Paddle-fin integrated variable-pitch propelling device for autonomous underwater vehicle

Abstract

The invention provides a paddle and fin integrated variable-pitch propelling device for an autonomous underwater vehicle, which can be applied to the technical field of ocean engineering equipment and underwater robots. The device comprises a sealed cabin shell, a fish handle shaft, a driving assembly, a plurality of groups of paddle fin variable pitch actuating mechanisms and a guide disc surface assembly. A motor in the driving assembly drives a shaft body to rotate to provide main thrust, and a sliding block mechanism driven by an electromagnetic coil can axially slide; each actuating mechanism comprises a fan blade push rod, a variable-pitch connecting rod and fan blades, the push rod is connected with the sliding block, one end of the connecting rod is in sliding fit with the push rod, and the other end of the connecting rod is embedded into the variable-pitch notch of the upper disc surface through the sliding block; roots of all the fan blades are hinged to the push rod and the connecting rod. All the fan blade push rods are driven to move in the radial direction along the guide sliding grooves by driving the sliding blocks to move in the axial direction, and the connecting rods are forced to move according to the notch tracks, so that the pitch angles of all the fan blades are synchronously changed, and the fan blades are switched between the efficient propeller form and the coplanar bionic fin form.

Description

Technical Field

[0001] This invention relates to the field of marine engineering equipment and underwater robot technology, and more specifically to a propeller-fin integrated variable pitch propulsion device for autonomous underwater vehicles. Background Technology

[0002] With the increasing demand for marine resource development and ecological monitoring, autonomous underwater vehicles (AUVs) face a seemingly contradictory dual requirement for their propulsion systems when performing integrated missions combining wide-range cruising and detailed observation. On the one hand, AUVs need to move rapidly between open waters or mission sites, requiring propulsion systems with high thrust density and high-speed propulsion efficiency to shorten transit time and extend effective operational cycles. On the other hand, when AUVs enter sensitive or enclosed environments (such as aquaculture cages, coral reef areas, or near underwater pipelines) for close-range observation, monitoring, or interaction, they must minimize hydrodynamic disturbances, noise, and safety risks to surrounding organisms or facilities. This requires propulsion systems to achieve low-speed, smooth, and near-undisturbed propulsion.

[0003] Currently, the mainstream propulsion technologies used in observation or operational AUVs can be mainly divided into the following categories, but none of them can simultaneously meet the above dual requirements:

[0004] (1) Traditional fixed-pitch propeller propulsion: This is the most mature and widely used propulsion method for AUVs. This method generates thrust by driving a propeller blade with a fixed pitch angle to rotate at high speed through an electric motor, and has high propulsion efficiency under high-speed conditions. However, its inherent working mode has significant drawbacks: the high-speed rotating blade generates strong wakes, jets and eddies, which cause severe disturbance to the surrounding water and are very likely to disturb the observed targets (such as fish); more importantly, the exposed high-speed rotating blade poses a direct physical collision and cutting risk to nearby marine life or fragile structures, resulting in poor safety. Therefore, traditional propellers are completely unsuitable for enclosed or sensitive environments with extremely high requirements for safety and quietness.

[0005] (2) Conventional variable-pitch propellers: These propellers adjust the pitch angle of the blades through a mechanical mechanism to optimize propulsion efficiency at different speeds or to achieve forward and reverse functions. Although the pitch is adjustable, the design concept and pitch range are always optimized around the single form of "high-efficiency propeller". Even when the pitch is adjusted to the limit, the blades are still in a non-coplanar helical distribution state, and are essentially still high-speed rotating bodies. They cannot eliminate the water flow shearing effect and potential safety hazards caused by rotation, and therefore fail to fundamentally solve the problem of safe and low-disturbance propulsion in a closed environment.

[0006] (3) Purely biomimetic propulsion: This includes oscillating propulsion that mimics the tail fin of fish, and flapping wing propulsion that mimics the pectoral fins of penguins or dolphins. This type of propulsion generates thrust by driving fins or wings to oscillate or flap periodically. At low speeds, it can produce relatively smooth and continuous water flow, with low noise and is environmentally friendly, making it suitable for covert observation. However, due to the limitations of its working principle and energy transfer efficiency, the thrust density of biomimetic propulsion is usually low, making it difficult to provide the large thrust required for AUVs to cruise quickly and over long distances. This results in low efficiency during mission phases requiring high-speed maneuverability, limiting the overall operating radius and mission effectiveness of AUVs.

[0007] (4) Hybrid Propulsion System: To address the limitations of a single propulsion method, existing technologies have proposed a solution that integrates two independent systems—a propeller-driven propeller and a bionic propulsion system—on a single AUV platform. While this solution theoretically accommodates both high-speed and low-speed modes, it significantly increases system complexity, total weight, volume, and total power consumption. The additional mechanisms, sealing points, and control systems reduce platform reliability, encroach on valuable payload space, and pose engineering challenges for mode switching and control coordination between the two systems. This approach is difficult to implement practically in miniaturized observation AUVs that prioritize compactness, efficiency, and reliability.

[0008] In summary, existing propulsion technologies suffer from a prominent "technological contradiction": propellers based on rotating machinery principles (whether fixed-pitch or variable-pitch) cannot meet the rigid requirements for safety and low disturbance in enclosed / sensitive environments; while biomimetic propulsion devices based on oscillation / flapping principles struggle to meet the high-efficiency thrust requirements for rapid transfer. Currently, the industry lacks a highly integrated, intelligent single-unit propulsion device capable of fundamentally transforming its mechanical structure according to mission scenarios—that is, actively and rapidly switching between a high-efficiency "propeller form" and a high-safety "biomimetic fin form." Therefore, developing an innovative, propeller-fin integrated, variable-mode biomimetic propulsion device is of significant practical and engineering value for overcoming the operational bottlenecks of AUVs, especially those used for aquaculture monitoring and scientific observation, and improving their environmental adaptability, mission efficiency, and safety. Summary of the Invention

[0009] (a) Technical problems to be solved

[0010] To address the core contradiction in existing underwater observation AUVs—namely, their inability to balance high-speed cruising efficiency between net cages with safe and undisturbed observation within net cages—in scenarios such as deep-sea aquaculture, this invention provides a propeller-fin integrated variable-pitch propulsion device for autonomous underwater vehicles. By integrating a synchronous variable-pitch mechanism with electromagnetic linear drive and a dual-degree-of-freedom oscillating fin shaft, the same blade system can actively and rapidly switch between a high-efficiency propeller configuration and a low-disturbance, high-safety biomimetic fin configuration, thereby achieving self-adaptation of a single device to complex operating environments.

[0011] (II) Technical Solution

[0012] To address the aforementioned technical problems, embodiments of the present invention propose an integrated propeller-fin variable-pitch propulsion device for autonomous underwater vehicles.

[0013] According to a first aspect of the present invention, a propeller-fin integrated variable-pitch propulsion device for an autonomous underwater vehicle is provided, comprising: a sealed cabin shell connected to the autonomous underwater vehicle body via a shank shaft; a drive assembly disposed inside the sealed cabin shell, the drive assembly including a motor, a drive shaft driven to rotate by the motor, and a magnetically driven hexagonal sliding block mechanism slidably disposed within the drive shaft body; multiple sets of propeller-fin variable-pitch actuators evenly distributed around the drive shaft body, each set of propeller-fin variable-pitch actuators including: a blade push rod, a blade variable-pitch connecting rod, and a blade, wherein the inner end of the blade push rod is connected to the magnetically driven hexagonal sliding block mechanism and extends radially outward; the blade variable-pitch connecting rod is slidably connected to the blade push rod; and the blade is further divided into... The fan blade push rod ends and the fan blade variable pitch connecting rod ends are hinged together; and the guide plate assembly is fixedly mounted on the drive shaft and located inside the fan blade. The guide plate assembly includes an upper plate and a lower plate; the upper plate and the lower plate are provided with guide grooves for the fan blade push rods to slide radially; the upper plate is also provided with variable pitch slots that correspond to and cooperate with each fan blade variable pitch connecting rod; wherein, the magnetic drive hexagonal upper and lower slider mechanism is configured such that when it is driven to slide axially along the drive shaft, it drives all fan blade push rods to move radially synchronously along the guide grooves, and causes the ends of each fan blade variable pitch connecting rod to slide along the corresponding variable pitch slots, thereby driving all fan blades to rotate synchronously around the hinge point with the fan blade push rod, so as to switch between the propeller working mode and the bionic fin working mode.

[0014] In some exemplary embodiments, the drive assembly further includes an electromagnetic drive component for axially driving the magnetic drive hexagonal slider mechanism. The electromagnetic drive component includes an electromagnetic coil fixedly disposed on the inner wall of the drive shaft end and a permanent magnet disposed inside the magnetic drive hexagonal slider mechanism.

[0015] In some exemplary embodiments, an axially extending inner guide rail is provided on the inner wall of the drive shaft; the magnetic drive hexagonal sliding block mechanism is provided with a structure that cooperates with the inner guide rail so that the magnetic drive hexagonal sliding block mechanism slides only along the axial direction of the drive shaft.

[0016] In some exemplary embodiments, the guide groove includes an upper plate groove formed on the upper plate surface and a lower plate groove formed on the lower plate surface; the fan blade push rod is provided with a fan blade push rod slider, which is simultaneously embedded in the upper plate groove and the lower plate groove.

[0017] In some exemplary embodiments, the end of the variable pitch connecting rod of the fan blade is provided with a variable pitch connecting rod slider, which is embedded in the variable pitch slot.

[0018] In some exemplary embodiments, the root of the fan blade is provided with a fan blade root rotating hole and a fan blade pitch connecting rod hole; the end of the fan blade push rod is provided with a fan blade root rotating shaft that is inserted into the fan blade root rotating hole; the end of the fan blade variable pitch connecting rod is provided with a fan blade root pitch shaft that is inserted into the fan blade pitch connecting rod hole.

[0019] In some exemplary embodiments, one end of the swivel shaft is used to be rotatably connected to the autonomous underwater vehicle body, and the other end is connected to the sealed cabin shell via a hinge shaft perpendicular to the axis of the swivel shaft.

[0020] In some exemplary embodiments, the fan blade push rod extends outward through a shaft hole opened in the side wall of the drive shaft body, and the fan blade push rod is provided with a fan blade pitch link slot for mounting and sliding the fan blade variable pitch link.

[0021] In some exemplary embodiments, the trajectory of the variable pitch slot is configured such that when the magnetic drive hexagonal upper and lower slider mechanism slides to the first limit position, it drives all fan blades to rotate to a coplanar state, forming a biomimetic fin working mode; when it slides to the second limit position, it drives all fan blades to rotate to a distribution state with a preset fluid propulsion angle of attack, forming a propeller working mode.

[0022] In some exemplary embodiments, the motor is fixed at the center of the sealed chamber housing, and the output shaft of the motor is coaxially connected to the drive shaft.

[0023] (III) Beneficial Effects

[0024] As can be seen from the above technical solution, the propeller-fin integrated variable-pitch propulsion device for autonomous underwater vehicles provided by the embodiments of the present invention has at least the following beneficial effects:

[0025] (1) It fundamentally solves the functional contradiction between high-speed cruise and safe operation, and realizes true "one machine, two states" self-adaptation. This device drives all blades to change the pitch angle synchronously and precisely through an innovative "electromagnetic linear drive - curved groove mechanical constraint" linkage mechanism, enabling it to fundamentally switch between high-efficiency propeller form and coplanar biomimetic fin form. This allows a single AUV platform to autonomously switch propulsion modes according to the mission scenario (such as rapid transfer between net cages and fine observation inside net cages), perfectly balancing the high thrust efficiency of traditional propellers with the low disturbance and high safety of biomimetic fin propulsion, breaking through the technical limitations of the single function of existing propellers.

[0026] (2) Significantly improved operational safety and concealment in sensitive environments. When the device is switched to the biomimetic fin form, all blades are locked in a coplanar state, completely eliminating the risk of physical cutting to aquatic organisms and fragile facilities by high-speed rotating blades. At the same time, the biomimetic oscillating propulsion achieved by the fish shank axis produces a smooth and continuous water flow, greatly reducing noise and wake disturbance, and truly meeting the rigid requirements of "undisturbed observation" and "bio-friendly" in sensitive environments such as enclosed aquaculture cages and coral reef areas.

[0027] (3) A highly integrated design is achieved, combining high reliability and compactness. This invention integrates the main propulsion motor, electromagnetic pitch drive assembly (coil and permanent magnet), and precision mechanical pitch actuator (push rod, connecting rod, curved groove) into a single sealed housing. This integrated design eliminates the need for external complex transmission chains, independent pitch control servos, or a second propulsion system. This not only significantly reduces potential failure points and sealing links, improving overall reliability in harsh underwater environments, but also effectively saves valuable internal space and load capacity of the AUV, making it particularly beneficial for the application of miniaturized, highly integrated observation AUVs.

[0028] (4) It possesses excellent low-speed maneuverability and maneuverability. In biomimetic fin mode, the device swings with two degrees of freedom of yaw and pitch through the fish-handle axis, allowing the entire "fin surface" to mimic the multi-directional flapping of a fish tail. This gives the AUV excellent maneuverability similar to that of fish at low speeds, such as turning on the spot, flexibly avoiding obstacles, and fine-tuning its attitude, which greatly enhances its maneuverability for delicate operations in complex and confined spaces such as net cages or underwater facilities.

[0029] (5) Precise control, rapid response, and good environmental adaptability. The pitch is changed by using electromagnetic drive combined with preset mechanical trajectory (variable pitch slot), which ensures high-precision synchronization and rapid response of all fan blade angle changes. Attached Figure Description

[0030] The above-described features, other objects, and advantages of the present invention will become clearer from the following description of embodiments of the invention with reference to the accompanying drawings, in which:

[0031] Figure 1 The schematic diagram shows an overall assembly isometric view of the propeller-fin integrated variable pitch propulsion device according to an embodiment of the present invention.

[0032] Figure 2 The schematic diagram shows an overall assembly bottom view of the propeller-fin integrated variable pitch propulsion device according to an embodiment of the present invention;

[0033] Figure 3 The schematic diagram illustrates the installation of a motor inside a sealed housing according to an embodiment of the present invention;

[0034] Figure 4 A schematic diagram of the structure of the fish handle shaft according to an embodiment of the present invention is shown;

[0035] Figure 5 A schematic diagram of a drive shaft (without end attachments) according to an embodiment of the present invention is shown.

[0036] Figure 6 The schematic diagram illustrates the structure of the magnetically driven hexagonal upper and lower slider mechanism according to an embodiment of the present invention;

[0037] Figure 7 This schematically illustrates a bottom view of the device after the lower plate has been removed according to an embodiment of the present invention.

[0038] Figure 8 The front and rear views of a fan blade push rod component according to an embodiment of the present invention are schematically shown.

[0039] Figure 9 A schematic diagram of a variable pitch connecting rod for fan blades according to an embodiment of the present invention is shown.

[0040] Figure 10 A schematic diagram of a fan blade component according to an embodiment of the present invention is shown.

[0041] Figure 11 The schematic diagram illustrates the installation and assembly relationship between the fan blades, push rod, and disk surface according to an embodiment of the present invention.

[0042] Figure 12 The diagram illustrates the assembly relationship between the fan blade, fan blade push rod, fan blade variable pitch connecting rod, and magnetically driven hexagonal upper and lower slider mechanism according to an embodiment of the present invention.

[0043] Figure 13 A schematic diagram of the upper disk surface component according to an embodiment of the present invention is shown;

[0044] Figure 14 A schematic diagram of a lower disk surface component according to an embodiment of the present invention is shown.

[0045] Figure 15 The diagram schematically shows a top view and a left view of the propeller-fin integrated variable pitch propulsion device according to an embodiment of the present invention in a biomimetic fin state.

[0046] Figure 16 The diagram schematically illustrates an isometric view and a top view of the propeller-integrated variable-pitch propulsion device according to an embodiment of the present invention in propeller mode;

[0047] Figure 17 A schematic diagram of an AUV (in bionic fin state) equipped with an integrated propeller-fin variable pitch propulsion device according to an embodiment of the present invention is shown.

[0048] Figure 18 A schematic diagram of an AUV (in propeller mode) equipped with an integrated propeller-fin variable pitch propulsion device according to an embodiment of the present invention is shown.

[0049] Figure label:

[0050] 1-Sealed chamber shell; 2-Motor; 3-Fish handle shaft; 4-Upper plate surface; 5-Lower plate surface; 6-Fan blade push rod slider; 7-Fan blade; 8-Magnetic drive hexagonal upper and lower slider mechanism; 9-Fan blade push rod; 10-Drive shaft; 11-Fan blade variable pitch connecting rod; 12-Fan blade root rotating shaft; 13-Lower plate groove; 14-Fan blade pitch connecting rod slot; 15-Upper plate groove; 16-Variable pitch slot; 17-Inner shaft guide rail; 18-Shaft hole; 19-Fan blade root rotating hole; 20-Fan blade pitch connecting rod hole; 21-Fan blade root pitch shaft; 22-Fan blade variable pitch connecting rod slider. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0052] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. The terms “comprising,” “including,” etc., as used herein indicate the presence of features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0053] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0054] like Figures 1 to 18As shown in the figure, this invention provides a propeller-fin integrated variable-pitch propulsion device for autonomous underwater vehicles. The specific embodiments of this invention will be described in detail below with reference to the accompanying drawings.

[0055] Figure 1 The schematic diagram shows an overall assembly isometric view of the propeller-fin integrated variable pitch propulsion device according to an embodiment of the present invention. Figure 2 The schematic diagram shows an overall assembly bottom view of the propeller-fin integrated variable pitch propulsion device according to an embodiment of the present invention.

[0056] like Figure 1 and Figure 2 As shown, the propeller-fin integrated variable-pitch propulsion device according to an embodiment of the present invention includes: a sealed chamber shell 1, a shank shaft 3, a drive assembly, multiple sets of propeller-fin variable-pitch actuators, and a guide plate assembly. All components work together to achieve active and rapid switching between propeller and biomimetic fin forms.

[0057] In this embodiment, the sealed chamber shell 1 constitutes the enclosed cavity of the device, used to house and protect the internal drive and transmission components. The sealed chamber shell 1 is connected to the autonomous underwater vehicle body via the swivel shaft 3. Figure 3 and Figure 4 As shown, one end of the fin shaft 3 is configured to be rotatably connected to the vehicle body, while the other end is connected to the sealed cabin shell 1 via a hinge shaft perpendicular to its own axis. This dual-degree-of-freedom connection structure enables the entire propulsion device to have yaw and pitch oscillation capabilities, providing a structural basis for flexible propulsion and maneuverability in biomimetic fin mode.

[0058] In an embodiment of the present invention, the drive assembly is housed inside the sealed housing 1 to provide rotational power and achieve synchronous adjustment of the pitch of the fan blades 7.

[0059] like Figure 3 As shown, the drive assembly includes a motor 2 fixedly mounted at the center of the axis of the housing 1. The output shaft of the motor 2 is coaxially connected to a hollow drive shaft 10, the structure of which is as follows: Figure 5 As shown. By Figure 5 It can be seen that an axially extending inner guide rail 17 is provided on the inner wall of the drive shaft 10. The magnetic drive hexagonal sliding block mechanism 8 is slidably disposed in the inner cavity of the drive shaft 10, and its outer contour matches the inner guide rail 17, ensuring that the magnetic drive hexagonal sliding block mechanism 8 can only slide along the axial direction of the drive shaft 10. The component structure of the magnetic drive hexagonal sliding block mechanism 8 is shown in [reference]. Figure 6 By employing a hollow drive shaft and combining it with a built-in internal guide rail, a compact integration and precise guidance of the magnetic drive slider mechanism are achieved, significantly saving axial space and contributing to the overall miniaturization of the device.

[0060] The drive assembly also includes an electromagnetic drive component for axially driving the magnetically driven hexagonal sliding block mechanism 8. This electromagnetic drive component has an electromagnetic coil fixed to the inner wall of the drive shaft 10 and a permanent magnet disposed within the magnetically driven hexagonal sliding block mechanism 8. By controlling the energization state of the electromagnetic coil, the sliding block mechanism can be precisely displaced axially using magnetic force. The cooperation between the guide rail and the hexagonal sliding block mechanism effectively restricts the non-axial degrees of freedom of the slider, ensuring its stability and repeatability in axial movement under electromagnetic drive, thus providing a reliable structural basis for the synchronous adjustment of the fan blade pitch. Furthermore, integrating the drive motor, electromagnetic coil, permanent magnet, and mechanical transmission mechanism all within the sealed housing significantly reduces external connecting parts and dynamic sealing links, not only lowering the risk of underwater leakage but also improving the overall reliability and maintenance convenience of the system in long-term operating environments.

[0061] In an embodiment of the present invention, multiple sets of paddle-fin pitch-changing actuators are uniformly arranged circumferentially along the drive shaft 10, see [link to relevant documentation]. Figure 7 Each propeller fin pitch control mechanism includes: a blade pusher 9, a blade variable pitch connecting rod 11, and a blade 7. The structure of the blade pusher 9 is as follows: Figure 8 As shown. The inner end of the fan blade push rod 9 is fixedly connected to the magnetic drive hexagonal upper and lower slider mechanism 8, and the rod body radially passes through the shaft hole 18 on the side wall of the drive shaft body 10 (see...). Figure 5 Extending outwards. The push rod is equipped with a fan blade push rod slider 6, and its end has a fan blade root rotating shaft 12, with a fan blade pitch connecting rod slot 14. The structure of the fan blade variable pitch connecting rod 11 is as follows: Figure 9 As shown. One end of it is provided with a variable pitch connecting rod slider 22 for the fan blade, and the other end is formed with a fan blade root pitch shaft 21. The independent structure of the fan blade 7 is as follows. Figure 10 As shown. Its root is provided with a blade root pivot hole 19 and a blade pitch connecting rod hole 20.

[0062] Figure 11 The schematic diagram illustrates the installation and assembly relationship between the fan blade 7, the push rod, and the disk surface according to an embodiment of the present invention. Figure 12 The diagram illustrates the assembly relationship between the fan blade 7, the fan blade push rod 9, the fan blade variable pitch connecting rod 11, and the magnetically driven hexagonal upper and lower slider mechanism 8 according to an embodiment of the present invention.

[0063] like Figure 11 and Figure 12As shown, the fan blade 7 is fitted onto the root shaft 12 of the fan blade push rod 9 through its root pivot hole 19, forming a first revolute joint. Simultaneously, the fan blade 7 is fitted onto the root pitch shaft 21 of the fan blade variable pitch connecting rod 11 through its pitch connecting rod hole 20, forming a second revolute joint. The connecting rod 11 passes through the slot 14 of the push rod 9 and can slide within it. Thus, the fan blade 7, the fan blade push rod 9, and the fan blade variable pitch connecting rod 11 constitute a four-bar linkage, and the pitch angle change of the fan blade 7 is controlled by the radial movement of the push rod 9 and the relative movement of the connecting rod 11.

[0064] The mechanism operates on the following principle: the fan blade push rod 9 acts as the active input rod, and its radial movement directly determines the basic rotation angle of the fan blade 7 around the first revolute joint. Simultaneously, the radial movement of the push rod 9 pushes the variable pitch connecting rod 11 of the fan blade via the slot 14, resulting in relative sliding. Since the slider 22 at the other end of the connecting rod 11 is constrained by the spatial trajectory of the variable pitch slot 16 on the upper plate 4, the movement of the connecting rod 11 is precisely guided, thereby applying additional angle adjustments to the fan blade 7 corresponding to the trajectory through the second revolute joint. After these two movements are combined by the four-bar linkage, high-precision, synchronized control of the pitch angles of all fan blades is achieved, providing a reliable mechanical basis for switching operating modes.

[0065] In an embodiment of the present invention, the guide plate assembly is fixedly mounted on the drive shaft 10 and located inside all the fan blades 7, for precisely guiding the movement trajectory of the fan blade push rod 9 and the connecting rod. The guide plate assembly includes a relatively fixed upper plate 4 and a lower plate 5. The structure of the upper plate 4 is as follows: Figure 13 As shown, the upper plate surface 4 has an upper plate groove 15 and a variable pitch slot 16 with a specific spatial trajectory. The structure of the lower plate surface 5 is as follows. Figure 14 As shown, a lower plate groove 13 is provided on the lower plate surface 5.

[0066] like Figure 11As shown, the slider 6 on the fan blade push rod 9 is simultaneously embedded in both the upper plate groove 15 and the lower plate groove 13, strictly limiting the radial movement of the fan blade push rod 9 within the trajectory defined by the grooves. Simultaneously, the slider 22 at the end of the variable pitch connecting rod 11 is embedded in the variable pitch slot 16 on the upper plate surface 4. The variable pitch slot 16 is not a simple straight slot, but a carefully designed spatial curve based on the target pitch angle variation law. When the fan blade push rod 9 moves radially under the drive of the slider, the slider 22 at the end of the connected variable pitch connecting rod 11 is forced to move along this preset slot trajectory. The curved shape of the slot directly maps the radial displacement of the push rod precisely to a specific two-dimensional position of the connecting rod slider within the slot, which is then converted into a precise rotation angle of the fan blade 7 around its root axis 12 via a four-bar linkage. Essentially, the variable pitch slot is a fixed "motion program" that transforms complex angle control logic into an intuitive mechanical contour, achieving open-loop high-precision control through physical contact.

[0067] The core working principle of the device of this invention is as follows: the axial displacement of the magnetically driven hexagonal upper and lower slider mechanism 8 is controlled by the electromagnetic drive component. This displacement drives all the fan blade push rods 9 to move synchronously radially along the guide grooves (13, 15). The radial movement of the push rods 9 forces the variable pitch connecting rod slider 22 of the fan blade to slide along the preset variable pitch groove 16 trajectory, thereby converting the linear displacement into the synchronous angular rotation of all the fan blades 7 around the fan blade root axis 12.

[0068] The trajectory of the variable pitch slot 16 is specifically designed to correspond to the two axial limit positions of the slider mechanism 8, thereby enabling the switching between two stable working modes:

[0069] (1) Bionic fin working mode: When the slider mechanism 8 moves to the first limit position (e.g. Figure 15 When (as shown), all fan blades 7 are driven to a completely coplanar state, forming a single biomimetic fin surface. In this configuration, motor 2 stops rotating. The autonomous underwater vehicle drives the swivel shaft 3 to cause the entire fin surface to oscillate biomimeticly (see [image of fin designation] for the effect). Figure 17 This design generates a smooth, continuous, and low-disturbance propulsion force. It completely eliminates the safety risks and water flow shear disturbances associated with high-speed rotating components, making it suitable for precision operations in enclosed or sensitive environments.

[0070] (2) Propeller working state: When the slider mechanism 8 moves to the second limit position (e.g. Figure 16 When (as shown), all fan blades 7 are driven to a helical distribution with the optimal angle of attack for fluid propulsion. In this configuration, the starter motor 2 drives the entire device (including the drive shaft 10, guide plate assembly, and all fan blades 7) to rotate, generating efficient axial thrust, suitable for high-speed cruising of autonomous underwater vehicles (see [example image] for onboard effect). Figure 18 ).

[0071] Those skilled in the art will understand that the features described in the various embodiments of the present invention can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in the present invention. In particular, the features described in the various embodiments of the present invention can be combined and / or combined in various ways without departing from the spirit and teachings of the present invention. All such combinations and / or combinations fall within the scope of the present invention.

Claims

1. A propeller-fin integrated variable-pitch propulsion device for autonomous underwater vehicles, characterized in that, include: The sealed cabin shell is connected to the main body of the autonomous underwater vehicle via a fish-handle shaft; The drive assembly is located inside the sealed chamber shell. The drive assembly includes a motor, a drive shaft driven to rotate by the motor, and a magnetic drive hexagonal up and down slider mechanism that can be axially slidably disposed in the drive shaft. Multiple sets of propeller-fin pitch-changing actuators are evenly distributed circumferentially around the drive shaft. Each set of propeller-fin pitch-changing actuators includes: a blade push rod, a blade variable pitch connecting rod, and a blade. The inner end of the blade push rod is connected to the magnetic drive hexagonal upper and lower slider mechanism and extends radially outward. The blade variable pitch connecting rod is slidably connected to the blade push rod. The blade is hinged to both the end of the blade push rod and the end of the blade variable pitch connecting rod. A guide plate assembly is fixedly mounted on the drive shaft and located inside the fan blade. The guide plate assembly includes an upper plate and a lower plate. The upper plate and the lower plate are provided with guide grooves for the fan blade push rod to slide radially. The upper plate is also provided with variable pitch slots that correspond to and cooperate with the variable pitch connecting rods of each fan blade. The magnetic drive hexagonal upper and lower slider mechanism is configured such that when it is driven to slide axially along the drive shaft, it drives all the fan blade push rods to move radially synchronously along the guide groove, and causes the ends of each fan blade variable pitch connecting rod to slide along the corresponding variable pitch groove, thereby driving all the fan blades to rotate synchronously around the hinge point with the fan blade push rod, so as to switch between the propeller working mode and the bionic fin working mode.

2. The propeller-fin integrated variable-pitch propulsion device for autonomous underwater vehicles according to claim 1, characterized in that, The drive assembly further includes an electromagnetic drive component for axially driving the magnetic drive hexagonal slider mechanism. The electromagnetic drive component includes an electromagnetic coil fixedly disposed on the inner wall of the drive shaft end and a permanent magnet disposed inside the magnetic drive hexagonal slider mechanism.

3. The propeller-fin integrated variable-pitch propulsion device for autonomous underwater vehicles according to claim 2, characterized in that, The inner wall of the drive shaft is provided with an axially extending inner shaft guide rail; The magnetic drive hexagonal slider mechanism is provided with a structure that cooperates with the inner guide rail of the shaft, so that the magnetic drive hexagonal slider mechanism slides only along the axial direction of the drive shaft.

4. The propeller-fin integrated variable-pitch propulsion device for autonomous underwater vehicles according to claim 1, characterized in that, The guide groove includes an upper plate groove formed on the upper plate surface and a lower plate groove formed on the lower plate surface. The fan blade push rod is equipped with a fan blade push rod slider, which is simultaneously embedded in the upper plate groove and the lower plate groove.

5. The propeller-fin integrated variable-pitch propulsion device for autonomous underwater vehicles according to claim 1, characterized in that, The end of the variable pitch connecting rod of the fan blade is provided with a variable pitch connecting rod slider, which is embedded in the variable pitch slot.

6. The propeller-fin integrated variable-pitch propulsion device for autonomous underwater vehicles according to claim 1, characterized in that, The root of the fan blade is provided with a fan blade root pivot hole and a fan blade pitch connecting rod hole. The end of the fan blade push rod is provided with a fan blade root rotating shaft that is inserted into the rotating hole at the root of the fan blade; The end of the variable pitch connecting rod of the fan blade is provided with a fan blade root pitch shaft that is inserted into the fan blade pitch connecting rod hole.

7. The propeller-fin integrated variable-pitch propulsion device for autonomous underwater vehicles according to claim 1, characterized in that, One end of the swivel shaft is used to be rotatably connected to the body of the autonomous underwater vehicle (AUV) in a 360° rotational manner, and the other end is connected to the sealed cabin shell via a hinge shaft perpendicular to the axis of the swivel shaft.

8. The propeller-fin integrated variable-pitch propulsion device for autonomous underwater vehicles according to claim 1, characterized in that, The fan blade push rod extends outward through the shaft hole opened on the side wall of the drive shaft body, and the fan blade push rod is provided with a fan blade pitch connecting rod slot for the fan blade variable pitch connecting rod to be installed and slid.

9. The propeller-fin integrated variable-pitch propulsion device for autonomous underwater vehicles according to claim 1, characterized in that, The trajectory of the variable pitch slot is configured as follows: When the magnetic drive hexagonal upper and lower slider mechanism slides to the first limit position, it drives all the fan blades to rotate to a coplanar state, forming a biomimetic fin working mode. When the slide reaches the second limit position, it drives all the fan blades to rotate to a distribution state with a preset fluid propulsion angle of attack, thus forming the working mode of the propeller.

10. The propeller-fin integrated variable-pitch propulsion device for an autonomous underwater vehicle according to any one of claims 1 to 9, characterized in that, The motor is fixed at the center of the axis of the sealed chamber shell, and the output shaft of the motor is coaxially connected to the drive shaft.

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