Full-degree-of-freedom telescopic propeller and carrying tool

Abstract

The invention discloses a full-degree-of-freedom telescopic thruster and a carrying tool. The thruster comprises a base frame; the telescopic assembly is mounted on the base frame; the spherical gear is mounted at the movable end of the telescopic assembly; the driving gear is mounted on the base frame and is meshed with the spherical gear; the first driving mechanism drives the driving gear to rotate around the axis of the driving gear; the second driving mechanism drives the driving gear to rotate around the first axis; the rotating assembly is connected with the spherical gear; the driving gear drives the spherical gear to rotate and drives the rotating assembly to act synchronously. The full-degree-of-freedom telescopic propeller is compact in structure, high in degree of freedom, high in universality and capable of being suitable for various carrying tools.

Description

Technical Field

[0001] This application relates to the field of propulsion and power system technology, and in particular to a fully free-degree-of-freedom retractable propulsion device and vehicle. Background Technology

[0002] Small and medium-sized waterborne vehicles and low-altitude flight vehicles generally place high demands on the structural integration, miniaturization, and lightweighting of their supporting power equipment. Specifically, waterborne vehicles operating in narrow waterways, at low speeds, and under complex hydrological conditions require power equipment with multi-degree-of-freedom output and flexible adjustment capabilities. Similarly, flight vehicles relying on high-degree-of-freedom response and stable output characteristics of their power equipment are essential during vertical takeoff and landing, flight attitude transitions, transitional conditions, and complex load changes.

[0003] The two types of vehicles have a high degree of similarity in terms of power performance, installation space and working condition adaptation requirements. However, in the existing technology, the power equipment in the water and air fields is mostly designed independently, with large structural differences, narrow adaptation range and insufficient versatility, resulting in high R&D costs, poor reusability and low resource utilization. Summary of the Invention

[0004] To address the aforementioned technical problems, this application proposes a fully free-range telescopic thruster with a compact structure, high degree of freedom, strong versatility, and applicability to various transport vehicles.

[0005] This application also proposes a vehicle having the aforementioned fully free-degree-of-freedom retractable thruster.

[0006] The fully free-degree-of-freedom retractable thruster of the first aspect of this application includes: Base frame; A telescopic assembly is installed on the base frame; A spherical gear is installed at the movable end of the telescopic assembly; The driving gear is mounted on the base frame and meshes with the spherical gear; The first drive mechanism drives the drive gear to rotate around its own axis; The second drive mechanism drives the drive gear to rotate around the first axis; A rotating assembly is connected to the spherical gear; The drive gear drives the spherical gear to rotate, causing the rotating component to move synchronously.

[0007] The fully degree-of-freedom retractable thruster according to the embodiments of this application has at least the following beneficial effects: The thruster in this embodiment integrates propulsion, steering, and telescopic functions in a highly integrated structure, reducing intermediate transmission links and additional structural components. This results in a compact and highly integrated overall structure, which is conducive to flexible arrangement on different platforms. It is especially suitable for vehicles with limited installation space or high requirements for lightweight and compactness. The rotation component is driven by the meshing of a drive gear and a spherical gear. The high degree of freedom of the rotation component allows the thruster to achieve continuous adjustment of the thrust direction, thereby significantly improving the thruster's adaptability in low-speed operation, attitude control, and complex working conditions.

[0008] In some embodiments of this application, the base frame includes an inner cylinder structure that defines a receiving cavity, and the drive gear is mounted in the receiving cavity; The side wall of the receiving cavity is provided with a strip-shaped hole that penetrates the inner cylinder structure, and the output end of the first drive mechanism passes through the strip-shaped hole to connect with the drive gear.

[0009] In some embodiments of this application, an outer cylinder structure is sleeved around the outer periphery of the inner cylinder structure, the first driving mechanism is installed on the outer cylinder structure, and the second driving mechanism is connected to the outer cylinder structure to drive the outer cylinder structure to rotate around its own axis; the rotation of the outer cylinder structure drives the first driving mechanism to rotate synchronously.

[0010] In some embodiments of this application, there are two drive gears, which are symmetrically arranged on both sides of the spherical gear.

[0011] In some embodiments of this application, the base frame includes an inner cylinder structure, and the drive gear is installed inside the inner cylinder structure; There are two drive gears, and two inner cylinder structures corresponding to the drive gears, with the two inner cylinder structures arranged concentrically.

[0012] In some embodiments of this application, the base frame includes an inner cylinder structure, and the drive gear is installed inside the inner cylinder structure; There are two drive gears, and two inner cylinder structures corresponding to the drive gears, with the axes of the two inner cylinder structures intersecting.

[0013] In some embodiments of this application, the telescopic component includes: The first roller is connected to the inner cylinder structure; The second roller passes through the first roller and is connected to the first roller in a driving manner. The first power component is connected to the second roller drive via the first reduction mechanism; The first power component drives the second roller to rotate, thereby causing the first roller to move axially.

[0014] In some embodiments of this application, the first roller is connected to the second roller via a planetary roller mechanism, the planetary roller mechanism being sleeved on the second roller.

[0015] In some embodiments of this application, the rotating assembly includes: Rotating component; The second power component is connected to the rotating component via a second reduction mechanism, and the second power component is connected to the spherical gear.

[0016] The vehicle according to the second aspect of this application includes the above-described fully retractable thruster; since the vehicle includes the above-described fully retractable thruster, it has at least all the beneficial effects of a fully retractable thruster.

[0017] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0018] The present application will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is an assembly diagram of a first embodiment of the thruster according to the first aspect of this application; Figure 2 for Figure 1 Enlarged view of point A in the middle; Figure 3 for Figure 1 Assembly diagram of the spherical gear and the driving gear; Figure 4 This is a simplified structural diagram of a second embodiment of the thruster according to the first aspect of this application.

[0019] Icon labels: Base frame 100, inner cylinder structure 110, strip hole 111, outer cylinder structure 120, first drive mechanism 121, second drive mechanism 122, first axis 123; Telescopic component 200, first roller 210, second roller 220, first power component 230, first reduction mechanism 240, planetary roller mechanism 250; 300 spherical gears; Drive gear 400; Rotating assembly 500, rotating component 510, second power component 520, and second reduction mechanism 530. Detailed Implementation

[0020] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0021] In the description of this application, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0022] In the description of this application, "multiple" refers to two or more. If "first" or "second" is mentioned, it is only for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of technical features indicated, or implicitly indicating the order of the technical features indicated.

[0023] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0024] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. The embodiments of this application may omit unnecessary detailed descriptions. For example, detailed descriptions of well-known matters and repeated descriptions of actually identical structures may be omitted. This is to avoid making the following description unnecessarily lengthy and to facilitate understanding by those skilled in the art.

[0025] In this application, the technical features described in an open-ended manner include both closed technical solutions consisting of the listed features and open technical solutions that include the listed features.

[0026] Reference Figures 1 to 4The first aspect of this application discloses a fully free-degree-of-freedom telescopic thruster, including a telescopic component 200, a spherical gear 300, a drive gear 400, and a rotating component 500. The spherical gear 300 is installed on the movable end of the telescopic component 200, and the rotating component 500 is connected to the spherical gear 300. The drive gear 400 drives the spherical gear 300 to rotate, thereby causing the rotating component 500 to move synchronously. The rotating component 500 outputs power outward.

[0027] Combination Figure 1 and Figure 2 In the illustrated embodiment, the propeller further includes a base frame 100, a first drive mechanism 121, and a second drive mechanism 122. The telescopic assembly 200 is integrally mounted on the base frame 100; the drive gear 400 and the spherical gear 300 maintain a meshing relationship. The first drive mechanism 121 drives the drive gear 400 to rotate around its own axis, while the second drive mechanism 122 drives the drive gear 400 to rotate around a first axis 123. The specific selection of the first drive mechanism 121 and the second drive mechanism 122 can be flexibly chosen based on actual propulsion power, control accuracy, and space requirements; no specific type is limited in this embodiment.

[0028] The thruster in this embodiment integrates propulsion output, directional steering, and axial extension into a single mechanical structure, effectively reducing intermediate transmission links and redundant additional structural components common in traditional solutions. This results in a compact and highly integrated thruster, allowing it to flexibly adapt to different mobile platforms, particularly suitable for various transport vehicles with strictly limited installation space or extremely high requirements for lightweight and compact design. The thruster achieves multi-directional movement of the rotating component 500 through the meshing transmission of the drive gear 400 and the ball gear 300, giving the rotating component 500 a very high degree of freedom of motion. This enables continuous and smooth adjustment of the thrust vector direction, enhancing the thruster's adaptability and performance in precision manipulation, complex attitude control, and diverse operating conditions.

[0029] In some specific embodiments of this application, such as Figure 2 As shown, the base frame 100 includes an inner cylinder structure 110, which defines a receiving cavity, and the drive gear 400 is installed in the receiving cavity; a strip-shaped hole 111 is provided on the side wall of the receiving cavity, which penetrates the inner cylinder structure 110, and the power output end of the first drive mechanism 121 passes through the strip-shaped hole 111 and connects with the drive gear 400 inside, thereby transmitting torque.

[0030] In some specific embodiments of this application, an outer cylinder structure 120 is coaxially sleeved around the inner cylinder structure 110. A first drive mechanism 121 is mounted and fixed on the outer cylinder structure 120, and a second drive mechanism 122 is connected to the outer cylinder structure 120, driving the outer cylinder structure 120 to rotate around its own axis. The first axis 123 coincides with the axis of the outer cylinder structure 120. When the outer cylinder structure 120 rotates, the first drive mechanism 121 mounted on it also rotates synchronously, thereby driving the drive gear 400 to rotate around the first axis 123. It should be noted that the outer cylinder structure 120 does not drive the inner cylinder structure 110 to rotate together when it rotates; on the contrary, the length of the strip hole 111 on the side wall of the inner cylinder structure 110 physically constitutes a mechanical limit on the maximum rotation angle of the outer cylinder structure 120. That is to say, the effective length of the strip hole 111 determines the end position of the stroke of the drive gear 400 when it rotates around the first axis 123.

[0031] In some embodiments of this application, the number of driving gears 400 can be set to two, and the two driving gears 400 are arranged symmetrically about the spherical gear 300. Specifically, the two driving gears 400 can be... Figure 2 As shown, they are arranged symmetrically in the same plane; alternatively, they can be used... Figure 4 The arrangement shown is symmetrical in space at a certain angle.

[0032] In some specific embodiments of this application, such as Figure 2 As shown, the base frame 100 includes an inner cylinder structure 110, and the drive gear 400 is installed inside the inner cylinder structure 110. When two drive gears 400 are provided, there are also two corresponding inner cylinder structures 110, and these two inner cylinder structures 110 are arranged concentrically.

[0033] like Figure 4 In another embodiment shown, the base frame 100 also includes an inner cylinder structure 110 for mounting the drive gear 400. In the configuration with two drive gears 400, the corresponding two inner cylinder structures 110 are arranged symmetrically at a certain included angle, and the axes of the two inner cylinder structures 110 intersect in space.

[0034] In practical applications, designers can flexibly choose the appropriate design based on the actual internal space shape and layout constraints of the vehicle. Figure 2 The concentric arrangement shown or Figure 4 The inner cylinder structure 110 is arranged in a way that the axes intersect as shown.

[0035] In the embodiments of this application, the number of the drive gear 400 and the matching inner cylinder structure 110 is not limited to two; depending on the actual thrust requirements, control redundancy or spatial configuration, it can be expanded to three, four, five or even more.

[0036] In some embodiments of this application, the rotating assembly 500 includes a rotating member 510 and a second power member 520. The second power member 520 is connected to the rotating member 510 via a second reduction mechanism 530, and simultaneously maintains a connection with the spherical gear 300. When the propulsion of this embodiment is applied to an aircraft, the rotating member 510 is typically a rotor; when applied to a surface or underwater vehicle, the rotating member 510 is typically a propeller. The second reduction mechanism 530 preferably adopts a... Figure 4 The planetary gear reduction mechanism shown is designed to achieve efficient and compact speed reduction and torque increase.

[0037] In some embodiments of this application, reference is made to Figure 1 As shown, the telescopic assembly 200 includes a first roller 210 and a second roller 220. The first roller 210 is connected to the inner cylinder structure 110, and the second roller 220 passes through the first roller 210 and is drive-connected to the first roller 210. Specifically, the second roller 220 is connected to the first power component 230 through a first reduction mechanism 240. The first power component 230 drives the second roller 220 to rotate, which in turn drives the first roller 210 to produce axial linear movement through the transmission relationship, ultimately realizing the extension or retraction of the entire rotating assembly 500, thereby enabling the thruster to flexibly cope with various complex application scenarios.

[0038] For example, when the rotating component 510 is a rotor structure and is applied to an aircraft, the telescopic component 200 drives the rotating component 500 to extend, which can effectively enhance the thrust output and control capability of the propeller in situations requiring high-precision control or a large thrust lever arm; in high-speed flight or cruise mode, the telescopic component 200 drives the rotating component 500 to retract, so as to reduce aerodynamic additional drag and external contour interference, thereby significantly improving the overall propulsion efficiency of the aircraft and reducing energy consumption.

[0039] When the rotating component 510 is a propeller and is applied to a ship or underwater vehicle, in specific applications, the telescopic component 200 of the device can actively drive the rotating component 500 to perform precise telescopic movements. Through a dynamic adjustment mechanism, it can improve the overall maneuverability and flexibility of the vehicle, such as a small boat or a special work platform, when navigating narrow waters, performing low-speed fine maneuvers, or dealing with complex and changing working conditions.

[0040] Some specific embodiments provided in this application can be referenced in conjunction with the appendix. Figure 1 With appendix Figure 4 The structural diagram shown illustrates that the first reduction mechanism 240 is constructed from multiple precisely meshing gears combined according to a specific transmission ratio. This gear meshing structure ensures the smoothness and reliability of power transmission.

[0041] Furthermore, in some embodiments of this application, the first roller 210 and the second roller 220 are effectively connected and transmitted power through a planetary roller mechanism 250, which is mounted on the second roller 220. The planetary roller mechanism 250 increases the torque capacity carried when transmitting power from the second roller 220 to the first roller 210, thereby significantly enhancing the structural stability and power output reliability of the entire device under heavy load or variable operating conditions. The specific configuration of the planetary roller mechanism 250, such as the arrangement, number, or tooth profile of its rollers, can be adapted to various requirements and mechanical constraints of the actual application scenario. In this embodiment, its specific form is not limited.

[0042] The second aspect of this application discloses a vehicle that integrates the aforementioned fully retractable thruster as its core propulsion module. Since the vehicle fully includes the aforementioned fully retractable thruster, it possesses at least all the technical advantages and beneficial effects that the thruster can provide, which will not be repeated here.

[0043] Throughout this specification, references to "implementation method," "partial implementation method," "one implementation method," "another method," "specific method," or "partial method" mean that at least one implementation method or embodiment in this application includes the specific features, structures, materials, or characteristics described in that implementation method or embodiment.

[0044] In this application, numerical ranges are involved. Unless otherwise specified, the numerical ranges mentioned above are considered continuous and include the minimum and maximum values ​​of the range, as well as every value between the minimum and maximum values. Any lower limit can be combined with any upper limit to form an unspecified range; and any lower limit can be combined with other lower limits to form an unspecified range, just as any upper limit can be combined with any other upper limit to form an unspecified range. Furthermore, each individually disclosed point or single value can itself serve as a lower or upper limit and be combined with any other point or single value or with other lower or upper limits to form an unspecified range.

[0045] Although illustrative embodiments have been demonstrated and described, those skilled in the art should understand that the above embodiments should not be construed as limiting the present application, and that changes, substitutions and modifications can be made to the embodiments without departing from the spirit, principles and scope of the present application.

Claims

1. A fully free-degree-of-freedom retractable thruster, characterized in that, include: Base frame; A telescopic assembly is installed on the base frame; A spherical gear is installed at the movable end of the telescopic assembly; The driving gear is mounted on the base frame and meshes with the spherical gear; The first drive mechanism drives the drive gear to rotate around its own axis; The second drive mechanism drives the drive gear to rotate around the first axis; A rotating assembly is connected to the spherical gear; The drive gear drives the spherical gear to rotate, causing the rotating component to move synchronously.

2. The fully free-degree-of-freedom retractable thruster according to claim 1, characterized in that, The base frame includes an inner cylinder structure that defines a receiving cavity, and the drive gear is installed inside the receiving cavity; The side wall of the receiving cavity is provided with a strip-shaped hole that penetrates the inner cylinder structure, and the output end of the first drive mechanism passes through the strip-shaped hole to connect with the drive gear.

3. The fully free-degree-of-freedom retractable thruster according to claim 2, characterized in that, An outer cylinder structure is fitted around the outer periphery of the inner cylinder structure. The first driving mechanism is installed on the outer cylinder structure, and the second driving mechanism is connected to the outer cylinder structure to drive the outer cylinder structure to rotate around its own axis. The rotation of the outer cylinder structure drives the first driving mechanism to rotate synchronously.

4. The fully free-degree-of-freedom retractable thruster according to claim 1, characterized in that, There are two drive gears, which are symmetrically arranged on both sides of the spherical gear.

5. The fully free-degree-of-freedom retractable thruster according to claim 1, characterized in that, The base frame includes an inner cylinder structure, and the drive gear is installed inside the inner cylinder structure; There are two drive gears, and two inner cylinder structures corresponding to the drive gears, with the two inner cylinder structures arranged concentrically.

6. The fully free-degree-of-freedom retractable thruster according to claim 1, characterized in that, The base frame includes an inner cylinder structure, and the drive gear is installed inside the inner cylinder structure; There are two drive gears, and two inner cylinder structures corresponding to the drive gears, with the axes of the two inner cylinder structures intersecting.

7. The fully free-degree-of-freedom retractable thruster according to claim 2, characterized in that, The telescopic component includes: The first roller is connected to the inner cylinder structure; The second roller passes through the first roller and is connected to the first roller in a driving manner. The first power component is connected to the second roller drive via the first reduction mechanism; The first power component drives the second roller to rotate, thereby causing the first roller to move axially.

8. The fully free-degree-of-freedom retractable thruster according to claim 7, characterized in that, The first roller is connected to the second roller via a planetary roller mechanism, which is sleeved on the second roller.

9. The fully free-degree-of-freedom retractable thruster according to claim 1, characterized in that, The rotating assembly includes: Rotating component; The second power component is connected to the rotating component via a second reduction mechanism, and the second power component is connected to the spherical gear.

10. A means of transport, characterized in that, Includes the fully free-degree-of-freedom retractable thruster as described in any one of claims 1 to 9.

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