Anti-sediment unmanned carrier propeller

Abstract

The invention relates to the technical field of underwater propellers, and particularly discloses an anti-sediment unmanned carrier propeller which comprises a propeller shell and further comprises a propeller rotor which is rotatably connected to one side of the interior of the propeller shell, and a rotor shell is arranged outside the propeller rotor; the propeller is fixedly arranged on the outer wall of the rotor shell; the propeller stator is fixedly mounted in the propeller shell; the sealing moving ring is fixedly arranged on the outer side of the first end bearing; the sealing static ring is fixed to the center of the propeller shell and tightly abuts against the end face of the sealing dynamic ring through the thrust of the spring. A sealing ring is arranged in an inner cavity of the rotor shell, and the sealing ring can be driven by a water pressure driving mechanism to extend out of the outer side of the rotating gap to seal the rotating gap. According to the invention, multiple sealing effects of low wear demand and deepwater high protection demand in a shallow water clear environment can be taken into account.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater thrusters, and specifically to a sediment-proof unmanned vehicle thruster. Background Art

[0002] In the scenario where an unmanned vehicle operates in water, as a key power component, the sealing performance of the thruster is an important performance to ensure the long-term stable operation of the thruster. Due to insufficient sealing performance, in traditional unmanned vehicle thrusters, when encountering turbid water flow in deep water areas, sediment is extremely easy to invade the interior of the thruster, resulting in increased wear of components and oil pollution, thereby affecting the power output and service life of the thruster. At the same time, with the complex and changeable water environment, the water pressure difference at different water depths poses higher requirements for the sealing structure of the thruster. A single sealing method is difficult to balance the low wear requirements in the clear water environment of shallow water and the high protection requirements in deep water, and cannot effectively adapt to various working conditions, seriously restricting the operation efficiency and application range of unmanned vehicles. There is an urgent need for a new solution to address these problems. Summary of the Invention

[0003] An embodiment of the present application provides a sediment-proof unmanned vehicle thruster, and the main purpose is to achieve a multiple sealing effect that balances the low wear requirements in the clear water environment of shallow water and the high protection requirements in deep water.

[0004] To achieve the above object, an embodiment of the present application provides a sediment-proof unmanned vehicle thruster, including a thruster housing, and further including: a thruster rotor rotatably connected to one side inside the thruster housing, a rotor housing is disposed outside the thruster rotor, and a cavity between the thruster rotor and the thruster stator forms an oil chamber; a propeller fixedly disposed on the outer wall of the rotor housing; a thruster stator fixedly installed in the thruster housing and located in the middle of the inner cavity of the thruster rotor; a first end bearing, one end of the thruster stator is rotatably connected to the inner wall of one side of the inner cavity of the rotor housing through the first end bearing; a sealing dynamic ring fixedly disposed outside the first end bearing and located inside the end of the rotor housing; a sealing static ring fixed at the central position of the thruster housing and tightly abutted against the end face of the sealing dynamic ring by spring thrust; wherein, a rotational gap is provided between the thruster housing and the rotor housing, and an annular abutting seat is further provided on the thruster housing outside the rotational gap, a sealing ring is disposed in the inner cavity of the rotor housing, and the sealing ring can be driven by a water pressure driving mechanism to extend out to the outside of the rotational gap and contact the abutting seat to seal the rotational gap; the sealing ring can also be driven by the water pressure driving mechanism to contract and disengage from the abutting seat.

[0005] In a feasible implementation, the rotor housing is further provided with: a second end bearing, disposed on the outer wall of the thruster stator in the rotor housing and away from the first end bearing; a balance chamber, opened in the inner cavity of the rotor housing, and a pressure balance hole communicating with the outside is provided in the balance chamber for maintaining the pressure balance between the oil chamber and the external water pressure.

[0006] In a feasible implementation, the rotor housing is further provided with: a plurality of water inlets, sequentially and equidistantly arranged on the outer wall of the rotor housing along the circumferential direction; a plurality of water pressure chambers, all opened in the outer wall of the rotor housing, and each water pressure chamber is in one-to-one correspondence and communication with the water inlet; a gas high-pressure chamber, opened on one side of the water pressure chamber, and the inner cavity diameter of the gas high-pressure chamber is the same as that of the water pressure chamber; a sealing piston, capable of linearly moving between the water pressure chamber and the gas high-pressure chamber; a gas normal-pressure chamber, disposed in the inner wall of the rotor housing on the side of the gas high-pressure chamber close to the abutting seat; and a driving diaphragm, fixedly disposed between the gas high-pressure chamber and the gas normal-pressure chamber.

[0007] In a feasible implementation, the gas high-pressure chamber is in a straight long strip shape, and a seal cover plate capable of opening and closing is further provided on the outer sides of the water pressure chamber, the gas high-pressure chamber, and the gas normal-pressure chamber.

[0008] In a feasible implementation, the abutting seat is provided with a seat body inclined towards the middle of the thruster, and further includes: a limiting convex portion, fixedly disposed on the outer end face of the seat body, the inner side of the limiting convex portion protrudes from the seat body and forms a sealing clamping groove relative to the sealing ring, the sealing clamping groove can be in sealing contact with the end of the sealing ring, and the included angle between the outer wall of the thruster housing on the inner side of the limiting convex portion and the sealing ring is an acute angle.

[0009] In a feasible implementation, the limiting convex portions in two of the abutting seats can be in contact with the end of the sealing ring, and the limiting convex portions at the contact positions are provided with conductive metals. The abutting seat is further connected with: a power supply module, disposed in the thruster housing; and an alarm module, connected to a closed circuit formed by the power supply module and the conductive metals of the two limiting convex portions and the conductive frame of the sealing ring, and the alarm module is used for sending an alarm signal of the wear state of the sealing ring.

[0010] In a feasible implementation, the driving diaphragm includes: an outer fixing ring fixedly arranged on the inner wall of the chamber between the gas normal pressure chamber and the gas high pressure chamber; an elastic sheet, the outer periphery of which is fixedly connected to the inner wall of the outer fixing ring; a central connecting seat, the outer end of which is fixedly connected to the inner end of the elastic sheet, and the lateral end face of the central connecting seat is connected to the sealing ring. When the air pressure in the gas high pressure chamber is greater than that in the gas normal pressure chamber, the central connecting seat moves towards the gas normal pressure chamber.

[0011] In a feasible implementation, the sealing ring includes an external flexible wrapping layer and an internal elastic support conductive frame. The external flexible wrapping layer of the sealing ring includes: a smooth section movably arranged in the inner wall of the rotor housing towards one end of the abutting seat, and a plurality of connecting rods are arranged on the inner side of the smooth section, and each connecting rod is fixedly connected to the corresponding central connecting seat; a bent section connected to the outer end of the smooth section, and a part of the bent section is located in the inner wall of the abutting seat; an abutting end fixed to the outer side of the bent section, and the outer wall of the abutting end is an arc surface.

[0012] In a feasible implementation, the internal elastic support conductive frame includes: a middle elastic frame, one end of which is fixedly connected to the connecting rod and the other end extends into the abutting end; two side elastic frames respectively fixedly connected to both sides of the middle elastic frame; a plurality of outer metal sleeves fixedly connected to the outer sides of the two side elastic frames and the middle elastic frame; an arc-shaped insertion rod, both ends of which can be movably inserted between two adjacent outer metal sleeves, and the outer metal sleeves and the arc-shaped insertion rod are both located inside the abutting end.

[0013] An anti-sediment unmanned vehicle thruster provided by the present application adopts a double-sealing structure. Through the cooperation of a dynamic sealing ring, a static sealing ring and a telescopic sealing ring with an abutting seat, it can effectively block the invasion of sediment in deep water areas, creating a clean and stable operating environment for the internally operating rotor and stator; in shallow water areas, the sealing ring shrinks as needed, reducing unnecessary friction and wear and extending the service life of the sealing structure. Secondly, components such as a balance chamber, multiple chambers and a driving diaphragm arranged in the rotor housing can accurately adjust the sealing state according to the water pressure change, ensuring that the sealing effect is always the best, while dispersing the force, ensuring the stable operation of the thruster, and realizing the reliable operation of the unmanned vehicle in waters with different water depths and water qualities, greatly expanding the application scenarios and operation capabilities of the unmanned vehicle. Description of the Drawings

[0014] Figure 1 Shows the structural schematic diagram of the anti-sediment unmanned vehicle thruster provided by the embodiment of the present application;

[0015] Figure 2The schematic structural diagram of the seal ring provided by the embodiment of the present application in the shallow water level is shown;

[0016] Figure 3 The schematic structural diagram of the seal ring provided by the embodiment of the present application in the deep water level is shown;

[0017] Figure 4 The schematic structural diagram of the connecting rod provided by the embodiment of the present application is shown;

[0018] Figure 5 The schematic structural diagram of the middle elastic frame provided by the embodiment of the present application is shown;

[0019] Figure 6 Shown is Figure 5 The enlarged schematic diagram of the partial structure at A in

[0020] Figure 7 The schematic structural diagram of the limiting convex part provided by the embodiment of the present application is shown;

[0021] Figure 8 The schematic structural diagram of the driving diaphragm provided by the embodiment of the present application is shown.

[0022] In the figure: 1. Thruster housing, 2. Thruster rotor, 3. Propeller, 4. Thruster stator, 5. First end bearing, 6. Balance chamber, 7. Second end bearing, 8. Dynamic seal ring, 9. Static seal ring, 10. Oil chamber,

[0023] 11. Abuttment seat,

[0024] 21. Water inlet, 22. Water pressure chamber, 23. Gas high-pressure chamber, 24. Gas normal-pressure chamber, 25. Sealing piston, 26. Driving diaphragm, 27. Seal ring, 28. Cover plate,

[0025] 111. Limiting convex part, 112. Power supply module, 113. Alarm module,

[0026] 261. Outer fixing ring, 262. Elastic sheet, 263. Central connection seat,

[0027] 271. Smooth section, 272. Bending section, 273. Abutting end, 274. Connecting rod,

[0028] 2731. Outer metal sleeve, 2732. Arc-shaped insertion rod, 2733. Middle elastic frame, 2734. Edge elastic frame. Detailed implementation manners

[0029] To better understand the technical solutions provided in the embodiments of this specification, the technical solutions in the embodiments of this specification will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of this specification and the specific features in the embodiments are detailed descriptions of the technical solutions in the embodiments of this specification, rather than limitations on the technical solutions of this specification. Without conflict, the technical features in the embodiments of this specification and the embodiments can be combined with each other.

[0030] In this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the presence of additional identical elements in the process, method, article or device including the element. The term "more than two" includes two or more than two.

[0031] Please refer to Figures 1 to 8 As shown, the embodiment of the present application provides a sediment-proof unmanned vehicle propeller, which includes a propeller housing 1, and also includes: a propeller rotor 2, a propeller 3, a propeller stator 4, a first end bearing 5, a sealing dynamic ring 8, a sealing static ring 9, an oil chamber 10 and an abutting seat 11.

[0032] Specifically, the propeller rotor 2 is rotatably connected to the inner side of the propeller housing 1. A rotor housing is provided outside the propeller rotor 2. The cavity between the propeller rotor 2 and the propeller stator 4 forms an oil chamber 10; the propeller 3 is fixedly arranged on the outer wall of the rotor housing; the propeller stator 4 is fixedly installed in the propeller housing 1 and is located in the middle of the inner cavity of the propeller rotor 2; one end of the propeller stator 4 is rotatably connected to the inner wall of one side of the inner cavity of the rotor housing through a first end bearing 5; the sealing dynamic ring 8 is fixedly arranged outside the first end bearing 5 and is located inside the end of the rotor housing; the sealing static ring 9 is fixed at the central position of the propeller housing 1 and tightly abuts against the end face of the sealing dynamic ring 8 through spring thrust;

[0033] Among them, a rotating gap is arranged between the propeller housing 1 and the rotor housing, and an annular abutment seat 11 is also arranged on the propeller housing 1 outside the rotating gap. A sealing ring 27 is arranged in the inner cavity of the rotor housing. The sealing ring 27 can be driven by a hydraulic driving mechanism to extend to the outside of the rotating gap and contact with the abutment seat 11 to seal the rotating gap; the sealing ring 27 can also be driven by a hydraulic driving mechanism to retract and detach from the abutment seat 11.

[0034] The unmanned vehicle propulsion device provided by the present application provides a stable protective structure for the entire device during the movement of the unmanned vehicle in the water area, and the propeller housing 1 resists the impact of external water flow and collision with debris; the propeller rotor 2 carries the propeller 3 to rotate at high speed, and its power comes from the driving system of the unmanned vehicle. When rotating, it drives the propeller 3 to cut the water body, which is converted into thrust to push the unmanned vehicle forward; the propeller stator 4 is fixedly arranged to optimize the magnetic field or flow field around the rotor and drive the rotor to operate; the first end bearing 5 serves as a connecting hub between the rotor housing and the stator, supporting one end of the stator with extremely small friction so that it can rotate lightly with the rotor; the sealing dynamic ring 8 fits tightly to the outer side of the first end bearing 5, and cooperates with the sealing static ring 9 fixed at the center of the propeller housing 1. The sealing static ring 9 relies on the thrust applied stably by the spring to tightly press against the end face of the sealing dynamic ring 8, so as to fully seal the propeller stator 4 and the outside of the propeller rotor 2 that are in relative motion. Lock to prevent external liquid leakage; the oil chamber 10 not only provides a smooth medium for the relative movement of the rotor and the stator, but also can conduct the heat generated by the operation of the two; the abutment seat 11 is fixed on the outside of the rotating gap of the propeller housing 1, in a ring-shaped wrapping posture; it cooperates with the sealing ring 27 in the inner cavity of the rotor shell to achieve sealing. When the unmanned vehicle dives into the deep water area and the turbid water body exerts pressure, the hydraulic drive mechanism is sensitive to it and immediately drives the sealing ring 27 to extend accurately until it fits tightly with the abutment seat 11, building a second external sealing defense line to block the invasion of mud and sand; in shallow water areas, the hydraulic drive mechanism operates in the opposite direction according to environmental changes, allowing the sealing ring 27 to shrink safely and move away from the abutment seat 11 to avoid unnecessary friction and wear; once the sealing structure is worn, the built-in monitoring system quickly sounds the alarm and transmits the maintenance signal to the staff to ensure that the entire propeller is always in good operating condition, so that the unmanned vehicle can travel unimpeded in different waters.

[0035] like Figure 1 As shown, in some examples, further, the rotor shell is also provided with: a balancing chamber 6 and a second end bearing 7, the second end bearing 7 is arranged on the outer wall of the propeller stator 4 in the rotor shell away from the first end bearing 5; the balancing chamber 6 is opened in the inner cavity of the rotor shell, and a pressure balancing hole connected to the outside is arranged in the balancing chamber 6 for maintaining the pressure balance between the oil chamber 10 and the external water pressure.

[0036] In the propeller of the unmanned vehicle in this example, the second-end bearing 7 inside the rotor housing is stably placed on the outer wall of the propeller stator 4 in the rotor housing, away from the first-end bearing 5, corresponding to the first-end bearing 5, providing a more balanced and stable support structure for the propeller stator 4. The balance chamber 6 is provided with pressure balance holes communicating with the outside. When the unmanned vehicle shuttles through different water depth areas, the external water pressure changes rapidly. The pressure balance holes can quickly guide the water flow in and out of the balance chamber 6, thereby dynamically adjusting the internal pressure of the oil chamber 10, so that the pressure in the oil chamber 10 is always balanced with the external water pressure. In this way, whether in the shallows or the deep sea, the sealing dynamic ring 8 and the sealing static ring 9 can ignore the water pressure difference and always fit tightly for sealing.

[0037] As Figure 2 and Figure 3 shown, in some examples, further, the rotor housing is also provided with: a plurality of water inlets 21, a plurality of water pressure chambers 22, a plurality of gas high-pressure chambers 23, a plurality of gas normal-pressure chambers 24, a plurality of sealing pistons 25 and a plurality of driving diaphragms 26. The plurality of water inlets 21 are arranged equidistantly in sequence along the circumferential direction on the outer wall of the rotor housing; the plurality of water pressure chambers 22 are all opened in the outer wall of the rotor housing, and each water pressure chamber 22 is correspondingly communicated with the water inlet 21; the gas high-pressure chamber 23 is opened on one side of the water pressure chamber 22, and the inner cavity diameter of the gas high-pressure chamber 23 is the same as that of the water pressure chamber 22; the sealing piston 25 can move linearly between the water pressure chamber 22 and the gas high-pressure chamber 23; the gas normal-pressure chamber 24 is arranged in the inner wall of the rotor housing in the gas high-pressure chamber 23, close to the abutment seat 11; the driving diaphragm 26 is fixedly arranged between the gas high-pressure chamber 23 and the gas normal-pressure chamber 24.

[0038] In this example, multiple water inlets 21 are equidistantly distributed on the outer wall of the rotor shell along the circumferential direction. When the unmanned vehicle is in the water, water can flow smoothly into these water inlets 21; each water inlet 21 is connected to a corresponding water pressure chamber 22 opened in the outer wall of the rotor shell, and the water flows directly into the corresponding water pressure chamber 22 after entering the water inlet 21; one side of the water pressure chamber 22 is a gas high-pressure chamber 23, and the inner cavity diameters of the two are the same, providing an adaptive moving space for the movement of the sealing piston 25; the sealing piston 25 can move in a straight line between the water pressure chamber 22 and the gas high-pressure chamber 23. When the water flows into the water pressure chamber 22 and is in a deep water area, the water pressure increases and pushes the sealing piston 25 to move toward the gas high-pressure chamber 23. The gas The gas pressure in the high-pressure chamber 23 increases, and a gas normal-pressure chamber 24 is provided in the inner wall of the rotor shell. The gas normal-pressure chamber 24 is located on one side of the gas high-pressure chamber 23, close to the abutment seat 11, and a driving diaphragm 26 is fixed between the gas high-pressure chamber 23 and the gas normal-pressure chamber 24; as the sealing piston 25 moves toward the gas high-pressure chamber 23, the pressure in the gas high-pressure chamber 23 changes, and this pressure change is transmitted to the driving diaphragm 26; the driving diaphragm 26 is deformed due to the pressure difference on both sides, driving the sealing ring 27 to extend or contract, thereby sealing or releasing the sealing of the rotating gap, so that the sealing state of the thruster can be flexibly adjusted according to different water environments and water pressure conditions, to ensure that the thruster can operate stably under different working conditions.

[0039] like Figure 2 and Figure 3 As shown, in some examples, further, the gas high-pressure chamber 23 is in a straight strip shape, and in the radial direction, a sealing cover plate 28 that can be opened and closed is also provided on the outside of the water pressure chamber 22, the gas high-pressure chamber 23 and the gas normal-pressure chamber 24.

[0040] In this example, the high-pressure gas chamber 23 is designed in a straight and long shape, which helps to optimize the distribution and flow of the internal gas. Under the action of the pressure difference between the water pressure chamber 22 and the high-pressure gas chamber 23, it can drive the sealing piston 25 to achieve a more obvious movement path, thereby providing a stable and powerful driving force for the movement of the sealing piston 25. And a seal cover plate 28 that can be opened and closed is provided on the outside of the water pressure chamber 22, the high-pressure gas chamber 23, and the normal-pressure gas chamber 24. When the thruster is in normal operation, the seal cover plate 28 is tightly closed, building a solid protective barrier for each chamber, effectively preventing the intrusion of external water, sediment, and sundries, and avoiding the interference and damage of these substances to the gas environment inside the chamber, the piston movement, and the diaphragm operation, ensuring the stable operation of the entire seal adjustment system. When performing maintenance, repair, or debugging work, the staff can easily open the seal cover plate 28 and directly access the internal structure of each chamber, facilitating the inspection, cleaning, replacement, or adjustment of key components such as the sealing piston 25 and the driving diaphragm 26, so as to ensure that the sealing performance of the thruster is always in the best state and meet the operation requirements of the unmanned vehicle in different water environments.

[0041] As Figure 2 and Figure 3 shown, in some examples, further, a seat body inclined towards the middle of the thruster is provided on the abutting seat 11, and it further includes: a limiting convex portion 111 is fixedly arranged on the outer end face of the seat body, the inner side of the limiting convex portion 111 protrudes from the seat body and forms a sealing clamping groove relative to the sealing ring 27, the sealing clamping groove can be in sealing contact with the end of the sealing ring 27, the included angle between the outer wall of the thruster housing 1 inside the limiting convex portion 111 and the sealing ring 27 is an acute angle, and two limiting convex portions 111 are arranged inside the abutting seat 11, and the two limiting convex portions 111 are arranged at intervals.

[0042] In this example, the setting of the abutting seat 11 further enhances the sealing effect; the seat body of the abutting seat 11 that inclines towards the middle of the thruster. On the one hand, the inclined design can guide the water flow to flow more smoothly around the thruster, reducing the direct impact of the water flow on the sealing part and lowering the risk of seal failure caused by water flow impact; on the other hand, the inclined design can better accommodate the sealing ring 27 after it extends, forming a more reliable sealing structure. The limiting convex part 111 fixedly arranged on the outer end face of the seat body protrudes inward from the seat body to form a sealing clamping groove; when the sealing ring 27 extends and contacts the abutting seat 11 under the action of the water pressure driving mechanism, the sealing clamping groove can be in precise sealing contact with the end of the sealing ring 27, effectively preventing external substances such as sediment and water from invading the interior of the thruster through the rotating gap; at the same time, the limiting convex part 111 also plays a role in limiting the sealing ring 27, preventing the sealing ring 27 from shifting or being misaligned during operation, ensuring the stability of the seal; and the outer wall of the thruster housing 1 inside the limiting convex part 111 forms an acute angle with the sealing ring 27. This acute angle design enables the sealing ring 27 to generate a guiding effect on the movement of the sealing ring 27 before contacting the abutting seat 11, ensuring the stable operation of the thruster in a complex water environment.

[0043] As Figure 3 and Figure 7 shown, in some examples, furthermore, the limiting convex parts 111 in two of the abutting seats 11 can contact the end of the sealing ring 27, and the limiting convex parts 111 at the contact positions are provided with conductive metal. The abutting seat 11 is also connected with: a power supply module 112 and an alarm module 113. The power supply module 112 is arranged in the thruster housing 1; the alarm module 113 is connected to the power supply module 112 and the closed circuit formed by the conductive metal of the two limiting convex parts 111 and the conductive frame of the sealing ring 27. The alarm module 113 is used to send an alarm signal for the wear state of the sealing ring 27.

[0044] In this example, the cooperation between the abutting seat 11 and the sealing ring 27 also has an important function of monitoring the wear state of the sealing ring 27. The limiting convex portions 111 in the two abutting seats 11 are in contact with the end of the sealing ring 27, and conductive metal is provided in the limiting convex portions 111 at the contact position. The end of the sealing ring 27 is provided with insulating material, and a conductive frame is provided inside it. A power supply module 112 is provided in the thruster housing 1, and the abutting seat 11 is also connected to an alarm module 113. The alarm module 113 is connected to a potential circuit formed by the power supply module 112, the conductive metal of the two limiting convex portions 111, and the conductive frame of the sealing ring 27. When the sealing ring 27 is in a normal unworn state, the insulating material at the end of the sealing ring 27 plays a role, making the circuit in an open state. The alarm module 113 is not powered on and will not emit an alarm signal. However, with the continuous operation of the thruster, during the long-term contact and friction between the sealing ring 27 and the abutting seat 11, the insulating material at the end will gradually wear. Once the insulating material wears to a certain extent and the internal conductive frame is exposed, the conductive metal of the limiting convex portions 111 of the two abutting seats 11 will form a closed circuit through the conductive frame of the sealing ring 27. At this time, the power supply module 112 supplies power to the closed circuit, and the alarm module 113 emits an alarm signal of the wear state of the sealing ring 27 quickly after being powered on, informing the staff in time that the sealing ring 27 has worn and needs to be inspected and replaced, so as to ensure the sealing performance of the thruster and the stability of the overall operation, and avoid failure problems caused by seal failure.

[0045] As Figure 8 shown, in some examples, further, the driving diaphragm 26 includes: an outer fixing ring 261, an elastic sheet 262, and a central connecting seat 263. The outer fixing ring 261 is fixedly arranged on the inner wall of the chamber between the gas atmospheric pressure chamber 24 and the gas high-pressure chamber 23; the outer periphery of the elastic sheet 262 is fixedly connected to the inner wall of the outer fixing ring 261; the outer end of the central connecting seat 263 is fixedly connected to the inner end of the elastic sheet 262, and the side end face of the central connecting seat 263 is connected to the sealing ring 27. When the gas pressure in the gas high-pressure chamber 23 is greater than that in the gas atmospheric pressure chamber 24, the central connecting seat 263 moves towards the gas atmospheric pressure chamber 24.

[0046] In this example, the driving diaphragm 26 is composed of an outer fixing ring 261, an elastic sheet 262, and a central connecting seat 263. The outer fixing ring 261 is firmly arranged on the inner wall of the chamber between the gas normal pressure chamber 24 and the gas high pressure chamber 23, providing a solid fixing foundation for the entire driving diaphragm 26, ensuring its stable position in the chamber and preventing displacement due to external forces. The outer end of the central connecting seat 263 is fixedly connected to the inner end of the elastic sheet 262, and its side end face is connected to the sealing ring 27. When the thruster is in different working environments, such as when the water depth is different and the air pressure in the gas high pressure chamber 23 is greater than that in the gas normal pressure chamber 24, the pressure difference acts on the elastic sheet 262. Due to the elasticity of the elastic sheet 262, it will deform under the pressure, driving the connected central connecting seat 263 to move towards the gas normal pressure chamber 24. Since the central connecting seat 263 is connected to the sealing ring 27, the movement of the central connecting seat 263 will further drive the sealing ring 27 to extend or contract, achieving the sealing or unsealing of the rotation gap, thereby flexibly adjusting the sealing state of the thruster according to different water pressure conditions and ensuring the stable operation of the thruster in a complex water area environment.

[0047] As Figure 4 shown, in some examples, furthermore, the sealing ring 27 includes an external flexible wrapping layer and an internal elastic support conductive frame. The external flexible wrapping layer of the sealing ring 27 includes: a smooth section 271, a bent section 272, and an abutting end 273. The smooth section 271 is movably arranged in the inner wall of the rotor housing towards one end of the abutting seat 11. A plurality of connecting rods 274 are arranged on the inner side of the smooth section 271, and each connecting rod 274 is fixedly connected to the corresponding central connecting seat 263. The bent section 272 is connected to the outer end of the smooth section 271, and part of the bent section 272 is located in the inner wall of the abutting seat 11. The abutting end 273 is fixed to the outer side of the bent section 272, and the outer wall of the abutting end 273 is an arc surface. In any operation process, only the connecting rods 274 are located in the gas normal pressure chamber 24, and the smooth section 271 and part of the bent section 272 are both located in the inner wall of the rotor housing.

[0048] In this example, the sealing ring 27 is composed of an external flexible wrapping layer and an internal elastic support conductive frame. This combined structure enables the sealing ring 27 to have a certain flexibility and sufficient support strength. The smooth section 271 of the external flexible wrapping layer is movably arranged in the inner wall of the rotor housing, providing guidance and restraint for the expansion and contraction of the sealing ring 27 to ensure the stability of its movement. A plurality of connecting rods 274 arranged inside the smooth section 271 are connected to the corresponding central connection seats 263. When the central connection seat 263 moves under the pressure difference between the gas high-pressure chamber 23 and the gas normal-pressure chamber 24, it can drive the smooth section 271 to move through the connecting rods 274, thereby realizing the overall expansion and contraction movement of the sealing ring 27. The bent section 272 is connected to the outer end of the smooth section 271, and part of it is located in the inner wall of the abutment seat 11, enabling the sealing ring 27 to move better towards the abutment seat 11 when it extends, ensuring the sealing effect. The abutting end 273 is fixed to the outside of the bent section 272, and its outer wall is an arc surface. The design of the arc surface enables the abutting end 273 to achieve sealing with a more uniform pressure distribution when contacting the abutment seat 11, avoiding sealing failure caused by excessive local pressure, and can better adapt to the shape of the abutment seat 11, further improving the reliability of the sealing. The internal elastic support conductive frame, while ensuring the structural stability of the sealing ring 27, cooperates with the conductive monitoring system on the abutment seat 11 to effectively monitor the wear state of the sealing ring 27. When the sealing ring 27 wears to a certain extent, the internal conductive frame contacts the conductive metal on the abutment seat 11 to form a closed circuit, triggering an alarm signal to remind the staff to maintain it in time.

[0049] As Figure 5 and Figure 6 shown, in some examples, furthermore, the internal elastic support conductive frame includes: a plurality of outer metal sleeves 2731, arc-shaped insertion rods 2732, a middle elastic frame 2733, and two side elastic frames 2734. One end of the middle elastic frame 2733 is fixedly connected to the connecting rod 274, and the other end extends into the abutting end 273; the two side elastic frames 2734 are respectively fixedly connected to both sides of the middle elastic frame 2733; a plurality of outer metal sleeves 2731 are fixedly connected to the outside of the two side elastic frames 2734 and the middle elastic frame 2733; both ends of the arc-shaped insertion rod 2732 can be movably inserted between two adjacent outer metal sleeves 2731, and the outer metal sleeves 2731 and the arc-shaped insertion rods 2732 are both located inside the abutting end 273.

[0050] In this example, the internal elastic support conductive frame of the sealing ring 27 is composed of multiple outer metal sleeves 2731, arc-shaped plug rods 2732, a middle elastic frame 2733 and two side elastic frames 2734. One end of the middle elastic frame 2733 is firmly connected to the connecting rod 274. When the central connecting seat 263 moves under the action of the gas pressure difference, the middle elastic frame 2733 is driven to move by the connecting rod 274. This linkage enables the sealing ring 27 to extend or retract, and the overall force is more uniform and coordinated. The other end of the middle elastic frame 2733 extends into the abutment end 273. When the abutment end 273 contacts the abutment seat 11 for sealing, it can provide reliable support for the abutment end 273, ensuring that it maintains a stable shape when under pressure and maintains a good sealing effect.

[0051] The two side elastic frames 2734 are respectively connected to the two sides of the middle elastic frame 2733, and the side elastic frames 2734 enhance the structural stability and elasticity of the entire frame. When the sealing ring 27 is subjected to external pressure or deformed during operation, the side elastic frames 2734 can cooperate with the middle elastic frame 2733 to disperse the stress, avoid the frame from being damaged due to excessive local force, ensure the reliability of the frame as a whole, and provide the ability to restore the shape of the entire sealing ring 27 after deformation.

[0052] The outer metal sleeve 2731 is fixed to the outer sides of the two side elastic frames 2734 and the middle elastic frame 2733, which not only provides additional support strength for the frame, but also provides a basis for the connection of the arc-shaped plug rod 2732. The use of a movable connection method allows the internal elastic support conductive frame to have a certain degree of flexibility. When the sealing ring 27 changes shape during the expansion and contraction process, the arc-shaped plug rod 2732 can move in the sleeve, allowing the frame to deform adaptively, thereby better following the movement of the sealing ring 27, ensuring that the sealing ring 27 can work normally under various working conditions.

[0053] The outer metal sleeve 2731 and the arc-shaped plug rod 2732 are both located on the inner side of the abutment end 273. Under normal circumstances, the outer metal sleeve 2731 is protected by the outer flexible wrapping layer of the sealing ring 27. However, with the continuous use of the thruster, the outer flexible wrapping layer will gradually wear out. Once worn to a certain extent, the outer metal sleeve 2731 and the arc-shaped plug rod 2732 will be exposed and contact the conductive metal on the abutment seat 11, thereby forming a closed circuit. At this time, the alarm module 113 will be triggered, and an alarm signal of the wear status of the sealing ring 27 will be issued, reminding the staff to check and replace the sealing ring 27 in time.

[0054] The following is the overall working process and principle of this device:

[0055] When the unmanned vehicle thruster is working, the thruster housing 1 resists the impact of water flow and collision with debris, protecting the internal components. The thruster rotor 2 rotates driven by the unmanned vehicle drive system, driving the propeller 3 to cut the water body to generate thrust, enabling the unmanned vehicle to move forward. The thruster stator 4 is fixed to optimize the surrounding environment of the rotor to assist in operation. The first end bearing 5 supports one end of the stator to ensure smooth rotation. The sealing dynamic ring 8 and the sealing static ring 9 seal the outside of the stator and the rotor relying on the spring thrust to prevent liquid leakage. The oil chamber 10 provides a smooth medium and conducts heat.

[0056] The second end bearing 7 inside the rotor housing provides more balanced support for the stator. The balance chamber 6 and the pressure balance hole adjust the pressure of the oil chamber 10 to balance it with the external water pressure, ensuring that the sealing dynamic ring 8 and the sealing static ring 9 are closely fitted.

[0057] When the unmanned vehicle is in the water area, the water flows into the water pressure chamber 22 through the water inlet 21 on the outer wall of the rotor housing. When the deep water pressure is high, it pushes the sealing piston 25 to move towards the gas high-pressure chamber 23, triggering changes in the air pressure between the gas high-pressure chamber 23 and the atmospheric pressure chamber, driving the diaphragm 26 to deform and drive the central connecting seat 263 to move, and then making the sealing ring 27 expand and contract through the connecting rod 274. The shape of the gas high-pressure chamber 23 and the sealing cover plate 28 ensure the stability of the sealing adjustment system. The inclined seat body and the limit convex part 111 of the abutting seat 11 cooperate with the sealing ring 27 to achieve reliable sealing. The conductive part monitors the wear of the sealing ring 27. When the wear reaches a certain degree, it triggers the alarm module 113 to ensure the stable operation of the thruster and adapt to different water area working conditions.

[0058] Those skilled in the art should understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0059] The above are only the embodiments of the present application and are not used to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. An anti-sediment unmanned vehicle propeller, comprising a propeller housing (1), characterized in that, It further includes: A thruster rotor (2), rotatably connected to the inner side of the thruster housing (1). A rotor housing is provided outside the thruster rotor (2); A propeller (3), fixedly arranged on the outer wall of the rotor housing; A thruster stator (4), fixedly installed in the thruster housing (1) and located in the middle of the inner cavity of the thruster rotor (2). A cavity between the thruster rotor (2) and the thruster stator (4) forms an oil chamber (10); One end of the thruster stator (4) is rotatably connected to the inner wall of one side of the inner cavity of the rotor housing; A dynamic sealing ring (8), fixedly arranged outside the end of the thruster stator (4) and located inside the end of the rotor housing; A static sealing ring (9), fixed at the central position of the thruster housing (1) and tightly abutted against the end face of the dynamic sealing ring (8) by spring thrust; Wherein, a rotational clearance is provided between the thruster housing (1) and the rotor housing. An annular abutting seat (11) is further provided on the thruster housing (1) outside the rotational clearance. A sealing ring (27) is arranged in the inner cavity of the rotor housing. The sealing ring (27) can be driven by a water pressure driving mechanism to extend outside the rotational clearance and contact the abutting seat (11) to seal the rotational clearance; The sealing ring (27) can also be driven by a water pressure driving mechanism to contract and disengage from the abutting seat (11).

2. The anti-sediment unmanned vehicle thruster according to claim 1, wherein: One end of the thruster stator (4) is rotatably connected to the inner wall of one side of the inner cavity of the rotor housing through a first end bearing (5).

3. The anti-sediment unmanned vehicle propeller according to claim 2, characterized in that: The following are further provided in the rotor housing: A second end bearing (7), arranged on the outer wall of the thruster stator (4) in the rotor housing far from the first end bearing (5); A balance chamber (6), opened in the inner cavity of the rotor housing. A pressure balance hole communicating with the outside is provided in the balance chamber (6) for maintaining the pressure balance between the oil chamber (10) and the external water pressure.

4. The anti-sediment unmanned vehicle propeller according to claim 1, characterized in that: The following are further provided in the rotor housing: A plurality of water inlets (21), arranged equidistantly in sequence along the circumferential direction on the outer wall of the rotor housing; A plurality of water pressure chambers (22), all opened in the outer wall of the rotor housing. Each water pressure chamber (22) is correspondingly connected and communicated with the water inlet (21); A gas high-pressure chamber (23), opened on one side of the water pressure chamber (22). The inner cavity diameter of the gas high-pressure chamber (23) is the same as that of the water pressure chamber (22); A sealing piston (25), capable of linearly moving between the water pressure chamber (22) and the gas high-pressure chamber (23); A gas normal-pressure chamber (24), arranged in the inner wall of the rotor housing on the side of the gas high-pressure chamber (23) close to the abutting seat (11); A driving diaphragm (26), fixedly arranged between the gas high-pressure chamber (23) and the gas normal-pressure chamber (24).

5. The anti-sediment unmanned vehicle thruster according to claim 4, wherein: The gas high-pressure chamber (23) is in a straight and long strip shape, and an openable and closable sealing cover plate (28) is further arranged on the outer sides of the water pressure chamber (22), the gas high-pressure chamber (23) and the gas normal-pressure chamber (24).

6. The anti-sediment unmanned vehicle propeller according to claim 4, characterized in that: A seat body inclined towards the middle of the thruster is arranged on the abutting seat (11), and further includes: A limit convex part (111) is fixedly arranged on the outer end face of the seat body. The inner side of the limit convex part (111) protrudes from the seat body and forms a sealing clamping groove relative to the sealing ring (27). The sealing clamping groove can be in sealing contact with the end of the sealing ring (27). The included angle between the outer wall of the thruster housing (1) on the inner side of the limit convex part (111) and the sealing ring (27) is an acute angle.

7. The anti-sediment unmanned vehicle propeller according to claim 6, characterized in that: The limit convex parts (111) in two of the abutting seats (11) can be in contact with the end of the sealing ring (27), and conductive metal is arranged on the limit convex part (111) at the contact position. The abutting seat (11) is further connected with: A power supply module (112) is arranged in the thruster housing (1); An alarm module (113) is connected into a closed circuit formed by the power supply module (112) and the conductive metal of the two limit convex parts (111) and the conductive frame of the sealing ring (27). The alarm module (113) is used for sending an alarm signal of the wear state of the sealing ring (27).

8. The anti-sediment unmanned vehicle propeller according to claim 7, characterized in that: The driving diaphragm (26) includes: An outer fixing ring (261) is fixedly arranged on the inner wall of the chamber between the gas normal-pressure chamber (24) and the gas high-pressure chamber (23); An elastic sheet (262) is fixedly connected to the inner wall of the outer fixing ring (261) at the outer periphery; A central connecting seat (263) is fixedly connected to the inner end of the elastic sheet (262) at the outer end. The side end face of the central connecting seat (263) is connected to the sealing ring (27). When the air pressure in the gas high-pressure chamber (23) is greater than that in the gas normal-pressure chamber (24), the central connecting seat (263) moves towards the gas normal-pressure chamber (24).

9. The anti-sediment unmanned vehicle propeller according to claim 7, characterized in that: The sealing ring (27) includes an external flexible wrapping layer and an internal elastic support conductive frame. The external flexible wrapping layer of the sealing ring (27) includes: A smooth section (271) is movably arranged in the inner wall of the rotor housing at the end towards the abutting seat (11). A plurality of connecting rods (274) are arranged on the inner side of the smooth section (271), and each connecting rod (274) is fixedly connected to the corresponding central connecting seat (263); A bent section (272) is connected to the outer end of the smooth section (271), and part of the bent section (272) is located in the inner wall of the abutting seat (11); An abutting end (273) is fixed to the outer side of the bent section (272), and the outer wall of the abutting end (273) is an arc surface.

10. The anti-sediment unmanned vehicle propeller according to claim 9, characterized in that: The internal elastic support conductive frame includes: A middle elastic frame (2733) has one end fixedly connected to the connecting rod (274) and the other end extending into the abutting end (273); Two side elastic frames (2734), respectively fixedly connected to both sides of the middle elastic frame (2733); A plurality of outer metal sleeves (2731), fixedly connected to the outside of the two side elastic frames (2734) and the middle elastic frame (2733); Arc-shaped insertion rods (2732), both ends of which can be movably inserted between two adjacent outer metal sleeves (2731), and the outer metal sleeves (2731) and the arc-shaped insertion rods (2732) are both located inside the abutting end portion (273).

Images