Pod propelling device and water area movable equipment

Abstract

The invention provides a pod propelling device and water area movable equipment. The water area movable equipment comprises a water area carrier and a pod propelling device. The pod propelling device comprises a hanging bracket, a pod propelling host, a rudder plate, a steering motor and a driving control module; the hanging bracket is connected with the water area carrier; the pod propulsion host is fixed to the hanging bracket, the rudder plate is rotationally connected to the hanging bracket, and the steering motor is connected to the rudder plate. The cabin propelling main engine and the rudder plate are both arranged on the hanging bracket to form an integral structure, so that propelling power and a steering structure are combined into a whole, the steering efficiency of the electric ship is improved, and the turning radius is reduced; the hanging bracket can ensure that the pod propulsion main engine and the rudder plate are relatively mounted in place, and the rotation stability and steering reliability of the rudder plate are improved; the driving control module controls the steering motor and the pod propulsion main engine through the steering control line and the propulsion control line respectively, independent control over steering can be achieved in a drive-by-wire mode, intelligent control over the electric ship is facilitated, and the control reliability is improved.

Description

Technical Field

[0001] The present application relates to the field of mobile equipment in water areas, and in particular to a pod propulsion device and a mobile equipment in water areas. Background Art

[0002] At present, in the boat industry, with the development of new energy technologies, the requirements for the intelligence of boat equipment are constantly increasing. At the same time, the complex underwater environment also requires that the adjustment of pod thrusters (also known as POD thrusters) should not only meet the power requirements, but also have a flexible and adjustable steering system, so as to meet the operator's ability to flexibly switch the heading under the premise of power control, thereby improving user experience and driving pleasure.

[0003] In the related art, the direction of the water body can be adjusted by setting a rudder separately, but this method will increase the turning radius of the boat when turning, affecting the turning efficiency of the boat. Summary of the invention

[0004] The present application provides a pod propulsion device and a movable device in water area, which can reduce the turning radius of the boat and improve the steering efficiency of the boat.

[0005] On the one hand, the present application provides a pod propulsion device for installation on a water carrier, including a hanger, a pod propulsion main engine, a rudder, a steering motor and a drive control module, wherein the hanger is used to connect the water carrier; the pod propulsion main engine is fixed to the hanger, the rudder is rotatably connected to the hanger, and the steering motor is connected to the rudder for driving the rudder to rotate so that the water carrier turns; the drive control module is electrically connected to the steering motor via a steering control line, and the drive control module is electrically connected to the pod propulsion main engine via a propulsion control line.

[0006] Wherein, the hanger includes a main tube, the top of the main tube is connected to the water carrier, and the bottom is connected to the pod propulsion main engine; the rudder plate is provided with a through hole, the main tube passes through the through hole, and the rudder plate is rotatably connected to the main tube; the steering motor is arranged in the through hole, and a sealing structure is arranged between the two ends of the through hole and the main tube; the drive control module is arranged in the water carrier, the steering control line and the propulsion control line are both passed through the main tube, and the steering control line penetrates the tube wall of the main tube to be electrically connected to the steering motor.

[0007] Wherein, the steering motor comprises a stator and a rotor surrounding the stator, the stator is sleeved outside the main tube and fixedly connected to the main tube; the rotor is fixed to the hole wall of the perforation.

[0008] Among them, the through hole includes a receiving hole and a rotating hole, the receiving hole and the rotating hole are arranged along the axial direction of the through hole, the aperture of the receiving hole is larger than the aperture of the rotating hole, and a conical surface is arranged between the two; the rotor is arranged on the hole wall of the receiving hole, and the rotating hole is gap-matched with the main tube.

[0009] Wherein, the hanger includes a main tube, a steering shaft, a top connecting piece and a bottom connecting piece; the top of the main tube is connected to the water area carrier, and the bottom is connected to the top of the pod propulsion main engine, the drive control module is arranged in the water area carrier, and the propulsion control line is passed through the main tube; the steering shaft is arranged in parallel with the main tube; the top connecting piece is located on the side of the rudder plate and the pod propulsion main engine close to the water area carrier, one end of which is connected to the main tube, and the other end is rotatably connected to the steering shaft; the bottom connecting piece is located on the side of the rudder plate and the pod propulsion main engine away from the water area carrier, one end of which is connected to the bottom of the pod propulsion main engine, and the other end is rotatably connected to the steering shaft;

[0010] The rudder plate is fixedly connected to the steering shaft; the steering motor is connected to the steering shaft to drive the rudder plate to rotate through the steering shaft.

[0011] The propeller of the pod propulsion main engine is located between the main engine tube and the steering shaft, and the rudder plate is located on a side of the steering shaft away from the pod propulsion main engine.

[0012] Wherein, the top of the steering shaft extends into the water area carrier and is rotationally connected to the water area carrier; the steering motor is arranged in the water area carrier.

[0013] Among them, the top of the steering shaft is spaced apart from the water area carrier, and the steering motor is arranged at the connection between the top connecting member and the steering shaft; a wiring channel is arranged in the top connecting member, and the steering control line is passed through the wiring channel and the main pipe.

[0014] Among them, the wiring channel includes a first wiring channel and a second wiring channel that are connected, and the steering motor is arranged in the second wiring channel; the steering motor includes an output shaft, a stator, a rotor and a fixed end cover; the output shaft is coaxially fixedly connected to the steering shaft; the rotor is sleeved outside the output shaft and fixedly connected to the output shaft; the stator surrounds the rotor and is fixed to the inner wall of the second wiring channel; the fixed end cover is sleeved outside the output shaft and fixed to the opening of the second wiring channel facing the steering shaft, the output shaft is rotatably connected to the fixed end cover, and a sealing structure is arranged between the two.

[0015] Among them, the steering motor includes an output shaft, a shell, a stator, a rotor and a fixed end cover; the output shaft is coaxially fixedly connected to the steering shaft; the shell is fixedly connected to the top connecting piece, and one end of the shell is open; the stator and the rotor are located in the shell, the rotor is sleeved outside the output shaft, and the rotor is fixedly connected to the output shaft; the stator surrounds the rotor and is fixed to the inner wall of the shell; the fixed end cover is sleeved outside the output shaft and fixed at the opening of the shell, the output shaft is rotatably connected to the fixed end cover, and a sealing structure is provided between the two.

[0016] On the other hand, the present application provides a movable device in water area, including a water area carrier and the aforementioned pod propulsion device, wherein the hanger is arranged at the bottom of the water area carrier.

[0017] The pod propulsion device and movable device in water area provided by the present application, the pod propulsion main engine and the rudder plate are both arranged on the hanger to form an integral structure, so that the propulsion power and the steering structure are combined into one, which is convenient for overall disassembly and assembly, and is beneficial to improving the steering efficiency of the electric boat and reducing the turning radius; the hanger can be used to ensure that the relative positions of the pod propulsion main engine and the rudder plate are installed in place, thereby improving the rotation stability of the rudder plate and the steering reliability; the drive control module controls the steering motor and the pod propulsion main engine respectively through the steering control line and the propulsion control line, and independent control of the steering can be achieved through wire control, which is beneficial to the intelligent control of the electric boat and improves the control reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of the three-dimensional structure of a movable device for water area provided in the first embodiment of the present application;

[0019] Figure 2 yes Figure 1 Schematic diagram of the side structure of the movable equipment in the mid-water area;

[0020] Figure 3 yes Figure 1 Schematic diagram of the overhead structure of the movable equipment in the mid-water area;

[0021] Figure 4 yes Figure 3 Sectional view at XX in the middle;

[0022] Figure 5 yes Figure 4 A in the enlarged view;

[0023] Figure 6 A schematic diagram of the three-dimensional structure of a movable device in water area provided in the second embodiment of the present application;

[0024] Figure 7 yes Figure 6Schematic diagram of the side structure of the movable equipment in the mid-water area;

[0025] Figure 8 yes Figure 6 Cross-sectional view of movable equipment in mid-water area;

[0026] Fig. 9 yes Figure 8 The enlarged view of point B in the figure;

[0027] Fig.10 A schematic diagram of the three-dimensional structure of a movable device in water area provided in the third embodiment of the present application;

[0028] Fig.11 yes Fig.10 Schematic diagram of the side structure of the movable equipment in the mid-water area;

[0029] Fig.12 yes Fig.10 Cross-sectional view of movable equipment in mid-water area;

[0030] Fig.13 yes Fig.12 The enlarged view of point C in the figure;

[0031] Fig.14 It is a structural schematic diagram of another implementation of the steering motor in the present application. DETAILED DESCRIPTION

[0032] The following description will refer to the accompanying drawings to more fully describe the content of the present application. Shown in the accompanying drawings are exemplary embodiments of the present application. However, the present application can be implemented in many different forms and should not be interpreted as being limited to the exemplary embodiments set forth herein. These exemplary embodiments are provided to make the present application thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0033] Like reference numerals denote the same or similar components.

[0034] The terms used herein are only used for the purpose of describing specific exemplary embodiments and are not intended to limit the present application. As used herein, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to also include the plural forms. In addition, when used herein, "including" and / or "comprising" and / or "having", integers, steps, operations, components and / or components, but do not exclude the existence or addition of one or more other features, regions, integers, steps, operations, components and / or groups thereof.

[0035] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those of ordinary skill in the art to which this application belongs. In addition, unless explicitly defined herein, terms such as those defined in general dictionaries should be interpreted as having a meaning consistent with their meaning in the relevant technology and the content of this application, and will not be interpreted as an idealized or overly formal meaning.

[0036] The specific implementation methods of the present application are further described in detail below with reference to the accompanying drawings.

[0037] The present application provides a movable device for water areas. The movable device for water areas may be various types of water transportation vehicles such as commercial ships, fishing boats, passenger ships, yachts, etc., and may also be water area inspection equipment or water area management equipment and other equipment that can be moved in water areas.

[0038] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the first embodiment of the present application provides a movable device in water area, which includes a water area carrier 200 and a pod propulsion device 100. The water area carrier 200 can move in water area and can carry people or objects. The pod propulsion device 100 is installed at the bottom of the water area carrier 200, and is used to provide power to the water area carrier 200 to drive the water area carrier 200 to move and turn.

[0039] like Figure 2 As shown, combined with Figure 1 The first embodiment of the present application also provides a pod propulsion device 100, which is used to be installed at the bottom of a water body 200, and includes a hanger 1, a pod propulsion main engine 2, a rudder plate 3, a steering motor 4 and a drive control module 5. The hanger 1 is used to connect the water body 200, and the hanger 1 can connect the pod propulsion main engine 2, the rudder plate 3 and the steering motor 4 into an integral module, and then assemble it to the water body 200.

[0040] like Figure 4 As shown, the pod propulsion main engine 2 is fixed to the hanger 1, and the pod propulsion main engine 2 mainly provides the power for the water body 200 to move. The rudder plate 3 is rotatably connected to the hanger 1, and the steering motor 4 is connected to the rudder plate 3, which is used to drive the rudder plate 3 to rotate so that the water body 200 turns. The drive control module 5 is electrically connected to the steering motor 4 through the steering control line 54, which is used to realize the steering control of the water body 200; the drive control module 5 is electrically connected to the pod propulsion main engine 2 through the propulsion control line 52, which is used to realize the control of the moving power of the water body 200.

[0041] In the pod propulsion device 100 provided in the present application, the pod propulsion main engine 2 and the rudder plate 3 are both arranged on the hanger 1 to form an integral structure, so that the propulsion power and the steering structure are combined into one, which is convenient for overall disassembly and assembly, and is beneficial to improving the steering efficiency of the electric boat and reducing the turning radius; the hanger 1 can be used to ensure that the relative positions of the pod propulsion main engine 2 and the rudder plate 3 are installed in place, thereby improving the rotation stability and steering reliability of the rudder plate 3; the drive control module 5 controls the steering motor 4 and the pod propulsion main engine 2 through the steering control line 54 and the propulsion control line 52 respectively, and through the wire control form, independent control of the steering can be achieved, which is beneficial to the intelligent control of the electric boat and improves the control reliability.

[0042] The hanger 1 can be arranged near the tail of the water body 200 to facilitate the movement and steering control of the water body 200. In this embodiment, the hanger 1 includes a main engine tube 11, the top of which is connected to the water body 200, and the bottom is connected to the pod propulsion main engine 2. The pod propulsion main engine 2 can be suspended below the water body 200 by using the main engine tube 11.

[0043] like Figure 5 As shown, a through hole 30 is provided on the rudder plate 3, and the main engine tube 11 is penetrated with the through hole 30, and the rudder plate 3 is rotatably connected with the main engine tube 11. By passing the main engine tube 11 through the through hole 30, the rudder plate 3 is rotatably connected with the main engine tube 11, which is convenient for assembly; after assembly, the rudder plate 3 is located in the middle position of the main engine tube 11, and the pod propulsion main engine 2 is located at the bottom of the main engine tube 11. The rudder plate 3 can be connected with the pod propulsion main engine 2 by using only one component of the main engine tube 11, and the structure is simple and convenient for connection. The rotation axis of the rudder plate 3 is the central axis of the main engine tube 11, which ensures that the relative positions of the rudder plate 3 and the pod propulsion main engine 2 are installed in place.

[0044] The steering motor 4 is arranged in the perforation 30, and a sealing structure is arranged between the two ends of the perforation 30 and the main pipe 11, so that the steering motor 4 can be sealed in the perforation 30 to prevent water from entering the perforation 30 when the water body 200 is traveling in the water, thereby affecting the normal operation of the steering motor 4, thereby ensuring the reliability of the operation of the steering motor 4.

[0045] like Figure 4 As shown, the drive control module 5 is arranged in the water area carrier 200, the steering control line 54 and the propulsion control line 52 are both arranged in the main pipe 11, and the steering control line 54 penetrates the pipe wall of the main pipe 11 to be electrically connected to the steering motor 4. The space in the main pipe 11 can be used to conveniently arrange the steering control line 54 and the propulsion control line 52, so that the drive control module 5 can be arranged in the water area carrier 200 without contacting the water, thereby improving the control safety and reliability. Here, in other embodiments, the drive control module can also be arranged in the perforation, or in the main pipe.

[0046] The top of the main pipe 11 extends into the water area carrier 200, and the steering control line 54 and the propulsion control line 52 extend from the top of the main pipe 11 and are connected to the drive control module 5. A sealing structure is provided between the main pipe 11 and the water area carrier 200 to prevent water from entering the water area carrier 200 and ensure that the overall structure is safe and reliable. The main pipe 11 and the water area carrier 200 can be fixedly connected by screws or by welding, etc., and this application does not limit this.

[0047] like Figure 5 As shown, the steering motor 4 includes a stator 41 and a rotor 42 surrounding the stator 41, the stator 41 is sleeved outside the main tube 11 and fixedly connected to the main tube 11; the rotor 42 is fixed to the hole wall of the through hole 30. By fixing the stator 41 and the rotor 42 of the steering motor 4 to the main tube 11 and the hole wall of the through hole 30 respectively, the steering motor 4 can be integrated between the main tube 11 and the steering plate 3, reducing the space occupied by the steering motor 4, and the steering motor 4 with an outer rotor 42 structure is conducive to the connection between the steering motor 4 and the steering plate 3, thereby facilitating the steering motor 4 to drive the steering plate 3.

[0048] The through hole 30 includes a receiving hole 301 and a rotating hole 302. The receiving hole 301 and the rotating hole 302 are arranged along the axial direction of the through hole 30. The aperture of the receiving hole 301 is larger than that of the rotating hole 302, and a tapered surface 303 is provided between the two. The rotor 42 is provided on the hole wall of the receiving hole 301, and the rotating hole 302 is clearance-matched with the main pipe 11. The receiving hole 301 with a larger aperture can be used to conveniently set the steering motor 4, and the rotating hole 302 with a smaller aperture can be used to improve the relative rotation stability between the steering plate 3 and the main pipe 11. When the steering plate 3 and the main pipe 11 are assembled, the stator 41 and the rotor 42 are first fixed on the hole wall of the main pipe 11 and the receiving hole 301 respectively; then one end of the main pipe 11 passes through the receiving hole 301 and the rotating hole 302 in turn, and the tapered surface 303 can facilitate the main pipe 11 to pass from the receiving pipe into the rotating hole 302; finally, the sealing structure at both ends of the through hole 30 is installed.

[0049] In this embodiment, the receiving hole 301 is located above the rotating hole 302, so that the steering motor 4 is closer to the water body 200 and the drive control module 5, which is convenient for setting the steering control line 54 and improving the control reliability. The rotating hole 302 is located below the receiving hole 301, and its hole diameter is small, so that the outer diameter of the steering plate 3 at the rotating hole 302 is also small, which reduces the impact on the water flow and ensures the steering effect of the steering plate 3.

[0050] A top end cover 31 is provided at the top of the receiving hole 301. The top end cover 31 is fixedly connected to the steering plate 3, and a seal is provided between the two. A sealing structure is provided between the top end cover 31 and the main pipe 11 to achieve sealing at the top position of the through hole 30. A first bearing 331 is provided between the inner side of the top end cover 31 and the main pipe 11 to improve the stability of the steering plate 3 rotating relative to the main pipe 11. A second bearing 332 is provided at the bottom of the receiving hole 301. The second bearing 332 is sleeved on the outside of the main pipe 11, and the second bearing 332 is located below the steering motor 4. By providing the first bearing 331 and the second bearing 332 above and below the steering motor 4, the reliability of the relative rotation between the steering plate 3 and the main pipe 11 can be effectively guaranteed.

[0051] A bottom end cover 32 is provided at the bottom of the rotating hole 302, and the bottom end cover 32 is fixedly connected to the rudder plate 3, and a seal is provided between the two. A dynamic sealing structure is provided between the bottom end cover 32 and the main pipe 11 to achieve sealing at the bottom of the through hole 30. The top end cover 31, the bottom end cover 32 and other places in contact with water can be additionally added with sealant and other structures as needed to further improve the sealing performance of the overall structure.

[0052] In this embodiment, the steering motor 4 is integrated between the main tube 11 and the through hole 30 of the rudder plate 3 , and no additional transmission structure is required, so as to reduce the overall volume of the entire pod propulsion device 100 .

[0053] like Figure 6 and Figure 7 As shown, the water movable device provided in the second embodiment of the present application includes a water carrier 200 and a pod propulsion device 100. The water carrier 200 can move in the water and can carry people or objects. The pod propulsion device 100 is installed at the bottom of the water carrier 200, and is used to provide power to the water carrier 200 to drive the water carrier 200 to move and turn.

[0054] like Figure 8 As shown, combined with Figure 7 The second embodiment of the present application also provides a pod propulsion device 100 for installation at the bottom of the water body 200, which includes a hanger 1, a pod propulsion main engine 2, a rudder plate 3, a steering motor 4 and a drive control module 5. The hanger 1 is used to connect the water body 200. The pod propulsion main engine 2 is fixed to the hanger 1, and is used to provide power for the water body 200 to move. The rudder plate 3 is rotatably connected to the hanger 1, and the steering motor 4 is connected to the rudder plate 3, and is used to drive the rudder plate 3 to rotate so that the water body 200 turns. The drive control module 5 is electrically connected to the steering motor 4 through a steering control line 54, and is used to realize the steering control of the water body 200; the drive control module 5 is electrically connected to the pod propulsion main engine 2 through a propulsion control line 52, and is used to realize the control of the moving power of the water body 200.

[0055] In this embodiment, Figure 8 and Fig. 9 As shown, the hanger 1 includes a main pipe 11, a steering shaft 12, a top connector 13 and a bottom connector 14. The top of the main pipe 11 is connected to the water carrier 200, and the bottom is connected to the top of the pod propulsion main machine 2. The main pipe 11 is used to suspend the pod propulsion main machine 2 below the water carrier 200. The drive control module 5 is arranged in the water carrier 200, and the propulsion control line 52 is passed through the main pipe 11. The drive control module 5 does not need to be arranged underwater to ensure operational reliability. The propulsion control line 52 can be conveniently arranged by using the space in the main pipe 11.

[0056] The steering shaft 12 is arranged in parallel with the main engine tube 11. The top connecting member 13 is located on the side of the rudder plate 3 and the pod propulsion main engine 2 close to the water body 200, one end of which is connected to the main engine tube 11 and the other end is rotatably connected to the steering shaft 12; the bottom connecting member 14 is located on the side of the rudder plate 3 and the pod propulsion main engine 2 away from the water body 200, one end of which is connected to the bottom of the pod propulsion main engine 2 and the other end is rotatably connected to the steering shaft 12. The rudder plate 3 is fixedly connected to the steering shaft 12; the steering motor 4 is connected to the steering shaft 12 to drive the rudder plate 3 to rotate through the steering shaft 12.

[0057] The main pipe 11 and the steering shaft 12 are connected to the pod propulsion main machine 2 and the rudder 3 respectively. The rudder 3 does not need to occupy the main pipe 11, so that the length of the main pipe 11 can be smaller, reducing the overall height of the pod propulsion device 100, so that the movable device in the water area can operate in shallows.

[0058] The top connector 13 and the bottom connector 14 connect the main pipe 11 and the steering shaft 12 to form a frame structure, so that the overall structural strength of the hanger 1 is relatively high. The steering shaft 12 is rotatably matched with the top connector 13 and the bottom connector 14 at the same time, which can ensure the stability and reliability of the rotation of the steering shaft 12 together with the steering plate 3.

[0059] like Figure 6 As shown, the bottom connecting member 14 is in the shape of a flat plate and is arranged perpendicular to the steering shaft 12 and the main pipe 11 to facilitate positioning and assembly and reduce the impact of the mobile equipment on the water flow during operation. The top connecting member 13 can also be in the shape of a flat plate.

[0060] like Figure 7 As shown, the propeller of the pod propulsion main engine 2 is located between the main engine tube 11 and the steering shaft 12, and the rudder plate 3 is located on the side of the steering shaft 12 away from the pod propulsion main engine 2. The propeller of the pod propulsion main engine 2 is located in the frame formed by the hanger 1, and the bottom connecting member 14 can be used to prevent the propeller from touching underwater foreign objects, thereby ensuring operational reliability and safety. The rudder plate 3 is located outside the frame formed by the hanger 1, which is conducive to the steering coordination between the rudder plate 3 and the pod propulsion main engine 2, and can reduce the overall size of the frame structure of the hanger 1 and reduce costs.

[0061] like Figure 8 , Fig. 9 As shown, the top of the steering shaft 12 extends into the water area carrier 200 and is rotatably connected to the water area carrier 200; the steering motor 4 is disposed in the water area carrier 200. The steering shaft 12 is rotatably matched with the water area carrier 200, and the bottom of the water area carrier 200, the top connector 13 and the bottom connector 14 are simultaneously rotatably connected to the steering shaft 12, further ensuring the stability and reliability of the rotation of the steering shaft 12 together with the steering plate 3. The steering motor 4 is disposed in the water area carrier 200, so that the steering control line 54 can also be disposed in the water area carrier 200, so as to facilitate the control of the steering motor 4 by the driving control module 5, and reduce the waterproof performance requirements for the steering motor 4, thereby reducing costs.

[0062] A sealing structure is provided at the connection between the main pipe 11 and the water area carrier 200, and a sealing structure is also provided at the connection between the steering shaft 12 and the water area carrier 200, so that the reliability of the structure and the safety of navigation can be improved. The steering shaft 12 and the steering motor 4 can be coaxially arranged. Alternatively, the output shafts of the steering shaft 12 and the steering motor 4 can also be arranged at intervals in the radial direction of the steering shaft 12. At this time, the pod propulsion device 100 can further include a transmission assembly. The top end of the steering shaft 12 can be connected to the steering motor 4 through a transmission assembly, such as a transmission gear set. The transmission gear set can increase the torque, which is beneficial for the steering motor 4 to drive the steering shaft 12 and the rudder plate 3 to rotate underwater, improve the control accuracy, and facilitate steering control. Here, the top end of the steering shaft 12 and the steering motor 4 can also be transmitted through other structures such as chain drive and belt drive.

[0063] like Fig.10 , Fig.11 , Fig.12 As shown, the water movable device provided in the third embodiment of the present application includes a water carrier 200 and a pod propulsion device 100. This embodiment is a further improvement on the second embodiment, and its overall appearance is the same as the second embodiment, but there are differences in wiring and structural connections. The differences are described in detail below, and the similarities are not repeated.

[0064] like Fig.12 As shown, combined with Fig.13In the third embodiment of the present application, the top of the steering shaft 12 is spaced apart from the water area carrier 200, and the steering motor 4 is arranged at the connection between the top connector 13 and the steering shaft 12; a wiring channel (not shown in the figure) is arranged in the top connector 13, and the steering control line 54 is passed through the wiring channel and the main pipe 11. In the hanger 1 of this embodiment, only the main pipe 11 is connected to the water area carrier 200, and only a sealing structure needs to be arranged between the main pipe 11 and the water area carrier 200, which is convenient for installation, avoids weakening the strength of the water area carrier 200, improves reliability, and avoids problems such as sealing failure caused by poor structural reliability during actual production and manufacturing. The wiring channel of the top connector 13 can facilitate the arrangement of the steering control line 54, and the steering control line 54 is installed in the wiring channel and the main pipe 11 to avoid contact with water, and has good reliability.

[0065] like Fig.13 As shown, the wiring channel includes a first wiring channel (not shown in the figure) and a second wiring channel 130 that are connected. The steering motor 4 is arranged in the second wiring channel 130. By using the top connecting member 13 as the shell of the steering motor 4, the overall structure can be made more compact, and at the same time, the sealing problems in the assembly process and the assembly structure can be reduced, thereby improving reliability.

[0066] The steering motor 4 includes an output shaft 40 , a stator 41 , a rotor 42 and a fixed end cover 44 .

[0067] The output shaft 40 is coaxially fixedly connected with the steering shaft 12; the coaxial arrangement of the output shaft 40 and the steering shaft 12 can facilitate the positioning and transmission between the two, and improve the transmission reliability. Preferably, the output shaft 40 and the steering shaft 12 can be integrally formed to improve the structural strength and reduce the defects such as errors caused by the connection structure.

[0068] The rotor 42 is sleeved outside the output shaft 40, and the rotor 42 is fixedly connected to the output shaft 40; the stator 41 surrounds the rotor 42 and is fixed to the inner wall of the housing 43. The stator 41 cooperates with the rotor 42 so that the rotor 42 can drive the output shaft 40 to rotate. The fixed end cover 44 is sleeved outside the output shaft 40 and fixed at the opening of the second wiring channel 130 facing the steering shaft 12. The output shaft 40 is rotatably connected to the fixed end cover 44, and a sealing structure is provided between the two.

[0069] The fixed end cover 44 can seal the opening of the second wiring channel 130 to form a sealed cavity, and the stator 41, the rotor 42, the output shaft 40 and other structures can be sealed in the second wiring channel 130 to improve the reliability of operation. The two ends of the first wiring channel are respectively connected to the inner cavity of the main tube 11 and the second wiring channel 130, and the steering control line 54 can pass through the inner cavity of the main tube 11, the first wiring channel and the second wiring channel 130 in sequence.

[0070] Bearings are provided between the output shaft 40 and the fixed end cover 44 and the inner wall of the second wiring channel 130 . The two bearings are respectively located at the two ends of the rotor 42 to improve the rotation stability of the output shaft 40 .

[0071] In this embodiment, the top connecting member 13 serves as the housing of the steering motor 4, so that the steering motor 4 is embedded in the top connecting member 13. As another embodiment of the steering motor 4, Fig.14 As shown, the steering motor 4 may further include a housing 43, that is, the steering motor 4 includes an output shaft 40, a housing 43, a stator 41, a rotor 42 and a fixed end cover 44; a sealed cavity may be formed between the housing 43 and the fixed end cover 44, and structures such as the stator 41, the rotor 42 and the output shaft 40 may be arranged in the sealed cavity. Specifically, the output shaft 40 is coaxially fixedly connected to the steering shaft 12; the housing 43 is fixedly connected to the top connector 13, and one end of the housing 43 is open. The stator 41 and the rotor 42 are located in the housing 43, the rotor 42 is sleeved outside the output shaft 40, and the rotor 42 is fixedly connected to the output shaft 40; the stator 41 surrounds the rotor 42 and is fixed to the inner wall of the housing 43, and the stator 41 and the rotor 42 cooperate so that the rotor 42 can drive the output shaft 40 to rotate. The fixed end cover 44 is sleeved outside the output shaft 40 and fixed at the opening of the housing 43, the output shaft 40 is rotatably connected to the fixed end cover 44, and a sealing structure is arranged between the two. The structure of the housing 43 and the end cover can seal the stator 41 and the rotor 42 to ensure the reliability of underwater operation. The steering control line 54 can be sequentially inserted into the main pipe 11, the top connector 13 and the housing 43 of the steering motor 4 to achieve electrical connection between the drive control module 5 and the steering motor 4.

[0072] In summary, although the present application has been disclosed as above with preferred embodiments, the above preferred embodiments are not intended to limit the present application. Ordinary technicians in this field can make various changes and modifications without departing from the spirit and scope of the present application. Therefore, the scope of protection of the present application shall be based on the scope defined in the claims.

Claims

1. A pod propulsion device, used for installation on a water body, characterized in that: It includes a hanger, a pod propulsion main engine, a rudder plate, a steering motor and a drive control module, wherein the hanger is used to connect the water body; the pod propulsion main engine is fixed to the hanger, the rudder plate is rotatably connected to the hanger, and the steering motor is connected to the rudder plate, and is used to drive the rudder plate to rotate so that the water body turns; The drive control module is electrically connected to the steering motor via a steering control line, and the drive control module is electrically connected to the pod propulsion main engine via a propulsion control line.

2. The pod propulsion device according to claim 1, characterized in that: The hanger includes a main tube, the top of which is connected to the water carrier and the bottom of which is connected to the pod propulsion main engine; a through hole is provided on the rudder plate, the main tube passes through the through hole, and the rudder plate is rotatably connected to the main tube; the steering motor is arranged in the through hole, and a sealing structure is provided between both ends of the through hole and the main tube; the drive control module is arranged in the water carrier, the steering control line and the propulsion control line are both passed through the main tube, and the steering control line penetrates the tube wall of the main tube to be electrically connected to the steering motor.

3. The pod propulsion device according to claim 2, characterized in that: The steering motor comprises a stator and a rotor surrounding the stator, wherein the stator is sleeved outside the main tube and fixedly connected to the main tube; and the rotor is fixed to the hole wall of the perforation.

4. The pod propulsion device according to claim 3, characterized in that: The through hole includes a receiving hole and a rotating hole, the receiving hole and the rotating hole are arranged along the axial direction of the through hole, the aperture of the receiving hole is larger than the aperture of the rotating hole, and a conical surface is arranged between the two; the rotor is arranged on the hole wall of the receiving hole, and the rotating hole is gap-matched with the main tube.

5. The pod propulsion device according to claim 1, characterized in that: The hanger includes a main tube, a steering shaft, a top connector and a bottom connector; the top of the main tube is connected to the water area carrier, and the bottom is connected to the top of the pod propulsion main engine, the drive control module is arranged in the water area carrier, and the propulsion control line is passed through the main tube; the steering shaft is arranged in parallel with the main tube; the top connector is located on the side of the rudder plate and the pod propulsion main engine close to the water area carrier, one end of which is connected to the main tube, and the other end is rotatably connected to the steering shaft; the bottom connector is located on the side of the rudder plate and the pod propulsion main engine away from the water area carrier, one end of which is connected to the bottom of the pod propulsion main engine, and the other end is rotatably connected to the steering shaft; The rudder plate is fixedly connected to the steering shaft; the steering motor is connected to the steering shaft to drive the rudder plate to rotate through the steering shaft.

6. The pod propulsion device according to claim 5, characterized in that: The propeller of the pod propulsion main engine is located between the main engine tube and the steering shaft, and the rudder plate is located on a side of the steering shaft away from the pod propulsion main engine.

7. The pod propulsion device according to claim 5 or 6, characterized in that: The top of the steering shaft extends into the water area carrier and is rotationally connected to the water area carrier; the steering motor is arranged in the water area carrier.

8. The pod propulsion device according to claim 5 or 6, characterized in that: The top of the steering shaft is spaced apart from the water area carrier, and the steering motor is arranged at the connection between the top connecting member and the steering shaft; a wiring channel is arranged in the top connecting member, and the steering control line is passed through the wiring channel and the main pipe.

9. The pod propulsion device according to claim 8, characterized in that: The wiring channel comprises a first wiring channel and a second wiring channel which are connected, and the steering motor is arranged in the second wiring channel; the steering motor comprises an output shaft, a stator, a rotor and a fixed end cover; the output shaft is coaxially fixedly connected to the steering shaft; the rotor is sleeved outside the output shaft and fixedly connected to the output shaft; the stator surrounds the rotor and is fixed to the inner wall of the second wiring channel; the fixed end cover is sleeved outside the output shaft and fixed to the opening of the second wiring channel on the side facing the steering shaft, the output shaft is rotatably connected to the fixed end cover, and a sealing structure is provided between the two; or The steering motor includes an output shaft, a housing, a stator, a rotor and a fixed end cover; the output shaft is coaxially fixedly connected to the steering shaft; the housing is fixedly connected to the top connecting piece, and one end of the housing is open; the stator and the rotor are located in the housing, the rotor is sleeved outside the output shaft, and the rotor is fixedly connected to the output shaft; the stator surrounds the rotor and is fixed to the inner wall of the housing; the fixed end cover is sleeved outside the output shaft and fixed at the opening of the housing, the output shaft is rotatably connected to the fixed end cover, and a sealing structure is provided between the two.

10. A movable device in water area, characterized in that: It comprises a water body carrier and a pod propulsion device as described in any one of claims 1 to 9, wherein the hanger is arranged at the bottom of the water body carrier.

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