Vector propulsion device of underwater vehicle
By designing a vector propulsion device that includes a reversing module, a deceleration module, and a power module, the problems of rapid ascent and descent and insufficient low-speed maneuverability of underwater vehicles have been solved, achieving efficient and reliable vector propulsion and reducing navigation resistance and energy costs.
Patent Information
- Application Number
- CN202511027375.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-24
- Publication Date
- 2025-11-04
AI Technical Summary
Existing underwater vehicle propulsion systems are inadequate in terms of rapid ascent and descent, low-speed maneuverability, and cost control, making it difficult to achieve efficient and reliable vector propulsion.
It employs a vector propulsion device that includes a commutation module, a deceleration module, and a power module. The commutation motor drives the propeller to commutate, and the power is transmitted by a pinion and a sector gear ring, which enables precise deflection of the moving platform, reduces sailing resistance, and improves maneuverability.
It enables rapid surfacing and diving of underwater vehicles, reduces high-speed navigation resistance, improves low-speed maneuverability, and features a compact structure, light weight, low noise, and low cost, thereby improving work efficiency and reliability and reducing energy costs.
Smart Images
Figure CN120886992A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the technical field of underwater vehicle propulsion, and more particularly to a vector propulsion device for underwater vehicles. Background Technology
[0002] With increasing human emphasis on marine resources, the widespread adoption of computer applications, the continuous evolution of automatic control systems, and the ongoing progress of information systems in information reception, transmission, storage, processing, and visualization, marine research and underwater technology have reached new heights. To facilitate the implementation of global ocean monitoring concepts, underwater unmanned vehicles (UAVs) have ushered in a period of rapid development. As UAV technology matures, its application scope continues to expand.
[0003] In light of the evolving landscape of underwater vehicles, designing a high-performance vector thruster has become crucial. From a practical application perspective, the design of a novel vector thruster must fully consider the hydrodynamic characteristics of underwater vehicles. Optimizing the thruster's structural layout ensures the vehicle maintains a streamlined appearance, improving navigation efficiency and energy utilization. Furthermore, when the vehicle is traveling at low speeds, this thruster allows for precise attitude control. In addition, it can fully meet the practical needs of underwater unmanned vehicles for surfacing and diving. Summary of the Invention
[0004] To address the shortcomings of existing technologies, the present invention aims to provide a vector propulsion device for underwater vehicles. This device enables underwater vehicles to rapidly ascend and descend, reduces drag, and improves maneuverability at low speeds. It is not only reliable but also inexpensive.
[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A vector propulsion device for an underwater vehicle includes: a reversing module 1, a deceleration module 2, and a power module 3. The reversing module 1 includes: a moving platform 50, a propeller shaft 36, and a propeller 38. The propeller shaft 36 is rotatably mounted within the moving platform 50, with both its front and rear ends extending from the moving platform 50. The propeller 38 is mounted at the front end of the propeller shaft 36. The reversing module 1 also includes: a first transmission mechanism. The deceleration module 2 includes: a second transmission mechanism and a main shaft 14. The rear end of the moving platform 50 is connected to the second transmission mechanism via the first transmission mechanism. The power module 3 includes: a main thrust motor 11, a reversing... The motor 12 and the pressure chamber, one main thrust motor 11 and three commutator motors 12 are all assembled in the pressure chamber; the second transmission mechanism is installed at the front end of the pressure chamber and is coaxially arranged with the pressure chamber, the main shaft 14 is rotatably installed in the second transmission mechanism, and the front end of the main shaft 14 is connected to the rear end of the propeller shaft 36 through a universal joint 35; the main thrust motor 11 is used to drive the main shaft 14 to rotate around its own axis and thus drive the propeller 38 to rotate; the multiple commutator motors 12 are arranged at equal angles around the axis of the main shaft 14, and the three commutator motors 12 are all used to drive the second transmission mechanism and thus drive the first transmission mechanism to realize the commutation of the propeller 38.
[0006] The aforementioned vector propulsion device for an underwater vehicle includes a pressure chamber comprising: a rear hull 15, a mid-section hull 16, and a commutator motor mounting plate 18. The rear hull 15 and the mid-section hull 16 are coaxially arranged, with the front end of the rear hull 15 and the rear end of the mid-section hull 16 sealed together. The commutator motor mounting plate 18 is installed inside the rear hull 15 and abuts against the rear end of the mid-section hull 16. Three commutator motors 12 are all located inside the rear hull 15 and mounted on the commutator motor mounting plate 18.
[0007] The aforementioned vector propulsion device for an underwater vehicle includes a second transmission mechanism comprising: a front housing 17, which is coaxially arranged with a middle housing 16; the front housing 17 comprises: a cylindrical housing and a connecting plate, the outer edge of the connecting plate being integrally connected with the rear edge of the cylindrical housing, and the connecting plate being sealed to the front end of the middle housing 16; the cylindrical housing comprises: a first ring, a second ring, a third ring, and a fourth ring, which are coaxially arranged and connected from front to back; the outer diameters of the first ring, the second ring, the third ring, and the fourth ring are the same, and the inner diameters of the first ring, the second ring, the third ring, and the fourth ring decrease in a stepwise manner.
[0008] The vector propulsion device of the aforementioned underwater vehicle, wherein the second transmission mechanism further includes: a first bearing 48, a second bearing 49, an upper reversing sleeve 21, a middle reversing sleeve 22, a lower reversing sleeve 23, and a sealing end cap. The main shaft 14 is rotatably mounted on the connecting plate via the second bearing 49; the lower reversing sleeve 23 is rotatably mounted on the main shaft 14 via the first bearing 48 and is rotatably mounted in the fourth ring; the middle reversing sleeve 22 is fitted onto the lower reversing sleeve 23 and is rotatably mounted in the third ring; the upper reversing sleeve 21 is fitted onto the middle reversing sleeve 22 and is rotatably mounted in the second ring; the sealing end cap is fitted onto the upper reversing sleeve 21 and is mounted in the first ring and is used to limit the movement of the upper reversing sleeve 21, the middle reversing sleeve 22, and the lower reversing sleeve 23. Preferably, the first bearing 48 and the second bearing 49 are both angular contact bearings.
[0009] The aforementioned vector propulsion device for the underwater vehicle further includes: a main propulsion motor mounting bracket 40, wherein the main propulsion motor 11 is located inside the mid-section housing 16 and is mounted on the rear side of the connecting plate via the main propulsion motor mounting bracket 40, and the output end of the main propulsion motor 11 is connected to the rear end of the main shaft 14 via a transmission connection.
[0010] The aforementioned vector propulsion device for an underwater vehicle further includes: washers, wear-resistant rings 47, and polytetrafluoroethylene (PTFE) bushings 52. Wear-resistant rings 47 are fitted around the outer circumferences of the upper reversing sleeve 21, the middle reversing sleeve 22, and the lower reversing sleeve 23. The outer diameter of the middle reversing sleeve 22 is larger than the inner diameter of the fourth ring, and a washer is provided between the middle reversing sleeve 22 and the fourth ring. The outer diameter of the upper reversing sleeve 21 is larger than the inner diameter of the third ring, and a washer is provided between the upper reversing sleeve 21 and the third ring. The inner edge of the sleeve 21 extends forward from the rear side of the sealing end cover. A polytetrafluoroethylene bushing 52 is provided between the upper reversing sleeve 21 and the sealing end cover. The inner edge of the middle reversing sleeve 22 extends forward from the rear side of the upper reversing sleeve 21. A polytetrafluoroethylene bushing 52 is provided between the middle reversing sleeve 22 and the upper reversing sleeve 21. The inner edge of the lower reversing sleeve 23 extends forward from the rear side of the middle reversing sleeve 22. A polytetrafluoroethylene bushing 52 is provided between the lower reversing sleeve 23 and the middle reversing sleeve 22.
[0011] The vector propulsion device of the aforementioned underwater vehicle includes a second transmission mechanism that further comprises: a reversing shaft 13 and a coupling 19. The three reversing shafts 13 are arranged at equal angles around the circumference of the main shaft 14. The front end of each reversing shaft is rotatably connected to the sealing end cap. The rear end of each reversing shaft and the output end of a reversing motor 12 are connected by a coupling 19.
[0012] The vector propulsion device of the aforementioned underwater vehicle includes a second transmission mechanism comprising: a first pinion 41, a first sector gear ring 42, a second pinion 43, a second toothed sector gear ring 44, a third pinion 45, and a third toothed sector gear ring 46. The first sector gear ring 42 is mounted on the inner wall of the lower reversing sleeve 23, the second toothed sector gear ring 44 is mounted on the inner wall of the middle reversing sleeve 22, and the third toothed sector gear ring 46 is mounted on the inner wall of the upper reversing sleeve 21. The first pinion 41, the second pinion 43, and the third pinion 45 are respectively mounted on three reversing shafts 13. The first pinion 41 meshes with the first sector gear ring 42; the second pinion 43 meshes with the second toothed sector gear ring 44; and the third pinion 45 meshes with the third toothed sector gear ring 46. Three reversing motors 12 are used to realize the rotation of the upper reversing sleeve 21, the middle reversing sleeve 22, and the lower reversing sleeve 23 around the main shaft 14 within the front housing 17. The upper reversing sleeve 21, the middle reversing sleeve 22 and the lower reversing sleeve 23 are each provided with three circumferentially spaced arc-shaped through holes; the three arc-shaped through holes are respectively used to pass through the three reversing shafts 13.
[0013] The vector propulsion device of the aforementioned underwater vehicle, wherein the reversing module 1 further includes: a fairing 37, a tail cap 39, and a fairing cover plate 51. The moving platform 50 and the fairing 37 are coaxially arranged. The fairing 37 is installed at the front end of the moving platform 50 through the fairing cover plate 51. The propeller 38 is installed at the front end of the propeller shaft 36 through the tail cap 39. The propeller 38 is located inside the fairing 37.
[0014] The aforementioned vector propulsion device for an underwater vehicle includes a first transmission mechanism comprising: three proximal connecting rods 31, three distal connecting rods 32, three moving platform connecting rods 33, and six polytetrafluoroethylene (PTFE) bearings 34. One end of each moving platform connecting rod 33 is connected to the outer wall of the moving platform 50, and the three moving platform connecting rods 33 are arranged at equal angles around the axis of the moving platform 50. The other end of each moving platform connecting rod 33 and the front end of a distal connecting rod 32 are rotatably connected via a PTFE bearing 34. The rear end of each distal connecting rod 32 and one end of a proximal connecting rod 31 are rotatably connected via a PTFE bearing 34. The other ends of the three proximal connecting rods 31 are respectively connected to the inner protruding ends of the upper reversing sleeve 21, the middle reversing sleeve 22, and the lower reversing sleeve 23.
[0015] When the main shaft 14 and the propeller shaft 36 are on the same straight line, the projections of the first sector gear ring 42, the second sector gear ring 44 and the third sector gear ring 46 along the direction of the main shaft 14 are set at equal angles around the circumference of the main shaft 14. Three commutator motors 12 are used to drive the upper commutator sleeve 21, the middle commutator sleeve 22 and the lower commutator sleeve 23 to rotate around the main shaft 14. The upper commutator sleeve 21, the middle commutator sleeve 22 and the lower commutator sleeve 23 drive the three proximal connecting rods 31 to rotate synchronously, pull the distal connecting rod 32 which is rotatably connected to the proximal connecting rod 31, and then pull the moving platform 50, realizing the deflection of the propeller shaft 36 around the universal joint 35, and realizing the commutation function of the underwater vehicle.
[0016] The present invention, by employing the above-mentioned technology, has the following positive effects compared with the prior art: (1) This invention can complete the vector propulsion of underwater vehicles, realize rapid ascent and descent, reduce resistance during navigation, and improve the maneuverability of underwater vehicles during low-speed operation. Through the commutation motor in the power module, the power is transmitted to the proximal link in the commutation module through the pinion, sector gear ring and commutation sleeve in the reduction module. Through the coupled motion of the proximal link and the distal link, the precise deflection of the moving platform is finally realized, thus realizing the function of vector propulsion. (2) The present invention has the characteristics of compact structure, light weight, low noise, reliable installation and low cost, which reduces the resistance of the aircraft when it is working at high speed, and enables rapid ascent and descent, and improves the maneuverability of the aircraft when it is operating at low speed. (3) The present invention can realize the vector thruster of the underwater vehicle, thereby reducing the resistance of the underwater vehicle at high speed and enabling it to rise and dive quickly, and improving its maneuverability at low speed. It can also improve the efficiency, stability and reliability of the underwater vehicle during operation, greatly reduce the energy cost of the underwater vehicle during operation and improve the maneuverability of the vehicle. Attached Figure Description
[0017] Figure 1 This is a schematic diagram of the structure of a vector propulsion device for an underwater vehicle according to the present invention.
[0018] Figure 2 yes Figure 1 A partially enlarged view of the first transmission mechanism.
[0019] Figure 3 This is a cross-sectional schematic diagram of a vector propulsion device for an underwater vehicle according to the present invention.
[0020] Figure 4 yes Figure 3 The first enlarged view of the area.
[0021] Figure 5 yes Figure 3 The second enlarged view of the area.
[0022] Figure 6 yes Figure 3 The third enlarged view.
[0023] Figure 7 This is a schematic diagram of the transmission structure of the first and second transmission mechanisms of a vector propulsion device for an underwater vehicle according to the present invention.
[0024] Figure 8 This is a schematic diagram of the transmission structure of the second transmission mechanism of a vector propulsion device for an underwater vehicle according to the present invention.
[0025] Figure 9 yes Figure 8 The front view.
[0026] Figure 10 This is a schematic diagram of the (upper, middle, and lower) reversing sleeves of a vector propulsion device for an underwater vehicle according to the present invention.
[0027] Figure 11 This is a schematic diagram of the structure of a polytetrafluoroethylene bearing for a vector propulsion device of an underwater vehicle according to the present invention.
[0028] In the attached diagram: 1. Reversing module; 2. Reduction module; 3. Power module; 11. Main drive motor; 12. Reversing motor; 13. Reversing shaft; 14. Main shaft; 15. Rear housing; 16. Middle housing; 17. Front housing; 18. Reversing motor mounting plate; 19. Coupling; 21. Upper reversing sleeve; 22. Middle reversing sleeve; 23. Lower reversing sleeve; 31. Proximal connecting rod; 32. Distal connecting rod; 33. Moving platform connecting rod; 34. PTFE shaft. 35. Universal joint; 36. Propeller shaft; 37. Draft fairing; 38. Propeller; 39. Tail cap; 40. Main thrust motor mounting bracket; 41. First pinion; 42. First sector gear ring; 43. Second pinion; 44. Second toothed sector ring; 45. Third pinion; 46. Third toothed sector ring; 47. Wear ring; 48. First bearing; 49. Second bearing; 50. Moving platform; 51. Draft fairing cover plate; 52. PTFE bushing. Detailed Implementation
[0029] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the scope of the invention.
[0030] Please refer to Figures 1 to 11 As shown, a vector propulsion device for an underwater vehicle is illustrated, comprising: a reversing module 1, a deceleration module 2, and a power module 3. The reversing module 1 includes a proximal link 31, a distal link 32, a polytetrafluoroethylene bearing 34, a moving platform link 33, a moving platform 50, a fairing 37, a fairing cover 51, a propeller shaft 36, and a propeller 38.
[0031] Furthermore, in a preferred embodiment, the end of the proximal link 31 is connected to the deceleration module 2, and the front end is connected to the distal link 32 via a polytetrafluoroethylene bearing 34 and screws. Furthermore, in a preferred embodiment, the distal link 32 is connected to the moving platform link 33 via a polytetrafluoroethylene bearing 34 and screws; Furthermore, in a preferred embodiment, the moving platform connecting rod 33 is fixedly connected to the moving platform 50 by screws; Furthermore, in a preferred embodiment, the moving platform 50 and the flow guide 37 are circumferentially fixed by a flat key and pressed together by the flow guide cover plate 51; Furthermore, in a preferred embodiment, the propeller 38 is circumferentially fixed to the propeller shaft 36 by a flat key and pressed together by a tail cap 39.
[0032] Furthermore, in a preferred embodiment, the deceleration module 2 includes an upper reversing sleeve 21, a middle reversing sleeve 22, a lower reversing sleeve 23, a first pinion 41, a first sector gear ring 42, a second pinion 43, a second sector gear ring 44, a third pinion 45, a third sector gear ring 46, a reversing shaft 13, a polytetrafluoroethylene bushing 52, a main shaft 14, an angular contact ball bearing, and a front housing 17. The reversing sleeves are fixedly connected to the sector gear rings by screws; the reversing shaft is circumferentially fixed to the pinion by a flat key and axially limited by an elastic retaining ring; the main shaft 14 is connected to the propeller shaft 36 by a small universal joint 35.
[0033] Furthermore, in a preferred embodiment, the power module 3 includes a main push motor 11, a commutator motor 12, a main push motor mounting bracket 40, a commutator motor mounting plate 18, a pressure chamber, and an O-ring seal. The main push motor 11 is fixedly mounted to the main push motor mounting bracket 40 with screws; the main push motor mounting bracket 40 is fixedly mounted to the bottom of the reduction module 2 with screws; the main push motor 11 is connected to the main shaft 14 via a coupling.
[0034] Furthermore, in a preferred embodiment, the proximal connecting rod 31 has a boss at its front end to facilitate the installation of the polytetrafluoroethylene bearing 34 and the distal connecting rod 32, and a threaded hole is provided on the boss, and a pin hole is provided at its end to facilitate fixed connection with the reversing sleeve.
[0035] Furthermore, in a preferred embodiment, a through hole is required at the end of the distal link 32 to connect it to the proximal link 31 via a PTFE bearing 34 using screws.
[0036] Furthermore, in a preferred embodiment, the moving platform 50 needs to have a keyway and be connected to the flow guide shroud 37 via a flat key.
[0037] Furthermore, in a preferred embodiment, the reversing sleeve end face has two through holes, a groove is formed in the middle of the two through holes, and a shoulder is provided at the bottom to facilitate the positioning and support of the fan-shaped gear ring; the fan-shaped gear ring end face has a threaded hole, and a boss is formed in the middle part of the outer arc of the fan-shaped gear ring to form a positioning with the reversing sleeve. The reversing sleeve and the fan-shaped gear ring are positioned by the groove and the boss and are fixedly connected by screws.
[0038] Furthermore, in a preferred embodiment, the outer diameter of the upper reversing sleeve 21 is larger than that of the middle reversing sleeve 22 and larger than that of the lower reversing sleeve 23. The three reversing sleeves form a nested structure through the polytetrafluoroethylene bushing 52, ensuring their concentricity. An arc-shaped hole is formed on the end face of each of the three reversing sleeves, so that the reversing shaft 13 and the reversing sleeves will not interfere with each other during operation.
[0039] Furthermore, in a preferred embodiment, the front housing 17 needs to be provided with three layers of shoulders to support the reversing sleeve on its inner wall, and three through holes need to be opened at the bottom. Inside the through holes, shoulders and sealing grooves need to be provided to fix the reversing shaft 13 and perform dynamic sealing. Furthermore, in a preferred embodiment, a Glyd ring is installed in the sealing groove for dynamic sealing.
[0040] Furthermore, in a preferred embodiment, the pressure chamber adopts a segmented design, with a sealing groove opened at the connection end face of the rear shell 15 and the middle shell 16 to install O-rings for static sealing, and a boss provided at the bottom of the middle shell 16 to be fixedly connected to the commutator motor mounting plate 18 by screws.
[0041] Furthermore, in a preferred embodiment, the overall vector propulsion device adopts a partially sealed design, the deceleration module 2 adopts an open-water design, and the power module 3 adopts a fully sealed design.
[0042] The above are merely preferred embodiments of the present invention and are not intended to limit the implementation methods and protection scope of the present invention.
[0043] In addition to the above, the present invention also has the following embodiments: This invention proposes a vector propulsion device for underwater vehicles. This device enables the underwater vehicle to perform vector propulsion, achieving rapid ascent and descent, reducing drag during navigation, and improving the maneuverability of the underwater vehicle during low-speed operations. The invention transmits power from the commutator motor 12 in the power module 3 to the proximal link 31 in the commutator module 1 via a pinion, sector gear ring, and commutator sleeve in the reduction module 2. The coupled motion of the proximal link 31 and the distal link 32 ultimately achieves precise deflection of the moving platform, realizing the vector propulsion function.
[0044] The vector propulsion device of the underwater vehicle of the present invention has the characteristics of compact structure, light weight, low noise, reliable installation and low cost. It reduces the drag of the vehicle when operating at high speed, enables rapid ascent and descent, and improves the maneuverability of the vehicle when operating at low speed.
[0045] In a further embodiment of the present invention, the working principle of the device of the present invention is as follows: When the underwater vehicle is navigating, the vector thruster operates, activating the main thrust motor 11. This motor drives the main shaft 14 to rotate via a coupling. The front end of the main shaft 14 is connected to a small universal joint 35, transmitting speed and torque to the propeller shaft 36, ultimately driving the propeller 36 to rotate and providing forward thrust for the underwater vehicle. When the underwater vehicle needs to perform any angle of ascent or descent, the three commutator motors 12 operate, driving the commutator shafts 13 to rotate via couplings 19. Each commutator shaft 13 is circumferentially fixed to a small gear to ensure synchronous rotation. Through gear engagement, they drive the sector gear rings to rotate. At this time, the three sector gear rings are fixedly connected to the three commutator sleeves, driving the three commutator sleeves to rotate. Without rotation, the torque of the three commutator motors 12 is transmitted to the top of the three commutator sleeves. The three commutator sleeves are connected to the three proximal connecting rods 31 by pins. The proximal connecting rods 31 rotate under torque, and the rotation of the three proximal connecting rods 31 drives the far connecting rods 32 connected to them to form a coupled motion. Finally, the moving platform 50 of the vector propulsion device is deflected. The moving platform 50 is rotatably connected to the propeller shaft 36 through an angular contact bearing. The front end of the propeller shaft 36 is connected to the propeller 38, and the rear end is connected to the small universal joint 35. Therefore, at this time, the propeller shaft 38 will deflect relative to the axis of the vector propulsion device to complete the thrust vectoring function, enabling the underwater vehicle to perform a rapid reversing task.
[0046] This embodiment enables the underwater vehicle to utilize a vector thruster, thereby reducing drag and achieving rapid ascent and descent at high speeds, while improving maneuverability at low speeds. This further enhances the efficiency, stability, and reliability of the underwater vehicle, significantly reducing its energy costs and improving its maneuverability.
[0047] The above are merely preferred embodiments of the present invention and are not intended to limit the implementation methods and protection scope of the present invention. Those skilled in the art should recognize that any equivalent substitutions and obvious changes made based on the description and illustrations of the present invention should be included within the protection scope of the present invention.
Claims
1. A vector propulsion device for an underwater vehicle, characterized in that, include: The system comprises a reversing module (1), a deceleration module (2), and a power module (3). The reversing module (1) includes a moving platform (50), a propeller shaft (36), and a propeller (38). The propeller shaft (36) is rotatably mounted inside the moving platform (50), and both the front and rear ends of the propeller shaft (36) extend from inside the moving platform (50). The propeller (38) is mounted at the front end of the propeller shaft (36). The reversing module (1) also includes a first transmission mechanism. The deceleration module (2) includes a second transmission mechanism and a main shaft (14). The rear end of the moving platform (50) is connected to the second transmission mechanism via the first transmission mechanism. The power module (3) includes a main propulsion motor (11) and a reversing motor (12). The pressure chamber contains a main propulsion motor (11) and three commutation motors (12). The second transmission mechanism is installed at the front end of the pressure chamber and is coaxial with the pressure chamber. The main shaft (14) is rotatably installed in the second transmission mechanism. The front end of the main shaft (14) is connected to the rear end of the propeller shaft (36) through a universal joint (35). The main propulsion motor (11) is used to drive the main shaft (14) to rotate around its own axis, thereby driving the propeller (38) to rotate. Multiple commutation motors (12) are arranged at equal angles around the axis of the main shaft (14). The three commutation motors (12) are used to drive the second transmission mechanism, thereby driving the first transmission mechanism, to realize the commutation of the propeller (38).
2. The vector propulsion device for an underwater vehicle according to claim 1, characterized in that, The pressure chamber includes: a rear shell (15), a middle shell (16) and a commutator motor mounting plate (18). The rear shell (15) and the middle shell (16) are coaxially arranged. The front end of the rear shell (15) and the rear end of the middle shell (16) are sealed together. The commutator motor mounting plate (18) is installed inside the rear shell (15) and abuts against the rear end of the middle shell (16). Three commutator motors (12) are all located inside the rear shell (15) and mounted on the commutator motor mounting plate (18).
3. The vector propulsion device for an underwater vehicle according to claim 2, characterized in that, The second transmission mechanism includes: a front housing (17), and the front housing (17) and the middle housing (16) are coaxially arranged; the front housing (17) includes: a cylindrical housing and a connecting plate, the outer edge of the connecting plate and the rear edge of the cylindrical housing are connected as one piece, the connecting plate and the front end of the middle housing (16) are sealed together, the cylindrical housing includes: a first ring, a second ring, a third ring and a fourth ring, the first ring, the second ring, the third ring and the fourth ring are coaxially arranged and connected as one piece from front to back, the outer diameter of the first ring, the second ring, the third ring and the fourth ring are the same, and the inner diameter of the first ring, the second ring, the third ring and the fourth ring decreases in a step-like manner.
4. The vector propulsion device for an underwater vehicle according to claim 3, characterized in that, The second transmission mechanism also includes: a first bearing (48), a second bearing (49), an upper reversing sleeve (21), a middle reversing sleeve (22), a lower reversing sleeve (23), and a sealing end cap. The main shaft (14) is rotatably mounted on the connecting plate via the second bearing (49); the lower reversing sleeve (23) is rotatably mounted on the main shaft (14) via the first bearing (48), and the lower reversing sleeve (23) is rotatably mounted inside the fourth ring. (22) is fitted on the lower reversing sleeve (23), the middle reversing sleeve (22) is rotatably installed in the third ring, the upper reversing sleeve (21) is fitted on the middle reversing sleeve (22), the upper reversing sleeve (21) is rotatably installed in the second ring, the sealing end cap is fitted on the upper reversing sleeve (21), the sealing end cap is installed in the first ring and is used to limit the upper reversing sleeve (21), the middle reversing sleeve (22) and the lower reversing sleeve (23).
5. The vector propulsion device for an underwater vehicle according to claim 4, characterized in that, Also includes: The main push motor mounting bracket (40) is located inside the middle section housing (16) and is mounted on the rear side of the connecting plate through the main push motor mounting bracket (40). The output end of the main push motor (11) is connected to the rear end of the main shaft (14) for transmission.
6. The vector propulsion device for an underwater vehicle according to claim 5, characterized in that, Also includes: Wear rings (47) are fitted around the outer circumference of the upper reversing sleeve (21), the middle reversing sleeve (22), and the lower reversing sleeve (23). The outer diameter of the middle reversing sleeve (22) is larger than the inner diameter of the fourth ring, and a washer is provided between the middle reversing sleeve (22) and the fourth ring. The outer diameter of the upper reversing sleeve (21) is larger than the inner diameter of the third ring, and a washer is provided between the upper reversing sleeve (21) and the third ring. The inner edge of the upper reversing sleeve (21) is sealed by the end cap. The rear side extends forward, and a polytetrafluoroethylene bushing (52) is provided between the upper reversing sleeve (21) and the sealing end cover. The inner edge of the middle reversing sleeve (22) extends forward from the rear side of the upper reversing sleeve (21), and a polytetrafluoroethylene bushing (52) is provided between the middle reversing sleeve (22) and the upper reversing sleeve (21). The inner edge of the lower reversing sleeve (23) extends forward from the rear side of the middle reversing sleeve (22), and a polytetrafluoroethylene bushing (52) is provided between the lower reversing sleeve (23) and the middle reversing sleeve (22).
7. The vector propulsion device for an underwater vehicle according to claim 6, characterized in that, The second transmission mechanism also includes: a reversing shaft (13) and a coupling (19). The three reversing shafts (13) are arranged at equal angles around the circumference of the main shaft (14). The front end of each reversing shaft is rotatably connected to the sealing end cover. The rear end of each reversing shaft and the output end of a reversing motor (12) are connected by a coupling (19).
8. The vector propulsion device for an underwater vehicle according to claim 7, characterized in that, The second transmission mechanism further includes: a first pinion (41), a first sector gear ring (42), a second pinion (43), a second toothed sector ring (44), a third pinion (45), and a third toothed sector ring (46). The first sector gear ring (42) is installed on the inner wall of the lower reversing sleeve (23), the second toothed sector ring (44) is installed on the inner wall of the middle reversing sleeve (22), and the third toothed sector ring (46) is installed on the inner wall of the upper reversing sleeve (21). The pinions (45) are respectively mounted on three reversing shafts (13). The first pinion (41) meshes with the first sector gear ring (42); the second pinion (43) meshes with the second toothed sector ring (44); the third pinion (45) meshes with the third toothed sector ring (46); the three reversing motors (12) are respectively used to realize the rotation of the upper reversing sleeve (21), the middle reversing sleeve (22) and the lower reversing sleeve (23) around the main shaft (14) in the front housing (17); The upper reversing sleeve (21), the middle reversing sleeve (22) and the lower reversing sleeve (23) are each provided with three arc-shaped through holes that are equally spaced around the circumference; the three arc-shaped through holes are used to pass through the three reversing shafts (13).
9. The vector propulsion device for an underwater vehicle according to claim 8, characterized in that, The reversing module (1) also includes: a fairing (37), a tail cap (39) and a fairing cover plate (51). The moving platform (50) and the fairing (37) are coaxially arranged. The fairing (37) is installed at the front end of the moving platform (50) through the fairing cover plate (51). The propeller (38) is installed at the front end of the propeller shaft (36) through the tail cap (39). The propeller (38) is located inside the fairing (37).
10. The vector propulsion device for an underwater vehicle according to claim 9, characterized in that, The first transmission mechanism includes: three proximal connecting rods (31), three distal connecting rods (32), three moving platform connecting rods (33), and six polytetrafluoroethylene bearings (34). One end of each moving platform connecting rod (33) is connected to the outer wall of the moving platform (50), and the three moving platform connecting rods (33) are arranged at equal angles around the axis of the moving platform (50). The other end of each moving platform connecting rod (33) and the front end of a distal connecting rod (32) are rotatably connected through a polytetrafluoroethylene bearing (34). The rear end of each distal connecting rod (32) and one end of a proximal connecting rod (31) are rotatably connected through a polytetrafluoroethylene bearing (34). The other ends of the three proximal connecting rods (31) are respectively connected to the inner edge extension ends of the upper reversing sleeve (21), the middle reversing sleeve (22), and the lower reversing sleeve (23).