Full-sea-depth driving integrated contra-rotating propeller shaftless rim propelling device

Abstract

The invention discloses a full-sea-depth driving integrated contra-rotating propeller shaftless rim propelling device, which belongs to the technical field of underwater propellers and comprises two shaftless rim propellers. The shaftless rim thruster comprises a shell and a rotor, the rotor is coaxially and rotationally matched with the radial inner side of the shell, a stator matched with the rotor is arranged on the radial inner side face of the shell, and propeller blades are arranged on the radial inner side of the rotor. Shells of the two shaftless rim propellers are coaxially and detachably connected; and one of the propeller blades in the two shaftless rim propellers is a forward propeller, and the other propeller blade is a reverse propeller. A combination mode is adopted, the two shaftless rim propellers are combined into the contra-rotating propellers, one propeller is provided with the forward propeller, the other propeller is provided with the reverse propeller, the two propeller blades synchronously rotate under the action of the controller, torque is counteracted mutually, and the influence on an underwater robot body is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater thrusters, and particularly relates to a full-depth drive integrated contra-rotating paddle shaftless rim thruster device. Background Art

[0002] Traditional underwater propulsion methods generally have the defects of low efficiency and high vibration and noise, and can no longer meet the requirements of high-performance underwater propulsion. In order to improve the comprehensive performance of underwater propulsion, the shaftless rim thruster has emerged. The shaftless rim thruster directly drives the propeller with an electric motor, eliminating the intermediate transmission mechanism and reduction mechanism, and adopting a multi-blade ring drive structure, which reduces the tip vortex in the flow field, can reduce vibration and noise and avoid underwater cable entanglement.

[0003] Most of the existing rim thrusters are single-paddle, single-stator-driven single-rotor rim thrusters, and the reaction torque generated during their rotation is extremely likely to affect the robot.

[0004] Based on the above problems, the present application proposes a full-depth drive integrated contra-rotating paddle shaftless rim thruster device, which combines two shaftless rim thrusters into a contra-rotating paddle. One thruster is installed with a forward paddle, and the other thruster is installed with a reverse paddle. The two propeller blades rotate synchronously to cancel out the torque with each other, reducing the impact on the underwater robot body. Summary of the Invention

[0005] The purpose of the present invention is to overcome the above-mentioned deficiencies of the prior art and provide a full-depth drive integrated contra-rotating paddle shaftless rim thruster device.

[0006] To achieve the above purpose, the present invention adopts the following technical solutions: A full-depth drive integrated contra-rotating paddle shaftless rim thruster device includes two shaftless rim thrusters; The shaftless rim thruster includes a housing and a rotor. The rotor is coaxially rotatably fitted inside the radial side of the housing. A stator cooperating with the rotor is arranged on the radial inner surface of the housing, and a propeller blade is arranged on the radial inner side of the rotor; The housings of the two shaftless rim thrusters are coaxially detachably connected; One of the propeller blades of the two shaftless rim thrusters is a forward paddle, and the other is a reverse paddle.

[0007] Preferably, rotating hollow shafts are symmetrically arranged at both axial ends of the rotor. The outer radial side of the rotating hollow shaft is rotatably fitted with the inner radial side of the housing through a bearing. The inner radial surface of the rotating hollow shaft is in a flared structure, and the small head end of the flared structure of the rotating hollow shaft is coaxially and hermetically connected to one axial end of the rotor.

[0008] Preferably, a number of positioning card slots are uniformly arranged along the circumferential direction at both ends of the outer side surface of the rotor in the radial direction, and a number of positioning card protrusions that cooperate with the corresponding positioning card slots are arranged along the circumferential direction on the inner side in the radial direction of the small head end of the rotating hollow shaft bell mouth structure.

[0009] Preferably, a first annular groove is arranged at each of the two ends of the outer side surface of the rotor in the circumferential direction, and an O-ring is arranged in the first annular groove to achieve a sealed connection between the outer side in the radial direction of the rotor and the inner side in the radial direction of the corresponding rotating hollow shaft.

[0010] Preferably, end covers are fixedly arranged at both axial ends of the housing, and sealed connections are made between the end covers and the housing, and between the end covers and the rotating hollow shaft.

[0011] Preferably, a second annular groove is arranged along the circumferential direction on the outer side surface in the radial direction of the end cover, and an O-ring is arranged in the second annular groove to achieve a sealed connection between the outer side in the radial direction of the end cover and the inner side in the radial direction of the housing; A sealed connection is made between the outer side in the radial direction of the rotating hollow shaft and the end cover through a skeleton oil seal.

[0012] Preferably, a number of grooves are uniformly arranged along the circumferential direction on the outer side surface in the radial direction of the rotating hollow shaft near the rotor end.

[0013] Preferably, a drive chamber with a drive circuit board built therein is sealed and connected to the upper part of the housing. An oil filling port adapted with a sealing screw is arranged on the drive chamber, and a communication hole for communicating the inner cavity of the drive chamber with the oil cavity is arranged on the housing; An oil cavity is formed among the housing, the skeleton oil seal, the rotating hollow shaft, and the rotor; An oil pressure compensation mechanism is arranged in the drive chamber.

[0014] Preferably, the oil pressure compensation mechanism includes an oil pressure compensation chamber. A piston is hermetically and slidably fitted in the oil pressure compensation chamber. The inner cavity of the oil pressure compensation chamber below the piston is communicated with the inner cavity of the drive chamber, and a spring is arranged in the inner cavity of the oil pressure compensation chamber above the piston; A pull shaft is coaxially and fixedly arranged on the upper part of the piston. A pull shaft threaded hole is arranged in the middle of the pull shaft. A threaded through hole opposite to the pull shaft threaded hole is arranged on the drive chamber. A detachable pre-tensioning stud is fitted in the pull shaft threaded hole and the threaded through hole.

[0015] Preferably, a magnet is arranged at the bottom end of the piston, and a linear Hall sensor is arranged on the drive chamber opposite to the magnet.

[0016] The beneficial effects of the present invention are: (1) The present invention adopts a combined method to combine two shaftless rim thrusters into a contra-rotating propeller. One thruster is installed with a right-handed propeller, and the other thruster is installed with a left-handed propeller. The two propeller blades rotate synchronously under the action of a controller, canceling out the torque with each other and reducing the impact on the underwater robot body. In addition, in this application, the outer shells of the two shaftless rim thrusters are detachably connected coaxially, that is, the two shaftless rim thrusters can be combined into a contra-rotating propeller for use, or they can be detached and used separately, expanding their usage scenarios.

[0017] (2) The present invention designs the rotating hollow shaft in the shape of a hollow flared opening, which produces an accelerating effect on the water flow during the process of water entering the propeller blades from the outside. This design eliminates the fairings at both ends of the existing thruster and reduces the length of the thruster.

[0018] (3) In the present invention, the positioning convex and the positioning groove cooperate to enable the rotating hollow shaft to perform synchronous movement following the rotor; and the cooperation structure is simple, the installation and disassembly are convenient, which is convenient for the replacement of the rotor.

[0019] (4) In the present invention, the deep-sea pressure resistance of the shaftless rim thruster adopts the method of oil pressure compensation. The oil pressure compensation mechanism and the drive circuit board are integrated in the drive chamber, and the drive chamber is installed on the outer shell, realizing the needs of integrated control and deep-sea pressure resistance.

[0020] (5) A plurality of grooves are uniformly arranged along the circumferential direction on the radially outer side surface of the rotating hollow shaft near the rotor end, and the grooves are inclined relative to the axial direction, so that the internal oil forms a vortex to achieve the heat conduction function. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The description drawings forming a part of this application are used to provide a further understanding of this application. The schematic embodiments of this application and their descriptions are used to explain this application and do not constitute an improper limitation to this application.

[0022] Figure 1 is a schematic three-dimensional view of the structure of the full-depth drive integrated contra-rotating propeller shaftless rim thruster device of the present invention; Figure 2 is a schematic three-dimensional view of the structure of the shaftless rim thruster in the present invention; Figure 3 is a schematic front view of the structure of the shaftless rim thruster in the present invention; Figure 4 is Figure 3 the sectional view taken along the A-A direction of Figure 5 is a schematic three-dimensional view of the cooperation between the rotor and the rotating hollow shaft in the present invention; Figure 6 is a schematic front view of the cooperation between the rotor and the rotating hollow shaft in the present invention; Figure 7 isFigure 6 Cross-sectional view taken along line B-B; Figure 8 is a schematic structural view of the rotor in the present invention; Figure 9 is a schematic structural view of the rotating hollow shaft in the present invention; Figure 10 is a schematic structural view of the oil pressure compensation mechanism in the present invention; Wherein: 1. Shaftless Rim Thruster; 11. Outer Shell; 111. Communication Hole; 112. Connection Hole; 12. Rotor; 121. Positioning Card Slot; 122. First Annular Groove; 13. Stator; 14. Propeller Blade; 15. Rotating Hollow Shaft; 151. Positioning Protrusion; 152. Groove; 16. Bearing; 17. End Cover; 171. Second Annular Groove; 18. Skeleton Oil Seal; 2. Drive Chamber; 21. Sealing Screw; 22. Open Box Body; 23. Cover Plate; 3. Oil Pressure Compensation Mechanism; 31. Oil Pressure Compensation Chamber; 311. Threaded Connection Post; 32. Piston; 321. Sliding Ring; 322. O-ring; 33. Spring; 34. Pulling Shaft; 35. Threaded Through Hole; 36. Pre-tensioning Stud; 37. Magnet; 38. Deep Sea Connector; 4. Oil Chamber; 5. Linear Hall Sensor; 6. Stud. Detailed Embodiment

[0023] It should be noted that the following detailed description is exemplary and is intended to provide further illustration of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present application belongs.

[0024] It should be noted that the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0025] In the present invention, terms such as "upper", "lower", "bottom", "top", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only relational terms determined for the convenience of describing the structural relationship of each component or element of the present invention, and do not specifically refer to any component or element of the present invention and should not be construed as a limitation of the present invention.

[0026] In the present invention, terms such as "connected" and "coupled" should be understood in a broad sense, which may mean a fixed connection, an integral connection or a detachable connection; it may be directly connected or indirectly connected through an intermediate medium. For those skilled in relevant scientific research or technology in this field, the specific meanings of the above terms in the present invention can be determined according to specific circumstances, and it should not be construed as a limitation to the present invention.

[0027] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0028] Embodiment 1: Refer to the attached Figures 1 to 10 , a full-depth driving integrated contra-rotating propeller shaftless rim propulsion device, comprising two shaftless rim thrusters 1; The shaftless rim thruster 1 includes a housing 11 and a rotor 12. The rotor 12 is coaxially rotatably fitted inside the radial side of the housing 11. A stator 13 cooperating with the rotor 12 is provided on the radial inner surface of the housing 11; a propeller blade 14 is provided inside the radial side of the rotor 12; The housings 11 of the two shaftless rim thrusters 1 are coaxially detachably connected; specifically, a plurality of axially penetrating connection holes 112 are provided on the housing 11, and the housings 11 of the two shaftless rim thrusters 1 are connected by arranging fasteners in the corresponding connection holes 112; One of the propeller blades 14 in the two shaftless rim thrusters 1 is a right-handed propeller and the other is a left-handed propeller.

[0029] In this application, in a combined manner, two shaftless rim thrusters 1 are combined into a contra-rotating propeller. One thruster is installed with a right-handed propeller and one thruster is installed with a left-handed propeller. The two propeller blades 14 rotate synchronously under the action of a controller, canceling out the torque with each other and reducing the impact on the underwater robot body. In addition, in this application, the housings 11 of the two shaftless rim thrusters 1 are coaxially detachably connected, that is, the two shaftless rim thrusters 1 can be combined into a contra-rotating propeller for use or can be detached and used separately, expanding its usage scenarios.

[0030] Preferably, rotating hollow shafts 15 are symmetrically arranged at both axial ends of the rotor 12. The outer radial side of the rotating hollow shaft 15 and the inner radial side of the housing 11 are rotationally fitted through bearings 16. The inner radial surface of the rotating hollow shaft 15 is in a flared structure, and the small head end of the flared structure of the rotating hollow shaft 15 is coaxially and hermetically connected to one axial end of the rotor 12.

[0031] Normally, fairings are installed on both sides of the existing shaftless rim propeller to gradually reduce its inner diameter, accelerating the water flow velocity to increase the thrust. The disadvantage of installing fairings is that it will increase the length of the propeller. In this application, the rotating hollow shaft 15 is designed in the shape of a hollow flared opening, and the water flow is accelerated when the water enters the propeller blade 14 from the outside. This design eliminates the fairings at both ends of the existing propeller, reducing the length of the propeller.

[0032] Preferably, a plurality of positioning slots 121 are evenly arranged along the circumferential direction at both ends of the radial outer surface of the rotor 12, and a plurality of positioning convexes 151 are arranged along the circumferential direction on the radial inner side of the small head end of the flared structure of the rotating hollow shaft 15 and are matched with the corresponding positioning slots 121.

[0033] The cooperation of the positioning convexes 151 and the positioning slots 121 enables the rotating hollow shaft 15 to move synchronously with the rotor 12; and the cooperation structure is simple, the installation and disassembly are convenient, which is conducive to the replacement of the rotor 12.

[0034] Preferably, a first annular groove 122 is arranged along the circumferential direction at both ends of the radial outer surface of the rotor 12, and an O-ring is arranged in the first annular groove 122 to realize the sealed connection between the radial outer side of the rotor 12 and the radial inner side of the corresponding rotating hollow shaft 15.

[0035] The two first annular grooves 122 are located between the two sides of the positioning slots 121.

[0036] Preferably, end caps 17 are fixedly arranged at both axial ends of the housing 11, and sealed connections are made between the end caps 17 and the housing 11, and between the end caps 17 and the rotating hollow shaft 15.

[0037] Preferably, a second annular groove 171 is arranged along the circumferential direction on the radial outer surface of the end cap 17, and an O-ring is arranged in the second annular groove 171 to realize the sealed connection between the radial outer side of the end cap 17 and the radial inner side of the housing 11; A sealed connection is made between the radial outer side of the rotating hollow shaft 15 and the end cap 17 through a skeleton oil seal 18.

[0038] Preferably, a plurality of grooves 152 are evenly arranged along the circumferential direction on the radial outer surface of the rotating hollow shaft 15 near one end of the rotor 12. The grooves 152 are inclined relative to the axial direction, causing the internal oil to form a vortex to realize the heat conduction function.

[0039] Embodiment 2: On the basis of Embodiment 1, a drive chamber 2 with a built-in drive circuit board is hermetically connected to the upper part of the housing 11. An oil filling port adapted to a sealing screw 21 is arranged on the drive chamber 2, and a communication hole 111 communicating the inner cavity of the drive chamber 2 with the oil chamber 4 is arranged on the housing 11; An oil chamber 4 is formed among the housing 11, the skeleton oil seal 18, the rotating hollow shaft 15, and the rotor 12. An oil pressure compensation mechanism 3 is arranged in the drive chamber 2.

[0040] Specifically, the drive chamber 2 includes an open box body 22 whose bottom end is in sealed cooperation with the housing 11. A cover plate 23 is in sealed cooperation with the top end of the open box body 22. Among them, the cover plate 23, the open box body 22, and the housing 11 are connected by a plurality of stud bolts 6. A circle of grooves is arranged at both the bottom end and the top end of the open box body 22, and the sealed connection is realized by installing O-rings in the grooves. A deep-sea connector 38 is arranged on the drive chamber 2.

[0041] Preferably, the oil pressure compensation mechanism 3 includes an oil pressure compensation chamber 31. A piston 32 is in sealed sliding cooperation in the oil pressure compensation chamber 31. Among them, two sliding rings 321 are arranged on the piston 32 in an up-and-down distribution to realize sliding cooperation. An O-ring 322 is arranged between the piston 32 between the two sliding rings 321 and the oil pressure compensation chamber 31 to realize sliding seal cooperation. The inner cavity of the oil pressure compensation chamber 31 below the piston 32 is communicated with the inner cavity of the drive chamber 2, and a spring 33 is arranged in the inner cavity of the oil pressure compensation chamber 31 above the piston 32. A pull shaft 34 is coaxially and fixedly arranged on the upper part of the piston 32. A pull shaft threaded hole is arranged in the middle of the pull shaft 34. A threaded through hole 35 opposite to the pull shaft threaded hole is arranged on the drive chamber 2. A detachable pre-tensioning stud bolt 36 is fitted in the pull shaft threaded hole and the threaded through hole 35.

[0042] Among them, a threaded connection column 311 is arranged at the top end of the oil pressure compensation chamber 31. The threaded connection column 311 is in threaded connection with the threaded hole on the cover plate 23. The threaded through hole 35 penetrates through the threaded connection column 311. A circle of grooves for installing O-rings is arranged on the top end surface of the oil pressure compensation chamber 31 to realize sealed connection.

[0043] Before filling with oil, rotate the pre-tensioning stud bolt 36 to make it move upward to drive the piston 32 to move upward and compress the spring 33. After the piston 32 moves upward to the set position, remove the sealing screw 21 and fill oil into the oil filling port. When the drive chamber 2 and the oil chamber 4 are filled with insulating and heat-conducting oil and reach the required pressure, continue to rotate the pre-tensioning stud bolt 36 until it disengages from the drive chamber 2, so that the inner cavity of the oil pressure compensation chamber 31 above the piston 32 is communicated with the outside of the drive chamber 2 through the threaded through hole 35. Under deep-sea conditions, the existence of the oil pressure of the insulating and heat-conducting oil in the drive chamber 2 and the oil chamber 4 ensures the pressure resistance requirement of the propulsion device for the deep-sea water pressure.

[0044] Preferably, a magnet 37 is arranged at the bottom end of the piston 32, and a linear Hall sensor 5 is arranged on the drive chamber 2 opposite to the magnet 37.

[0045] When the insulating heat-conducting oil in the drive chamber 2 or the oil chamber 4 leaks and causes the oil quantity to be insufficient, the piston 32 moves downward under the pressure of the spring 33, so that the distance between the magnet 37 and the linear Hall sensor 5 is shortened. When the distance between the magnet 37 and the linear Hall sensor 5 reaches the limit value, the linear Hall sensor 5 generates an alarm message.

[0046] For the full-depth drive integrated contra-rotating propeller shaftless rim propulsion device in Embodiment 1 or Embodiment 2, during operation, the stator 13 is energized, and the stator 13 drives the rotor 12 to rotate, driving the propeller blades 14 and the rotating hollow shaft 15 to rotate. Among them, the rotation directions of the propeller blades 14 in the two shaftless rim thrusters 1 are opposite. Since one is a right-handed propeller and the other is a left-handed propeller, while the two propeller blades generate thrust in the same direction, the torques are offset from each other. The thrust is transmitted to the underwater robot body to push the underwater robot forward.

[0047] Although the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, they are not limitations on the present invention. Those skilled in the art should understand that based on the technical solutions of the present invention, various modifications or deformations that can be made by those skilled in the art without creative efforts are still within the protection scope of the present invention.

Claims

1. A full-sea-depth drive integrated counter-rotating propeller shaftless rim propulsion device, comprising two shaftless rim propellers; characterized in that: The shaftless rim propeller comprises a housing and a rotor, wherein the rotor is coaxially rotatably matched with the radial inner side of the housing, a stator matched with the rotor is arranged on the radial inner side of the housing, and a propeller blade is arranged on the radial inner side of the rotor; The housings of two shaftless rim thrusters are coaxially and detachably connected; The propeller blades in the two shaftless rim thrusters are one forward propeller and the other reverse propeller.

2. The full-sea-depth drive integrated contra-rotating propeller shaftless rim propulsion device according to claim 1, characterized in that: Rotating hollow shafts are symmetrically arranged at both axial ends of the rotor, the radial outer side of the rotating hollow shaft and the radial inner side of the shell are rotatably matched through bearings, the radial inner side of the rotating hollow shaft is a bell-mouth structure, and the small head end of the rotating hollow shaft bell-mouth structure is coaxially sealed and connected to one axial end of the rotor.

3. The full-sea-depth drive integrated contra-rotating propeller shaftless rim propulsion device according to claim 2, characterized in that: A plurality of positioning grooves are evenly arranged at both ends of the radial outer side of the rotor along the circumferential direction, and a plurality of positioning protrusions matching with the corresponding positioning grooves are arranged at the radial inner side of the small end of the rotating hollow shaft bell mouth structure along the circumferential direction.

4. The full-sea-depth drive integrated contra-rotating propeller shaftless rim propulsion device according to claim 2, characterized in that: A first annular groove is respectively arranged at both ends of the radial outer side of the rotor along the circumferential direction, and an O-ring is arranged in the first annular groove to realize a sealing connection between the radial outer side of the rotor and the radial inner side of the corresponding rotating hollow shaft.

5. The full-sea-depth drive integrated contra-rotating propeller shaftless rim propulsion device according to claim 2, characterized in that: End covers are fixedly arranged at both axial ends of the shell, and the end covers and the shell, as well as the end covers and the rotating hollow shaft are sealed.

6. The full-sea-depth drive integrated contra-rotating propeller shaftless rim propulsion device according to claim 5, characterized in that: A second annular groove is arranged on the radial outer side of the end cover along the circumferential direction, and an O-ring is arranged in the second annular groove to achieve a sealing connection between the radial outer side of the end cover and the radial inner side of the housing; The radial outer side of the rotating hollow shaft is sealed to the end cover via a skeleton oil seal.

7. The full-sea-depth drive integrated contra-rotating propeller shaftless rim propulsion device according to claim 2, characterized in that: A plurality of grooves are evenly arranged along the circumferential direction on the radial outer surface of the rotating hollow shaft close to one end of the rotor.

8. The full-sea-depth drive integrated contra-rotating propeller shaftless rim propulsion device according to claim 6, characterized in that: The upper part of the shell is sealed and connected with a driving chamber with a built-in driving circuit board, the driving chamber is provided with an oil filling port adapted with a sealing screw, and the shell is provided with a connecting hole connecting the inner cavity of the driving chamber and the oil cavity; An oil chamber is formed between the housing, the skeleton oil seal, the rotating hollow shaft and the rotor; An oil pressure compensation mechanism is arranged in the driving compartment.

9. The full-sea-depth drive integrated contra-rotating propeller shaftless rim propulsion device according to claim 8, characterized in that: The oil pressure compensation mechanism comprises an oil pressure compensation chamber, a piston is sealed and slidably fitted in the oil pressure compensation chamber, the inner cavity of the oil pressure compensation chamber below the piston is connected to the inner cavity of the drive chamber, and a spring is arranged in the inner cavity of the oil pressure compensation chamber above the piston; A pull shaft is coaxially fixedly arranged on the upper part of the piston, a pull shaft threaded hole is arranged in the middle part of the pull shaft, a threaded through hole opposite to the pull shaft threaded hole is arranged on the driving chamber, and a detachable pre-tensioning stud is adapted in the pull shaft threaded hole and the threaded through hole.

10. The full-sea-depth drive integrated contra-rotating propeller shaftless rim propulsion device according to claim 9, characterized in that: A magnet is arranged at the bottom end of the piston, and a linear Hall sensor is arranged on the driving chamber facing the magnet.

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