 are both provided with a sawtooth structure (in particular, in this embodiment, referring to Figure 1, the shape of the sawtooth is square), the sawtooth structure is provided with coaxial shaft holes, the sawteeth of the movable rudder plate 1 and the fixed rudder plate 2 are engaged with each other, and the front end part 9 and the rear end part 10 on the fixed rudder plate 2 are located at the outermost sides of the mutually engaged sawteeth, and the front end part 9 and the rear end part 10 are provided with cavities 13; the fixed rudder plate 2 is a rudder plate fixed on the underwater vehicle, the movable rudder plate 1 is rotationally connected with the fixed rudder plate 2, and the movable rudder plate 1 can rotate around the fixed rudder plate 2 and change between the unfolded state and the folded state;

[0047] The torsional spring mounting box 6 is mounted in the cavities 13 of the front end part 9 and the rear end part 10 of the fixed rudder plate 2, and the front end part 9 and the rear end part 10 are provided with notches 14 on the outer sides thereof, which are used to push the torsional spring mounting box 6 into the cavities 13 of the front end part 9 and the rear end part 10 at the notches 14;

[0048] The rudder shaft 8 is arranged in the sawtooth shaft holes between the front end part 9 and the rear end part 10, and the two 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 part 9 and the rear end part 10 Figure 1 It is shown in the figure that the front end separation rudder plate 3 is embedded in the notch 14 of the front end part 9 and is fixed by the countersunk screw 15, and the rear end separation rudder plate 4 is embedded in the notch 14 of the rear end part 10 and is fixed by the countersunk screw 15, which are used to keep the shape of the fixed rudder plate 2 streamlined;

[0050] The torsional spring 5 is mounted in the torsional spring mounting box 6 along the axis of the rudder shaft 8, and one end of the torsional spring 5 is limited by the interior of the torsional spring mounting box 6; the force transmission rod 16 on the rudder shaft 8 extends into the torsional spring mounting box 6 through the opening of the torsional spring mounting box 6 and hooks the other end of the torsional spring 5;

[0051] Referring to Figure 1 In the unfolded state, the movable rudder plate 1 is kept in a plane with the fixed rudder plate 2 under the pre-tightening force of the torsional spring 5; when the movable rudder plate 1 is folded, the movable rudder plate 1 rotates relative to the fixed rudder plate 2 around the axis of the rudder shaft 8, and the rudder shaft 8 rotates around its own axis, and the force transmission rod 16 on the rudder shaft 8 twists the torsional spring 5.

[0052] Thus, the rudder shaft 8, the torsion spring mounting box 6 and the torsion spring 5 of the self-expanding folding rudder are located inside the rudder plate, without changing the fluid shape of the rudder plate. In addition, the fixed rudder plate 2 and the movable rudder plate 1 are engaged by the sawtooth, so that there is almost no gap between the fixed rudder plate 2 and the movable rudder plate 1 in the expanded state of the self-expanding folding rudder, and the movable rudder plate 1 does not interfere during rotation. The entire folding rudder does not have gaps, protrusions or depressions due to the folding structure, reducing the loss of fluid power and improving the dynamic performance of the underwater vehicle. The folding of the rudder plate is beneficial to the transportation, deployment and adaptation of the vehicle. Through the release of the pre-tightening force of the torsion spring 5, the rudder plate can be self-expanding. The self-expanding of the rudder plate does not contain complex mechanisms and components, has high reliability and low cost. After manually resetting the self-expanding folding rudder from the expanded state to the folded state, the pre-tightening force of the torsion spring 5 can be released, so that the self-expanding folding rudder can be converted from the folded state to the expanded state, achieving the effect of repeated use rather than one-time use.

[0053] As an example, the torsion spring mounting box 6 is open at both ends in the axial direction of the rudder shaft 8, and the opening of the torsion spring mounting box 6 near one end of the aperture 14 is threadedly connected with the torsion spring stop ring 7. The torsion spring stop ring 7 is provided with a limiting rod 701, and the fixed 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 hooks at both ends of the inner arm torsion spring serve as the fixed end. Thus, when assembling the self-expanding folding rudder, after the rudder shaft 8 is installed, taking the installation of the torsion spring 5, the torsion spring mounting box 6 and the torsion spring stop ring 7 in the cavity 13 of the front end portion 9 as an example, the torsion spring mounting box 6 can be pushed into the cavity 13 of the front end portion 9 from the aperture 14 of the front end portion 9, then the inner arm torsion spring is pushed into the torsion spring mounting box 6 at the aperture 14 of the front end portion 9, and the torsion spring stop ring 7 is pushed into the torsion spring mounting box 6 near the aperture 14 of the front end portion 9 at the aperture 14 of the front end portion 9, and the torsion spring stop ring 7 is tightened in the torsion spring mounting box 6. After the installation of the torsion spring mounting box 6, the torsion spring 5 and the torsion spring stop ring 7 is completed, the front end portion 9 is separated from the rudder plate 3 and is fixedly embedded in the aperture 14 of the front end portion 9 by means of the countersunk screw 15. The rudder shaft 8, the torsion spring mounting box 6 and the torsion spring 5 are located inside the rudder plate, without changing the fluid shape of the rudder plate. The installation is very simple and can be repeatedly used rather than one-time use.

[0055] More specifically, with reference to Figure 2The outside of the torsion spring mounting box 6 is provided with a fastening tool insertion hole 11 parallel to the rudder shaft 8; the end of the fastening tool insertion hole 11 close to the rudder shaft 8 is provided with a screw hole, 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 mounting box 6 is fixedly arranged in the cavity 13 of the fixed rudder plate 2. On the one hand, the torsion spring mounting box 6 is limited in the cavity 13 of the front end part 9 and the rear end part 10, and on the other hand, the torsion spring mounting box 6 is fastened by the screw 12, so that the reliability is high, and in addition, the fastening of the torsion spring mounting box 6 by the screw 12 can be realized only by inserting the fastening tool into the fastening tool insertion hole 11 from the gap 14 of the front end separation rudder plate 3 or the rear end separation rudder plate 4, so that the structure is simple and the operation is convenient.

[0056] Embodiment two:

[0057] On the basis of embodiment one, a mounting method of a self-expanding folding rudder without changing the fluid shape of itself is provided, comprising the following steps:

[0058] Firstly, the movable rudder plate 1 is engaged with the fixed rudder plate 2, the shaft holes on the movable rudder plate 1 and the fixed rudder plate 2 are aligned, and the movable rudder plate 1 is adjusted to an expanded state;

[0059] Secondly, the rudder shaft 8 is inserted into the shaft holes of the fixed rudder plate 2 and the movable rudder plate 1 from the gap 14 at one end of the fixed rudder plate 2, so that the fixed rudder plate 2 and the movable rudder plate 1 are rotationally connected as a whole;

[0060] Thirdly, the torsion spring mounting box 6 is pushed into and fixedly arranged in the cavity 13 of the front end part 9 of the fixed rudder plate 2 at the gap 14;

[0061] Fourthly, the torsion spring 5 is pushed into the torsion spring mounting box 6 at the gap, and the hook close to the end of the torsion spring 5 away from the rudder shaft 8 is hooked with the force transmission rod 16 on the rudder shaft 8;

[0062] Fifthly, the torsion spring stop ring 7 is pushed into the gap 14 of the front end part 9, and the limiting rod 701 on the torsion spring stop ring 7 is hooked with the hook of the torsion spring 5 away from the rudder shaft 8;

[0063] Sixthly, the torsion spring stop ring 7 is tightened, the torsion spring 5 is twisted, the torsion spring 5 reaches a set pre-tightening force, and the front end separation rudder plate 3 is embedded and fixedly arranged at the gap 14 of the front end part 9;

[0064] Seventhly, the installation process of the third step to the sixth step is repeated at the rear end part 10 of the fixed rudder plate 2, the installation of the torsion spring 5, the torsion spring mounting box 6 and the torsion spring stop ring 7 at the rear end part 10 is completed, and the rear end separation rudder plate 4 is embedded and fixedly arranged at the gap 14 of the rear end part 10.

[0065] Particularly, the second step operation can be evenly applied on the rudder shaft 8, which is convenient for the installation of the rudder shaft 8. In the embodiment, the assembled self-unfolding folding rudder without changing the fluid shape of itself keeps the movable rudder plate 1 and the fixed rudder plate 2 in a plane (the folding angle is 0 degree) under the pre-tightening force of the torsion spring 5 before folding, at this time, the movable rudder plate 1 is in a foldable state, and after folding, the folding state can be kept through other specific devices or mechanisms on the underwater vehicle, and when working is needed, the movable rudder plate 1 is released, and under the action of the torsion spring 5, the movable rudder plate 1 starts to unfold and rotates around the rudder shaft 8. When the movable rudder plate 1 gradually unfolds until the folding angle is 0 degree, the movable rudder plate 1 is completely unfolded.

[0066] To sum up, the above is only a preferred embodiment of the present application, and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A self-deploying folded rudder that does not change its fluidic profile, characterized in that, The utility model relates to a kind of self-expanding folding rudder of not changing self fluid shape, comprising: Movable rudder plate, fixed rudder plate: both are provided with sawtooth structure, sawtooth structure is provided with coaxial shaft hole, the sawtooth of movable rudder plate and fixed rudder plate is mutually engaged, and the front end portion and rear end portion on fixed rudder plate are located the outermost side of mutually engaged sawtooth, and chamber is equipped on the front end portion and rear end portion; Torsion spring installation box: it is installed in the chamber of the front end portion and rear end portion of fixed rudder plate;And front end portion and rear end portion outside is provided with aperture, for torsion spring installation box is pushed into chamber at aperture; Rudder shaft: it is arranged in the sawtooth shaft hole between front end portion and rear end portion;Both ends of rudder shaft are provided with force transmission rod; Front end separation rudder plate, rear end separation rudder plate: respectively embedded in the aperture of front end portion and rear end portion, for making the appearance of fixed rudder plate keep streamline; Torsion spring: it is installed in torsion spring installation box, and one end fixed part of torsion spring is limited by torsion spring installation box interior;Force transmission rod on rudder shaft is inserted into torsion spring installation box through the aperture on torsion spring installation box, and is hooked with the other end fixed part of torsion spring; In unfolded state, movable rudder plate keeps in a plane with fixed rudder plate under the action of torsion spring pre-tightening force;When folding movable rudder plate, movable rudder plate rotates relative to fixed rudder plate around the axis of rudder shaft, and rudder shaft rotates around its axis, and force transmission rod on rudder shaft makes torsion spring twist; The torsion spring installation box is located at both ends of the rudder shaft axis direction aperture, and wherein the aperture of the torsion spring installation box near the aperture one end of the torsion spring stop ring is screwed, the torsion spring stop ring is provided with a limit rod, and the one end fixed part of the torsion spring is limited by the limit rod.

2. A self-deploying folded vane that does not change its fluidic profile, according to claim 1, wherein, The torsion spring is inner arm torsion spring; The fixed part of both ends of the inner arm torsion spring is hook.

3. A self-deploying folded vane which does not change its fluidic profile, according to claim 1 or 2, characterized in that, The outside of the torsion spring installation box is provided with fastening tool insertion hole parallel to the rudder shaft; The end of the fastening tool insertion hole near the rudder shaft is provided with screw hole, and the fastening tool insertion hole can be inserted into fastening tool, for the screw on the screw hole is tightened, so that the torsion spring installation box is fixedly arranged in the chamber of the front end portion and rear end portion.

4. A method of assembling a self-deploying folded fin that does not change its fluidic profile, characterized in that, The self-expanding folding rudder of not changing self fluid shape of claim 1 or 2 is installed, Comprising the following steps: First, the sawtooth of movable rudder plate and fixed rudder plate is engaged, so that the shaft hole on the sawtooth of movable rudder plate and fixed rudder plate is aligned, and movable rudder plate is adjusted to unfolded state; Second, the rudder shaft is inserted into the shaft hole of the sawtooth of fixed rudder plate and movable rudder plate from the aperture of one end of fixed rudder plate, so that fixed rudder plate and movable rudder plate are rotatably connected as a whole; Third, the torsion spring installation box is pushed into and fixedly arranged in the chamber of the front end portion at aperture; Fourth, the torsion spring is pushed into the torsion spring installation box at aperture, so that the hook of the torsion spring near the rudder shaft is hooked with the force transmission rod on the rudder shaft; Fifth, the torsion spring stop ring is pushed into the aperture of the front end portion, so that the limit rod on the torsion spring stop ring is hooked with the hook of the torsion spring away from the rudder shaft; Sixth, the torsion spring stop ring is tightened, so that the torsion spring is twisted, the torsion spring reaches the set pre-tightening force, and the front end separation rudder plate is embedded and fixedly arranged in the aperture of the front end portion; Seventh, the installation process of third to sixth steps is repeated at the rear end portion of fixed rudder plate, and after completion, the installation of torsion spring, torsion spring installation box and torsion spring stop ring at the rear end portion is completed, and the rear end separation rudder plate is embedded and fixedly arranged in the aperture of the rear end portion.

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