Dual ratio amphibious power plant

Abstract

The application discloses a dual-speed-ratio water-air dual-purpose power device, which mainly comprises a power input device, a rotating speed switching device and a paddle. The power input device provides power in a high rotating speed and low torque state under different media, and the rotating speed switching device converts the power input into torque meeting the requirement of the medium under different media through a one-way bearing and a planetary reduction mechanism. When the power unit is in the air, the planetary reduction mechanism loses the effect, the output of the rotating speed switching device is equal to the rotating speed and torque of the power input device, when the power unit is in the water, the planetary reduction mechanism operates, the output rotating speed of the rotating speed switching device is less than the rotating speed of the power input device, and the output torque of the rotating speed switching device is greater than the torque of the power input device. The output shaft of the rotating speed switching device drives a passive folding propeller to provide power, and the passive folding propeller is passively stretched and folded according to the rotating speed and the different media, so that the efficiency under different media is ensured.

Description

Technical Field

[0001] This invention belongs to the field of propulsion technology, specifically relating to a dual-speed water-air dual-purpose power device. Background Technology

[0002] Trans-medium vehicles are currently a hot topic both domestically and internationally, and related research has made initial progress. The University of Bristol in the UK has developed a biomimetic wing structure applicable to submersible-air trans-medium vehicles. It mimics fish fins, using flapping wings as a power source. Beijing University of Aeronautics and Astronautics has developed a gannet-inspired submersible-air trans-medium vehicle with a hollow wing structure. The wing sweep angle can be adjusted according to different operating conditions. This prototype emphasizes cross-domain capabilities between water and air, but due to power constraints, it cannot perform many degrees of freedom of underwater navigation control. The University of Auckland has developed the Loon Copter trans-domain vehicle, using a buoyancy chamber to achieve ascent and descent. Harbin Engineering University has developed the Longbow series of submersible-air trans-medium vehicles, adopting a configuration of fixed wings and folding wings, completing tasks of aerial flight, surface navigation, and underwater navigation.

[0003] The aforementioned transoceanic vehicles all utilize different power and buoyancy units, such as flapping-wing propulsion units and propeller-driven propulsion units. However, they all have some drawbacks. While flapping-wing propulsion units can navigate freely underwater, they cannot perform aerial flight maneuvers due to their soft structure. Propeller-driven propulsion units have a limited torque range, restricting their underwater mobility and range of motion. Therefore, the propulsion unit of transoceanic vehicles has become one of the core components of this field. This type of propulsion unit must not only meet extremely high speed requirements but also a wide torque range requirement, thus necessitating the development of a new type of transoceanic propulsion device.

[0004] Chinese patent CN114516396B discloses a miniature dual-speed water-air amphibious propulsion device, comprising: a power unit, a speed switching device, a propeller shaft, an extension area adaptive device, and propeller blades. When the main drive shaft rotates forward, the speed switching device drives the propeller shaft to rotate at a first speed, causing the length direction of the propeller blades to form a first angle with the radial direction of the propeller shaft. When the main drive shaft rotates in reverse, the speed switching device drives the propeller shaft to rotate at a second speed, causing the length direction of the propeller blades to form a second angle with the radial direction of the propeller shaft. When the main drive shaft rotates forward, the propeller shaft speed is high, and the extension area of ​​the propeller blades is large, generating a large-area high-speed airflow, suitable for operation in the air. When the main drive shaft rotates in reverse, the propeller shaft speed is low, and the extension area of ​​the propeller blades is small, utilizing the surrounding wake to reduce the added mass caused by the propeller blades' movement, suitable for operation in water. However, the gears in the speed switching device of this invention require non-standard customization, resulting in low precision during gear meshing. Furthermore, the gears are moved by levers, and the four levers have a non-closed force line structure. When transmitting high torque, the original reducer is prone to structural deformation. Moreover, this invention does not use soft gears but instead uses two hard gears to simulate soft gears. In practical applications, the gear tooth profile needs to be further machined based on the original involute shape. This means the original reducer's reduction ratio cannot be arbitrarily matched and can only be matched with certain specific ratios. The reducer's transmission shaft needs to be tightly fitted with the power motor (i.e., shaft replacement, removing the original motor's drive shaft and replacing it with the reducer's drive shaft). This can cause slight damage to the motor's original internal structure, and in severe cases, may cause loosening. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a dual-speed water-air power device.

[0006] The objective of this invention can be achieved through the following technical solutions:

[0007] This invention provides a dual-speed ratio water-air dual-purpose power unit, comprising:

[0008] Power input device;

[0009] The speed conversion output device is connected to the input drive shaft of the power input device;

[0010] An output adapter plate is connected to the output gear shaft of the speed conversion output device;

[0011] The blade adaptive rotation device is connected to the output adapter plate;

[0012] The blade is rotatably connected to the blade adaptive rotation device.

[0013] The pipe clamp is connected to the housing of the speed conversion output device;

[0014] When the input drive shaft of the power input device rotates counterclockwise at a first speed, the speed conversion output device drives the blade to rotate counterclockwise at a first speed with a radius of a first preset value.

[0015] When the input drive shaft of the power input device rotates clockwise at a first speed, the speed conversion output device drives the blade to rotate counterclockwise at a second speed with a radius of a second preset value.

[0016] The first rotational speed is greater than the second rotational speed, and the first preset value is greater than the second preset value.

[0017] Furthermore, the power input device includes: an input drive shaft and a first deep groove ball bearing.

[0018] Furthermore, the main body of the input drive shaft is an irregular cylindrical shape, used to transmit power from an external motor. The input drive shaft is fastened to multiple components of the speed conversion device, and the input drive shaft is fixedly connected to the motor shaft of the external device's drive motor by a set screw.

[0019] Furthermore, the first deep groove ball bearing is tightly fitted with the input drive shaft.

[0020] Furthermore, the speed conversion output device includes: a housing, a one-way bearing, an internal gear ring, a planetary carrier, a sun gear, planetary gears, an intermediate gear, an output gear shaft, a second deep groove ball bearing, and a third deep groove ball bearing;

[0021] Furthermore, the one-way bearing is tightly fitted to the input drive shaft; the internal gear ring is tightly fitted to the one-way bearing; the planetary carrier is tightly fitted to the input drive shaft; the sun gear is fixedly connected to the input drive shaft; the planetary gear includes two upper and lower gear fixing kits, the lower gear radius is larger than the upper gear radius, the planetary gear is tightly fitted to the planetary carrier, the lower gear meshes with the sun gear and the internal gear ring, and the upper gear meshes with the output gear shaft and the intermediate gear; the second deep groove ball bearing is tightly fitted to the output gear shaft; the third deep groove ball bearing is fitted to the second deep groove ball bearing, the number of teeth on the sun gear is less than the number of teeth on the lower planetary gear, and the intermediate gear meshes with multiple upper planetary gears.

[0022] Furthermore, the planet carrier is generally flat and elliptical, with protrusions at both ends that connect with the planetary gears.

[0023] Furthermore, the output adapter plate is fastened to the output gear shaft of the speed conversion output device with screws.

[0024] Furthermore, the blade adaptive rotation device includes: a blade mounting shaft and a blade adaptive adjustment device.

[0025] Furthermore, the blade mounting shaft is connected to the output adapter, the blade adaptive adjustment device is helically connected to the blade mounting shaft, and is fastened to the blade via a hinge.

[0026] Compared with the prior art, the present invention has the following advantages:

[0027] (1) Compared with other propulsion devices, the present invention is characterized by a large torque and speed output range, which enables it to be applied to both water and air media. The present invention has a relatively simple structure, low complexity, and light weight, making it suitable for the demanding payload requirements of amphibious unmanned aerial vehicles.

[0028] (2) By using a planetary reducer, the present invention solves the problems of easy deformation of structure, inability to arbitrarily match reduction ratio, and easy damage and loosening of internal structure in the prior art. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of the present invention when the blade radius is a first preset value;

[0030] Figure 2 This is a schematic diagram of the structure of the present invention when the blade radius is a second preset value;

[0031] Figure 3 This is a partial cross-sectional view of the present invention;

[0032] Figure 4 This is a first exploded view of the present invention;

[0033] Figure 5 This is the second exploded view of the present invention;

[0034] Figure 6 This is a cross-sectional view of the present invention;

[0035] Figure 7 This is a top view of the present invention;

[0036] The reference numerals in the figure are as follows: 10, power input device; 101, input drive shaft; 102, first deep groove ball bearing; 20, speed conversion output device; 201, housing; 202, one-way bearing; 203, internal gear ring; 204, planetary carrier; 205, sun gear; 206, planetary gear; 207, intermediate gear; 208, output gear shaft; 209, second deep groove ball bearing; 2010, third deep groove ball bearing; 30, output adapter plate; 40, blade adaptive rotation device; 401, blade mounting shaft; 402, blade adaptive adjustment device; 50, blade; 60, pipe clamp. Detailed Implementation

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0038] This embodiment provides a dual-speed ratio water-air dual-purpose propulsion device, such as... Figure 1 Figure 2 As shown, it mainly includes the following specific contents:

[0039] 1) Power input device 10, which is connected to an external drive motor;

[0040] 2) The speed conversion output device 20 is connected to the input drive shaft 101 of the power input device 10;

[0041] 3) The output adapter plate 30 is connected to the output gear shaft 208 of the speed conversion output device 20;

[0042] 4) The blade adaptive rotation device 40 is connected to the output adapter plate 30;

[0043] 5) The blade 50 is rotatably connected to the blade adaptive rotation device 40.

[0044] 6) Pipe clamp 60 is connected to the housing 201 of the speed conversion output device 20.

[0045] Specifically, when the input drive shaft 101 rotates counterclockwise at a first speed, the output gear shaft 208 of the speed conversion output device 20 rotates counterclockwise at a first speed; when the input drive shaft 101 rotates clockwise at a first speed, the output gear shaft 208 of the speed conversion output device 20 decelerates and rotates counterclockwise at a second speed.

[0046] The first rotational speed is greater than the second rotational speed.

[0047] When the output gear shaft 208 of the speed conversion output device 20 rotates, the output adapter 30 connected to it rotates accordingly, ultimately driving the blade adaptive rotation device 40 and the blade 50 to rotate in a shape with a radius of R1, as shown below. Figure 1 As shown; when the output gear shaft 208 of the continuously variable speed output device 30 rotates at reduced speed, it ultimately drives the blade adaptive rotation device 40 and the blade 50 to rotate in a shape with a radius of R2, as shown. Figure 2 As shown. The radius R1 is greater than the radius R2.

[0048] It is worth noting that the power input device 10 is the main device providing driving force. The speed conversion output device 20 refers to a device that uses the power input device 10 as the power input source and obtains two different speed ratio outputs in the same direction by varying the clockwise and counterclockwise rotation directions of the power input source. The output adapter 30 is an intermediate device that is fixedly connected to the speed conversion output shaft and drives the blade adaptive rotation device 40 and the blade 50 to rotate. The blade adaptive rotation device 40 is a device that passively and adaptively adjusts the blade radius. Specifically, it passively adjusts the blade radius according to the rotation speed of the speed conversion output shaft. When the speed of the speed conversion output shaft is high, the blade 50 passively opens, and the radius increases; when the speed of the speed conversion output shaft is low, the blade 50 passively bends, and the radius decreases. The two blade shapes correspond to the adaptable shapes of propeller blades in the air and underwater, respectively. In the air, due to the low air density, the blades can be long and rotate at high speed to obtain a high airflow and generate aerodynamics. In the water, due to the high density of water and its large drag, the blades need to be short to obtain hydrodynamics.

[0049] In summary, the amphibious propulsion device provided by this invention uses the power input device 10 as the input source. The speed conversion output device 20 generates the output speed based on the input speed and direction of the power input device 10. The two input speeds have different directions, resulting in two different speed ratios for the output speed. When the input speed is counterclockwise, it drives the blade adaptive rotation device 40 to rotate at high speed, and the blades 50 are passively opened, rotating at high speed in a long blade shape, which is suitable for obtaining aerodynamic force in the air. When the input speed is clockwise, it drives the blade adaptive rotation device 40 to rotate at low speed. When the blades are in water, due to the greater resistance in the water, the blades 50 are passively bent, and the blades rotate at low speed to obtain hydrodynamic force.

[0050] It is worth noting that, due to the low resistance of air and the high resistance of water, amphibious thrusters are required to provide a wide torque output range. In the air, the thruster should exhibit low torque and high speed; in water, it needs to exhibit high torque and low speed. This aligns with the torque-speed relationship, but conventional power mechanisms (motors) often struggle to meet these requirements, making this one of the challenges in designing amphibious UAVs. Compared to other thrusters, this invention is characterized by its wide torque and speed output range, enabling its application in both water and air. The invention also features a relatively simple structure, low complexity, and light weight, making it suitable for the demanding payload requirements of amphibious UAVs.

[0051] In a preferred implementation of this invention, such as Figure 3 Figure 4 As shown, the power input device 10 includes: an input drive shaft 101, the main body of which is an irregular cylindrical shape, primarily used for transmitting power from an external motor; the input drive shaft 101 is tightly fitted with multiple components of the speed conversion device 20; a first deep groove ball bearing 102 is tightly fitted and sleeved with the input drive shaft 101; and the input drive shaft 101 is fixedly sleeved with the motor shaft of the external device's drive motor via set screws.

[0052] like Figure 5 Figure 6 The speed conversion output device 20 shown includes: a housing 201, which serves as the housing for the speed conversion device 20; the speed conversion component of the speed conversion device 20 is located inside the housing 201; the output adapter 30 is sleeved with the output gear shaft 208 of the speed conversion component in the speed conversion device 20 and extends outside the housing 201; and a one-way bearing 202, which is tightly fitted with the input drive shaft 101. A one-way bearing is a bearing that allows rotation in only one direction internally; its function in this invention is to change the rotation direction of the speed conversion component of the speed conversion device 20. Figure 7 As shown, the internal gear ring 203 is tightly fitted with the one-way bearing 202. When the one-way bearing 202 is driven to rotate, it will drive the internal gear ring 203 to rotate in the same direction. The internal gear ring 203 is part of the planetary gear transmission mechanism inside the speed conversion device 20. The planet carrier 204 is tightly fitted with the input drive shaft 101. The planet carrier 204 is generally flat and elliptical, with protrusions at both ends for fitting planetary gears 206. The sun gear 205 is fixedly connected to the input drive shaft 101. The planetary gears 206 are tightly fitted with the planet carrier 204. The planetary gears 206 are two fixed gear sets, one upper and one lower. The lower gear is larger and meshes with the sun gear 205 and the internal gear ring 203, while the upper gear is smaller and meshes with the output gear shaft 208 and the intermediate gear 207. An intermediate gear 207 meshes with the upper gear of the planetary gear 206. An output gear shaft 208 meshes with the upper gear of the planetary gear 206. A second deep groove ball bearing 209 is tightly fitted onto the output gear shaft 208. A third deep groove ball bearing 2010 is fitted onto the second deep groove ball bearing 209.

[0053] The output adapter plate 30 is fastened to the output gear shaft of the speed conversion output device 20 with screws.

[0054] The blade adaptive rotation device 40 includes: a blade mounting shaft 401, which is connected to the output adapter 30; and a blade adaptive adjustment device 402, which is helically connected to the blade mounting shaft 401 and fastened to the blade 50 via a hinge.

[0055] In a preferred implementation of this invention, such as Figure 3 Figure 4 As shown, when the power input device 10 is driven to rotate by an external motor, it will drive the input drive shaft 101 of the power input device 10 to rotate. The rotation direction and speed of the input drive shaft 101 are the same as the rotation direction and speed of the external motor shaft. Whether the output gear shaft 208 of the speed conversion device 20 rotates at a first speed or a second speed depends on whether the one-way bearing 202 of the speed conversion device 20 allows the input drive shaft 101 of the power input device 10 to rotate.

[0056] It should be noted that if the one-way bearing allows the internal transmission device to rotate clockwise, then when the input transmission shaft 101 of the speed conversion component inside the speed conversion device 20 rotates clockwise, the inner and outer rings of the one-way bearing will rotate relative to each other. At this time, the one-way bearing does not function for the speed conversion device 20. Conversely, when rotating counterclockwise, the one-way bearing does not allow the input transmission shaft 101 to rotate counterclockwise. That is, the inner and outer rings of the one-way bearing are driven to rotate counterclockwise in the same direction, that is, the input transmission shaft 101 drives the one-way bearing 202 to rotate counterclockwise together.

[0057] Generally, when the one-way bearing 202 of the speed conversion device 20 does not allow the input drive shaft 101 of the power input device 10 to rotate in the current rotation direction, the output gear shaft 208 of the speed conversion device 20 rotates at a first speed, with the rotation direction and speed being the same as those of the input drive shaft 101. When the one-way bearing 202 of the speed conversion device 20 allows the input drive shaft 101 of the power input device 10 to rotate, the output gear shaft 208 of the speed conversion device 20 rotates at a second speed, with the rotation direction opposite to that of the input drive shaft 101, and the speed is reduced by the speed conversion device 20, with the first speed being greater than the second speed. Ultimately, the output gear shaft 208 of the speed conversion device 20 drives the output adapter 30 and the blade mounting shaft 401 of the blade adaptive rotation device 40 to rotate. Correspondingly, the blade mounting shaft 401 of the blade adaptive rotation device 40 drives the blade adaptive adjustment device 402 and the blade 50 of the blade adaptive rotation device 40 to rotate.

[0058] It is worth noting that the first rotational speed is the same as the rotational speed of the external drive motor, while the second rotational speed is the speed after being reduced by the speed conversion device 20. The first rotational speed is greater than the second rotational speed. Furthermore, regardless of the direction of the external drive motor's rotation, the output gear shaft 208 of the speed conversion device 20 always rotates in the same direction.

[0059] Specifically, let the output speed of the invention be positive if the counterclockwise rotation direction is positive and negative if the clockwise direction is negative. Let the one-way bearing 202 of the speed conversion device 20 allow the input drive shaft 101 of the power input device 10 to rotate clockwise. When the input drive shaft 101 of the power input device 10 rotates counterclockwise at a first speed, the one-way bearing 202 of the speed conversion device 20 and the input drive shaft 101 of the power input device 10 are locked together, and both rotate counterclockwise. Consequently, the one-way bearing 202 drives the internal gear ring 203 to rotate counterclockwise. Since the sun gear 205 is fixed to the input drive shaft 101, the sun gear 205 also rotates counterclockwise around the input drive shaft 101 at the same speed.

[0060] It should be noted that, in this case, the rotation direction and speed of the internal gear ring 203 are completely consistent with the rotation direction and speed of the sun gear 205. This will cause the planet gears 206, which mesh with the internal gear ring 203 and the sun gear 205 respectively, to also passively revolve around the input drive shaft 101 or the sun gear 205 in a counterclockwise direction at the same rotation speed.

[0061] When the planetary gear 206 passively revolves counterclockwise, the upper pinion of the planetary gear 206 drives the output gear shaft 208 to rotate counterclockwise at the same speed. Consequently, the output gear shaft 208 drives the output adapter 30, the adaptive rotation device 40, and the blade 50 to rotate counterclockwise at the same speed as the input drive shaft 101, which is the first speed.

[0062] In another scenario, when the external drive motor rotates clockwise at a first speed, the input drive shaft 101 of the power input device 10 also rotates clockwise at the first speed. Since the one-way bearing 202 of the speed conversion device 20 allows the input drive shaft 101 of the power input device 10 to rotate, the input drive shaft 101 of the power input device 10 drives the sun gear 205 to rotate clockwise at the first speed. Because the sun gear 205 meshes with the lower gear of the planetary gear 206, and since the number of teeth on the sun gear is less than the number of teeth on the lower gear of the planetary gear 206, the sun gear 205 drives the planetary gear 206 to rotate counterclockwise at speed A. The upper pinion of the planetary gear 206 then drives the output gear shaft 208 to rotate counterclockwise at speed A, which is the second speed. The output gear shaft 208 then drives the output adapter 30 and the adaptive rotation device 40 and the blade 50 to rotate counterclockwise, with the rotation speed being the same as that of the output gear shaft 208, which is the second rotation speed.

[0063] In this situation, the speed conversion device 20 serves to reduce speed and increase torque.

[0064] It is worth noting that the intermediate gear 207 of the speed conversion device 20 does not play a role in any process. Its main function is to ensure the reliability of the planetary gears 206 of the speed conversion device 20 during operation. Therefore, the intermediate gear 207 is designed to mesh with the two planetary gears 206 to ensure that the planetary gears are not deformed by external pressure.

[0065] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A dual speed ratio amphibious power plant characterized by, The utility model relates to a power input device (10), a rotating speed conversion output device (20) connected with the input transmission shaft (101) of the power input device (10), an output adapter disk (30) connected with the output gear shaft (208) of the rotating speed conversion output device (20), a blade self-adaptive rotating device (40) connected with the output adapter disk (30), a paddle (50) connected with the blade self-adaptive rotating device (40), a pipe clamp (60) connected with the shell (201) of the rotating speed conversion output device (20), wherein when the input transmission shaft (101) of the power input device (10) rotates counterclockwise at a first rotating speed, the rotating speed conversion output device (20) drives the paddle (50) to rotate counterclockwise at a first rotating speed with a first preset radius, when the input transmission shaft (101) of the power input device (10) rotates clockwise at a first rotating speed, the rotating speed conversion output device (20) drives the paddle (50) to rotate counterclockwise at a second rotating speed with a second preset radius, the first rotating speed is greater than the second rotating speed, and the first preset radius is greater than the second preset radius, the rotating speed conversion output device (20) comprises a shell (201), a one-way bearing (202), an inner ring gear (203), a planet carrier (204), a sun gear (205), a plurality of planetary gears (206), an intermediate gear (207), an output gear shaft (208), a second deep groove ball bearing (209), and a third deep groove ball bearing (2010), the one-way bearing (202) is tightly fitted with the input transmission shaft (101), the inner ring gear (203) is tightly fitted with the one-way bearing (202), the planet carrier (204) is tightly connected with the input transmission shaft (101), the sun gear (205) is fixedly connected with the input transmission shaft (101), the planetary gears (206) comprise two upper and lower gear fixed sleeves, the lower gear has a greater radius than the upper gear, the planetary gears (206) are tightly fitted with the planet carrier (204), the lower gear is engaged with the sun gear (205) and the inner ring gear (203), the upper gear is engaged with the output gear shaft (208) and the intermediate gear (207), the second deep groove ball bearing (209) is tightly fitted with the output gear shaft (208), and the third deep groove ball bearing (2010) is fitted with the second deep groove ball bearing (209), the sun gear (205) has a smaller number of teeth than the lower gear of the planetary gears (206), and the intermediate gear (207) is engaged with the upper gears of the plurality of planetary gears (206). The power input device (10) comprises an input transmission shaft (101) and a first deep groove ball bearing (102), the input transmission shaft (101) is in the form of an irregular cylinder, is used for transmitting power of an external motor, is tightly fitted with a plurality of components of the rotating speed conversion output device (20), and is tightly fitted with a motor shaft of a driving motor of an external device through a top screw. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 2. A dual speed ratio water-air dual mode power plant according to claim 1, characterized in that, ​ 3. A dual ratio amphibious power plant according to claim 2, wherein, ​ 4. A dual speed ratio water-air dual mode power plant according to claim 2, wherein, The first deep groove ball bearing (102) is in a fastening fit with the input transmission shaft (101).

5. A dual speed ratio water-air dual mode power plant according to claim 1, wherein, The planet carrier (204) is generally flat and oval, and the two ends are in a fit with the planet wheel (206).

6. A dual speed ratio water-air dual mode power plant according to claim 1, wherein, The output adapter disc (30) is fastened to the output gear shaft (208) of the rotational speed conversion output device (20) by screws.

7. A dual speed ratio water-air dual mode power plant according to claim 1, wherein, The blade adaptive rotating device (40) comprises a blade mounting shaft (401) and a blade adaptive adjusting device (402).

8. A dual speed ratio water-air dual power plant according to claim 7, characterized in that The blade mounting shaft (401) is connected to the output adapter disc (30), the blade adaptive adjusting device (402) is screw-connected to the blade mounting shaft (401), and the blade adaptive adjusting device (402) is fastened to the paddle (50) by a hinge.

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