Cabin door opening and closing mechanism of unmanned underwater vehicle

Abstract

The invention relates to the technical field of underwater unmanned vehicles, and discloses an underwater unmanned vehicle cabin door opening and closing mechanism which comprises a motor, a controller of the motor, a reverser, a lead screw nut pair and a sliding rod. The motor and the controller thereof are fixed on the aircraft, the motor drives a motor shaft of the motor to rotate under the control of the controller, the motor shaft is connected with the lead screw nut pair through the commutator, the lead screw nut pair is hinged to one end of the cabin door through the sliding rod, and the other end of the cabin door is hinged to the aircraft. The lead screw nut pair converts rotation motion of the motor shaft into reciprocating motion of the sliding rod through the reverser, so that the sliding rod pushes and pulls the cabin door to enable the cabin door to rotate around a hinge point of the cabin door and the aircraft. The device is compact in spatial arrangement and simple and reliable in structure.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater unmanned vehicles, and particularly to a hatch opening and closing mechanism for an underwater unmanned vehicle. Background Art

[0002] An underwater unmanned vehicle is an unmanned submersible that does not rely on a mother ship for power supply, remote control or autonomous control, can be recovered and reused, and can propel or glide underwater for a long time. It has the characteristics of low use risk, strong mission reconfiguration ability, good concealment, low cost, high operation efficiency, and flexible use. The research and development of underwater unmanned vehicles are of great significance for China to develop and utilize marine resources and layout military strategies. The diverse underwater tasks make the principle and composition of underwater unmanned vehicles more and more complex, and put forward higher requirements for the spatial layout and reliability of the actuating mechanism. At present, an institution for opening and closing the hatch of an underwater unmanned vehicle is required to ensure a compact spatial layout and a small occupied space under the premise of normal underwater operation. Summary of the Invention

[0003] In view of this, the present invention provides a hatch opening and closing mechanism for an underwater unmanned vehicle, which has a compact spatial layout, simple and reliable structure.

[0004] The present invention is realized through the following technical solutions: A hatch opening and closing mechanism for an underwater unmanned vehicle includes a motor and its controller, a commutator, a lead screw nut pair, and a slide bar; the motor and its controller are fixed on the vehicle, the motor drives its motor shaft to rotate under the control of the controller, the motor shaft is connected to the lead screw nut pair through the commutator, the lead screw nut pair is hinged to one end of the hatch through the slide bar, and the other end of the hatch is hinged on the vehicle; the lead screw nut pair converts the rotational motion of the motor shaft into a reciprocating motion of the slide bar through the commutator, so that the slide bar pushes and pulls the hatch to rotate around the hinge point with the vehicle.

[0005] Further, it also includes a mounting bracket for mounting the lead screw nut pair; the lead screw nut pair consists of a lead screw and a sliding nut, the axis of the lead screw is perpendicular to the motor shaft, the lead screw is installed on the mounting bracket through a bearing, the mounting bracket is fixed on the vehicle, one end of the lead screw is connected to the motor shaft through the commutator, the sliding nut is sleeved on the lead screw; one end of the slide bar is hinged to the sliding nut, and the other end of the slide bar is hinged to the hatch; the commutator is used to convert the rotational motion of the motor shaft into the rotational motion of the lead screw, and the rotation of the lead screw drives the sliding nut to reciprocate along the axis of the lead screw, thereby driving the slide bar to reciprocate.

[0006] Further, the steering gear includes bevel gear I and bevel gear II with meshing teeth. The axis of bevel gear I and the axis of bevel gear II are perpendicular to each other. Bevel gear I is coaxially connected to the motor shaft, bevel gear II is coaxially connected to one end of the lead screw, the other end of the lead screw is located at one end of the hatch, and the lead screw is perpendicular to the plane where the hatch is closed; the sliding nut is located at the top of the lead screw and the hatch is closed; the sliding nut is located at the bottom of the lead screw and the hatch is opened by 90°.

[0007] Further, there are also a control cabin, a fixing bracket, an upper end cover of the control cabin, a commutator seal housing, a sealing ring and an output shaft end cover; the motor and its controller are fixed in the control cabin, the control cabin is fixed on the vehicle through the fixing bracket, the commutator seal housing is sleeved outside the commutator and fixedly connected to the end where the motor shaft of the control cabin is located, and the other end of the control cabin is provided with an upper end cover of the control cabin; the tooth shaft of bevel gear II passes through the commutator seal housing and is connected to the lead screw, and an output shaft end cover is provided between the tooth shaft of bevel gear II and the commutator seal housing. Sealing rings are provided at the connection between the commutator seal housing and the control cabin, the connection between the upper end cover of the control cabin and the control cabin, the connection between the output shaft end cover and the tooth shaft of bevel gear II, and the connection between the output shaft end cover and the commutator seal housing.

[0008] Further, it also includes a hatch fixing plate and a base. The base is fixed to one end of the hatch through the hatch fixing plate, and the other end of the sliding rod is hinged to the base.

[0009] Further, the lead angle of the lead screw is less than the equivalent friction angle to achieve reverse self-locking of the lead screw.

[0010] Compared with the existing technology, the beneficial effects of the present invention are as follows:

[0011] 1. In the present invention, the rotation of the motor shaft is converted into the rotation of the lead screw through the commutator, driving the sliding rod to push and pull the hatch to complete the opening and closing actions. The lead screw and the motor shaft are perpendicular, the spatial layout is compact, the precision of the internal parts' meshing transmission is high, the assembly clearance is small, and the cumulative installation error of the overall mechanism can be reduced.

[0012] 2. The control cabin of the present invention has a closed design, the commutator seal housing and the sealing rings are provided, which can meet the pressure resistance requirements at the working depth.

[0013] 3. The lead angle of the lead screw of the present invention is less than the equivalent friction angle, with a self-locking function, and the structure is simple and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the general assembly of the present invention.

[0015] Figure 2 It is a schematic diagram of the structure of the present invention, where (a) is a schematic diagram of the structure composition, (b) is a sectional view, and (c) is a partial enlarged view of the commutator.

[0016] Figure 3Schematic diagrams of different states of the present invention, where (a) is a schematic diagram of the hatch door closed, and (b) is a schematic diagram of the hatch door opened.

[0017] Among them, 1 - sliding rod, 2 - mounting bracket, 3 - sliding nut, 4 - lead screw, 5 - fixing bracket, 6 - motor, 7 - control cabin, 8 - upper end cover of the control cabin, 9 - commutator seal housing, 10 - bevel gear I, 11 - bevel gear II, 12 - output shaft end cover, 13 - bearing fixing plate, 14 - bearing seat, 15 - base, 16 - hatch door, 17 - hatch door fixing plate, 18 - rotating hinge, 19 - rotating shaft, 20 - fixed hinge, 21 - bearing I, 22 - bearing II, 23 - snap ring for hole I, 24 - snap ring for hole II. Specific embodiments

[0018] In order to make the objectives, technical solutions and advantages of the present invention clearer and more 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.

[0019] The present invention provides a hatch door opening and closing mechanism for an underwater unmanned vehicle, as Figure 2 shown. The mechanism includes a motor 6 and its controller, a commutator, a mounting bracket 2, a lead screw 4, a sliding nut 3, a sliding rod 1 and a hatch door hinge; the motor 6 and its controller are fixed on the vehicle, and the electrical connections between the controller and the vehicle all adopt the form of waterproof connectors. The motor 6 drives its motor shaft to rotate under the control of the controller; the axis of the lead screw 4 is perpendicular to the motor shaft. One end of the lead screw 4 is connected to the motor shaft through a commutator. The lead screw 4 is installed on the mounting bracket 2 through mounting bearings. The mounting bracket 2 is installed and fixed on the vehicle through nuts; the mounting bearings are installed on the bearing fixing plate 13, and the bearing fixing plate 13 is fixed on the mounting bracket 2 through the bearing seat 14. Specifically, the mounting bracket 2 is a frame structure. The mounting bracket 2 is sleeved outside the lead screw 4 and the sliding nut 3. Bearing fixing plates 13 are provided at the top and bottom of the mounting bracket 2, and are respectively connected to both ends of the lead screw 4 through two mounting bearings.

[0020] The sliding nut 3 is sleeved on the lead screw 4. The sliding nut 3 and the lead screw 4 cooperate to slide up and down along the lead screw 4. One end of the sliding rod 1 is hinged to the sliding nut 3, and the other end of the sliding rod 1 is hinged to one end (free end) of the hatch door 16. The other end of the hatch door 16 is hinged to the vehicle through a plurality of hatch door hinges; the commutator is used to convert the rotational motion of the motor shaft into the rotational motion of the lead screw 4. The rotation of the lead screw 4 drives the sliding nut 3 to reciprocate along the axis of the lead screw 4, driving the sliding rod 1 to push and pull the hatch door 16 to rotate around the hinge point with the vehicle.

[0021] The steering gear includes bevel gear Ⅰ 10 and bevel gear Ⅱ 11 with meshing teeth. The axis of bevel gear Ⅰ 10 is perpendicular to the axis of bevel gear Ⅱ 11. Bevel gear Ⅰ 10 is coaxially connected to the motor shaft, and bevel gear Ⅱ 11 is coaxially connected to one end of the lead screw 4. The other end of the lead screw 4 is located at one end (free end) of the hatch 16, and the lead screw 4 is perpendicular to the plane where the hatch 16 is located when closed. Specifically, the teeth on the tooth surface of bevel gear Ⅰ 10 mesh with the teeth on the tooth surface of bevel gear Ⅱ 11. The tooth shaft of bevel gear Ⅰ 10 is connected to the motor shaft, and the tooth shaft of bevel gear Ⅱ 11 is connected to one end of the lead screw 4. That is, the steering gear is composed of a pair of bevel gear pairs, which can convert the rotational motion of the horizontal shaft (motor shaft) into the rotational motion of the vertical shaft (lead screw 4) that forms a 90° angle with the horizontal shaft. The bevel gear pair has a small transmission clearance and a compact structure.

[0022] The hatch 16 is installed on the vehicle through hatch hinges. The hatch hinges are composed of a rotating hinge 18, a rotating shaft 19, and a fixed hinge 20. The fixed hinge 20 is installed on the vehicle, and the rotating hinge 18 is installed on the hatch, enabling the hatch 16 to rotate around the rotating shaft 19, so that the hatch 16 can be in the open and closed states.

[0023] As Figure 3 shown, in the initial state, the hatch 16 is closed, the lead screw 4 is perpendicular to the plane where the hatch 16 is located when closed, the sliding nut 3 is located at the top of the lead screw 4, the motor shaft rotates under the control of the controller, the bevel gear pair converts the rotation of the motor shaft into the rotation of the lead screw 4, the lead screw 4 drives the sliding nut 3 to slide along the lead screw 4 towards its bottom. At the same time, the slide bar 1 moves downward, pushing the hatch 16 to rotate around the rotating shaft 19, and the hatch 16 opens until the sliding nut 3 is located at the bottom of the lead screw 4, and the hatch 16 is opened at a 90° angle from its closed state. When the hatch 16 needs to be closed, the drive motor shaft rotates in the reverse direction, and then the lead screw 4 rotates in the reverse direction to drive the sliding nut 3 to move upward, causing the slide bar 1 to pull the hatch 16 until the hatch 16 is closed.

[0024] As an improvement, the lead angle of the lead screw 4 is less than the equivalent friction angle, realizing the reverse self-locking of the lead screw 4, that is, the up and down movement of the sliding nut 3 can only be driven by the rotation of the lead screw 4 and cannot act in the reverse direction, thus ensuring that when the hatch 16 is under external force underwater, it can be locked in the current position to ensure the controllability of the opening and closing states of the hatch 16.

[0025] As an improvement, a control cabin 7, a fixing bracket 5, an upper end cover 8 of the control cabin, a commutator sealing shell 9, sealing rings and an output shaft end cover 12 are further provided; the motor and its controller are installed in the control cabin, the control cabin 7 is fixed on the vehicle by the fixing bracket, and the control cabin 7 adopts a sealed design; the commutator sealing shell 9 is sleeved outside the commutator and fixedly connected to one end of the control cabin 7 where the motor shaft is located, and an upper end cover 8 of the control cabin is provided at the other end of the control cabin 7. The tooth shaft of bevel gear I 10 is connected to the commutator sealing shell 9 through bearing I 21 and limited by snap ring for hole I 23, the tooth shaft of bevel gear II 11 is connected to the commutator sealing shell 9 through bearing II 22 and limited by snap ring for hole II 24, the tooth shaft of bevel gear II 11 passes through the commutator sealing shell 9 and is connected to the lead screw 4, an output shaft end cover 12 is provided between the tooth shaft of bevel gear II 11 and the commutator sealing shell 9, and two o-ring seals are provided at the connection between the commutator sealing shell 9 and the control cabin 7, the connection between the upper end cover 8 of the control cabin and the control cabin 7, the connection between the output shaft end cover 12 and the tooth shaft of bevel gear II 11, and the connection between the output shaft end cover 12 and the commutator sealing shell 9 to meet the pressure resistance requirement at the working depth.

[0026] As an improvement, the mechanism further includes a cabin door fixing plate 17 and a base 15. The base 15 is fixed to one end of the cabin door 16 through the cabin door fixing plate 17, and the other end of the slide bar 1 is hinged to the base 15. When the sliding nut 3 moves up and down, it can drive the slide bar 1 to perform a pushing and opening / closing action. Through the transmission of the base 15 and the cabin door fixing plate 17, the cabin door 16 is driven to rotate around the rotating shaft 19, so as to realize the opening and closing actions of the cabin door 16. As Figure 1 shown, in this embodiment, the cabin door 16 is a pair of double-opening cabin doors, and correspondingly, two groups of slide bars 1, bases 15 and cabin door fixing plates 17 are provided. The lead screw 4 is located at the top of the central axis of the pair of double-opening cabin doors. One end of each of the two slide bars 1 is hinged to one side of the sliding nut 3, and the other end of each of the two slide bars 1 is hinged to the base 15 fixed on the two cabin door fixing plates 17 respectively. The two cabin door fixing plates 17 are respectively fixed on the tops of the pair of double-opening cabin doors. When the sliding nut 3 moves up and down, it drives the slide bars 1 on both sides to move together, so that the two cabin doors are opened and closed together.

[0027] The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An underwater unmanned vehicle hatch opening and closing mechanism, characterized in that: It includes a motor and its controller, a commutator, a lead screw nut pair, and a slide rod; The motor and its controller are fixed on the aircraft. The motor drives its motor shaft to rotate under the control of the controller. The motor shaft is connected to a lead screw nut pair through a commutator. The lead screw nut pair is hinged to one end of the door through a slide rod. The other end of the door is hinged to the aircraft. The screw-nut pair converts the rotational motion of the motor shaft into reciprocating motion of the slide bar through the commutator, so that the slide bar pushes and pulls the cabin door to rotate around the hinge point with the spacecraft.

2. The underwater unmanned vehicle door opening and closing mechanism according to claim 1, characterized in that: Also included is a mounting bracket for mounting the lead screw nut pair; The lead screw nut pair is composed of a lead screw and a sliding nut. The lead screw axis is perpendicular to the motor shaft. The lead screw is installed on a mounting frame through a bearing. The mounting frame is fixed on the aircraft. One end of the lead screw is connected to the motor shaft through a commutator. The sliding nut is sleeved on the lead screw. One end of the sliding rod is hinged to the sliding nut, and the other end of the sliding rod is hinged to the cabin door. The commutator is used to convert the rotational motion of the motor shaft into the rotational motion of the lead screw. The rotation of the lead screw drives the sliding nut to reciprocate along the axis of the lead screw, thereby driving the sliding rod to reciprocate.

3. The underwater unmanned vehicle door opening and closing mechanism according to claim 2, characterized in that: The steering gear includes a bevel gear I and a bevel gear II whose teeth cooperate with each other. The axis of bevel gear I and the axis of bevel gear II are perpendicular to each other. Bevel gear I is coaxially connected to the motor shaft, and bevel gear II is coaxially connected to one end of the lead screw. The other end of the lead screw is located at one end of the cabin door, and the lead screw is perpendicular to the plane where the cabin door is closed; the sliding nut is located at the top of the lead screw, and the cabin door is closed; the sliding nut is located at the bottom of the lead screw, and the cabin door is opened 90°.

4. The underwater unmanned vehicle door opening and closing mechanism according to claim 3, characterized in that: A control cabin, a fixing frame, an upper end cover of the control cabin, a commutator sealing shell, a sealing ring and an output shaft end cover are also provided; the motor and its controller are fixed in the control cabin, the control cabin is fixed to the vehicle through the fixing frame, the commutator sealing shell is sleeved outside the commutator and fixedly connected to one end where the motor shaft of the control cabin is located, and an upper end cover of the control cabin is provided at the other end of the control cabin; the bevel gear II gear shaft passes through the commutator sealing shell and is connected to the lead screw, an output shaft end cover is provided between the bevel gear II gear shaft and the commutator sealing shell, and sealing rings are provided at the connection between the commutator sealing shell and the control cabin, at the connection between the upper end cover of the control cabin and the control cabin, at the connection between the output shaft end cover and the bevel gear II gear shaft, and at the connection between the output shaft end cover and the commutator sealing shell.

5. The underwater unmanned vehicle door opening and closing mechanism according to claim 1, characterized in that: It also includes a door fixing plate and a base. The base is fixed to one end of the door through the door fixing plate, and the other end of the slide rod is hinged to the base.

6. The underwater unmanned vehicle hatch opening and closing mechanism according to any one of claims 2 to 5, characterized in that: The lead angle of the screw is smaller than the equivalent friction angle, so the screw can be reversed and self-locked.

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