Cracking type rudder and deep sea submersible vehicle

Abstract

The invention discloses a cracking type rudder and a deep sea submersible vehicle. The cracking type rudder comprises a toggle plate, a first rudder bone connecting section and a second rudder bone connecting section, and the first rudder bone connecting section comprises a plurality of first rudder wings; the second rudder bone connecting section comprises a plurality of second rudder wings; each first rudder wing comprises a left rudder blade and a first driving assembly connected to an inner cavity of the toggle plate; each second rudder wing comprises a right rudder blade and a second driving assembly connected to the inner cavity of the toggle plate; the left rudder blade and the right rudder blade are driven by the first driving assembly and the second driving assembly to be opened or closed so as to adjust the direction of the cracking type rudder. The left rudder blade and the right rudder blade can be controllably and actively unfolded, and the effective control area of the rudder can be rapidly increased when the rudder encounters an obstacle or is in an emergency, so that steering torque which is large enough is generated in an extremely short time, the posture of the submersible vehicle is rapidly adjusted, the posture adjusting precision and response speed are remarkably improved, and the sailing direction is stabilized.

Description

Technical Field

[0001] The present invention relates to the technical field of deep - sea equipment, and in particular to a split rudder and a deep - sea submersible. Background Art

[0002] When operating in a complex seabed terrain environment, deep - sea submersibles face risks and challenges. First, when a deep - sea submersible operates in a complex seabed terrain environment, especially when navigating in narrow trenches, steep rock walls or areas full of obstacles, due to the complex terrain and difficulty in accurate prediction, the deep - sea submersible is extremely likely to collide with the surrounding environment due to attitude out - of - control or insufficient control accuracy. Such collisions will not only damage the equipment but also endanger the mission safety. Second, in the special environment of the deep sea, such as interference factors like ocean currents and underwater swells, the difficulty of attitude control of deep - sea submersibles increases greatly. If the control system of the deep - sea submersible is not precise enough or the response speed is not fast enough, it is very difficult to maintain stability and accuracy in a complex environment, which may cause the deep - sea submersible to deviate from the predetermined route, miss important targets, or even cause collision accidents. However, the existing fixed rudder blade structure cannot flexibly and precisely adjust the control surface, and it is difficult to respond quickly and effectively in the face of sudden obstacles and terrain changes, which also limits the mobility and safety of the submersible in a complex environment. Summary of the Invention

[0003] Embodiments of the present invention provide a split rudder and a deep - sea submersible to solve the technical problems in the prior art that the accuracy and response speed of attitude adjustment of submersibles in a complex deep - sea environment are lacking, and it is difficult to ensure that the submersible can timely avoid collision risks and maintain a stable navigation direction.

[0004] In view of the above - mentioned technical problems, embodiments of the present invention provide a split rudder, which includes a gusset plate, a first rudder bone connection section and a second rudder bone connection section. The first rudder bone connection section and the second rudder bone connection section are arranged at opposite ends of the gusset plate; the first rudder bone connection section includes a plurality of first rudder wings arranged in sequence along the axial direction of the gusset plate; the second rudder bone connection section includes a plurality of second rudder wings arranged in sequence along the axial direction of the gusset plate; each first rudder wing includes a left rudder blade and a first driving component connected to the inner cavity of the gusset plate; each second rudder wing includes a right rudder blade and a second driving component connected to the inner cavity of the gusset plate;

[0005] By driving the left rudder blade to open or close through the first driving component, and driving the right rudder blade to open or close through the second driving component, the direction of the split rudder is adjusted.

[0006] Optionally, the left rudder blade and the right rudder blade have the same structure. The left rudder blade includes a rotating shaft installed on the gusset plate and a rudder blade body rotatably connected to the rotating shaft.

[0007] Optionally, an arc-shaped curved surface is provided on the end surface of the rudder blade body facing the gusset plate, and the cross-sectional area of the arc-shaped curved surface gradually increases in the direction towards the rotating shaft;

[0008] The rudder blade body is provided with a hollowed cavity, and a plurality of rib plates arranged at intervals are provided in the hollowed cavity.

[0009] Optionally, the first driving component and the second driving component have the same structure. The first driving component includes a guide rail and a transmission rod slidably sleeved on the guide rail, and a preset angle is formed between the transmission rod and the guide rail; a touch block that is in dynamic contact with the left rudder blade is rotatably connected to the end of the transmission rod away from the guide rail.

[0010] Optionally, the first driving component further includes a first end portion, a driver shaft sleeve composite member, and a second end portion sequentially arranged on the guide rail; the driver shaft sleeve composite member is slidably sleeved on the guide rail, and the end of the transmission rod close to the guide rail is fixedly connected to the driver shaft sleeve composite member.

[0011] Optionally, the touch block is a semi-cylindrical block, and a guiding arc surface is provided at the end of the touch block close to the left rudder blade.

[0012] Optionally, the split rudder further includes fixed shaft sleeves symmetrically arranged on the gusset plate, and both the first end portion and the second end portion are connected to the fixed shaft sleeves.

[0013] Optionally, the number of the first rudder fins and the second rudder fins is set to 3 - 5, and the first rudder fins and the second rudder fins are symmetrically arranged about the central axis of the gusset plate.

[0014] Optionally, a pressure-resistant covering layer is provided on the outer surfaces of the first rudder fins and the second rudder fins.

[0015] The present invention further provides a deep-sea submersible, including the split rudder described above.

[0016] In the present invention, the split rudder includes a gusset plate, a first rudder bone connection section, and a second rudder bone connection section. The first rudder bone connection section and the second rudder bone connection section are arranged at opposite ends of the gusset plate; the first rudder bone connection section includes a plurality of first rudder fins arranged in sequence along the axial direction of the gusset plate; the second rudder bone connection section includes a plurality of second rudder fins arranged in sequence along the axial direction of the gusset plate; each first rudder fin includes a left rudder blade and a first driving component connected to the inner cavity of the gusset plate; each second rudder fin includes a right rudder blade and a second driving component connected to the inner cavity of the gusset plate; the left rudder blade is driven to open or close by the first driving component, and the right rudder blade is driven to open or close by the second driving component, so as to adjust the direction of the split rudder.

[0017] In the present invention, the first rudder blade and the second rudder blade of the split rudder with a symmetrical layout are respectively regulated by the first driving assembly and the second driving assembly independently to adjust their potential positions, so that the number and angle of opening or closing of the left rudder leaf and the right rudder leaf can be adjusted in real time and accurately according to requirements, significantly improving the attitude adjustment ability of the submersible in the complex deep-sea environment; the left rudder leaf and the right rudder leaf can be actively deployed in a controllable manner. When encountering obstacles or emergencies, the effective control area of the rudder can be quickly increased, so that a large enough steering moment can be generated in a very short time, realizing the rapid adjustment of the submersible attitude, significantly improving the accuracy and response speed of attitude adjustment, effectively avoiding obstacles, and stabilizing the navigation direction.

[0018] The split rudder of the present invention has a compact structure, is simple and reliable, has extremely rapid action response, and is easy to be integrated into various deep-sea submersibles. It not only greatly enhances the maneuverability and safety of the deep-sea submersible, but also significantly improves the stability and success rate of task execution. Its unique design concept and excellent performance comprehensively improve the navigation accuracy and safe operation level of the deep-sea submersible in the complex deep-sea terrain environment, providing strong technical support and guarantee for tasks such as deep-sea exploration, resource exploration and emergency rescue. At the same time, this rudder can also optimize the hydrodynamic performance, reduce the navigation resistance, improve the overall efficiency of the deep-sea submersible, and further broaden its application prospects in the deep-sea field. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required to be used in the description of the embodiments of the present invention. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0020] Figure 1 It is a semi-sectional orthographic isometric view of the split rudder in an embodiment of the present invention;

[0021] Figure 2 It is a schematic structural diagram of the left rudder leaf / right rudder leaf of the split rudder in an embodiment of the present invention;

[0022] Figure 3 It is a schematic structural diagram of the first driving assembly / second driving assembly of the split rudder in an embodiment of the present invention;

[0023] Figure 4 It is a schematic diagram of the state when the split rudder adjusts the direction in an embodiment of the present invention;

[0024] Figure 5 It is a schematic diagram of the state when the split rudder adjusts the steering in an embodiment of the present invention.

[0025] The reference numerals in the description are as follows:

[0026] 10 - gusset plate, 20 - first rudder bone connecting section, 21 - first rudder wing, 210 - left rudder blade, 2111 - rotating shaft, 2112 - rudder blade body, 2113 - arc-shaped curved surface, 2114 - rib plate, 30 - second rudder bone connecting section, 31 - second rudder wing, 310 - right rudder blade, 40 - first driving assembly, 410 - guide rail, 411 - transmission rod, 412 - trigger block, 4121 - guiding arc surface, 413 - first end, 414 - drive shaft sleeve composite, 415 - second end, 50 - second driving assembly. Detailed implementation manners

[0027] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention more clear and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0028] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "longitudinal", "radial", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0029] In the description of the present invention, it should be noted that, unless otherwise clearly defined and limited, the terms "mounted", "connected" and "connected" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0030] Such as Figures 1 to 5As shown in the figure, an embodiment of the present invention provides a split rudder, which includes a gusset plate 10, a first rudder bone connection section 20, and a second rudder bone connection section 30. The first rudder bone connection section 20 and the second rudder bone connection section 30 are arranged at opposite ends of the gusset plate 10. The first rudder bone connection section 20 includes a plurality of first rudder wings 21 arranged in sequence along the axial direction of the gusset plate 10. The second rudder bone connection section 30 includes a plurality of second rudder wings 31 arranged in sequence along the axial direction of the gusset plate 10. Each first rudder wing 21 includes a left rudder blade 210 and a first driving assembly 40 connected to the inner cavity of the gusset plate 10. Each second rudder wing 31 includes a right rudder blade 310 and a second driving assembly 50 connected to the inner cavity of the gusset plate 10. By driving the left rudder blade 210 to open or close through the first driving assembly 40, and driving the right rudder blade 310 to open or close through the second driving assembly 50, the direction of the split rudder is adjusted. Among them, the split rudder is formed by connecting the first rudder bone connection section 20 and the second rudder bone connection section 30 which are symmetrically arranged relative to each other. The structures of the first rudder bone connection section 20 and the second rudder bone connection section 30 are the same, and the structures and numbers of their first rudder wings 21 and second rudder wings 31 are also the same, but they are arranged in a one-to-one correspondence in terms of position layout and are symmetrically arranged about the axial direction of the gusset plate 10. Each left rudder blade 210 corresponds to a first driving assembly 40, and under the drive of the first driving assembly 40, each left rudder blade 210 can be opened or closed. Each right rudder blade 310 corresponds to a second driving assembly 50, and under the drive of the second driving assembly 50, each right rudder blade 310 can be opened or closed. In this way, the poses of each left rudder blade 210 and each right rudder blade 310 can be independently controlled.

[0031] In the present invention, the symmetrically arranged first rudder wings 21 and second rudder wings 31 of the split rudder are independently regulated in potential by the first driving assembly 40 and the second driving assembly 50 respectively, so that the number and angle of opening or closing of the left rudder blade 210 and the right rudder blade 310 can be adjusted in real time and accurately according to requirements, significantly improving the attitude adjustment ability of the submersible in complex deep-sea environments. The left rudder blade 210 and the right rudder blade 310 can be actively deployed in a controllable manner. When encountering obstacles or emergencies, the effective control area of the rudder can be rapidly increased, so that a large enough steering moment can be generated in a very short time, realizing the rapid adjustment of the submersible's attitude, significantly improving the accuracy and response speed of attitude adjustment, effectively avoiding obstacles, and stabilizing the navigation direction.

[0032] In one embodiment, as Figure 2 and Figure 4As shown, the left rudder blade 210 has the same structure as the right rudder blade 310, and the left rudder blade 210 includes a rotating shaft 2111 installed on the bracket 10 and a rudder blade body 2112 rotatably connected to the rotating shaft 2111. It can be understood that the left rudder blade 210 is composed of the rotating shaft 2111 and the rudder blade body 2112, and the rudder blade body 2112 is provided with a through hole for penetrating the rotating shaft 2111, so that the rudder blade body 2112 is connected to the bracket 10 and can rotate around the rotating shaft 2111. This rotation connection mode provides great flexibility for the use of the left rudder blade 210; at the same time, the left rudder blade 210 can disperse stress by rotating when subjected to external force, avoiding damage to the rudder blade body 2112 caused by stress concentration. The left rudder blade 210 can be unfolded or closed around the bracket 10, which means that under different working conditions, the left rudder blade 210 can adjust its unfolding angle as needed.

[0033] In one embodiment, if Figure 2 As shown, the end surface of the rudder blade body 2112 facing the bracket 10 is provided with a circular arc surface 2113, and the cross-sectional area of ​​the circular arc surface 2113 gradually increases in the direction of the rotating shaft 2111; the rudder blade body 2112 is provided with a hollow cavity, and a plurality of spaced ribs 2114 are provided in the hollow cavity. It can be understood that the two end surfaces of the bracket 10 are provided with curved surfaces that fit with the circular arc surface 2113, and the circular arc surface 2113 increases the contact area between the two, so that the rudder blade body 2112 and the bracket 10 fit more closely, reduce the eddy current and resistance generated by the fluid in the gap between the two, and enhance the stability of the rudder blade body 2112 when subjected to force. During the active deployment of the left rudder blade 210 / right rudder blade 310, the rudder blade body 2112 is rapidly and actively deployed, instantly increasing the effective control area of ​​the rudder. At this time, the rudder blade body 2112 needs to withstand a large water flow impact force and rotation torque, and the arc surface 2113 structure can effectively disperse stress, ensuring that the rudder blade body 2112 has a rapid response capability so that the submersible can generate a sufficiently large steering torque in a very short time, thereby achieving rapid adjustment of the attitude. Understandably, the hollow cavity inside the rudder blade body 2112 significantly reduces the weight of the left rudder blade 210 / right rudder blade 310, reduces the energy consumption of the submersible, and improves the response speed and flexibility of the left rudder blade 210 / right rudder blade 310. The prism plate 2114 plays the role of a reinforcing rib in the hollow cavity, enhancing the structural strength and rigidity of the left rudder blade 210 / right rudder blade 310, and preventing deformation or damage during active deployment and force application.

[0034] In one embodiment, if Figure 1 and Figure 3As shown, the first drive assembly 40 and the second drive assembly 50 have the same structure. The first drive assembly 40 includes a guide rail 410 and a transmission rod 411 slidably sleeved on the guide rail 410, and a preset angle is formed between the transmission rod 411 and the guide rail 410; a touch block 412 that is dynamically in contact with the left rudder blade 210 is rotatably connected to the end of the transmission rod 411 away from the guide rail 410. Understandably, the first drive assembly 40 and the second drive assembly 50 have the same structure. This symmetric design ensures that the rudder blade bodies 2112 of the first rudder wing 21 and the second rudder wing 31 on both sides of the toggle plate 10 can be operated in the same manner and with the same torque, so as to achieve balanced and coordinated attitude adjustment. Through the guide rail 410 and the transmission rod 411 slidably sleeved on the guide rail 410, the drive assembly can convert power into precise mechanical motion. The design with a preset angle between the transmission rod 411 and the guide rail 410 enables the transmission rod 411 to generate a thrust in a specific direction during the sliding process, and then transmit it to the left rudder blade 210 / right rudder blade 310 through the touch block 412, causing it to rotate a certain angle; since the rotation angles of the left and right rudder blades 310 are the same, this symmetric motion can generate a stable rotation torque, thus realizing the rapid steering and attitude adjustment of the submersible.

[0035] Understandably, in an emergency, the attitude can be quickly adjusted by deploying multiple left rudder blades 210 / right rudder blades 310 simultaneously. The multi-rudder blade cooperative working mode enables the rudder to generate sufficient steering torque in an extremely short time to cope with sudden obstacles or dangerous situations. As for the setting of the preset angle, it can be adjusted according to the specific requirements of the submersible: First, the size of the preset angle directly affects the direction and magnitude of the thrust generated by the transmission rod 411. During design, the optimal angle can be determined according to factors such as the size, shape, navigation speed, and underwater environment of the submersible. For example, a larger preset angle can make the transmission rod 411 generate a greater lateral thrust, so as to achieve a larger steering angle within a shorter distance, which is suitable for scenarios that require rapid steering; while a smaller preset angle can make the thrust more evenly distributed on the rudder blade body 2112, which is suitable for situations that require fine attitude adjustment. In addition, the setting of the preset angle also needs to consider the hydrodynamic characteristics of the submersible. When different submersibles navigate underwater, the water flow resistance and pressure distribution they receive are different. By adjusting the preset angle, the force-bearing situation of the rudder blade body 2112 can be optimized, so that it can maintain efficient control performance at different speeds and depths. At the same time, the preset angle can also be adjusted according to the mission requirements of the submersible. For example, when performing a high-precision positioning mission, the preset angle can be set smaller to achieve more fine-tuning; while when quickly avoiding obstacles or making an emergency turn, the preset angle can be increased to obtain a greater steering torque.

[0036] In one embodiment, as Figure 1 andFigure 3 As shown, the first driving assembly 40 further includes a first end portion 413, a driver bushing composite 414, and a second end portion 415 that are sequentially arranged on the guide rail 410; the driver bushing composite 414 is slidably sleeved on the guide rail 410, and the end portion of the transmission rod 411 close to the guide rail 410 is fixedly connected to the driver bushing composite 414. Understandably, the slidable sleeved design of the driver bushing composite 414 and the guide rail 410 provides precise guidance and stable support for the movement of the transmission rod 411. This structure ensures that the transmission rod 411 always remains on a predetermined track during the sliding process, allowing the transmission rod 411 to perform flexible telescopic movement on the guide rail 410, so that the rotation angle of the rudder blade body 2112 can be dynamically changed according to the navigation state and attitude adjustment requirements of the submersible. The first end portion 413 and the second end portion 415 can serve as fixed points of the guide rail 410 to ensure the stable installation of the guide rail 410 and prevent it from being displaced or vibrating during the movement process. At the same time, these two end portions can also play a role in limiting the position, preventing the driver bushing composite 414 from exceeding the predetermined range during the sliding process.

[0037] In one embodiment, as Figure 3 shown, the trigger block 412 is a semi-cylindrical block, and a guiding arc surface 4121 is provided at the end portion of the trigger block 412 close to the left rudder blade 210. Understandably, the cylindrical trigger block 412 has a more uniform contact with the left rudder blade 210, effectively transmitting the thrust to the rudder blade body 2112 while reducing the stress concentration phenomenon; the semi-cylindrical shape can also adapt to the rotational movement of the rudder blade, avoiding unnecessary friction or jamming during the contact process, thereby improving the reliability and response speed of the system. More importantly, the guiding arc surface 4121 provided at the end portion of the trigger block 412 close to the left rudder blade 210 further optimizes the contact and movement relationship between the trigger block 412 and the rudder blade. The guiding arc surface 4121 can play a guiding and buffering role when the trigger block 412 pushes the rudder blade to rotate. When the transmission rod 411 pushes the trigger block 412 to contact the rudder blade body 2112, the guiding arc surface 4121 can make the contact process smoother, reduce the impact force, thereby protecting the rudder blade and the trigger block 412 from damage. At the same time, the guiding arc surface 4121 can also ensure that the trigger block 412 always maintains the correct direction and angle when pushing the rudder blade body 2112, further improving the rotation accuracy and stability of the left rudder blade 210 / right rudder blade 310.

[0038] In one embodiment, as Figure 1 and Figure 3As shown, the split rudder further includes fixed bushings symmetrically arranged on the toggle plate 10, and both the first end 413 and the second end 415 are connected to the fixed bushings. Understandably, the fixed bushings provide reliable connection points for the first end 413 and the second end 415, enabling the guide rail 410 to be firmly installed on the toggle plate 10, ensuring that the transmission rod 411 always stays on the correct track during sliding, and avoiding mechanical failures caused by loosening or displacement of the guide rail 410.

[0039] In one embodiment, as Figure 1 , Figure 4 and Figure 5 shown, the number of the first rudder fins 21 and the second rudder fins 31 is set to 3 - 5, and the first rudder fins 21 and the second rudder fins 31 are symmetrically arranged about the central axis of the toggle plate 10. Understandably, the number of the first rudder fins 21 and the second rudder fins 31 can be set according to requirements. The adjustability of the number of rudder fins enables the submersible to select the most suitable configuration according to its size, sailing speed, mission type, and expected operating environment. This multi-rudder fin (each rudder fin corresponds to a designed rudder blade body 2112) design enables the submersible to achieve more precise direction adjustment and attitude control through the coordinated actions of multiple rudder blade bodies 2112 during sailing; compared with a single rudder fin or a smaller number of rudder fins, multiple rudder fins can generate a more complex and finer torque distribution, so that rapid and stable turning can be achieved under different speeds, depths, and water flow conditions.

[0040] In one embodiment, as Figure 1 shown, pressure-resistant covering layers are provided on the outer surfaces of the first rudder fins 21 and the second rudder fins 31. Understandably, the pressure-resistant covering layers can be structural skins. The left rudder blade 210 / right rudder blade 310 has a high degree of geometric feature combination with the structural skin. The smooth outer shape design can significantly reduce the resistance and eddy currents generated by the water flow on the surface of the rudder blade body 2112, thereby reducing the energy consumption of the submersible during sailing and improving its sailing efficiency, enabling the rudder blade to withstand higher water pressure.

[0041] In one embodiment, as Figure 4 and Figure 5 shown, when the number of the first rudder fins 21 and the second rudder fins 31 is set to 5, without adjusting the attitude of the deep-sea submersible itself, all the first rudder fins 21 and the second rudder fins 31 are closed to ensure the smoothness of the deep-sea submersible's outer shell and sail in the state of minimum water resistance.

[0042] When it is necessary to adjust the self - heel angle of the deep - sea submersible, or when the self - heel angle of the deep - sea submersible appears due to undersea turbulence and needs to be adjusted to the horizontal state, the drive shaft sleeve composite 414 moves along the guide rail 410 in a suitable direction and generates a thrust through the transmission rod 411, causing the left rudder blade 210 of one of the first rudder wings 21 to rotate by a certain angle. At the same time, the right rudder blade 310 of one of the second rudder wings 31 rotates by the same angle. According to actual requirements, the left rudder blade 210 and the right rudder blade 310 at appropriate positions are selected. When rotating by the same angle, a rotational moment can be generated. In case of emergency, multiple rudder wings can be deployed simultaneously to adjust the attitude.

[0043] When the deep - sea submersible needs to turn, all the left rudder blades 210 and all the right rudder blades 310 are opened, but the left - hand and right - hand rotation angles are different, and the direction of its own travel is corrected by the pressure - difference moment formed by the oncoming flow.

[0044] When the submersible needs to decelerate emergently, all the left rudder blades 210 and all the right rudder blades 310 are opened to the maximum angle, and the sailing speed of the submersible is minimized by increasing the contact area with the oncoming flow.

[0045] The present invention also provides a deep - sea submersible, including the above - mentioned split - type rudder. In the split - type rudder in the above - mentioned embodiments of the present invention, the split - type rudder includes a gusset plate 10, a first rudder bone connecting section 20 and a second rudder bone connecting section 30. The first rudder bone connecting section 20 and the second rudder bone connecting section 30 are arranged at opposite ends of the gusset plate 10. The first rudder bone connecting section 20 includes a plurality of first rudder wings 21 arranged in sequence along the axis of the gusset plate 10. The second rudder bone connecting section 30 includes a plurality of second rudder wings 31 arranged in sequence along the axis of the gusset plate 10. Each first rudder wing 21 includes a left rudder blade 210 and a first driving assembly 40 connected to the inner cavity of the gusset plate 10. Each second rudder wing 31 includes a right rudder blade 310 and a second driving assembly 50 connected to the inner cavity of the gusset plate 10. By driving the left rudder blade 210 to open or close through the first driving assembly 40, and driving the right rudder blade 310 to open or close through the second driving assembly 50, the direction of the split - type rudder is adjusted.

[0046] In the deep - sea submersible in the above - mentioned embodiments of the present invention, the first rudder blade 21 and the second rudder blade 31 of the split - type rudder are symmetrically arranged, and their positions are independently regulated by the first drive assembly 40 and the second drive assembly 50 respectively, so that the number and angle of opening or closing of the left rudder leaf 210 and the right rudder leaf 310 can be adjusted in real - time and accurately according to requirements. This significantly improves the attitude adjustment ability of the submersible in a complex deep - sea environment; the left rudder leaf 210 and the right rudder leaf 310 can be actively and controllably deployed. When encountering obstacles or emergencies, the effective control area of the rudder can be quickly increased, so as to generate a large enough steering moment in a very short time, realize the rapid adjustment of the submersible attitude, significantly improve the accuracy and response speed of attitude adjustment, effectively avoid obstacles, and stabilize the navigation direction.

[0047] The above - mentioned embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A split type rudder, characterized in that: The invention comprises a bracket (10), a first rudder bone connecting section (20) and a second rudder bone connecting section (30), wherein the first rudder bone connecting section (20) and the second rudder bone connecting section (30) are arranged at opposite ends of the bracket (10); the first rudder bone connecting section (20) comprises a plurality of first rudder wings (21) arranged in sequence in the axial direction of the bracket (10); the second rudder bone connecting section (30) comprises a plurality of second rudder wings (31) arranged in sequence in the axial direction of the bracket (10); each of the first rudder wings (21) comprises a left rudder blade (210) and a first drive assembly (40) connected to the inner cavity of the bracket (10); each of the second rudder wings (31) comprises a right rudder blade (310) and a second drive assembly (50) connected to the inner cavity of the bracket (10); The first driving component (40) drives the left rudder blade (210) to open or close, and the second driving component (40) drives the right rudder blade (310) to open or close, thereby adjusting the direction of the split-type rudder.

2. The split type rudder according to claim 1, characterized in that: The left rudder blade (210) and the right rudder blade (310) have the same structure. The left rudder blade (210) comprises a rotating shaft (2111) mounted on the toggle plate (10) and a rudder blade body (2112) rotatably connected to the rotating shaft (2111).

3. The split type rudder according to claim 2, characterized in that: The end surface of the rudder blade body (2112) facing the toggle plate (10) is provided with an arc surface (2113), and the cross-sectional area of ​​the arc surface (2113) gradually increases in the direction toward the rotating shaft (2111); The rudder blade body (2112) is provided with a hollow cavity, and a plurality of ribs (2114) arranged at intervals are provided in the hollow cavity.

4. The split type rudder according to claim 2, characterized in that: The first drive assembly (40) and the second drive assembly (50) have the same structure. The first drive assembly (40) comprises a guide rail (410) and a transmission rod (411) slidably sleeved on the guide rail (410), wherein a preset angle is formed between the transmission rod (411) and the guide rail (410); an end of the transmission rod (411) away from the guide rail (410) is rotatably connected to a trigger block (412) that dynamically abuts against the left rudder blade (210).

5. The split type rudder according to claim 4, characterized in that: The first driving component (40) also includes a first end (413), a driver sleeve composite (414) and a second end (415) which are sequentially arranged on the guide rail (410); the driver sleeve composite (414) is slidably sleeved with the guide rail (410), and the end of the transmission rod (411) close to the guide rail (410) is fixedly connected to the driver sleeve composite (414).

6. The split type rudder according to claim 4, characterized in that: The actuating block (412) is a semi-cylindrical block, and a guiding cambered surface (4121) is provided at the end of the actuating block (412) close to the left rudder blade (210).

7. The split type rudder according to claim 5, characterized in that: It also includes a fixed sleeve symmetrically arranged on the toggle plate (10), and the first end (413) and the second end (415) are both connected to the fixed sleeve.

8. The split type rudder according to claim 5, characterized in that: The number of the first rudder wing (21) and the second rudder wing (31) is set to 3-5, and the first rudder wing (21) and the second rudder wing (31) are symmetrically arranged about the central axis of the bracket (10).

9. The split type rudder according to claim 5, characterized in that: The outer surfaces of the first rudder wing (21) and the second rudder wing (31) are provided with a pressure-resistant covering layer.

10. A deep-sea submersible, characterized in that: It comprises a split type rudder as described in any one of claims 1 to 9.

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