Closed type annular propeller capable of changing forms

Abstract

The invention discloses a form-convertible closed type annular propeller, and relates to the technical field of underwater propulsion equipment. Comprising a hollow main shaft, a propeller hub shell, variable-form blades, a hydraulic distance adjusting mechanism, a hub cap, a driving device and a hydraulic station, the propeller hub shell is coaxially and rotatably arranged outside the hollow main shaft, and the driving device enables the propeller hub shell to rotate relative to the hollow main shaft. The variable-form paddles are annularly and evenly distributed on the periphery of the propeller hub shell. The variable-form paddle comprises a left paddle single body and a right paddle single body, the left paddle single body is fixed to the outer wall of the propeller hub shell, and the right paddle single body is in sliding fit with the propeller hub shell through a linear guide assembly. The hydraulic distance adjusting mechanism is arranged in front of the first bearing and adjusts the position of the right paddle single body through the linear guide assembly. Separation and closing of the paddle structures can be controlled through the hydraulic distance adjusting mechanism, flexible conversion between the two forms is achieved, the adaptability to the complex underwater environment is high, and the reliability of the propeller is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater propulsion equipment, in particular to a closed ring propeller with variable morphologies. BACKGROUND

[0002] When the underwater vehicle works for a long time under high pressure, high salt and other special environments, the overall requirements for the propeller are very high. At the same time, the maneuverability of the underwater vehicle is also an important evaluation standard of the operation ability. The underwater vehicle will work in various environments such as complex underwater obstacles, sand and mud accumulation, and small water depth. The propeller is the power and main noise source of the underwater vehicle, so the propeller has a crucial influence on the overall performance of the underwater vehicle. The underwater vehicle has many operating environments, and it may be required to have excellent performance in many dimensions such as low operating noise, strong propulsion performance, and anti-winding in a single task. A single propeller mode is difficult to meet many requirements.

[0003] The ring propeller is a new type of propeller proposed in recent years. Due to the existence of blade tips, the pressure around the flow changes during the rotation of the traditional propeller, and the pressure difference between the upper and lower surfaces causes tip vortex shedding, accompanied by obvious cavitation phenomenon. Not only unnecessary energy loss is caused, but also the propulsion efficiency of the propeller is affected. The ring propeller cancels the geometric property of the blade tip from the geometric structure, which looks similar to connecting the blade tips of two traditional blades. In the running process, the generation of propeller tip vortex and cavitation effect are greatly suppressed. At the same time, due to the special ring structure of the ring propeller blade, the structural reliability of the propeller is stronger at high speed, and the noise is relatively smaller. However, compared with the tandem propeller and other propulsion modes, the propulsion performance is relatively poor. The tandem propeller can distribute the load of the propeller to two coaxial and independent propeller structures, but the noise generated during operation is large, which is not conducive to work in environments with high noise requirements. SUMMARY

[0004] In view of the shortcomings of the prior art, the present application aims to provide a closed ring propeller with variable morphologies, which solves the problem that the structure of the propeller of the existing underwater vehicle can only be suitable for a specific working mode, and cannot change the blade shape of the propeller according to the specific requirements of the underwater environment, making it difficult to adapt to different underwater propulsion modes.

[0005] In order to achieve the above-mentioned purpose, the technical solution adopted by the present application is:

[0006] The application discloses a variable morphological closed ring propeller, which comprises a hollow main shaft, a propeller hub shell, variable morphological propeller blades, a hydraulic pitch adjusting mechanism, a hub cap, a driving device and a hydraulic station.

[0007] The propeller hub shell is sleeved on the outside of the hollow main shaft and is coaxially arranged with the hollow main shaft; the driving device is located at the rear side of the propeller hub shell and drives the propeller hub shell to rotate forward or reversely relative to the hollow main shaft.

[0008] The variable morphological propeller blades are arranged in a ring shape and uniformly distributed on the periphery of the propeller hub shell; the variable morphological propeller blades comprise left propeller blade monomers and right propeller blade monomers; the root of each left propeller blade monomer is fixed to the outer wall of the propeller hub shell.

[0009] Each right propeller blade monomer is located on the side of the corresponding left propeller blade monomer along the same circumferential direction of the propeller hub shell; the root of each right propeller blade monomer penetrates through the side wall of the propeller hub shell and is slidably connected with the propeller hub shell through a linear guide assembly.

[0010] All the linear guide assemblies are arranged on the outside of the hollow main shaft through first bearings and are coaxially arranged with the hollow main shaft; in addition, the inner side of the first bearing is linearly slidably connected with the hollow main shaft through a spline sleeve; in the working state, all the variable morphological propeller blades rotate synchronously around the hollow main shaft with the propeller hub shell.

[0011] The hydraulic pitch adjusting mechanism is located in front of the first bearing and is fixedly arranged on the outside of the hollow main shaft; the execution end of the hydraulic pitch adjusting mechanism is fixedly connected with the spline sleeve and adjusts the position of the right propeller blade monomer on the propeller hub shell through the spline sleeve and the first bearing.

[0012] Further, the hollow main shaft is a metal straight pipe body; the front end of the hollow main shaft is coaxially arranged with the hub cap through a second bearing.

[0013] The rear end of the propeller hub shell is provided with a rear end seat which is in the form of a ring structure and whose outer edge is fixedly connected with the rear end surface of the propeller hub shell; the inner side of the rear end seat is coaxially arranged with the outer wall of the hollow main shaft through a third bearing.

[0014] Further, the driving device comprises a stepping motor, a driving gear and a driven gear; the stepping motor is fixed to the front side of the propeller hub shell and is powered by the power system of the underwater vehicle; the signal end of the stepping motor is connected to the control system of the underwater vehicle.

[0015] The driven gear is fixed to the rear side wall of the rear end seat and is coaxially arranged with the propeller hub shell; the driving gear is installed at the output shaft end of the stepping motor and is externally meshed with the driven gear so as to drive the driven gear and the propeller hub shell to synchronously rotate.

[0016] Further, the hollow spindle has a spline groove on the circumferential outer wall, and a spline sleeve is coaxially arranged on the hollow spindle and linearly slides with the spline groove of the hollow spindle.

[0017] The first bearing sleeve is arranged outside the spline sleeve, the inner ring of the first bearing is fixedly connected with the circumferential outer wall of the spline sleeve, and the first bearing can move linearly relative to the hollow spindle along with the spline sleeve.

[0018] Further, the linear guide assembly comprises a guide rail seat, a dovetail guide rail and a sliding block seat, the guide rail seat is fixed on the inner wall of the hub shell, and the sliding block seat is located on one side of the guide rail seat along the circumferential direction of the hub shell and is fixedly connected with the outer ring of the first bearing.

[0019] The dovetail guide rail is fixed on the side wall adjacent to the sliding block seat and the guide rail seat, the side wall of the sliding block seat has a guide sliding groove matched with the dovetail guide rail, and the sliding block seat and the dovetail guide rail slide along the axial direction of the hub shell.

[0020] Further, the hydraulic pitch adjusting mechanism comprises a hollow oil cylinder, the hollow oil cylinder is arranged outside the hollow spindle, the cylinder body of the hollow oil cylinder is fixedly connected with the hollow spindle, and the oil supply end and the oil return end of the hollow oil cylinder are connected with the hydraulic station through the oil pipe arranged in the hollow spindle.

[0021] The piston rod of the hollow oil cylinder is coaxially arranged on the hollow spindle, the front end of the piston rod is fixedly connected with the spline sleeve, and in the use state, the piston rod can drive all the sliding block seats to move forward and backward synchronously through the spline sleeve and the first bearing.

[0022] Further, the circumferential outer wall of the hub shell is provided with a plurality of long strip through holes corresponding to the right paddle monomers in position, and each long strip through hole is provided with a strip-shaped connecting block.

[0023] The root of the right paddle monomer is fixedly connected with the corresponding sliding block seat through the strip-shaped connecting block, and in the working state, the right paddle monomer moves forward and backward relative to the hub shell along with the sliding block seat.

[0024] Further, the left paddle monomer and the right paddle monomer are both curved shell structures, the top of the left paddle monomer and the right paddle monomer are both wave-shaped curves with high front and low back, and the shapes are consistent, and the root of the right paddle monomer is close to the circumferential outer wall of the hub shell.

[0025] Further, the top of the left paddle monomer and the right paddle monomer is both an arc-shaped flange bent towards the side close to each other,

[0026] When the right paddle monomers are in position opposite to the left paddle monomers, the top of each right paddle monomer is in abutting side contact with the top of the corresponding left paddle monomer, forming a closed annular paddle, and a front-to-rear through cavity is formed between the left paddle monomers and the corresponding right paddle monomers.

[0027] When the right paddle monomers are in position opposite to the left paddle monomers, the top of each right paddle monomer is in abutting side contact with the top of the corresponding left paddle monomer, forming a closed annular paddle, and a front-to-rear through cavity is formed between the left paddle monomers and the corresponding right paddle monomers.

[0028] By adopting the technical scheme, the beneficial technical effects of the present application are as follows: the paddle is composed of two paddle monomers, and the position of one side paddle monomer is adjusted by the hydraulic pitch adjusting mechanism, so that the paddle as a whole presents different forms, and the state switching between the closed annular propeller and the tandem propeller can be completed according to the actual needs of the working environment. In the closed annular propeller state, the noise generated by the propeller is small, and the impact on the environment is small; in the tandem propeller form, the propelling efficiency of the propeller is high, and the propelling performance is good. According to the change of the demand weight of the propelling performance and the acoustic characteristics, the separation and closure of the paddle structure can be controlled through the hydraulic pitch adjusting structure, the flexible conversion between the two forms is realized, the adaptability to complex environment is improved, the reliability and flexibility of the propeller are enhanced, and the propeller is very suitable for underwater vehicles and marine structures operating in complex sea conditions. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 is a structural schematic view of a closed annular propeller with variable forms of the present application.

[0030] Figure 2 is a tandem state schematic view of a closed annular propeller with variable forms of the present application.

[0031] Figure 3 is a schematic view of the internal structure of the present application after removing the hub shell.

[0032] Figure 4 is a top view of a closed annular propeller with variable forms of the present application.

[0033] Figure 5 is Figure 4 is a sectional view of the present application along the A-A viewing direction.

[0034] Figure 6 is Figure 4 is a sectional view of the present application along the B-B viewing direction.

[0035] As shown in the figure: 1, hollow spindle; 11, spline groove; 12, spline sleeve; 13, first bearing; 2, hub shell; 21, rear end seat; 22, long hole; 23, third bearing; 3, deformable blade; 31, left blade monomer; 32, right blade monomer; 4, hub cap; 41, second bearing; 5, drive device; 51, stepper motor; 52, driving gear; 53, driven gear; 6, hydraulic station; 61, oil pipe; 71, guide rail seat; 711, dovetail guide rail; 72, slider seat; 721, guide sliding groove; 73, strip connecting block; 8, hollow oil cylinder. DETAILED DESCRIPTION

[0036] The present application will be described in detail below with reference to the accompanying drawings:

[0037] In combination Figures 1 to 6 A closed ring propeller with variable form, mainly used in ships or other underwater vehicles, comprising a hollow spindle 1, a hub shell 2, a deformable blade 3, a hydraulic pitch adjusting mechanism, a hub cap 4, a drive device 5 and a hydraulic station 6, the hollow spindle 1 is made of high strength, corrosion resistant alloy straight pipe body with equal cross section, the hollow spindle 1 is arranged longitudinally and horizontally, and the front and rear ends are open. The hub shell 2 is a cylindrical structure with equal cross section, the hub shell 2 is sleeved on the outside of the hollow spindle 1, the hub shell 2 and the hollow spindle 1 are coaxially arranged, the front and rear ends of the hollow spindle 1 pass through the outside of the hub shell 2, and the hub shell 2 and the hollow spindle 1 are coaxially rotatingly matched.

[0038] The hub cap 4 is a semicircular spherical shell structure, the outer diameter of the hub cap 4 is equal to the outer diameter of the hub shell 2, the hub cap 4 is located in front of the hub shell 2, the rear end of the hub cap 4 is connected with the front end of the hub shell 2 through an annular gasket and bolted fixedly, the front end of the hollow spindle 1 is located in the inside of the hub cap 4, and the front end of the hollow spindle 1 is rotatingly matched with the hub cap 4 through the second bearing 41. The rear end of the hub shell 2 is provided with a rear end seat 21, the rear end seat 21 is an annular structure, the outer edge of the rear end seat 21 is connected with the rear end face of the hub shell 2 by bolted fixedly, and the inner side wall of the rear end seat 21 is rotatingly connected with the outer wall of the hollow spindle 1 through the third bearing 23.

[0039] A spline groove 11 is formed on the circumferential outer wall of the hollow spindle 1, the position of the spline groove 11 is located in the inside of the hub shell 2, a spline sleeve 12 is sleeved on the outside of the hollow spindle 1 and coaxially arranged with the hollow spindle 1, the inner side wall of the spline sleeve 12 is linearly slidingly matched with the spline groove 11 of the outer wall of the hollow spindle 1.

[0040] In addition, the first bearing 13 is fixedly sleeved on the circumferential outer wall of the spline sleeve 12, specifically, the inner ring of the first bearing 13 is fixedly connected with the circumferential outer wall of the spline sleeve 12 coaxially, and the first bearing 13 can move linearly with the spline sleeve 12 relative to the hollow spindle 1.

[0041] The driving device 5 is located at the rear side of the hub shell 2 and drives the hub shell 2 to rotate forward or reversely relative to the hollow main shaft 1. Specifically, the driving device 5 comprises a step motor 51, a driving gear 52 and a driven gear 53. The step motor 51 is located at the front side of the hub shell 2 and is fixed to the main structure of the underwater vehicle. The step motor 51 is powered by the power system of the underwater vehicle, and the signal end of the step motor 51 is connected to the control system of the underwater vehicle.

[0042] The driven gear 53 is fixed to the rear side wall of the rear end seat 21 and is coaxially arranged with the hub shell 2. The driving gear 52 is installed at the output shaft end of the step motor 51 and is externally engaged with the driven gear 53 to drive the driven gear 53 and the hub shell 2 to rotate synchronously. The part of the hollow main shaft 1 located at the rear side of the driven gear 53 is fixed to the main structure of the underwater vehicle. The rear outer side of the hub shell 2 is rotationally fitted with the main structure of the underwater vehicle through another bearing. In the working state, the step motor 51 drives the hub shell 2 to rotate around the axis relative to the hollow main shaft 1 through the gear transmission structure. The control system of the underwater vehicle controls the steering and rotating speed of the hub shell 2 by command. The installation position and structure of the closed annular propeller on the underwater vehicle adopt the prior art, which will not be described here.

[0043] The four deformable blades 3 are uniformly distributed in a ring shape around the periphery of the hub shell 2. Specifically, the deformable blades 3 comprise left blade monomers 31 and right blade monomers 32. The roots of the left blade monomers 31 are fixed to the outer wall of the hub shell 2. Each right blade monomer 32 is located on the same side of the corresponding left blade monomer 31 along the circumferential direction of the hub shell 2. The root of the right blade monomer 32 penetrates through the side wall of the hub shell 2 and is slidably fitted with the hub shell 2 through a straight guide assembly.

[0044] Specifically, the left blade monomers 31 and the right blade monomers 32 are both fin-shaped curved shell structures. The top of each of the left blade monomers 31 and the right blade monomers 32 is a wave-shaped curve with a high front and a low back, and the shapes are consistent. The root of the right blade monomer 32 is close to the circumferential outer wall of the hub shell 2. The top of each of the left blade monomers 31 and the right blade monomers 32 is an arc-shaped flange formed by bending towards the side close to each other.

[0045] When the positions of the left paddle monomer 31 and the right paddle monomer 32 are corresponding, the adjacent sides of the top of the two paddle monomers (i.e. the sides of the arc-shaped flanges) are fitted together, the outer side walls of the left paddle monomer 31 and the right paddle monomer 32 are smoothly transitioned at the boundary, the outer walls of the left paddle monomer 31, the right paddle monomer 32 and the paddle hub shell 2 form a closed annular paddle, and the left paddle monomer 31 and the corresponding right paddle monomer 32 form a cavity penetrating from front to back. The four closed annular paddles rotate synchronously with the paddle hub shell 2 around the hollow main shaft 1 to provide driving force for the ship or other underwater vehicles.

[0046] When the positions of the right paddle monomer 32 and the left paddle monomer 31 are misaligned, all the right paddle monomers 32 and all the left paddle monomers 31 form two groups of paddles arranged in series along the axial direction of the paddle hub shell 2.

[0047] All the linear guide assemblies are arranged outside the hollow main shaft 1 and are in rotational cooperation with the hollow main shaft 1, the inner side of the first bearing 13 is in linear sliding cooperation with the hollow main shaft 1 through the spline sleeve 12, and the four variable-form paddles 3 can rotate synchronously with the paddle hub shell 2 in the closed annular paddle form or the series paddle form.

[0048] Specifically, the linear guide assembly includes a guide rail seat 71, a dovetail guide rail 711 and a sliding block seat 72, the guide rail seat 71 is fixed to the inner wall of the paddle hub shell 2, and it is particularly worth mentioning that all the guide rail seats 71 are not in contact with the first bearing 13, the sliding block seat 72 is located on one side of the guide rail seat 71 along the circumferential direction of the paddle hub shell 2, and the four sliding block seats 72 are fixedly connected with the outer ring of the first bearing 13.

[0049] The dovetail guide rail 711 is fixed to the side wall adjacent to the guide rail seat 71 and the sliding block seat 72, the side wall of the sliding block seat 72 has a guide sliding groove 721 matched with the dovetail guide rail 711, and the sliding block seat 72 and the dovetail guide rail 711 are in sliding cooperation along the axial direction of the paddle hub shell 2. When the form of the variable-form paddle 3 needs to be adjusted according to the specific underwater environment, the spline sleeve 12 is driven to move along the axial direction of the hollow main shaft 1 by mechanical external force, and the spline sleeve 12 drives the left paddle monomer 31 to change its position in the paddle hub shell 2 through the first bearing 13.

[0050] A long-hole 22 equal in number to the right paddle monomers 32 and corresponding in position is formed in the circumferential outer wall of the paddle hub shell 2, and a strip-shaped connecting block 73 is arranged on the inner side of each long-hole 22. The inner side of the right paddle monomer 32 close to the circumferential outer wall of the paddle hub shell 2 is fixedly connected with the corresponding sliding block seat 72 through the strip-shaped connecting block 73 to form an integral whole, and in the working state, the right paddle monomer 32 moves forward and backward relative to the paddle hub shell 2 along with the sliding block seat 72.

[0051] The hydraulic pitch adjusting mechanism is fixedly arranged outside the hollow main shaft 1, and the execution end of the hydraulic pitch adjusting mechanism is fixedly connected with the spline sleeve 12 and adjusts the positions of all the right blade units 32 on the hub shell 2 through the spline sleeve 12 and the first bearing 13.

[0052] Further, the hydraulic pitch adjusting mechanism comprises a hollow oil cylinder 8, the hollow oil cylinder 8 is arranged inside the hub cap 4, the hollow main shaft 1 passes through the inside of the hollow oil cylinder 8, the cylinder body of the hollow oil cylinder 8 is fixedly connected with the hollow main shaft 1 through a flange seat, and the oil supply end and the oil return end of the hollow oil cylinder 8 are connected with the hydraulic station 6 through two oil pipes 61 arranged inside the hollow main shaft 1, the hydraulic station 6 supplies oil and returns oil for the hollow oil cylinder 8 through the two oil pipes 61, and the position of the piston rod of the hollow oil cylinder 8 is controlled.

[0053] In addition, the piston rod of the hollow oil cylinder 8 is a hollow rod body, the piston rod is arranged outside the hollow main shaft 1 in a sleeved mode and coaxially with the hollow main shaft 1, and the front end of the piston rod is fixedly connected with the spline sleeve 12. In the use state, the piston rod can drive all the slider seats 72 and the right blade units 32 to move forward and backward synchronously relative to the hub shell 2 through the spline sleeve 12 and the first bearing 13, when the piston rod is located at the rear dead point of the stroke, the left blade units 31 and the right blade units 32 of the variable shape blade 3 form a closed annular blade shape, when the piston rod is located at the front dead point of the stroke, one group of left blade units 31 and another group of right blade units 32 are arranged in a tandem mode, and the variable shape blade 3 can be switched between the two groups of shapes during the rotation of the hub shell 2 to meet the demand of the underwater circumferential direction.

[0054] The variable shape closed annular propeller has high flexibility, can be flexibly switched between the annular propeller and the tandem propeller structure according to actual needs, meets the actual propulsion needs and noise needs, and is very suitable for the use requirements of underwater vehicles.

[0055] Parts not mentioned in the application can be realized by using or referring to the existing technology.

[0056] In addition, the terms “first” and “second” are only used for description purposes and cannot be understood as indicating or implying relative importance.

[0057] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, 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 on the present application.

[0058] Of course, the above description is not a limitation on the present application, and the present application is not limited to the above examples. Changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present application should also be within the scope of the present application.

Claims

1. A transformable morphing closed loop propeller, characterized by, The utility model provides a kind of variable pitch propeller, including hollow spindle, paddle hub shell, deformable paddle, hydraulic pitch adjusting mechanism, hub cap, driving device and hydraulic station, the hollow spindle is arranged longitudinally horizontally, the paddle hub shell is cylindrical structure, the hub cap can be detachably fixed in the front end of paddle hub shell; The paddle hub shell is sleeved on the outside of hollow spindle, and the paddle hub shell and hollow spindle are coaxially rotatable, the driving device is located at the rear side of paddle hub shell, and drives paddle hub shell to rotate forward or reversely relative to hollow spindle; The deformable paddle has multiple, and multiple deformable paddles are evenly distributed in the periphery of paddle hub shell in annular shape, and the deformable paddle includes left paddle monomer and right paddle monomer, and the root of left paddle monomer is fixed on the outer wall of paddle hub shell; Each right paddle monomer is located on the side of corresponding left paddle monomer along the same circumferential direction of paddle hub shell, and the root of right paddle monomer penetrates the side wall of paddle hub shell and is slidably connected with paddle hub shell through a linear guide assembly; All linear guide assemblies are arranged on the outside of hollow spindle through first bearing and are rotatably connected with hollow spindle, and in addition, the inner side of first bearing is linearly slidably connected with hollow spindle through spline sleeve, and in working state, all deformable paddles rotate synchronously around hollow spindle with paddle hub shell. The hydraulic pitch adjusting mechanism is located in front of first bearing and is fixedly arranged on the outside of hollow spindle, the execution end of hydraulic pitch adjusting mechanism is fixedly connected with spline sleeve, and the position of right paddle monomer on paddle hub shell is adjusted through spline sleeve and first bearing.

2. The morphologically variable closed annular propeller according to claim 1, characterized in that, The hollow spindle adopts metal straight pipe body, and the front end of hollow spindle is rotatably connected with hub cap through second bearing. The rear end of paddle hub shell is provided with rear end seat, the rear end seat is annular structure, the outer edge of rear end seat is fixedly connected with the rear end surface of paddle hub shell, and the inner side of rear end seat is rotatably connected with the outer wall of hollow spindle through third bearing.

3. A closed-loop propeller with a changeable form according to claim 2, characterized in that, The driving device includes stepper motor, driving gear and driven gear, the stepper motor is fixed on one side in front of paddle hub shell, and is powered by the power system of underwater vehicle, and the signal end of stepper motor is connected to the control system of underwater vehicle. The driven gear is fixed on the rear side wall of rear end seat and is coaxially arranged with paddle hub shell, the driving gear is installed on the output shaft end of stepper motor and is externally meshed with the driven gear, to drive the synchronous rotation of driven gear and paddle hub shell.

4. A closed-loop propeller with a changeable form according to claim 1, characterized in that, The circumferential outer wall of hollow spindle is provided with a spline groove, the spline sleeve is coaxially arranged with hollow spindle, and the inner side wall of spline sleeve is linearly slidably connected with the spline groove of hollow spindle. The first bearing is sleeved on the outside of spline sleeve, the inner ring of first bearing is fixedly connected with the circumferential outer wall of spline sleeve, and first bearing can relatively linearly move with spline sleeve and hollow spindle.

5. A closed-loop propeller with a changeable form according to claim 1, characterized in that, The linear guide assembly includes guide rail seat, dovetail guide rail and sliding block seat, the guide rail seat is fixed on the inner wall of paddle hub shell, and the sliding block seat is located on one side of guide rail seat along the circumferential direction of paddle hub shell and is fixedly connected with the outer ring of first bearing. The dovetail guide rail is fixed on the side wall adjacent to the side wall of guide rail seat and sliding block seat, the side wall of sliding block seat is provided with guide sliding groove matched with dovetail guide rail, and sliding block seat and dovetail guide rail are slidably connected along the axial direction of paddle hub shell.

6. A closed-loop propeller with a changeable form according to claim 5, characterized in that, The hydraulic distance adjusting mechanism comprises a hollow oil cylinder, which is sleeved outside the hollow main shaft, with its cylinder body fixedly connected with the hollow main shaft, and its oil supply end and oil return end connected with the hydraulic station through oil pipes in the hollow main shaft; The piston rod of the hollow oil cylinder is coaxially arranged with the hollow main shaft, with its front end fixedly connected with the spline sleeve, and in use, the piston rod drives all the slider blocks to move synchronously forward and backward through the spline sleeve and the first bearing.

7. A morphing morphing closed loop propeller according to claim 5, wherein, The circumferential outer wall of the hub shell is provided with a plurality of long strip-shaped through holes corresponding to the right paddle monomers in position, and each long strip-shaped through hole is provided with a strip-shaped connecting block on the inner side; The root of the right paddle monomer is fixedly connected with the corresponding slider block through the strip-shaped connecting block, and in working state, the right paddle monomer moves forward and backward with the slider block relative to the hub shell.

8. A closed-loop propeller with a changeable form according to claim 1, characterized in that, The left paddle monomer and the right paddle monomer are both curved shell structures, the top of the left paddle monomer and the right paddle monomer is a wave-shaped curve with a front high and a rear bottom, and the shapes are consistent, and the root of the right paddle monomer is close to the circumferential outer wall of the hub shell.

9. A closed-loop propeller with a changeable form according to claim 8, characterized in that, The top of the left paddle monomer and the right paddle monomer is both an arc-shaped flange formed by bending towards the side close to each other; When the right paddle monomer and the left paddle monomer are in position, the top of each right paddle monomer is attached to the adjacent side of the top of the corresponding left paddle monomer, forming a closed annular paddle, and the left paddle monomer and the corresponding right paddle monomer form a front and rear through cavity; When the right paddle monomer and the left paddle monomer are misaligned, all the right paddle monomers and all the left paddle monomers form two groups of paddles arranged in series along the axial direction of the hub shell.

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