Self-locking and self-unlocking mechanism for adjusting angle of underwater propeller

Abstract

The invention discloses a self-locking and self-unlocking mechanism for adjusting the angle of an underwater propeller, and relates to the field of underwater propelling equipment. The problems that an existing angle-adjustable propeller is complex in structure and poor in reliability are solved. The mechanical self-locking device comprises a linear power source, a transmission locking and unlocking integrated assembly and a mechanical self-locking assembly. The transmission locking and unlocking integrated assembly comprises a sliding block, a sliding rail mechanism and a connecting rod mechanism, the output end of the linear power source is connected with the transmission locking and unlocking integrated assembly, and the linear power source is used for driving the sliding block to do linear motion along the sliding rail and converting the linear motion of the sliding block into rotary motion of the propeller through the connecting rod mechanism. The mechanical self-locking assembly is arranged at the stroke end point position of the sliding rail and used for achieving mechanical self-locking of the angle of the propeller when the sliding block moves to the end point. The method is used for scenes where the thrust direction needs to be accurately adjusted, the stable posture is kept, and the underwater operation time is prolonged.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of underwater propulsion equipment, in particular to a self-locking and self-unlocking mechanism for adjusting the angle of an underwater propeller. BACKGROUND

[0002] As the core power component of underwater robots, remotely operated vehicles, autonomous underwater vehicles and other equipment, the performance of underwater propellers directly determines the maneuverability, stability and work efficiency of the whole machine. At present, most commercial and scientific underwater robots still generally use fixed-angle propellers, that is, the thrust direction of the propeller is determined when it is installed, and cannot be adjusted in real time during use. This fixed design is due to the demand for simple structure and convenient control of early underwater equipment, but as the application scenarios continue to expand and the work tasks become more complex, its inherent defects are increasingly prominent.

[0003] Firstly, fixed-angle propellers severely limit the maneuvering flexibility of robots. When performing trajectory tracking, point hovering or obstacle avoidance maneuvers, the robot must rely on thrust distribution and complex coordination control between multiple propellers to achieve the desired motion, which not only puts high demands on the control algorithm, but also easily introduces motion errors due to the coupling effect between the thrusts of each propeller, reducing control accuracy. Especially in narrow spaces or complex terrain environments, the inability to adjust the thrust direction significantly reduces the passability and adaptability of the robot.

[0004] Secondly, this design leads to a significant decrease in energy utilization efficiency. Since the thrust direction is fixed, when the robot performs non-axial motion, the thrust generated by the propeller will inevitably have a component in the non-target direction, causing energy waste. For example, when moving sideways or vertically upward, the main propeller will still continuously generate forward thrust, and the invalid component will exacerbate battery consumption, shortening the underwater operation time. This problem is particularly prominent for underwater platforms that are energy-limited and rely on battery power.

[0005] Thirdly, when encountering uncertain external disturbances such as ocean currents, swells or turbulence, fixed-angle propeller systems are difficult to achieve rapid anti-interference adjustment. Since the thrust direction cannot be adjusted in real time to counteract external disturbance forces, the overall attitude stability of the robot is poor, and it is easy to drift or shake violently, which seriously affects the data collection quality of sensors such as sonar and optical cameras, making it difficult to reliably complete fine work such as underwater detection, manipulator operation, sample collection, etc.

[0006] To overcome these limitations, some research in recent years has begun to explore adjustable-angle thruster solutions. A common approach is to use a servo motor to drive the entire thruster to rotate around its axis, thereby adjusting the thrust direction. However, motor systems are typically large and heavy, requiring reduction gears and precision encoders, resulting in a complex and costly propulsion module structure, making it difficult to deploy on small underwater robots with limited space. Furthermore, the electromagnetic interference generated by the motor during operation may affect the normal operation of other sensitive instruments on the platform. Another approach uses hydraulic drive, which provides high torque, but suffers from high system noise, susceptibility to leakage, difficult maintenance, and poor environmental compatibility, making it particularly unsuitable for long-term deployment or use in high hydrostatic pressure environments.

[0007] In summary, existing adjustable-angle thrusters suffer from complex structures and poor reliability. Summary of the Invention

[0008] The purpose of this invention is to solve the problems of complex structure and poor reliability of existing adjustable-angle thrusters. Therefore, it provides a self-locking and self-unlocking mechanism for adjusting the angle of an underwater thruster.

[0009] The technical solution of this invention is:

[0010] A self-locking and self-unlocking mechanism for adjusting the angle of an underwater thruster includes a linear power source, a transmission lock / unlock integrated assembly, and a mechanical self-locking assembly. The transmission lock / unlock integrated assembly includes a slider and a slide rail mechanism that cooperate with each other, as well as a linkage mechanism. The output end of the linear power source is connected to the transmission lock / unlock integrated assembly to drive the slider to move linearly along the slide rail, and the linkage mechanism converts the linear motion of the slider into the rotational motion of the thruster. The mechanical self-locking assembly is located at the end point of the slide rail's travel and is used to mechanically lock the thruster angle when the slider reaches the end point. The linear power output from the linear power source simultaneously drives the slider to move to adjust the angle and acts on the mechanical self-locking assembly to release its locked state.

[0011] Preferably, the linear power source is a pneumatic push rod, and the cylinder of the pneumatic push rod is fixed to the linkage mechanism by a cylinder mounting base.

[0012] Furthermore, the transmission lock-unlock integrated assembly also includes an unlocking tongue; one end of the unlocking tongue is fixedly connected to the output end of the pneumatic push rod.

[0013] Furthermore, the transmission lock-unlock integrated assembly also includes a third rotating shaft, and the unlocking tongue slides with the third rotating shaft through an internal slot. The third rotating shaft is fixedly connected to the slider and the linkage mechanism.

[0014] Furthermore, the mechanical self-locking assembly includes a first locking mechanism and a second locking mechanism, which have the same structure and are vertically slidably mounted on the slide rail. The first locking mechanism includes a first locking pin and a first spring for providing a reset force, with the first spring mounted on the lower end of the first locking pin. One end of the unlocking tongue is provided with a first outer guide slope and a first inner guide slope, and the corresponding end of the first locking pin is provided with a second right guide slope and a second left guide slope that cooperate with it. The top surface of the first pin is located between the second right guide slope and the second left guide slope.

[0015] Furthermore, the slider is provided with a locking part, which is provided with a third left guide slope, a third right guide slope and a locking surface; the second right guide slope and the second left guide slope on the first locking pin also cooperate with the third left guide slope, the third right guide slope and the locking surface of the locking part.

[0016] Furthermore, the first locking mechanism also includes a first sleeve, on which a first upper sealing ring and a first lower sealing ring are fitted; the first sleeve is fixed on the slide rail, and the internal cavity of the first sleeve accommodates the first spring and the first locking pin; a dynamic seal is formed between the first upper sealing ring and the first lower sealing ring and the inner wall of the first sleeve.

[0017] Furthermore, the slider is in rolling engagement with the slide rail via multiple bearings; wherein at least one pair of bearings is mounted on the slider via adjusting nuts.

[0018] Furthermore, the lower end of the feeder is connected to the upper parts of the second and third connecting rods, which are rotatably connected to the left and right ends of the first connecting rod.

[0019] Preferably, the rotating connections in the linkage mechanism are all provided with self-lubricating bushings.

[0020] Compared with the prior art, the present invention has the following advantages:

[0021] 1. This invention uses a pneumatic push rod as a power source and is paired with a linkage slider mechanism, namely the transmission lock-unlock integrated component B of this invention, to realize the flexible switching of the submersible robot thruster between two specific angles. At the same time, self-locking mechanisms are set at these two specific angle positions, namely the first locking mechanism C and the second locking mechanism D, so as to ensure the stability and reliability of the thruster operation.

[0022] 2. The pneumatic pusher structure used in this invention is compact, has high thrust, and fast operating speed. It can directly use high-pressure gas as a power source, ensuring safety for underwater use and facilitating deployment on underwater robots with limited space. The pneumatic pusher moves a slider on a slide rail, changing the angle of the connecting rod connected to the slider, thus fixing the thruster to the connecting rod to achieve the purpose of changing the thruster angle. Locking pins and limit switches are provided at both ends of the slide rail. After the slider is pushed to contact the limit switch, the locking pin pops out under the push of a spring and locks itself with the slider. This design ensures that the slider mechanism does not deviate from the target position when the thruster is working. An unlocking tongue is arranged inside the slider, which can move between sliders. The unlocking tongue is connected to the pneumatic pusher. When it is necessary to unlock, the pneumatic pusher pushes the unlocking tongue to press out the locking pin, releasing the slider's locked state. The pneumatic pusher serves as both a power source for adjusting the thruster angle and a power source for unlocking, reducing the number of power sources, simplifying the structure, and ensuring the stability of the thruster angle adjustment.

[0023] 3. This invention enables rapid adjustment of the thruster angle. Traditional underwater robot thrusters are fixed-angle type, and cannot be adjusted according to actual conditions. However, this invention uses a pneumatic push rod as a power source, in conjunction with a linkage slider mechanism, to quickly adjust the thruster angle fixed on the linkage according to actual needs, allowing the thruster to quickly switch between two specific angles.

[0024] 4. This invention enables self-locking of the thruster angle. Locking pins are provided at both ends of the slide rail, forming a self-locking structure with the slider. This ensures the thruster maintains stable and accurate pointing at two specific angles, preventing any change in the thruster's angle during operation or when the linkage mechanism is subjected to external forces.

[0025] 5. This invention enables self-unlocking of the thruster angle. The invention features an unlocking tongue inside the slider, which can slide relative to the slider. The unlocking tongue is connected to a pneumatic push rod. The push rod pushes the unlocking tongue to move within the slider, causing the 45° inclined surface of the unlocking tongue to contact the 45° inclined surface of the locking pin, disengaging the locking pin from its self-locking position with the slider and releasing the thruster from its locked state. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of the present invention. Figure 2 A schematic diagram of the first specific angle locking of the present invention. Figure 3 This is a schematic diagram of the second specific angle locking of the present invention. Figure 4 This is an exploded view of the present invention. Figure 5 It is an exploded view of the slider and the guide rail. Figure 6 This is an exploded view of a self-locking structure. Figure 7 This is a schematic diagram illustrating the transition from an unlocked state to a locked state in this invention.Figure 8 This is a diagram illustrating the process from locked to unlocked.

[0027] In the picture:

[0028] A. Thruster;

[0029] B. Transmission locking and unlocking integrated assembly; B-1. Pneumatic push rod; B-1-1. Thread; B-2. First bolt; B-3. Cylinder mounting seat; B-4. First nut; B-5. First self-lubricating bushing; B-6. First rotating shaft; B-7. Second self-lubricating bushing; B-8. Second bolt; B-10. Third self-lubricating bushing; B-11. Second rotating shaft; B-12. Fourth self-lubricating bushing; B-13. First connecting rod; B-15. Third bolt; B-16. Fourth bolt; B-17. Second connecting rod; B-18. Fifth bolt; B-19. Fifth self-lubricating bushing; B-20. Second nut; B-21. Sixth self-lubricating bushing; B-22. Slider; B-22-1. Third left guide ramp; B-22-2. Locking surface; B-22-3. Third right guide ramp. B-22-4, Square hole; B-23, Slide rail; B-23-1, First chrome-plated steel strip; B-23-2, Second chrome-plated steel strip; B-24, Eleventh bolt; B-25, Unlocking tongue; B-26, Third pivot; B-25-1, First outer guide slope; B-25-2, First inner guide slope; B-27, Twelfth bolt; B-28, Third connecting rod; B-29, Hole 1; B-30, Second adjusting nut; B-31, Second cylindrical surface; B-32, First adjusting nut; B-33, First cylindrical surface; B-34, Hole 2; B-35, First bearing; B-36, Second bearing; B-37, Eighth bolt; B-38, Ninth bolt; B-39, Sixth bolt; B-40, Seventh bolt; B-41, Third bearing; B-42, Fourth bearing.

[0030] C. First locking mechanism; C-1. First locking pin; C-1-1. Second right guide ramp; C-1-2. First pin top surface; C-1-3. Second left guide ramp; C-2. First upper sealing ring; C-3. First lower sealing ring; C-4. First spring; C-5. First sleeve; C-6. Ninth bolt.

[0031] D. Second locking mechanism; D-1. Second locking pin; D-2. Second upper sealing ring; D-3. Second lower sealing ring; D-4. Second spring; D-5. Second sleeve; D-6. Tenth bolt. Detailed Implementation

[0032] Specific implementation method one: Combining Figures 1 to 8This embodiment describes a linear power source, a transmission lock-unlocking integrated component B, and a mechanical self-locking component. The transmission lock-unlocking integrated component B includes a sliding block B-22 and a slide rail B-23 mechanism that cooperate with each other, as well as a linkage mechanism. The output end of the linear power source is connected to the transmission lock-unlocking integrated component B and is used to drive the sliding block B-22 to move linearly along the slide rail B-23. The linkage mechanism converts the linear motion of the sliding block B-22 into the rotational motion of the pusher A. The mechanical self-locking component is located at the end point of the travel of the slide rail B-23 and is used to achieve mechanical self-locking of the angle of the pusher A when the sliding block B-22 moves to the end point. The linear power output by the linear power source is used to drive the sliding block B-22 to move to adjust the angle and to act on the mechanical self-locking component to release its locked state.

[0033] The variable-angle thruster in this embodiment significantly improves the robot's underwater maneuverability. After determining the direction of travel, the thruster can be adjusted to a position close to the direction of travel via an angle adjustment mechanism, fully utilizing the thruster's performance, reducing thrust generated in non-target directions, lowering energy consumption, and extending the underwater robot's operating time. In strong current environments, the thrust direction can be quickly adjusted to counteract the thrust generated by the water flow, stabilizing the robot's attitude. Furthermore, because the thruster's angle is adjustable, this increases the flexibility of the underwater robot's thruster layout, allowing for more possibilities in the robot's frame design. Compared to traditional fixed-angle thrusters, under the same energy conditions, variable-angle thrusters significantly improve the underwater robot's energy utilization rate and thrust utilization rate, thereby improving overall operational efficiency.

[0034] Specific Implementation Method Two: Combining Figures 1 to 5 In this embodiment, the linear power source is a pneumatic push rod B-1, and the cylinder of the pneumatic push rod B-1 is fixed to the linkage mechanism by a cylinder mounting base B-3.

[0035] This configuration utilizes the reaction force of the pneumatic push rod B-1 for assisted unlocking, enabling a single pneumatic push rod to simultaneously and sequentially complete both the "unlocking" and "driving" actions. This effectively simplifies the structure and improves reliability. Furthermore, it establishes a defined correspondence between the push rod stroke and the thruster angle, ensuring repeatability and accuracy in angle switching.

[0036] Specific implementation method three: Combining Figures 4 to 5 To illustrate this embodiment, the transmission lock-unlock integrated assembly B of this embodiment also includes an unlocking tongue B-25; one end of the unlocking tongue B-25 is fixedly connected to the output end of the pneumatic push rod B-1.

[0037] In this embodiment, one end of the unlocking tongue B-25 is fixedly connected to the output end of the pneumatic push rod B-1. Its core function is to achieve power coupling and sequential action control, which is crucial for this mechanism to achieve both unlocking and driving functions from a single power source. This fixed connection ensures that the linear power generated by the pneumatic push rod can be directly and without loss transmitted to the unlocking tongue, driving its movement. Through the cooperation between the inclined surface on the unlocking tongue and the inclined surface of the locking pin, the horizontal thrust of the push rod is converted into a vertical component that presses against the locking pin, thereby overcoming the spring force and achieving mechanical unlocking. After unlocking, this fixed connection continues to transmit thrust, driving the slider to move and adjust the thruster angle through the cooperation between the waist-shaped groove of the unlocking tongue and the rotating shaft. This design, through simple mechanical linkage, achieves a "unlock first, drive later" action sequence, fundamentally simplifying the system structure and improving reliability and response speed in underwater environments.

[0038] Specific implementation method four: Combination Figure 4 and Figure 5 In this embodiment, the transmission lock-unlock integrated assembly B further includes a third rotating shaft B-26. The unlocking tongue B-25 slides with the third rotating shaft B-26 through a waist-shaped groove B-43 inside it. The third rotating shaft B-26 is fixedly connected to the slider B-22 and the linkage mechanism.

[0039] The core function of the design of the third rotating shaft B-26 and the waist-shaped groove B-43 in this embodiment is to achieve "sequential action" and "function switching". Specifically, this structure allows the unlocking tongue B-25 to have an independent travel stroke under the drive of the pneumatic push rod B-1. In the initial stage, the waist-shaped groove B-43 provides the necessary free stroke, allowing the unlocking tongue B-25 to move preferentially relative to the third rotating shaft B-26, i.e., relative to the slider B-22, thereby using its inclined surface to press the locking pin to complete the unlocking function. When the unlocking tongue moves to one end of the waist-shaped groove and contacts the third rotating shaft B-26, this fixed connection becomes the force transmission path. The thrust of the pneumatic push rod directly pushes the third rotating shaft B-26 through the unlocking tongue, thereby driving the entire slider B-22 to move to perform the angle adjustment function. This achieves an irreversible action sequence of "unlock first, then drive", ensuring the reliability of the mechanism's operation and representing the core mechanical logic of achieving both unlocking and driving functions from a single power source.

[0040] Specific Implementation Method Five: Combining Figures 4 to 8This embodiment describes a mechanical self-locking assembly comprising a first locking mechanism C and a second locking mechanism D. The first locking mechanism C and the second locking mechanism D have identical structures and are vertically slidably mounted on the slide rail B-23. The first locking mechanism C includes a first locking pin C-1 and a first spring C-4 for providing a reset force. The first spring C-4 is mounted on the lower end of the first locking pin C-1. One end of the unlocking tongue B-25 is provided with a first outer guide slope B-25-1 and a first inner guide slope B-25-2. The corresponding end of the first locking pin C-1 is provided with a second right guide slope C-1-1 and a second left guide slope C-1-3 that cooperate with it. The first pin top surface C-1-2 is located between the second right guide slope C-1-1 and the second left guide slope C-1-3.

[0041] This embodiment achieves reliable locking, smooth guidance, and efficient unlocking through a purely mechanical method. The first locking mechanism C and the second locking mechanism D are located at the left and right ends of the slide rail B-23, respectively, forming the locking foundation of the mechanism at the two end positions. Its working principle is as follows: when the slider B-22 moves to the end of its stroke, the first locking pin C-1 is pushed out by the first spring C-4 at its lower end. Through the cooperation of the second right guide slope C-1-1 or the second left guide slope C-1-3 on the locking pin with the corresponding slope on the slider, the pin body is guided to accurately slide into the locking position. Finally, the top surface C-1-2 of the first pin is tightly fitted with the locking surface B-22-2 of the slider, achieving a firm mechanical self-locking and effectively resisting underwater impact and vibration. When unlocking is required, the unlocking tongue B-25 moves under the drive of the pneumatic push rod. The first outer guide ramp B-25-1 and the first inner guide ramp B-25-2, through contact with the corresponding ramps on the locking pin, convert the horizontal thrust into a vertical component force, forcibly pressing the first locking pin C-1 to overcome the spring force and retract into the sleeve, thereby smoothly and reliably releasing the locked state. The entire ramp system ensures a smooth locking process, a secure lock, and an effortless and precise unlocking action.

[0042] Specific Implementation Method Six: Combination Figures 7 to 8 In this embodiment, the slider B-22 is provided with a locking part, which has a third left guide slope B-22-1, a third right guide slope B-22-3 and a locking surface B-22-2; the second right guide slope C-1-1 and the second left guide slope C-1 on the first locking pin C-1 also cooperate with the third left guide slope B-22-1, the third right guide slope B-22-3 and the locking surface B-22-2 of the locking part.

[0043] In this embodiment, the core function of the locking part and its inclined surface combination (third left guide inclined surface B-22-1, third right guide inclined surface B-22-3, and locking surface B-22-2) on the slider B-22 is to work in conjunction with the locking pin to achieve a smooth, reliable, and automated "guide-lock-unlock" mechanical cycle. During the locking process, the second right guide inclined surface C-1-1 or the second left guide inclined surface C-1-3 of the first locking pin C-1 first contacts the third left guide inclined surface B-22-1 or the third right guide inclined surface B-22-3 on the slider. The mutual sliding cooperation of these two sets of inclined surfaces can convert the horizontal kinetic energy of the slider into a force that guides the vertical movement of the locking pin, allowing it to slide smoothly into the locking position and effectively absorb impact. When the locking pin is fully in place, its top first pin surface C-1-2 finally makes large-area surface contact with the locking surface B-22-2, forming a solid mechanical lock, thereby reliably resisting the reverse thrust from the propeller or the impact of water flow and ensuring the angle is fixed. During unlocking, the inclined plate system guides the unlocking tongue to smoothly push the locking pin out of the locking surface, completing the unlocking process. This ensures that the mechanism can still achieve accurate, stable, and highly reliable self-locking and self-unlocking even in high-speed water flow and vibration environments.

[0044] Specific implementation method seven: Combination Figure 6 In this embodiment, the first locking mechanism C further includes a first sleeve C-5, and a first upper sealing ring C-2 and a first lower sealing ring C-3 are sleeved on the first locking pin C-1; the first sleeve C-5 is fixed on the slide rail B-23, and the internal cavity of the first sleeve C-5 accommodates the first spring C-4 and the first locking pin C-1; a dynamic seal is formed between the first upper sealing ring C-2 and the first lower sealing ring C-3 and the inner wall of the first sleeve C-5.

[0045] The combination of the first sleeve C-5, the first upper sealing ring C-2, and the first lower sealing ring C-3 in this embodiment can create a sealed working chamber for the first locking mechanism C that is completely isolated from the external high-pressure and corrosive water environment.

[0046] The first sleeve C-5 serves as the basic structure, fixed to the slide rail B-23. Its internal cavity provides a stable mounting space for the first spring C-4 and acts as a precision guide rail for the vertical movement of the first locking pin C-1, ensuring the accuracy and repeatability of locking and unlocking actions. The dynamic seal formed by the first upper sealing ring C-2 and the first lower sealing ring C-3 with the inner wall of the sleeve effectively prevents seawater from entering the sleeve, thus avoiding the failure of the first spring C-4 due to corrosion and the problem of the locking pin moving slowly or getting stuck due to hydraulic damping caused by water entering the cavity. This greatly improves the long-term reliability and service life of the mechanism in harsh underwater environments.

[0047] Specific implementation method eight: Combination Figure 5In this embodiment, the slider B-22 is in rolling engagement with the slide rail B-23 via multiple bearings; wherein at least one pair of bearings is mounted on the slider B-22 via adjusting nuts.

[0048] In this embodiment, the slider B-22 forms a rolling fit with the slide rail B-23 through multiple bearings, converting traditional sliding friction into rolling friction, thereby greatly reducing motion resistance, improving response speed, and reducing wear. At least one pair of bearings is installed via adjusting nuts, a design that allows for precise fine-tuning of the gap between the bearings and the slide rail guide bars. Its function is twofold: firstly, by tightening the adjusting nuts, manufacturing tolerances of the bearings and slide rail, as well as wear caused by long-term operation, can be precisely compensated, ensuring smooth and unobstructed slider movement; secondly, it prevents slider wobbling due to excessive gaps, thus guaranteeing the accuracy of thruster angle adjustment and repeatability, ultimately significantly improving the reliability, stability, and service life of the entire mechanism under high-pressure underwater environments.

[0049] Specific Implementation Method Nine: Combining Figure 4 This embodiment describes a linkage mechanism comprising a first link B-13, a second link B-17, and a third link B-28. The first link B-13 is connected to the lower end of the thruster, and the upper parts of the second link B-17 and the third link B-28 are rotatably connected to the left and right ends of the first link B-13.

[0050] The linkage mechanism (composed of the first link B-13, the second link B-17, and the third link B-28) converts the precise linear motion of the slider B-22 into the large-angle rotational motion required by the thruster A, and utilizes the dead-point characteristics of the mechanism to enhance stability after locking. Specifically, the eleventh bolt B-24 and the twelfth bolt B-27 are used to fix the slide rail B-23 and the third link B-28 to the underwater robot, thereby achieving the fixation of the entire self-locking and self-unlocking mechanism.

[0051] Specifically, one end of the third link B-28 is hinged to the cylinder of the pneumatic push rod B-1, and the other end is hinged to the first link B-13; one end of the second link B-17 is hinged to the slider B-22, and the other end is also hinged to the first link B-13; while the thruster A is fixedly mounted on the first link B-13. When the slider moves linearly, it pushes or pulls the first link B-13 through the second link B-17, while the third link B-28 acts as an intermediate constraint link, together forming an approximate rocker-slider mechanism. This design amplifies the limited linear stroke of the slider to an angle change of nearly 90 degrees for the first link B-13 (and the thruster). More importantly, when the mechanism moves to the locked position, the link enters the dead zone. At this point, even if the thruster is subjected to a huge reverse water flow thrust, this force cannot directly drive the linkage mechanism to move, but will be converted into pressure on the rotating shaft, thereby greatly enhancing the rigidity and self-locking stability of the mechanism in the locked state, ensuring the reliable maintenance of the thrust angle.

[0052] Specific Implementation Method Ten: Combining Figure 4 This embodiment describes a method in which self-lubricating bushings are provided at all rotating connections in the linkage mechanism.

[0053] This embodiment provides self-lubricating bushings at all rotating connections of the linkage mechanism, which facilitates a maintenance-free, highly reliable, low-friction, and corrosion-resistant rotary support solution for the mechanism, suitable for the harsh working environment of underwater robots.

[0054] The self-lubricating material (such as graphite inlay or composite material) of the self-lubricating bushing continuously releases lubricant during friction, forming a lubricating film. This effectively reduces frictional resistance and wear between the shaft and the connecting rod hole, ensuring flexible, smooth, and precise angle adjustment. Simultaneously, it isolates the metal shaft from direct contact with the connecting rod, fundamentally avoiding electrochemical corrosion and rust jamming problems that are highly likely to occur in underwater environments. This significantly improves the long-term reliability of the mechanism underwater and completely eliminates the need for regular lubrication and maintenance, greatly extending the service life of the entire system.

[0055] Combination Figures 1 to 8 Explanation of the working principle of this invention:

[0056] The present invention comprises a thruster A, a transmission lock-unlock integrated assembly B, a first locking mechanism C, and a second locking mechanism D.

[0057] Combination Figures 1 to 6The pneumatic push rod B-1 is fixed to the cylinder mounting base B-3 by the first nut B-4 and its own thread B-1-1, and is fixed to the third connecting rod B-28 by the first bolt B-2. The third connecting rod B-28 is connected to the first connecting rod B-13 and the second connecting rod B-17 by the first rotating shaft B-6 and the second rotating shaft B-11, and is locked by the second bolt B-8 and the third bolt B-15. In order to reduce the resistance when the connecting rod rotates, the first rotating shaft B-6 and the second rotating shaft B-11 are provided with a first self-lubricating bushing B-5, a second self-lubricating bushing B-7, a third self-lubricating bushing B-10, and a fourth self-lubricating bushing B-12 with steps to isolate the first rotating shaft B-6 and the second rotating shaft B-11 from the first connecting rod B-13, the third connecting rod B-28, and the second connecting rod B-17 to avoid direct contact.

[0058] The thruster A is fixed to the first connecting rod B-13 by the fourth bolt B-16. The second connecting rod B-17 is connected to the slider B-22 by the third rotating shaft B-26 and locked with the fifth bolt B-18. The second connecting rod B-17 is also equipped with the fifth self-lubricating bushing B-19 and the sixth self-lubricating bushing B-21 with steps to reduce the resistance when the connecting rod rotates.

[0059] Slider B-22 is fixed with a first bearing B-35, a second bearing B-36, a third bearing B-41, and a fourth bearing B-42, all with U-shaped grooves. The third bearing B-41 and the fourth bearing B-42 are directly fixed to slider B-22 by a sixth bolt B-39 and a seventh bolt B-40. The first bearing B-35 and the second bearing B-36 are fixed to the first adjusting nut B-32 and the second adjusting nut B-30 by an eighth bolt B-37 and a ninth bolt B-38, respectively, thus fixing them to slider B-22 from both the top and bottom. The first adjusting nut B-32 passes through a first cylindrical surface B... -33 mates with hole B-34 on the slider, and the same applies to the second adjusting nut B-30. Since the threaded hole on the adjusting nut is not axially aligned with the first cylindrical surface B-33 and the second cylindrical surface B-31, rotating the first adjusting nut B-32 and the second adjusting nut B-30 can finely adjust the distance between the second bearing B-36, the first bearing B-35 and the third bearing B-41 and the fourth bearing B-42, so that they can fit completely against the first chrome-plated steel strip B-23-1 and the second chrome-plated steel strip B-23-2 on the left and right sides of the slide rail B-23 without generating excessive resistance.

[0060] The slider B-22 has an unlocking tongue B-25 inside. One end of the unlocking tongue B-25 is connected to the pneumatic push rod B-1 by a thread and is locked in place by a second nut B-20. The waist-shaped groove B-43 of the unlocking tongue B-25 cooperates with the third rotating shaft B-26, allowing the unlocking tongue B-25 a certain amount of movement space inside the slider B-22. The hole B-29 on the unlocking tongue B-25 is used to drain water from the waist-shaped groove B-43.

[0061] The first locking pin C-1 and the second locking pin D-1 are fitted with a first upper sealing ring C-2, a first lower sealing ring C-3, a second upper sealing ring D-2, and a second lower sealing ring D-3, which respectively cooperate with the cylindrical surfaces inside the first sleeve C-5 and the second sleeve D-5 to form a seal, preventing water from entering the sleeve and corroding the first spring C-4 and the second spring D-4. The first sleeve C-5 and the second sleeve D-5 are fixed to the slide rail by the ninth bolt C-6 and the tenth bolt D-6, respectively.

[0062] Combination Figure 7 When adjusting the angle of the thruster A, the pneumatic push rod B-1 pushes the unlocking tongue B-25 to the left. The waist-shaped groove B-43 of the unlocking tongue B-25 drives the slider B-22 to the left via the third rotating shaft B-26. The first outer guide slope B-25-1 of the unlocking tongue B-25 contacts the second right guide slope C-1-1 of the locking pin. The unlocking tongue B-25 continues to move to the left. Under the push of the first outer guide slope B-25-1, the first locking pin C-1 is forced to move downward until the first outer guide slope B-25-1 disengages from the second right guide slope C-1-1. At this time, the second right guide slope C-1-1 contacts the third left guide slope B-22-1, and the unlocking tongue B-25 continues to move to the left. Continuing to move to the left, slider B-22 moves to the left. Under the push of the third left guide slope B-22-1, the first locking pin C-1 is forced to continue moving downward until the top surface C-1-2 of the locking pin contacts the locking surface B-22-2. Slider B-22 continues to move until the second left guide slope C-1-3 of the locking pin contacts the third right guide slope B-22-3 of the slider. Under the push of the first spring C-4, the first locking pin C-1 pops out as slider B-22 moves. When slider B-22 reaches the mechanical limit of slide rail B-23, the first locking pin C-1 is fully popped out and fits into the square hole B-22-4 of the slider, completing the angle locking of the linkage slider mechanism, forming as shown. Figure 2 The thruster angle lock state shown indicates that when it is necessary to form a shape like... Figure 3 When the thruster angle is locked as shown, the pneumatic push rod B-1 pulls the unlocking tongue B-25 to the right, causing the slider B-22 to be locked by the second locking pin D-1. The locking process is the same as the process described above.

[0063] Combination Figure 8 In lifting suchFigure 2 When the angle is locked as shown, the pneumatic push rod B-1 drives the unlocking tongue B-25 to move to the right until the first inner guide slope B-25-2 of the unlocking tongue contacts the second left guide slope C-1-3 of the locking pin. The unlocking tongue B-25 continues to move to the right, and under the push of the first inner guide slope B-25-2, it forces the first locking pin C-1 to move downward until the second left guide slope C-1-3 of the locking pin contacts the third right guide slope B-22-3 on the slider. This unlocks the angle lock of the first locking pin C-1 on the linkage slider mechanism, and the unlocking tongue B-25... 5. Continue moving to the right, causing slider B-22 to move to the right. Under the push of the third right guide slope B-22-3, the first locking pin C-1 is forced to continue moving downwards until the top surface C-1-2 of the first pin contacts the locking surface B-22-2. Slider B-22 continues to move until the second right guide slope C-1-1 of the locking pin contacts the locking surface B-22-2 of the slider. Under the push of the first spring C-4, the first locking pin C-1 pops out with the movement of slider B-22 until it is completely popped out and returns to its original state, waiting for the next locking of slider B-22. When it is necessary to release the lock... Figure 3 When the angle is locked as shown, the pneumatic push rod B-1 drives the unlocking tongue B-25 to move to the left until the second locking pin D-1 disengages from the slider B-22, thus releasing the angle lock.

[0064] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A self-locking and self-unlocking mechanism for adjusting the angle of an underwater thruster, characterized in that: It includes a linear power source, a transmission lock-unlock integrated assembly (B), and a mechanical self-locking assembly; The transmission lock-unlocking integrated assembly (B) includes a sliding block (B-22) and a slide rail (B-23) mechanism that cooperate with each other, as well as a linkage mechanism; the output end of the linear power source is connected to the transmission lock-unlocking integrated assembly (B) to drive the sliding block (B-22) to move linearly along the slide rail (B-23), and converts the linear motion of the sliding block (B-22) into the rotational motion of the pusher (A) through the linkage mechanism; A mechanical self-locking assembly is provided at the end point of the travel of the slide rail (B-23) to achieve mechanical self-locking of the angle of the pusher (A) when the slider (B-22) moves to the end point; The linear power output from the linear power source is used to drive the slider (B-22) to move to adjust the angle, and to act on the mechanical self-locking assembly to release its locked state.

2. The self-locking and self-unlocking mechanism for adjusting the angle of an underwater thruster according to claim 1, characterized in that: The linear power source is a pneumatic push rod (B-1), and the cylinder of the pneumatic push rod (B-1) is fixed to the linkage mechanism by a cylinder mounting base (B-3).

3. The self-locking and self-unlocking mechanism for adjusting the angle of an underwater thruster according to claim 2, characterized in that: The transmission lock-unlock integrated assembly (B) also includes an unlocking tongue (B-25); one end of the unlocking tongue (B-25) is fixedly connected to the output end of the pneumatic push rod (B-1).

4. The self-locking and self-unlocking mechanism for adjusting the angle of an underwater thruster according to claim 3, characterized in that: The transmission lock-unlock integrated assembly (B) also includes a third rotating shaft (B-26). The unlocking tongue (B-25) slides with the third rotating shaft (B-26) through a waist-shaped groove (B-43) inside it. The third rotating shaft (B-26) is fixedly connected to the slider (B-22) and the linkage mechanism.

5. The self-locking and self-unlocking mechanism for adjusting the angle of an underwater thruster according to claim 4, characterized in that: The mechanical self-locking assembly includes a first locking mechanism (C) and a second locking mechanism (D). The first locking mechanism (C) and the second locking mechanism (D) have the same structure and are vertically slidably mounted on the slide rail (B-23). The first locking mechanism (C) includes a first locking pin (C-1) and a first spring (C-4) for providing a reset force, wherein the first spring (C-4) is installed at the lower end of the first locking pin (C-1); The unlocking tongue (B-25) has a first outer guide slope (B-25-1) and a first inner guide slope (B-25-2) on one side end. The corresponding end of the first locking pin (C-1) has a second right guide slope (C-1-1) and a second left guide slope (C-1-3) that cooperate with it. The first pin top surface (C-1-2) is located between the second right guide slope (C-1-1) and the second left guide slope (C-1-3).

6. The self-locking and self-unlocking mechanism for adjusting the angle of an underwater thruster according to claim 5, characterized in that: The slider (B-22) is provided with a locking part, which has a third left guide slope (B-22-1), a third right guide slope (B-22-3) and a locking surface (B-22-2); the second right guide slope (C-1-1) and the second left guide slope (C-1-3) on the first locking pin (C-1) also cooperate with the third left guide slope (B-22-1), the third right guide slope (B-22-3) and the locking surface (B-22-2) of the locking part.

7. A self-locking and self-unlocking mechanism for adjusting the angle of an underwater thruster according to claim 5 or 6, characterized in that: The first locking mechanism (C) also includes a first sleeve (C-5). The first locking pin (C-1) is fitted with a first upper sealing ring (C-2) and a first lower sealing ring (C-3); the first sleeve (C-5) is fixed on the slide rail (B-23), and the internal cavity of the first sleeve (C-5) accommodates the first spring (C-4) and the first locking pin (C-1); the first upper sealing ring (C-2) and the first lower sealing ring (C-3) form a dynamic seal with the inner wall of the first sleeve (C-5).

8. The self-locking and self-unlocking mechanism for adjusting the angle of an underwater thruster according to claim 1, characterized in that: The slider (B-22) is in rolling engagement with the slide rail (B-23) via multiple bearings; wherein at least one pair of bearings is mounted on the slider (B-22) via adjusting nuts.

9. A self-locking and self-unlocking mechanism for adjusting the angle of an underwater thruster according to claim 1, characterized in that: The linkage mechanism includes a first link (B-13), a second link (B-17), and a third link (B-28). The first link (B-13) is connected to the lower end of the thruster, and the upper parts of the second link (B-17) and the third link (B-28) are rotatably connected to the left and right ends of the first link (B-13).

10. A self-locking and self-unlocking mechanism for adjusting the angle of an underwater thruster according to claim 9, characterized in that: The rotating connections in the linkage mechanism are all equipped with self-lubricating bushings.

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