Steering device of underwater vehicle and underwater vehicle

Abstract

The invention discloses a steering device of an underwater vehicle and the underwater vehicle, the steering device of the underwater vehicle comprises a shell, a first transmission assembly and a second transmission assembly, the first transmission assembly comprises a first corrugated pipe, a second corrugated pipe and a first middle connecting piece, the second transmission assembly comprises a third corrugated pipe, a fourth corrugated pipe and a second middle connecting piece, and hydraulic oil is contained in the first corrugated pipe, the second corrugated pipe, the third corrugated pipe and the fourth corrugated pipe. The end, away from the first middle connecting piece, of the first corrugated pipe communicates with the end, away from the second middle connecting piece, of the third corrugated pipe through a first communication runner in the end cover, and the end, away from the first middle connecting piece, of the second corrugated pipe communicates with the end, away from the second middle connecting piece, of the fourth corrugated pipe through a second communication runner in the end cover. The second middle connecting piece is used for being connected with a steering rod of the rudder blade assembly. The steering device of the underwater vehicle is better in sealing performance.

Description

Technical Field

[0001] The present application relates to the technical field of underwater observation devices, and in particular to a steering device of an underwater submersible and an underwater submersible. Background Art

[0002] At present, underwater submersibles need a mechanism to adjust their heading to ensure the accuracy of their navigation direction when sailing. However, when the underwater submersible is in water, the existing steering device has a complex structure, high cost, poor sealing and is prone to water ingress, making it difficult to ensure the stability of the steering device. Summary of the invention

[0003] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a steering device of an underwater submersible and an underwater submersible, wherein a first transmission assembly and a second transmission assembly of the steering device of the underwater submersible are statically sealed with an end cover, thereby facilitating enhancement of the sealing performance of the first transmission assembly and the second transmission assembly, thereby improving the stability of the steering device.

[0004] According to the steering device of an underwater submersible according to an embodiment of the present application, it includes: an outer shell, the outer shell includes a shell and an end cover, the shell defines an installation cavity with an open opening at one end, the end cover is connected to the shell and seals the open opening; a first transmission assembly and a second transmission assembly, the first transmission assembly is located in the installation cavity and connected to the end cover, the second transmission assembly is located outside the installation cavity and connected to the end cover, the first transmission assembly and the second transmission assembly are arranged opposite to each other, the first transmission assembly includes a first bellows, a second bellows and a first intermediate connecting piece, the first intermediate connecting piece is sealed and connected between the first bellows and the second bellows and is used to be connected to a driving member, the second transmission assembly includes a third bellows, a fourth bellows and a second intermediate connecting piece, the second intermediate The connecting piece is sealingly connected between the third bellows and the fourth bellows, and the first bellows, the second bellows, the third bellows and the fourth bellows all have hydraulic oil, one end of the first bellows away from the first intermediate connecting piece and one end of the third bellows away from the second intermediate connecting piece are connected through the first connecting channel in the end cover, one end of the second bellows away from the first intermediate connecting piece and one end of the fourth bellows away from the second intermediate connecting piece are connected through the second connecting channel in the end cover, and the second intermediate connecting piece is used to be connected to the steering rod of the rudder blade assembly; wherein, the driving piece is used to drive the first intermediate connecting piece to move along the axial direction of the first bellows, and the axial direction of the first bellows is the same as the axial direction of the second bellows.

[0005] According to the steering device of the underwater submersible according to the embodiment of the present application, its driving member drives the first intermediate connecting member to move along the axial direction of the first bellows, so that the first bellows is folded or unfolded along the axial direction, and the second bellows is correspondingly unfolded or folded along the axial direction, thereby changing the volume of the first bellows and the volume of the second bellows, and then changing the ratio of the content of hydraulic oil in the first bellows and the second bellows. Since one end of the first bellows away from the first intermediate connecting member and one end of the third bellows away from the second intermediate connecting member are connected through the first connecting channel in the end cover, one end of the second bellows away from the first intermediate connecting member and one end of the fourth bellows away from the second intermediate connecting member are connected through the second connecting channel in the end cover. , the ratio of the hydraulic oil content in the third bellows and the fourth bellows can be changed by the flow of hydraulic oil, thereby realizing the driving of the second intermediate connecting member, and then the second intermediate connecting member drives the steering rod to rotate to realize the rotation of the rudder blade. In this way, the angle of the rudder blade can be adjusted, thereby realizing the steering of the underwater submersible and the simple structure is conducive to reducing costs. In particular, the arrangement of the first bellows, the second bellows, the third bellows and the fourth bellows makes the power transmission process between the driving member and the steering rod more stable, and makes the first transmission assembly and the second transmission assembly and the end cover statically sealed, thereby facilitating the enhancement of the sealing of the first transmission assembly and the second transmission assembly, thereby improving the stability of the steering device.

[0006] According to the steering device of the underwater submersible in some embodiments of the present application, the first transmission assembly also includes a first mounting seat and a second mounting seat, the first mounting seat is connected between the end cover and the first bellows, the second mounting seat is connected between the end cover and the second bellows, the second transmission assembly also includes a third mounting seat and a fourth mounting seat, the third mounting seat is connected between the end cover and the third bellows, and the fourth mounting seat is connected between the end cover and the fourth bellows.

[0007] According to the steering device of an underwater submersible in some embodiments of the present application, a first internal flow channel connected to the first bellows is provided in the first mounting seat, a second internal flow channel connected to the second bellows is provided in the second mounting seat, a third internal flow channel connected to the third bellows is provided in the third mounting seat, and a fourth internal flow channel connected to the fourth bellows is provided in the fourth mounting seat. The first internal flow channel and the third internal flow channel are connected via a first connecting flow channel in the end cover, and the second internal flow channel and the fourth internal flow channel are connected via a second connecting flow channel in the end cover.

[0008] According to the steering device of an underwater submersible in some embodiments of the present application, the first mounting seat includes a first seat body, a first connecting piece and a first sealing piece, the first internal flow channel is formed in the first seat body, the first internal flow channel includes an axial section and a radial section, one end of the axial section is connected with one end of the first bellows through the first connecting piece, the first connecting piece and one end of the first bellows are sealed and matched in the radial direction of the first bellows, the radial section is connected between the middle area of ​​the axial section and the first connecting flow channel, the first sealing piece is threadedly connected to the first seat body and is used to seal the other end of the axial section.

[0009] According to some embodiments of the present application, the steering device of the underwater submersible further includes: a first protective cover, which is installed on the end cover and covers at least a portion of the first transmission assembly in the circumferential direction of the first bellows.

[0010] According to some embodiments of the present application, the steering device of the underwater submersible further includes: a second protective cover, which is mounted on the end cover and covers at least a portion of the second transmission assembly in the circumferential direction of the third bellows.

[0011] According to some embodiments of the present application, the steering device of the underwater submersible further includes: a first mounting frame and a fixed cover, wherein the first mounting frame cover is disposed on at least a portion of the first transmission assembly, and the driving member is mounted on the first mounting frame.

[0012] According to some embodiments of the present application, the steering device of the underwater submersible further includes: a fixed cover, which is connected to the first mounting frame and covers at least a portion of the driving member.

[0013] According to the steering device of the underwater submersible in some embodiments of the present application, the driving member is constructed as a linear push rod motor, the output shaft of the linear push rod motor is connected to the first intermediate connecting member via a connecting rod, and the movement direction of the output shaft of the linear push rod motor is parallel to the axial direction of the first bellows.

[0014] The application also proposes an underwater submersible.

[0015] An underwater submersible according to an embodiment of the present application includes an underwater submersible body and a steering device of the underwater submersible as described in any one of the above embodiments.

[0016] The advantages of the underwater submersible and the steering device of the underwater submersible mentioned above over the prior art are the same and will not be repeated here.

[0017] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0019] Figure 1 Schematic diagram of a steering device for an underwater submersible according to some embodiments of the present application Figure 1 ;

[0020] Figure 2 Schematic diagram of a steering device for an underwater submersible according to some embodiments of the present application Figure 2 ;

[0021] Figure 3 An exploded view of a steering device of an underwater submersible according to some embodiments of the present application;

[0022] Figure 4 An exploded view of a first transmission assembly according to some embodiments of the present application.

[0023] Reference numerals:

[0024] Steering device 100 of an underwater submersible;

[0025] Shell 10; housing 11; end cover 12;

[0026] First transmission assembly 20; first mounting seat 21; first seat body 211; first internal flow channel 2111;

[0027] First connecting member 212; first blocking member 213; first bellows 22; second mounting seat 23;

[0028] The second seat body 231; the second internal flow channel 2311; the second connecting piece 232;

[0029] Second blocking member 233; second bellows 24; first intermediate connecting member 25;

[0030] Driving member 30; first mounting frame 31; fixing cover 32;

[0031] Steering fork 40;

[0032] Rudder blade assembly 50; rudder blade 51; steering rod 52;

[0033] The second transmission assembly 60; the third mounting seat 61; the third bellows 62; the fourth mounting seat 63; the fourth bellows 64; the second intermediate connecting member 65;

[0034] A first protective cover 71; a second protective cover 72;

[0035] Bearing 81; fixing pin 82; connecting rod 83; steering gear fixing frame 84. DETAILED DESCRIPTION

[0036] In order to better understand the technical solutions provided by the embodiments of this specification, the technical solutions of the embodiments of this specification are described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of this specification and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this specification, rather than limitations on the technical solutions of this specification. In the absence of conflict, the embodiments of this specification and the technical features in the embodiments can be combined with each other.

[0037] In this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or equipment. In the absence of more restrictions, the elements limited by the statement "comprise one..." do not exclude the existence of other identical elements in the process, method, article or equipment including the elements. The term "more than two" includes two or more than two situations.

[0038] At present, underwater submersibles need a mechanism that can adjust the course to ensure the accuracy of the navigation direction when sailing. However, when the underwater submersible is in water, the existing steering device has poor sealing performance and is prone to the risk of water ingress, thus making it difficult to ensure the stability of the steering device.

[0039] In this regard, the present application proposes a steering device 100 for an underwater submersible.

[0040] The following is combined with Figure 1-4 The steering device 100 of an underwater submersible according to an embodiment of the present application is described.

[0041] like Figure 1 and Figure 2 As shown, the steering device 100 of the underwater submersible according to the embodiment of the present application comprises: a housing 10, a first transmission assembly 20 and a second transmission assembly 60, a driving member 30 and a rudder blade assembly 50.

[0042] like Figure 3 As shown, the housing 10 includes a shell 11 and an end cover 12. The shell 11 defines an installation cavity with an open opening at one end. The end cover 12 is suitable for being connected to the shell 11 and covering the open opening, thereby defining a closed installation cavity in the housing 10, thereby providing a closed installation space for structures such as the first transmission assembly 20 and the driving member 30.

[0043] Furthermore, if Figure 1 and Figure 2 As shown, the first transmission assembly 20 is located in the installation cavity (such as Figure 1 and Figure 2 The second transmission assembly 60 is located outside the installation cavity (eg, Figure 1 and Figure 2 The first transmission assembly 20 and the second transmission assembly 60 are arranged opposite to each other in the thickness direction of the end cover 12.

[0044] like Figure 1 and Figure 2 As shown, the first transmission assembly 20 includes a first bellows 22, a second bellows 24 and a first intermediate connector 25. The first intermediate connector 25 is sealingly connected between the first bellows 22 and the second bellows 24 and is used to be connected to the driving member 30. That is, the two ends of the first intermediate connector 25 are respectively connected to the first bellows 22 and the second bellows 24 and seal the opposite ends of the first bellows 22 and the second bellows 24.

[0045] The second transmission assembly 60 includes a third bellows 62, a fourth bellows 64 and a second intermediate connecting member 65. The second intermediate connecting member 65 is sealingly connected between the third bellows 62 and the fourth bellows 64. That is, both ends of the second intermediate connecting member 65 are respectively connected to the third bellows 62 and the fourth bellows 64 and seal the opposite ends of the third bellows 62 and the fourth bellows 64.

[0046] Furthermore, hydraulic oil is contained in the first bellows 22, the second bellows 24, the third bellows 62 and the fourth bellows 64. An end of the first bellows 22 away from the first intermediate connecting piece 25 and an end of the third bellows 62 away from the second intermediate connecting piece 65 are connected through a first connecting channel (not shown in the figure) in the end cover 12. An end of the second bellows 24 away from the first intermediate connecting piece 25 and an end of the fourth bellows 64 away from the second intermediate connecting piece 65 are connected through a second connecting channel (not shown in the figure) in the end cover 12, and the second intermediate connecting piece 65 is used to be connected to the steering rod 52 of the rudder blade assembly 50. The driving member 30 is used to drive the first intermediate connecting piece 25 to move axially along the first bellows 22. The axial direction of the first bellows 22 is the same as the axial direction of the second bellows 24.

[0047] It is worth noting that the steering rod 52 of the rudder blade assembly 50 of the present application is suitable for being rotatably mounted on the body of the underwater submersible through a bearing 81, the rudder blade is mounted on the steering rod 52, and the rudder blade is a rectangular panel that linearly matches the fairing of the underwater submersible.

[0048] The working principle of the steering device 100 of the underwater submersible provided in the embodiment of the present application is as follows: the driving member 30 drives the first intermediate connecting member 25 to move along the axial direction of the first bellows 22, causing the first bellows 22 to fold or unfold along the axial direction. At the same time, the second bellows 24 is unfolded or folded accordingly. This process changes the volume of the first bellows 22 and the second bellows 24, thereby affecting the content ratio of the hydraulic oil inside the two. Since the end of the first bellows 22 away from the first intermediate connecting member 25 is connected to the end of the third bellows 62 away from the second intermediate connecting member 65 through the first connecting flow channel in the end cover 12, and the end of the second bellows 24 away from the first intermediate connecting member 25 is connected to the end of the fourth bellows 64 away from the second intermediate connecting member 65 through the second connecting flow channel in the end cover 12, the hydraulic oil will flow between these bellows, thereby changing the content ratio of the hydraulic oil in the third bellows 62 and the fourth bellows 64. This change eventually forms a hydraulic drive to move the second intermediate connecting member 65, and the second intermediate connecting member 65 drives the steering rod 52 to rotate, realizing the rotation of the rudder blade, thereby completing the steering operation of the underwater submersible. Figure 1 and Figure 2 The arrows in the diagram indicate the flow direction of the hydraulic oil, not the direction of rotation.

[0049] It should be noted that, through the above arrangement, the movement of the first intermediate connecting member 25 and the second intermediate connecting member 65 is a mirror image movement, that is, the movement directions of the first intermediate connecting member 25 and the second intermediate connecting member 65 are opposite, for example Figure 1 As shown, when the first intermediate connecting member 25 moves from the middle position of the first transmission assembly 20 to the right, the second intermediate connecting member 65 moves from the middle position of the second transmission assembly 60 to the left, so that the rudder blade rotates to the right, thereby having the same movement direction as the first intermediate connecting member 25.

[0050] Or Figure 2 As shown, when the first intermediate connecting member 25 moves from the middle position of the first transmission assembly 20 to the left, the second intermediate connecting member 65 moves from the middle position of the second transmission assembly 60 to the right, so that the rudder blade rotates to the left, thereby having the same movement direction as the first intermediate connecting member 25.

[0051] In this way, the rotation direction of the rudder blade can be made consistent with the movement direction of the first intermediate connecting member 25, so as to reduce the difficulty of operation.

[0052] In particular, the coordinated work of the first bellows 22, the second bellows 24, the third bellows 62 and the fourth bellows 64 makes the power transmission process between the driving member 30 and the steering rod 52 more stable. In addition, the design of the first bellows 22, the second bellows 24, the third bellows 62 and the fourth bellows 64 enables a static seal design to be adopted between the first transmission assembly 20 and the second transmission assembly 60 and the end cover 12, which not only improves the sealing performance, but also enhances the overall stability of the steering device 100.

[0053] The bellows refers to a tubular elastic element formed by connecting foldable corrugated sheets along the folding and stretching direction. For example, the bellows may be a metal bellows, a PVC bellows or a welded bellows, etc., which are not limited here. For example, the bellows (the first bellows 22, the second bellows 24, the third bellows 62 and the fourth bellows 64) are all welded bellows, which can resist the seawater pressure at a greater depth. In this way, the driving part only needs to overcome the reverse torque of the rudder blade, and does not need to do additional work for the seawater pressure, thereby making the steering device 100 have lower energy consumption.

[0054] According to the steering device 100 of the underwater submersible according to the embodiment of the present application, its driving member 30 drives the first intermediate connecting member 25 to move axially along the first bellows 22, so that the first bellows 22 is folded or unfolded along the axial direction, and the second bellows 24 is correspondingly unfolded or folded along the axial direction, thereby changing the volume of the first bellows 22 and the volume of the second bellows 24, and then changing the ratio of the content of hydraulic oil in the first bellows 22 and the second bellows 24. Since the end of the first bellows 22 away from the first intermediate connecting member 25 and the end of the third bellows 62 away from the second intermediate connecting member 65 are connected through the first connecting channel in the end cover 12, the end of the second bellows 24 away from the first intermediate connecting member 25 and the end of the fourth bellows 64 away from the second intermediate connecting member 65 are connected through the second connecting channel in the end cover 12 In this way, the ratio of the hydraulic oil content in the third bellows 62 and the fourth bellows 64 can be changed by the flow of hydraulic oil, thereby realizing the driving of the second intermediate connecting member 65, and then the second intermediate connecting member 65 drives the steering rod 52 to rotate to realize the rotation of the rudder blade. In this way, the angle of the rudder blade can be adjusted, and then the steering of the underwater submersible can be realized, and the simple structure is conducive to reducing costs. In particular, the arrangement of the first bellows 22, the second bellows 24, the third bellows 62 and the fourth bellows 64 makes the power transmission process between the driving member 30 and the steering rod 52 more stable, and makes the first transmission assembly 20 and the second transmission assembly 60 and the end cover 12 statically sealed, thereby facilitating the enhancement of the sealing of the first transmission assembly 20 and the second transmission assembly 60, thereby improving the stability of the steering device 100.

[0055] In some embodiments, the steering device 100 also includes a steering fork 40, which is connected between the second intermediate connecting member 65 and the steering rod 52. In this way, it is easy to achieve the connection between the second intermediate connecting member 65 and the steering rod 52, so as to reduce the difficulty of power transmission between the second connecting member and the steering rod 52.

[0056] In some embodiments, the steering device 100 also includes a fixing pin 82 and a servo fixing frame 84, the servo fixing frame 84 is connected to the second intermediate connecting member 65, and the steering fork 40 is connected to the servo fixing frame 84 through the fixing pin 82, so as to enhance the connection stability between the steering fork 40 and the second intermediate connecting member 65.

[0057] In some embodiments, Figure 1 and Figure 2 As shown, the first transmission assembly 20 also includes a first mounting seat 21 and a second mounting seat 23. The first mounting seat 21 is connected between the end cover 12 and the first bellows 22 so that the first bellows 22 can be fixed to the end cover 12 by using the first mounting seat 21, thereby enhancing the structural stability of the first bellows 22. The second mounting seat 23 is connected between the end cover 12 and the second bellows 24 so that the second bellows 24 can be fixed to the end cover 12 by using the second mounting seat 23, thereby enhancing the structural stability of the first bellows 22.

[0058] like Figure 1 and Figure 2 As shown, the second transmission assembly 60 also includes a third mounting seat 61 and a fourth mounting seat 63. The third mounting seat 61 is connected between the end cover 12 and the third bellows 62 so that the third bellows 62 can be fixed to the end cover 12 by the third mounting seat 61, thereby enhancing the structural stability of the first bellows 22. The fourth mounting seat 63 is connected between the end cover 12 and the fourth bellows 64 so that the fourth bellows 64 can be fixed to the end cover 12 by the fourth mounting seat 63, thereby enhancing the structural stability of the first bellows 22.

[0059] In some embodiments, a first internal flow channel 2111 communicating with the first bellows 22 is provided in the first mounting seat 21, a second internal flow channel 2311 communicating with the second bellows 24 is provided in the second mounting seat 23, a third internal flow channel communicating with the third bellows 62 is provided in the third mounting seat 61, and a fourth internal flow channel communicating with the fourth bellows 64 is provided in the fourth mounting seat 63. The first internal flow channel 2111 and the third internal flow channel are communicated through a first connecting flow channel in the end cover 12, and the second internal flow channel 2311 and the fourth internal flow channel are communicated through a second connecting flow channel in the end cover 12.

[0060] In this way, it is convenient to realize the design that the first bellows 22 and the third bellows 62 are connected through the first connecting flow channel through the first internal flow channel 2111 and the third internal flow channel, and it is convenient to realize the design that the second bellows 24 and the fourth bellows 64 are connected through the second connecting flow channel through the second internal flow channel 2311 and the fourth internal flow channel.

[0061] In some embodiments, Figure 4 As shown, the first mounting seat 21 includes a first seat body 211, a first connecting piece 212 and a first blocking piece 213. A first internal flow channel 2111 is formed in the first seat body 211. The first internal flow channel 2111 includes an axial section and a radial section. One end of the axial section is connected to one end of the first bellows 22 through the first connecting piece 212. The first connecting piece 212 and one end of the first bellows 22 are sealed and matched in the radial direction of the first bellows 22, and the first connecting piece 212 is sealed and matched with the axial section in the radial direction. The radial section is connected between the middle area of ​​the axial section and the first connecting flow channel. The first blocking piece 213 is threadedly connected to the first seat body 211 and is used to block the other end of the axial section.

[0062] It can be understood that the first connecting piece 212 is a hollow piece, so as to facilitate the connection between the axial section and the first bellows 22, and to enhance the radial sealing of the first connecting piece 212 and the first bellows 22, and at the same time, to facilitate the use of the radial section to guide the hydraulic oil to the first connecting channel.

[0063] In some embodiments, Figure 4 As shown, the second mounting seat 23 includes a second seat body 231, a second connecting piece 232 and a second blocking piece 233. A second internal flow channel 2311 is formed in the second seat body 231. The second internal flow channel 2311 includes an axial section and a radial section. One end of the axial section is connected to one end of the second bellows 24 through the second connecting piece 232. The second connecting piece 232 is sealed and matched with one end of the second bellows 24 in the radial direction of the second bellows 24. The radial section is connected between the middle area of ​​the axial section and the second connecting flow channel. The second blocking piece 233 is threadedly connected to the second seat body 231 and is used to block the other end of the axial section.

[0064] It can be understood that the second connecting piece 232 is a hollow piece, so as to facilitate the connection between the axial section and the second bellows 24, and to enhance the radial sealing of the second connecting piece 232 and the second bellows 24. At the same time, it is convenient to use the radial section to guide the hydraulic oil to the second connecting channel.

[0065] In some embodiments, the steering device 100 of the underwater submersible further includes: a first protective cover 71, which is mounted on the end cover 12 and covers at least a portion of the first transmission assembly 20 in the circumferential direction of the first bellows 22. Thus, the first protective cover 71 is conveniently used to protect at least a portion of the first transmission assembly 20 in the circumferential direction of the first bellows 22.

[0066] In some embodiments, the steering device 100 of the underwater submersible further includes: a second protective cover 72, which is mounted on the end cover 12 and covers at least a portion of the second transmission assembly 60 in the circumferential direction of the third bellows 62. Thus, the third protective cover is convenient for protecting at least a portion of the second transmission assembly 60 in the circumferential direction of the third bellows 62.

[0067] In some embodiments, the steering device 100 of the underwater submersible further includes: a first mounting frame 31 and a fixed cover 32 , the first mounting frame 31 covers at least a portion of the first transmission assembly 20 , and the driving member 30 is mounted on the first mounting frame 31 .

[0068] Therefore, by setting the first mounting frame 31 to cover at least a portion of the first transmission assembly 20, the distribution of the first mounting frame 31 and the first transmission assembly 20 is made more compact, which is beneficial to saving installation space and further beneficial to realizing the miniaturized design of the steering device 100, and the driving member 30 is installed on the first mounting frame 31, so that the driving member 30 does not need to be directly installed on the end cover 12, so as to reduce the space occupied by the driving member 30 on the end cover 12.

[0069] In some embodiments, the steering device 100 of the underwater submersible further includes: a fixed cover 32, which is connected to the first mounting frame 31 and covers at least a portion of the driving member 30. Thus, at least a portion of the driving member 30 can be covered by the fixed cover 32 to provide a certain degree of protection for the driving member 30, thereby reducing the damage to the driving member 30.

[0070] In some embodiments, the driving member 30 is configured as a linear push rod motor, the output shaft of which is connected to the first intermediate connecting member 25 via a connecting rod 83 , and the movement direction of the output shaft of the linear push rod motor is parallel to the axial direction of the first bellows 22 .

[0071] As a result, the movement direction of the output shaft of the driving member 30 can be parallel to the axial direction of the first bellows 22, and the force direction of the first bellows 22 is the same as the axial direction of the first bellows 22, thereby ensuring that the first bellows 22 can be folded or unfolded normally. At the same time, the arrangement direction of the linear push rod motor is the same as the axial direction of the first bellows 22, which is convenient for reducing the space occupied in the radial direction of the first bellows 22, thereby realizing a miniaturized design in the radial direction of the first bellows 22.

[0072] The application also proposes an underwater submersible.

[0073] The underwater submersible according to an embodiment of the present application includes an underwater submersible body and a steering device 100 of the underwater submersible according to any one of the above-mentioned embodiments.

[0074] According to the underwater submersible of the embodiment of the present application, the driving member 30 of the steering device 100 drives the first intermediate connecting member 25 to move axially along the first bellows 22, so that the first bellows 22 is folded or unfolded along the axial direction, and the second bellows 24 is correspondingly unfolded or folded along the axial direction, thereby changing the volume of the first bellows 22 and the volume of the second bellows 24, and then changing the ratio of the content of hydraulic oil in the first bellows 22 and the second bellows 24. Since the end of the first bellows 22 away from the first intermediate connecting member 25 and the end of the third bellows 62 away from the second intermediate connecting member 65 are connected through the first connecting channel in the end cover 12, the end of the second bellows 24 away from the first intermediate connecting member 25 and the end of the fourth bellows 64 away from the second intermediate connecting member 65 are connected through the second connecting channel in the end cover 12. The connecting flow channels are connected, so that the ratio of the hydraulic oil content in the third bellows 62 and the fourth bellows 64 can be changed by the flow of hydraulic oil, thereby realizing the driving of the second intermediate connecting member 65, and then the second intermediate connecting member 65 drives the steering rod 52 to rotate to realize the rotation of the rudder blade. In this way, the angle of the rudder blade can be adjusted, and then the steering of the underwater submersible is realized. In particular, the arrangement of the first bellows 22, the second bellows 24, the third bellows 62 and the fourth bellows 64 makes the power transmission process between the driving member 30 and the steering rod 52 more stable, and makes the first transmission assembly 20 and the second transmission assembly 60 and the end cover 12 statically sealed, thereby facilitating the enhancement of the sealing of the first transmission assembly 20 and the second transmission assembly 60, thereby improving the stability of the steering device 100.

[0075] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and for parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0076] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

[0077] Although the preferred embodiments of this specification have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of this specification.

[0078] Obviously, those skilled in the art can make various changes and modifications to this specification without departing from the spirit and scope of this specification. Thus, if these modifications and variations of this specification fall within the scope of the claims of this specification and their equivalents, this specification is also intended to include these modifications and variations.

Claims

1. A steering device (100) for an underwater submersible, characterized in that: include: A housing (10), the housing (10) comprising a shell (11) and an end cover (12), the shell (11) defining a mounting cavity with an open opening at one end, the end cover (12) being connected to the shell (11) and covering the open opening; A first transmission assembly (20) and a second transmission assembly (60), wherein the first transmission assembly (20) is located in the installation cavity and connected to the end cover (12), and the second transmission assembly (60) is located outside the installation cavity and connected to the end cover (12). The first transmission assembly (20) and the second transmission assembly (60) are arranged opposite to each other. The first transmission assembly (20) comprises a first bellows (22), a second bellows (24) and a first intermediate connecting piece (25). The first intermediate connecting piece (25) is sealed between the first bellows (22) and the second bellows (24) and is used to be connected to a driving member (30). The second transmission assembly (60) comprises a third bellows (62), a fourth bellows (64) and a second intermediate connecting piece (65). The second intermediate connecting piece (65) is sealed between the first bellows (22) and the second bellows (24). The seal is connected between the third bellows (62) and the fourth bellows (64), and the first bellows (22), the second bellows (24), the third bellows (62) and the fourth bellows (64) all have hydraulic oil, one end of the first bellows (22) away from the first intermediate connecting piece (25) and one end of the third bellows (62) away from the second intermediate connecting piece (65) are connected through a first connecting flow channel in the end cover (12), one end of the second bellows (24) away from the first intermediate connecting piece (25) and one end of the fourth bellows (64) away from the second intermediate connecting piece (65) are connected through a second connecting flow channel in the end cover (12), and the second intermediate connecting piece (65) is used to be connected to a steering rod (52) of a rudder blade assembly (50); The driving member (30) is used to drive the first intermediate connecting member (25) to move along the axial direction of the first bellows (22), and the axial direction of the first bellows (22) is the same as the axial direction of the second bellows (24).

2. The steering device (100) of an underwater submersible according to claim 1, characterized in that: The first transmission assembly (20) further comprises a first mounting seat (21) and a second mounting seat (23), wherein the first mounting seat (21) is connected between the end cover (12) and the first bellows (22), and the second mounting seat (23) is connected between the end cover (12) and the second bellows (24). The second transmission assembly (60) further comprises a third mounting seat (61) and a fourth mounting seat (63), wherein the third mounting seat (61) is connected between the end cover (12) and the third bellows (62), and the fourth mounting seat (63) is connected between the end cover (12) and the fourth bellows (64).

3. The steering device (100) of an underwater submersible according to claim 2, characterized in that: The first mounting seat (21) is provided with a first internal flow channel (2111) connected to the first bellows (22), the second mounting seat (23) is provided with a second internal flow channel (2311) connected to the second bellows (24), the third mounting seat (61) is provided with a third internal flow channel connected to the third bellows (62), and the fourth mounting seat (63) is provided with a fourth internal flow channel connected to the fourth bellows (64). The first internal flow channel (2111) and the third internal flow channel are connected via a first connecting flow channel in the end cover (12), and the second internal flow channel (2311) and the fourth internal flow channel are connected via a second connecting flow channel in the end cover (12).

4. The steering device (100) of an underwater submersible according to claim 3, characterized in that: The first mounting seat (21) includes a first seat body (211), a first connecting piece (212) and a first blocking piece (213). The first seat body (211) is formed with the first internal flow channel (2111). The first internal flow channel (2111) includes an axial section and a radial section. One end of the axial section is connected to one end of the first bellows (22) through the first connecting piece (212). The first connecting piece (212) and one end of the first bellows (22) are sealed in the radial direction of the first bellows (22). The radial section is connected between the middle area of ​​the axial section and the first connecting flow channel. The first blocking piece (213) is threadedly connected to the first seat body (211) and is used to block the other end of the axial section.

5. The steering device (100) of an underwater submersible according to claim 1, characterized in that: Also includes: A first protective cover (71), the first protective cover (71) is mounted on the end cover (12) and covers at least a portion of the first transmission component (20) in the circumferential direction of the first bellows (22).

6. The steering device (100) of an underwater submersible according to claim 2, characterized in that: Also includes: A second protective cover (72), the second protective cover (72) is mounted on the end cover (12) and covers at least a portion of the second transmission component (60) in the circumferential direction of the third bellows (62).

7. The steering device (100) of an underwater submersible according to claim 1, characterized in that: Also includes: A first mounting frame (31), wherein the first mounting frame (31) covers at least a portion of the first transmission assembly (20), and the driving member (30) is mounted on the first mounting frame (31).

8. The steering device (100) of an underwater submersible according to claim 7, characterized in that: Also includes: A fixed cover (32), the fixed cover (32) is connected to the first mounting frame (31) and covers at least a portion of the driving member (30).

9. The steering device (100) of an underwater submersible according to any one of claims 1 to 8, characterized in that: The driving member (30) is configured as a linear push rod motor, the output shaft of which is connected to the first intermediate connecting member (25) via a connecting rod (83), and the movement direction of the output shaft of the linear push rod motor is parallel to the axial direction of the first bellows (22).

10. An underwater submersible, characterized in that: It comprises an underwater submersible body and a steering device (100) of the underwater submersible as described in any one of claims 1-9.

Images