Double-reverse-rotation underwater vehicle based on centrifugal effect

Abstract

The invention relates to the technical field of underwater vehicles, and discloses a double-reverse-rotation underwater vehicle based on centrifugal action, which comprises a vehicle body, the two groups of propelling assemblies are respectively mounted on two sides of the aircraft body, each propelling assembly comprises a front-end propelling part and a rear-end propelling part, the front-end propelling parts and the rear-end propelling parts are respectively mounted at the front end and the rear end of the aircraft body, and the front-end propelling parts and the rear-end propelling parts are configured to rotate in opposite directions to centrifugally propel the aircraft body; the water absorption assembly comprises a plurality of water inlet grids and a plurality of cleaning pieces, the water inlet grids are installed on the front end propelling piece and the rear end propelling piece, and the cleaning pieces are used for cleaning the water inlet grids; the angle adjusting assemblies are arranged on the front-end propelling part and the rear-end propelling part, and the angle adjusting assemblies are used for adjusting the drainage angles of the front-end propelling part and the rear-end propelling part. The propeller is high in propelling efficiency and convenient to control, stable drainage is guaranteed, and then stable operation of the propeller is guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater vehicles, in particular to a double-reverse-rotation underwater vehicle based on centrifugal action. BACKGROUND

[0002] Traditional underwater vehicles usually use a single propeller or pump-jet thruster. This propulsion method has several inherent defects:

[0003] Propulsion efficiency vs. maneuverability: To achieve high thrust, a large-diameter propeller is needed, but this limits the maneuverability and turning flexibility of the vehicle.

[0004] Torque effect: High-speed rotation of a single propeller generates a large counter-torque, causing the vehicle body to roll in the opposite direction, requiring additional stabilizing fins or control systems to counteract, increasing complexity and energy loss.

[0005] Intake blockage: When the vehicle works in complex water areas (such as full of water grass, debris), the intake grille of the thruster is easily blocked, causing the propulsion efficiency to drop sharply, even the motor is overloaded and damaged, and frequent maintenance or interruption of the task is needed for cleaning.

[0006] Fixed propulsion direction: The drainage direction of the traditional thruster is usually fixed, limiting the maneuvering actions of the vehicle (such as vertical floating, diving, and turning in place), and unable to quickly and flexibly adjust the attitude.

[0007] Therefore, there is an urgent need for a double-reverse-rotation underwater vehicle based on centrifugal action to solve the above problems. SUMMARY

[0008] The purpose of the present application is to provide a double-reverse-rotation underwater vehicle based on centrifugal action to solve the above problems existing in the prior art.

[0009] To achieve the above purpose, the present application provides the following scheme: the present application provides a double-reverse-rotation underwater vehicle based on centrifugal action, comprising:

[0010] a vehicle body;

[0011] two groups of propulsion assemblies, respectively installed on both sides of the vehicle body, the propulsion assembly comprising a front end propelling piece and a rear end propelling piece, the front end propelling piece and the rear end propelling piece being respectively installed at the front end and the rear end of the vehicle body, and being configured to rotate in opposite directions to centrifugally push the vehicle body;

[0012] a water suction assembly comprising a plurality of water intake grilles and a plurality of cleaning pieces, the water intake grilles being installed on the front end propelling piece and the rear end propelling piece, and the cleaning pieces being used to clean the water intake grilles;

[0013] An angle adjusting assembly is arranged on the front end propelling member and the rear end propelling member, and is used for adjusting the drainage angle of the front end propelling member and the rear end propelling member.

[0014] The front end propelling member comprises a first propeller shell, a first water suction cavity and a first water drainage cavity are arranged in the first propeller shell, the first water suction cavity and the first water drainage cavity are communicated, a first central shaft is rotationally connected in the first propeller shell, a first water suction impeller and a first centrifugal impeller are installed on the first central shaft, the first water suction impeller and the first centrifugal impeller are respectively located in the first water suction cavity and the first water drainage cavity, and a plurality of first water drainage ports are axially arranged on the first propeller shell and communicated with the first water drainage cavity.

[0015] The rear end propelling member comprises a second propeller shell, a second water suction cavity and a second water drainage cavity are arranged in the second propeller shell, the second water suction cavity and the second water drainage cavity are communicated, a second central shaft is rotationally connected in the second propeller shell, a second water suction impeller and a second centrifugal impeller are installed on the second central shaft, the second water suction impeller and the second centrifugal impeller are respectively located in the second water suction cavity and the second water drainage cavity, and a plurality of second water drainage ports are axially arranged on the second propeller shell and communicated with the second water drainage cavity.

[0016] The water inlet grille is installed on the first propeller shell and communicated with the first water suction cavity, the cleaning member comprises two first positioning rings fixedly connected on the first central shaft, second positioning rings are fixedly connected at both ends of the inner side wall of the water inlet grille, positioning grooves are arranged on the outer side wall of the first positioning ring and the inner side wall of the second positioning ring, a plurality of fixing plates are arranged between the two positioning grooves in the circumferential direction, cleaning rollers are fixedly connected between two fixing plates located on the same axis, and the cleaning rollers move in the circumferential direction to clean the water inlet grille.

[0017] The first central shaft is fixedly connected with two first tooth rings, the inner side wall of the water inlet grille is fixedly connected with second tooth rings at both ends, the cleaning rollers are fixedly connected with third tooth rings at both ends, the third tooth rings are located between the first tooth rings and the second tooth rings, and the first tooth rings and the second tooth rings are respectively engaged with the third tooth rings.

[0018] The application provides a centrifugal double-reverse-rotation underwater vehicle, wherein a plurality of water inlet holes are formed in a water inlet grille, and a plurality of cleaning protrusions are fixedly connected to a cleaning roller and matched with the water inlet holes.

[0019] The angle adjusting assembly comprises a plurality of fixed supports fixedly connected to the first propeller shell in a circumferential direction, an adjusting piece arranged on the fixed support, and a nozzle pipe fixedly connected to the adjusting piece and communicated with the first water outlet through a pipeline.

[0020] The adjusting piece comprises a first rotating shaft rotatably connected to the fixed support, a connecting sleeve fixedly connected to the first rotating shaft, and a connecting support rotatably connected to the connecting sleeve, and the nozzle pipe is fixedly connected to the connecting support.

[0021] The fixed support and the connecting support are both fixedly connected with an extension rod, the extension end of the extension rod is fixedly connected with a toothed plate, the transverse end and the vertical end of the connecting sleeve are respectively fixedly connected with a gear, and the two toothed plates are respectively engaged with the two gears.

[0022] The connecting sleeve has a cross-shaped structure.

[0023] Compared with the prior art, the application has the following advantages and technical effects:

[0024] The centrifugal double-reverse-rotation underwater vehicle provided by the application can simultaneously start the front end propelling piece and the rear end propelling piece on both sides of the vehicle through the control system during use, the rotating propelling piece can suck the surrounding water through the water inlet grille, and the water can be high-speed thrown out from the periphery of the propelling piece or the special nozzle under the action of centrifugal force, so that a strong reverse thrust is generated to push the vehicle body to move forward or backward. When turning, floating or diving is needed, the operator can control the angle adjusting assembly. The angle adjusting assembly dynamically changes the water discharge angle of the front end propelling piece and / or the rear end propelling piece. The cleaning piece continuously or intermittently scrapes or sweeps the surface of the water inlet grille during the rotation of the propelling piece, so as to prevent the grille from being blocked by seaweed, silt, plastic and other sundries, and ensure the smooth water inlet. The application has high propelling efficiency, is convenient to control, ensures stable water discharge, and further ensures the stable operation of the propelling piece. BRIEF DESCRIPTION OF DRAWINGS

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0027] Figure 2 This is a schematic diagram of the internal structure of the front-end propulsion component of the present invention;

[0028] Figure 3 For the present invention Figure 2 Enlarged view of a portion of point A in the middle;

[0029] Figure 4 For the present invention Figure 2 Enlarged view of a section at point B in the middle;

[0030] Figure 5 This is a schematic diagram of the internal structure of the rear propulsion component of the present invention;

[0031] The components are as follows: 1. Vehicle body; 2. Inlet grille; 3. First propeller housing; 4. First water intake chamber; 5. First drainage chamber; 6. First central shaft; 7. First water intake impeller; 8. First centrifugal impeller; 9. First drainage outlet; 10. Second propeller housing; 11. Second water intake chamber; 12. Second drainage chamber; 13. Second central shaft; 14. Second water intake impeller; 15. Second centrifugal impeller; 16. Second drainage outlet; 17. First positioning ring; 18. Second positioning ring; 19. Positioning groove; 20. Fixing plate; 21. Cleaning roller; 22. First toothed ring; 23. Second toothed ring; 24. Third toothed ring; 25. Water inlet hole; 26. Cleaning protrusion; 27. Fixing bracket; 28. Nozzle pipe; 29. ​​Pipe; 30. First rotating shaft; 31. Connecting sleeve; 32. Connecting bracket; 33. Telescopic rod; 34. Toothed plate; 35. Gear. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] Reference Figures 1-5 The application provides a double-reverse-rotation underwater vehicle based on centrifugal action, comprising:

[0035] a vehicle body 1;

[0036] two groups of propelling assemblies, which are arranged on the two sides of the vehicle body 1, and each propelling assembly comprises a front-end propelling piece and a rear-end propelling piece, the front-end propelling piece and the rear-end propelling piece are arranged at the front end and the rear end of the vehicle body 1 respectively, and are configured to centrifugally push the vehicle body 1 in opposite directions by rotating the front-end propelling piece and the rear-end propelling piece;

[0037] a water suction assembly, which comprises a plurality of water inlet grilles 2 and a plurality of cleaning pieces, the water inlet grilles 2 are arranged on the front-end propelling piece and the rear-end propelling piece, and the cleaning pieces are used for cleaning the water inlet grilles 2;

[0038] an angle adjusting assembly, which is arranged on the front-end propelling piece and the rear-end propelling piece, and is used for adjusting the water discharge angle of the front-end propelling piece and the rear-end propelling piece.

[0039] In an embodiment of the application, in use, the front-end propelling piece and the rear-end propelling piece on the two sides of the vehicle are started simultaneously by a control system, the rotating propelling pieces suck the surrounding water through the water inlet grilles, and the water is thrown out at high speed from the periphery of the propelling pieces or specific nozzles under the action of centrifugal force, so that strong reverse thrust is generated to push the vehicle body to move forward or backward. When turning, floating or diving is needed, an operator adjusts the angle adjusting assembly. The angle adjusting assembly dynamically changes the water discharge angle of the front-end propelling piece and / or the rear-end propelling piece. The cleaning pieces continuously or intermittently scrape or clean the surface of the water inlet grilles during the rotation of the propelling pieces, so as to prevent seaweed, silt, plastic and other sundries from blocking the grilles and ensure the smooth water inlet.

[0040] As an optional embodiment, the front-end propelling piece comprises a first propeller shell 3, a first water suction cavity 4 and a first water discharge cavity 5 are arranged in the first propeller shell 3, the first water suction cavity 4 and the first water discharge cavity 5 are communicated, a first central shaft 6 is rotationally connected in the first propeller shell 3, a first water suction impeller 7 and a first centrifugal impeller 8 are arranged on the first central shaft 6, the first water suction impeller 7 and the first centrifugal impeller 8 are arranged in the first water suction cavity 4 and the first water discharge cavity 5 respectively, and a plurality of first water discharge ports 9 are axially arranged on the first propeller shell 3, and the first water discharge ports 9 are communicated with the first water discharge cavity 5.

[0041] In one embodiment of the present application, the combination of the first water suction impeller 7 and the first centrifugal impeller 8 achieves water suction and centrifugal acceleration discharge, uses centrifugal force to improve water discharge speed, thereby generating stronger thrust and improving propulsion efficiency. The separation design of the first water suction cavity 4 and the first water discharge cavity 5 optimizes the water flow path, reduces vortex and energy loss, ensures smooth water flow transition, and reduces noise and vibration. The first water discharge port 9 is opened along the axial direction, which uniformly discharges water from multiple directions, provides symmetrical thrust distribution, and enhances the straight driving stability of the vehicle.

[0042] As an optional implementation, the rear-end propelling member includes a second propeller shell 10, a second water suction cavity 11 and a second water discharge cavity 12 are arranged in the second propeller shell 10, the second water suction cavity 11 and the second water discharge cavity 12 are communicated, a second central shaft 13 is rotationally connected in the second propeller shell 10, a second water suction impeller 14 and a second centrifugal impeller 15 are installed on the second central shaft 13, the second water suction impeller 14 and the second centrifugal impeller 15 are respectively located in the second water suction cavity 11 and the second water discharge cavity 12, and a plurality of second water discharge ports 16 are axially opened on the second propeller shell 10, and the second water discharge ports 16 are communicated with the second water discharge cavity 12.

[0043] In one embodiment of the present application, the rear-end propelling member and the front-end propelling member rotate in opposite directions to form a double-reverse-rotation system, effectively offsetting the torque generated by a single propeller, preventing the vehicle from spinning, improving overall stability and maneuverability. Similar front and rear designs ensure balanced thrust, reduce the risk of yaw, and allow the vehicle to maintain a predetermined heading in complex water flow environments. The axial arrangement of the second water discharge port 16 echoes the front end, further optimizing thrust distribution, improving propulsion efficiency, and reducing energy consumption.

[0044] As an optional implementation, the water inlet grille 2 is installed on the first propeller shell 3 and communicated with the first water suction cavity 4, the cleaning member includes two first positioning rings 17 fixedly connected to the first central shaft 6, the second positioning ring 18 is fixedly connected to the inner side wall of the water inlet grille 2 at both ends, the positioning groove 19 is opened on the outer side wall of the first positioning ring 17 and the inner side wall of the second positioning ring 18, a plurality of fixed plates 20 are arranged between the two positioning grooves 19 in the circumferential direction, and the cleaning roller 21 is fixedly connected between the two fixed plates 20 located on the same axis. The cleaning roller 21 moves circumferentially to clean the water inlet grille 2.

[0045] In one embodiment of the present application, the water inlet grille 2 is installed on the propeller shell, effectively filtering large particles such as seaweed and silt, preventing impeller and flow passage blockage, and prolonging equipment life.

[0046] As an optional implementation, the first central shaft 6 is fixedly connected with two first tooth rings 22, the inner side wall of the water inlet grille 2 is fixedly connected with two second tooth rings 23 at two ends respectively, and the two ends of the cleaning roller 21 are fixedly connected with third tooth rings 24, the third tooth rings 24 are located between the first tooth rings 22 and the second tooth rings 23, and the first tooth rings 22 and the second tooth rings 23 are respectively engaged with the third tooth rings 24.

[0047] In an embodiment of the present application, the rotation power of the central shaft is directly transmitted to the cleaning roller 21 through the engagement of the first tooth ring 22, the second tooth ring 23 and the third tooth ring 24, so that automatic cleaning without additional power source is realized, energy saving and simple structure are achieved.

[0048] As an optional implementation, a plurality of water inlet holes 25 are formed in the water inlet grille 2, and a plurality of cleaning protrusions 26 are fixedly connected to the cleaning roller 21, and the cleaning protrusions 26 are matched with the water inlet holes 25.

[0049] In an embodiment of the present application, the cleaning protrusions 26 are accurately matched with the water inlet holes 25, can deeply enter the holes to remove stubborn blockages (such as biological attachment or sludge), keep the water inlet holes unobstructed, and reduce water flow resistance.

[0050] As an optional implementation, the angle adjusting assembly includes a plurality of fixed supports 27 fixedly connected circumferentially on the first propeller shell 3, an adjusting member is arranged on the fixed support 27, a nozzle pipe 28 is fixedly connected to the adjusting member, and the nozzle pipe 28 is communicated with the first drainage port 9 through a pipeline 29.

[0051] In an embodiment of the present application, the drainage angle is allowed to be adjusted, so as to change the thrust direction, realize the pitch, yaw and roll control of the vehicle, and improve the maneuverability and attitude adjustment capability. The nozzle pipe 28 is connected with the drainage port through the pipeline 29, so as to ensure that the water flow is flexibly guided and is suitable for different navigation tasks, such as cruising, hovering or obstacle avoidance.

[0052] As an optional implementation, the adjusting member includes a first rotating shaft 30 rotatably connected to the fixed support 27, a connecting sleeve pipe 31 is fixedly connected to the first rotating shaft 30, a connecting support 32 is rotatably connected to the connecting sleeve pipe 31, and the nozzle pipe 28 is fixedly connected to the connecting support 32.

[0053] In an embodiment of the present application, the first rotating shaft provides horizontal direction adjustment, the connecting sleeve pipe and the connecting support provide vertical direction adjustment, multi-degree-of-freedom angle adjustment is realized, and accurate thrust vector control is met.

[0054] As an optional implementation, the fixed support 27 and the connecting support 32 are fixedly connected with telescopic rods 33, the telescopic ends of the telescopic rods 33 are fixedly connected with tooth plates 34, the horizontal end and the vertical end of the connecting sleeve pipe 31 are fixedly connected with tooth gears 35 respectively, and the two tooth plates 34 are engaged with the two tooth gears 35 respectively.

[0055] In one embodiment of the present application, the telescopic rod 33 is arranged to drive the gear plate 34 to move, and the first rotating shaft 30 and the connecting bracket 32 rotate through the meshing of the gear plate 34 and the gear 35.

[0056] As an optional embodiment, the connecting sleeve 31 is in a cross structure.

[0057] In one embodiment of the present application, the connecting sleeve 31 in the cross structure is arranged to realize the adjustment of the nozzle pipe 28 in the X-axis and Y-axis directions.

[0058] In the description of the present application, it should be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0059] The above-described embodiments are only used to describe the preferred modes of the present application, and do not limit the scope of the present application. Without departing from the design spirit of the present application, various modifications and improvements to the technical solutions of the present application made by those skilled in the art shall fall within the protection scope of the present application.

Claims

1. A dual counter-rotating underwater vehicle based on centrifugal force, characterized in that, include: The main body of the aircraft (1); Two sets of propulsion components are respectively installed on both sides of the vehicle body (1). The propulsion components include a front propulsion component and a rear propulsion component. The front propulsion component and the rear propulsion component are respectively installed at the front end and the rear end of the vehicle body (1) and are configured such that the front propulsion component and the rear propulsion component rotate in opposite directions to centrifugally propel the vehicle body (1). The water absorption assembly includes several water inlet grilles (2) and several cleaning components. The water inlet grilles (2) are installed on the front end pusher and the rear end pusher. The cleaning components are used to clean the water inlet grilles (2). An angle adjustment component is disposed on the front-end propeller and the rear-end propeller, and the angle adjustment component is used to adjust the drainage angle of the front-end propeller and the rear-end propeller.

2. The dual counter-rotating underwater vehicle based on centrifugal force according to claim 1, characterized in that: The front-end propulsion component includes a first propulsion housing (3), which has a first water intake chamber (4) and a first drainage chamber (5) connected to each other. A first central shaft (6) is rotatably connected inside the first propulsion housing (3). A first water intake impeller (7) and a first centrifugal impeller (8) are mounted on the first central shaft (6). The first water intake impeller (7) and the first centrifugal impeller (8) are located in the first water intake chamber (4) and the first drainage chamber (5) respectively. A plurality of first drainage ports (9) are opened along the axial direction on the first propulsion housing (3). The first drainage ports (9) are connected to the first drainage chamber (5).

3. The dual counter-rotating underwater vehicle based on centrifugal force according to claim 1, characterized in that: The rear propulsion component includes a second propeller housing (10), which has a second water intake chamber (11) and a second drainage chamber (12) inside. The second water intake chamber (11) and the second drainage chamber (12) are connected. A second central shaft (13) is rotatably connected inside the second propeller housing (10). A second water intake impeller (14) and a second centrifugal impeller (15) are mounted on the second central shaft (13). The second water intake impeller (14) and the second centrifugal impeller (15) are located in the second water intake chamber (11) and the second drainage chamber (12) respectively. A plurality of second drainage ports (16) are opened along the axial direction on the second propeller housing (10). The second drainage ports (16) are connected to the second drainage chamber (12).

4. A dual counter-rotating underwater vehicle based on centrifugal force according to claim 2, characterized in that: The water inlet grille (2) is installed on the first propeller housing (3) and communicates with the first water suction chamber (4). The cleaning component includes two first positioning rings (17) fixedly connected to the first central shaft (6). The inner sidewalls of the water inlet grille (2) are fixedly connected to two second positioning rings (18). The outer sidewalls of the first positioning rings (17) and the inner sidewalls of the second positioning rings (18) are provided with positioning grooves (19). Several fixing plates (20) are arranged circumferentially between the two positioning grooves (19). A cleaning roller (21) is fixedly connected between the two fixing plates (20) located on the same axis. The cleaning roller (21) performs circumferential movement to clean the water inlet grille (2).

5. A dual counter-rotating underwater vehicle based on centrifugal force according to claim 4, characterized in that: Two first toothed rings (22) are fixedly connected to the first central shaft (6). Two second toothed rings (23) are fixedly connected to both ends of the inner sidewall of the water inlet grid (2). Three toothed rings (24) are fixedly connected to both ends of the cleaning roller (21). The third toothed ring (24) is located between the first toothed ring (22) and the second toothed ring (23), and the first toothed ring (22) and the second toothed ring (23) are respectively engaged with the third toothed ring (24).

6. A dual counter-rotating underwater vehicle based on centrifugal force according to claim 5, characterized in that: The water inlet grille (2) has several water inlet holes (25), and the cleaning roller (21) has several cleaning protrusions (26) fixedly connected to it. The cleaning protrusions (26) are adapted to the water inlet holes (25).

7. A dual counter-rotating underwater vehicle based on centrifugal force according to claim 2, characterized in that: The angle adjustment assembly includes several fixed brackets (27) which are fixedly connected to the first thruster housing (3) in the circumferential direction. An adjustment component is provided on the fixed bracket (27), and a nozzle pipe (28) is fixedly connected to the adjustment component. The nozzle pipe (28) is connected to the first drain outlet (9) through a pipe (29).

8. A dual counter-rotating underwater vehicle based on centrifugal force according to claim 7, characterized in that: The adjusting component includes a first rotating shaft (30) rotatably connected to the fixed bracket (27), a connecting sleeve (31) fixedly connected to the first rotating shaft (30), a connecting bracket (32) rotatably connected to the connecting sleeve (31), and a nozzle pipe (28) fixedly connected to the connecting bracket (32).

9. A dual counter-rotating underwater vehicle based on centrifugal force according to claim 8, characterized in that: Telescopic rods (33) are fixedly connected to both the fixed bracket (27) and the connecting bracket (32). A toothed plate (34) is fixedly connected to the telescopic end of the telescopic rod (33). Gears (35) are fixedly connected to the horizontal end and the vertical end of the connecting sleeve (31). The two toothed plates (34) mesh with the two gears (35) respectively.

10. A dual counter-rotating underwater vehicle based on centrifugal force according to claim 8, characterized in that: The connecting sleeve (31) has a cross-shaped structure.

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