CN202046433U - Small-sized oil-filled full-deflection vector propeller - Google Patents

Abstract

The utility model comprises: a propeller, a propulsion motor, a deflection mechanism, a rotary motor, a swing motor, a sealed cabin body and a tailpiece. The propeller is connected with the propulsion motor to form the tail thruster, the rotary motor and the swing motor are respectively connected with the deflection mechanism to form the deflection system, the tail thruster and the deflection system are respectively connected with the propeller tail barrel to form the full deflection vector thruster, which is installed in the underwater navigation On the sealed cabin of the vehicle, it can provide vector thrust for the underwater vehicle. Driven jointly by the slewing motor and the swing motor, the tail propeller can swing from -30° to +30° at any turning angle. The oil filling inside the deflection system not only solves the sealing problem of the deflection mechanism, but also lubricates the deflection mechanism and prevents the mechanical parts in the deflection mechanism from being corroded by water. The utility model has the advantages of compact structure, small volume, light weight, high efficiency and low cost, and is suitable for providing vector thrust for small underwater vehicles.

Description

Small oil-filled full-deflection vector propeller

technical field

The utility model relates to a small oil-filled full-deflection vector propeller propeller, which belongs to the technical field of marine engineering. It controls the cruise and attitude of the underwater vehicle by changing the angle between the axis of the propeller and the axis of the underwater vehicle to generate thrust in a specified direction.

Background technique

The propulsion system is the main component of the underwater vehicle, which is composed of two parts, the power plant and the propeller. Propellers mainly include: ordinary propellers, ducted propellers, counter-rotating propellers and water jet propellers. The ducted propeller is an annular casing with a longitudinal section that is airfoil-shaped or a broken line similar to the section of the airfoil on the periphery of the propeller. The casing can create a flow field that is conducive to the operation of the propeller and at the same time act as a part of the thruster. It has high efficiency, high thrust, and can protect the propeller from being damaged by foreign objects. It is more and more widely used in modern underwater vehicles, but it also has problems such as high noise and serious wake during high-speed operation. Contra-rotating propellers refer to a pair of coaxially installed propellers that rotate in opposite directions at constant or unequal speeds. It has the advantages of simple structure, small unbalanced moment, high efficiency, etc., but also has disadvantages such as poor cavitation and high noise. The water jet propulsion is a special propulsion method. The thrust is obtained by the reaction force of the jetted water flow from the propulsion pump, and the control of the vehicle is realized by changing the direction of the jet flow by manipulating rudders and other devices. It has the advantages of strong cavitation ability, small attachment resistance, good protection, and low noise. However, the current theoretical research and design and manufacturing level of water jet propulsion are relatively low, which limits its development.

Thrust vectoring technology, also known as thrust steering technology, means that the propulsion system of a space moving object can not only provide thrust in the forward direction, but also provide propulsion in the directions of pitch, yaw, roll and reverse thrust of the moving object at the same time or independently. And torque, used to partially or completely replace the power generated by the rudder surface for attitude control, that is, propeller thrust vectoring. Thrust vectoring technology is currently mainly used to control the flight direction and attitude angle of the flying object to improve the turning ability, thereby improving its maneuverability, agility, and high turning ability under high-altitude and low-speed flight conditions.

At present, the vector propulsion technology used by underwater vehicles mainly has two schemes: 1. The pump jet water jet propeller combined with thrust vector technology, which has been applied to submarines more and more because of its low noise, and Compared with the propeller propulsion method, the water jet propeller has the advantages of high propulsion efficiency, low radiation noise, and no air bubbles when the propeller works at high speed. However, this propeller is a combined propeller, and its configuration and structure are much more complicated than that of propeller propellers, which makes the design and installation of the propellers somewhat difficult. At the same time, the weight of water jet propellers is that of ordinary propeller propellers. 2-3 times. For small and medium-sized underwater vehicles with limited load and power supply, this kind of propeller with complex structure and heavy weight is not suitable. 2. A propeller propeller combined with thrust vectoring technology, which changes the direction of thrust by changing the direction of the entire propulsion system. It can be divided into two types, partial deflection (propeller) mode and full deflection (propulsion motor and propeller). The former requires three mechanical transmission chains to drive the propeller and change the thrust, and also needs to be sealed, so the structure is very complicated and the energy consumption is relatively large. It is suitable for medium and large underwater vehicles. The latter requires the entire propulsion part to be movable. Compared with the former, a transmission chain for driving the propeller is reduced, the mechanical transmission mechanism is greatly simplified, and the volume is small.

Contents of the invention

In order to overcome the shortcomings of large volume and complex mechanical structure of water jet propellers and partial deflection propeller propellers, the utility model proposes a small oil-filled full deflection vector propeller propeller, which has simple mechanical transmission, compact structure, small volume and light weight , high efficiency and low cost. The interior of the thruster is designed with an oil-filled structure, so that the oil medium will not leak to the outside and the sealed cabin, and at the same time, under the action of underwater pressure, it can ensure that water will not enter its interior to corrode parts or pass through the propeller. Entering into the airtight cabin reduces the difficulty of sealing the propellers that do not adopt the oil-filled design. The propeller can realize the deflection of the propeller axis on the axis of the underwater vehicle from -30° to +30°, so as to drive the carrier to advance, dive, crawl and yaw.

The utility model comprises: a propeller, a propulsion motor, a deflection mechanism, a rotary motor, a swing motor, a sealed cabin body and a tailpiece. Among them, the rotary motor and the swing motor are respectively connected with the deflection mechanism to form a deflection system, the propeller is connected with the propulsion motor to form a tail thruster, and the deflection system and the tail thruster are respectively connected with the tail tube to form a full-deflection vector thruster, which is installed underwater The airtight cabin of the aircraft can provide vector thrust for the underwater vehicle.

The deflection mechanism includes: a swing rod, a swing shaft, a swing rod screw, a swing rod pressing plate, a revolving box body, a box cover O ring, a revolving box cover, a longitudinal bevel gear, a gear screw, a gear pressing plate, a transverse bevel gear, End cover O ring, end cover, pendulum drive shaft, main box body, rotary drive shaft, rotary drive gear, rotary gear, main box O ring, sleeve, flat key, bearing, retaining ring, gland ring.

Their connection relationship is: one end of the swing rod is connected with the tailpiece, and the other end is connected with one end of the swing shaft, which is compressed by the swing rod pressing plate and the swing rod screw. The transverse bevel gear in the revolving box is installed on the swing shaft through a flat key, and two angular contact ball bearings are installed on the swing shaft. Blue ring dynamic seal; the longitudinal bevel gear is installed on one end of the pendulum drive shaft through a flat key, and it is pressed by a gear pressure plate and a gear screw. Two angular contact ball bearings are installed on the pendulum drive shaft. Positioning, the rotary gear is fixed on the end face of the hollow shaft at the end of the rotary box by screws, the other end of the swing drive shaft is connected with the swing motor shaft through a key; the screw fixes the rotary box cover on the rotary box, the rotary box cover and O-rings are used for static sealing between the revolving boxes. Two angular contact ball bearings are installed on the outside of the hollow shaft at the end of the rotary box, and the inner and outer rings of the bearings are positioned by rotary gears, sleeves and retaining rings. Two deep groove ball bearings are installed on the rotary drive shaft, and the outer ring of the bearing is fixed by a retaining ring to realize the positioning of the rotary drive shaft. The rotary drive gear is fixed on the rotary drive shaft through a flat key and two retaining rings. One end of the rotary drive shaft It is connected with the rotary motor shaft through a key. The main box is mounted on the airtight cabin by screws, and is statically sealed with an O-ring. The main box body and the hollow shaft at the end of the rotary box body are dynamically sealed with a gland ring. The transmission parts in the rotary box form the swing shaft system, and the transmission parts between the rotary box body and the main box body and the rotary box body form the rotary shaft system.

The swing rod has two left and right swing rods in total, and its structure is that one end of the left and right swing rod is respectively opened with a through hole with the same diameter as the end of the swing shaft and with an inner protrusion. There are key grooves on both ends of the swing shaft, and screw holes on the end surface of the swing shaft. You can align the raised part of the swing rod with the key groove of the swing shaft and insert it into the swing shaft. The right swing rod is respectively fixed on the two ends of the swing shaft, and the swing shaft can drive the left and right swing rods to swing together.

The bearing cover has a rectangular groove inside, and the dynamic seal with the swing shaft is realized through the gland ring, and a rectangular groove is also opened outside the bearing cover, and the O ring is used to realize the connection between the bearing cover and the rotary box. static seal.

The revolving box has a rectangular cavity structure on one side and a hollow shaft structure on the other side. The rectangular inner cavity communicates with the inner cavity of the hollow shaft. The role of axial positioning.

The structure of the revolving gear is that the revolving gear has a groove coaxial with the gear, the inner diameter of the groove is consistent with the inner diameter of the hollow shaft of the revolving box, one end of the hollow shaft is inserted into the groove, and the revolving gear passes through the screw Connected to the rotary box. This structure can not only compress the outer ring of the bearing on the pendulum drive shaft, but also compress the inner ring of the bearing on the hollow shaft.

The rotary and swing motors are all DC servo motors, installed inside the sealed cabin by bolts, the motor shaft passes through the sealed cabin and is connected with the rotary drive shaft and the pendulum drive shaft through keys respectively, and the motor shaft and the sealed cabin adopt Gland ring dynamic seal.

The deflection system includes: a rotary motor, a swing motor and a deflection mechanism. The rotary motor and the swing motor are installed inside the main box through screws, and the motor shaft is dynamically sealed with a gland ring. The deflection system is installed on the tail of the sealed cabin of the underwater vehicle through screws. The entire deflection system is filled with medium liquid (hydraulic oil or lubricating oil).

The propeller is an ordinary propeller or a ducted propeller, and the propulsion motor adopts an underwater DC motor.

The utility model has two independent motion transmission chains, one is to swing the shaft transmission chain to realize the swing of the tail thruster; the other is to rotate the shaft transmission chain to realize the overall rotation of the tail thruster so as to adjust the posture of the tail thruster, thereby Make the tail thruster generate vector thrust relative to the underwater vehicle. Swing shaft transmission chain: The motion output by the swing motor is transmitted to the longitudinal bevel gear through the swing drive shaft, and then the motion transmission is passed to the swing shaft through the transverse bevel gear, and the swing shaft drives the swing rod to swing, thereby driving the tail thruster to swing. The realized swing range is -30° to +30°. Rotary shaft transmission chain: The motion output by the rotary motor is transmitted to the rotary drive gear through the rotary drive shaft, and then passed to the rotary box through the rotary gear, and the rotary box drives the swing rod to rotate around the axis, thereby driving the tail propeller to rotate around the axis. Its axis swivels from -180° to +180°. Through the motion synthesis of two independent transmission chains, the tail thruster can realize all-round swing at any rotation angle.

Driven by the slewing motor and the swinging motor, the tail thruster first turns to the predetermined position, and then changes its swing angle, and the tail thruster can swing from -30° to +30° at any turning angle. Thereby the thrust vectoring technology is organically combined on the thruster. Oil filling inside the deflection system not only solves the sealing problem of the deflection mechanism, but also lubricates the deflection mechanism and prevents the mechanical parts in the deflection mechanism from being corroded by water. The utility model has the advantages of compact structure, small volume, light weight, high efficiency and low cost, and is suitable for providing vector thrust for small underwater vehicles.

Description of drawings

Fig. 1 is the overall structural representation of the utility model;

Fig. 2 is a three-dimensional schematic diagram of the overall structure of the utility model;

Fig. 3 is a schematic diagram of the deflection system of the present invention;

Fig. 4 is a schematic diagram of the installation of the swing rod and the swing shaft of the present invention;

Fig. 5 is a schematic diagram of a revolving box of the present utility model;

Fig. 6 is a schematic diagram of the main box of the present invention.

The labels in the above figure indicate:

1. Propeller 2. Propulsion motor

3. Deflection mechanism 4. Rotary motor

5. Swing motor 6. Sealed cabin

7. Tail barrel 8. Swing rod

9. Swing shaft 10. Swing rod screw

11. Swing bar pressure plate 12. Swivel box

13. Box cover O-ring 14. Rotary box cover

15. Longitudinal bevel gear 16. Flat key

17. Gear screw 18. Gear pressure plate

19. Transverse bevel gear 20. Bearing

21. End cap O-ring 22. End cap

23. Gram circle 24. Flat key

25. Bearing 26. Pendulum drive shaft

27. Gran ring 28. Main box

29. Bearing 30. Rotary drive shaft

31. Bearing 32. Retaining ring

33. Front retaining ring 34. Revolving drive gear

35. Rear retaining ring 36. Gran ring

37. Flat key 38. Rotary gear

39. Gran ring 40. Main box O ring

41. Retaining ring 42. Sleeve

Detailed ways

Below in conjunction with accompanying drawing, the implementation example of the present utility model is described in detail:

This example includes: a propeller 1, a propulsion motor 2, a deflection mechanism 3, a rotary motor 4, a swing motor 5, a sealed cabin body 6 and a tailpiece 7. Among them, the rotary motor 4 and the swing motor 5 are respectively connected with the deflection mechanism to form a deflection system, the propeller 1 is connected with the propulsion motor 2 to form a tail thruster, and the deflection system and the tail thruster are respectively connected with the tail cylinder 7 to form a full-deflection vector thruster. It is installed on the sealed cabin of the underwater vehicle and can provide vector thrust for the underwater vehicle.

The deflection mechanism includes: a swing rod 8, a swing shaft 9, a swing rod screw 10, a swing rod pressing plate 11, a rotary box body 12, a box cover O-ring 13, a rotary box cover 14, a longitudinal bevel gear 15, and a flat key 16. Gear screw 17, gear pressure plate 18, transverse bevel gear 19, bearing 20, end cover O-ring 21, end cover 22, gland ring 23, flat key 24, bearing 25, pendulum drive shaft 26, gland ring 27, Main box 28, bearing 29, rotary drive shaft 30, bearing 31, retaining ring 32, front retaining ring 33, rotary drive gear 34, rear retaining ring 35, gland ring 36, flat key 37, rotary gear 38, gland Ring 39, main box O ring 40, retaining ring 41, sleeve 42.

In the example, their connection relationship is: one end of the swing rod 8 is connected with the tail tube 7, and the other end is connected with one end of the swing shaft 9, which is compressed by the swing rod pressing plate 11 and the swing rod screw 10. The transverse bevel gear 19 in the rotary box 12 is installed on the swing shaft 9 through the flat key 24, and the swing shaft 9 is equipped with two angular contact ball bearings 20, and the end cover 22 and the rotary box 12 are statically sealed with an O ring 21 , between the end cover 22 and the swing shaft 9 is dynamically sealed with a gland ring 23; the longitudinal bevel gear 15 is installed on one end of the swing drive shaft 26 through a flat key 16, and is pressed by the gear pressure plate 18 and the gear screw 17, and the swing drive Two angular contact ball bearings 25 are housed on the shaft 26. The pendulum drive shaft 26 realizes axial positioning through a rotary gear 38. The rotary gear 38 is fixed on the end face of the hollow rotary shaft at the end of the rotary box 12 by screws. The other end is connected with the 5 shafts of the swing motor by a key; the screw is used to fix the revolving case cover 14 on the revolving case body 12, and the O ring 13 is statically sealed between the revolving case cover 14 and the revolving case body 12. Two angular contact ball bearings 29 are equipped with outside the hollow shaft at the end of the revolving box 12, and the inner and outer rings of the bearing are positioned by the revolving gear 38, the sleeve 42 and the retaining ring 41. Two deep groove ball bearings 31 are housed on the turn drive shaft 30, and the outer ring of the bearing is fixed by a retaining ring 32 to realize the positioning of the turn drive shaft 30, and the turn drive gear 34 is fixed by a flat key 37, a front retaining ring 33 and a rear retaining ring 35 On the rotary drive shaft 30, one end of the rotary drive shaft 30 is connected with the 4 shafts of the rotary motor by a key. The main box body 28 is mounted on the sealing cabin body 6 by screws, and is statically sealed with an O ring 40 . Gland ring 27 dynamic seals are used between the main box body and the hollow rotary shaft at the end of the rotary box body. The transmission parts in the rotary box form the swing shaft system, and the transmission parts between the rotary box body and the main box body and the rotary box body form the rotary shaft system.

Described swing lever has left and right two swing levers 8 in total, and its structure is to have the same diameter as the end of swing shaft 26 and have the through hole with protrusion at one end of left and right swing lever respectively. There are key grooves on both ends of the swing shaft, and screw holes on the end surface of the shaft. The convex part of the swing rod can be aligned with the key groove of the swing shaft and inserted into the swing shaft. The left and right swing rods are respectively fixed on the two ends of the swing shaft, and the swing shaft can drive the left and right swing rods to swing together.

The end cover 22 has a rectangular groove inside, and the dynamic seal with the swing shaft 9 is realized through the gland ring 23, and a rectangular groove is also opened outside the end cover, and the end cover and the rotary shaft are realized through the O ring 21. Static seal between the boxes 12.

The revolving box 12 has a rectangular cavity structure on one side and a hollow shaft structure on the other side. The rectangular inner cavity communicates with the inner cavity of the hollow shaft, and the outer cavity of the hollow shaft is a stepped shaft structure, which serves as a bearing and The role of bearing axial positioning.

The rotary gear 38 has a structure that has a groove coaxial with the gear on the rotary gear, and the inner diameter of the groove is consistent with the inner diameter of the hollow shaft of the rotary box 12, and one end of the hollow shaft is inserted into the groove, and the rotary gear 38 are connected on the rotary box by screws. This structure can not only compress the outer ring of the bearing on the pendulum drive shaft, but also compress the inner ring of the bearing on the hollow shaft.

The rotary motor 4 and the swing motor 5 are all DC servo motors, which are installed inside the sealed cabin body 6 by bolts, and the motor shaft passes through the sealed cabin body to be connected with the rotary drive shaft 30 and the swing drive shaft 26 respectively, and the motor shaft and The sealed cabin is dynamically sealed with a gland ring.

The deflection yoke system includes: a rotary motor 4 , a swing motor 5 and a deflection mechanism 3 . The rotary motor and the swing motor are installed inside the main box body 28 by screws, and the motor shaft is dynamically sealed with a gland ring. The deflection system is installed on the tail of the sealed cabin body 6 of the underwater vehicle by screws. The entire deflection system is filled with medium liquid (hydraulic oil or lubricating oil).

The propeller 1 is an ordinary propeller or a ducted propeller, and the propulsion motor 2 adopts an underwater DC motor.

This example has two independent motion transmission chains, one is to swing the shaft transmission chain to realize the swing of the tail thruster; the other is to rotate the shaft transmission chain to realize the overall rotation of the tail thruster so as to adjust the posture of the tail thruster, so The tail thruster generates vector thrust relative to the underwater vehicle. Swing shaft transmission chain: the motion output by the swing motor 5 is transmitted to the longitudinal bevel gear 15 through the swing drive shaft 26, and then the motion transmission is passed to the swing shaft 9 through the transverse bevel gear 19, and the swing shaft drives the swing rod 8 to swing, thereby Drive the tail thruster to swing, and the swing range is -30° to +30°. Rotary shaft transmission chain: the motion output by the rotary motor 4 is transmitted to the rotary drive gear 34 through the rotary drive shaft 30, and then the motion transmission is passed to the rotary box 12 through the rotary gear 38, and the rotary box drives the swing rod 8 to rotate around the axis. Thereby driving the tail thruster to turn around its axis in the range of -180° to +180°. Through the motion synthesis of two independent transmission chains, the tail thruster can realize all-round swing at any rotation angle. Driven by the rotary motor 4 and the swing motor 5, the tail thruster first turns to a predetermined position, and then changes its swing angle, and the tail thruster can obtain a range of -30° to +30° at any rotation angle. swing around, so that the thrust vectoring technology is organically combined with the propeller. The oil filling inside the deflection system not only solves the sealing problem of the deflection mechanism, but also lubricates the deflection mechanism and prevents the mechanical parts in the deflection mechanism from being corroded by water.

Claims (6)

1. small-sized oil-filled full-scale deflection vector propeller, it is characterized in that: the vector propeller comprises screw propeller, propulsion electric machine, deflection machanism, turning motor, rotation motor and tail pipe, turning motor, rotation motor link to each other with deflection machanism respectively and constitute deflecting yoke, its inside is full of media fluid, screw propeller links to each other with propulsion electric machine and constitutes the afterbody propelling unit, deflecting yoke, afterbody propelling unit link to each other with tail pipe respectively and constitute the full-scale deflection vector propeller, and it is installed on the sealed module body.

2. small-sized oil-filled full-scale deflection vector propeller according to claim 1 is characterized in that: described swing type mechanism comprise swing arm, swing shaft, fork screw, fork pressing plate, revolution casing, case lid O circle, revolution case lid, vertically finishing bevel gear cuter, gear screw, gear pressing plate, laterally finishing bevel gear cuter, end cap O circle, end cap, pendulum drive that axle, main box, commentaries on classics drive axle, gear, swiveling gear, main tank O circle, sleeve, flat key, bearing, back-up ring, Glan circle are driven in commentaries on classics.

3. small-sized oil-filled full-scale deflection vector propeller according to claim 2, it is characterized in that: described swing arm one end links to each other with tail pipe, the other end is connected with an end of swing shaft, by fork pressing plate and fork screw it is compressed, horizontal finishing bevel gear cuter in the revolution casing is installed on the swing shaft by flat key, two angular contact ball bearings are housed on the swing shaft, enclose static seal with O between end cap and the revolution casing, between end cap and the swing shaft with the dynamic seal of Glan circle, vertically finishing bevel gear cuter is installed on the end that pendulum drives axle by flat key, by gear pressing plate and gear screw it is compressed, pendulum drives two angular contact ball bearings is housed on the axle, swing shaft is realized axial location by swiveling gear, swiveling gear by screw retention on the end face of the hollow shaft of revolution casing end, the other end that pendulum drives axle links to each other by key with the rotation motor shaft, screw will turn round case lid and be fixed on the revolution casing, enclose static seal with O between revolution case lid and the revolution casing, two angular contact ball bearings are equipped with in the hollow shaft outside of revolution casing end, in the bearing, the outer ring is by swiveling gear, sleeve and back-up ring are realized the location, change to drive two deep groove ball bearings are housed on the axle, realize changeing the location of driving axle with the outer ring of back-up ring fixed type bearing, change and to drive gear and be fixed on to change by flat key and two back-up rings and drive on the axle, changeing an end that drives axle links to each other by key with the turning motor axle, main box is contained on the sealed module body by screw, enclose static seal with O between main box and the sealed module body, between the hollow shaft of main box and revolution casing end with the dynamic seal of Glan circle.

4. according to claim 2,3 described small-sized oil-filled full-scale deflection vector propellers, it is characterized in that: the total left side of described swing arm, right two swing arms, its structure is on a left side, one end of right swing arm has identical with the swing shaft end diameter and has the through hole of internal projection, two ends at swing shaft have keyway, axial end has screw hole, can with the swing arm bossing be inserted in swing shaft after the swing shaft keyway is aimed at, pass through fork pressing plate and fork screw again with a left side, right swing arm is individually fixed in the two ends of swing shaft, and swing shaft can drive a left side, right swing arm is swung together.

5. according to claim 2,3 described small-sized oil-filled full-scale deflection vector propellers, it is characterized in that: described revolution casing, the one side is the rectangular cavities structure, opposite side is a hollow shaft structure, rectangular inner cavity communicates with the hollow shaft inner chamber, hollow shaft inner chamber outside is the stepped shaft structure, plays the effect that bearing and bearing axial location are installed.

6. according to claim 2,3 described small-sized oil-filled full-scale deflection vector propellers, it is characterized in that: described swiveling gear, its structure is to have the groove coaxial with gear on swiveling gear, the groove internal diameter is consistent with the internal diameter of revolution box body hollow axle, one end of hollow shaft is inserted in the groove, and swiveling gear is connected on the revolution casing by screw.

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