阅读说明：本技术 一种压力自适应充油舵机 (Pressure self-adaptation oil-filled steering engine ) 是由 罗凯 张水艳 黄闯 秦侃 况晨曦 陈万宇 廖关兵 叶常盛 于 2021-08-02 设计创作，主要内容包括：本发明公开了一种压力自适应充油舵机,包括壳体,壳体内壁连接隔板,隔板将壳体内空间分为器械腔和充油腔,壳体上连接舵机盖,壳体位于器械腔内连接减速机构,减速机构连接控制电路板,壳体上位于充油腔开设进水口,壳体内位于进水口处连接圆柱筒,圆柱筒内壁贴合连接活塞盖,活塞盖远离进水口的一面连接活塞,活塞延伸至圆柱筒外部；适用于不同水深环境,可降低对壳体强度的设计要求,将壳体所需承受的深水压力转化为液压油的形变,承压范围大。(The invention discloses a pressure self-adaptive oil-filled steering engine which comprises a shell, wherein the inner wall of the shell is connected with a partition board, the partition board divides the space in the shell into an instrument cavity and an oil-filled cavity, the shell is connected with a steering engine cover, the shell is positioned in the instrument cavity and connected with a speed reducing mechanism, the speed reducing mechanism is connected with a control circuit board, the shell is positioned in the oil-filled cavity and provided with a water inlet, the shell is positioned at the water inlet and connected with a cylindrical barrel, the inner wall of the cylindrical barrel is attached and connected with a piston cover, one surface of the piston cover, far away from the water inlet, is connected with a piston, and the piston extends to the outside of the cylindrical barrel; the hydraulic oil pressure bearing device is suitable for different water depth environments, can reduce the design requirement on the strength of the shell, converts deep water pressure required to be borne by the shell into deformation of hydraulic oil, and is large in pressure bearing range.)

1. The utility model provides a pressure self-adaptation oil-filled steering wheel, its characterized in that, includes casing (3), casing (3) inner wall connection baffle, the baffle divide into apparatus chamber and oil-filled chamber with casing (3) inner space, connect rudder cover (2) on casing (3), casing (3) are located apparatus intracavity and connect reduction gears, reduction gears connection control circuit board, it sets up water inlet (22) to lie in the oil-filled chamber on casing (3), lie in water inlet (22) in casing (3) and locate to connect cylinder (6), piston lid (19) is connected in cylinder (6) inner wall laminating, piston lid (19) are kept away from the one side of water inlet (22) and are connected piston (18), piston (18) extend to cylinder (6) outside.

2. The pressure self-adaptive oil-filled steering engine according to claim 1, wherein the speed reducing mechanism comprises a motor (17) connected to the inner wall of the housing (3), the output end of the motor (17) is sequentially connected with a coupler (16) and a worm (15), the speed reducing mechanism further comprises a U-shaped frame connected in the housing (3), the ports of the U-shaped frame are connected with the two ends of the worm (15) through bearings d (14), the worm (15) is connected with the steering engine output shaft (1) through three-level speed reducing gears, the steering engine output shaft (1) penetrates out of the housing (3), and the motor (17) is connected with a control circuit.

3. The pressure self-adaptive oil-filled steering engine according to claim 2, wherein the three-stage reduction gear comprises a bevel gear shaft a (12) which is connected with a vertical worm (15) in the shell (3) in the length direction through a bearing a (13), the bevel gear shaft a (12) is fixedly connected with a turbine (11) and also comprises a bevel gear shaft b (10) vertical to the length direction of the worm (15), the bevel gear shaft b (10) is connected with the inside of the shell (3) through a bearing b (9), the bevel gear shaft b (10) is fixedly connected with a bevel gear b (8), the bevel gear b (8) is meshed with a turbine (11), the bevel gear b (8) is meshed with a bevel gear c (20), the bevel gear c (20) is fixedly connected with a steering engine output shaft (1), the output shaft (1) is connected with the shell (3) through a bearing c (21).

4. The pressure self-adaptive oil-filled steering engine according to claim 2, wherein a groove is formed in the side wall of the housing (3) near the output shaft (1), a magnetic rudder angle sensor (26) is connected in the groove of the housing (3), the magnetic rudder angle sensor (26) is connected with the control circuit board, and a magnet (25) is connected to the position of the output shaft (1) opposite to the magnetic rudder angle sensor (26).

5. The pressure self-adaptive oil-filled steering engine according to claim 2, wherein the output shaft (1) is sleeved with a square ring (24) and an O-ring (23) in sequence at a position facing the housing (3), and the O-ring (23) and the housing (3) are extruded with each other.

6. The pressure self-adaptive oil-filled steering engine according to claim 1, further comprising an oil filling port formed in the housing (3), wherein the oil filling port of the housing (3) is connected with an oil filling pipe (7), and the oil filling pipe (7) is communicated with the oil filling cavity.

7. The pressure self-adaptive oil-filled steering engine according to claim 1, wherein an exhaust port is formed in the side wall of the oil-filled cavity of the housing (3), and a one-way exhaust valve (4) is connected in the exhaust port in the housing (3).

8. The pressure self-adaptive oil-filled steering engine according to claim 1, wherein an O-ring b (27) is connected between the piston (18) and the cylinder (6).

9. The pressure self-adaptive oil-filled steering engine according to claim 1, wherein the outer side surface of the piston cover (19) is embedded with an O-shaped sealing ring c (29) through a groove, and two sides of the O-shaped sealing ring c (29) are connected with retaining rings (28).

10. The pressure self-adaptive oil-filled steering engine according to claim 1, wherein the housing (3) is provided with an outlet (5).

Technical Field

The invention belongs to the technical field of underwater vehicles, and particularly relates to a pressure self-adaptive oil-filled steering engine.

Background

The ocean occupies 71 percent of the surface area, and contains abundant mineral resources, such as petroleum, natural gas hydrate, polymetallic nodules, rich drilling and crusting block-shaped hydrothermal sulfide mineral deposits, polymetallic soft mud, barite and the like. With the gradual decrease or depletion of land resources, the importance of marine resources is more and more prominent, and people begin to pay more attention to the investigation and development of marine mineral resources. In addition, as the marine development activities become more and more frequent and deeper, marine oil and gas exploration and exploitation, marine investigation, marine engineering, laying and maintenance of marine pipelines and cables, exploitation of marine minerals and other marine activities performed by human beings must go from shallow sea to deep sea, and deep sea equipment naturally becomes a necessary tool for human beings to perform marine activities. And aiming at the current deepening of the field of ocean monitoring, exploration and development, UUV plays an increasingly important role and also puts higher requirements on the performance of UUV. As a core component of a UUV control part, a steering engine suitable for higher environmental pressure is designed, and the method is an important part for researching and developing the deep-sea UUV.

The steering wheel that is applicable to shallow water only need consider the resistance to pressure and the outside sealed of its casing can, but has arrived deep sea, and pressure is the several times of shallow water, only considers the casing that adopts higher resistance to pressure can increase several times weight for whole steering wheel.

Disclosure of Invention

The invention aims to provide a pressure self-adaptive oil-filled steering engine, which adjusts the adaptability under different water depths through pressure compensation.

The technical scheme includes that the pressure self-adaptive oil-filled steering engine comprises a shell, wherein a partition plate is connected to the inner wall of the shell, the space in the shell is divided into an instrument cavity and an oil-filled cavity by the partition plate, a steering engine cover is connected to the shell, the shell is located in the instrument cavity and is connected with a speed reducing mechanism, the speed reducing mechanism is connected with a control circuit board, a water inlet is formed in the oil-filled cavity and is located in the shell, a cylindrical barrel is connected to the position, located in the shell, of the water inlet, a piston cover is attached to the inner wall of the cylindrical barrel, one side, far away from the water inlet, of the piston cover is connected with a piston, and the piston extends to the outside of the cylindrical barrel.

The invention is also characterized in that:

the speed reducing mechanism comprises a motor connected to the inner wall of the shell, the output end of the motor is sequentially connected with a coupler and a worm, the speed reducing mechanism further comprises a U-shaped frame connected in the shell, the two ends of the worm are connected between the ports of the U-shaped frame through a bearing d, the worm is connected with a steering engine output shaft through a three-level speed reducing gear, the steering engine output shaft penetrates out of the shell, and the motor is connected with a control circuit.

The three-stage reduction gear comprises a bevel gear shaft a which is perpendicular to the length direction of a worm in the shell and is connected with the worm through a bearing a, a worm wheel is fixedly connected to the bevel gear shaft a, and the three-stage reduction gear further comprises a bevel gear shaft b which is perpendicular to the length direction of the worm, the bevel gear shaft b is connected with the shell through a bearing b, a bevel gear b is fixedly connected to the bevel gear shaft b and is meshed with the worm wheel, the bevel gear b is meshed with a bevel gear c, a steering engine output shaft is fixedly connected to the bevel gear c, and the output shaft is connected with the shell through a bearing c.

A groove is formed in the side wall of the shell and close to the output shaft, a magnetic rudder angle sensor is connected in the groove of the shell and connected with a control circuit board, and a magnet is connected to the position, right facing the magnetic rudder angle sensor, of the output shaft.

The output shaft is sleeved with the square ring and the O-shaped ring in sequence at the position opposite to the shell, and the O-shaped ring and the shell are extruded mutually.

The oil filling port of the shell is connected with an oil filling pipe, and the oil filling pipe is communicated with the oil filling cavity.

The shell is positioned on the side wall of the oil filling cavity and is provided with an exhaust port, and a one-way exhaust valve is connected in the exhaust port on the shell.

An O-shaped sealing ring b is connected between the piston and the cylinder.

The outer side surface of the piston cover is embedded with an O-shaped sealing ring c through a groove, and two sides of the O-shaped sealing ring c are connected with retaining rings.

The shell is provided with a wire outlet.

The invention has the beneficial effects that:

1) the device has the advantages of small volume, light weight, compact structure and large output torque, and can be suitable for the output requirements of different types of deep sea aircrafts;

2) the designed steering engine adopts a worm gear reducer, so that the large transmission ratio and the reverse self-locking function can be realized, and the safety of the whole servo mechanism is improved;

3) the hydraulic oil pressure bearing device is suitable for different water depth environments, can reduce the design requirement on the strength of the shell, converts the deep water pressure required to be borne by the shell into the deformation of hydraulic oil, and has a large pressure bearing range;

4) whole device convenient to detach and change set up and fill the hydraulic fluid port and exhaust/oil-out for change and fill the medium, keep apart medium and gear etc. through the baffle, do not influence the normal control of steering wheel.

Drawings

FIG. 1 is a schematic view of an appearance structure of a pressure self-adaptive oil-filled steering engine according to the present invention;

FIG. 2 is a schematic view of the bottom of a pressure adaptive oil-filled steering engine according to the present invention;

FIG. 3 is a schematic view of the internal structure of the cylinder of the present invention;

FIG. 4 is a schematic diagram of the internal structure of a pressure self-adaptive oil-filled steering engine according to the present invention;

FIG. 5 is a schematic view of the installation of the magnetic rudder angle sensor according to the present invention;

FIG. 6 is a schematic view of the dynamic seal of the output shaft of the present invention.

In the figure, 1, a steering engine output shaft, 2, a steering engine cover, 3, a shell, 4, a one-way exhaust valve, 5, an outlet, 6, a cylindrical barrel, 7, an oil filling pipe, 8, a bevel gear b, 9, a bearing b, 10, a bevel gear shaft b, 11, a worm wheel, 12, a bevel gear shaft a, 13, a bearing a, 14, a bearing d, 15, a worm, 16, a coupler, 17, a motor, 18, a piston, 19, a piston cover, 20, a bevel gear c, 21, a bearing c, 22, a water inlet, 23, an O-shaped ring a, 24, a square ring, 25, a magnet, 26, a magnetic steering angle sensor, 27, O-shaped ring b, 28, a retaining ring, 29 and O-shaped ring c are arranged.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

The invention relates to a pressure self-adaptive oil-filled steering engine, which comprises a shell 3, wherein a rudder cover 2 is connected on the shell 3, the shell 3 and the rudder cover 2 form a cavity, the inner wall of the shell 3 is connected with a partition board, the partition board divides the space in the shell 3 into an instrument cavity and an oil-filled cavity, the shell 3 is positioned in the instrument cavity and is connected with a speed reducing mechanism, the speed reducing mechanism is connected with a control circuit board, as shown in fig. 2, a water inlet 22 is arranged in the oil-filled cavity on the shell 3, as shown in fig. 3, the cylindrical barrel 6 is connected with the position of the water inlet 22 in the shell 3, the oil-filled cavity is communicated with the cylindrical barrel 6, the medium oil is filled in the oil-filled cavity, the inner wall of the cylindrical barrel 6 is jointed and connected with the piston cover 19, one side of the piston cover 19 far away from the water inlet 22 is connected with the piston 18, the piston 18 extends to the outside of the cylindrical barrel 6, when the piston 18 is subjected to different pressures, the position of the piston 18 is self-adjusting to force balance the piston 18.

As shown in fig. 4, the speed reducing mechanism comprises a motor 17 connected to the inner wall of the housing 3, the output end of the motor 17 is sequentially connected with a coupler 16 and a worm 15, the speed reducing mechanism further comprises a U-shaped frame connected in the housing 3, the two ends of the worm 15 are connected between the ports of the U-shaped frame through a bearing d14, the worm 15 is connected with a steering engine output shaft 1 through a three-level speed reducing gear, the steering engine output shaft 1 penetrates out of the housing 3, the motor 17 is connected with a control circuit, the motor 17 is controlled to rotate through the control circuit, the steering engine output shaft 1, the coupler 16, the worm 15 and the three-level speed reducing gear are sequentially driven, and the output deflection of the oil-filled steering engine is controlled through the three-level speed reducing gear.

The three-stage reduction gear comprises a bevel gear shaft a12 which is perpendicular to the length direction of a worm 15 and is connected with the worm through a bearing a13 in a housing 3, a worm wheel 11 is fixedly connected onto the bevel gear shaft a12, the three-stage reduction gear further comprises a bevel gear shaft b10 which is perpendicular to the length direction of the worm 15, the bevel gear shaft b10 is connected with the housing 3 through a bearing b9, a bevel gear b8 is fixedly connected onto a bevel gear b10, the bevel gear b8 is in meshing connection with the worm wheel 11, a bevel gear b8 is in meshing connection with a bevel gear c20, a steering engine output shaft 1 is fixedly connected onto the bevel gear c20, the output shaft 1 is connected onto the housing 3 through a bearing c21, when the worm 15 rotates, the worm 11, the bevel gear b8, the bevel gear c20 and the output shaft 1 are sequentially driven, and deflection angle control of the output shaft 1 is achieved through a control circuit.

As shown in fig. 5, a groove is formed in a position, close to the output shaft 1, of the side wall of the housing 3, a magnetic rudder angle sensor 26 is connected in the groove of the housing 3, the magnetic rudder angle sensor 26 is connected with the control circuit board, a magnet 25 is connected to a position, opposite to the magnetic rudder angle sensor 26, on the output shaft 1, when the output shaft 1 rotates, the magnet 25 is driven to rotate, the rotation angle of the magnet 25 is detected through the magnetic rudder angle sensor 26, and then the rotation angle of the output shaft 1 is detected.

As shown in fig. 6, a square ring 24 and an O-ring 23 are sequentially sleeved at a position, which is opposite to the housing 3, outside the output shaft 1, the O-ring 23 and the housing 3 are mutually extruded, and when the output shaft 1 rotates, the output shaft 1 can be opposite to the housing 3 and can rotate in a sealing manner, so that the sealing performance of the output shaft 1 during rotation can be ensured.

The oil filling port formed in the shell 3 is further included, the oil filling port of the shell 3 is connected with the oil filling pipe 7, the oil filling pipe 7 is communicated with the oil filling cavity, media can be filled in the oil filling cavity, one end, close to the oil filling port, of the oil filling pipe 7 is connected with the female connector capable of being automatically locked in a one-way mode, the female connector is matched with the external male connector for use when oil is filled, the male connector is directly pulled out after oil filling is finished, the female connector can be automatically locked, and leakage of medium oil in the shell 3 is prevented.

The shell 3 is positioned on the side wall of the oil filling cavity and is provided with an exhaust port, and a one-way exhaust valve 4 is connected in the exhaust port on the shell 3, so that gas or medium oil generated due to temperature change in the shell 3 can be exhausted.

An O-ring b27 is connected between the piston 18 and the cylinder 6 to prevent seawater from entering the housing 3.

The outer side surface of the piston cover 19 is embedded with an O-shaped sealing ring c29 through a groove, two sides of the O-shaped sealing ring c29 are connected with retaining rings 28, and the retaining rings 28 can prevent the O-shaped sealing ring c29 from falling off.

The housing 3 is provided with a wire outlet 5 for communicating the internal control circuit board with an external circuit.

The invention relates to a method for using a pressure self-adaptive oil-filled steering engine, which comprises the following steps:

the steering wheel main part is the box structure that casing 3 and rudder cover 2 formed, and output shaft 1 reserves the mouth through rudder cover 2 and stretches out, and the steering wheel bottom is equipped with the positioning flange, can be used to fixed mounting on the carrier.

The pressure self-adaptive oil-filled steering engine can be used as a land servo mechanism in a non-oil-filled state; when the device is used underwater, the oil filling cavity is filled with oil through the oil filling pipe 7; when the steering engine is to be disassembled or oil is to be changed, the one-way exhaust valve 4 is opened, and the auxiliary suction device can be used for discharging hydraulic oil from the one-way exhaust valve. When the steering wheel depth of water becomes dark, the sea water gushes in through the water inlet 22 of bottom, and piston 18 receives water pressure and produces the displacement, and opposite side hydraulic oil pressurized because the compressibility of liquid, the inside hydraulic oil volume of pressurized back cavity diminishes, and when the navigation degree of depth diminishes, sea water pressure diminishes, and cavity internal pressure is greater than sea water pressure. Under the condition of variable navigation depth, the stress on two sides of the piston 18 keeps dynamic balance to realize pressure compensation.

Through the mode, the pressure self-adaptive oil-filled steering engine is integrally designed, overcomes the pressure resistance method only considering improvement of shell tolerance by utilizing compressibility of hydraulic oil, is designed, and can be used as an independent servo mechanism for underwater aircrafts.