Air-water rotating speed coordination vector propeller based on one-way transmission and variable pitch structure

Abstract

The invention discloses an air-water rotating speed coordination vector propeller based on a one-way transmission and a variable pitch structure, belongs to the field of application of water-air cross-domain aircrafts, and aims to solve the problem that a propelling device of an existing water-air cross-domain aircraft is difficult to switch working rotating speeds and adjust working postures in two fluids. In order to solve the problem of low navigation efficiency of the water-air cross-domain aircraft, the invention firstly provides a mode of coupling a one-way speed change module, a vector platform module and a variable-pitch paddle module to construct the propulsion device of the water-air cross-domain aircraft. Wherein the one-way speed change module can provide a high-speed rotating speed or a low-speed rotating speed for a transmission part at the platform end of the vector platform module according to forward rotation or reverse rotation of a driving motor, and the vector platform module is used for adjusting the overall working angle of the variable-pitch paddle module and adjusting the overall movement posture and movement trajectory of the aircraft. And the variable-pitch blade module is used for adjusting the working angle of a propeller blade carried by the variable-pitch blade module. The propulsion device is mainly used as a propulsion device of a water-air cross-domain aircraft.

Description

Technical Field

[0001] The present invention belongs to the field of water-air cross-domain aircraft applications, and in particular relates to an air-water speed coordinated vector propeller based on a one-way transmission and a variable pitch structure. Background Art

[0002] Cross-domain work has become a hot topic in the research and application of unmanned systems. The water-air cross-domain aircraft can adapt to both air and water media, significantly improving the multi-environment adaptability of unmanned systems, with mission flexibility and versatility, effectively reducing the cost of deploying underwater and aerial equipment and saving resources. However, while water-air cross-domain aircraft have some advantages, they also have some technical difficulties, especially in the design of the propulsion system. The aircraft propulsion system mainly refers to the density and viscosity of the fluid to design the output speed and torque of the system; the working environment of the water-air cross-domain aircraft includes two fluids, water and air, which have significant differences in density and viscosity. Therefore, how to coordinate the propulsion system under the two media has become a research hotspot for cross-domain aircraft.

[0003] Most of the existing water-air cross-domain aircraft are propeller-driven by a single motor. The disadvantage of this drive is that the transmission efficiency is low and the efficiency of underwater and air navigation is sacrificed. After a lot of investigation and research, compared with propellers in the air, underwater propellers have the characteristics of low speed, high torque, high resistance and small pitch; on the one hand, the above-mentioned driving method is difficult to achieve the working speed switching in the two fluids by relying solely on electrical control, and on the other hand, it is difficult to meet the geometric requirements of the two fluids for the propeller. There are also some cross-domain aircraft that use two independent propulsion systems, such as using a low-speed motor with an underwater propeller underwater and a high-speed motor with an air propeller in the air. Although the aircraft's adaptability to the two fluids is enhanced, it sacrifices weight and lightness, and increases the difficulty of control. At the same time, considering that the traditional propeller working angle of the water-air cross-domain aircraft is relatively single, it is difficult for the aircraft to adjust the precise attitude and trajectory during the process of leaving and entering the water, which reduces the application value of the water-air cross-domain aircraft.

[0004] In order to solve the above problems, an air-water dual-purpose vector propeller based on a one-way transmission and a variable pitch structure is proposed for water-air cross-domain aircraft to meet the requirements of multi-fluid propulsion mode switching of water-air cross-domain aircraft. Summary of the invention

[0005] In order to solve the problem that the propulsion device of the existing water-air cross-domain aircraft is difficult to switch the working speed and adjust the working attitude in two fluids, thereby causing the low navigation efficiency of the water-air cross-domain aircraft, the present invention provides an air-water dual-purpose vector propeller based on a one-way transmission and a variable pitch structure;

[0006] A air-water speed coordinated vector propeller based on a one-way transmission and a variable pitch structure, the propeller comprising a mounting base and a drive motor, the drive motor being mounted in the mounting base, and the power output shaft of the drive motor extending to the outside of the mounting base, the propeller further comprising a one-way speed change module, a vector platform module and a variable pitch blade module, the power end of the vector platform module being mounted on an outer shell of the mounting base, the platform end of the vector platform module extending to the front of the power output shaft in the drive motor, a rotatable transmission part being provided on the platform end of the vector platform module, the one-way speed change module being arranged between the platform end of the vector platform module and the drive motor, the one-way speed change module being driven by the drive motor and driving the transmission part on the platform end of the vector platform module to rotate synchronously, the one-way speed change module being able to provide two speeds, high speed or low speed, for the transmission part on the platform end of the vector platform module according to the forward or reverse rotation of the drive motor, the variable pitch blade module being arranged on the platform end of the vector platform module and fixedly connected to the transmission part on the platform end of the vector platform module, the vector platform module being used to adjust the overall working angle of the variable pitch blade module, and the variable pitch blade module being used to adjust the working angle of the propeller blade carried by itself;

[0007] Furthermore, the one-way speed change module includes a planetary gear reduction group, an original speed transmission shaft, an original speed one-way bearing, a reduction group output sleeve, a reduction one-way bearing, a total output shaft and two output shaft fixings, one end of the original speed transmission shaft is sleeved on the power output shaft of the driving motor and is tightly connected to the power output shaft of the driving motor, the original speed one-way bearing is embedded in the other end of the original speed transmission shaft, the planetary gear reduction group is sleeved on the outer wall of the end of the original speed transmission shaft connected to the driving motor, the reduction group output sleeve is sleeved on the outer wall of the end of the original speed transmission shaft embedded with the original speed one-way bearing, and one end of the reduction group output sleeve is detachably connected to the planetary gear reduction group, the other end of the reduction group output sleeve is embedded with a reduction one-way bearing, the reduction one-way bearing is coaxially arranged in front of the original speed one-way bearing and arranged opposite to the original speed one-way bearing, the total output shaft is inserted in the original speed one-way bearing and the reduction one-way bearing and is fixedly connected to the bearing inner ring of the original speed one-way bearing and the bearing inner ring of the reduction one-way bearing respectively through two output shaft fixings;

[0008] Furthermore, the original speed transmission shaft is a stepped shaft structure, a connecting blind hole is processed at the center of the end of the small-diameter shaft section of the original speed transmission shaft, and a cylindrical cavity is processed at the center of the end of the large-diameter shaft section of the original speed transmission shaft. The connecting blind hole is used to be sleeved on the power output shaft of the drive motor, and the cylindrical cavity is used to embed the original speed one-way bearing;

[0009] Further, the planetary gear reduction group includes an external gear output sleeve, a sun gear, a planetary gear skeleton and N planetary gears, N is a positive integer greater than 2, the sun gear sleeve is mounted on the outer wall of the small-diameter shaft section of the original speed transmission shaft, the N planetary gears are equidistantly surrounded by the outside of the sun gear along the circumferential direction, and each planetary gear is meshed with the sun gear teeth, the N planetary gears are installed on the stepped surface of the original speed transmission shaft through the planetary gear skeleton, the external gear output sleeve is sleeved on the outside of the N planetary gears, and the external gear output sleeve and the N planetary gears are all meshed with teeth, one end of the reduction group output sleeve is detachably connected to one end of the external gear output sleeve and realizes synchronous rotation with the external gear output sleeve;

[0010] Furthermore, the value range of N is 3-5;

[0011] Further, the vector platform module includes a mounting platform, a universal transmission shaft, two steering gears and two connecting rod units, each steering gear is correspondingly mounted on a steering gear mounting seat, one end of the universal transmission shaft is inserted at the center of the mounting platform, and the universal transmission shaft is rotatably connected to the mounting platform through a bearing, the other end of the universal transmission shaft is sleeved on the main output shaft and fixedly connected to the main output shaft, the two connecting rod units are arranged on both sides of the mounting platform, and one end of each connecting rod unit is connected to the swing shaft of the steering gear, and the other end of each connecting rod unit is connected to the outer wall of the mounting platform;

[0012] Furthermore, two steering gear mounting seats are arranged on the outer shell of the mounting base, and each steering gear mounting seat is detachably connected to the mounting base;

[0013] Furthermore, the connecting rod unit comprises a connecting bolt, a ball buckle, a steering gear push rod and a steering gear connecting rod, the threaded end of the connecting bolt is inserted on the outer wall of the mounting platform and is threadedly connected to the mounting platform, the ball buckle is sleeved on the connecting bolt and is limited by the bolt head of the connecting bolt, one end of the steering gear push rod is inserted on the ball buckle, the other end of the steering gear push rod is hinged to one end of the steering gear connecting rod, and the other end of the steering gear connecting rod is sleeved on the swing shaft of the steering gear and is fixedly connected to the swing shaft of the steering gear;

[0014] Further, the variable pitch blade module includes a tail fairing, a mounting frame, a transmission unit and Z propeller blades, Z is a positive integer greater than 1, the tail fairing is buckled at the tail end of the mounting frame and is detachably connected to the mounting frame, the transmission unit is installed in a cavity formed by the mounting frame and the tail fairing, the Z propeller blades are inserted on the outer wall of the mounting frame at equal intervals along the circumferential direction, and each propeller blade is rotatably connected to the mounting frame, and the transmission unit is provided with Z transmission ends, each of which is connected to the root of a propeller blade;

[0015] The transmission unit includes a stepper motor, a threaded sleeve, a threaded shaft and Z transmission connecting rods. The housing of the stepper motor is embedded in the tail fairing. The motor output shaft of the stepper motor extends to the mounting frame. The threaded shaft is arranged below the stepper motor in the vertical direction, and the top end of the threaded shaft is connected to the power output shaft of the stepper motor through a coupling. The threaded sleeve is sleeved on the threaded shaft and threadedly connected to the threaded shaft. Z hinge seats are equidistantly arranged on the outer wall of the threaded sleeve along the circumferential direction. One end of each transmission connecting rod is hinged to an hinge seat, and the other end of each transmission connecting rod is hinged to the root of a propeller blade. The threaded shaft is driven to rotate by the stepper motor, and the threaded sleeve can be displaced along the extension direction of the axis of the threaded shaft. As the position of the threaded sleeve changes, the transmission connecting rod drives the corresponding propeller blade to twist.

[0016] Furthermore, the value of Z is 2-4;

[0017] The beneficial effects of this application compared to the prior art are as follows:

[0018] 1. The present application provides an air-water dual-purpose vector propeller based on a one-way transmission and a variable pitch structure, which follows the modular design principle and can be used as a power module to mechanically and electrically connect to the aircraft body. It is responsible for the mode switching, vector propulsion and gear shifting of the aircraft power, and has the characteristics of repeatability, controllability and high safety. This mechanism is used to enable the water-air cross-domain aircraft to obtain vector thrust, which significantly improves the aircraft's trajectory control, attitude adjustment and short-distance takeoff and landing maneuverability. At the same time, the speed change device cooperates with the variable pitch mechanism to improve the multi-fluid adaptability and navigation efficiency of the cross-domain aircraft;

[0019] 2. The present application provides an air-water dual-purpose vector propeller based on a one-way transmission and a variable pitch structure, wherein the one-way transmission mechanism realizes low-speed and high-speed transmission of a driving mechanism only by mechanical structure, without the need for additional electrical components or control components, effectively solving the complexity of the cross-domain aircraft power system and the difficulty of the control program. The present invention couples the one-way reduction mechanism with the variable pitch mechanism, and solves the problem of thrust direction change caused by different propeller steering by switching positive and negative angles of attack, avoiding sudden pressure changes, flow separation and vortex formation caused by instantaneous switching of thrust, and improving the working stability and reliability of the aircraft;

[0020] 3. The present application provides an air-water dual-purpose vector propeller based on a one-way transmission and a variable pitch structure, wherein the variable pitch mechanism relies on threaded cooperation to achieve precise control of the blade angle of attack, and utilizes the accuracy and motion locking characteristics of the stepper motor to achieve high-precision control of the pitch, thereby improving the controllability of the propeller. After using the vector propeller, the attitude and trajectory of the aircraft during the process of exiting and entering the water can also be accurately adjusted, thereby greatly improving the application value of the aircraft.

[0021] 4. The present application provides an air-water dual-purpose vector propeller based on a one-way transmission and a variable pitch structure, which adopts a universal joint transmission shaft in combination with a drive motor to realize the vector function of the propeller, and replaces the wing rudder to realize the underwater trajectory adjustment of the aircraft, laying the foundation for the design of a tube-launched water-to-air cross-domain aircraft (cooperating with folding wings to achieve a cylindrical shape). BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the structure of the air-water dual-purpose vector propeller described in this application;

[0023] Figure 2 This is a schematic diagram of the structure of a one-way speed change module in the air-water dual-purpose vector propeller described in this application;

[0024] Figure 3 This is a structural exploded diagram of the one-way speed change module in the air-water dual-purpose vector propeller described in this application;

[0025] Figure 4 This is a schematic diagram of the structure of the vector platform module in the air-water dual-purpose vector propeller described in this application;

[0026] Figure 5 This is a schematic diagram of the structure of the variable pitch module in the air-water dual-purpose vector propeller described in this application;

[0027] Figure 6 This is a schematic diagram of the installation of the drive motor in the air-water dual-purpose vector propeller described in this application;

[0028] In the figure, 1 is a one-way speed change module, 1-1 is an external gear output sleeve, 1-2 is a planetary gear, 1-3 is a sun gear, 1-4 is a planetary gear skeleton, 1-6 is an original speed one-way bearing, 1-7 is a reduction group output sleeve, 1-8 is a reduction one-way bearing, 1-9 is an output shaft fixing part, 1-10 is a total output shaft, 2 is a vector platform module, 2-1 is a mounting platform, 2-2 is a universal transmission shaft, 2-3 is a connecting bolt, 2-4 is a ball head buckle, 2-5 is a servo push rod, 2-6 is a servo connecting rod, 2-7 is a servo, 3 is a variable pitch blade module, 3-1 is a propeller blade, 3-2 is a tail fairing, 3-3 is a stepper motor, 3-4 is a threaded sleeve, 3-5 is a transmission connecting rod, 3-6 is a threaded shaft, 3-7 is a mounting frame, 4 is a mounting base, 4-1 is a servo mounting seat and 5 is a driving motor. DETAILED DESCRIPTION

[0029] Specific implementation method 1: Combination Figure 1 and Figure 6The present embodiment is described. In the present embodiment, an air-water speed coordinated vector propeller based on a one-way transmission and a variable pitch structure is provided. The propeller comprises a mounting base 4 and a drive motor 5. The drive motor 5 is mounted in the mounting base 4, and the power output shaft of the drive motor 5 extends to the outside of the mounting base 4. The propeller also comprises a one-way speed change module 1, a vector platform module 2 and a variable pitch blade module 3. The power end of the vector platform module 2 is mounted on the outer shell of the mounting base 4, and the platform end of the vector platform module 2 extends to the front of the power output shaft in the drive motor 5. A rotatable transmission part is provided on the platform end of the vector platform module 2. Module 1 is arranged between the platform end of the vector platform module 2 and the drive motor 5. The one-way speed change module 1 is driven by the drive motor 5 and drives the transmission part on the platform end of the vector platform module 2 to rotate synchronously. The one-way speed change module 1 can provide high or low speed for the transmission part on the platform end of the vector platform module 2 according to the forward or reverse rotation of the drive motor 5. The variable pitch blade module 3 is arranged on the platform end of the vector platform module 2 and is fixedly connected to the transmission part on the platform end of the vector platform module 2. The vector platform module 2 is used to adjust the overall working angle of the variable pitch blade module 3, and the variable pitch blade module 3 is used to adjust the working angle of the propeller blade carried by itself.

[0030] The present embodiment provides an air-water speed coordinated vector propeller based on a one-way transmission and a variable pitch structure, wherein the drive motor 5 is a brushless motor and has a reverse rotation function. It is itself equipped with a module for receiving a control signal, and can rotate in the reverse direction when the control system changes the input voltage direction. The mounting base 4 is a barrel-shaped base, and the housing of the drive motor 5 is arranged in the barrel-shaped base and the drive motor 5 is positioned and installed by a locking structure inside the barrel-shaped base, thereby ensuring the stability of the drive motor 5 during operation. The one-way speed change module 1, the vector platform module 2 and the variable pitch blade module 3 are the present There are three important components in the application. The one-way speed change module 1 realizes the switching between the original speed transmission chain and the reduction transmission chain in the transmission system of the application, achieving the effect of changing the speed range. The vector platform module 2 and the variable pitch blade module 3 can respectively change the working angles of the propeller and the independent blade. Through the mutual cooperation of the one-way speed change module 1, the vector platform module 2 and the variable pitch blade module 3, the propeller structure provided by the application can adapt well to the characteristics of the two media when performing cross-media work, and the aircraft propulsion device can achieve the maximum navigation efficiency according to the characteristics of each medium.

[0031] Specific implementation method 2: Combination Figure 4 This embodiment is described. The difference between this embodiment and the first embodiment is that two steering gear mounting seats 4-1 are arranged on the outer shell of the mounting base 4, and each steering gear mounting seat 4-1 is detachably connected to the mounting base 4. Other components and connection methods are the same as those of the first embodiment.

[0032] In this embodiment, the servo mounting seat 4 - 1 is provided to fix the vector platform module 2 to ensure the working stability of the power end in the vector platform module 2 .

[0033] Specific implementation method three: Combination Figure 2 and Figure 3 The present embodiment is described. The difference between the present embodiment and the second embodiment is that the one-way speed change module 1 includes a planetary gear reduction group, an original speed transmission shaft 1-5, an original speed one-way bearing 1-6, a reduction group output sleeve 1-7, a reduction one-way bearing 1-8, a total output shaft 1-10 and two output shaft fixing members 1-9. One end of the original speed transmission shaft 1-5 is sleeved on the power output shaft of the drive motor 5 and is tightly connected to the power output shaft of the drive motor 5. The original speed one-way bearing 1-6 is embedded in the other end of the original speed transmission shaft 1-5. The planetary gear reduction group is sleeved on the outer wall of the end of the original speed transmission shaft 1-5 connected to the drive motor 5. The output sleeve 1-7 is sleeved on the outer wall of the original speed transmission shaft 1-5, where one end of the original speed one-way bearing 1-6 is embedded, and one end of the reduction group output sleeve 1-7 is detachably connected to the planetary gear reduction group, and the other end of the reduction group output sleeve 1-7 is embedded with a reduction one-way bearing 1-8, which is coaxially arranged in front of the original speed one-way bearing 1-6 and facing the original speed one-way bearing 1-6. The total output shaft 1-10 is inserted in the original speed one-way bearing 1-6 and the reduction one-way bearing 1-8 and is fixedly connected to the bearing inner ring of the original speed one-way bearing 1-6 and the bearing inner ring of the reduction one-way bearing 1-8 respectively through two output shaft fixing parts 1-9. Other components and connection methods are the same as those of the second specific implementation method.

[0034] Specific implementation method four: Combination Figure 2 and Figure 3 This embodiment is described. The difference between this embodiment and the specific embodiment 3 is that the original speed transmission shaft 1-5 is a stepped shaft structure, the center of the end of the small-diameter shaft section of the original speed transmission shaft 1-5 is processed with a connecting blind hole, and the center of the end of the large-diameter shaft section of the original speed transmission shaft 1-5 is processed with a cylindrical cavity. The connecting blind hole is used to be mounted on the power output shaft of the drive motor 5, and the cylindrical cavity is used to embed the original speed one-way bearing 1-6. Other components and connection methods are the same as those of the specific embodiment 3.

[0035] Specific implementation method five: Combination Figure 2 and Figure 3This embodiment is described. The difference between this embodiment and the fourth embodiment is that the planetary gear reduction group includes an external gear output sleeve 1-1, a sun gear 1-3, a planetary gear skeleton 1-4 and N planetary gears 1-2, N is a positive integer greater than 2, the sun gear 1-3 is sleeved on the outer wall of the small-diameter shaft section of the original speed transmission shaft 1-5, the N planetary gears 1-2 are equidistantly surrounded by the outside of the sun gear 1-3 along the circumferential direction, and each planetary gear 1-2 is meshed with the sun gear 1-3, the N planetary gears 1-2 are installed on the stepped surface of the original speed transmission shaft 1-5 through the planetary gear skeleton 1-4, the external gear output sleeve 1-1 is sleeved on the outside of the N planetary gears 1-2, and the external gear output sleeve 1-1 and the N planetary gears 1-2 are both meshed with each other, and one end of the reduction group output sleeve 1-7 is detachably connected to one end of the external gear output sleeve 1-1 and realizes synchronous rotation with the external gear output sleeve 1-1. Other components and connection methods are the same as those of the fourth embodiment.

[0036] Specific implementation method six: Combination Figure 3 This embodiment is described. The difference between this embodiment and the fifth embodiment is that the value range of N is 3 to 5. The other components and connection methods are the same as those of the fifth embodiment.

[0037] In combination with the description of the specific embodiments 3 to 6, the design of the one-way speed change module 1 allows two transmission chains to coexist in the propeller structure: a speed reduction chain and an original speed chain:

[0038] The original speed transmission shaft 1-5 is a transmission shaft with a cylindrical cavity processed at one end, and the other end can be directly connected to the power output shaft in the drive motor 5 in the form of a meshing sleeve. Its cylindrical cavity is used to embed the original speed one-way bearing 1-6, and a protrusion is arranged in the cylindrical cavity to mesh with the keyway to realize the transmission of the motor speed to the outer ring of the original speed one-way bearing 1-6. Due to the characteristics of the one-way bearing, when it rotates in the forward direction, it does not transmit rotation as a bearing, and when it rotates in the reverse direction, the outer ring drives the inner ring in the form of resistance, and the inner ring transmits the rotation to the total output shaft 1-10 through the output shaft fixing member 1-9, realizing the original speed transmission of the motor and forming an original speed chain;

[0039] In the planetary gear reduction group, the sun gear 1-3 is fixed to the original speed transmission shaft 1-5 through a keyway, and after being reduced by the reduction group, the rotation speed is transmitted to the external gear output shaft sleeve 1-1 according to the reduction ratio. The external gear output shaft sleeve 1-1 is detachably connected to the reduction group output sleeve 1-7 in the form of screw fixing, and the rotation speed is transmitted to the reduction group output sleeve 1-7. The reduction group output sleeve 1-7 is a cone-shaped component with a cup-shaped structure, and a reduction one-way bearing 1-8 can be embedded inside the cup-shaped structure, and a protrusion is provided to engage with the keyway to realize the transmission of the motor speed to the outer ring of the reduction one-way bearing 1-8. Due to the characteristics of the one-way bearing, when it rotates in the forward direction, it does not transmit rotation as a bearing, and when it rotates in the reverse direction, the outer ring drives the inner ring in the form of resistance, and the inner ring transmits the rotation to the total output shaft 1-10 through the output shaft fixing member 1-9, realizing the motor reduction transmission and forming a reduction chain;

[0040] The planetary gear 1-2 in the planetary gear reduction group is a NGW type planetary gear, which is processed by high-precision cutting and strictly limits the transmission ratio to ensure the smoothness and accuracy of movement;

[0041] The original speed one-way bearing 1-6 and the reduction one-way bearing 1-8 have the same composition structure, both consisting of a rolling seat (hole), a metal outer ring, a metal inner ring and multiple rollers. The shape of the rolling seat (hole) allows it to roll only in one direction, and generates great resistance in the other direction to achieve the characteristics of a one-way bearing. There are keyways on the metal outer ring and the inner ring, and tooth structures are provided in the cylindrical cavity in the original speed transmission shaft 1-5 and in the inner cavity of the reduction group output sleeve 1-7. The tooth structures in the original speed transmission shaft 1-5 and the reduction group output sleeve 1-7 can be fitted and fixed with the outer ring teeth of the corresponding one-way bearing through the keyways, and the output shaft fixing part 1-9 is also provided with a tooth structure that matches the inner ring keyway in the one-way bearing. The output shaft fixing part 1-9 is also fitted and fixed with the inner ring teeth of the corresponding one-way bearing through the matching between the tooth structure and the keyway;

[0042] When in use, two one-way bearings are required to be placed opposite to each other, so that only one of them can bear the transmission work. That is, the original speed chain and the reduction chain exist at the same time, but only one transmission chain outputs the speed to the total output shaft. Using this feature, the speed can be switched by simply changing the rotation direction of the motor in the control module;

[0043] When the original speed transmission is needed, the driving motor 5 is connected to the original speed transmission shaft 1-5 and rotates forward, and the original speed transmission shaft 1-5 is meshed with the original speed one-way bearing 1-6. At this time, the original speed one-way bearing 1-6 is in reverse rotation, and the total output shaft 1-10 is driven by the reverse resistance to rotate at the same speed. At this time, although the reduction group output sleeve 1-7 and the reduction one-way bearing 1-8 are also in gear meshing, due to the bearing layout, the bearings on this transmission chain are in forward rotation, and cannot generate sufficient resistance to limit the speed of the total output shaft 1-10. Therefore, for the whole system: the total output shaft 1-10 is driven along the original speed chain according to the motor speed;

[0044] When reduction transmission is required, the drive motor 5 is connected to the original speed transmission shaft 1-5 and rotates in reverse, the original speed transmission shaft 1-5 is meshed with the planetary gear reduction group, the external gear output sleeve 1-1 is fixed with the reduction group output sleeve 1-7, and the reduction group output sleeve 1-7 is meshed with the reduction one-way bearing 1-8. At this time, the reduction one-way bearing 1-8 is in reverse rotation, and the total output shaft 1-10 is driven by the reverse resistance to rotate at the same speed as it, that is, it rotates at the speed of the original speed of the drive motor 5 after being reduced by the reduction group. At this time, although the original speed transmission shaft 1-5 and the original speed one-way bearing 1-6 are also in a tooth meshing state, due to the bearing layout, the bearings on this transmission chain are in forward rotation, and cannot generate sufficient resistance to limit the speed of the total output shaft 1-10. Therefore, for the system as a whole: the total output shaft is driven along the reduction chain at a speed reduced by the reduction ratio according to the motor speed.

[0045] Specific implementation method seven: Combination Figure 4 This embodiment is described. The difference between this embodiment and the sixth embodiment is that the vector platform module 2 includes a mounting platform 2-1, a universal transmission shaft 2-2, two servos 2-7 and two connecting rod units. Each servo 2-7 is correspondingly mounted on a servo mounting seat 4-1. One end of the universal transmission shaft 2-2 is inserted in the center of the mounting platform 2-1, and the universal transmission shaft 2-2 is rotatably connected to the mounting platform 2-1 through a bearing. The other end of the universal transmission shaft 2-2 is sleeved on the total output shaft 1-10 and fixedly connected to the total output shaft 1-10. Two connecting rod units are arranged on both sides of the mounting platform 2-1, and one end of each connecting rod unit is connected to the swing shaft of the servo 2-7, and the other end of each connecting rod unit is connected to the outer wall of the mounting platform 2-1. Other components and connection methods are the same as those of the sixth embodiment.

[0046] Specific implementation method eight: Combination Figure 4This embodiment is described. The difference between this embodiment and the seventh embodiment is that the connecting rod unit includes a connecting bolt 2-3, a ball head buckle 2-4, a steering gear push rod 2-5 and a steering gear connecting rod 2-6. The threaded end of the connecting bolt 2-3 is inserted on the outer wall of the mounting platform 2-1 and is threadedly connected to the mounting platform 2-1. The ball head buckle 2-4 is sleeved on the connecting bolt 2-3 and is limited by the bolt head of the connecting bolt 2-3. One end of the steering gear push rod 2-5 is inserted on the ball head buckle 2-4. The other end of the steering gear push rod 2-5 is hinged to one end of the steering gear connecting rod 2-6. The other end of the steering gear connecting rod 2-6 is sleeved on the swing shaft of the steering gear 2-7 and is fixedly connected to the swing shaft of the steering gear 2-7. Other components and connection methods are the same as those of the seventh embodiment.

[0047] Combined with the description of the seventh and eighth embodiments, the universal transmission shaft 2-2 in the vector platform module 2 can be connected to the main output shaft 1-10, which plays the role of changing the direction of the rotation speed. The other end 2-2 of the universal transmission shaft is inserted on the installation platform 2-1 to constrain the movement range of the center of the platform. The double push rod structure composed of two groups of steering gear push rods 2-5, steering gear connecting rods 2-6 and steering gear 2-7 drives the normal of the installation platform 2-1 to achieve vector change. In actual application, it is only necessary to drive two steering gears 2-7 at different angles to realize the platform vector change by using the principle of double push rod vector synthesis;

[0048] Specific implementation method nine: Combination Figure 5The present embodiment is described. The present embodiment is different from the specific embodiment eight in that the variable pitch blade module 3 includes a tail fairing 3-2, a mounting frame 3-7, a transmission unit and Z propeller blades 3-1, Z is a positive integer greater than 1, the tail fairing 3-2 is buckled on the tail end of the mounting frame 3-7 and is detachably connected to the mounting frame 3-7, the transmission unit is installed in the cavity formed by the mounting frame 3-7 and the tail fairing 3-2, the Z propeller blades 3-1 are equidistantly embedded on the outer wall of the mounting frame 3-7 along the circumferential direction, and each propeller blade 3-1 is rotatably connected to the mounting frame 3-7, and Z transmission ends are provided in the transmission unit, each transmission end is connected to the root of a propeller blade 3-1; the transmission unit includes a stepper motor 3-3, a threaded sleeve 3-4, a threaded shaft 3-6 and Z transmission connecting rods 3-5, and the housing of the stepper motor 3-3 is embedded in the tail. In the fairing 3-2, the motor output shaft of the stepper motor 3-3 extends to the mounting frame 3-7, the threaded shaft 3-6 is arranged below the stepper motor 3-3 in the vertical direction, and the top of the threaded shaft 3-6 is connected to the power output shaft of the stepper motor 3-3 through a coupling, the threaded sleeve 3-4 is sleeved on the threaded shaft 3-6 and threadedly connected with the threaded shaft 3-6, and the outer wall of the threaded sleeve 3-4 is provided with Z hinge seats equidistantly along the circumferential direction, one end of each transmission connecting rod 3-5 is hingedly arranged with an hinge seat, and the other end of each transmission connecting rod 3-5 is hingedly arranged with the root of a propeller blade 3-1, and the threaded shaft 3-6 is driven to rotate by the stepper motor 3-3, and the threaded sleeve 3-4 can be displaced along the extension direction of the axis of the threaded shaft 3-6, and along with the position change of the threaded sleeve 3-4, the transmission connecting rod 3-5 drives the corresponding propeller blade 3-1 to twist. Other components and connection methods are the same as those in the specific embodiment eight.

[0049] Specific implementation method ten: Combination Figure 5 This embodiment is described. The difference between this embodiment and the ninth embodiment is that the value of Z is 2 to 4. The other components and connection methods are the same as those of the ninth embodiment.

[0050] In combination with the description of specific embodiments nine and ten, the variable pitch blade module 3 is installed on the mounting platform 2-1, and the mounting frame 3-7 with a streamlined shell is connected to the universal transmission shaft 2-2 by an interlocking manner, and is further connected to the motor output shaft of the stepper motor 3-3, so as to transmit the rotation to the variable pitch blade module 3 as a whole, thereby realizing the function of variable direction transmission. The root of the propeller blade 3-1 is a cylindrical structure, and an axial structure extends from the eccentric position of the cylindrical structure for easy connection with the transmission connecting rod 3-5. Due to the threaded meshing nature of the threaded sleeve 3-4 and the threaded shaft 3-6, when the stepper motor 3-2 is driven to rotate the threaded shaft 3-6, the threaded sleeve 3-4 is displaced along the axial direction of the threaded shaft 3-6, thereby further driving the transmission connecting rod 3-5 to move. Since the propeller blades retain the freedom to rotate relative to the wing root plane, the wing root is driven by the connecting rod to rotate the blades, and the blade torsion angle changes. For the entire propeller, the pitch also changes. When the driving stepper motor 3-2 is not working, the threaded structure between the threaded sleeve 3-4 and the threaded shaft 3-6 and the self-locking characteristic of the stepper motor 3-2 when powered on can prevent the blade torsion angle from changing passively, thereby ensuring the accuracy of the working angle of the propeller blade 3-1.

[0051] The present invention has been disclosed as above with preferred implementation cases, but it is not intended to limit the present invention. Any technician familiar with the profession can make some changes or modifications to equivalent implementation cases with equivalent changes by using the above-disclosed structures and technical contents without departing from the scope of the technical solution of the present invention. However, any simple modifications, equivalent changes and modifications made to the above implementation cases based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

[0052] How it works

[0053] The present application provides an air-water speed coordinated vector propeller based on a one-way transmission and a variable pitch structure, and the specific operation method during operation is as follows: It is worth noting here that due to the special properties of the one-way bearing, the present invention can change the rotation speed of the motor by simply changing the rotation direction of the motor without the need for an additional mechanism;

[0054] When the present application is sailing across mediums, the propeller structure will make three changes and adjustments according to the different mediums:

[0055] First, change the speed: when the propeller rotates at high speed, the drive motor 5 rotates forward; when the drive motor 5 receives the command, the motor reverses, and the motor rotation speed is decelerated by the planetary gear reduction group and transmitted to the reduction group output sleeve 1-7. The reduction group output sleeve 1-7 transmits the speed to the total output shaft 1-10 in the form of resistance drive through the reverse rotating reduction one-way bearing 1-8. At this time, the propeller changes from high-speed positive to low-speed reverse. In order to ensure the consistency of thrust, the variable pitch module 3 is started to change the angle of attack of the propeller blade 3-1 from positive to negative. At this time, although the propeller rotation direction changes, the thrust direction is guaranteed to be consistent with the previous one due to the switching of the blade torsion angle;

[0056] Second, transform the thrust vector: in the initial stage, the normal vector of the mounting platform 2-1 in the vector platform module 2 coincides with the normal vector of the mounting base 4. When the thrust vector needs to be adjusted to adjust the yaw, roll and pitch, the two servos 2-7 are driven respectively. The servos 2-7 drive the corresponding servo push rods 2-5 to work through the servo connecting rod 2-6. The servo push rods 2-5 change the normal vector of the mounting platform 2-1 through the ball head buckle 2-4 and rely on the double push rod kinematic model to achieve vector propulsion.

[0057] Third, pitch change: In view of the working characteristics of water-air cross-domain aircraft and one-way reduction group, the main scenarios of pitch change of the present invention are as follows:

[0058] 1. Switching gears in mid-air: Increasing the pitch increases the propeller pulling force, further accelerating the aircraft. When receiving the acceleration command, the drive motor 5 rotates forward, and the motor speed is transmitted to the universal transmission shaft 2-2 through the original speed chain, and further transmitted to the mounting frame 3-7 of the variable pitch module 3. The variable pitch module 3 drives the transmission unit through the stepper motor 3-3 to ensure that each propeller blade 3-1 is at a positive angle of attack at this time;

[0059] 2. Air-water conversion ensures thrust consistency: When the air-water conversion changes the propeller speed, the rotation direction of the propeller blade 3-1 is changed. The variable pitch module 3 is used to change the positive angle of attack to a negative angle of attack (relative) to ensure the consistency of thrust direction during the cross-domain conversion process; when receiving a gear shift instruction, the variable pitch module 3 changes the pitch without changing the positive or negative angle of attack of the propeller blade 3-1. The design stipulates that a high gear corresponds to a large pitch, and a low gear corresponds to a small pitch;

[0060] 3. Switch gears for underwater navigation: increase the pitch within a small angle of attack to enlarge the propeller, further accelerating the aircraft. When an acceleration command is received, the drive motor 5 rotates in the opposite direction, and the motor speed is transmitted to the universal joint shaft 2-2 through a reduction chain, and further transmitted to the mounting bracket 3-7 of the variable pitch module 3. The variable pitch module 3 drives the transmission unit through the stepper motor 3-3 to ensure that each propeller blade 3-1 is at a negative angle of attack at this time, and can provide vector thrust in conjunction with the movement of the vector platform.

Claims

1. An air-water speed coordinated vector propeller based on a one-way transmission and a variable pitch structure, the propeller comprising a mounting base (4) and a drive motor (5), the drive motor (5) being mounted in the mounting base (4), and a power output shaft of the drive motor (5) extending to the outside of the mounting base (4), characterized in that: The propeller further comprises a one-way speed change module (1), a vector platform module (2) and a variable pitch blade module (3); the power end of the vector platform module (2) is mounted on an outer shell of a mounting base (4); the platform end of the vector platform module (2) extends to the front of a power output shaft in a drive motor (5); a rotatable transmission part is provided on the platform end of the vector platform module (2); the one-way speed change module (1) is arranged between the platform end of the vector platform module (2) and the drive motor (5); the one-way speed change module (1) is driven by the drive motor (5) and drives the vector platform The transmission part on the platform end of the module (2) rotates synchronously, and the one-way speed change module (1) can provide the transmission part on the platform end of the vector platform module (2) with two rotation speeds, high speed or low speed, according to the forward or reverse rotation of the drive motor (5). The variable pitch blade module (3) is arranged on the platform end of the vector platform module (2) and is fixedly connected to the transmission part on the platform end of the vector platform module (2). The vector platform module (2) is used to adjust the overall working angle of the variable pitch blade module (3), and the variable pitch blade module (3) is used to adjust the working angle of the propeller blade carried by itself.

2. The air-water speed coordinated vector propeller based on a one-way transmission and a variable pitch structure according to claim 1, characterized in that: The one-way speed change module (1) comprises a planetary gear reduction group, an original speed transmission shaft (1-5), an original speed one-way bearing (1-6), a reduction group output sleeve (1-7), a reduction one-way bearing (1-8), a total output shaft (1-10) and two output shaft fixing members (1-9); one end of the original speed transmission shaft (1-5) is sleeved on the power output shaft of the drive motor (5) and is tightly connected to the power output shaft of the drive motor (5); the original speed one-way bearing (1-6) is embedded on the other end of the original speed transmission shaft (1-5); the planetary gear reduction group is sleeved on the outer wall of the end of the original speed transmission shaft (1-5) connected to the drive motor (5); the reduction group output sleeve (1-7) is sleeved on the original speed transmission shaft (1-5) is embedded on the outer wall of one end of the original speed one-way bearing (1-6), and one end of the reduction group output sleeve (1-7) is detachably connected to the planetary gear reduction group, and the other end of the reduction group output sleeve (1-7) is embedded with a reduction one-way bearing (1-8), the reduction one-way bearing (1-8) is coaxially arranged in front of the original speed one-way bearing (1-6) and arranged opposite to the original speed one-way bearing (1-6), the total output shaft (1-10) is inserted in the original speed one-way bearing (1-6) and the reduction one-way bearing (1-8) and is fixedly connected to the bearing inner ring of the original speed one-way bearing (1-6) and the bearing inner ring of the reduction one-way bearing (1-8) through two output shaft fixing parts (1-9).

3. The air-water speed coordinated vector propeller based on a one-way transmission and a variable pitch structure according to claim 1, characterized in that: The original speed transmission shaft (1-5) is a stepped shaft structure. A connecting blind hole is processed at the center of the end of the small-diameter shaft section of the original speed transmission shaft (1-5). A cylindrical cavity is processed at the center of the end of the large-diameter shaft section of the original speed transmission shaft (1-5). The connecting blind hole is used to be sleeved on the power output shaft of the driving motor (5), and the cylindrical cavity is used to embed the original speed one-way bearing (1-6).

4. The air-water speed coordinated vector propeller based on a one-way transmission and a variable pitch structure according to claim 3, characterized in that: The planetary gear reduction group comprises an external gear output sleeve (1-1), a sun gear (1-3), a planetary gear frame (1-4) and N planetary gears (1-2), wherein N is a positive integer greater than 2, the sun gear (1-3) is sleeved on the outer wall of the small-diameter shaft section of the original speed transmission shaft (1-5), the N planetary gears (1-2) are equidistantly surrounded by the sun gear (1-3) along the circumferential direction, and each planetary gear (1-2) is meshed with the sun gear (1-3) , N planetary gears (1-2) are mounted on the stepped surface of the original speed transmission shaft (1-5) through a planetary gear skeleton (1-4), an external gear output sleeve (1-1) is sleeved on the outside of the N planetary gears (1-2), and the external gear output sleeve (1-1) and the N planetary gears (1-2) are both tooth-engaged, and one end of the reduction group output sleeve (1-7) is detachably connected to one end of the external gear output sleeve (1-1) and realizes synchronous rotation with the external gear output sleeve (1-1).

5. The air-water speed coordinated vector propeller based on a one-way transmission and a variable pitch structure according to claim 4, characterized in that: The value range of N is 3-5.

6. The air-water speed coordinated vector propeller based on a one-way transmission and a variable pitch structure according to claim 1 or 2, characterized in that: The vector platform module (2) comprises a mounting platform (2-1), a universal transmission shaft (2-2), two steering gears (2-7) and two connecting rod units. The two steering gears (2-7) are both mounted on an outer shell of a mounting base (4). One end of the universal transmission shaft (2-2) is inserted at the center of the mounting platform (2-1), and the universal transmission shaft (2-2) is rotatably connected to the mounting platform (2-1) via a bearing. The other end of the universal transmission shaft (2-2) is sleeved on a total output shaft (1-10) and fixedly connected to the total output shaft (1-10). The two connecting rod units are arranged on both sides of the mounting platform (2-1), and one end of each connecting rod unit is connected to a swing shaft of the steering gear (2-7), and the other end of each connecting rod unit is connected to an outer wall of the mounting platform (2-1).

7. The air-water speed coordinated vector propeller based on a one-way transmission and a variable pitch structure according to claim 6, characterized in that: Two steering gear mounting seats (4-1) are arranged on the outer shell of the mounting base (4); each steering gear mounting seat (4-1) is detachably connected to the mounting base (4); and each steering gear (2-7) is mounted on the outer shell via a steering gear mounting seat (4-1).

8. The air-water speed coordinated vector propeller based on a one-way transmission and a variable pitch structure according to claim 6 or 7, characterized in that: The connecting rod unit comprises a connecting bolt (2-3), a ball head buckle (2-4), a steering gear push rod (2-5) and a steering gear connecting rod (2-6); the threaded end of the connecting bolt (2-3) is inserted on the outer wall of the mounting platform (2-1) and is threadedly connected to the mounting platform (2-1); the ball head buckle (2-4) is sleeved on the connecting bolt (2-3) and is limited by the bolt head of the connecting bolt (2-3); one end of the steering gear push rod (2-5) is inserted on the ball head buckle (2-4); the other end of the steering gear push rod (2-5) is hinged to one end of the steering gear connecting rod (2-6); the other end of the steering gear connecting rod (2-6) is sleeved on the swing shaft of the steering gear (2-7) and is fixedly connected to the swing shaft of the steering gear (2-7).

9. The air-water speed coordinated vector propeller based on a one-way transmission and a variable pitch structure according to claim 1, 2 or 8, characterized in that: The variable pitch blade module (3) comprises a tail fairing (3-2), a mounting frame (3-7), a transmission unit and Z propeller blades (3-1), wherein Z is a positive integer greater than 1, the tail fairing (3-2) is buckled on the tail end of the mounting frame (3-7) and is detachably connected to the mounting frame (3-7), the transmission unit is installed in a cavity formed by the mounting frame (3-7) and the tail fairing (3-2), the Z propeller blades (3-1) are inserted on the outer wall of the mounting frame (3-7) at equal intervals along the circumferential direction, and each propeller blade (3-1) is rotatably connected to the mounting frame (3-7), and the transmission unit is provided with Z transmission ends, each of which is connected to the root of a propeller blade (3-1); The transmission unit comprises a stepper motor (3-3), a threaded sleeve (3-4), a threaded shaft (3-6) and Z transmission connecting rods (3-5); the housing of the stepper motor (3-3) is embedded in the tail fairing (3-2); the motor output shaft of the stepper motor (3-3) extends to the mounting frame (3-7); the threaded shaft (3-6) is arranged below the stepper motor (3-3) in the vertical direction; the top end of the threaded shaft (3-6) is connected to the power output shaft of the stepper motor (3-3) through a coupling; the threaded sleeve (3-4) is sleeved on the threaded shaft (3-6) and connected to the threaded shaft (3 -6) is threadedly connected, and Z hinge seats are equidistantly arranged on the outer wall of the threaded sleeve (3-4) along the circumferential direction. One end of each transmission connecting rod (3-5) is hingedly arranged with a hinge seat, and the other end of each transmission connecting rod (3-5) is hingedly arranged with the root of a propeller blade (3-1). The threaded shaft (3-6) is driven to rotate by a stepping motor (3-3), and the threaded sleeve (3-4) can be displaced along the extension direction of the axis of the threaded shaft (3-6). With the change of the position of the threaded sleeve (3-4), the transmission connecting rod (3-5) drives the corresponding propeller blade (3-1) to twist.

10. The air-water speed coordinated vector propeller based on a one-way transmission and a variable pitch structure according to claim 9, characterized in that: The value of Z is 2-4.

Images