An openable auxiliary propulsion system for a submersible

Abstract

The application discloses an openable auxiliary propulsion system for underwater vehicle, which comprises a support, two pairs of propulsion mechanisms and a driving mechanism, the support is used for connecting with the cabin body of the underwater vehicle, the driving mechanism is arranged on the support, the two pairs of propulsion mechanisms are arranged on the driving mechanism, the driving mechanism controls the two pairs of propulsion mechanisms to be synchronously unfolded and folded along the radial direction of the cabin body of the underwater vehicle, and a vertical propeller is arranged on each propulsion mechanism, and the central axis of the vertical propeller is parallel to the vertical axis of the cabin body of the underwater vehicle. The openable auxiliary propulsion system for underwater vehicle is used as an auxiliary propulsion system when the underwater vehicle is maneuvered and accurately operated, can be folded into the cabin body when the underwater vehicle is directly navigated or needs to shuttle in the complex seabed terrain, so that the smoothness of the cabin body of the underwater vehicle is ensured, the shape resistance is reduced, the endurance is greatly improved, and the passing performance of the underwater vehicle in the complex seabed terrain is ensured.

Description

Technical Field

[0001] This invention belongs to the field of underwater vehicle technology, specifically relating to an openable auxiliary propulsion system for underwater vehicles. Background Technology

[0002] Depending on the technical requirements and the size of the water area, existing underwater vehicles (UVs) primarily perform two types of tasks: one is reconnaissance missions such as target search, detection, and monitoring in larger water areas; the other is operational missions such as sampling, retrieval, and valve tightening in smaller target water areas. These two types of missions have different emphasis on the overall performance requirements of the UVs: reconnaissance missions generally require high navigation efficiency and long endurance; operational missions require stable and precise attitude control. As crucial components of underwater vehicles, the propulsion system and external design directly impact their navigation efficiency and attitude control.

[0003] The propulsion system of an underwater vehicle includes a main thruster and auxiliary thrusters. The main thruster is usually installed at the stern of the hull and provides the main thrust during forward navigation. Auxiliary thrusters are usually installed on the outside, inside, or bottom of the hull to provide additional lateral or vertical thrust when needed, enabling attitude adjustment or rapid turning. The arrangement of multiple thrusters can effectively improve the maneuverability and operational accuracy of the underwater vehicle. However, for auxiliary thrusters with internal openings, when not in use, they can disrupt the streamlined shape of the underwater vehicle, increasing form drag. Externally mounted auxiliary thrusters pose difficulties for the underwater vehicle navigating complex seabed terrain. Summary of the Invention

[0004] In order to overcome the above-mentioned shortcomings of the prior art, the purpose of this invention is to provide an openable auxiliary propulsion system for underwater vehicles. As an auxiliary propulsion system for underwater vehicles during maneuvering and precision operations, it can be retracted into the cabin when sailing straight or navigating through complex seabed terrain, thereby ensuring the smoothness of the underwater vehicle's cabin shape, reducing shape drag, greatly improving endurance, and ensuring the underwater vehicle's passability in complex seabed terrain.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] An openable auxiliary propulsion system for an underwater vehicle is characterized by comprising: a support frame, two pairs of propulsion mechanisms, and a drive mechanism. The support frame is used to connect to the underwater vehicle hull. The drive mechanism is mounted on the support frame, and the two pairs of propulsion mechanisms are mounted on the drive mechanism. The drive mechanism controls the two pairs of propulsion mechanisms to synchronously extend and retract along the radial direction of the underwater vehicle hull. Each propulsion mechanism is equipped with a vertical propeller, and the central axis of the vertical propeller is parallel to the vertical axis of the underwater vehicle hull.

[0007] Furthermore, the propulsion mechanism includes a propulsion mount for mounting the vertical propeller, and a side cover hatch is fixedly provided on the side opposite to the propulsion mount.

[0008] Furthermore, the vertical propeller is a ducted propeller.

[0009] Furthermore, the drive mechanism includes a compatible servo motor, a drive shaft, and a coupling rod, the coupling rod being connected to the drive link; the drive link being connected to the drive shaft; an extension and retraction mechanism being provided between the drive link and the corresponding side propulsion mechanism; and the drive link being hinged to the corresponding side link in the extension and retraction mechanism.

[0010] Furthermore, the bracket is provided with a frame, and the frame is provided with a drive assembly for controlling the linear motion of the coupling rod. When the drive assembly controls the extension and retraction of the drive shaft, the two drive linkages cooperate with the extension and retraction mechanism to realize the synchronous extension and retraction of the two pairs of propulsion mechanisms.

[0011] Furthermore, the unfolding and retracting mechanism includes two pairs of connecting rods, two rotating rings, two washers, two bushings, a central shaft, a bearing, two end caps, a bolt, and a nut;

[0012] In the unfolding and retracting mechanism, two rotating rings are sleeved on the central shaft. A gasket is provided between the end cap and the rotating ring, between the rotating rings, and between the rotating ring and the shaft seat to reduce wear between the parts. The bottom end cap is fixed to the shaft seat by bolts and nuts on the top end cap, and axially limits other rotating parts.

[0013] In the deployment and retraction mechanism, the bushing is installed on the inner wall of the rotating ring to reduce the friction between the rotating ring and the central shaft. In the deployment and retraction mechanism, the opposite ends of each pair of connecting rods are connected to the corresponding propulsion seat, and the opposite ends of each pair of connecting rods are connected to the rotating ring. The propulsion seat ends of the two pairs of connecting rods in the deployment and retraction mechanism are hinged to the corresponding propulsion mechanism.

[0014] Furthermore, a main control cabin is provided on the frame, and the main control cabin is communicatively connected to the servo motor.

[0015] An underwater vehicle includes an underwater vehicle hull, a main thruster disposed at the stern of the underwater vehicle hull, and lateral auxiliary thrusters disposed inside the underwater vehicle hull, characterized in that it further includes:

[0016] The openable auxiliary propulsion system for a submersible according to claim 1 is disposed inside the submersible cabin;

[0017] A hatch opening adapted to the side hatch is provided on the hull of the underwater vehicle.

[0018] Furthermore, when the underwater vehicle needs attitude adjustment, the two pairs of propulsion mechanisms are deployed, and the four vertical propellers respectively mounted on the four propulsion mechanisms are the first propeller, the second propeller, the third propeller, and the fourth propeller:

[0019] When the underwater vehicle tilts forward, the third and fourth propellers rotate clockwise to provide upward thrust, while the first and second propellers rotate counterclockwise to provide downward thrust, generating a tilting torque.

[0020] When the underwater vehicle pitches backward, the first and second propellers rotate clockwise to provide upward thrust, while the third and fourth propellers rotate counterclockwise to provide downward thrust, generating a pitching torque.

[0021] When the underwater vehicle rolls to the left, the second and fourth propellers rotate clockwise to provide upward thrust, while the first and third propellers rotate counterclockwise to provide downward thrust, generating a leftward rolling torque.

[0022] When the underwater vehicle rolls to the right, the first and third propellers rotate clockwise to provide upward thrust, while the second and fourth propellers rotate counterclockwise to provide downward thrust, generating a leftward rolling torque.

[0023] Furthermore, when the underwater vehicle rotates to the left to change course, all four propellers rotate simultaneously in either the forward or reverse direction. The first and third propellers rotate at the same speed, and the second and fourth propellers rotate at the same speed. The speed of the first and third propellers is higher than that of the second and fourth propellers, providing rotational torque. During this process, neither the main thruster nor the lateral auxiliary thruster is activated.

[0024] When the underwater vehicle rotates to the right to change course, all four propellers rotate simultaneously in either the forward or reverse direction. The first and third propellers rotate at the same speed, and the second and fourth propellers rotate at the same speed. The second and fourth propellers rotate at a higher speed than the first and third propellers, providing rotational torque. During this process, neither the main thruster nor the lateral auxiliary thruster is activated.

[0025] Compared with the prior art, the beneficial effects of the present invention are:

[0026] The propulsion mechanism in this invention can be retracted into the submersible's hull via a drive mechanism and a retraction mechanism to reduce drag, increase range, and achieve efficient cruising. The propulsion mechanism can also extend to the outside of the submersible body via a drive structure, resulting in a large lever arm and increased torque, significantly improving maneuverability and enhancing the ability to perform precise operations. This gives the submersible full-degree-of-freedom, high-precision motion control capabilities, enabling specialized operations requiring underwater levitation and close-range precision work. This invention resolves the contradiction between low-drag cruising and precision operation, overcoming the bottleneck of long-range precision operations for submersibles. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of an openable auxiliary propulsion system for a submarine provided in an embodiment of the present invention;

[0028] Figure 2 This is a schematic diagram of the extended propulsion mechanism in an embodiment of the present invention;

[0029] Figure 3 This is a schematic diagram of the unfolding and retracting mechanism in an embodiment of the present invention;

[0030] Figure 4 This is a schematic diagram of the propulsion mechanism in an embodiment of the present invention;

[0031] Figure 5 This is a schematic diagram of the drive mechanism in an embodiment of the present invention;

[0032] Figure 6 This is a schematic diagram of the propulsion mechanism of the underwater vehicle according to an embodiment of the present invention when it is deployed;

[0033] Figure 7 This is a schematic diagram of the propulsion mechanism of the underwater vehicle in an embodiment of the present invention when it is retracted;

[0034] Figure 8 This is a schematic diagram of the structure of four vertical propellers on the openable auxiliary propulsion system for a submarine according to an embodiment of the present invention;

[0035] Figure 9 This is a schematic diagram of the lateral auxiliary thruster and main control compartment in an underwater vehicle according to an embodiment of the present invention;

[0036] Figure 10 This is a partial schematic diagram of the unfolding and retracting mechanism in an embodiment of the present invention.

[0037] Explanation of reference numerals in the attached figures:

[0038] 01-Underwater vehicle hull, 02-Main thruster, 03-Side auxiliary thruster, 04-Hatch opening;

[0039] 1-Bracket, 11-Frame, 12-Drive mechanism mounting base, 13-Extending and retracting mechanism mounting base;

[0040] 2-Propulsion mechanism, 21-Vertical propeller, 22-Propulsion mount, 23-Side hatch;

[0041] 3-Drive mechanism, 31-Servo motor, 32-Drive shaft, 33-Coupling, 34-Drive link;

[0042] 4-Expanding and retracting mechanism, 41-Connecting rod, 42-Rotating ring, 43-Washer, 44-Shaft sleeve, 45-Central shaft, 46-Shaft seat, 47-End cap, 48-Bolt, 49-Nut;

[0043] 5-Main Control Module. Detailed Implementation

[0044] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, 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 application pertains.

[0045] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0046] In this invention, terms such as "upper," "lower," "top," and "bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are merely relational terms determined for the convenience of describing the structural relationship of the various components or elements of this invention, and do not specifically refer to any component or element in this invention, nor should they be construed as limiting this invention.

[0047] In this invention, terms such as "connected" and "linked" should be interpreted broadly, indicating a fixed connection, an integral connection, or a detachable connection; a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can determine the specific meaning of the above terms in this invention based on the specific circumstances, and they should not be construed as limitations on this invention.

[0048] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments, but the present invention is not limited thereto.

[0049] Example 1

[0050] like Figure 1-5As shown, the present invention provides an openable auxiliary propulsion system for a submersible, comprising: a support 1, two pairs of propulsion mechanisms 2, and a drive mechanism 3. The support 1 is used to connect to the submersible hull 01. The drive mechanism 3 is mounted on the support 1, and the two pairs of propulsion mechanisms 2 are mounted on the drive mechanism 3. The drive mechanism 3 controls the two pairs of propulsion mechanisms to extend and retract synchronously along the radial direction of the submersible hull. Each propulsion mechanism 2 is equipped with a vertical propeller, and the central axis of the vertical propeller is parallel to the vertical axis of the submersible hull 01.

[0051] like Figure 4 As shown, the propulsion mechanism 2 includes a propulsion mount 22 for mounting a vertical propeller 21, and a side cover door 23 is fixedly provided on the side opposite to the propulsion mount 22. Specifically, the vertical propeller 21 is a ducted propeller.

[0052] like Figure 5 As shown, the drive mechanism 3 includes a servo motor 31, a drive shaft 32, and a coupling rod 33. The coupling rod 33 is connected to the drive link 34. The drive link 34 is connected to the drive shaft 33. An extension and retraction mechanism 4 is provided between the drive link 34 and the corresponding side of the propulsion mechanism 2. The drive link 34 is hinged to the corresponding side link in the extension and retraction mechanism 4.

[0053] like Figure 8 As shown, the four vertical propellers on the propulsion mechanism of the openable auxiliary propulsion system for the underwater vehicle include: a first propeller 211, a second propeller 212, a third propeller 213, and a fourth propeller 214.

[0054] like Figure 9 As shown, the lateral auxiliary thruster 03 and the main control compartment 5 are installed on the underwater vehicle support 1.

[0055] like Figure 1 and Figure 5 As shown, the bracket 1 is provided with a frame 11, a drive mechanism mounting base 12, and an extension and retraction mechanism mounting base 13. The frame 11 is provided with a drive assembly for controlling the linear motion of the coupling rod 33. When the drive assembly controls the extension and retraction of the drive shaft 32, the two drive linkages 34 cooperate with the extension and retraction mechanism 4 to realize the synchronous extension and retraction of the two pairs of propulsion mechanisms 2.

[0056] like Figure 3 and Figure 10 As shown, the unfolding and retracting mechanism 4 includes two pairs of connecting rods 41, two rotating rings 42, two washers 43, two bushings 44, a central shaft 45, a bearing 46, two end caps 47, a bolt 48, and a nut 49;

[0057] In the unfolding mechanism 4, two rotating rings 42 are fitted onto the central shaft 45. A gasket 43 is provided between the end cap 47 and the rotating ring 42, between the rotating ring 42 and the rotating ring 42, and between the rotating ring 42 and the shaft seat 46 to reduce wear between the parts. The bottom end cap 47 is fixed to the shaft seat 46 by bolts 48 and nuts 49 of the top end cap 47, and axially limits other rotating parts.

[0058] In the deployment and retraction mechanism 4, the bushing 44 is installed on the inner wall of the rotating ring 42 to reduce the friction between the rotating ring 42 and the central shaft 45. In the deployment and retraction mechanism 4, the opposite ends of each pair of connecting rods 41 are connected to the corresponding propulsion seat 22, and the opposite ends of each pair of connecting rods 41 are connected to the rotating ring 42. The propulsion seat ends of the two pairs of connecting rods 41 in the deployment and retraction mechanism 4 are hinged to the corresponding propulsion mechanism 2.

[0059] The frame 11 is equipped with a main control compartment 5, which is connected to the servo motor 31.

[0060] When the servo motor 31 drives the internal lead screw to rotate, it drives the drive shaft 32 to move forward or backward: when the drive shaft 32 moves forward, it drives the coupling rod 33 to move forward, and the coupling rod 33 drives the connecting rods in the corresponding side extension and retraction mechanism 4 to move closer together through the drive link 34, driving the propulsion seat 22 to retract inward; when the drive shaft 32 moves backward, it drives the coupling rod 33 to move backward, and the coupling rod 33 drives the connecting rod 41 in the corresponding side extension and retraction mechanism 4 to separate from each other through the drive link 34, driving the propulsion seat 22 to extend outward.

[0061] Example 2

[0062] An underwater vehicle includes an underwater vehicle hull 01, a main thruster 02 disposed at the stern of the underwater vehicle hull 01, a lateral auxiliary thruster 03 disposed inside the underwater vehicle hull 01, an openable auxiliary propulsion system for underwater vehicles as described in Embodiment 1 disposed inside the underwater vehicle hull 01, and a hatch opening 04 disposed on the underwater vehicle hull 01 and adapted to a side hatch 23.

[0063] When the underwater vehicle does not require an openable auxiliary propulsion system or needs to navigate through narrow seabed terrain, the two propulsion mechanisms 2 retract into the underwater vehicle hull 01, such as... Figure 7 As shown, at this time, the side cover hatch 24 cooperates with the hatch opening 04 to ensure the integrity of the underwater vehicle body 01 and the smoothness of its shape. At this time, the underwater vehicle is powered by the main thruster 02.

[0064] When the underwater vehicle needs to adjust its attitude, the four propulsion mechanisms are displayed, such as... Figure 6 As shown:

[0065] When the underwater vehicle tilts forward, the third and fourth propellers rotate clockwise to provide upward thrust, while the first and second propellers rotate counterclockwise to provide downward thrust, generating a tilting torque.

[0066] When the underwater vehicle pitches backward, the first and second propellers rotate clockwise to provide upward thrust, while the third and fourth propellers rotate counterclockwise to provide downward thrust, generating a pitching torque.

[0067] When the underwater vehicle rolls to the left, the second and fourth propellers rotate clockwise to provide upward thrust, while the first and third propellers rotate counterclockwise to provide downward thrust, generating a rolling torque to the left.

[0068] When the underwater vehicle rolls to the right, the first and third propellers rotate clockwise to provide upward thrust, while the second and fourth propellers rotate counterclockwise to provide downward thrust, generating a rolling torque to the left.

[0069] Existing underwater vehicles require buoyancy adjustment through water replenishment or jettisoning during surfacing and descent, a process that is inefficient and slow. In contrast, this invention features an underwater vehicle equipped with a deployable and retractable attitude-adjustable propulsion system. During near-bottom exploration and underwater cruising, it can quickly ascend by forward rotation of the vertical propeller and descend by reverse rotation, adapting to complex seabed terrain.

[0070] When ascending, all four propellers rotate clockwise simultaneously, providing upward thrust;

[0071] During descent, all four propellers reverse simultaneously, providing downward thrust.

[0072] When the underwater vehicle rotates to the left to change course while stationary, all four propellers rotate simultaneously in either the forward or reverse direction. The first and third propellers rotate at the same speed, and the second and fourth propellers rotate at the same speed. The first and third propellers rotate at a higher speed than the second and fourth propellers, providing rotational torque. During this process, the main thruster 02 and the lateral auxiliary thruster 03 are not activated.

[0073] When the underwater vehicle rotates to the right to change course, all four propellers rotate simultaneously in either forward or reverse direction. The first and third propellers rotate at the same speed, as do the second and fourth propellers. The second and fourth propellers rotate at a higher speed than the first and third propellers, providing rotational torque. During this process, the main thruster 02 and the lateral auxiliary thruster 03 are not activated.

[0074] It should be noted that the embodiments described above are merely preferred embodiments of the present invention. For those skilled in the art, various modifications, improvements, and equivalent substitutions can be made to the present invention without departing from its principles, and such modifications, improvements, and equivalent substitutions are also considered to fall within the protection scope of the claims of the present invention.

Claims

1. An openable auxiliary propulsion system for a submersible, characterized in that, include: The system includes a support frame, two pairs of propulsion mechanisms, and a drive mechanism. The support frame is used to connect to the underwater vehicle hull. The drive mechanism is mounted on the support frame, and the two pairs of propulsion mechanisms are mounted on the drive mechanism. The drive mechanism controls the two pairs of propulsion mechanisms to extend and retract synchronously along the radial direction of the underwater vehicle hull. Each propulsion mechanism is equipped with a vertical propeller, and the central axis of the vertical propeller is parallel to the vertical axis of the underwater vehicle hull. The drive mechanism includes a matching servo motor, a drive shaft, and a coupling rod, the coupling rod being connected to the drive link; the drive link being connected to the drive shaft; an extension and retraction mechanism is provided between the drive link and the corresponding side propulsion mechanism, and the drive link is hinged to the corresponding side link in the extension and retraction mechanism; The bracket is provided with a frame, and the frame is provided with a drive assembly for controlling the linear motion of the coupling rod. When the drive assembly controls the extension and retraction of the drive shaft, the two drive linkages cooperate with the extension and retraction mechanism to realize the synchronous extension and retraction of the two pairs of propulsion mechanisms. The unfolding and retracting mechanism includes two pairs of connecting rods, two rotating rings, two washers, two bushings, a central shaft, a bearing, two end caps, a bolt, and a nut; In the unfolding and retracting mechanism, two rotating rings are fitted onto the central shaft. A gasket is provided between the end cap and the rotating ring, between the rotating rings, and between the rotating ring and the shaft seat to reduce wear between the parts. The bottom end cap is fixed to the shaft seat by bolts and nuts on the top end cap, and axially limits the rotating parts. In the deployment and retraction mechanism, the bushing is installed on the inner wall of the rotating ring to reduce the friction between the rotating ring and the central shaft. In the deployment and retraction mechanism, the opposite ends of each pair of connecting rods are connected to the corresponding propulsion seat, and the opposite ends of each pair of connecting rods are connected to the rotating ring. The propulsion seat ends of the two pairs of connecting rods in the deployment and retraction mechanism are hinged to the corresponding propulsion mechanism.

2. The openable auxiliary propulsion system for a submarine according to claim 1, characterized in that, The propulsion mechanism includes a propulsion mount for mounting the vertical propeller, and a side cover hatch is fixedly provided on the side opposite to the propulsion mount.

3. The openable auxiliary propulsion system for a submarine according to claim 1, characterized in that, The vertical propeller is a ducted propeller.

4. The openable auxiliary propulsion system for a submarine according to claim 1, characterized in that, The frame is equipped with a main control cabin, which is connected to the servo motor for communication.

5. An underwater vehicle, comprising an underwater vehicle hull, a main thruster disposed at the stern of the underwater vehicle hull, and lateral auxiliary thrusters disposed inside the underwater vehicle hull, characterized in that, Also includes: The openable auxiliary propulsion system for a submersible according to claim 1 is disposed inside the submersible cabin; A hatch opening adapted to the side hatch is provided on the hull of the underwater vehicle.

6. The underwater submersible according to claim 5, characterized in that, When the underwater vehicle needs attitude adjustment, the two pairs of propulsion mechanisms are deployed, and the four vertical propellers respectively mounted on the four propulsion mechanisms are the first propeller, the second propeller, the third propeller, and the fourth propeller: When the underwater vehicle tilts forward, the third and fourth propellers rotate clockwise to provide upward thrust, while the first and second propellers rotate counterclockwise to provide downward thrust, generating a tilting torque. When the underwater vehicle pitches backward, the first and second propellers rotate clockwise to provide upward thrust, while the third and fourth propellers rotate counterclockwise to provide downward thrust, generating a pitching torque. When the underwater vehicle rolls to the left, the second and fourth propellers rotate clockwise to provide upward thrust, while the first and third propellers rotate counterclockwise to provide downward thrust, generating a leftward rolling torque. When the underwater vehicle rolls to the right, the first and third propellers rotate clockwise to provide upward thrust, while the second and fourth propellers rotate counterclockwise to provide downward thrust, generating a leftward rolling torque.

7. The underwater submersible according to claim 6, characterized in that, When the underwater vehicle rotates to the left to change course, all four propellers rotate simultaneously in either the forward or reverse direction. The first and third propellers rotate at the same speed, and the second and fourth propellers rotate at the same speed. The first and third propellers rotate at a higher speed than the second and fourth propellers, providing rotational torque. During this process, neither the main thruster nor the lateral auxiliary thruster is activated; When the underwater vehicle rotates to the right to change course, all four propellers rotate simultaneously in either the forward or reverse direction. The first and third propellers rotate at the same speed, and the second and fourth propellers rotate at the same speed. The second and fourth propellers rotate at a higher speed than the first and third propellers, providing rotational torque. During this process, neither the main thruster nor the lateral auxiliary thruster is activated.

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