Underwater monitoring equipment and self-correction propelling system thereof

Abstract

The invention discloses a self-deviation-rectifying propelling system which comprises a mounting part connected with a carrier platform of underwater monitoring equipment, an inner propeller assembly arranged at the tail end of the mounting part and an outer propeller assembly arranged at the tail end of the mounting part. The inner propeller assembly comprises a propeller column rotationally connected with the mounting part and a plurality of inner blades which are arranged on the propeller column and are distributed in the circumferential direction; the outer propeller assembly comprises an isolation flow guide cover rotationally connected with the mounting part and a plurality of outer blades which are arranged on the outer wall of the isolation flow guide cover and are distributed in the circumferential direction; the inner propeller assembly is arranged in the isolation flow guide cover, the inner propeller assembly and the outer propeller assembly are coaxially distributed, the rotation state of the propeller column and the rotation state of the isolation flow guide cover are synchronous and reverse, and the inclination directions of the inner blades and the outer blades are opposite. According to the invention, the propulsion direction deviation phenomenon of underwater monitoring equipment due to the reaction force of water flow can be avoided, and the accuracy of the propulsion direction is ensured. The invention further discloses underwater monitoring equipment, and the beneficial effects of the underwater monitoring equipment are as described above.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater propellers, and in particular to a self-correcting propulsion system. The present invention also relates to an underwater monitoring device. Background Art

[0002] Underwater monitoring equipment is a submersible device used for special operations such as underwater monitoring, underwater detection, and underwater patrol. The underwater monitoring equipment is equipped with a propeller to provide power to the underwater monitoring equipment and drive the underwater monitoring equipment to move underwater.

[0003] A propeller is a device that converts electrical energy into mechanical energy. It mainly generates thrust by rotating blades to drive underwater vehicles forward. A propeller propeller is one of the common propellers. When the propeller works, it absorbs water from the surrounding environment from the water inlet into the water circulation system, and then absorbs it from the suction surface of the propeller blades, and then discharges it from the discharge surface and accelerates it out through the water outlet. The reaction force of water is used to push the carrier or load forward, forming a complete water circulation system.

[0004] At present, underwater monitoring equipment generally uses propeller thrusters. Due to the influence of the rotational motion of the blades, the tilt setting of the blades, the blade shape and other factors, when the propeller thruster is in operation, a spiral water flow will be generated behind the blades. Therefore, the thrust of the blades on the water is not simply a vertical backward axial force, but also includes a circumferential force. Correspondingly, the reaction force of water on the blades also includes axial force and circumferential force. The axial force acts as a power to propel the underwater monitoring equipment forward, while the circumferential force will form a rolling moment on the underwater monitoring equipment. The rolling moment will cause the underwater monitoring equipment to flip slightly when moving forward, thereby causing disturbances to the surrounding water flow, and ultimately causing deviations in the propulsion direction of the underwater monitoring equipment, such as unnecessary yaw or pitch motion.

[0005] Therefore, how to avoid the underwater monitoring equipment from having a propulsion direction deviation due to the reaction force of the water flow and ensure the accuracy of the propulsion direction is a technical problem faced by technical personnel in this field. Summary of the invention

[0006] The purpose of the present invention is to provide a self-correcting propulsion system, which can avoid the propulsion direction deviation of underwater monitoring equipment due to the reaction force of water flow, and ensure the accuracy of propulsion direction. Another purpose of the present invention is to provide an underwater monitoring device.

[0007] In order to solve the above technical problems, the present invention provides a self-correcting propulsion system, comprising a mounting component connected to a carrier platform of an underwater monitoring device, an inner propeller assembly arranged at the tail end of the mounting component, and an outer propeller assembly arranged at the tail end of the mounting component;

[0008] The inner propeller assembly comprises a propeller column rotatably connected to the mounting component and a plurality of inner blades arranged on the propeller column and distributed in the circumferential direction, and the outer propeller assembly comprises an isolation shroud rotatably connected to the mounting component and a plurality of outer blades arranged on the outer wall of the isolation shroud and distributed in the circumferential direction;

[0009] The inner propeller assembly is built into the isolation fairing and is coaxially distributed with the outer propeller assembly, and the propeller column rotates in opposite directions synchronously with the isolation fairing, and the inner blades and the outer blades are tilted in opposite directions.

[0010] Preferably, it also includes a driving component arranged on the mounting component and a transmission mechanism dynamically connected to the driving component, wherein the transmission mechanism has at least two output ends, and one of the output ends is dynamically connected to the propeller column, and the other output end is dynamically connected to the isolation fairing.

[0011] Preferably, the transmission mechanism includes a first rotating shaft connected to the output end of the driving component, a gear transmission assembly dynamically connected to the first rotating shaft, the propeller column is connected to the first rotating shaft, and the isolation fairing is connected to the output end of the gear transmission assembly.

[0012] Preferably, the gear transmission assembly includes an input gear fixed on the first rotating shaft, a second rotating shaft rotatably connected to the mounting component, a reversing gear fixed on the second rotating shaft and meshing with the input gear, and an output ring gear connected to the inner wall of the isolation air duct and meshing with the reversing gear.

[0013] Preferably, the transmission mechanism also includes a rotating shell rotatably connected to the rear end of the mounting component, a transmission connecting rod connected between the outer wall of the rotating shell and the inner wall of the isolation air guide cover, the gear transmission assembly is installed in the rotating shell, and the output end of the gear transmission assembly is connected to the inner wall of the rotating shell.

[0014] Preferably, the inner propeller assembly further comprises an end head arranged at the tail end of the propeller column, and the cross-sectional shape of the end head is circular.

[0015] Preferably, it also includes a plurality of circumferentially distributed fixed connecting rods connected to the rear end of the mounting component, and an outer air guide cover connected to the outer end of each of the fixed connecting rods;

[0016] The outer propeller assembly is built into the outer shroud, and the outer shroud is coaxially distributed with the isolation shroud;

[0017] The outer air guide cover and the isolation air guide cover are both conical, and the diameter of the end face of the outer air guide cover close to the head end of the mounting component is larger than the diameter of the other end face, and the diameter of the end face of the isolation air guide cover close to the head end of the mounting component is larger than the diameter of the other end face.

[0018] Preferably, guide wing plates are arranged on the outer wall of the mounting component and the outer wall of the outer layer guide cover.

[0019] Preferably, it further comprises a flow guide head arranged at the head end of the mounting component, and the flow guide head is in a streamlined shape.

[0020] The present invention also provides an underwater monitoring device, including a carrier platform, a monitor installed on the carrier platform, and a propulsion system connected to the carrier platform, wherein the propulsion system is specifically the self-correcting propulsion system described in any one of the above items.

[0021] The self-correcting propulsion system provided by the present invention mainly includes a mounting component, an inner propeller assembly and an outer propeller assembly. Among them, the mounting component is connected to the carrier platform of the underwater monitoring equipment, and is mainly used to install and accommodate the remaining components of the system. At the same time, it serves as a propulsion transmission medium to transmit the propulsion to the carrier platform, and pushes the carrier platform and the monitor and other accessories carried thereon forward. The inner propeller assembly is arranged as a whole at the tail end position of the mounting component, and mainly includes a propeller column and an inner blade. Among them, the propeller column is connected to the mounting component, and a rotational connection is formed between the mounting component, and has a rotational freedom, and can rotate relative to the mounting component. The inner blade is arranged on the propeller column, and multiple pieces are arranged at the same time, and each inner blade is distributed along the circumferential direction of the propeller column. Of course, each inner blade is arranged obliquely on the outer edge of the propeller column. When the propeller column rotates, it will drive each inner blade to rotate synchronously. The outer propeller assembly is also arranged as a whole at the tail end position of the mounting component, and mainly includes an isolation deflector and an outer blade. The isolation shroud is connected to the mounting component and forms a rotational connection with the mounting component, has a rotational freedom, and can rotate relative to the mounting component. The outer blades are arranged on the outer wall of the isolation shroud, and multiple blades are arranged at the same time, and each outer blade is distributed along the circumferential direction of the isolation shroud, and each outer blade is also arranged obliquely on the outer wall of the isolation shroud.

[0022] Importantly, the inner propeller assembly is integrally built into the isolation shroud, forming an inner and outer coaxial distribution with the outer propeller assembly. The isolation shroud separates the water flow so that the inner and outer blades are separated inside and outside. When the two rotate, they push the inner and outer layers of water of the isolation shroud respectively without affecting each other. At the same time, the rotation states of the propeller column and the isolation shroud are kept synchronously opposite, that is, one rotates clockwise and the other rotates counterclockwise; and the inner and outer blades are tilted in opposite directions, that is, one is a right-handed blade and the other is a left-handed blade. This design enables the inner and outer blades to produce a backward pushing effect on the water bodies in which they are located when the propeller column and the isolation shroud rotate, so that the inner and outer water bodies produce the same axial force on the inner propeller assembly and the outer propeller assembly respectively. The inner and outer axial forces are superimposed on the mounting components to achieve the propulsion movement of the mounting components. As for the circumferential forces generated by the inner and outer water bodies on the inner propeller assembly and the outer propeller assembly respectively, since the rotation directions of the inner and outer propeller assemblies are opposite, the directions of the circumferential forces generated by the inner and outer water bodies are also opposite, that is, one of them generates a rolling moment with a clockwise rotation direction, and the other generates a rolling moment with a counterclockwise rotation direction. After the two act together on the mounting components, the torque is offset. Theoretically, the resultant torque tends to zero, thereby avoiding unnecessary flipping, yaw or pitch motion of the mounting components and even the entire underwater monitoring equipment during the propulsion process, and preventing deviations in the propulsion direction.

[0023] In summary, the self-correcting propulsion system provided by the present invention can prevent the underwater monitoring equipment from experiencing propulsion direction deviation due to the reaction force of the water flow, thereby ensuring the accuracy of the propulsion direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0025] Figure 1 The present invention provides a schematic diagram of the overall structure of a specific implementation method.

[0026] Figure 2 for Figure 1 A cross-sectional view of the local structure.

[0027] Figure 3 for Figure 2 An enlarged view of the structure of circle A is shown in FIG.

[0028] in, Figure 1 — Figure 3 middle:

[0029] Installation components—1, inner propeller assembly—2, outer propeller assembly—3, driving components—4, transmission mechanism—5, fixed connecting rod—6, outer guide cover—7, guide wing—8, guide head—9;

[0030] Propeller column—21, inner blades—22, end—23;

[0031] Isolation deflector—31, outer blades—32;

[0032] A first rotating shaft 51, a gear transmission assembly 52, a rotating housing 53, and a transmission connecting rod 54;

[0033] Input gear—521, second rotating shaft—522, reversing gear—523, output ring gear—524. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] Please refer to Figure 1 , Figure 2 , Figure 1 This is a schematic diagram of the overall structure of a specific implementation method provided by the present invention. Figure 2 for Figure 1 A cross-sectional view of the local structure.

[0036] In a specific implementation manner provided by the present invention, the self-correcting propulsion system mainly includes a mounting component 1 , an inner propeller assembly 2 and an outer propeller assembly 3 .

[0037] Among them, the installation component 1 is connected to the carrier platform of the underwater monitoring equipment, and is mainly used to install and accommodate the remaining components of the system. At the same time, it serves as a propulsion force transmission medium to transmit the propulsion force to the carrier platform, pushing the carrier platform and its accessories such as monitors carried thereon forward.

[0038] The inner propeller assembly 2 is arranged as a whole at the tail end of the mounting component 1, and mainly includes a propeller column 21 and inner blades 22. Among them, the propeller column 21 is connected to the mounting component 1, and forms a rotational connection with the mounting component 1, has a rotational freedom, and can rotate relative to the mounting component 1. The inner blades 22 are arranged on the propeller column 21, and multiple pieces are arranged at the same time, and each inner blade 22 is distributed along the circumferential direction of the propeller column 21. Of course, each inner blade 22 is arranged obliquely on the outer edge of the propeller column 21. When the propeller column 21 rotates, it will drive each inner blade 22 to rotate synchronously.

[0039] The outer propeller assembly 3 is also integrally arranged at the tail end of the mounting component 1, and mainly includes an isolation air deflector 31 and outer blades 32. Among them, the isolation air deflector 31 is connected to the mounting component 1, and forms a rotational connection with the mounting component 1, has a degree of freedom of rotational movement, and can rotate relative to the mounting component 1. The outer blades 32 are arranged on the outer wall of the isolation air deflector 31, and multiple blades are arranged at the same time, and each outer blade 32 is distributed along the circumferential direction of the isolation air deflector 31, and each outer blade 32 is also arranged obliquely on the outer wall of the isolation air deflector 31.

[0040] It is important that the inner propeller assembly 2 is built into the isolation shroud 31 as a whole, forming an inner and outer coaxial distribution with the outer propeller assembly, and the isolation shroud 31 is used to separate the water flow, so that the inner blade 22 and the outer blade 32 are separated inside and outside, and when the two rotate, they push the inner and outer layers of water of the isolation shroud 31 respectively without affecting each other. At the same time, the rotation state of the propeller column 21 and the isolation shroud 31 is synchronized and reversed, that is, one rotates clockwise and the other rotates counterclockwise; and the inner blade 22 and the outer blade 32 are tilted in opposite directions, that is, one is a right-handed blade and the other is a left-handed blade.

[0041] The above design enables the inner blades 22 and the outer blades 32 to produce a backward pushing effect on the water bodies in which they are located when the propeller column 21 and the isolation fairing 31 rotate, so that the inner and outer water bodies respectively produce axial forces in the same direction on the inner propeller assembly 2 and the outer propeller assembly 3, and the inner and outer axial forces are superimposed on the mounting component 1 to achieve the propulsion movement of the mounting component 1. As for the circumferential forces generated by the inner and outer water bodies on the inner propeller assembly 2 and the outer propeller assembly 3 respectively, since the rotation directions of the inner propeller assembly 2 and the outer propeller assembly 3 are opposite, the directions of the circumferential forces generated by the inner and outer water bodies are also opposite, that is, one of them produces a clockwise rolling moment, and the other produces a counterclockwise rolling moment. The two act together on the mounting component 1 to achieve torque cancellation. Theoretically, the resultant torque tends to zero, thereby avoiding unnecessary flipping, yaw or pitching of the mounting component 1 and even the entire underwater monitoring equipment during the propulsion process, and preventing the propulsion direction from deviating.

[0042] In summary, the self-correcting propulsion system provided in this embodiment can prevent the underwater monitoring equipment from experiencing propulsion direction deviation due to the reaction force of the water flow, thereby ensuring the accuracy of the propulsion direction.

[0043] In an optional embodiment of the installation component 1, the installation component 1 is specifically an installation cylinder, so that subsequent driving components 4, transmission mechanism 5 and other components can be installed in the installation cylinder to achieve hidden built-in installation, while forming a sealed protection for the driving components 4, transmission mechanism 5 and other components.

[0044] Of course, the mounting component 1 can also be a mounting column, a mounting seat or other components.

[0045] In order to facilitate the synchronous counter-rotational movement of the inner propeller assembly 2 and the outer propeller assembly 3, a driving component 4 and a transmission mechanism 5 are added in this embodiment. Among them, the driving component 4 is arranged on the mounting component 1, generally at the tail end of the mounting component 1, and can output power. The transmission mechanism 5 is also arranged on the mounting component 1, and can also be arranged at the tail end of the mounting component 1. The input end of the transmission mechanism 5 is connected to the output end of the driving component 4, and the transmission mechanism 5 has at least two output ends, one of which is connected to the propeller column 21, and the other is connected to the isolation fairing 31. With such arrangement, when the driving component 4 outputs power, the power is transmitted to the transmission mechanism 5, and after being transmitted and converted by the transmission mechanism 5, it is output through each output end of the transmission mechanism 5 at the same time; wherein, one power is output to the propeller column 21, driving the propeller column 21 to rotate, thereby driving each inner blade 22 to rotate synchronously; the other power is output to the isolation fairing 31, driving the isolation fairing 31 to rotate, thereby driving each outer blade 32 to rotate synchronously; according to the above method, the synchronous reverse rotation movement of the inner propeller assembly 2 and the outer propeller assembly 3 can be smoothly realized.

[0046] In an optional embodiment of the driving component 4, the driving component 4 is specifically a driving motor, and the output shaft of the driving motor is connected to the input end of the transmission mechanism 5. Of course, the driving component 4 can also be a driving cylinder or the like.

[0047] like Figure 3 As shown, Figure 3 for Figure 2 An enlarged view of the structure of circle A is shown in FIG.

[0048] In an optional embodiment of the transmission mechanism 5, the transmission mechanism 5 mainly includes a first rotating shaft 51 and a gear transmission assembly 52. ​​Among them, one end of the first rotating shaft 51 is connected to the output end of the driving component 4, and the other end of the first rotating shaft 51 is connected to the propeller column 21. The input end of the gear transmission assembly 52 forms a power connection with the first rotating shaft 51, and the output end of the gear transmission assembly 52 is connected to the isolation air guide cover 31. Generally, the output end of the gear transmission assembly 52 is connected to the inner wall of the isolation air guide cover 31. In this way, when the driving component 4 is running, a part of the power will be directly transmitted to the propeller column 21 through the first rotating shaft 51, thereby driving each inner blade 22 to rotate; the other part of the power will be transmitted through the first rotating shaft 51 and the gear transmission assembly 52 in turn, and finally transmitted to the isolation air guide cover 31, thereby driving each outer blade 32 to rotate.

[0049] Of course, the transmission mechanism 5 is not limited to the above-mentioned first rotating shaft 51 and the gear transmission assembly 52. ​​Other structures such as multiple rotating shafts are interconnected by a coupling and then connected to the output end of the driving component 4, or the power of the driving component 4 is led out through the first rotating shaft 51, and then the power is transmitted to the isolation air duct 31 through various motion mechanisms and motion pairs such as worm gear mechanisms, gear rack mechanisms, belt transmission mechanisms 5, etc., alone or in combination, which can also be used.

[0050] In an optional embodiment of the gear transmission assembly 52, the gear transmission assembly 52 mainly includes an input gear 521, a second rotating shaft 522, a reversing gear 523 and an output ring gear 524. Among them, the input gear 521 is fixed on the first rotating shaft 51 and can rotate synchronously with the first rotating shaft 51. The second rotating shaft 522 is connected to the mounting component 1, generally connected to the tail end position of the mounting component 1, and can be installed by a support column and other components so that the second rotating shaft 522 is in a preset position. At the same time, a rotational connection is formed between the second rotating shaft 522 and the mounting component 1, and the second rotating shaft 522 can rotate relative to the mounting component 1. The reversing gear 523 is fixed on the second rotating shaft 522 and can rotate synchronously with the second rotating shaft 522. The output ring gear 524 is connected to the inner wall of the isolation deflector 31 and meshes with the reversing gear 523. Generally, the output gear ring 524 is an internal gear ring, the inner side of which is used to mesh with the reversing gear 523, and the outer side of which is connected to the inner wall of the isolation air deflector 31. In this way, when the driving component 4 is running, one of the motive forces will be transmitted to the isolation air deflector 31 through the first rotating shaft 51, the input gear 521, the reversing gear 523 and the output gear ring 524 in sequence, and the rotation direction of the first rotating shaft 51 is reversed by the reversing gear 523 in the middle, ensuring that the rotation direction of the isolation air deflector 31 is opposite to the rotation direction of the first rotating shaft 51 and the propeller column 21.

[0051] Of course, the gear transmission assembly 52 is not limited to the above-mentioned structural form, and other structures such as three-stage gear meshing transmission, planetary gear transmission mechanism, etc. can also be adopted.

[0052] Further, considering that the gear transmission assembly 52 is arranged on the mounting component 1, and there is a certain distance between the mounting component 1 and the isolation air deflector 31, it is usually difficult for the output end of the gear transmission assembly 52 to be directly connected to the isolation air deflector 31. In view of this, a rotating shell 53 and a transmission connecting rod 54 are added in this embodiment. Among them, the rotating shell 53 is connected to the tail end of the mounting component 1, and forms a rotation connection with the mounting component 1, and can rotate relative to the mounting component 1. For example, when the mounting component 1 is a mounting cylinder, the rotating shell 53 can be annularly sleeved on the rear end of the mounting cylinder. Correspondingly, the gear transmission assembly 52 is installed in the rotating shell 53 as a whole, and the output end of the gear transmission assembly 52, such as the output gear ring 524 in the aforementioned embodiment, is connected to the inner wall of the rotating shell 53, so that the gear transmission assembly 52 can transmit power to the rotating shell 53. At the same time, the transmission connecting rod 54 is connected between the outer wall of the rotating shell 53 and the inner wall of the isolation air deflector 31, so that the rotating shell 53 and the isolation air deflector 31 are connected as a whole. With such arrangement, the power output by the gear transmission assembly 52 can be transmitted to the isolation air deflector 31 through the rotating shell 53 and the transmission connecting rod 54. Since the transmission connecting rod 54 has a certain length, the power connection between the gear transmission assembly 52 and the isolation air deflector 31 can be easily achieved. At the same time, the gear transmission assembly 52 does not need to be directly connected to the isolation air deflector 31, so that the size and volume of the input gear 521, the reversing gear 523 and the output ring gear 524 can be made smaller, which is not only easier to install into the installation tube, but also can reduce the volume and space occupancy.

[0053] In an optional embodiment of the inner propeller assembly 2, the inner propeller assembly 2 includes a terminal 23 in addition to the propeller column 21 and the inner blades 22. Specifically, the terminal 23 is arranged at the tail end of the propeller column 21, and the cross-sectional shape of the terminal 23 is specifically circular, so as to reduce the disturbance of the water flow and improve the fluid performance. For example, the terminal 23 is specifically in a hemispherical shape, an arc shape, a conical shape, etc.

[0054] In addition, in order to improve the fluid performance of the inner propeller assembly 2 and the outer propeller assembly 3, a fixed connecting rod 6 and an outer layer air guide hood 7 are additionally provided in this embodiment. Among them, a plurality of fixed connecting rods 6 are provided, each of which is connected to the tail end of the mounting component 1, and each of the fixed connecting rods 6 is distributed along the circumference of the mounting component 1. At the same time, each of the fixed connecting rods 6 has a preset length so as to extend radially beyond the outer edge of each outer blade 32. The outer layer air guide hood 7 is connected to the outer end of each fixed connecting rod 6, which is equivalent to being arranged around the outside of the outer propeller assembly 3, and the outer propeller assembly 3 is built into the outer layer air guide hood 7, and is coaxially distributed with the inner layer isolation air guide hood 31. In this way, the inner blade 22 rotates in the isolation air guide hood 31, and the outer blade 32 rotates in the outer layer air guide hood 7. At the same time, the outer layer flow deflector 7 and the isolation flow deflector 31 are both in the shape of a cone, and the diameter of the end face of the outer layer flow deflector 7 close to the head end of the mounting component 1 is larger than the diameter of the other end face, and the diameter of the end face of the isolation flow deflector 31 close to the head end of the mounting component 1 is larger than the diameter of the other end face, that is, the outer layer flow deflector 7 and the isolation flow deflector 31 gradually decrease from front to back. With such a configuration, the outer layer flow deflector 7 can gather the surrounding water body to the inside, increase the flow rate of the internal fluid, and thus improve the propulsion efficiency; on the other hand, the outer layer flow deflector 7 and the isolation flow deflector 31 both guide the internal water flow, so that the inner circle water flow pushed by the inner blades 22 tends to form an inner circle axial flow along the inner wall of the isolation flow deflector 31, and at the same time, the outer circle water flow pushed by the outer blades 32 tends to form an outer circle circulation along the inner wall of the outer layer flow deflector 7, so as to avoid the two internal and external water flows from affecting each other and causing disturbance, thereby avoiding affecting the propulsion direction of the underwater monitoring equipment.

[0055] Similarly, in this embodiment, a guide wing 8 is additionally provided. Specifically, a plurality of guide wing plates 8 are provided, and some of the guide wing plates 8 are provided on the outer wall of the mounting component 1 and are evenly distributed on the outer wall surface of the mounting component 1 along the circumferential direction; another portion of the guide wing plates 8 are provided on the outer wall of the outer layer guide cover 7 and are also evenly distributed on the outer wall surface of the outer layer guide cover 7 along the circumferential direction. In this way, the guide wing plates 8 are mainly used to guide the water flow, so as to improve the fluid performance of the underwater monitoring equipment and keep the underwater monitoring equipment in a balanced state when moving forward.

[0056] In addition, this embodiment further includes a guide head 9. Specifically, the guide head 9 is disposed at the head end (or front end) of the mounting component 1 and is in a streamlined shape, mainly used to reduce the front end water breaking resistance, thereby further improving the fluid performance.

[0057] The present embodiment also provides an underwater monitoring device, which mainly includes a carrier platform, a monitor installed on the carrier platform, and a propulsion system connected to the carrier platform. Since the propulsion system adopts all the technical solutions of the above-mentioned self-correcting propulsion system embodiments, the underwater monitoring equipment provided by the present embodiment also has all the technical effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here.

[0058] It should be noted that the self-correcting propulsion system provided in this embodiment is not only applicable to underwater monitoring equipment whose propulsion medium is water fluid, but also to aerial monitoring equipment whose propulsion medium is gas fluid, etc.

[0059] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A self-correcting propulsion system, characterized in that: It comprises a mounting component (1) connected to a carrier platform of an underwater monitoring device, an inner propeller assembly (2) arranged at the tail end of the mounting component (1), and an outer propeller assembly (3) arranged at the tail end of the mounting component (1); The inner propeller assembly (2) comprises a propeller column (21) rotatably connected to the mounting component (1) and a plurality of inner blades (22) arranged on the propeller column (21) and distributed in the circumferential direction; the outer propeller assembly (3) comprises an isolation shroud (31) rotatably connected to the mounting component (1) and a plurality of outer blades (32) arranged on the outer wall of the isolation shroud (31) and distributed in the circumferential direction; The inner propeller assembly (2) is built into the isolation fairing (31) and is coaxially distributed with the outer propeller assembly (3), and the rotation states of the propeller column (21) and the isolation fairing (31) are synchronously reversed, and the inner blades (22) and the outer blades (32) are inclined in opposite directions.

2. The self-correcting propulsion system according to claim 1, characterized in that: It also includes a driving component (4) arranged on the mounting component (1), and a transmission mechanism (5) connected to the driving component (4) in terms of power, wherein the transmission mechanism (5) has at least two output ends, one of which is connected to the propeller column (21) in terms of power, and the other of which is connected to the isolation fairing (31) in terms of power.

3. The self-correcting propulsion system according to claim 2, characterized in that: The transmission mechanism (5) comprises a first rotating shaft (51) connected to the output end of the driving component (4), and a gear transmission assembly (52) connected to the first rotating shaft (51) in power, the propeller column (21) is connected to the first rotating shaft (51), and the isolation deflector (31) is connected to the output end of the gear transmission assembly (52).

4. The self-correcting propulsion system according to claim 3, characterized in that: The gear transmission assembly (52) comprises an input gear (521) fixed on the first rotating shaft (51), a second rotating shaft (522) rotatably connected to the mounting component (1), a reversing gear (523) fixed on the second rotating shaft (522) and meshing with the input gear (521), and an output ring gear (524) connected to the inner wall of the isolation air guide cover (31) and meshing with the reversing gear (523).

5. The self-correcting propulsion system according to claim 3, characterized in that: The transmission mechanism (5) further comprises a rotating shell (53) rotatably connected to the rear end of the mounting component (1), a transmission connecting rod (54) connected between the outer wall of the rotating shell (53) and the inner wall of the isolation air guide cover (31), the gear transmission assembly (52) being installed in the rotating shell (53), and the output end of the gear transmission assembly (52) being connected to the inner wall of the rotating shell (53).

6. The self-correcting propulsion system according to claim 1, characterized in that: The inner propeller assembly (2) further comprises an end head (23) arranged at the rear end of the propeller column (21), and the cross-sectional shape of the end head (23) is circular.

7. The self-correcting propulsion system according to claim 1, characterized in that: It also includes a plurality of circumferentially distributed fixed connecting rods (6) connected to the rear end of the mounting component (1), and an outer air guide cover (7) connected to the outer end of each of the fixed connecting rods (6); The outer propeller assembly (3) is built into the outer layer fairing (7), and the outer layer fairing (7) and the isolation fairing (31) are coaxially distributed; The outer flow guide cover (7) and the isolation flow guide cover (31) are both in the shape of a cone, and the diameter of the end face of the outer flow guide cover (7) close to the head end of the mounting component (1) is larger than the diameter of the other end face thereof, and the diameter of the end face of the isolation flow guide cover (31) close to the head end of the mounting component (1) is larger than the diameter of the other end face thereof.

8. The self-correcting propulsion system according to claim 7, characterized in that: A flow guide wing plate (8) is arranged on the outer wall of the mounting component (1) and the outer wall of the outer layer flow guide cover (7).

9. The self-correcting propulsion system according to claim 1, characterized in that: It also comprises a flow guide head (9) arranged at the head end of the mounting component (1), and the flow guide head (9) is in a streamlined shape.

10. An underwater monitoring device, comprising a carrier platform, a monitor mounted on the carrier platform, and a propulsion system connected to the carrier platform, characterized in that: The propulsion system is specifically the self-correcting propulsion system described in any one of claims 1-9.

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