An all-ocean-depth drive integrated contra-rotating paddle shaftless rim propulsion device

Abstract

The present invention discloses an all-ocean-depth drive integrated contra-rotating propeller shaftless rim propulsion device, belonging to the technical field of underwater thrusters, and comprising two shaftless rim propulsion devices; each shaftless rim propulsion device includes a housing and a rotor, the rotor is coaxially rotatably fitted inside the radial direction of the housing, a stator cooperating with the rotor is arranged on the radial inner surface of the housing, and propeller blades are arranged on the radial inner side of the rotor; the housings of the two shaftless rim propulsion devices are coaxially detachably connected; among the propeller blades of the two shaftless rim propulsion devices, one is a right-handed propeller and the other is a left-handed propeller. The present invention adopts a combination method to combine two shaftless rim propulsion devices into a contra-rotating propeller, with one propulsion device installing a right-handed propeller and the other installing 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 influence on the underwater robot body.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater thrusters, and particularly relates to an all-sea-depth drive integrated contra-rotating propeller shaftless rim thruster. Background Art

[0002] Traditional underwater propulsion methods generally have the defects of low efficiency, large vibration and noise, and can no longer meet the requirements of high performance of underwater propulsion. In order to improve the comprehensive performance of underwater propulsion, the shaftless rim thruster came into being. The shaftless rim thruster directly drives the propeller by the motor, omitting 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-propeller, single-stator-driven single-rotor rim thrusters, and the counter torque generated during their rotation is extremely easy to affect the robot.

[0004] Based on the above problems, the present application proposes an all-sea-depth drive integrated contra-rotating propeller shaftless rim thruster, which combines two shaftless rim thrusters into a contra-rotating propeller. One thruster is installed with a forward propeller, and the other thruster is installed with a reverse propeller. The two propellers rotate synchronously, canceling out the torque with each other and 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 an all-sea-depth drive integrated contra-rotating propeller shaftless rim thruster.

[0006] To achieve the above purpose, the present invention adopts the following technical solutions:

[0007] An all-sea-depth drive integrated contra-rotating propeller shaftless rim thruster, comprising two shaftless rim thrusters;

[0008] 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. A propeller blade is arranged on the radial inner side of the rotor;

[0009] The housings of the two shaftless rim thrusters are coaxially detachably connected;

[0010] One of the propeller blades of the two shaftless rim thrusters is a forward propeller, and the other is a reverse propeller.

[0011] 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 of 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.

[0012] Preferably, a plurality of positioning card slots are uniformly arranged at both ends of the outer side surface of the rotor in the circumferential direction, and a plurality of positioning convexes are arranged at the radial inner side of the small end of the rotating hollow shaft bell mouth structure in the circumferential direction and are matched with the corresponding positioning card slots.

[0013] Preferably, a first annular groove is arranged at both 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 realize the sealing connection between the outer side of the rotor and the inner side of the corresponding rotating hollow shaft.

[0014] Preferably, end caps are fixedly arranged at both axial ends of the housing, and sealing connections are made between the end caps and the housing and between the end caps and the rotating hollow shaft.

[0015] Preferably, a second annular groove is arranged on the outer side surface of the end cap in the circumferential direction, and an O-ring is arranged in the second annular groove to realize the sealing connection between the outer side of the end cap and the inner side of the housing;

[0016] A sealing connection is made between the outer side of the rotating hollow shaft and the end cap through a skeleton oil seal.

[0017] Preferably, a plurality of grooves are uniformly arranged on the outer side surface of the rotating hollow shaft near the rotor end in the circumferential direction.

[0018] Preferably, a drive chamber with a drive circuit board built therein is hermetically 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 connecting the inner cavity of the drive chamber and the oil cavity is arranged on the housing;

[0019] An oil cavity is formed among the housing, the skeleton oil seal, the rotating hollow shaft, and the rotor;

[0020] An oil pressure compensation mechanism is arranged in the drive chamber.

[0021] 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;

[0022] 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, and a detachable pre-tensioning stud is fitted in the pull shaft threaded hole and the threaded through hole.

[0023] 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.

[0024] The beneficial effects of the present invention are:

[0025] (1) The present invention adopts a combined method, combining 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 the controller, canceling out the torque with each other and reducing the impact on the underwater robot body. In addition, in the present application, the outer shells of the two shaftless rim thrusters are coaxially detachably connected, that is, the two shaftless rim thrusters can be combined into a contra-rotating propeller for use, or can be detached and used separately, expanding their usage scenarios.

[0026] (2) The present invention designs the rotating hollow shaft into a hollow flared shape, which produces an accelerating effect on the water flow during the process of water entering the propeller blade from the outside. This design eliminates the fairings at both ends of the existing thruster and reduces the length of the thruster.

[0027] (3) In the present invention, the positioning convex and the positioning groove cooperate to enable the rotating hollow shaft to move synchronously with the rotor; and the cooperation structure is simple, the installation and disassembly are convenient, which is convenient for the replacement of the rotor.

[0028] (4) In the present invention, the deep-sea pressure resistance of the shaftless rim thruster adopts an oil pressure compensation method. 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.

[0029] (5) In the present invention, a plurality of grooves are uniformly arranged along the circumferential direction on the radially outer side of the rotating hollow shaft near the rotor end, and the grooves are inclined relative to the axial direction, causing the internal oil to form a vortex to achieve the heat conduction function. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The specification drawings forming a part of the present application are used to provide a further understanding of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation to the present application.

[0031] 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;

[0032] Figure 2 is a schematic three-dimensional view of the structure of the shaftless rim thruster in the present invention;

[0033] Figure 3 is a schematic front view of the structure of the shaftless rim thruster in the present invention;

[0034] Figure 4 is Figure 3 the sectional view taken along the A-A direction of

[0035] Figure 5 is a schematic three-dimensional view of the cooperation between the rotor and the rotating hollow shaft in the present invention;

[0036] Figure 6 is the main view showing the cooperation between the rotor and the rotating hollow shaft in the present invention;

[0037] Figure 7 is Figure 6 the sectional view taken along the B-B direction of

[0038] Figure 8 is the schematic structural view of the rotor in the present invention;

[0039] Figure 9 is the schematic structural view of the rotating hollow shaft in the present invention;

[0040] Figure 10 is the schematic structural view of the oil pressure compensation mechanism in the present invention;

[0041] Where:

[0042] 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;

[0043] 2. Drive Chamber; 21. Sealing Screw; 22. Open Box Body; 23. Cover Plate;

[0044] 3. Oil Pressure Compensation Mechanism; 31. Oil Pressure Compensation Chamber; 311. Threaded Connection Column; 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;

[0045] 4. Oil Chamber; 5. Linear Hall Sensor; 6. Stud. Detailed Implementation Modes

[0046] It should be noted that the following detailed description is exemplary and intended to provide further explanation 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 this application belongs.

[0047] It should be noted that the terms used herein are merely for describing specific implementation modes and are not intended to limit the exemplary implementation modes according to this 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 "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0048] 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. They 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 in the present invention, and should not be construed as a limitation to the present invention.

[0049] In the present invention, terms such as "connected" and "joined" 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 related scientific research or technical personnel in the field, the specific meanings of the above terms in the present invention can be determined according to specific circumstances, and should not be construed as a limitation to the present invention.

[0050] The present invention will be further described below in conjunction with the drawings and embodiments.

[0051] Embodiment 1:

[0052] Refer to the attached Figures 1 to 10 , a full-depth driving integrated contra-rotating paddle shaftless rim propulsion device, which includes two shaftless rim thrusters 1;

[0053] The shaftless rim thruster 1 includes a housing 11 and a rotor 12. The rotor 12 is coaxially rotatably fitted on the radial inner side of the housing 11. A stator 13 cooperating with the rotor 12 is arranged on the radial inner surface of the housing 11; a propeller blade 14 is arranged on the radial inner side of the rotor 12;

[0054] The housings 11 of the two shaftless rim thrusters 1 are coaxially detachably connected; specifically, a plurality of axially penetrating connection holes 112 are arranged 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;

[0055] One of the propeller blades 14 of the two shaftless rim thrusters 1 is a right-handed propeller and the other is a left-handed propeller.

[0056] In this application, in a combined manner, two shaftless rim thrusters 1 are combined into a contra-rotating paddle. One thruster is installed with a right-handed propeller and the other 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 paddle for use, or can be detached and used separately, expanding their usage scenarios.

[0057] Preferably, rotary hollow shafts 15 are symmetrically arranged at both axial ends of the rotor 12. A rotational mating is provided between the outer radial side of the rotary hollow shaft 15 and the inner radial side of the housing 11 through a bearing 16. The inner radial surface of the rotary hollow shaft 15 has a flared structure, and the small end of the flared structure of the rotary hollow shaft 15 is coaxially and sealingly connected to one axial end of the rotor 12.

[0058] In the prior art, fairings are usually installed on both sides of a 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, by designing the rotary hollow shaft 15 into a hollow flared shape, an accelerating effect on the water flow is generated during the process of water entering the propeller blades 14 from the outside. This design eliminates the fairings at both ends of the prior propeller and reduces the length of the propeller.

[0059] Preferably, a plurality of positioning slots 121 are evenly arranged along the circumferential direction at both ends of the outer radial surface of the rotor 12. A plurality of positioning protrusions 151 that cooperate with the corresponding positioning slots 121 are arranged along the circumferential direction on the inner radial side of the small end of the flared structure of the rotary hollow shaft 15.

[0060] The cooperation of the positioning protrusions 151 and the positioning slots 121 enables the rotary 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.

[0061] Preferably, a first annular groove 122 is arranged along the circumferential direction at both ends of the outer radial surface of the rotor 12. An O-ring is arranged in the first annular groove 122 to achieve a sealed connection between the outer radial side of the rotor 12 and the inner radial side of the corresponding rotary hollow shaft 15.

[0062] The two first annular grooves 122 are located between the two sides of the positioning slots 121.

[0063] Preferably, end caps 17 are fixedly arranged at both axial ends of the housing 11. Sealed connections are made between the end caps 17 and the housing 11, and between the end caps 17 and the rotary hollow shaft 15.

[0064] Preferably, a second annular groove 171 is arranged along the circumferential direction on the outer radial surface of the end cap 17. An O-ring is arranged in the second annular groove 171 to achieve a sealed connection between the outer radial side of the end cap 17 and the inner radial side of the housing 11;

[0065] A sealed connection is made between the outer radial side of the rotary hollow shaft 15 and the end cap 17 through a skeleton oil seal 18.

[0066] Preferably, a plurality of grooves 152 are evenly arranged on the radial outer side of the rotary hollow shaft 15 near one end of the rotor 12 along the circumferential direction. The grooves 152 are inclined relative to the axial direction to form a vortex of the internal oil fluid, so as to achieve the heat conduction function.

[0067] Embodiment 2:

[0068] 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 provided on the drive chamber 2, and a communication hole 111 for connecting the inner cavity of the drive chamber 2 and the oil chamber 4 is provided on the housing 11;

[0069] An oil chamber 4 is formed among the housing 11, the skeleton oil seal 18, the rotary hollow shaft 15 and the rotor 12;

[0070] An oil pressure compensation mechanism 3 is arranged in the drive chamber 2.

[0071] Specifically, the drive chamber 2 includes an open box body 22 whose bottom end is hermetically fitted with the housing 11. The top end of the open box body 22 is hermetically fitted with a cover plate 23. 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 sealing connection is realized by installing an O-ring in the groove. A deep-sea connector 38 is arranged on the drive chamber 2.

[0072] Preferably, the oil pressure compensation mechanism 3 includes an oil pressure compensation chamber 31. A piston 32 is hermetically and slidably fitted in the oil pressure compensation chamber 31. Two sliding rings 321 are arranged on the piston 32 in an up-and-down distribution to achieve sliding fit. An O-ring 322 is arranged between the piston 32 between the two sliding rings 321 and the oil pressure compensation chamber 31 to achieve sliding sealing fit. The inner cavity of the oil pressure compensation chamber 31 below the piston 32 is connected to 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;

[0073] A pull shaft 34 is coaxially and fixedly arranged on the upper part of the piston 3, and 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.

[0074] 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 threadedly connected to 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 an O-ring is arranged on the top end surface of the oil pressure compensation chamber 31 to achieve a sealing connection.

[0075] Before filling with oil, rotate pre-tensioning stud 36 upward, moving it to move piston 32 upward and compressing spring 33. After piston 32 moves up to the set position, remove sealing screw 21 and fill the oil filling port with oil. When drive chamber 2 and oil chamber 4 are filled with insulating heat-conducting oil and reach the required pressure, continue rotating pre-tensioning stud 36 until it is released from drive chamber 2, connecting the inner cavity of oil pressure compensation chamber 31 above piston 32 to the outside of drive chamber 2 through threaded through-hole 35. Under deep-sea conditions, the presence of the insulating heat-conducting oil pressure in drive chamber 2 and oil chamber 4 ensures that the propulsion device can withstand the deep-sea water pressure requirements.

[0076] Preferably, a magnet 37 is provided at the bottom end of the piston 32 , and a linear Hall sensor 5 is provided on the driving chamber 2 opposite to the magnet 37 .

[0077] When the insulating heat-conducting oil in the drive chamber 2 or the oil chamber 4 leaks and causes insufficient oil, the piston 32 moves downward under the pressure of the spring 33, thereby shortening the distance between the magnet 37 and the linear Hall sensor 5. When the distance between the magnet 37 and the linear Hall sensor 5 reaches a limit value, the linear Hall sensor 5 generates an alarm message.

[0078] The full-sea-depth driven integrated counter-rotating propeller shaftless rim propulsion device in Example 1 or Example 2, when working, is energized to the stator 13, and the stator 13 drives the rotor 12 to rotate, driving the propeller blades 14 and the rotating hollow shaft 15 to rotate. The propeller blades 14 in the two shaftless rim propellers 1 have opposite rotation directions. Since one is a forward propeller and the other is a reverse propeller, the two propeller blades generate thrust in the same direction while canceling each other's torque. The thrust is transmitted to the underwater robot body, pushing the underwater robot forward.

[0079] Although the above describes the specific embodiments of the present invention in conjunction with the accompanying drawings, it is not a limitation of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without any creative work are still within the scope of protection of the present invention.

Claims

1. A full-sea-depth drive integrated contra-rotating propeller shaftless rim propulsion device, comprising two shaftless rim propellers; characterized in that: The shaftless rim propeller includes a housing and a rotor. The rotor is coaxially rotatably fitted on the radial inner side of the housing. A stator matching the rotor is provided on the radial inner side of the housing. Propeller blades are provided on the radial inner side of the rotor. The housings of the two shaftless rim thrusters are coaxially detachably connected; The propeller blades in the two shaftless rim thrusters are one forward propeller and the other reverse propeller; Rotating hollow shafts are symmetrically arranged at both axial ends of the rotor, the radial inner side of the rotating hollow shaft is in a bell-mouth structure, and the small end of the bell-mouth structure of the rotating hollow shaft is coaxially sealed with one axial end of the rotor; A plurality of positioning slots are evenly arranged at both ends of the radial outer side of the rotor along the circumferential direction, and a plurality of positioning protrusions are arranged along the circumferential direction on the radial inner side of the small end of the bell mouth structure of the rotating hollow shaft, which cooperate with the corresponding positioning slots; 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; When working, the stator is energized, and the stator drives the rotor to rotate, driving the propeller blades and the rotating hollow shaft to rotate. The propeller blades in the two shaftless rim thrusters rotate in opposite directions. Since one is a forward propeller and the other is a reverse propeller, the two propeller blades generate thrust in the same direction while offsetting each other's torque. The thrust is transmitted to the underwater robot body, pushing the underwater robot forward.

2. The full-sea-depth drive integrated contra-rotating propeller shaftless rim propulsion device according to claim 1, characterized in that: The radial outer side of the rotating hollow shaft and the radial inner side of the housing are rotationally matched via a bearing.

3. 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 provided at each end of the radial outer side of the rotor along the circumferential direction, and an O-ring is provided in the first annular groove to achieve a sealed connection between the radial outer side of the rotor and the radial inner side of the corresponding rotating hollow shaft.

4. The full-sea-depth drive integrated contra-rotating propeller shaftless rim propulsion device according to claim 2, characterized in that: End covers are fixedly provided at both axial ends of the shell, and sealing connections are made between the end covers and the shell, and between the end covers and the rotating hollow shaft.

5. The full-sea-depth drive integrated contra-rotating propeller shaftless rim propulsion device according to claim 4, characterized in that: A second annular groove is provided on the radial outer surface of the end cover along the circumferential direction, and an O-ring is provided in the second annular groove to achieve a sealed 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.

6. The full-sea-depth drive integrated contra-rotating propeller shaftless rim propulsion device according to claim 5, characterized in that: The upper portion of the housing is sealedly connected to a drive chamber with a built-in drive circuit board, the drive chamber is provided with an oil filling port adapted to be fitted with a sealing screw, and the housing is provided with a connecting hole connecting the inner cavity of the drive chamber and the oil chamber; 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 provided in the driving compartment.

7. The full-sea-depth drive integrated contra-rotating propeller shaftless rim propulsion device according to claim 6, characterized in that: The oil pressure compensation mechanism includes an oil pressure compensation chamber, in which a piston is sealingly and slidingly fitted, the oil pressure compensation chamber cavity below the piston is connected to the drive chamber cavity, and a spring is provided in the oil pressure compensation chamber cavity above the piston; A pull shaft is coaxially fixed on the upper part of the piston, a pull shaft threaded hole is provided in the middle of the pull shaft, a threaded through hole opposite to the pull shaft threaded hole is provided on the drive chamber, and a detachable pre-tensioning stud is adapted in the pull shaft threaded hole and the threaded through hole.

8. The full-sea-depth drive integrated contra-rotating propeller shaftless rim propulsion device according to claim 7, 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 opposite to the magnet.

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