An unmanned carrier propeller for preventing silt

Abstract

The application relates to the technical field of underwater propellers, and particularly discloses an unmanned carrier propeller capable of preventing silt, which comprises a propeller shell and further comprises the following: a propeller rotor connected to the inner side of the propeller shell and capable of rotating, wherein an outer rotor shell is arranged on the propeller rotor; a propeller is fixedly arranged on the outer wall of the rotor shell; a propeller stator is fixedly installed in the propeller shell; a sealing movable ring is fixedly arranged on the outer side of the first end bearing; a sealing stationary ring is fixedly arranged at the center position of the propeller shell and tightly abuts on the end surface of the sealing movable ring through spring thrust; a sealing ring is arranged in the inner cavity of the rotor shell and can be driven by a water pressure driving mechanism to extend to the outer side of a rotating gap to seal the rotating gap. The application can meet the multiple sealing effects of low abrasion requirements in a shallow clear environment and high protection requirements in deep water.

Description

Technical Field

[0001] This invention relates to the field of underwater propulsion technology, specifically to an unmanned carrier propulsion device that is resistant to mud and sand. Background Technology

[0002] In unmanned aerial vehicle (UAV) operations in water, the propulsion unit, as a critical power component, relies heavily on its sealing performance to ensure long-term stable operation. Traditional UAV propulsion units often suffer from insufficient sealing, allowing sediment to easily penetrate the propulsion unit in turbid water in deep water areas. This leads to accelerated wear of components, oil contamination, and consequently affects the propulsion unit's power output and service life. Furthermore, the complex and variable aquatic environment and varying water pressure at different depths place higher demands on the propulsion unit's sealing structure. A single sealing method cannot simultaneously meet the low wear requirements of shallow, clear water environments and the high protection requirements of deep water, failing to effectively adapt to various operating conditions. This severely restricts the operational efficiency and application range of UAVs, necessitating a novel solution to address these issues. Summary of the Invention

[0003] This application provides an unmanned vehicle propulsion device that is resistant to mud and sand, with the main purpose of achieving multiple sealing effects that take into account both the low wear requirements in shallow, clear water environments and the high protection requirements in deep water.

[0004] To achieve the above objectives, this application provides an unmanned propulsion device for preventing mud and sand accumulation, comprising a propulsion housing, and further comprising: a propulsion rotor rotatably connected to one side of the propulsion housing, the propulsion rotor having an external rotor housing, and an oil chamber formed by the cavity between the propulsion rotor and the propulsion stator; a propeller fixedly mounted on the outer wall of the rotor housing; a propulsion stator fixedly mounted inside the propulsion housing and located in the middle of the inner cavity of the propulsion rotor; a first end bearing, one end of the propulsion stator being rotatably connected to the inner wall of one side of the inner cavity of the rotor housing via the first end bearing; and a sealing ring fixedly mounted on... The first end bearing is located on the outer side and inside the end of the rotor housing; a stationary sealing ring is fixed at the center of the propeller housing and is tightly abutted against the end face of the moving sealing ring by spring thrust; wherein, a rotational gap is provided between the propeller housing and the rotor housing, and an annular abutment seat is also provided on the propeller housing outside the rotational gap; a sealing ring is provided in the inner cavity of the rotor housing; the sealing ring can be driven by a water pressure drive mechanism to extend to the outside of the rotational gap and contact the abutment seat to seal the rotational gap; the sealing ring can also be driven by a water pressure drive mechanism to retract and disengage from the abutment seat.

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

[0006] In one feasible embodiment, the rotor housing further includes: a plurality of water inlets, arranged equidistantly along the circumferential direction on the outer wall of the rotor housing; a plurality of hydraulic chambers, all formed in the outer wall of the rotor housing, each hydraulic chamber corresponding to and connected to one of the water inlets; a high-pressure gas chamber, formed on one side of the hydraulic chamber, the high-pressure gas chamber having the same inner diameter as the hydraulic chamber; a sealing piston, capable of linearly moving between the hydraulic chamber and the high-pressure gas chamber; a normal-pressure gas chamber, formed in the high-pressure gas chamber on the inner wall of the rotor housing near the abutment seat; and a driving diaphragm, fixedly formed between the high-pressure gas chamber and the normal-pressure gas chamber.

[0007] In one feasible implementation, the high-pressure gas chamber is in the shape of a straight strip, and the outer sides of the water pressure chamber, the high-pressure gas chamber, and the normal-pressure gas chamber are also provided with sealing covers that can be opened and closed.

[0008] In one feasible embodiment, the abutment seat is provided with a seat body inclined toward the middle of the thruster, and further includes: a limiting protrusion, which is fixedly disposed on the outer end face of the seat body. The inner side of the limiting protrusion protrudes from the seat body and forms a sealing engagement groove relative to the sealing ring. The sealing engagement groove can make sealing contact with the end of the sealing ring. The included angle between the outer wall of the thruster housing inside the limiting protrusion and the sealing ring is an acute angle.

[0009] In one feasible implementation, the limiting protrusions in the two abutment seats can contact the end of the sealing ring, and the limiting protrusions at the contact positions are provided with conductive metal. The abutment seats are also connected to: a power supply module, which is disposed in the thruster housing; and an alarm module, which is connected to the closed circuit formed by the power supply module, the conductive metal of the two limiting protrusions, and the conductive frame of the sealing ring. The alarm module is used to issue an alarm signal indicating the wear status of the sealing ring.

[0010] In one feasible embodiment, the driving diaphragm includes: an outer fixing ring, fixedly disposed on the inner wall of the chamber between the gas atmospheric 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; and a central connecting seat, the outer end of which is fixedly connected to the inner end of the elastic sheet, the side end face of which is connected to the sealing ring. When the gas pressure in the gas high pressure chamber is greater than that in the gas atmospheric pressure chamber, the central connecting seat moves toward the gas atmospheric pressure chamber.

[0011] In one feasible embodiment, the sealing ring includes an outer flexible wrapping layer and an inner elastic support conductive frame. The outer flexible wrapping layer of the sealing ring includes: a smooth section, movably disposed in the inner wall of the rotor housing facing the abutment seat, wherein a plurality of connecting rods are disposed on the inner side of the smooth section, and each connecting rod is fixedly connected to a corresponding central connecting seat; a curved section, connected to the outer end of the smooth section, wherein a portion of the curved section is located in the inner wall of the abutment seat; and an abutment end, fixed to the outer side of the curved section, wherein the outer wall of the abutment end has an arc-shaped surface.

[0012] In one feasible implementation, the internal elastic support conductive frame includes: a central elastic frame, one end of which is fixedly connected to the connecting rod, and the other end extending into the abutment end; two side elastic frames, respectively fixedly connected to both sides of the central elastic frame; a plurality of outer metal sleeves, fixedly connected to the outside of the two side elastic frames and the central elastic frame; and an arc-shaped plug rod, both ends of which are movably plugged into the two adjacent outer metal sleeves, wherein the outer metal sleeves and the arc-shaped plug rod are both located inside the abutment end.

[0013] This application provides a sediment-proof unmanned vehicle propulsion device that employs a double-sealing structure. Through the cooperation of a sealing dynamic ring, a sealing stationary ring, and a retractable sealing ring with an abutment seat, it effectively prevents sediment intrusion in deep water areas, creating a clean and stable operating environment for the internal rotor and stator. In shallow water areas, the sealing ring contracts as needed, reducing unnecessary friction and wear and extending the lifespan of the sealing structure. Furthermore, the balance chamber, multi-chamber, and drive diaphragm components within the rotor housing can precisely adjust the sealing state according to water pressure changes, ensuring optimal sealing performance at all times. Simultaneously, they distribute stress, ensuring stable propulsion operation and enabling reliable operation of the unmanned vehicle in waters of varying depths and qualities, greatly expanding the application scenarios and operational capabilities of unmanned vehicles. Attached Figure Description

[0014] Figure 1 A schematic diagram of the structure of the anti-mud and sand unmanned carrier propulsion device provided in an embodiment of this application is shown; Figure 2 This illustration shows a schematic diagram of the sealing ring provided in an embodiment of this application at a shallow water level; Figure 3 This illustration shows a schematic diagram of the sealing ring provided in an embodiment of this application at a deep water level; Figure 4 A schematic diagram of the connecting rod provided in an embodiment of this application is shown; Figure 5 A schematic diagram of the central elastic frame provided in an embodiment of this application is shown; Figure 6 It shows Figure 5 A magnified view of the local structure at point A in the diagram; Figure 7 A schematic diagram of the structure of the limiting protrusion provided in an embodiment of this application is shown; Figure 8 A schematic diagram of the structure of the driving diaphragm provided in an embodiment of this application is shown.

[0015] In the diagram: 1. Propeller housing; 2. Propeller rotor; 3. Propeller; 4. Propeller stator; 5. First end bearing; 6. Balance chamber; 7. Second end bearing; 8. Sealing ring; 9. Sealing ring; 10. Oil chamber. 11. Abutment seat, 21. Water inlet; 22. Water pressure chamber; 23. High-pressure gas chamber; 24. Normal-pressure gas chamber; 25. Sealing piston; 26. Driving diaphragm; 27. Sealing ring; 28. Cover plate. 111. Limiting protrusion; 112. Power supply module; 113. Alarm module. 261. Outer fixing ring; 262. Elastic sheet; 263. Central connecting seat. 271. Smooth section; 272. Curved section; 273. Abutting end; 274. Connecting rod. 2731. Outer metal sleeve; 2732. Arc-shaped plug rod; 2733. Middle elastic frame; 2734. Side elastic frame. Detailed Implementation

[0016] To better understand the technical solutions provided in the embodiments of this specification, the technical solutions of 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 of the embodiments of this specification, rather than limitations on the technical solutions of this specification. In the absence of conflict, the embodiments of this specification and the technical features in the embodiments can be combined with each other.

[0017] In this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, without necessarily requiring or implying any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. The term "two or more" includes two or more cases.

[0018] Please see Figures 1 to 8 As shown, this application embodiment provides an unmanned carrier propulsion device for preventing mud and sand, including a propulsion housing 1, and further including: a propulsion rotor 2, a propeller 3, a propulsion stator 4, a first end bearing 5, a sealing dynamic ring 8, a sealing stationary ring 9, an oil cavity 10, and an abutment seat 11.

[0019] Specifically, the thruster rotor 2 is rotatably connected to the inside of the thruster housing 1. A rotor shell is provided outside the thruster rotor 2. The cavity between the thruster rotor 2 and the thruster stator 4 forms an oil chamber 10. The propeller 3 is fixedly installed on the outer wall of the rotor shell. The thruster stator 4 is fixedly installed inside the thruster housing 1 and located in the middle of the inner cavity of the thruster rotor 2. One end of the thruster stator 4 is rotatably connected to the inner wall of the inner cavity of the rotor shell through a first end bearing 5. The sealing moving ring 8 is fixedly installed outside the first end bearing 5 and located inside the end of the rotor shell. The sealing stationary ring 9 is fixed at the center of the thruster housing 1 and is tightly abutted against the end face of the sealing moving ring 8 by spring thrust. The propeller housing 1 and the rotor housing are provided with a rotation gap. An annular abutment seat 11 is also provided on the propeller housing 1 outside the rotation gap. A sealing ring 27 is provided in the inner cavity of the rotor housing. The sealing ring 27 can be driven by a water pressure drive mechanism to extend to the outside of the rotation gap and contact the abutment seat 11 to seal the rotation gap. The sealing ring 27 can also be driven by a water pressure drive mechanism to retract and disengage from the abutment seat 11.

[0020] The unmanned vehicle propulsion device provided in this application provides a robust protective structure for the entire device during unmanned vehicle movement in water, resisting the impact of external water flow and collisions with debris. The propulsion rotor 2 carries the high-speed rotation of the propeller 3, whose power comes from the unmanned vehicle's drive system. During rotation, it drives the propeller 3 to cut through the water, converting it into thrust to propel the unmanned vehicle forward. The propulsion stator 4 is fixedly installed, optimizing the magnetic field or flow field around the rotor to drive the rotor's operation. The first end bearing 5 serves as the connecting hub between the rotor housing and the stator, supporting one end of the stator with minimal friction, allowing it to rotate smoothly with the rotor. The sealing moving ring 8 closely fits the outer side of the first end bearing 5, working in conjunction with the sealing stationary ring 9 fixed in the center of the propulsion housing 1. The sealing stationary ring 9 relies on the thrust applied stably by the spring to tightly press against the end face of the sealing moving ring 8, providing full-area sealing of the external surfaces of the propulsion stator 4 and the propulsion rotor 2, which are in relative motion. The system features a lock to prevent external liquid leakage; the oil chamber 10 not only provides a smooth medium for the relative movement of the rotor and stator but also dissipates the heat generated during their operation; the abutment seat 11 is fixed to the outside of the rotation gap of the propeller housing 1, forming a ring-shaped enclosure; it cooperates with the sealing ring 27 in the inner cavity of the rotor housing to achieve a seal. When the unmanned vehicle dives into deep water, the turbid water exerts pressure, and the water pressure drive mechanism keenly senses this and immediately exerts force to drive the sealing ring 27 to extend precisely until it fits tightly against the abutment seat 11, building a second layer of external sealing defense to prevent the intrusion of mud and sand; in shallow water, the water pressure drive mechanism operates in the opposite direction according to environmental changes, allowing the sealing ring 27 to retract safely away from the abutment seat 11, avoiding unnecessary friction and wear; once the sealing structure is worn, the built-in monitoring system quickly sounds an alarm, transmitting a maintenance signal to the staff to ensure that the entire propeller is always in good operating condition, enabling the unmanned vehicle to move freely in different waters.

[0021] like Figure 1 As shown, in some examples, the rotor housing is further provided with: a balance chamber 6 and a second end bearing 7, the second end bearing 7 being disposed on the outer wall of the propeller stator 4 in the rotor housing away from the first end bearing 5; the balance chamber 6 is opened in the inner cavity of the rotor housing, and the balance chamber 6 is provided with a pressure balance hole communicating with the outside, for maintaining the pressure balance between the oil chamber 10 and the external water pressure.

[0022] In the unmanned vehicle thruster of this example, the second-end bearing 7 inside the rotor housing is stably mounted on the outer wall of the thruster stator 4, away from the first-end bearing 5, corresponding to the first-end bearing 5. This provides a more balanced and stable support structure for the thruster stator 4. The balance chamber 6 is equipped with a pressure balance hole that communicates with the outside. When the unmanned vehicle moves through different water depths, the external water pressure changes rapidly. The pressure balance hole can quickly guide 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 remains balanced with the external water pressure at all times. In this way, whether in shallow water or deep sea, the sealing dynamic ring 8 and the sealing stationary ring 9 can always maintain a tight seal regardless of water pressure differences.

[0023] like Figure 2 and Figure 3 As shown, in some examples, the rotor housing further includes: multiple water inlets 21, multiple hydraulic chambers 22, multiple high-pressure gas chambers 23, multiple atmospheric gas chambers 24, multiple sealing pistons 25, and multiple driving diaphragms 26. The multiple water inlets 21 are arranged equidistantly along the circumferential direction on the outer wall of the rotor housing; the multiple hydraulic chambers 22 are all opened in the outer wall of the rotor housing, and each hydraulic chamber 22 is connected to a water inlet 21 in a one-to-one correspondence; the high-pressure gas chambers 23 are opened on one side of the hydraulic chambers 22, and the inner diameter of the high-pressure gas chambers 23 is the same as that of the hydraulic chambers 22; the sealing pistons 25 can move linearly between the hydraulic chambers 22 and the high-pressure gas chambers 23; the atmospheric gas chambers 24 are arranged in the inner wall of the rotor housing near the abutment seat 11 in the high-pressure gas chambers 23; and the driving diaphragms 26 are fixedly arranged between the high-pressure gas chambers 23 and the atmospheric gas chambers 24.

[0024] In this example, multiple water inlets 21 are equidistantly distributed along the circumferential direction on the outer wall of the rotor housing. When the unmanned vehicle is in water, water can flow smoothly through these water inlets 21. Each water inlet 21 is connected to a water pressure chamber 22 located in the outer wall of the rotor housing. After entering the water inlet 21, the water flows directly into the corresponding water pressure chamber 22. One side of the water pressure chamber 22 is a high-pressure gas chamber 23. The two chambers have the same inner diameter, providing suitable movement space for the sealing piston 25. The sealing piston 25 can move linearly between the water pressure chamber 22 and the high-pressure gas chamber 23. When water enters the water pressure chamber 22 and is in a deep water area, the increased water pressure pushes the sealing piston 25 towards the high-pressure gas chamber 23, allowing the gas to flow into the high-pressure gas chamber 23. The gas pressure in the high-pressure chamber 23 increases. A normal-pressure gas chamber 24 is provided in the inner wall of the rotor housing. The normal-pressure gas chamber 24 is located on the side of the high-pressure gas chamber 23, close to the abutment seat 11. A drive diaphragm 26 is fixed between the high-pressure gas chamber 23 and the normal-pressure gas chamber 24. As the sealing piston 25 moves toward the high-pressure gas chamber 23, the pressure in the high-pressure gas chamber 23 changes. This pressure change is transmitted to the drive diaphragm 26. The drive diaphragm 26 deforms due to the pressure difference on both sides, causing the sealing ring 27 to extend or retract, thereby sealing or releasing the rotation gap. This allows for flexible adjustment of the propeller's sealing state according to different water environments and water pressure conditions, ensuring stable operation of the propeller under different working conditions.

[0025] like Figure 2 and Figure 3 As shown, in some examples, the high-pressure gas chamber 23 is further shaped as a straight strip, and in the radial direction, the outer side of the water pressure chamber 22, the high-pressure gas chamber 23, and the normal-pressure gas chamber 24 is also provided with a sealing cover 28 that can be opened and closed.

[0026] In this example, the high-pressure gas chamber 23 is designed as a long, straight strip, which helps optimize the distribution and flow of the internal gas. Under the pressure difference between the hydraulic chamber 22 and the high-pressure gas chamber 23, it can drive the sealing piston 25 to achieve a more obvious movement path, thus providing a stable and powerful driving force for the movement of the sealing piston 25. Openable and closable sealing covers 28 are provided on the outside of the hydraulic chamber 22, the high-pressure gas chamber 23, and the atmospheric gas chamber 24. When the thruster is in normal operation, the sealing covers 28 are tightly closed, creating a solid barrier for each chamber. The protective barrier effectively prevents external water, mud, and debris from intruding, avoiding interference and damage to the gas environment, piston movement, and diaphragm operation within the chamber, thus ensuring the stable operation of the entire sealing and regulating system. During maintenance, repair, or debugging, personnel can easily open the sealing cover 28 to 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 drive diaphragm 26. This ensures that the thruster's sealing performance is always at its best, adapting to the operational needs of unmanned vehicles in different aquatic environments.

[0027] like Figure 2 and Figure 3 As shown, in some examples, further, the abutment seat 11 is provided with a seat body inclined towards the middle of the thruster, and also includes: a limiting protrusion 111 fixedly provided on the outer end face of the seat body, the inner side of the limiting protrusion 111 protruding out of the seat body and forming a sealing engagement groove relative to the sealing ring 27, the sealing engagement groove being able to seal and contact the end of the sealing ring 27, the included angle between the outer wall of the thruster housing 1 inside the limiting protrusion 111 and the sealing ring 27 being an acute angle, and two limiting protrusions 111 are provided inside the abutment seat 11, the two limiting protrusions 111 being spaced apart.

[0028] In this example, the design of the abutment seat 11 further enhances the sealing effect. The seat body of the abutment seat 11, which is inclined towards the center of the thruster, has two advantages. First, the inclined design guides the water flow more smoothly from the periphery of the thruster, reducing the direct impact of the water flow on the sealing part and lowering the risk of seal failure due to water flow impact. Second, the inclined design can better accommodate the extended sealing ring 27, forming a more reliable sealing structure. The limiting protrusion 111 fixedly provided on the outer end face of the seat body has its inner side protruding out of the seat body to form a sealing engagement groove. When the sealing ring 27 extends out and engages with the abutment seat 11 under the action of the water pressure drive mechanism... When in contact, the sealing groove can make precise sealing contact with the end of the sealing ring 27, effectively preventing external substances such as mud and water from entering the inside of the propeller through the rotation gap; at the same time, the limiting protrusion 111 also plays a role in limiting the sealing ring 27, preventing the sealing ring 27 from shifting or misaligning during operation, and ensuring the stability of the seal; and the outer wall of the propeller housing 1 inside the limiting protrusion 111 forms an acute angle with the sealing ring 27. This acute angle design allows the sealing ring 27 to generate a movement guiding effect before contacting the abutment seat 11, ensuring the stable operation of the propeller in complex water environments.

[0029] like Figure 3 and Figure 7 As shown, in some examples, further, the limiting protrusions 111 within the two abutment seats 11 can contact the ends of the sealing ring 27, and the limiting protrusions 111 at the contact positions are provided with conductive metal. The abutment seats 11 are also connected to a power supply module 112 and an alarm module 113. The power supply module 112 is disposed in the thruster housing 1. The alarm module 113 is connected to the closed circuit formed by the power supply module 112, the conductive metal of the two limiting protrusions 111, and the conductive frame of the sealing ring 27. The alarm module 113 is used to issue an alarm signal indicating the wear state of the sealing ring 27.

[0030] In this example, the engagement between the abutment 11 and the sealing ring 27 also serves the important function of monitoring the wear condition of the sealing ring 27. The limiting protrusions 111 in the two abutment 11 contact the ends of the sealing ring 27, and the limiting protrusions 111 at the contact position are provided with conductive metal. The ends of the sealing ring 27 are provided with insulating material and have a conductive frame inside. The thruster housing 1 is provided with a power supply module 112. The abutment 11 is also connected to an alarm module 113. The alarm module 113 is connected to a potential circuit composed of the power supply module 112, the conductive metal of the two limiting protrusions 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 functions to keep the circuit open, and the alarm module 113 is not powered on, so no alarm signal is issued. However, as the thruster continues to operate, the insulating material at the end of the sealing ring 27 will gradually wear down during long-term contact and friction with the abutment seat 11. Once the insulating material wears down to a certain extent, the internal conductive frame is exposed, and the conductive metal of the limiting protrusions 111 of the two abutment 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 after the alarm module 113 is powered on, it quickly issues an alarm signal indicating that the sealing ring 27 is worn, promptly informing the staff that the sealing ring 27 has worn down and needs to be inspected and replaced, thereby ensuring the sealing performance of the thruster and the overall operational stability, and avoiding malfunctions caused by sealing failure.

[0031] like Figure 8 As shown, in some examples, the driving diaphragm 26 further includes: an outer fixing ring 261, an elastic sheet 262, and a central connecting seat 263. The outer fixing ring 261 is fixedly disposed 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.

[0032] In this example, the drive 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 securely mounted on the inner wall of the chamber between the atmospheric gas chamber 24 and the high-pressure gas chamber 23, providing a solid foundation for the entire drive diaphragm 26 and ensuring its stable position within the chamber, 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, while its side end face is connected to the sealing ring 27. When the thruster is in different working environments, such as different water depths affecting the high-pressure gas chamber 24, the outer fixing ring 261 is securely mounted on the inner wall of the chamber between the atmospheric gas chamber 24 and the high-pressure gas chamber 23, providing a solid foundation for the entire drive diaphragm 26 and ensuring its stable position within the chamber, preventing displacement due to external forces. When the internal air pressure is greater than that in the atmospheric pressure chamber 24, the pressure difference will act on the elastic plate 262. Because the elastic plate 262 is elastic, it will deform under pressure, causing the connected central connecting seat 263 to move towards the atmospheric 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 retract, thereby sealing or releasing the rotation gap. This allows for flexible adjustment of the propeller's sealing state according to different water pressure conditions, ensuring stable operation of the propeller in complex aquatic environments.

[0033] like Figure 4 As shown, in some examples, the sealing ring 27 further includes an outer flexible wrapping layer and an inner elastic support conductive frame. The outer flexible wrapping layer of the sealing ring 27 includes a smooth section 271, a curved section 272, and an abutment end 273. The smooth section 271 is movably disposed in the inner wall of the rotor housing facing the abutment seat 11. Multiple connecting rods 274 are disposed 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 curved section 272 is connected to the outer end of the smooth section 271, and part of the curved section 272 is located in the inner wall of the abutment seat 11. The abutment end 273 is fixed to the outer side of the curved section 272. The outer wall of the abutment end 273 has an arc-shaped surface. Regardless of the operating process, only the connecting rods 274 are located in the gas atmospheric pressure chamber 24, while the smooth section 271 and part of the curved section 272 are located in the inner wall of the rotor housing.

[0034] In this example, the sealing ring 27 consists of an outer flexible wrapping layer and an inner elastic support conductive frame. This combined structure gives the sealing ring 27 both flexibility and sufficient support strength. The smooth section 271 of the outer flexible wrapping layer is movably disposed in the inner wall of the rotor housing, providing guidance and constraint for the expansion and contraction of the sealing ring 27, ensuring its stability. Multiple connecting rods 274 disposed on the inner side of the smooth section 271 are connected to the corresponding central connecting seat 263. When the central connecting seat 263 moves under the pressure difference between the high-pressure gas chamber 23 and the normal-pressure gas chamber 24, it can drive the smooth section 271 to move through the connecting rods 274, thereby realizing the overall expansion and contraction of the sealing ring 27. The curved section 272 is connected to the outer end of the smooth section 271, with part of its position located in the inner wall of the abutment seat 11, making... The sealing ring 27 can move towards the abutment seat 11 more effectively when extended, ensuring a sealing effect. The abutment end 273 is fixed to the outside of the curved section 272, and its outer wall is arc-shaped. The arc-shaped design allows the abutment end 273 to achieve a seal with a more uniform pressure distribution when it contacts the abutment seat 11, avoiding excessive local pressure that could lead to seal failure. It can also better adapt to the shape of the abutment seat 11, further improving the reliability of the seal. The internal elastic support conductive frame ensures the structural stability of the sealing ring 27 and, together with the conductive monitoring system on the abutment seat 11, effectively monitors the wear condition 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.

[0035] like Figure 5 and Figure 6 As shown, in some examples, the internal elastic support conductive frame further includes: multiple outer metal sleeves 2731, arc-shaped plug-in rods 2732, a central elastic frame 2733, and two side elastic frames 2734. One end of the central elastic frame 2733 is fixedly connected to the connecting rod 274, and the other end extends into the abutment end 273. The two side elastic frames 2734 are respectively fixedly connected to both sides of the central elastic frame 2733. Multiple outer metal sleeves 2731 are fixedly connected to the outside of the two side elastic frames 2734 and the central elastic frame 2733. Both ends of the arc-shaped plug-in rods 2732 can be movably inserted between two adjacent outer metal sleeves 2731, and both the outer metal sleeves 2731 and the arc-shaped plug-in rods 2732 are located inside the abutment end 273.

[0036] In this example, the internal elastic support conductive frame of the sealing ring 27 consists of multiple outer metal sleeves 2731, arc-shaped insertion rods 2732, a central elastic frame 2733, and two side elastic frames 2734. One end of the central elastic frame 2733 is securely connected to the connecting rod 274. When the central connecting seat 263 moves under the influence of gas pressure difference, the central elastic frame 2733 moves via the connecting rod 274. This linkage allows the sealing ring 27 to extend or retract, resulting in a more uniform and coordinated force distribution. The other end of the central elastic frame 2733 extends into the abutment end 273. When the abutment end 273 contacts the abutment seat 11 for sealing, it provides reliable support for the abutment end 273, ensuring it maintains its shape stability under pressure and maintains a good sealing effect.

[0037] Two side elastic frames 2734 are respectively connected to both sides of the central elastic frame 2733. 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 deforms during operation, the side elastic frames 2734 can work with the central elastic frame 2733 to disperse stress, prevent the frame from being damaged due to excessive local stress, ensure the overall reliability of the frame, and provide the ability for the overall sealing ring 27 to recover its shape after deformation.

[0038] The outer metal sleeve 2731 is fixed to the outside of the two side elastic frames 2734 and the middle elastic frame 2733, providing additional support strength for the frame and providing a foundation for the connection of the arc-shaped plug rod 2732. The 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 expansion and contraction, the arc-shaped plug rod 2732 can move within the sleeve, allowing the frame to adapt to deformation and better follow the movement of the sealing ring 27, ensuring that the sealing ring 27 functions normally under various working conditions.

[0039] Both the outer metal sleeve 2731 and the arc-shaped connector 2732 are located inside 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 continuous use of the thruster, the outer flexible wrapping layer will gradually wear down. Once it wears down to a certain extent, the outer metal sleeve 2731 and the arc-shaped connector 2732 will be exposed and come into contact with the conductive metal on the abutment seat 11, thus forming a closed circuit. At this time, the alarm module 113 will be triggered, issuing an alarm signal indicating the wear condition of the sealing ring 27, reminding the staff to check and replace the sealing ring 27 in a timely manner.

[0040] The following is the overall working process and principle of this device: When the unmanned vehicle propulsion unit is in operation, the propulsion unit housing 1 resists the impact of water flow and collisions with debris, protecting the internal components. The propulsion unit rotor 2 rotates under the drive of the unmanned vehicle drive system, driving the propeller 3 to cut through the water and generate thrust, propelling the unmanned vehicle forward. The propulsion unit stator 4 fixes and optimizes 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 sealing stationary ring 9 rely on spring thrust to seal the stator and rotor exterior to prevent liquid leakage. The oil chamber 10 provides a smooth medium and conducts heat.

[0041] The second-end bearing 7 inside the rotor housing provides more balanced support for the stator, balances the pressure of the oil chamber 10 in the balance chamber 6 and the pressure balance hole, so as to balance it with the external water pressure and ensure that the sealing dynamic ring 8 and the sealing stationary ring 9 fit tightly together.

[0042] When the unmanned vehicle is in water, water flows into the water pressure chamber 22 through the water inlet 21 on the outer wall of the rotor housing. When the water pressure is high in deep water, it pushes the sealing piston 25 to move towards the high-pressure gas chamber 23, causing a change in gas pressure between the high-pressure gas chamber 23 and the normal pressure chamber. This drives the diaphragm 26 to deform, causing the central connecting seat 263 to move, which in turn causes the sealing ring 27 to extend and retract via the connecting rod 274. The shape of the high-pressure gas chamber 23 and the sealing cover plate 28 ensure the stability of the sealing adjustment system. The inclined seat body and the limiting protrusion 111 of the abutment seat 11 cooperate with the sealing ring 27 to achieve a reliable seal. The conductive parts monitor the wear of the sealing ring 27. When the wear reaches a certain level, the alarm module 113 is triggered to ensure the stable operation of the propeller and adaptability to different water conditions.

[0043] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied 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.

[0044] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A mud-proof unmanned vehicle propulsion device, comprising a propulsion housing (1), characterized in that, Also includes: The thruster rotor (2) is rotatably connected to the inside side of the thruster housing (1), and a rotor shell is provided on the outside of the thruster rotor (2); The propeller (3) is fixedly mounted on the outer wall of the rotor housing; The propeller stator (4) is fixedly installed inside the propeller housing (1) and located in the middle of the inner cavity of the propeller rotor (2). The cavity between the propeller rotor (2) and the propeller stator (4) forms an oil cavity (10). One end of the propeller stator (4) is rotatably connected to the inner wall of the inner cavity of the rotor housing. The sealing ring (8) is fixedly installed on the outside of the end of the propeller stator (4) and located inside the end of the rotor housing; The stationary sealing ring (9) is fixed at the center of the propeller housing (1) and is tightly pressed against the end face of the moving sealing ring (8) by spring thrust; A rotation gap is provided between the propeller housing (1) and the rotor housing. An annular abutment seat (11) is also provided on the propeller housing (1) outside the rotation gap. A sealing ring (27) is provided in the inner cavity of the rotor housing. The sealing ring (27) can be driven by a water pressure drive mechanism to extend to the outside of the rotation gap and contact the abutment seat (11) to seal the rotation gap. The sealing ring (27) can also be driven by a water pressure drive mechanism to retract and disengage from the abutment seat (11). The rotor housing is also provided with: Multiple water inlets (21) are arranged equidistantly along the circumferential direction on the outer wall of the rotor housing; Multiple hydraulic chambers (22) are all opened in the outer wall of the rotor housing, and each hydraulic chamber (22) is connected to the water inlet (21) in a one-to-one correspondence; A high-pressure gas chamber (23) is provided on one side of the high-pressure water chamber (22), and the high-pressure gas chamber (23) has the same inner diameter as the high-pressure water chamber (22); The sealing piston (25) is capable of linearly moving between the water pressure chamber (22) and the gas high pressure chamber (23); A normal pressure gas chamber (24) is disposed in the inner wall of the rotor housing near the abutment seat (11) in the high pressure gas chamber (23); A driving diaphragm (26) is fixedly disposed between the high-pressure gas chamber (23) and the normal-pressure gas chamber (24); The abutment seat (11) is provided with a seat body that is inclined toward the middle of the thruster, and also includes: A limiting protrusion (111) is fixedly disposed on the outer end face of the seat body. The inner side of the limiting protrusion (111) protrudes from the seat body and forms a sealing engagement groove relative to the sealing ring (27). The sealing engagement groove can make 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 protrusion (111) and the sealing ring (27) is an acute angle.

2. The unmanned carrier propulsion device for preventing mud and sand accumulation according to claim 1, characterized in that: One end of the propeller stator (4) is rotatably connected to the inner wall of the inner cavity of the rotor housing via a first end bearing (5).

3. The unmanned carrier propulsion device for preventing mud and sand accumulation according to claim 2, characterized in that: The rotor housing is also provided with: The second end bearing (7) is disposed on the outer wall of the propeller stator (4) in the rotor housing, away from the first end bearing (5); The balance chamber (6) is located in the inner cavity of the rotor housing. The balance chamber (6) is provided with a pressure balance hole that communicates with the outside, which is used to maintain the pressure balance between the oil chamber (10) and the external water pressure.

4. The unmanned carrier propulsion device for preventing mud and sand accumulation according to claim 1, characterized in that: The high-pressure gas chamber (23) is in the shape of a straight strip, and the outer sides of the water pressure chamber (22), the high-pressure gas chamber (23) and the normal-pressure gas chamber (24) are also provided with sealing covers (28) that can be opened and closed.

5. The unmanned carrier propulsion device for preventing mud and sand accumulation according to claim 1, characterized in that: Two of the abutment seats (11) have limiting protrusions (111) that can contact the end of the sealing ring (27), and the limiting protrusions (111) at the contact position are provided with conductive metal. The abutment seats (11) are also connected to: A power supply module (112) is disposed in the thruster housing (1); The alarm module (113) is connected to the closed circuit formed by the conductive metal of the power supply module (112) and the two limiting protrusions (111) and the conductive frame of the sealing ring (27). The alarm module (113) is used to issue an alarm signal indicating the wear state of the sealing ring (27).

6. The unmanned carrier propulsion device for preventing mud and sand accumulation according to claim 5, characterized in that: The driving diaphragm (26) includes: An outer fixing ring (261) is fixedly disposed on the inner wall of the chamber between the normal pressure gas chamber (24) and the high pressure gas chamber (23); The elastic sheet (262) is fixedly connected to the inner wall of the outer fixing ring (261) on its outer periphery; The center connecting seat (263) is fixedly connected to the inner end of the elastic sheet (262) at its outer end. The side end face of the center connecting seat (263) is connected to the sealing ring (27). When the gas pressure in the high-pressure gas chamber (23) is greater than that in the normal-pressure gas chamber (24), the center connecting seat (263) moves toward the normal-pressure gas chamber (24).

7. The unmanned carrier propulsion device for preventing mud and sand accumulation according to claim 5, characterized in that: The sealing ring (27) includes an outer flexible wrapping layer and an inner elastic support conductive frame. The outer flexible wrapping layer of the sealing ring (27) includes: A smooth section (271) is movably disposed in the inner wall of the rotor housing facing the abutment seat (11). A plurality of connecting rods (274) are provided 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 curved section (272) is connected to the outer end of the smooth section (271), and a portion of the curved section (272) is located in the inner wall of the abutment seat (11); The abutting end (273) is fixed to the outside of the curved section (272), and the outer wall of the abutting end (273) is arc-shaped.

8. The unmanned carrier propulsion device for preventing mud and sand accumulation according to claim 7, characterized in that: The internal elastic support conductive frame includes: The central elastic frame (2733) is fixedly connected at one end to the connecting rod (274) and extends at the other end into the abutting end (273); Two side elastic frames (2734) are fixedly connected to both sides of the central elastic frame (2733); Multiple outer metal sleeves (2731) are fixedly connected to the outside of the two side elastic frames (2734) and the middle elastic frame (2733); The arc-shaped plug rod (2732) is movable at both ends and can be inserted between two adjacent outer metal sleeves (2731). The outer metal sleeves (2731) and the arc-shaped plug rod (2732) are both located inside the abutment end (273).

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