Underwater vector thruster capable of preventing propeller from being stuck and abraded

Abstract

The invention relates to the field of underwater vector thrusters, and discloses an underwater vector thruster capable of preventing a propeller from being stuck and worn, which comprises a power cover body and a water inlet cover body fixed on the power cover body, the underwater vector propeller further comprises a power motor fixed in the power cover body and used for providing propelling power, a direction changing assembly connected to the output end of the power motor, a power shaft connected to the direction changing assembly, a power propeller fixedly assembled with the power shaft and a protective net installed on the water inlet cover body. A self-cleaning assembly for cleaning underwater foreign matters attached to the surface of the protective net is mounted on the water inlet cover body; according to the underwater vector propeller, underwater foreign matters on the surface of a protective net can be rotationally cleaned through the self-cleaning assembly, and in the rotating process of the self-cleaning assembly, under the cooperation effect of the material pushing assembly and the cutting assembly, the underwater foreign matters can be further cut and cleaned, and the application effect of normal rotating propelling of the power propeller is kept.

Description

Technical Field

[0001] The invention relates to the field of underwater vector thrusters, and in particular to an underwater vector thruster that prevents propellers from getting stuck and wearing. Background Art

[0002] Underwater vector thruster is a high-efficiency propulsion system for underwater vehicles. Its main principle is to achieve precise control of the vehicle's attitude by controlling the direction and speed of the thruster. Propeller-driven thrusters are easily affected by the water environment during navigation, and the flexibility of propeller transmission affects the speed and direction of the thruster.

[0003] To this end, the patent publication number is CN112793752A, which is an underwater thruster with a protective structure, including a support plate, a rotating device and an arc-shaped head, the rotating device including a motor and a propeller, the motor being connected to the propeller, the propeller being provided with a fairing on the rotating side, the propeller being provided with a filter screen on the front and rear sides, the fairing and the filter screen being detachably connected to form a cover body wrapping the propeller, the arc-shaped head being movably connected to the motor, the arc-shaped head and the fairing being both connected to one side of the support plate; the cover body formed by the fairing and the filter screen can realize wrapping protection around the propeller; through the setting of the arc-shaped head, compared with the flat head, the water resistance during the forward movement is reduced, and the forward power of the thruster is improved.

[0004] Installing a protective net on the front side of the propeller can prevent foreign objects in the water from directly contacting the propeller, and prevent foreign objects in the water from being entangled in the propeller and causing it to get stuck. However, large pieces of foreign objects in the water attached to the protective net will affect the contact between the water and the propeller, affecting the normal movement of the propeller. Some existing underwater vector thrusters cannot autonomously clean foreign objects that affect the rotation and propulsion of the propeller underwater. When the propeller fails, manual inspection and cleaning of foreign objects are required. In addition, the steering structure that controls the rotation of the propeller in some underwater vector thrusters is set in the water. Particulate matter in the water can easily get stuck in the steering structure as the water flows. The particulate matter aggravates the wear of the steering structure during transmission, and can easily cause failures in the use of the underwater vector thruster. Summary of the invention

[0005] In response to the above-mentioned problems, an underwater vector thruster is provided which can prevent propellers from getting stuck and wearing. The self-cleaning component utilizes the power of the power propeller to autonomously clean underwater foreign objects on the surface of the protective net. This solves the problem of large foreign objects in the water body adhering to the protective net, which will affect the contact between the water body and the propeller and the normal movement of the thruster. Some existing underwater vector thrusters cannot autonomously clean foreign objects that affect the rotation and propulsion of the propeller underwater, and manual inspection and cleaning of foreign objects are required when the thruster malfunctions.

[0006] In order to solve the problems of the prior art, the present invention provides an underwater vector thruster that prevents propellers from getting stuck and wearing, comprising a power cover and a water inlet cover fixed on the power cover. The underwater vector thruster also includes a power motor fixed in the power cover for providing propulsion power, a direction-changing assembly connected to the output end of the power motor, a power shaft connected to the direction-changing assembly, a power propeller fixedly assembled with the power shaft, and a protective net installed on the water inlet cover; a self-cleaning assembly for cleaning underwater foreign matter attached to the surface of the protective net is installed on the water inlet cover.

[0007] Preferably, the self-cleaning component includes a support frame fixed in the water inlet cover body, an active rotating rod is rotatably installed on the support frame, a driven rotating rod is engaged and limited in the active rotating rod, a cleaning frame that fits the surface of the protective net for cleaning is fixedly installed on the driven rotating rod, a linkage universal joint is connected to the active rotating rod, a linkage gear rod is fixedly installed on the linkage universal joint, a linkage tooth groove is opened on the power propeller, and the linkage gear rod is engaged and slidably installed in the linkage tooth groove.

[0008] Preferably, the cleaning frame is provided with a pushing component for reciprocatingly pushing and cleaning underwater foreign objects entangled on the cleaning frame.

[0009] Preferably, the pushing assembly includes a sliding frame that is snap-fitted and slidably mounted on the cleaning frame, a pushing block that fits the surface of the protective net is fixedly mounted on the sliding frame, a sliding rod is fixedly mounted on the sliding frame, a curved sliding frame is fixedly mounted on the water inlet cover body, and the sliding rod is snap-fitted and slidably mounted in the curved sliding frame.

[0010] Preferably, a cutting component for cutting and pushing the underwater foreign matter is installed on the cleaning frame.

[0011] Preferably, the cutting assembly comprises a longitudinal cutting blade mounted longitudinally on the cleaning frame, and transverse cutting blades are mounted equidistantly on the cleaning frame; the longitudinal cutting blade is vertically arranged in the middle of the transverse cutting blade.

[0012] Preferably, a sealing component of a wear-and-tear changing component for limiting the steering of a power propeller and preventing particulate matter from entering the power cover is installed in the water inlet cover; the sealing component includes a cylindrical cover fixed in the water inlet cover, a hollow ball cover is embedded and fixed in the cylindrical cover, a steering ball is rotatably installed in the hollow ball cover, a bearing is fixed through the steering ball, a power shaft is rotatably assembled in the bearing, and an arc rubber ring is sleeved on the outer surface of the steering ball.

[0013] Preferably, the direction changing assembly includes a power universal joint connected to the output end of the power motor, a power gear rod is fixedly mounted on the power universal joint, a power gear groove is opened on the power shaft, the power gear rod is snap-fitted and slidably mounted in the power gear groove, a slider is rotatably mounted on the power shaft, a primary bogie is rotatably mounted on the cylindrical cover, a secondary bogie is also rotatably mounted on the cylindrical cover, and the slider is snap-fitted and slidably assembled with the primary bogie and the secondary bogie.

[0014] Preferably, a limiting component for locking the driven rotating rod in the engaging assembly position is installed on the active rotating rod.

[0015] Preferably, the limiting assembly includes a micro motor fixed on the active rotating rod, the output end of the micro motor is connected to an internal threaded rotary head, a threaded rod is threadedly assembled in the internal threaded rotary head, a locking square rod is fixedly mounted on the threaded rod, the locking square rod is snap-fitted and slidably mounted on the active rotating rod, and the locking square rod is pressed against the outer wall of the driven rotating rod; the driven rotating rod is rotatably assembled with the curved slide.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. The present invention is provided with a self-cleaning component to autonomously clean underwater foreign objects on the surface of the protective net. When underwater foreign objects are attached to the protective net, the power propeller controls the synchronous rotation of the cleaning frame through the linkage universal joint, the active rotating rod, and the driven rotating rod during rotation. The cleaning frame is fitted on the surface of the protective net and rotates to clean and process the underwater foreign objects attached to the surface, thereby maintaining the unobstructed use of the protective net. At the same time, the cleaning frame can further process the underwater foreign objects that are difficult to clean through the pushing component and the cutting component during the rotation process. When the cleaning frame rotates, the sliding frame of the sliding assembly on the surface drives the pushing block to move back and forth on the surface of the cleaning frame under the transmission action of the sliding rod and the curved sliding frame. The pushing block can push the underwater foreign objects entangled beside the cleaning frame to move outward, so that the foreign objects are away from the surface of the protective net. In the process of pushing the foreign objects, the underwater foreign objects contact the tips of the longitudinal cutting blades and the transverse cutting blades on the sides of the cleaning frame. The foreign objects are partially cut off during the process of pushing and cleaning, so that the underwater foreign objects can be divided into multiple structures, which has a better effect on processing large-sized underwater foreign objects that are difficult to clean.

[0018] 2. In the present invention, a limit position assembly is provided to limit the connection state of the active rotating rod and the driven rotating rod. If the cleaning frame is entangled by relatively complex underwater foreign objects during the process of rotating cleaning, the rotation of the cleaning frame itself is hindered. Under normal circumstances, the cleaning frame rotates synchronously with the power propeller under the transmission action of the active rotating rod, the driven rotating rod, the linkage universal joint and other structures. The rotation flexibility of the cleaning frame affects the rotation propulsion effect of the power propeller. When the rotation of the cleaning frame is limited and affects the rotation of the power propeller, the locking square rod in the limit position assembly is controlled to move outward away from the driven rotating rod, so that the driven rotating rod and the active rotating rod are loosened. At this time, the rotation of the power propeller no longer drives the cleaning frame to rotate, thereby maintaining the normal rotation and propulsion effect of the power propeller.

[0019] 3. The present invention is provided with a steering assembly to facilitate adjustment of the rotation and propulsion direction of the power propeller. By controlling the steering of the first-stage bogie and the second-stage bogie, the power shaft and the power propeller can be controlled to rotate in multiple directions. The power shaft is telescopically connected to the power universal joint through a power gear rod and a power gear groove. When the power shaft rotates, the power universal shaft can maintain the effect of the power motor driving the power propeller to rotate by adjustment. By adjusting the power propeller to a suitable angle, the forward direction of the underwater vector thruster can be controlled.

[0020] 4. The present invention is provided with a sealing assembly to isolate and protect the steering assembly. The steering assembly is arranged in the power cover body. The sealing assembly is isolated at the junction of the power cover body and the water inlet cover body. The water in the water inlet cover body cannot enter the power cover body, thereby preventing particles in the water from entering the power cover body and affecting the transmission of the steering assembly, thereby preventing underwater particles from wearing the steering assembly that controls the rotation of the power propeller, and reducing the impact of the underwater environment on the use of the vector thruster. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 The present invention is a schematic diagram of the three-dimensional structure of a power cover of an underwater vector thruster that prevents propellers from getting stuck and wearing out.

[0022] Figure 2 The present invention is a schematic diagram of the cross-sectional structure of a power cover of an underwater vector thruster that prevents propeller jamming and wear.

[0023] Figure 3 The diagram is a three-dimensional structural diagram of a power propeller of an underwater vector thruster that prevents the propeller from getting stuck and worn.

[0024] Figure 4 The diagram is a three-dimensional structure diagram of a power universal joint of an underwater vector thruster that prevents propellers from getting stuck and wearing out.

[0025] Figure 5 The diagram is a three-dimensional structural diagram of a first-stage bogie of an underwater vector thruster for preventing propeller jamming and wear.

[0026] Figure 6 The diagram is a three-dimensional structure diagram of a power gear rod of an underwater vector thruster that prevents propeller jamming and wear.

[0027] Figure 7 The diagram is a three-dimensional structural diagram of a protective net for an underwater vector thruster that prevents propellers from getting stuck and wearing out.

[0028] Figure 8 The present invention is a schematic diagram of the three-dimensional structure of a linkage universal joint of an underwater vector thruster for preventing propeller jamming and wear.

[0029] Fig. 9 The present invention is a schematic diagram of the three-dimensional structure of a cleaning frame for an underwater vector thruster that prevents propellers from getting stuck and wearing out.

[0030] Fig.10 The present invention is a schematic diagram of the three-dimensional structure of the linked gear rod of an underwater vector thruster for preventing the propeller from getting stuck and wearing.

[0031] Fig.11 The present invention is a schematic diagram of the three-dimensional structure of a driven rotating rod of an underwater vector thruster for preventing propeller from getting stuck and wearing.

[0032] Fig.12 The present invention is a schematic diagram of the three-dimensional structure of the threaded rod of an underwater vector thruster for preventing the propeller from getting stuck and wearing out.

[0033] Fig.13 The present invention is a schematic diagram of the three-dimensional structure of a curved slide frame of an underwater vector thruster for preventing propeller from getting stuck and wearing out.

[0034] Fig.14 The present invention is a schematic diagram of the three-dimensional structure of a skid frame of an underwater vector thruster for preventing propellers from getting stuck and wearing out.

[0035] Fig.15 The present invention is a schematic diagram of the three-dimensional structure of a sliding rod of an underwater vector thruster for preventing propeller from getting stuck and wearing out.

[0036] Fig.16 The present invention is a schematic diagram of the three-dimensional structure of a cylindrical cover of an underwater vector thruster for preventing propeller jamming and wear.

[0037] Fig.17 The present invention is a schematic diagram of the three-dimensional structure of a curved rubber ring of an underwater vector thruster for preventing propeller from getting stuck and wearing out.

[0038] The numbers in the figure are:

[0039] 1. Power cover; 11. Power motor; 12. Direction change assembly; 121. Power universal joint; 122. Power gear rod; 123. Power tooth groove; 124. Slider; 125. Primary bogie; 126. Secondary bogie; 13. Power shaft; 14. Power propeller; 2. Water inlet cover; 3. Sealing assembly; 31. Cylindrical cover; 32. Hollow ball cover; 33. Steering ball; 34. Bearing; 35. Curved rubber ring; 4. Protective net; 5. Self-cleaning assembly; 51. Support frame ; 52. Active rotating rod; 53. Driven rotating rod; 54. Cleaning frame; 541. Pushing assembly; 5411. Sliding frame; 5412. Pushing block; 5413. Sliding rod; 5414. Curved slide; 542. Cutting assembly; 5421. Longitudinal cutting blade; 5422. Horizontal cutting blade; 55. Linked universal joint; 56. Linked gear rod; 57. Linked tooth groove; 6. Limiting assembly; 61. Micro motor; 62. Internal threaded swivel; 63. Threaded rod; 64. Locking square rod. DETAILED DESCRIPTION

[0040] In order to further understand the features, technical means, specific objectives and functions of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0041] See also Figure 1 , Figure 2 , Figure 7-10 As shown, an underwater vector thruster for preventing propellers from getting stuck and wearing comprises a power cover 1 and a water inlet cover 2 fixed on the power cover 1. The underwater vector thruster also comprises a power motor 11 fixed in the power cover 1 for providing propulsion power, a direction-changing assembly 12 connected to the output end of the power motor 11, a power shaft 13 connected to the direction-changing assembly 12, a power propeller 14 fixedly assembled with the power shaft 13, and a protective net 4 installed on the water inlet cover 2; a self-cleaning assembly 5 for cleaning underwater foreign objects attached to the surface of the protective net 4 is installed on the water inlet cover 2.

[0042] When the vector thruster is used underwater, the running power motor 11 drives the power shaft 13 to rotate through the changing component 12, and the power shaft 13 controls the synchronous rotation of the power propeller 14. The rotation of the power propeller 14 controls the directional movement of the thruster underwater. The angle of the power propeller 14 can be adjusted through the changing component 12, so as to adjust the direction of the thruster moving underwater. When the vector thruster moves forward, some foreign matter in the water body flows underwater and adheres to the protective net 4. The protective net 4 isolates the underwater foreign matter outside the thruster to prevent the underwater foreign matter from entangled with the outside of the power propeller 14 and affecting the normal rotation of the power propeller 14. The foreign matter outside the protective net 4 is cleaned by the self-cleaning component 5 on the water inlet cover 2 to prevent the large-scale attachment of underwater foreign matter on the protective net 4 from affecting the water flow into the water inlet cover 2, thereby ensuring the normal rotation and propulsion of the power propeller 14.

[0043] See also Figure 7-Figure 11 As shown, the self-cleaning component 5 includes a support frame 51 fixed in the water inlet cover body 2, an active rotating rod 52 is rotatably installed on the support frame 51, a driven rotating rod 53 is engaged and limited in the active rotating rod 52, a cleaning frame 54 that fits on the surface of the protective net 4 for cleaning is fixedly installed on the driven rotating rod 53, a linkage universal joint 55 is connected to the active rotating rod 52, a linkage gear rod 56 is fixedly installed on the linkage universal joint 55, a linkage tooth groove 57 is provided on the power propeller 14, and the linkage gear rod 56 is engaged and slidably installed in the linkage tooth groove 57; a circular hole is provided in the middle of the protective net 4, which is engaged and assembled with the support frame 51 through the circular hole, the protective net 4 is engaged and limited with the groove on the outer surface of the water inlet cover body 2, and is fixed and installed by bolts. If the protective net 4 is damaged during use or the power propeller 14 needs to be repaired and inspected, the spiral can be loosened to remove the protective net 4.

[0044] The power propeller 14 is connected to the cleaning frame 54 through the linkage universal joint 55, the active rotating rod 52 and the driven rotating rod 53. After the power propeller 14 adjusts the rotation direction through the change-direction assembly 12, the linkage universal joint 55 is rotated and adjusted accordingly. The linkage universal joint 55 and the power propeller 14 cooperate with the linkage gear rod 56 and the linkage tooth groove 57 to adjust the power propeller 14 after rotation. The rotation of the power propeller 14 controls the rotation of the active rotating rod 52 through the linkage universal joint 55. The active rotating rod 52 and the driven rotating rod 53 are engaged and fixed, and the two rotate synchronously. The rotation of the driven rotating rod 53 drives the externally fixed cleaning frame 54 to rotate in a circle on the surface of the protective net 4, so as to clean and process underwater foreign objects attached to the surface of the protective net 4 and maintain the patency of the protective net 4.

[0045] See also Fig. 9 , Fig.11 , Figure 13-Figure 15 As shown, a pushing component 541 is installed on the cleaning frame 54 to reciprocate and clean underwater foreign objects entangled on the cleaning frame 54 .

[0046] When the cleaning frame 54 is attached to the surface of the protective net 4 and performs circular motion to clean underwater foreign objects, the pushing component 541 correspondingly reciprocates on the cleaning frame 54, pushing the underwater foreign objects wrapped around the cleaning frame 54 away from the protective net 4, further improving the effect of cleaning underwater foreign objects.

[0047] See also Figure 13-Figure 15 As shown, the pushing assembly 541 includes a sliding frame 5411 which is snap-fitted and slidably installed on the cleaning frame 54, a pushing block 5412 which is in contact with the surface of the protective net 4 is fixedly installed on the sliding frame 5411, a sliding rod 5413 is fixedly installed on the sliding frame 5411, a curved sliding frame 5414 is fixedly installed on the water inlet cover body 2, and the sliding rod 5413 is snap-fitted and slidably installed in the curved sliding frame 5414; the bracket on the side of the curved sliding frame 5414 is fixedly installed on the outside of the water inlet cover body 2 by bolts, which is convenient for disassembly to inspect and repair the structure inside the water inlet cover body 2.

[0048] When the cleaning frame 54 rotates in a circle, the slide frame 5411 slidably installed on the surface of the cleaning frame 54 moves in a synchronous circle. The surface of the slide frame 5411 is slidably assembled with the curved slide frame 5414 through the slide rod 5413. During the circular motion of the slide frame 5411, the slide rod 5413 slides correspondingly along the curve direction of the curved slide frame 5414, so that the slide frame 5411 cooperates with the sliding track of the slide rod 5413 to reciprocate on the cleaning frame 54. A push block 5412 is fixedly installed on the surface of the slide frame 5411. During the reciprocating movement of the push block 5412 following the slide frame 5411, the underwater foreign matter entangled around the cleaning frame 54 is pushed out to prevent the underwater foreign matter from being entangled on the cleaning frame 54 and affecting its normal circular rotation cleaning effect.

[0049] See also Figure 11-Figure 15 As shown, a cutting component 542 for cutting and pushing a material pushing component 541 to push out underwater foreign objects is installed on the cleaning frame 54.

[0050] When the pushing component 541 on the cleaning frame 54 moves back and forth to push underwater foreign matter, the pushed underwater foreign matter comes into contact with the cutting component 542 and is cut into multiple pieces, thereby reducing the risk of long underwater foreign matter being entangled on the cleaning frame 54. At the same time, the underwater foreign matter after cutting is easier to disperse, which is conducive to cleaning.

[0051] See also Figure 11-Figure 15 As shown, the cutting assembly 542 includes a longitudinal cutting blade 5421 embedded in the cleaning frame 54, and transverse cutting blades 5422 are embedded in the cleaning frame 54 at equal intervals; the longitudinal cutting blade 5421 is vertically arranged in the middle position of the transverse cutting blade 5422; the cross-sections of the longitudinal cutting blade 5421 and the transverse cutting blade 5422 are both triangular structures, and the tip of the blade is directed toward a position close to the protective net 4.

[0052] In the process of the pushing block 5412 moving back and forth to push and clean the underwater foreign objects, the underwater foreign objects that are stuck and entangled on the cleaning frame 54 come into contact with the longitudinal cutting blade 5421 and the transverse cutting blade 5422 on the surface of the cleaning frame 54 when being pushed, and the large pieces of underwater foreign objects are divided into multiple small-volume underwater foreign objects. The underwater foreign objects are more dispersed and convenient to be pushed for cleaning and processing. At the same time, when the cleaning frame 54 rotates in a circle to clean the underwater foreign objects, some of the underwater foreign objects stuck between the cleaning frame 54 and the protective net 4 come into contact with the longitudinal cutting blade 5421 and the transverse cutting blade 5422 and are cut, thereby preventing the underwater foreign objects from being stuck between the cleaning frame 54 and the protective net 4 and affecting the rotation flexibility of the cleaning frame 54.

[0053] See also Figure 2 , Figure 3 , Fig.16 and Fig.17 As shown, a sealing component 3 for limiting the steering of the power propeller 14 and preventing particulate matter from entering the power cover body 1 is installed in the water inlet cover body 2, and the sealing component 3 includes a cylindrical cover 31 fixed in the water inlet cover body 2, a hollow ball cover 32 is embedded and fixed in the cylindrical cover 31, a steering ball 33 is rotatably installed in the hollow ball cover 32, a bearing 34 is passed through and fixed in the steering ball 33, the power shaft 13 is rotatably assembled in the bearing 34, and a curved rubber ring 35 is sleeved on the outer surface of the steering ball 33; the interior of the power cover body 1 is divided into two spaces, one space is used to install the power motor 11, and the other space is used to install the changing component 12, and the two spaces are sealed and separated to prevent the water flow from being separated to prevent the power motor 11 from being damaged by water seepage if part of the water flow in the water inlet cover body 2 penetrates into the space where the changing component 12 is installed in the power cover body 1, and the transmission structure in the changing component 12 is a waterproof structure to reduce the interference of water seepage on the equipment.

[0054] Compared with the conventional direction-changing assembly 12 for controlling the power propeller 14, the direction-changing assembly 12 of the vector thruster is arranged inside the power cover 1 without contacting the water body, and the power propeller 14 is only arranged in the water inlet cover 2. Under the cooperation of the sealing assembly 3, the power propeller 14 can be kept in normal direction-changing rotation adjustment, and the direction-changing assembly 12 can be prevented from contacting the water body, and the transmission flexibility of the direction-changing assembly 12 can be maintained. After the power propeller 14 is controlled to rotate by the direction-changing assembly 12, the steering ball 33 sleeved on the outside of the power shaft 13 is engaged in the hollow ball cover 32 for rotation, and the steering ball 33, the hollow ball cover 32 and the cylindrical cover 31 connect the power cover 1 It is separated from the water inlet cover body 2, and while maintaining the normal changing operation of the power propeller 14, the water flow in the water inlet cover body 2 can be prevented from entering the power cover body 1. The changing component 12 in the power cover body 1 remains in a dry state to operate and adjust the rotation of the power propeller 14, thereby reducing the flow of particles in the water body and causing rotational wear between the structures caused by the stuck flow in the changing component 12; an arc rubber ring 35 is provided between the steering ball 33 and the hollow ball cover 32, and the arc rubber ring 35 can reduce the gap between the steering ball 33 and the hollow ball cover 32, thereby further improving the sealing effect of the sealing component 3 and preventing the water flow in the water inlet cover body 2 from entering the power cover body 1.

[0055] See also Figure 1-Figure 10 As shown, the direction-changing assembly 12 includes a power universal joint 121 connected to the output end of the power motor 11, a power gear rod 122 is fixedly mounted on the power universal joint 121, a power gear groove 123 is opened on the power shaft 13, the power gear rod 122 is slidably mounted in the power gear groove 123, a slider 124 is rotatably mounted on the power shaft 13, a primary bogie 125 is rotatably mounted on the cylindrical cover 31, a secondary bogie 126 is also rotatably mounted on the cylindrical cover 31, the slider 124 is slidably mounted with the primary bogie 125 and the secondary bogie 126; the arc parts of the primary bogie 125 and the secondary bogie 126 correspond to the coaxial center of the steering ball 33, and the primary bogie 125 and the secondary bogie 126 are installed with motors driving them to rotate along the axial direction of the steering ball 33.

[0056] The primary bogie 125 and the secondary bogie 126 are controlled to rotate in turn. During the rotation of the primary bogie 125 and the secondary bogie 126, the power shaft 13 pushes the slider 124 to slide and move in the primary bogie 125 and the secondary bogie 126. The power shaft 13 cooperates with the sliding position of the slider 124 to control the steering ball 33 to rotate in the hollow ball cover 32, so as to adjust the rotation and propulsion direction of the power propeller 14. After the power shaft 13 is turned and adjusted, the power universal joint 121 connected to the power shaft 13 and the output end of the power motor 11 is correspondingly rotated and adjusted, and the power universal joint 121 and the power shaft 13 are autonomously telescopically adjusted through the power gear rod 122 and the power tooth groove 123. After the power shaft 13 rotates, the power output of the power motor 11 can be transmitted to the power shaft 13 and the power propeller 14 through the power universal joint 121, so as to keep the vector thruster driven normally.

[0057] See also Fig.11 and Fig.12 As shown, a limiting assembly 6 for locking the driven rotating rod 53 in the engaging assembly position is installed on the active rotating rod 52.

[0058] The active rotating rod 52 and the driven rotating rod 53 can be disassembled, and the connection state between the active rotating rod 52 and the driven rotating rod 53 is controlled by the limiting assembly 6 .

[0059] See also Fig.11 and Fig.12 As shown, the limit assembly 6 includes a micro motor 61 fixed on the active rotating rod 52, the output end of the micro motor 61 is connected to an internal threaded rotary head 62, a threaded rod 63 is threadedly assembled in the internal threaded rotary head 62, a locking square rod 64 is fixedly mounted on the threaded rod 63, the locking square rod 64 is snap-fitted and slidably mounted on the active rotating rod 52, and the locking square rod 64 is pressed against the outer wall of the driven rotating rod 53; the driven rotating rod 53 is rotatably assembled with the curved slide 5414.

[0060] During normal use, the locking square rod 64 in the limit assembly 6 is pressed and set on the side of the driven rotating rod 53, and the active rotating rod 52 and the driven rotating rod 53 are limited and fixed under pressure, so that the active rotating rod 52 and the driven rotating rod 53 rotate synchronously. If the vector thruster operates underwater, the cleaning frame 54 is often damaged by the influence of the water environment or is stuck and affects the normal rotation. At this time, the connection between the active rotating rod 52 and the driven rotating rod 53 can be loosened through the limit assembly 6 to prevent the rotation of the cleaning frame 54 from being restricted and affecting the power propeller 14 in the water inlet cover 2, thereby reducing the interference of the power propeller 14.

[0061] The micro motor 61 in the running limit assembly 6 controls the rotation of the internal threaded rotating head 62, and controls the threaded rod 63 to push the locking square rod 64 to move horizontally under the action of the threaded transmission, so that the locking square rod 64 presses or moves away from the driven rotating rod 53, thereby adjusting the connection state between the active rotating rod 52 and the driven rotating rod 53.

[0062] The above embodiments only express one or several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. An underwater vector thruster for preventing propeller from getting stuck and worn, comprising a power cover (1) and a water inlet cover (2) fixed on the power cover (1), characterized in that: The underwater vector thruster also includes a power motor (11) fixed in a power cover (1) for providing propulsion power, a direction-changing component (12) connected to an output end of the power motor (11), a power shaft (13) connected to the direction-changing component (12), a power propeller (14) fixedly assembled with the power shaft (13), and a protective net (4) installed on the water inlet cover (2); The water inlet cover (2) is provided with a self-cleaning component (5) for cleaning underwater foreign matter attached to the surface of the protective net (4).

2. The underwater vector thruster for preventing propeller from getting stuck and wearing according to claim 1, characterized in that: The self-cleaning component (5) comprises a support frame (51) fixed in the water inlet cover body (2), an active rotating rod (52) is rotatably mounted on the support frame (51), a driven rotating rod (53) is engaged and limited in the active rotating rod (52), a cleaning frame (54) which is attached to the surface of the protective net (4) for cleaning is fixedly mounted on the driven rotating rod (53), a linkage universal joint (55) is connected to the active rotating rod (52), a linkage gear rod (56) is fixedly mounted on the linkage universal joint (55), a linkage tooth groove (57) is provided on the power propeller (14), and the linkage gear rod (56) is engaged and slidably mounted in the linkage tooth groove (57).

3. The underwater vector thruster for preventing propeller from getting stuck and wearing according to claim 2, characterized in that: The cleaning frame (54) is provided with a pushing component (541) for reciprocatingly pushing and cleaning underwater foreign matter entangled on the cleaning frame (54).

4. The underwater vector thruster for preventing propeller from getting stuck and wearing according to claim 3, characterized in that: The pusher assembly (541) comprises a slide frame (5411) which is slidably mounted on the cleaning frame (54); a pusher block (5412) which is fixedly mounted on the slide frame (5411) and is in contact with the surface of the protective net (4); a slide rod (5413) is fixedly mounted on the slide frame (5411); a curved slide frame (5414) is fixedly mounted on the water inlet cover body (2); and the slide rod (5413) is slidably mounted in the curved slide frame (5414).

5. The underwater vector thruster for preventing propeller from getting stuck and wearing according to claim 3, characterized in that: The cleaning frame (54) is provided with a cutting component (542) for cutting and pushing the material component (541) to push out underwater foreign matter.

6. The underwater vector thruster for preventing propeller from getting stuck and wearing according to claim 5, characterized in that: The cutting assembly (542) comprises a longitudinal cutting blade (5421) which is longitudinally mounted on the cleaning frame (54), and transverse cutting blades (5422) are mounted on the cleaning frame (54) at equal intervals. The longitudinal cutting blade (5421) is vertically arranged in the middle position of the transverse cutting blade (5422).

7. The underwater vector thruster for preventing propeller from getting stuck and wearing according to claim 1, characterized in that: The water inlet cover (2) is provided with a sealing component (3) of a mid-wear direction-changing component (12) for limiting the direction of the power propeller (14) and preventing particles from entering the power cover (1); The sealing assembly (3) comprises a cylindrical cover (31) fixed in the water inlet cover body (2), a hollow ball cover (32) is embedded and fixed in the cylindrical cover (31), a steering ball (33) is rotatably installed in the hollow ball cover (32), a bearing (34) is passed through and fixed in the steering ball (33), a power shaft (13) is rotatably assembled in the bearing (34), and a curved rubber ring (35) is sleeved and installed on the outer surface of the steering ball (33).

8. The underwater vector propeller for preventing propeller jamming and wear according to claim 7, characterized in that: The direction-changing assembly (12) comprises a power universal joint (121) connected to the output end of the power motor (11); a power gear rod (122) is fixedly mounted on the power universal joint (121); a power tooth groove (123) is provided on the power shaft (13); the power gear rod (122) is slidably mounted in the power tooth groove (123); a slider (124) is rotatably mounted on the power shaft (13); a primary bogie (125) is rotatably mounted on the cylindrical cover (31); a secondary bogie (126) is also rotatably mounted on the cylindrical cover (31); and the slider (124) is slidably mounted on the primary bogie (125) and the secondary bogie (126).

9. The underwater vector thruster for preventing propeller from getting stuck and wearing according to claim 2, characterized in that: The active rotating rod (52) is provided with a limiting assembly (6) for locking the driven rotating rod (53) in a clamping assembly position.

10. The underwater vector propeller for preventing propeller jamming and wear according to claim 9, characterized in that: The position limiting assembly (6) comprises a micro motor (61) fixed on the active rotating rod (52); the output end of the micro motor (61) is connected to an internal thread rotating head (62); a threaded rod (63) is threadedly assembled in the internal thread rotating head (62); a locking square rod (64) is fixedly mounted on the threaded rod (63); the locking square rod (64) is slidably mounted on the active rotating rod (52), and the locking square rod (64) is pressed against the outer side wall of the driven rotating rod (53); The driven rotating rod (53) is rotationally assembled with the curved slide (5414).

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