CN222555126U

CN222555126U - Underwater propeller and underwater robot

Info

Publication number: CN222555126U
Application number: CN202420233760.6U
Authority: CN
Inventors: 陈新伯; 胡刚毅; 梁浩杨
Original assignee: Guangdong Lanqian Marine Technology Co ltd
Current assignee: Guangdong Lanqian Marine Technology Co ltd
Priority date: 2024-01-30
Filing date: 2024-01-30
Publication date: 2025-03-04
Anticipated expiration: 2034-01-30

Abstract

The utility model relates to the technical field of propellers, and discloses an underwater propeller and an underwater robot, wherein the propeller comprises a housing, a blade assembly and a sealing sleeve; the interior of the sealing sleeve is a sealing cavity, a reduction assembly is arranged inside the sealing sleeve, the head end of the sealing sleeve extends into the blade assembly, the sealing sleeve and the blade assembly are connected by a dynamic seal, the tail end of the sealing sleeve is fixedly connected to the housing, and a static seal is arranged between the contact surface of the sealing sleeve and the housing; the interior of the housing is a sealing cavity, a power assembly is arranged inside the housing, the output shaft of the power assembly is connected to the reduction assembly, and the reduction assembly is transmission-connected to the blade assembly. This scheme realizes the sealing of the reduction assembly through the sealing sleeve, and realizes the sealing between the sealing sleeve and the blade assembly through the dynamic seal, and the dynamic seal can realize effective sealing when the blade rotates, and the structure is simpler, and the sealing is realized through the structural parts, and the thrust of the propeller is greater than that of the oil seal.

Description

Underwater propeller and underwater robot

Technical Field

The utility model relates to the technical field of propellers, in particular to an underwater propeller and an underwater robot.

Background

The underwater robot provides power through the underwater propeller when moving underwater, so as to realize the movement of the underwater robot underwater. The underwater propeller is used as an underwater driving component, and has high requirements on waterproof sealing performance because of the limitation of the running environment of the underwater propeller so as to ensure the normal operation under the water. The traditional underwater propeller is sealed by adopting sealant, however, the sealant is easy to gradually fail after long-time underwater operation, especially the sealant fills the weak area, and the sealant fails to cause the water inlet of the underwater propeller to fail.

Chinese patent CN202321388857.6 discloses an underwater motor with oil pressure compensation film and propeller formed by the same, which belongs to the field of the underwater motor and propeller formed by the same, and comprises a stator main shaft, wherein a winding is arranged on the outer ring of the stator main shaft, the outer side of the stator main shaft corresponding to the winding is rotationally connected with a rotor, a casing is arranged on the outer side of the rotor, the two ends of the stator main shaft corresponding to the rotor are rotationally connected with a lower end cover and an upper end cover respectively, a filling cavity along the length direction is arranged at the position of the stator main shaft corresponding to the upper end cover, the winding can penetrate through the filling cavity to extend out of the stator main shaft, sealing glue is filled in the stator main shaft corresponding to the filling cavity, a balance base is arranged at one end of the lower end cover far away from the stator main shaft, an oil pressure compensation film is arranged between the lower end cover and the balance base, one side of the oil pressure compensation film close to the stator main shaft is communicated in the motor and filled with sealing oil, and one side of the oil pressure compensation film far away from the stator main shaft is communicated with the outside and filled with water. However, this sealing with sealing oil may lose the thrust of the propeller.

The utility model overcomes the existing defects, and provides the underwater propeller with larger thrust and better sealing performance by changing the connecting structure of each component in the propeller.

Disclosure of utility model

The utility model mainly aims at providing an underwater propeller which comprises a shell, a blade assembly and a sealing shaft sleeve;

The inside of the sealing shaft sleeve is provided with a sealing cavity, the inside of the sealing shaft sleeve is provided with a speed reducing assembly, the head end of the sealing shaft sleeve extends into the blade assembly, the sealing shaft sleeve is connected with the blade assembly through a dynamic sealing piece, the tail end of the sealing shaft sleeve is fixedly connected with the shell, and a static sealing piece is arranged between the contact surfaces of the sealing shaft sleeve and the shell;

The inside sealed cavity that is of casing, the inside power component that is equipped with of casing, power component's output shaft connects the speed reduction subassembly, the speed reduction subassembly with paddle subassembly transmission is connected.

Optionally, the speed reduction assembly comprises a sun gear, a planetary gear, a fixed gear, a connecting shaft, a front cover and a rear cover;

The front cover and the rear cover are annular, the front cover is connected with the rear cover through the connecting shaft, the planetary gear is sleeved on the connecting shaft, a first bearing is sleeved between the connecting shaft and the planetary gear, and the front cover is connected with the blade assembly;

The output shaft of the power assembly extends into the sealing shaft sleeve from the tail end of the sealing shaft sleeve and penetrates through the rear cover, a second bearing is arranged between the peripheral surface of the rear cover and the inner surface of the sealing shaft sleeve, and the front cover and the rear cover are distributed on the end surfaces of the two sides of the sun gear;

The sun gear is sleeved on the output shaft of the power assembly and rotates synchronously with the output shaft, the fixed gear is annular and surrounds the peripheral surface of the sun gear, and the outer side of the fixed gear is fixedly connected with the inner side of the sealing shaft sleeve;

The connecting shaft is positioned between the inner peripheral surface of the fixed gear and the outer peripheral surface of the sun gear, and the planetary gears arranged in the connecting shaft sleeve are respectively meshed with the inner side of the fixed gear and the sun gear.

Optionally, the number of the connecting shafts is three, the sun gears are arranged in an annular array with the axle center, and the number of the planetary gears corresponds to the number of the connecting shafts;

the output shaft drives the sun gear to rotate, the sun gear is meshed with the planetary gears to drive the planetary gears to rotate around the sun gear, and meanwhile the planetary gears rotate around the connecting shaft.

Optionally, the blade assembly includes a blade shaft, a first end cap, a blade, a hub, and a fairing cap;

the outer surface of the propeller hub is provided with the blades, the blade shaft is arranged inside the propeller hub, the rectifying cap is connected with the blade shaft and the propeller hub, and the propeller hub is sleeved at the head end of the sealing shaft sleeve and is connected with the shell in a matched manner;

The first end cover is arranged at the head end of the sealing shaft sleeve and is used for connecting the dynamic sealing piece with the sealing shaft sleeve, one end of the blade shaft penetrates through the first end cover and stretches into the sealing shaft sleeve, the blade shaft is fixedly connected with the front cover, and the other end of the blade shaft is fixedly connected with the rectifying cap.

Optionally, the dynamic sealing element comprises a dynamic sealing ring, a static sealing ring and a sealing ring;

The blade shaft is sleeved with the sealing ring, a first annular groove is formed in one side of the end face of the sealing ring, an annular positioning groove is formed in the other side of the end face of the sealing ring, and a second annular groove is formed in the peripheral face of the sealing ring;

The middle part of the first end cover is an annular ladder, the annular ladder, a first annular groove and the blade shaft enclose to form a first annular sealing groove, a movable sealing ring used for filling is arranged in the first annular sealing groove, a second annular groove and the inner surface of the sealing shaft sleeve enclose to form a second annular sealing groove, and a static sealing ring used for filling is arranged in the second annular sealing groove.

Optionally, the device comprises a positioning ring and a third bearing, wherein the positioning ring is installed in the annular positioning groove, the third bearing is sleeved on the blade shaft and is positioned in the sealing shaft sleeve, one side of the end face of the third bearing is positioned in contact with the sealing ring, and the other end of the third bearing is positioned in contact with the front cover.

Optionally, the wind turbine comprises a fairing, wherein the fairing is connected with the head end of the shell through a supporting ring, and the blades are positioned inside the fairing; the support ring is positioned between the shell and the hub and is fixedly connected with the shell and the hub.

Optionally, the power assembly comprises an output shaft, a stator, a rotor and a second end cover;

The stator is arranged in the shell, the rotor is arranged in the stator, the rotor is connected with the output shaft, and the output shaft and the rotor synchronously rotate;

the rear end of the output shaft is connected with a positioning shaft extending out of the second end cover, and a fourth bearing is arranged between the inner side of the output shaft and the outer peripheral surface of the positioning shaft;

A fourth bearing is arranged between the front end of the output shaft and the inner side of the shell;

And a static sealing element is arranged between the peripheral surface of the second end cover and the contact surface of the inner side surface of the shell.

Optionally, the afterbody of casing is equipped with the circuit cabin, the shell of circuit cabin with casing matees to be connected, be equipped with the pipeline of buckling in the circuit cabin, the pipeline intercommunication of buckling the casing with outside the circuit cabin, fill the sealant in the pipeline of buckling.

The utility model also provides an underwater robot, which comprises the underwater propeller, a control cabin, a buoyancy cabin and a detection assembly;

The outer surface of the buoyancy cabin body is streamline, the buoyancy cabin body wraps the control cabin body, the control cabin body is a sealed cabin body, and the underwater propeller and the detection assembly are respectively connected with the control cabin body;

The buoyancy cabin body comprises a top surface, a bottom surface and a peripheral surface, wherein the top surface and the bottom surface are oppositely arranged and are parallel to each other, the top surface and the bottom surface are planes, the top surface is connected with the bottom surface through the peripheral surface, and the top surface and the bottom surface are respectively in smooth transition with the peripheral surface;

The periphery is a convex streamline surface, the periphery is provided with two first areas and two second areas, the two first areas are symmetrically distributed on the front side and the rear side of the periphery, the two second areas are symmetrically distributed on the left side and the right side of the periphery, the front side and the rear side of the periphery are respectively and smoothly concave to form the first areas, the left side and the right side are respectively and smoothly concave to form the second areas, and the detection assembly is arranged in the first areas or the second areas;

The top surface and the bottom surface are communicated through a first channel, the first area is communicated with the second area through a second channel, and the underwater propeller is arranged in the first channel and the second channel;

The number of the first channels is at least two, and the first channels are symmetrically distributed in the geometric center of the top surface.

Compared with the prior art, the utility model has the following beneficial effects:

According to the underwater propeller provided by the utility model, the sealing of the speed reducing assembly is realized through the sealing shaft sleeve, the sealing between the sealing shaft sleeve and the blade assembly is realized through the dynamic sealing element, the dynamic sealing element can realize effective sealing when the blade rotates, the structure is simpler, the sealing is realized through the structural member, and compared with the sealing of an oil seal, the thrust of the propeller is larger.

Drawings

One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which the figures of the drawings are not to scale, unless expressly stated otherwise.

FIG. 1 is a schematic view of an embodiment of an underwater vehicle according to the present utility model;

FIG. 2 is a cross-sectional view 1 of an embodiment of the underwater vehicle of the present utility model;

FIG. 3 is an enlarged view A of a portion of an embodiment of the underwater vehicle of the present utility model;

FIG. 4 is a cross-sectional view 2 of an embodiment of the underwater vehicle of the present utility model;

FIG. 5 is a cross-sectional view of an embodiment of the underwater vehicle of the present utility model, shown in FIG. 3;

FIG. 6 is an exploded schematic view of the interior of an embodiment of the underwater vehicle of the present utility model;

FIG. 7 is a thrust testing chart of an embodiment of an underwater propulsor of the present utility model;

FIG. 8 is a schematic view of an embodiment of an underwater robot of the present utility model;

Fig. 9 is an internal schematic view of an embodiment of the underwater robot of the present utility model.

Reference numerals:

1-underwater propeller, 10-housing, 101-line cabin, 102-bending pipeline, 11-blade assembly, 111-blade shaft, 112-first end cap, 1121-annular step, 113-blade, 114-hub, 115-fairing cap, 12-sealing sleeve, 121-locating ring, 122-third bearing, 13-reduction assembly, 131-sun gear, 132-planetary gear, 133-fixed gear, 134-connecting shaft, 135-front cover, 136-rear cover, 137-first bearing, 138-second bearing, 14-dynamic seal, 141-dynamic seal, 142-static seal, 143-sealing ring, 1431-first annular groove, 1432-annular locating groove, 1433-second annular groove, 15-static seal, 16-power assembly, 161-output shaft, 162-stator, 163-rotor, 164-second end cap, 1641-locating shaft, 165-fourth bearing, 17-fairing cap, 171-supporting ring, 2 control body, 3-buoyancy body, 31-top surface, 32-bottom surface, cabin, 33-first circumferential surface, and 33-first circumferential surface detection area, and 35-second channel area.

Detailed Description

In order that the utility model may be readily understood, a more particular description thereof will be rendered by reference to specific embodiments that are illustrated in the appended drawings. It will be understood that when an element is referred to as being "mounted" to another element, it can be directly on the other element or one or more intervening elements may be present therebetween. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or one or more intervening elements may be present therebetween. The terms "vertical," "horizontal," "left," "right," "inner," "outer," and the like are used in this specification for purposes of illustration only. In the description of the present utility model, the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating relative importance or implicitly indicating the number of technical features indicated. Thus, unless otherwise indicated, features defining "a first", "a second", and "a plurality" may include one or more of such features explicitly or implicitly, and "a plurality" means two or more. The terms "comprises," "comprising," and any variations thereof, are intended to cover a non-exclusive inclusion, such that one or more other features, integers, steps, operations, elements, components, and/or groups thereof may be present or added.

Furthermore, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "coupled," and "connected" are to be construed broadly, and may be either permanently connected, removably connected, or integrally connected, mechanically connected, electrically connected, directly connected, indirectly connected via an intervening medium, or in communication between two elements. All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used in the description of the utility model herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. The term "and/or" as used in this specification includes any and all combinations of one or more of the associated listed items.

In addition, the technical features mentioned in the different embodiments of the utility model described below can be combined with one another as long as they do not conflict with one another.

Underwater robots have important values in scientific research and work production in the marine field, and are increasingly being applied to the front of science and engineering. And detecting underwater engineering equipment, and providing detection information for maintenance evaluation, such as cleaning judgment of a gate area, whether maintenance is needed for the underwater part structure of the offshore wind power, and the like. In addition, the method has important roles in underwater topography mapping. The underwater propeller is used as a core component of the underwater robot, has the function of driving the underwater robot to move under the water, has higher waterproof sealing requirements on components such as transmission, circuits and the like in the propeller in order to ensure the normal operation of the propeller under the water due to the limitation of the running environment, and is an important precondition for ensuring the normal operation of the underwater robot.

As shown in fig. 1-6, embodiments of the underwater propulsor provided by the present utility model are illustrated.

Referring to fig. 1-6, the embodiment is used for providing an impulse to drive an underwater robot to move underwater, and comprises a housing 10, a blade assembly 11 and a sealing sleeve 12. The inside of the sealing shaft sleeve 12 is a sealing cavity, a speed reducing assembly 13 is arranged in the sealing shaft sleeve 12, the head end of the sealing shaft sleeve 12 stretches into the blade assembly 11, the sealing shaft sleeve 12 is connected with the blade assembly 11 through a dynamic sealing element 14, the tail end of the sealing shaft sleeve 12 is fixedly connected with the shell 10, and a static sealing element 15 is arranged between the contact surfaces of the sealing shaft sleeve 12 and the shell 10.

The inside of the shell 10 is a sealed cavity, a power assembly 16 is arranged in the shell 10, an output shaft 161 of the power assembly 16 is connected with a speed reduction assembly 13, and the speed reduction assembly 13 is in transmission connection with the blade assembly 11.

Specifically, the sealing shaft sleeve 12 is used for sealing and waterproofing the speed reducing assembly 13, the shell 10 is used for sealing and waterproofing the power assembly 16, and a plurality of annular positioning clamping grooves are formed in the sealing shaft sleeve 12. The power assembly 16 may be a motor without a shell, and the speed reduction assembly 13 may be a planetary speed reduction mechanism. The rotation speed of the output shaft 161 of the power assembly 16 is output to the blade assembly 11 after being decelerated by the deceleration assembly 13, the blade assembly 11 is driven to rotate, and the blade assembly 11 rotates to drive water flow to generate pushing force.

In one embodiment, the reduction assembly 13 includes a sun gear 131, a planetary gear 132, a fixed gear 133, a connecting shaft 134, a front cover 135, and a rear cover 136.

The front cover 135 and the rear cover 136 are annular, the front cover 135 and the rear cover 136 are connected through the connecting shaft 134, the planetary gear 132 is sleeved on the connecting shaft 134, a first bearing 137 is sleeved between the connecting shaft 134 and the planetary gear 132, and the front cover 135 is connected with the blade assembly 11.

The output shaft 161 of the power assembly 16 extends into the sealing sleeve 12 from the tail end of the sealing sleeve 12 and passes through the rear cover 136, a second bearing 138 is arranged between the peripheral surface of the rear cover 136 and the inner surface of the sealing sleeve 12, and the front cover 135 and the rear cover 136 are distributed on the two side end surfaces of the sun gear 131.

The sun gear 131 is sleeved on the output shaft 161 of the power assembly 16, rotates synchronously with the output shaft 161, the fixed gear 133 is annular and surrounds the peripheral surface of the sun gear 131, and the outer side of the fixed gear 133 is fixedly connected with the inner side of the sealing shaft sleeve 12.

The connecting shaft 134 is located between the inner peripheral surface of the fixed gear 133 and the outer peripheral surface of the sun gear 131, and the planetary gears 132 fitted around the connecting shaft 134 are engaged with the inner side of the fixed gear 133 and the sun gear 131, respectively.

The outer peripheral surface of the second bearing 138 is engaged in the engagement groove of the seal sleeve 12, and the inner peripheral surface contacts the outer peripheral surface of the rear cover 136, thereby performing radial positioning of the rear cover 136 and reducing friction.

Further, the number of the connecting shafts 134 is three, and the sun gears 131 are arranged in an annular array with the axes, and the number of the planetary gears 132 corresponds to the number of the connecting shafts 134.

Specifically, the sun gear 131 and the planetary gears 132 are spur gears, and the fixed gear 133 is an internal gear. The sun gear 131 is meshed with the planetary gears 132, and the planetary gears 132 are meshed with the internal teeth of the fixed gear 133. The output shaft 161 drives the sun gear 131 to rotate, and further drives the planetary gears 132 to rotate around the sun gear 131, and the connecting shaft 134 sleeved on the planetary gears 132 rotates around the sun gear 131. Since the first bearing 137 is interposed between the connecting shaft 134 and the planetary gear 132, the planetary gear 132 rotates around the connecting shaft 134.

When the connecting shaft 134 rotates around the sun gear 131, the front cover 135 and the rear cover 136 connected with two ends of the connecting shaft 134 are driven to rotate, so that the blade assembly 11 connected with the front cover 135 is driven to rotate, and the rotation speed of the power assembly 16 is reduced and then output to the blade assembly 11.

In one embodiment, blade assembly 11 includes a blade shaft 111, a first end cap 112, a blade 113, a hub 114, and a fairing cap 115.

The outer surface of the hub 114 is provided with a blade 113, the blade shaft 111 is arranged inside the hub 114, the rectifying cap 115 is connected with the blade shaft 111 and the hub 114, and the hub 114 is covered at the head end of the sealing shaft sleeve 12 and is connected with the shell 10 in a matching way.

The first end cover 112 is disposed at the head end of the sealing sleeve 12, and is used for connecting the dynamic seal member 14 with the sealing sleeve 12, one end of the blade shaft 111 passes through the first end cover 112 and extends into the sealing sleeve 12, and is fixedly connected with the front cover 135, and the other end is fixedly connected with the rectifying cap 115.

Further, the dynamic seal 14 includes a dynamic seal ring 141, a static seal ring 142, and a seal ring 143. The sealing ring 143 is sleeved on the paddle shaft 111, a first annular groove 1431 is formed in one side of the end face of the sealing ring 143, an annular positioning groove 1432 is formed in the other side of the end face of the sealing ring 143, and a second annular groove 1433 is formed in the peripheral face of the sealing ring 143.

The middle part of the first end cover 112 is an annular step 1121, and a screw is arranged on the outer side of the first end cover 112 and fixedly connected with the sealing ring 143. The annular step 1121 and the first annular groove 1431 enclose a first annular sealing groove, a movable sealing ring 141 for filling is arranged in the first annular sealing groove, sealing waterproof among the first end cover 112, the sealing ring 143 and the blade shaft 111 is realized, the second annular groove 1433 and the inner surface of the sealing shaft sleeve 12 enclose a second annular sealing groove, a static sealing ring 142 for filling is arranged in the second annular sealing groove, and sealing waterproof among the sealing ring 143 and the sealing shaft sleeve 12 is realized.

Radial positioning of the blade shaft 111 within the seal sleeve 12 is achieved by the first end cap 112 and the dynamic seal 14. Axial positioning of the blade shaft 111 within the sealing sleeve 12 is achieved by the fairing cap 115 and the hub 114. The sealing and waterproofing of the first end cover 112, the blade shaft 111 and the head end of the sealing shaft sleeve 12 are realized through the dynamic sealing element 14.

Still further, the blade shaft assembly further comprises a positioning ring 121 and a third bearing 122, wherein the positioning ring 121 is installed in the annular positioning groove 1432, the third bearing 122 is sleeved on the blade shaft 111 and is positioned inside the sealing shaft sleeve 12, one end face side of the third bearing is positioned in contact with the sealing ring 143, and the other end of the third bearing is positioned in contact with the front cover 135. In other embodiments, one positioning ring 121 may be disposed on each of two end surfaces of the third bearing 122, the positioning ring 121 on the left end surface is mounted in the annular positioning groove 1432, and the positioning ring 121 on the right end surface is located between the third bearing 122 and the front cover 135.

The positioning ring 121 is used for the axial positioning of the third bearing 122 in the sealing sleeve 12, and the third bearing 122 is used for the radial positioning of the blade shaft 111 in the sealing sleeve 12.

In one embodiment, the rotor blade comprises a fairing 17, wherein the fairing 17 is connected with the head end of the shell 10 through a supporting ring 171, the blades 113 are positioned inside the fairing 17, and the supporting ring 171 is positioned between the shell 10 and the hub 114 and fixedly connected with the shell 10 and the hub 114.

In one embodiment, power assembly 16 includes an output shaft 161, a stator 162, a mover 163, and a second end cap 164. The stator 162 is provided inside the housing 10, the mover 163 is provided inside the stator 162, the mover 163 is connected to the output shaft 161, and the output shaft 161 rotates in synchronization with the mover 162. The rear end of the output shaft 161 is connected to a positioning shaft 1641 extending from the second end cap 164, and a fourth bearing 165 is provided between the inner side of the output shaft 161 and the outer circumferential surface of the positioning shaft 1641. A fourth bearing 165 is provided between the front end of the output shaft 161 and the inside of the housing 10. A static seal 15 is provided between the peripheral surface of the second end cap 164 and the contact surface of the inner side surface of the housing 10.

The stator 162 is specifically a coil, and the mover 163 is specifically a permanent magnet, and the coil is energized to drive the permanent magnet disposed therein to rotate. The fourth bearing 165 is used for radial positioning of the output shaft 161.

The static seal 15 in the above embodiment is specifically a sealing gasket.

In an embodiment, a circuit cabin 101 is arranged at the tail part of the shell 10, a shell of the circuit cabin 101 is connected with the shell 10 in a matching way, a bending pipeline 102 is arranged in the circuit cabin 101, the bending pipeline 102 is communicated with the outside of the shell 10 and the circuit cabin 101, sealant is filled in the bending pipeline 102, and the bending pipeline 102 is used for arranging a circuit and connecting with the outside.

As shown in fig. 7, the sealing structure adopted in this embodiment has a larger thrust force generated at the same power than the oil seal sealing manner.

The present utility model also provides an embodiment of an underwater robot, as shown in fig. 8-9.

Referring to fig. 8-9, this embodiment includes the underwater propulsor 1 embodiment described above, and further includes a control pod 2, a buoyancy pod 3, and a detection assembly 4. The outer surface of the buoyancy cabin body 3 is streamline, the buoyancy cabin body 3 wraps the control cabin body 2, and the control cabin body 2 is a sealed cabin body. The underwater propeller 1 and the detection assembly 4 are respectively connected with the control cabin 2, and the underwater propeller 1 is connected with the control cabin 2 through the support ring 171.

The buoyancy cabin 3 comprises a top surface 31, a bottom surface 32 and a peripheral surface 33, wherein the top surface 31 and the bottom surface 32 are oppositely arranged and are parallel to each other, the top surface 31 and the bottom surface 32 are planes, the top surface 31 and the bottom surface 32 are connected through the peripheral surface 33, and the top surface 31 and the bottom surface 32 are respectively in smooth transition (fillet transition) with the peripheral surface 33;

The peripheral surface 33 is a convex streamline surface, the peripheral surface 33 is provided with two first areas 331 and two second areas 332, the two first areas 331 are symmetrically distributed on the front side and the rear side of the peripheral surface 33, the two second areas 332 are symmetrically distributed on the left side and the right side of the peripheral surface 33, the front side and the rear side of the peripheral surface 33 are respectively smooth and concave to form the first areas 331, the left side and the right side are respectively smooth and concave to form the second areas 332, and the detection component 4 is arranged in the first areas 331 or the second areas 332.

The top surface 31 and the bottom surface 32 are communicated through a first channel 34, the first area 331 and the second area 332 are communicated through a second channel 35, and the underwater propeller 1 is arranged in the first channel 34 and the second channel 35. In this embodiment, the underwater vehicle 1 is not cowled, and the first passage 34 and the second passage 35 function as cowls. The number of first passages 34 is at least two and is symmetrically distributed about the geometric center of the top surface 31.

In summary, according to the underwater propeller provided by the utility model, the seal of the speed reduction assembly is realized through the seal shaft sleeve, the seal between the seal shaft sleeve and the blade assembly is realized through the dynamic seal member, the dynamic seal member can realize effective seal when the blade rotates, the structure is simpler, the seal is realized through the structural member, and compared with the seal of an oil seal, the thrust of the propeller is larger.

The above embodiments are only for illustrating the technical solution of the present utility model, but not for limiting the same, the technical features of the above embodiments or different embodiments may be combined under the idea of the present utility model, the steps may be implemented in any order, and many other variations in different aspects of the present utility model as described above are not provided in details for brevity, and although the present utility model is described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that the technical solution described in the foregoing embodiments may be modified or some of the technical features thereof may be substituted, and these modifications or substitutions may not depart from the scope of the technical solution of the embodiments of the present utility model.

Claims

1. An underwater propeller is characterized by comprising a shell, a blade assembly and a sealing shaft sleeve;

2. The underwater vehicle of claim 1, wherein the reduction assembly comprises a sun gear, a planetary gear, a fixed gear, a connecting shaft, a front cover, and a rear cover;

3. The underwater propeller of claim 2, wherein the number of the connecting shafts is three, the sun gears are arranged in an annular array with axes, and the number of the planetary gears corresponds to the number of the connecting shafts;

4. The underwater propulsor of claim 2, wherein said blade assembly comprises a blade shaft, a first end cap, a blade, a hub, and a fairing cap;

5. The underwater vehicle of claim 4 wherein the dynamic seal comprises a dynamic seal ring, a static seal ring, and a seal ring;

6. The underwater propeller of claim 5, comprising a positioning ring and a third bearing, wherein the positioning ring is installed in the annular positioning groove, the third bearing is sleeved on the blade shaft and is positioned in the sealing shaft sleeve, one end face side of the third bearing is positioned in contact with the sealing ring, and the other end of the third bearing is positioned in contact with the front cover.

7. The underwater propeller of claim 4, comprising a fairing connected to the head end of the housing by a support ring, the blades being located inside the fairing, the support ring being located between the housing and the hub and being fixedly connected to the housing and the hub.

8. The underwater propulsor of claim 1, wherein the power assembly comprises an output shaft, a stator, a mover, and a second end cap;

9. The underwater propeller of claim 8, wherein a line cabin is arranged at the tail part of the shell, a shell of the line cabin is connected with the shell in a matched mode, a bending pipeline is arranged in the line cabin, the bending pipeline is communicated with the shell and the outside of the line cabin, and sealant is filled in the bending pipeline.

10. An underwater robot comprising an underwater propulsion device as claimed in any one of claims 1 to 9, further comprising a control cabin, a buoyancy cabin and a detection assembly;