CN110697014B - Shaftless pump jet vector propulsion device - Google Patents
Shaftless pump jet vector propulsion device Download PDFInfo
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- CN110697014B CN110697014B CN201910798555.8A CN201910798555A CN110697014B CN 110697014 B CN110697014 B CN 110697014B CN 201910798555 A CN201910798555 A CN 201910798555A CN 110697014 B CN110697014 B CN 110697014B
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- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 238000007789 sealing Methods 0.000 claims description 8
- 230000002093 peripheral effect Effects 0.000 claims description 4
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 230000006872 improvement Effects 0.000 description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 7
- 230000000694 effects Effects 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 230000002349 favourable effect Effects 0.000 description 3
- 230000010354 integration Effects 0.000 description 3
- 239000007921 spray Substances 0.000 description 3
- 238000005507 spraying Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000004870 electrical engineering Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000011089 mechanical engineering Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000035515 penetration Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
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- 230000006641 stabilisation Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H11/00—Marine propulsion by water jets
- B63H11/02—Marine propulsion by water jets the propulsive medium being ambient water
- B63H11/04—Marine propulsion by water jets the propulsive medium being ambient water by means of pumps
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H11/00—Marine propulsion by water jets
- B63H11/02—Marine propulsion by water jets the propulsive medium being ambient water
- B63H11/10—Marine propulsion by water jets the propulsive medium being ambient water having means for deflecting jet or influencing cross-section thereof
- B63H11/107—Direction control of propulsive fluid
- B63H11/117—Pivoted vane
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H11/00—Marine propulsion by water jets
- B63H11/02—Marine propulsion by water jets the propulsive medium being ambient water
- B63H11/04—Marine propulsion by water jets the propulsive medium being ambient water by means of pumps
- B63H2011/043—Marine propulsion by water jets the propulsive medium being ambient water by means of pumps with means for adjusting or varying pump inlets, e.g. means for varying inlet cross section area
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- Chemical & Material Sciences (AREA)
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- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Structures Of Non-Positive Displacement Pumps (AREA)
Abstract
The invention provides a shaftless pump jet vector propulsion device which is used for driving an underwater vehicle to sail and comprises a guide pipe, a hub fixedly arranged in the guide pipe, an integrated motor rotor rotatably arranged in the guide pipe, an impeller integrated with the integrated motor rotor, a front guide vane arranged on the inflow side of the impeller and a steering mechanism arranged on the outflow side of the impeller and used for controlling the underwater vehicle to steer. The front guide vane and the steering mechanism are connected with the hub. By the arrangement, the front guide vane and the steering mechanism are integrated, the problem that the existing shaftless pump jet propeller is poor in maneuverability is solved, the attached bodies of the underwater navigation body can be reduced, the navigation resistance of the underwater navigation body can be reduced, and the application prospect is wide.
Description
Technical Field
The invention belongs to the field of ship propellers, and particularly relates to a shaftless pump jet vector propulsion device which is highly integrated, efficient, low in noise and excellent in maneuverability.
Background
At present, the technology of the integrated power system shows a strong development trend increasingly no matter in civil ships or military ships, has epoch-making significance for the design of ship power platforms, and represents the future development direction of ship power systems. The integrated motor propulsion device is an important module of power integration and the high-integration embodiment of a comprehensive power system, is a new research field formed by the integration, intersection and penetration of multiple subjects such as motors, electrical engineering, control engineering, power engineering and engineering thermophysics, material science and engineering, mechanical engineering, ship and ocean engineering and the like, and plays an important role in the aspects of realizing high efficiency, low radiation noise, high power density, excellent maneuverability and the like of electric propulsion.
In order to reduce the noise of the underwater navigation body, a shaftless pump jet propeller which cancels the traditional shafting structure is widely favored. However, most of the existing shaftless pump spraying propellers are complex in structure, difficult to achieve excellent maneuverability by adopting a traditional rotating device and poor in maneuverability.
The patent application with the application number of CN201810882491.5 discloses a novel shaftless pump-jet type propeller, which comprises a propeller guide vane, an impeller, a hub, a support ring, a guide pipe, a motor stator and a motor rotor. The guide vane of the propeller is arranged in the guide pipe, one end of the guide vane of the propeller points to the axis of the guide pipe, and the other end of the guide vane of the propeller is fixedly connected with the guide pipe. An annular mounting groove is dug in the inner surface of the guide pipe, and the motor stator is arranged in the guide pipe and located at the position corresponding to the mounting groove. The support ring stretches into the mounting groove, the root of the impeller is provided with a hub, the tip of the impeller is connected to the support ring, and the inner surface of the support ring is flush with the inner surface of the guide pipe. The motor rotor is uniformly arranged on the outer surface of the support ring to generate magnetic action with the motor stator; the hub attachment structure is used for being fixedly connected to the basic equipment, so that the hub can be sleeved on the outer side of the hub attachment structure to rotate; the water-proof shell is at least arranged between the guide pipe and the support ring so as to prevent water from contacting with the motor stator and the motor rotor. The pump-spraying type propeller without the shaft structure has a complex structure and cannot realize the steering function of multiple degrees of freedom.
The patent application with the application number of CN201610019456.1 discloses a novel propeller is spouted to leading skew stator formula pump, including leading skew stator, rearmounted impeller, annular pipe, support bearing, rotation axis. Wherein the guide vane wheel hub and the rear vane wheel are coaxially arranged inside the annular guide pipe; the front inclined guide vanes are uniformly and obliquely arranged on the outer wall of the guide vane wheel hub and are fixedly connected with the annular guide pipe. The rotating shaft sequentially and coaxially penetrates through the guide vane wheel hub and the rear vane wheel, the tail end of the rotating shaft is provided with a guide cap, and the rear vane wheel is positioned between the guide vane wheel hub and the guide cap. The rear impeller is fixedly sleeved outside the rotating shaft and driven by the rotating shaft to do work, and the rotating shaft is coaxially supported inside the guide impeller hub through a sliding support bearing. This propeller has reduced the navigation noise through setting up leading skew stator, but the structure is complicated, and the volume of the body of navigating under water, weight are big, are unfavorable for the control to the body of navigating under water, and mobility is relatively poor.
In view of the above, there is a need for an improved shaftless pump jet vector propulsion device to solve the above problems.
Disclosure of Invention
The invention aims to provide a shaftless pump jet vector propulsion device which has high efficiency, low noise, cavitation resistance, compact structure, excellent maneuverability, high integration and is beneficial to improving the maneuverability of an underwater vehicle.
In order to achieve the purpose, the invention provides a shaftless pump jet vector propulsion device which is used for driving an underwater vehicle to sail and comprises a guide pipe, a hub fixedly arranged in the guide pipe, an integrated motor rotor rotatably arranged in the guide pipe, an impeller integrated with the integrated motor rotor, a front guide vane arranged on the inflow side of the impeller and a steering mechanism arranged on the outflow side of the impeller and used for controlling the underwater vehicle to steer, wherein the integrated motor rotor is arranged in the guide pipe; the front guide vane and the steering mechanism are connected with the hub.
As a further improvement of the invention, when the underwater vehicle is sailing straight, the steering mechanism is kept still; and when the underwater vehicle needs to turn, controlling the steering mechanism to deflect to generate a deflection force for steering the underwater vehicle.
As a further improvement of the present invention, the steering mechanism comprises a horizontal rudder and a vertical rudder which are arranged perpendicular to each other, a horizontal steering motor and a vertical steering motor which are correspondingly used for driving the horizontal rudder and the vertical rudder to rotate, a horizontal bevel gear which connects the horizontal steering motor and the horizontal rudder, a vertical bevel gear which connects the vertical steering motor and the vertical rudder, and a control circuit which controls the horizontal steering motor and the vertical steering motor;
when the underwater vehicle needs to turn, controlling the horizontal steering motor to drive the horizontal bevel gear to rotate so as to drive the horizontal rudder to deflect to generate a deflection force in the vertical direction; and/or
And controlling the vertical rudder-turning motor to drive the vertical bevel gear to rotate so as to drive the vertical rudder to deflect to generate a horizontal deflection force.
As a further development of the invention, the deflections of the horizontal rudder and the vertical rudder do not influence each other.
As a further improvement of the invention, the horizontal rudder comprises two horizontal rudder blades which are horizontally arranged in pairs, two ends of each horizontal rudder blade are respectively provided with a horizontal rudder stock, the horizontal rudder stock at one end is connected with the horizontal bevel gear, and the horizontal rudder stock at the other end is connected with the other horizontal rudder blade through a horizontal rudder stock connecting shaft, so that the two horizontal rudder blades synchronously deflect and generate a vertical deflection force; the vertical rudder comprises two vertical rudder blades which are vertically arranged in pairs, vertical rudder stock is arranged at two ends of each vertical rudder blade, the vertical rudder stock at one end is connected with the vertical bevel gear, and the vertical rudder stock at the other end is connected with the vertical rudder blade through a vertical rudder stock connecting shaft, so that the two vertical rudder blades synchronously deflect and generate horizontal deflection force.
As a further improvement of the invention, the horizontal rudder stock connecting shaft and the vertical rudder stock connecting shaft are both arranged in the hub, and the horizontal rudder stock connecting shaft and the vertical rudder stock connecting shaft are not in contact with each other.
As a further improvement of the invention, the horizontal rudder stock and the vertical rudder stock are both arranged outside the hub; two ends of the horizontal rudder stock connecting shaft are connected with the horizontal rudder stock through bearings, and two ends of the vertical rudder stock connecting shaft are connected with the vertical rudder stock through bearings; and a rotary sealing element is arranged between the bearing and the inner wall of the hub.
As a further improvement of the invention, the inner wall of the conduit is provided with an annular groove for accommodating the integrated motor rotor, and the impeller is mounted on the inner peripheral wall of the integrated motor rotor and rotates around the hub along with the integrated motor rotor; the horizontal steering motor and the vertical steering motor are arranged close to the integrated motor rotor, and cables of the horizontal steering motor and the vertical steering motor and the control circuit are arranged in an integrated mode.
As a further improvement of the present invention, the inner wall of the conduit is further provided with an accommodating cavity with an opening facing the annular groove, the accommodating cavity is used for accommodating the vertical bevel gear and the horizontal bevel gear, the vertical bevel gear is connected with the vertical rudder stock through a bearing, the horizontal bevel gear is connected with the horizontal rudder stock through a bearing, and a rotary sealing member is arranged between the bearing and the inner wall of the conduit.
As a further improvement of the present invention, the rotary seal is a seal ring.
The invention has the beneficial effects that:
1. the shaftless pump spray vector propulsion device is characterized in that a front guide vane is arranged on the inflow side of an impeller, a steering mechanism for controlling the underwater vehicle to steer is arranged on the outflow side of the impeller, and the front guide vane and the steering mechanism are both connected with a hub fixedly arranged in a guide pipe, so that the front guide vane and the steering mechanism are integrated; the problem of current shaftless pump spray propeller maneuverability is poor is solved, the appendage of the body of navigating under water also can be reduced simultaneously, be favorable to reducing the navigation resistance of the body of navigating under water.
2. The shaftless pump jet vector propulsion device not only can inherit the advantages of high efficiency, low noise, cavitation resistance, compact structure and the like of the shaftless pump jet propeller, but also can recover the wake flow energy of the shaftless pump jet vector propulsion device by the rudder blade of the steering mechanism arranged on the outflow side of the impeller when the underwater vehicle is in straight voyage and does not need steering, thereby improving the hydrodynamic efficiency of the shaftless pump jet vector propulsion device; when the underwater vehicle needs to turn, the deflection of multiple degrees of freedom of the underwater vehicle can be realized. In addition, the horizontal rudder blade and the vertical rudder blade which are arranged on the outflow side of the impeller work in high-speed high-pressure restricted flow, so that the rudder effect is high, the excellent control performance is realized, and the maneuverability of the underwater vehicle is favorably improved.
Drawings
FIG. 1 is a perspective schematic view of a preferred embodiment of the shaftless pump jet vector propulsion apparatus of the present invention;
FIG. 2 is a perspective view of another embodiment of the shaftless pump jet vector propulsion device of the present invention;
FIG. 3 is a schematic structural view of the rudder mechanism and the hub;
FIG. 4 is a schematic view of another angle of the steering mechanism mounted to the hub;
FIG. 5 is a schematic structural view of a rudder level, a rudder level motor and a connecting member thereof;
fig. 6 is a schematic structural view of the vertical rudder, the vertical rudder motor and the connecting members thereof.
The parts in the drawings are numbered as follows:
100. a shaftless pump jet vector propulsion device; 1. a conduit; 2. a hub; 3. an integrated motor rotor; 4. an impeller; 5. a steering mechanism; 511. a horizontal rudder blade; 512. a horizontal tiller; 513. a horizontal rudder stock connecting shaft; 521. a vertical rudder blade; 522. a vertical tiller; 523. a vertical tiller connecting shaft; 53. a horizontal steering motor; 54. a vertical steering motor; 55. a horizontal bevel gear; 56. a vertical bevel gear; 6. a rotary seal; 71. 72, 73, 74, bearings; 8. leading guide vanes.
Detailed Description
The following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the advantages and features of the invention easier to understand by those skilled in the art, and thus will clearly and clearly define the scope of the invention.
Referring to fig. 1 to 6, the present invention provides a shaftless pump jet vector propulsion device 100 for driving a submerged vehicle to sail, including a conduit 1, a hub 2 fixedly disposed in the conduit 1, an integrated motor rotor 3 rotatably disposed in the conduit 1, an impeller 4 integrated with the integrated motor rotor 3, a front guide vane 8 disposed on an inflow side of the impeller 4, and a steering mechanism 5 disposed on an outflow side of the impeller 4 for controlling steering of the submerged vehicle. The front guide vane 8 and the steering mechanism 5 are connected with the hub 2. With such an arrangement, the front guide vane 8 and the steering mechanism 5 are integrally arranged, so that the maneuverability of the shaftless pump jet vector propulsion device 100 is improved, and the attachments of the underwater vehicle can be reduced, which is beneficial to reducing the navigation resistance of the underwater vehicle.
The inner wall of the conduit 1 is further provided with an annular groove (not numbered) for accommodating the integrated motor rotor 3 and an accommodating cavity (not numbered) with an opening facing the annular groove. The impeller 4 is mounted on the inner peripheral wall of the integrated motor rotor 3 and extends from the inner peripheral wall to the hub 2. The integrated motor rotor 3 is rotatable within the annular recess and directly drives the impeller 4 to rotate about the hub 2. Due to the arrangement, a rotating shaft system in the traditional propelling device is eliminated, the radiating noise of the hull caused by the vibration of the rotating shaft system can be eliminated, the low noise is favorably realized, and the structure of the shaftless pump spraying vector propelling device 100 is more compact.
The steering mechanism 5 includes a horizontal rudder and a vertical rudder which are perpendicular to each other, a horizontal steering motor 53 and a vertical steering motor 54 which are used for driving the horizontal rudder and the vertical rudder to rotate correspondingly, a horizontal bevel gear 55 which connects the horizontal steering motor 53 and the horizontal rudder, a vertical bevel gear 56 which connects the vertical steering motor 54 and the vertical rudder, and a control circuit (not shown) which controls the horizontal steering motor 53 and the vertical steering motor 54.
The rudder comprises two horizontal rudder blades 511 arranged in horizontal pairs. Horizontal rudder blade 511's both ends all are equipped with horizontal rudder stock 512, one end horizontal rudder stock 512 with horizontal bevel gear 55 is connected, the other end horizontal rudder stock 512 passes through horizontal rudder stock connecting axle 513 and another piece horizontal rudder blade 511 is connected, realizes two horizontal rudder blade 511 deflect in step, produce the yawing force of vertical direction simultaneously.
The vertical rudder comprises two vertical rudder blades 521 which are vertically arranged in pairs, vertical rudder stocks 522 are arranged at two ends of each vertical rudder blade 521, the vertical rudder stock 522 at one end is connected with the vertical bevel gear 56, the vertical rudder stock 522 at the other end is connected with the other vertical rudder blade 521 through a vertical rudder stock connecting shaft 523, synchronous deflection of the two vertical rudder blades 521 is realized, and meanwhile, a horizontal deflection force is generated.
The horizontal rudder stock connecting shaft 513 and the vertical rudder stock connecting shaft 523 are both arranged in the hub 2 and are not in contact with each other. The horizontal rudder stock 512 and the vertical rudder stock 522 are both provided outside the hub 2. The both ends of horizontal rudder stock connecting shaft 513 through set up in the wheel hub 2 bearing 71 with horizontal rudder stock 512 connects, the both ends of vertical rudder stock connecting shaft 523 through set up in the wheel hub 2 bearing 72 with vertical rudder stock 522 connects, bearing 71, 72 with all be provided with rotary seal 6 between the inner wall of wheel hub 2. So set up, prevented that outside rivers from getting into inside the wheel hub 2, play rotary seal's effect.
It should be noted that, in this embodiment, the horizontal rudder stock connecting shaft 513 and the vertical rudder stock connecting shaft 523 are arranged in an arc shape, and the protruding directions of the arc shapes are opposite to each other, so that the horizontal rudder stock connecting shaft and the vertical rudder stock connecting shaft are not in contact with each other, and the horizontal rudder stock connecting shaft and the vertical rudder stock connecting shaft are ensured not to be influenced by each other in deflection. It should be understood by those skilled in the art that the horizontal rudder stock connecting shaft 513 and the vertical rudder stock connecting shaft 523 may be configured in other shapes, which only needs to ensure that the two are always kept not in contact with each other, and the configuration is not limited.
The vertical bevel gear 56 and the horizontal bevel gear 55 are respectively and correspondingly arranged in the accommodating cavities arranged close to the annular grooves. The horizontal steering motor 53 and the vertical steering motor 54 are disposed near the integrated motor rotor 3 and correspond to the horizontal rudder and the vertical rudder, respectively. The horizontal steering motor 53, the vertical steering motor 54 and the integrated motor rotor 3 are close to each other, and cables of the horizontal steering motor 53, the vertical steering motor 54 and the integrated motor rotor 3 are connected with the control circuit together, so that additional circuits do not need to be arranged. Namely, the three are integrated, so that the space is saved, and the management is convenient.
One end of the vertical bevel gear 56 is connected with the vertical steering motor 54, and the other end is connected with the vertical rudder stock 522 through a bearing 73 arranged in the accommodating cavity; one end of the horizontal bevel gear 55 is connected with the horizontal steering motor 53, the other end is connected with the horizontal rudder stock 512 through a bearing 74 arranged in the accommodating cavity, and a rotary sealing element 6 is arranged between the bearing and the inner wall of the guide pipe 1. So set up, prevented that outside rivers from getting into accept intracavity portion, play rotary seal's effect.
In the present embodiment, the rotary seal 6 is a lip seal. It should be noted that, as will be understood by those skilled in the art, the rotary seal 6 may also be other sealing rings, and only needs to ensure that the sealing function can be achieved, which is not limited in particular.
The operation of the shaftless pump jet vector propulsion device 100 will be explained as follows:
when the underwater vehicle is in straight voyage and does not need to turn, the horizontal rudder and the vertical rudder do not deflect and keep still, so that the circumferential component of the outflow speed of the shaftless pump jet vector propulsion device 100 can be reduced, the horizontal rudder blade 511 and the vertical rudder blade 521 which are arranged on the outflow side of the impeller 4 play a role in recovering the wake energy of the shaftless pump jet vector propulsion device 100, and the hydrodynamic efficiency of the shaftless pump jet vector propulsion device 100 is improved;
when the underwater vehicle needs to turn, the horizontal steering motor 53 is controlled to drive the horizontal bevel gear 55 to rotate for a certain angle so as to drive the horizontal rudder blade 511 of the horizontal rudder to deflect for a certain angle, and the deflection of the horizontal rudder blade 511 can force the outflow direction of the shaftless pump jet vector propulsion device 100 to change, so that the lateral thrust in the vertical direction is generated; and/or
The vertical rudder motor 54 is controlled to drive the vertical bevel gear 56 to rotate for a certain angle so as to drive the vertical rudder blade 521 of the vertical rudder to deflect for a certain angle, and the deflection of the vertical rudder blade 521 can force the outflow direction of the shaftless pump jet vector propulsion device 100 to change, so that the lateral thrust in the horizontal direction is generated.
Therefore, deflection of the underwater vehicle with multiple degrees of freedom can be realized.
Because the horizontal rudder blade 511 and the vertical rudder blade 521 work in the restricted flow of the conduit 1 of the shaftless pump jet vector propulsion device 100, the high-speed and high-pressure outflow effect of the horizontal rudder blade 511, the vertical rudder blade 521 and the impeller 4 is obvious, and the rudder effect is high.
It should be noted that "horizontal" and "vertical" in the text of "horizontal rudder", "vertical rudder", "horizontal rudder motor 53", "vertical rudder motor 54", "horizontal bevel gear 55", "vertical bevel gear 56", "horizontal rudder stock connecting shaft 513", "vertical rudder stock connecting shaft 523" are all for the purpose of corresponding and distinguishing the matching relationship of the components, so as to facilitate the understanding of the reader, and it is not intended to describe that "horizontal rudder motor 53" and "vertical rudder motor 54", "horizontal bevel gear 55" and "vertical bevel gear 56", "horizontal rudder stock connecting shaft 513" and "vertical rudder stock connecting shaft 523" are different, and those skilled in the art should understand.
In conclusion, the shaftless pump jet vector propulsion device 100 of the present invention has the front guide vane 8 arranged on the inflow side of the impeller 4, the steering mechanism 5 for controlling the steering of the underwater vehicle arranged on the outflow side of the impeller 4, and the front guide vane 8 and the steering mechanism 5 are both connected with the hub 2 fixedly installed in the conduit 1, so that the front guide vane 8 and the steering mechanism 5 are integrated; the problem of current shaftless pump spray propeller maneuverability is poor is solved, the appendage of the body of navigating under water also can be reduced simultaneously, be favorable to reducing the navigation resistance of the body of navigating under water, have wide application prospect.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (9)
1. The utility model provides a shaftless pump spouts vector advancing device for drive underwater vehicle navigation which characterized in that: the underwater vehicle steering system comprises a guide pipe (1), a hub (2) fixedly arranged in the guide pipe (1), an integrated motor rotor (3) rotatably arranged in the guide pipe (1), an impeller (4) integrated with the integrated motor rotor (3), a front guide vane (8) arranged on the inflow side of the impeller (4) and a steering mechanism (5) arranged on the outflow side of the impeller (4) and used for controlling the underwater vehicle to steer; the front guide vane (8) and the steering mechanism (5) are both connected with the hub (2); the steering mechanism (5) comprises a horizontal rudder and a vertical rudder which are arranged vertically, a horizontal bevel gear (55) connected with the horizontal rudder and a vertical bevel gear (56) connected with the vertical rudder; the horizontal rudder comprises two horizontal rudder blades (511) which are horizontally arranged in pairs, horizontal rudder stock (512) is arranged at two ends of each horizontal rudder blade (511), the horizontal rudder stock (512) at one end is connected with the horizontal bevel gear (55), the horizontal rudder stock (512) at the other end is connected with the other horizontal rudder blade (511) through a horizontal rudder stock connecting shaft (513), synchronous deflection of the two horizontal rudder blades (511) is realized, and meanwhile, a vertical deflection force is generated; the vertical rudder comprises two vertical rudder blades (521) which are vertically arranged in pairs, vertical rudder rods (522) are arranged at two ends of each vertical rudder blade (521), one end of each vertical rudder rod (522) is connected with the vertical bevel gear (56), the other end of each vertical rudder rod (522) is connected with the other vertical rudder blade (521) through a vertical rudder rod connecting shaft (523), and therefore the two vertical rudder blades (521) deflect synchronously and generate deflection force in the horizontal direction.
2. The shaftless pump jet vector propulsion device according to claim 1, wherein: when the underwater vehicle sails straight, the steering mechanism (5) keeps still; when the underwater vehicle needs to turn, the steering mechanism (5) is controlled to deflect to generate a deflecting force for turning the underwater vehicle.
3. The shaftless pump jet vector propulsion device according to claim 1, wherein: the steering mechanism (5) further comprises a horizontal steering motor (53) and a vertical steering motor (54) which are correspondingly used for driving the horizontal steering and the vertical steering to rotate, and a control circuit for controlling the horizontal steering motor (53) and the vertical steering motor (54); the horizontal bevel gear (55) is used for connecting the horizontal steering motor (53) and the horizontal rudder; the vertical bevel gear (56) is used for connecting the vertical steering motor (54) and the vertical rudder;
when the underwater vehicle needs to turn, controlling the horizontal steering motor (53) to drive the horizontal bevel gear (55) to rotate so as to drive the horizontal steering to deflect to generate a vertical deflection force; and/or
And controlling the vertical rudder-turning motor (54) to drive a vertical bevel gear (56) to rotate so as to drive the vertical rudder to deflect to generate a horizontal deflecting force.
4. The shaftless pump jet vector propulsion device according to claim 3, wherein: the deflection of the horizontal rudder and the deflection of the vertical rudder are not mutually influenced.
5. The shaftless pump jet vector propulsion device according to claim 1, wherein: horizontal rudderstock connecting shaft (513) with vertical rudderstock connecting shaft (523) all set up in wheel hub (2), horizontal rudderstock connecting shaft (513) with vertical rudderstock connecting shaft (523) each other contactless.
6. The shaftless pump jet vector propulsion device according to claim 1, wherein: the horizontal tiller (512) and the vertical tiller (522) are both arranged outside the hub (2); two ends of the horizontal rudder stock connecting shaft (513) are connected with the horizontal rudder stock (512) through bearings, and two ends of the vertical rudder stock connecting shaft (523) are connected with the vertical rudder stock (522) through bearings; and a rotary sealing element (6) is arranged between the bearing and the inner wall of the hub (2).
7. The shaftless pump jet vector propulsion device according to claim 3, wherein: the inner wall of the guide pipe (1) is provided with an annular groove for accommodating the integrated motor rotor (3), and the impeller (4) is arranged on the inner peripheral wall of the integrated motor rotor (3) and rotates around the hub (2) along with the integrated motor rotor (3); the horizontal steering motor (53) and the vertical steering motor (54) are arranged close to the integrated motor rotor (3), and cables of the horizontal steering motor and the vertical steering motor and the control circuit are arranged in an integrated mode.
8. The shaftless pump jet vector propulsion device according to claim 7, wherein: the inner wall of pipe (1) still is equipped with the opening and faces the chamber of acceping of annular groove, it is used for acceping to accept the chamber perpendicular conical gear (56) with horizontal conical gear (55), perpendicular conical gear (56) through the bearing with vertical rudder stock (522) are connected, horizontal conical gear (55) through the bearing with horizontal rudder stock (512) are connected, the bearing with be provided with rotary seal (6) between the inner wall of pipe (1).
9. The shaftless pump jet vector propulsion device according to claim 6 or 8, wherein: the rotary sealing element (6) is a sealing ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910798555.8A CN110697014B (en) | 2019-08-27 | 2019-08-27 | Shaftless pump jet vector propulsion device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910798555.8A CN110697014B (en) | 2019-08-27 | 2019-08-27 | Shaftless pump jet vector propulsion device |
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| CN110697014A CN110697014A (en) | 2020-01-17 |
| CN110697014B true CN110697014B (en) | 2021-03-12 |
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| CN201910798555.8A Active CN110697014B (en) | 2019-08-27 | 2019-08-27 | Shaftless pump jet vector propulsion device |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111959735B (en) * | 2020-08-19 | 2021-09-17 | 北京理工大学 | Control method of vector water-jet propeller |
| CN111959734B (en) * | 2020-08-19 | 2021-08-31 | 北京理工大学 | A Vector Control Device Based on Water Jet |
| CN112441209A (en) * | 2020-11-11 | 2021-03-05 | 中国人民解放军海军工程大学 | Double-guide-vane bidirectional-inflow shaftless side-pushing device |
| CN114056529B (en) * | 2021-10-28 | 2022-09-23 | 西安理工大学 | Rim driving propeller with dummy shaft structure |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108622342A (en) * | 2018-06-07 | 2018-10-09 | 武汉理工大学 | A kind of detachable UAV navigation of multistage |
| CN108910008A (en) * | 2018-07-23 | 2018-11-30 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of deep-sea wheel rim propeller with rudder |
| WO2019032065A1 (en) * | 2017-03-14 | 2019-02-14 | Oran Elif | Electrical underwater jet motor with multiple stator for sea vehicles |
| CN109383727A (en) * | 2017-08-11 | 2019-02-26 | 中国科学院沈阳自动化研究所 | A kind of nearly vector expression underwater robot propeller |
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2019
- 2019-08-27 CN CN201910798555.8A patent/CN110697014B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019032065A1 (en) * | 2017-03-14 | 2019-02-14 | Oran Elif | Electrical underwater jet motor with multiple stator for sea vehicles |
| CN109383727A (en) * | 2017-08-11 | 2019-02-26 | 中国科学院沈阳自动化研究所 | A kind of nearly vector expression underwater robot propeller |
| CN108622342A (en) * | 2018-06-07 | 2018-10-09 | 武汉理工大学 | A kind of detachable UAV navigation of multistage |
| CN108910008A (en) * | 2018-07-23 | 2018-11-30 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of deep-sea wheel rim propeller with rudder |
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| CN110697014A (en) | 2020-01-17 |
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