Propulsion steering device of underwater vehicle

Abstract

An underwater vehicle propulsion steering device comprises a propeller used for pushing an underwater vehicle to move, a first steering engine is installed on the propeller, a second steering engine is connected to the first steering engine, and a third steering engine is connected to the second steering engine; a first connecting rod is arranged between the propeller and the first steering engine, a second connecting rod is arranged between the first steering engine and the second steering engine, and a third connecting rod is arranged between the second steering engine and the third steering engine; the second connecting rod is perpendicular to the first connecting rod and the third connecting rod, and the first connecting rod is parallel to the third connecting rod. According to the invention, flexible steering of the underwater vehicle in all directions can be realized.

Description

Technical Field

[0001] The utility model belongs to the technical field of thrusters, and particularly relates to a propulsion and steering device for a submersible vehicle. Background Art

[0002] As an underwater detection and operation device, the design of the propulsion and steering device of a submersible vehicle directly affects its operation performance and task execution ability.

[0003] At present, most of the propulsion devices of submersible vehicles are single thrusters, and steering is achieved by adjusting the rotation speed and direction of the thruster, which has problems such as slow response and poor flexibility. Summary of the Utility Model

[0004] The utility model provides a propulsion and steering device for a submersible vehicle to solve the technical problem of inflexible steering of the thruster.

[0005] To solve the above technical problems, the technical solution adopted by the utility model is as follows:

[0006] A propulsion and steering device for a submersible vehicle includes a thruster for pushing the submersible vehicle to move, a first servo motor is installed on the thruster, a second servo motor is connected to the first servo motor, and a third servo motor is connected to the second servo motor;

[0007] A first connecting rod is arranged between the thruster and the first servo motor, a second connecting rod is arranged between the first servo motor and the second servo motor, and a third connecting rod is arranged between the second servo motor and the third servo motor;

[0008] The second connecting rod is perpendicular to both the first connecting rod and the third connecting rod, and the first connecting rod and the third connecting rod are parallel.

[0009] Further, the length of the second connecting rod is longer than the lengths of the first connecting rod and the third connecting rod.

[0010] Further, a control module is installed on the third servo motor, and the control module is used to receive instructions and control the operation of the thruster, the first servo motor, the second servo motor and the third servo motor.

[0011] Further, a plurality of reinforcing rods are arranged between the second servo motor and the control module, and the plurality of reinforcing rods are arranged around the third servo motor, and both ends of the reinforcing rods are slidably connected to the second servo motor and the control module respectively.

[0012] Further, sliding grooves are formed on the opposite end faces of the second servo motor and the control module, and the ends of the reinforcing rods are slidably inserted into the sliding grooves.

[0013] Further, one end of the first connecting rod is connected to the output end of the first steering gear, and the other end is fixed to the thruster;

[0014] One end of the second connecting rod is connected to the output end of the second steering gear, and the other end is fixed to the first steering gear;

[0015] One end of the third connecting rod is connected to the output end of the third steering gear, and the other end is fixed to the second steering gear.

[0016] Further, the length of the fixed section of the first connecting rod and the thruster is longer than the length of the exposed section of the first connecting rod;

[0017] The length of the fixed section of the second connecting rod and the first steering gear is longer than the length of the exposed section of the second connecting rod;

[0018] The length of the fixed section of the third connecting rod and the second steering gear is longer than the length of the exposed section of the third connecting rod.

[0019] Further, two sets of the second steering gear, the third steering gear, the control module, the second connecting rod and the third connecting rod are symmetrically arranged along the first steering gear.

[0020] The utility model can achieve the following beneficial effects:

[0021] 1. The propulsion and steering device of the submersible vehicle in this application is provided with a first steering gear, a second steering gear and a third steering gear, and is connected through the first connecting rod, the second connecting rod and the third connecting rod, which can realize the rotation and adjustment of the thruster in all directions, and improve the flexibility of the submersible vehicle to turn in all directions.

[0022] 2. By setting the strengthening rod, the connection strength between the second steering gear and the control module can be improved. When the third steering gear drives the second steering gear, the first steering gear and the thruster to rotate, the torque force of the third connecting rod can be reduced, so that the service life of the third connecting rod is longer.

[0023] 3. By limiting the lengths of the fixed sections of the first connecting rod, the second connecting rod and the third connecting rod, when the first connecting rod, the second connecting rod and the third connecting rod drive the end device to rotate, the ability of the connection part to bear the bending moment force is stronger, so that the service life of the propulsion and steering device of this application is longer. Description of the Drawings

[0024] The following further describes the present utility model in conjunction with the drawings and embodiments:

[0025] Figure 1 It is a schematic structural principle diagram of a propulsion and steering device of a submersible vehicle of the present utility model;

[0026] Figure 2 It is a schematic plan view of a propulsion and steering device of a submersible vehicle of the present utility model for showing the shape of the sliding groove.

[0027] In the attached drawings, the list of components represented by each reference numeral is as follows:

[0028] 1. Thruster; 2. First steering gear; 3. Second steering gear; 31. Sliding groove; 4. Third steering gear; 5. First connecting rod; 6. Second connecting rod; 7. Third connecting rod; 8. Control module; 9. Reinforcing rod. Detailed implementation manners

[0029] To facilitate the understanding of this application, the following will provide a more comprehensive description of this application with reference to the relevant attached drawings. Embodiments of this application are shown in the drawings. However, this application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the disclosure of this application more thorough and comprehensive.

[0030] As Figure 1 and Figure 2 shown, a propulsion and steering device for a submersible vehicle includes a thruster 1 installed on the submersible vehicle. The thruster 1 is electrically driven to provide power for the operation of the submersible vehicle. The thruster 1 can be installed at the tail and both sides of the submersible vehicle as needed, and the installation quantity can be adjusted as needed.

[0031] A first connecting rod 5 is fixedly connected to the thruster 1. One end of the first connecting rod 5 away from the thruster 1 is provided with a first steering gear 2. A second connecting rod 6 is fixedly connected to the first steering gear 2. One end of the second connecting rod 6 away from the first steering gear 2 is installed with a second steering gear 3; a third connecting rod 7 is fixedly connected to the second steering gear 3. One end of the third connecting rod 7 away from the second steering gear 3 is installed with a third steering gear 4; a control module 8 is installed on the third steering gear 4.

[0032] Among them, the second connecting rod 6 is perpendicular to both the first connecting rod 5 and the third connecting rod 7, and the first connecting rod 5 and the third connecting rod 7 are parallel. It should be noted that one end of the first connecting rod 5 is connected to the output end of the first steering gear 2, and the other end is fixed to the thruster 1; one end of the second connecting rod 6 is connected to the output end of the second steering gear 3, and the other end is fixed to the first steering gear 2; one end of the third connecting rod 7 is connected to the output end of the third steering gear 4, and the other end is fixed to the second steering gear 3.

[0033] Driving the first connecting rod 5 to rotate around its own axis by the first servo 2 can drive the thruster 1 to rotate; when the first servo 2 stops running and is driven by the second servo 3, it drives the second connecting rod 6 to rotate around its own axis, and then can drive the first servo 2 and the thruster 1 to rotate in the corresponding plane; when the first servo 2 and the second servo 3 stop running and are driven by the third servo 4, it drives the third connecting rod 7 to rotate around its own axis, and then drives the thruster 1, the first servo 2, the second servo 3 and the second connecting rod 6 to rotate together in the corresponding plane. The thruster 1 can be driven to turn in various directions by the first servo 2, the second servo 3 and the third servo 4, and then the flexible movement of the submersible in three-dimensional space can be realized, including up and down floating, horizontal movement and rotation in place.

[0034] Among them, the control module 8 adopts an embedded system and obtains the position information and attitude information of the submersible through sensors. The control module 8 adjusts the working parameters of the thruster 1, the first servo 2, the second servo 3 and the third servo 4 according to the preset instructions and real-time information to achieve precise control. The control module 8 also has a fault detection and emergency handling function to improve the safety and reliability of the submersible.

[0035] The control module 8 also includes a power module. The power module adopts a high-capacity lithium battery pack to provide stable power supply for a long time. The power module is equipped with a power monitoring and management system to monitor the battery status in real time and charge or replace the battery when necessary.

[0036] Furthermore, the length of the second connecting rod 6 is longer than the lengths of the first connecting rod 5 and the third connecting rod 7, so that when the second servo 3 drives the second connecting rod 6 to rotate and then drives the first servo 2 and the thruster 1 to rotate, the rotation of the thruster 1 does not interfere with the second connecting rod 6, and the thruster 1 can rotate smoothly.

[0037] The length of the fixed section of the first connecting rod 5 and the thruster 1 is longer than the length of the exposed section of the first connecting rod 5; the length of the fixed section of the second connecting rod 6 and the first servo 2 is longer than the length of the exposed section of the second connecting rod 6; the length of the fixed section of the third connecting rod 7 and the second servo 3 is longer than the length of the exposed section of the third connecting rod 7. Since the submersible and the thruster 1 are arranged in water, when driving the end equipment to rotate through the first connecting rod 5, the second connecting rod 6 and the third connecting rod 7, the bending moment force is relatively large at the positions connected to the first connecting rod 5, the second connecting rod 6 and the third connecting rod 7. Limiting the length of the fixed section can improve the connection strength between the first connecting rod 5 and the thruster 1, the second connecting rod 6 and the first servo 2, and the third connecting rod 7 and the second servo 3, and then reduce the possibility of damage at the connection, and improve the service life of the submersible propulsion and steering device of the present application.

[0038] A plurality of reinforcing rods 9 are further arranged between the second servo 3 and the control module 8. The plurality of reinforcing rods 9 are arranged around the periphery of the third servo 4, and the reinforcing rods 9 and the third connecting rod 7 are arranged in parallel at intervals; both ends of the reinforcing rod 9 are slidably connected to the second servo 3 and the control module 8 respectively. Specifically, annular sliding grooves 31 are formed on the opposite end faces of the second servo 3 and the control module 8, and both ends of the reinforcing rod 9 are inserted and slidably installed in the sliding grooves 31. Since the third servo 4 needs to drive the thruster 1, the first servo 2 and the second servo 3 to rotate simultaneously during operation, only the third connecting rod 7 is used for connection, and the connection strength is weak. By arranging the reinforcing rods 9, the connection integrity between the control module 8 and the second servo 3 can be enhanced without affecting the driving rotation of the third servo 4, making the integrity of the submersible propulsion and steering device of the present application better.

[0039] In another embodiment, two sets of the second servo 3, the third servo 4, the control module 8, the second connecting rod 6 and the third connecting rod 7 are symmetrically arranged along the first servo 2, so that the weights on both sides of the thruster 1 and the first servo 2 are equivalent, thereby improving the balance and stability of the submersible propulsion and steering device of the present application. In addition, two sets of third servos 4 are provided. When one set of third servos 4 fails, the other set of third servos 4 can be used as a backup servo to realize the steering of the submersible; two sets of second servos 3 are provided, so that the two sets of second servos 3 can drive the thruster 1 to rotate synchronously, with stronger power.

[0040] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A propulsion and steering device for a submersible, characterized in that: The invention comprises a propeller (1) for driving a submersible to move, wherein a first steering gear (2) is mounted on the propeller (1), a second steering gear (3) is connected to the first steering gear (2), and a third steering gear (4) is connected to the second steering gear (3); A first connecting rod (5) is provided between the propeller (1) and the first steering gear (2), a second connecting rod (6) is provided between the first steering gear (2) and the second steering gear (3), and a third connecting rod (7) is provided between the second steering gear (3) and the third steering gear (4); The second connecting rod (6) is perpendicular to the first connecting rod (5) and the third connecting rod (7); the first connecting rod (5) and the third connecting rod (7) are parallel.

2. A submersible propulsion and steering device according to claim 1, characterized in that: The length of the second connecting rod (6) is longer than the lengths of the first connecting rod (5) and the third connecting rod (7).

3. A submersible propulsion and steering device according to claim 1, characterized in that: The third steering gear (4) is equipped with a control module (8), and the control module (8) is used to receive instructions and control the operation of the propeller (1), the first steering gear (2), the second steering gear (3) and the third steering gear (4).

4. A submersible propulsion and steering device according to claim 3, characterized in that: A plurality of reinforcing rods (9) are arranged between the second steering gear (3) and the control module (8), the plurality of reinforcing rods (9) being arranged around the circumference of the third steering gear (4), and the two ends of the reinforcing rods (9) are respectively slidably connected to the second steering gear (3) and the control module (8).

5. A submersible propulsion and steering device according to claim 4, characterized in that: The opposing end surfaces of the second steering gear (3) and the control module (8) are both provided with sliding grooves (31), and the end of the reinforcing rod (9) is slidably inserted into the sliding groove (31).

6. A submersible propulsion and steering device according to claim 1, characterized in that: One end of the first connecting rod (5) is connected to the output end of the first steering gear (2), and the other end is fixed to the propeller (1); One end of the second connecting rod (6) is connected to the output end of the second steering gear (3), and the other end is fixed to the first steering gear (2); One end of the third connecting rod (7) is connected to the output end of the third steering gear (4), and the other end is fixed to the second steering gear (3).

7. A submersible propulsion and steering device according to claim 6, characterized in that: The length of the fixed section between the first connecting rod (5) and the propeller (1) is longer than the length of the exposed section of the first connecting rod (5); The length of the fixed section between the second connecting rod (6) and the first steering gear (2) is longer than the length of the exposed section of the second connecting rod (6); The length of the fixed section between the third connecting rod (7) and the second steering gear (3) is longer than the length of the exposed section of the third connecting rod (7).

8. A submersible propulsion and steering device according to claim 3, characterized in that: The second steering gear (3), the third steering gear (4), the control module (8), the second connecting rod (6) and the third connecting rod (7) are all symmetrically arranged in two groups along the first steering gear (2).

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