Pod propulsion system and water-based mobile equipment

Abstract

This application provides a podded propulsion device and a mobile watercraft. The mobile watercraft includes a watercraft carrier and a podded propulsion device. The podded propulsion device includes a gantry, a podded propulsion main unit, a rudder, a steering motor, and a drive control module. The gantry is connected to the watercraft carrier; the podded propulsion main unit is fixed to the gantry, the rudder is rotatably connected to the gantry, and the steering motor is connected to the rudder. The podded propulsion main unit and the rudder are both mounted on the gantry, forming an integral structure, which integrates propulsion power and steering structure, improving the steering efficiency of the electric boat and reducing the turning radius. The gantry ensures that the relative positions of the podded propulsion main unit and the rudder are properly installed, improving the rotational stability and steering reliability of the rudder. The drive control module controls the steering motor and the podded propulsion main unit respectively through steering control lines and propulsion control lines. Through wire control, independent control of steering can be achieved, facilitating intelligent control of the electric boat and improving control reliability.

Description

Technical Field

[0001] This application relates to the field of waterborne mobile equipment, and in particular to a pod propulsion device and a waterborne mobile equipment. Background Technology

[0002] Currently 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 means that the adjustment of podded propulsion (POD propulsion) should not only meet the power requirements, but also have a flexible and adjustable steering system, so that the operator can flexibly switch the course under the premise of power control, thereby improving the user experience and driving pleasure.

[0003] In related technologies, the direction of a vessel in water can be adjusted by setting a separate rudder. However, this method increases the turning radius of the vessel when turning, affecting its turning efficiency. Summary of the Invention

[0004] This application provides a pod propulsion device and a water-based mobile device, which can reduce the turning radius of a vessel and improve its steering efficiency.

[0005] On one hand, this application provides a pod propulsion device for installation on a waterborne vehicle, including a pod frame, a pod propulsion main unit, a rudder plate, a steering motor, and a drive control module. The pod frame is used to connect to the waterborne vehicle; the pod propulsion main unit is fixed to the pod frame, the rudder plate is rotatably connected to the pod frame, and the steering motor is connected to the rudder plate to drive the rudder plate to rotate so that the waterborne vehicle 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 unit via a propulsion control line.

[0006] The gantry 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 unit. A perforation is provided on the rudder plate, through which the main tube passes, and the rudder plate is rotatably connected to the main tube. A steering motor is disposed within the perforation, and a sealing structure is provided between the two ends of the perforation and the main tube. A drive control module is disposed within the water carrier, and both the steering control line and the propulsion control line pass through the main tube, with the steering control line penetrating the tube wall to electrically connect with the steering motor.

[0007] The steering motor includes 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 wall of the through hole.

[0008] The perforation includes a receiving hole and a rotating hole, which are arranged along the axial direction of the perforation. The diameter of the receiving hole is larger than that of the rotating hole, and a tapered surface is provided between them. The rotor is disposed on the wall of the receiving hole, and the rotating hole is clearance-fitted with the main tube.

[0009] The gantry 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 carrier, and the bottom is connected to the top of the pod propulsion main unit. The drive control module is located inside the water carrier, and the propulsion control line passes through the main tube. The steering shaft is arranged parallel to the main tube. The top connector is located on the side of the rudder plate and the pod propulsion main unit closer to the water carrier, with one end connected to the main tube and the other end rotatably connected to the steering shaft. The bottom connector is located on the side of the rudder plate and the pod propulsion main unit away from the water carrier, with one end connected to the bottom of the pod propulsion main unit and the other end 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 unit is located between the main unit tube and the steering shaft, and the rudder is located on the side of the steering shaft opposite to the pod propulsion main unit.

[0012] The top of the steering shaft extends into the water carrier and is rotatably connected to the water carrier; the steering motor is disposed within the water carrier.

[0013] The top of the steering shaft is spaced apart from the water carrier, and the steering motor is located at the connection between the top connector and the steering shaft. A wiring channel is provided inside the top connector, and the steering control line passes through the wiring channel and the main unit tube.

[0014] The wiring channel includes a first wiring channel and a second wiring channel that are connected to each other. The steering motor is disposed 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 and fixedly connected to the steering shaft. The rotor is sleeved on the outside of 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 on the outside of the output shaft and fixed at the opening of the second wiring channel facing the steering shaft. The output shaft and the fixed end cover are rotatably connected, and a sealing structure is provided between them.

[0015] The steering motor includes an output shaft, a housing, a stator, a rotor, and a fixed end cover. The output shaft is coaxially and fixedly connected to the steering shaft. The housing is fixedly connected to the top connector, and one end of the housing is open. The stator and the rotor are located inside the housing, and 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 housing. The fixed end cover is sleeved outside the output shaft and fixed at the opening of the housing. The output shaft and the fixed end cover are rotatably connected, and a sealing structure is provided between them.

[0016] On the other hand, this application provides a water-based mobile device, including a water-based carrier and the aforementioned pod propulsion device, wherein the pod is disposed at the bottom of the water-based carrier.

[0017] The podded propulsion device and water-based mobile equipment provided in this application have their propulsion main unit and rudder plate mounted on a gantry, forming an integrated structure. This integrates propulsion power and steering structure, facilitating overall assembly and disassembly, and improving the steering efficiency and reducing the turning radius of the electric vessel. The gantry ensures that the relative positions of the podded propulsion main unit and the rudder plate are properly installed, improving the rotational stability and steering reliability of the rudder plate. The drive control module controls the steering motor and the podded propulsion main unit respectively through steering control lines and propulsion control lines. This wire-controlled approach enables independent control of steering, facilitating intelligent control of the electric vessel and improving control reliability. Attached Figure Description

[0018] Figure 1 A three-dimensional structural diagram of the water-based mobile device provided in the first embodiment of this application;

[0019] Figure 2 yes Figure 1 A schematic diagram of the side structure of a mobile device in mid-water area;

[0020] Figure 3 yes Figure 1 A top-view structural diagram of a mobile device in mid-water area;

[0021] Figure 4 yes Figure 3 Sectional view at point XX;

[0022] Figure 5 yes Figure 4 Enlarged view of point A in the image;

[0023] Figure 6 A three-dimensional structural diagram of the water-based mobile device provided in the second embodiment of this application;

[0024] Figure 7 yes Figure 6A schematic diagram of the side structure of a mobile device in mid-water area;

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

[0026] Figure 9 yes Figure 8 Enlarged view of point B in the image;

[0027] Figure 10 A three-dimensional structural diagram of the water-based mobile device provided in the third embodiment of this application;

[0028] Figure 11 yes Figure 10 A schematic diagram of the side structure of a mobile device in mid-water area;

[0029] Figure 12 yes Figure 10 Cross-sectional view of mobile equipment in mid-water area;

[0030] Figure 13 yes Figure 12 Enlarged view of point C in the image;

[0031] Figure 14 This is a schematic diagram of another embodiment of the steering motor in this application. Detailed Implementation

[0032] The following description will refer to the accompanying drawings to provide a more complete picture of the present application. The drawings illustrate exemplary embodiments of the present application. However, the present application may be implemented in many different forms and should not be construed as limited to the exemplary embodiments set forth herein. These exemplary embodiments are provided so that this application will be thorough and complete, and will fully convey the scope of the present application to those skilled in the art.

[0033] Similar reference numerals indicate the same or similar components.

[0034] The terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to limit the 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. Furthermore, when used herein, “comprising” and / or “including” and / or “having,” integers, steps, operations, components, and / or components, but does not exclude the presence or addition of one or more other features, regions, integers, steps, operations, components, and / or groups thereof.

[0035] Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. Furthermore, unless expressly defined herein, terms such as those defined in a general dictionary should be interpreted as having the same meaning as they have in the relevant art and in the content of this application, and will not be interpreted as having an idealized or overly formal meaning.

[0036] The specific embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0037] This application provides a water-based mobile device, which can be various water transportation vehicles such as commercial ships, fishing boats, passenger ships, and yachts, or it can be a water patrol device or water management device that can move in water.

[0038] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the water-based mobile device provided in the first embodiment of this application includes a water-based carrier 200 and a pod propulsion device 100. The water-based carrier 200 can move in water and can carry people or objects. The pod propulsion device 100 is installed at the bottom of the water-based carrier 200 and is used to provide power to the water-based carrier 200 to drive its movement and steering.

[0039] like Figure 2 As shown, and in combination Figure 1 The first embodiment of this application also provides a pod propulsion device 100 for installation on the bottom of a waterborne carrier 200. The device includes a gantry 1, a pod propulsion main unit 2, a rudder plate 3, a steering motor 4, and a drive control module 5. The gantry 1 is used to connect the waterborne carrier 200. The gantry 1 can connect the pod propulsion main unit 2, the rudder plate 3, and the steering motor 4 into a single module, which is then assembled onto the waterborne carrier 200.

[0040] like Figure 4 As shown, the pod propulsion main unit 2 is fixed to the gantry 1, and the pod propulsion main unit 2 mainly provides the power for the movement of the water vehicle 200. The rudder plate 3 is rotatably connected to the gantry 1, and the steering motor 4 is connected to the rudder plate 3 to drive the rudder plate 3 to rotate, thereby turning the water vehicle 200. The drive control module 5 is electrically connected to the steering motor 4 through the steering control line 54 to realize the steering control of the water vehicle 200; the drive control module 5 is also electrically connected to the pod propulsion main unit 2 through the propulsion control line 52 to realize the control of the movement power of the water vehicle 200.

[0041] In the podded propulsion device 100 provided in this application, the podded propulsion main unit 2 and the rudder plate 3 are both mounted on the gantry 1, forming an integral structure. This integrates the propulsion power and the steering structure, facilitating overall assembly and disassembly, and improving the steering efficiency and reducing the turning radius of the electric boat. The gantry 1 ensures that the relative positions of the podded propulsion main unit 2 and the rudder plate 3 are properly installed, improving the rotational stability and steering reliability of the rudder plate 3. The drive control module 5 controls the steering motor 4 and the podded propulsion main unit 2 respectively through the steering control line 54 and the propulsion control line 52. Through the wire control method, independent control of steering can be achieved, which is beneficial for the intelligent control of the electric boat and improves the control reliability.

[0042] The gantry 1 can be positioned near the rear of the water carrier 200 to facilitate movement and steering control of the water carrier 200. In this embodiment, the gantry 1 includes a main tube 11, the top of which is connected to the water carrier 200 and the bottom of which is connected to the pod propulsion main unit 2. The main tube 11 can be used to suspend the pod propulsion main unit 2 below the water carrier 200.

[0043] like Figure 5 As shown, the rudder plate 3 has a through hole 30, through which the main propulsion tube 11 passes, and the rudder plate 3 is rotatably connected to the main propulsion tube 11. By passing the main propulsion tube 11 through the through hole 30, the rudder plate 3 is rotatably connected to the main propulsion tube 11, facilitating assembly. After assembly, the rudder plate 3 is located in the middle of the main propulsion tube 11, and the pod propulsion main unit 2 is located at the bottom of the main propulsion tube 11. The rudder plate 3 and the pod propulsion main unit 2 can be connected using only one component, the main propulsion tube 11, resulting in a simple structure and easy connection. The rotation axis of the rudder plate 3 is the central axis of the main propulsion tube 11, ensuring that the relative positions of the rudder plate 3 and the pod propulsion main unit 2 are properly installed.

[0044] The steering motor 4 is installed in the perforation 30. A sealing structure is provided between the two ends of the perforation 30 and the main tube 11 to seal the steering motor 4 inside the perforation 30. This prevents water from entering the perforation 30 when the water carrier 200 is traveling in the water, which would affect the normal operation of the steering motor 4 and ensure the reliability of the steering motor 4.

[0045] like Figure 4 As shown, the drive control module 5 is disposed within the water carrier 200. Both the steering control line 54 and the propulsion control line 52 pass through the main unit tube 11, with the steering control line 54 penetrating the wall of the main unit tube 11 for electrical connection to the steering motor 4. The space within the main unit tube 11 allows for convenient placement of the steering control line 54 and the propulsion control line 52, enabling the drive control module 5 to be disposed within the water carrier 200 without contact with the water, thus improving control safety and reliability. In other embodiments, the drive control module may also be disposed within a perforation or within the main unit tube.

[0046] The top end of the main tube 11 extends into the water carrier 200. The steering control line 54 and the propulsion control line 52 extend from the top of the main tube 11 and connect to the drive control module 5. A sealing structure is provided between the main tube 11 and the water carrier 200 to prevent water from entering the water carrier 200 and ensure the overall structural safety and reliability. The main tube 11 and the water carrier 200 can be fixedly connected by screws or by welding, etc., and this application does not impose any limitation on 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 on the outside of the main tube 11 and fixedly connected to the main tube 11; the rotor 42 is fixed to the wall of the through hole 30. By fixing the stator 41 and rotor 42 of the steering motor 4 to the main tube 11 and the wall of the through hole 30 respectively, the steering motor 4 can be integrated between the main tube 11 and the rudder plate 3, reducing the space occupied by the steering motor 4. The steering motor 4 with an external rotor 42 structure facilitates the connection between the steering motor 4 and the rudder plate 3, thereby facilitating the driving of the rudder plate 3 by the steering motor 4.

[0048] The perforation 30 includes a receiving hole 301 and a rotating hole 302, which are arranged along the axial direction of the perforation 30. The diameter of the receiving hole 301 is larger than that of the rotating hole 302, and a tapered surface 303 is provided between them. The rotor 42 is disposed on the wall of the receiving hole 301, and the rotating hole 302 is clearance-fitted with the main tube 11. The larger diameter receiving hole 301 facilitates the installation of the steering motor 4, while the smaller diameter rotating hole 302 improves the stability of the relative rotation between the rudder plate 3 and the main tube 11. When assembling the rudder plate 3 and the main tube 11, the stator 41 and the rotor 42 are first fixed to the main tube 11 and the wall of the receiving hole 301, respectively. Then, one end of the main tube 11 passes through the receiving hole 301 and the rotating hole 302 in sequence. The tapered surface 303 facilitates the insertion of the main tube 11 from the receiving hole into the rotating hole 302. Finally, the sealing structures at both ends of the perforation 30 are 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 carrier 200 and the drive control module 5, which facilitates the setting of the steering control line 54 and improves control reliability. The rotating hole 302 is located below the receiving hole 301, and its diameter is smaller, so that the outer diameter of the rudder plate 3 at the rotating hole 302 is also smaller, reducing the impact on the water flow and ensuring the steering function of the rudder plate 3.

[0050] A top end cap 31 is provided at the top of the receiving hole 301. The top end cap 31 is fixedly connected to the rudder plate 3 and the two are sealed together. A sealing structure is provided between the top end cap 31 and the main tube 11 to achieve a seal at the top position of the through hole 30. A first bearing 331 is provided between the inner side of the top end cap 31 and the main tube 11 to improve the stability of the rotation of the rudder plate 3 relative to the main tube 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 tube 11 and 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 of the rudder plate 3 and the main tube 11 can be effectively guaranteed.

[0051] A bottom end cap 32 is provided at the bottom of the rotating hole 302. The bottom end cap 32 is fixedly connected to the rudder plate 3, and the two are sealed together. A dynamic sealing structure is provided between the bottom end cap 32 and the main tube 11 to achieve sealing at the bottom of the perforation 30. The top end cap 31, bottom end cap 32, and other parts that come into contact with the water phase can be additionally sealed with sealant or 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, eliminating the need for an additional transmission structure and reducing the overall volume of the entire pod propulsion device 100.

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

[0054] like Figure 8 As shown, and in combination Figure 7 The second embodiment of this application also provides a pod propulsion device 100 for installation on the bottom of a waterborne vehicle 200. It includes a pod frame 1, a pod propulsion main unit 2, a rudder plate 3, a steering motor 4, and a drive control module 5. The pod frame 1 connects to the waterborne vehicle 200. The pod propulsion main unit 2 is fixed to the pod frame 1 and provides the waterborne vehicle 200 with the power to move. The rudder plate 3 is rotatably connected to the pod frame 1, and the steering motor 4 is connected to the rudder plate 3 to drive the rudder plate 3 to rotate, thereby turning the waterborne vehicle 200. The drive control module 5 is electrically connected to the steering motor 4 via a steering control line 54 to control the steering of the waterborne vehicle 200; the drive control module 5 is also electrically connected to the pod propulsion main unit 2 via a propulsion control line 52 to control the movement power of the waterborne vehicle 200.

[0055] In this embodiment, as Figure 8 and Figure 9 As shown, the gantry 1 includes a main tube 11, a steering shaft 12, a top connector 13, and a bottom connector 14. The top of the main tube 11 is connected to the water carrier 200, and the bottom is connected to the top of the pod propulsion main unit 2, allowing the pod propulsion main unit 2 to be suspended below the water carrier 200. The drive control module 5 is located inside the water carrier 200, and the propulsion control line 52 passes through the main tube 11. The drive control module 5 does not need to be installed underwater, ensuring operational reliability. The space inside the main tube 11 allows for convenient installation of the propulsion control line 52.

[0056] The steering shaft 12 is arranged parallel to the main tube 11. The top connector 13 is located on the side of the rudder plate 3 and the podded propulsion main unit 2 closest to the water carrier 200, with one end connected to the main tube 11 and the other end rotatably connected to the steering shaft 12. The bottom connector 14 is located on the side of the rudder plate 3 and the podded propulsion main unit 2 furthest from the water carrier 200, with one end connected to the bottom of the podded propulsion main unit 2 and the other end 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 via the steering shaft 12.

[0057] The main tube 11 and the steering shaft 12 are connected to the pod propulsion main unit 2 and the rudder plate 3, respectively. The rudder plate 3 does not need to occupy the main tube 11, so that the length of the main tube 11 can be smaller, reducing the overall height of the pod propulsion device 100, so that the water mobile equipment can operate in shallow waters.

[0058] The top connector 13 and the bottom connector 14 connect the main tube 11 and the steering shaft 12 into a frame structure, which makes the overall structure of the hanger 1 have high strength. The steering shaft 12 rotates with both the top connector 13 and the bottom connector 14, which can ensure the stability and reliability of the rotation of the steering shaft 12 together with the rudder plate 3.

[0059] like Figure 6 As shown, the bottom connector 14 is flat and is positioned perpendicular to the steering shaft 12 and the main unit tube 11 to facilitate positioning and assembly, and to reduce the impact on water flow during the operation of the mobile water-based equipment. The top connector 13 can also be flat.

[0060] like Figure 7 As shown, the propeller of the podded propulsion main unit 2 is located between the main unit tube 11 and the steering shaft 12, and the rudder plate 3 is located on the side of the steering shaft 12 opposite to the podded propulsion main unit 2. The propeller of the podded propulsion main unit 2 is located within the frame formed by the pod 1, and the bottom connector 14 can prevent the propeller from contacting foreign objects on the seabed, ensuring operational reliability and safety. The rudder plate 3 is located outside the frame formed by the pod 1, which facilitates the steering coordination between the rudder plate 3 and the podded propulsion main unit 2, and can reduce the overall size of the pod 1 frame structure, thereby reducing costs.

[0061] like Figure 8 , Figure 9 As shown, the top of the steering shaft 12 extends into the water carrier 200 and is rotatably connected to it; the steering motor 4 is disposed within the water carrier 200. The steering shaft 12 rotatably engages with the water carrier 200, and the bottom, top, and bottom connecting parts 13 and 14 of the water carrier 200 are simultaneously rotatably connected to the steering shaft 12, further ensuring the stability and reliability of the rotation of the steering shaft 12 and the rudder plate 3. The fact that the steering motor 4 is disposed within the water carrier 200 allows the steering control line 54 to also be disposed within the water carrier 200, facilitating control of the steering motor 4 by the drive control module 5, reducing the waterproofing requirements of the steering motor 4, and lowering costs.

[0062] A sealing structure is provided at the connection between the main tube 11 and the water carrier 200, and a sealing structure is also provided at the connection between the steering shaft 12 and the water carrier 200. This improves the reliability of the structure and the safety of navigation. 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 be spaced apart in the radial direction of the steering shaft 12. In this case, the pod propulsion device 100 can further include a transmission assembly. The top end of the steering shaft 12 and the steering motor 4 can be connected by 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, improving control accuracy and facilitating steering control. Here, the top end of the steering shaft 12 and the steering motor 4 can also be connected by other structures such as chain drive and belt drive.

[0063] like Figure 10 , Figure 11 , Figure 12 As shown, the water-based mobile device provided in the third embodiment of this application includes a water-based carrier 200 and a pod propulsion device 100. This embodiment is a further improvement on the second embodiment. Its overall shape is the same as the second embodiment, but the wiring and structural connections are different. The differences will be described in detail below, and the similarities will not be repeated.

[0064] like Figure 12 As shown, and in combination Figure 13In the third embodiment of this application, the top of the steering shaft 12 is spaced apart from the water carrier 200, and the steering motor 4 is located at the connection between the top connector 13 and the steering shaft 12. A wiring channel (not shown in the figure) is provided inside the top connector 13, and the steering control line 54 passes through the wiring channel and the main unit tube 11. In this embodiment, only the main unit tube 11 is connected to the water carrier 200 in the hanger 1. Only a sealing structure needs to be provided between the main unit tube 11 and the water carrier 200, which facilitates installation, avoids weakening the strength of the water carrier 200, improves reliability, and avoids problems such as seal failure due to poor structural reliability during actual manufacturing. Utilizing the wiring channel of the top connector 13, the steering control line 54 can be conveniently installed. By installing the steering control line 54 in the wiring channel and the main unit tube 11, contact with water is avoided, resulting in good reliability.

[0065] like Figure 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 set in the second wiring channel 130. By using the top connector 13 as the housing of the steering motor 4, the overall structure can be made more compact, while reducing the assembly process and sealing problems in the assembly structure, and 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 and the steering shaft 12 are coaxially and fixedly connected. This coaxial arrangement facilitates positioning and transmission between the two, improving transmission reliability. Preferably, the output shaft 40 and the steering shaft 12 can be integrally formed to improve structural strength and reduce defects such as errors caused by the connection structure.

[0068] The rotor 42 is sleeved on the output shaft 40 and 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 and the rotor 42 cooperate to allow the rotor 42 to drive the output shaft 40 to rotate. The fixed end cover 44 is sleeved on 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 cap 44 can seal the opening of the second wiring channel 130 to form a sealed cavity. The stator 41, rotor 42, output shaft 40 and other structures can be sealed inside the second wiring channel 130 to improve operational reliability. 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. 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 inner wall of the fixed end cover 44 and the second wiring channel 130. The two bearings are located at both ends of the rotor 42 to improve the stability of the output shaft 40 rotation.

[0071] In this embodiment, the top connector 13 serves as the housing of the steering motor 4, allowing the steering motor 4 to be embedded within the top connector 13. As another implementation of the steering motor 4, such as... Figure 14 As shown, the steering motor 4 may also 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 can be formed between the housing 43 and the fixed end cover 44, and the stator 41, rotor 42, output shaft 40, and other structures can be arranged in this sealed cavity. Specifically, the output shaft 40 is coaxially and 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 rotor 42 are located inside 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. The stator 41 and rotor 42 cooperate to allow the rotor 42 to 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 and the fixed end cover 44 are rotatably connected, and a sealing structure is provided between them. The structure of the outer casing 43 and the end cap can seal the stator 41 and rotor 42, ensuring reliable underwater operation. The steering control line 54 can be sequentially run through the main unit tube 11, the top connector 13 and the outer casing 43 of the steering motor 4 to realize the electrical connection between the drive control module 5 and the steering motor 4.

[0072] In summary, although the present application has disclosed the preferred embodiments as described above, the above preferred embodiments are not intended to limit the present application. Those skilled in the art can make various modifications and refinements without departing from the spirit and scope of the present application. Therefore, the scope of protection of the present application shall be determined by the scope defined in the claims.

Claims

1. A pod propulsion device for installation on a waterborne carrier, characterized in that, The system includes a gantry, a pod propulsion main unit, a rudder plate, a steering motor, and a drive control module. The gantry is used to connect the waterborne carrier. The pod propulsion main unit is fixed to the gantry, and the gantry includes a main unit tube. The top of the main unit tube is connected to the waterborne carrier, and the bottom is connected to the pod propulsion main unit. The rudder plate is rotatably connected to the gantry, and the rudder plate has a through hole through which the main unit tube passes. The rudder plate is rotatably connected to the main unit tube. The steering motor is connected to the rudder plate and is disposed in the through hole. A sealing structure is provided between the two ends of the through hole and the main unit tube for driving the rudder plate to rotate so that the waterborne carrier can turn. The drive control module is electrically connected to the steering motor via the steering control line, and the drive control module is electrically connected to the pod propulsion main unit via the propulsion control line.

2. The pod propulsion device according to claim 1, characterized in that, The drive control module is located inside 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 includes 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 wall of the through hole.

4. The pod propulsion device according to claim 3, characterized in that, The perforation includes a receiving hole and a rotating hole, which are arranged along the axial direction of the perforation. The diameter of the receiving hole is larger than that of the rotating hole, and a tapered surface is provided between them. The rotor is disposed on the wall of the receiving hole, and the rotating hole is clearance-fitted with the main tube.

5. The pod propulsion device according to claim 1, characterized in that, The gantry 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 carrier, and the bottom is connected to the top of the pod propulsion main unit. The drive control module is located inside the water carrier, and the propulsion control line passes through the main tube. The steering shaft is arranged parallel to the main tube. The top connector is located on the side of the rudder plate and the pod propulsion main unit closer to the water carrier, with one end connected to the main tube and the other end rotatably connected to the steering shaft. The bottom connector is located on the side of the rudder plate and the pod propulsion main unit away from the water carrier, with one end connected to the bottom of the pod propulsion main unit and the other end 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 unit is located between the main unit tube and the steering shaft, and the rudder is located on the side of the steering shaft opposite to the pod propulsion main unit.

7. The pod propulsion device according to claim 5 or 6, characterized in that, The top of the steering shaft extends into the water carrier and is rotatably connected to the water carrier; the steering motor is disposed within the water 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 carrier, and the steering motor is located at the connection between the top connector and the steering shaft; a wiring channel is provided inside the top connector, and the steering control line passes through the wiring channel and the main unit tube.

9. The pod propulsion device according to claim 8, characterized in that, The wiring channel includes a first wiring channel and a second wiring channel that are connected. The steering motor is disposed within 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 and fixedly connected to the steering shaft. The rotor is sleeved outside the output shaft and fixedly connected to it. 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 at the opening of the second wiring channel facing the steering shaft. The output shaft and the fixed end cover are rotatably connected, and a sealing structure is provided between them. The steering motor includes an output shaft, a housing, a stator, a rotor, and a fixed end cover; the output shaft is coaxially and fixedly connected to the steering shaft; the housing is fixedly connected to the top connector, and one end of the housing is open; the stator and the rotor are located inside 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 water-based mobile device, characterized in that, It includes a water-based carrier and a pod propulsion device as described in any one of claims 1-9, wherein the pod is disposed at the bottom of the water-based carrier.

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