A marine deep-sea hydraulic rotary actuator

Abstract

This invention relates to the field of marine propulsion technology, and in particular to a deep-sea hydraulic rotary actuator for marine applications. The actuator includes an underwater hull and a hydraulic conveyor installed below the hull. A rotating shaft is fixedly mounted at the output end of the hydraulic conveyor, and a universal joint is fixedly mounted at the end of the rotating shaft away from the hydraulic conveyor. A detachable connection structure is provided at the end of the universal joint away from the rotating shaft. This invention utilizes water flow accelerated through a drainage chamber and then directionally ejected from a guide hole. This jet is located near the low-pressure area on the back of the propeller, effectively filling the pressure vacuum, suppressing cavitation formation, and guiding existing cavitation bubbles to collapse in an orderly manner, reducing localized impact. This structure converts rotational kinetic energy into localized flow control capability. Through the coordination of internal drainage and external injection, it significantly reduces thrust fluctuations, vibration noise, and material cavitation risks caused by cavitation, thereby ensuring the long-term stable operation of the propeller in the deep sea.

Description

Technical Field

[0001] This invention relates to the field of marine propulsion technology, and in particular to a deep-sea hydraulic rotary actuator for marine applications. Background Technology

[0002] Deep-sea exploration and resource development place extremely high demands on the propulsion performance of underwater equipment. Traditional marine deep-sea propulsion devices have significant drawbacks: First, propellers are prone to cavitation under high-pressure and high-speed conditions, leading to thrust fluctuations, reduced efficiency, material erosion, and vibration noise, severely impacting equipment lifespan and reliability. Second, deep-sea organisms easily adhere to the blade surface, altering hydrodynamic characteristics and being difficult to clean. Third, most propellers have fixed angles, limiting maneuverability and preventing precise multi-degree-of-freedom control. Furthermore, single-function systems struggle to simultaneously address propulsion, cavitation resistance, and self-cleaning requirements. Existing technologies typically employ subsystems to address these issues, resulting in complex structures, low reliability, and difficult maintenance. Therefore, there is an urgent need to develop a hydraulic rotary actuator. Summary of the Invention

[0003] To overcome the shortcomings of the prior art, the present invention provides a deep-sea hydraulic rotary actuator for marine applications.

[0004] To solve the above-mentioned technical problems, the present invention provides the following technical solution: It includes an underwater execution hull and a hydraulic conveyor installed below the underwater execution hull. A rotating shaft is fixedly installed at the output end of the hydraulic conveyor. A universal joint is fixedly installed at the end of the rotating shaft away from the hydraulic conveyor. A detachable connecting structure is provided at the end of the universal joint away from the rotating shaft. An expansion joint is provided below the underwater execution hull. A connecting frame is fixedly installed at the output end of the expansion joint. A second connecting cylinder is movably installed inside the connecting frame. A rotating column is provided inside the second connecting cylinder. One end of the rotating column is fixedly connected to one end of the connecting structure. The end of the rotating column away from the connecting structure passes through the inner side of the second connecting cylinder and has movable propellers arranged equidistantly around its circumference. The outer side of the second connecting cylinder... A fixed propeller guide tube is provided at the position corresponding to the propeller. A fourth mounting cavity is opened inside the rotating column, and a fixed rotating propeller is installed inside the fourth mounting cavity. A first liquid inlet groove is opened at equal intervals on the outer side of the second connecting cylinder. Several water spray structures that communicate with the inside of the second connecting cylinder are fixedly installed on the outer side of the second connecting cylinder. The first liquid inlet grooves and water spray structures are symmetrically distributed on the front and rear sides of the fourth mounting cavity. Two second liquid inlet grooves are opened on the outer side of the rotating column corresponding to the position of the fourth mounting cavity. The two second liquid inlet grooves are respectively set at the positions corresponding to the first liquid inlet grooves and water spray structures. A guide hole is opened at one end of the rotating column. A drainage cavity that communicates with the fourth mounting cavity is opened on the end face of the guide hole. A sliding plugging structure is provided inside the guide hole.

[0005] As a preferred embodiment of the present invention, a first connecting rod is fixedly installed at equal intervals on the outer side of the second connecting cylinder, and the side of the first connecting rod away from the second connecting cylinder is fixedly installed on the inner side of the propeller guide tube.

[0006] As a preferred embodiment of the present invention, two sliding grooves are symmetrically opened on the outer side of the second connecting cylinder corresponding to the inner side of the connecting frame. The sliding grooves are rectangular grooves. A second connecting column is fixedly installed on the side of the connecting frame corresponding to the position of the sliding groove. The second connecting column is slidably installed inside the sliding groove.

[0007] As a preferred embodiment of the present invention, the rotating column has a first mounting cavity inside, a movable cavity on the end face of the first mounting cavity, and guide cavities equidistantly formed on the side of the movable cavity. A second mounting cavity is formed on the inner side of the rotating column corresponding to the guide cavity. A third mounting cavity is formed on the side of the second mounting cavity equidistantly corresponding to the wall of the second connecting cylinder. A fixed first hydraulic telescopic device is provided inside the third mounting cavity. An adapter ring is fixedly installed at the output end of the first hydraulic telescopic device corresponding to the position of the second mounting cavity. A movable column is movably installed inside the movable cavity. A second connecting rod is fixedly installed on the side of the movable column corresponding to the position of the guide cavity. One end of the second connecting rod extends into the interior of the adapter ring. A rotating hole is formed inside the rotating column corresponding to the position of the propeller. A rotating shaft is rotatably installed inside the rotating hole. A fixed gear is fixedly installed at one end of the rotating shaft corresponding to the interior of the first mounting cavity. A movable rack that meshes with the fixed gear is fixedly installed at the position corresponding to the fixed gear at one end of the movable column extending into the interior of the first mounting cavity.

[0008] As a preferred embodiment of the present invention, a first connecting block is fixedly installed at the end of the rotating shaft away from the fixed gear, the propulsion propeller is fixedly installed at the end of the first connecting block away from the rotating shaft, a bearing seat is fixedly installed on the outer side of the rotating column corresponding to the position of the first connecting block, and the first connecting block is rotatably installed on the inner side of the bearing seat.

[0009] As a preferred embodiment of the present invention, the blocking structure includes a movable hole formed on the end face of the guide hole, the movable hole extending into the interior of the first mounting cavity, a guide rod being movably mounted inside the movable hole, one end of the guide rod extending into the interior of the first mounting cavity and fixedly mounted with a second connecting block, the end of the second connecting block away from the guide rod being fixedly mounted on the side of the movable rack, and the other end of the guide rod extending through the guide hole to the side of the rotating column and fixedly mounted with a blocking block adapted to the guide hole.

[0010] As a preferred embodiment of the present invention, the water spraying structure includes a liquid outlet pipe fixedly installed on the outside of the second connecting cylinder. The inside of the liquid outlet pipe is interconnected with the inside of the fourth mounting cavity through the second liquid inlet groove. A solenoid valve is provided on the side of the liquid outlet pipe, and a water spraying pipe is fixedly installed on the side of the liquid outlet pipe.

[0011] As a preferred embodiment of the present invention, the angles between the liquid outlet pipe and the water spray pipe are different among the plurality of water spray structures.

[0012] As a preferred embodiment of the present invention, the connection structure includes a first connecting cylinder fixedly installed on the side of the universal joint and a first connecting post fixedly installed on the end face of the rotating column. The first connecting post extends into the interior of the first connecting cylinder. The sides of the first connecting cylinder and the first connecting post are provided with slots, and the interior of the slots is provided with pins that penetrate the slots.

[0013] Compared with the prior art, the beneficial effects that this invention can achieve are: 1. This invention effectively mitigates cavitation effects and improves propulsion stability and component lifespan through the coordinated design of the rotating propeller, the fourth mounting cavity, the drainage cavity, and the guide hole. When the propeller generates a low-pressure area at high speed, the synchronously rotating propeller injects external water into the fourth mounting cavity through the first and second inlet channels, forming an internal flow channel. After being accelerated by the drainage cavity, the water is directionally ejected from the guide hole. This jet is located near the low-pressure area on the back of the propeller, which can promptly fill the pressure vacuum, suppress the scale of cavitation formation, and guide existing cavitation bubbles to collapse in an orderly manner, reducing local impact. This structure converts rotational kinetic energy into local flow control capability. Through the combination of internal drainage and external injection, it significantly reduces thrust fluctuations, vibration noise, and material cavitation risks caused by cavitation, thereby ensuring the long-term stable operation of the propeller in the deep sea.

[0014] 2. This invention uses a telescopic drive to connect the frame, which is then driven by the sliding pair between the second connecting column and the chute to change the inclination angle of the second connecting cylinder. Combined with the linkage between the blocking structure and the water spray structure, it achieves efficient self-cleaning of the propeller. When entering the cleaning mode, the telescopic action causes the propeller guide tube to protrude above the water surface. At the same time, the displacement of the moving rack drives the block to block the guide hole through the second connecting block and opens the solenoid valve. The water flow pumped into the rotating propeller is forced to change course and is sprayed out from multiple water spray pipes at different angles through the outlet pipe, forming a multi-angle interwoven water jet network. During the flushing process, the block moves inside the guide hole to change the position of the propeller being flushed, thus thoroughly flushing the rotating propeller blades. This design uses the device's own hydraulic power and rotation as the cleaning source, without the need for additional equipment, to achieve automated and full-coverage cleaning of marine organisms or dirt attached to the blade surface, greatly reducing the difficulty and cost of underwater maintenance operations.

[0015] 3. This invention drives the connecting frame to move vertically via a telescopic device located beneath the underwater hull. Through the precise sliding of the second connecting column within the groove, the entire second connecting cylinder and its internal propulsion unit are driven to pitch and swing around the universal joint pivot point, thus achieving adjustment of the thrust direction. This structure does not rely on the coordinated operation of multiple propellers; it can continuously and flexibly change the thrust direction and point of application solely through the extension and retraction of a single hydraulic actuator. As a result, the underwater hull achieves excellent maneuverability, enhancing its adaptability and control precision in complex underwater terrain, and meeting the high maneuverability requirements of precision operations.

[0016] 4. This invention drives the adapter ring through the first hydraulic telescoping device, which in turn pushes the movable column and the moving rack to make linear motion via the second connecting rod. Through meshing with the fixed gear, the linear hydraulic power is converted into the rotational motion of the rotating shaft, ultimately achieving synchronous adjustment of the propeller angle. The thrust magnitude and direction (forward or reverse) can be infinitely adjusted simply by changing the propeller angle. This function, combined with the aforementioned pitching and oscillating motion of the second connecting cylinder and the internal propulsion unit around the universal joint pivot point, gives the propulsion system extremely high controllability and power response speed, enabling it to quickly adapt to different navigation conditions and achieve precise power distribution and excellent maneuverability.

[0017] 5. This invention achieves efficient power transmission over large angles through a universal joint and employs a quick-release connection structure consisting of a first connecting cylinder, a first connecting column, and a pin. This transforms the hydraulic conveyor and propulsion execution module into separable independent modules, greatly improving the system's modularity, maintenance convenience, and reliability. The pin connection allows for quick separation of the entire underwater propulsion unit from the surface power source for overall hoisting and replacement when maintenance is required, avoiding complex underwater disassembly operations. The universal joint ensures the continuity and stability of power transmission during adjustment. This modular design highly integrates multiple functions such as propulsion, anti-cavitation, cleaning, and vector thrust angle adjustment into a compact unit, reducing the number of external pipelines and independent actuators, lowering the overall system complexity and potential failure points, and improving operational reliability and maintainability in harsh deep-sea environments. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the working state of the present invention; Figure 2 This is a schematic diagram of the cleaning state structure during the operation of the present invention; Figure 3 This is a partial structural diagram of the second connecting cylinder in the working state of the present invention; Figure 4 This is a side sectional view of the rotating column of the present invention; Figure 5 This is a side sectional view of the first mounting cavity of the present invention; Figure 6 For the present invention Figure 5 Enlarged schematic diagram of the structure at point A in the middle; Figure 7 This is a side sectional view of the second connecting cylinder of the present invention; Figure 8 This is a side sectional view of the thruster duct of the present invention; Figure 9 This is a side sectional view of the universal joint of the present invention; Figure 10 For the present invention Figure 9 Enlarged schematic diagram of the structure at point B; Figure 11 For the present invention Figure 9 Enlarged schematic diagram of the structure at point C.

[0019] Wherein: 1. Hydraulic conveyor; 2. Rotating shaft; 3. Universal joint; 411. First connecting cylinder; 412. First connecting column; 413. Slot; 414. Pin; 511. Second connecting cylinder; 512. First connecting rod; 513. Propeller guide tube; 611. Rotating column; 612. Propeller propeller; 613. Rotating hole; 614. Rotating shaft; 615. First connecting block; 616. Bearing seat; 617. Fixed gear; 618. Moving rack; 619. First mounting cavity; 621. Movable cavity; 622. Guide cavity; 623. 624. Third mounting cavity; 625. First hydraulic expansion joint; 626. Adaptor ring; 627. Movable column; 628. Second connecting rod; 631. First liquid inlet groove; 632. Second liquid inlet groove; 633. Rotating paddle; 634. Liquid outlet pipe; 635. Solenoid valve; 636. Fourth mounting cavity; 637. Water spray pipe; 641. Movable hole; 642. Guide hole; 643. Second connecting block; 644. Guide rod; 645. Drainage cavity; 646. Block; 711. Slide groove; 712. Connecting frame; 713. Second connecting column. Detailed Implementation

[0020] To make the technical means, creative features, and achieved objectives and effects of this invention easier to understand, the invention is further described below with reference to specific embodiments. However, the following embodiments are merely preferred embodiments of this invention and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments described herein without creative effort are all within the protection scope of this invention. Unless otherwise specified, the experimental methods in the following embodiments are conventional methods, and the materials and reagents used in the following embodiments are commercially available unless otherwise specified.

[0021] Example: Figure 1 , Figure 4 , Figure 7 , Figure 8 , Figure 10 and Figure 11 As shown, a deep-sea hydraulic rotary actuator for marine applications includes an underwater hull and a hydraulic conveyor 1 installed below the hull. A rotating shaft 2 is fixedly mounted at the output end of the hydraulic conveyor 1. A universal joint 3 is fixedly mounted at the end of the rotating shaft 2 away from the hydraulic conveyor 1. A detachable connecting structure is provided at the end of the universal joint 3 away from the rotating shaft 2. An expansion joint is located below the underwater hull. A connecting frame 712 is fixedly mounted at the output end of the expansion joint. A second connecting cylinder 511 is movably mounted inside the connecting frame 712. A rotating column 611 is located inside the second connecting cylinder 511. One end of the rotating column 611 is fixedly connected to one end of the connecting structure. The end of the rotating column 611 away from the connecting structure passes through the inner side of the second connecting cylinder 511 and is equidistantly arranged with movable propellers 612. A fixed... The propeller duct 513 is fixed. The rotating column 611 has a fourth mounting cavity 636 inside. The fourth mounting cavity 636 is equipped with a fixed rotating paddle 633. The outer side of the second connecting cylinder 511 has a first liquid inlet groove 631 equidistantly opened. Several water spray structures that communicate with the inside of the second connecting cylinder 511 are fixedly installed on the outer side of the second connecting cylinder 511. The first liquid inlet groove 631 and the water spray structures are symmetrically distributed on the front and rear sides of the fourth mounting cavity 636. The outer side of the rotating column 611 has two second liquid inlet grooves 632 corresponding to the position of the fourth mounting cavity 636. The two second liquid inlet grooves 632 are respectively set at the positions corresponding to the first liquid inlet groove 631 and the water spray structures. One end of the rotating column 611 has a guide hole 642. The end face of the guide hole 642 has a drainage cavity 645 that communicates with the fourth mounting cavity 636. The guide hole 642 is equipped with a sliding blocking structure. More specifically, during underwater operations, the thruster axis is horizontal and parallel to the direction of travel. The hydraulic conveyor 1 is activated, driving the rotating shaft 2 to rotate. The rotating shaft 2 drives the universal joint 3 to rotate, which in turn drives the connecting structure to rotate. The connecting structure then drives the rotating column 611 to rotate. The rotating column 611 rotates inside the second connecting cylinder 511, which in turn drives the propeller 612 to rotate inside the thruster duct 513 to provide thrust. During this process, the water jet structure is shut off. During operation, when the propeller 612 rotates at high speed, the pressure on the back of the propeller 612 drops drastically. When the pressure falls below the saturated vapor pressure at that water temperature, the water boils and produces a large number of bubbles. As the water flows towards the high-pressure area, the air bubbles collapse instantaneously. This cavitation zone alters the hydrodynamic shape of the propeller 612, causing thrust fluctuations and vibrations. The instantaneous collapse of the bubbles generates extremely high local impact pressure, which over time can lead to fatigue and spalling of the metal material. The propeller conduit 513 accelerates the water flow into the propeller 612, improving the inflow condition and making the outflow wake more uniform, thereby increasing efficiency and delaying cavitation. During operation, the rotating blade 633 rotates synchronously with the rotating column 611. The rotation of the blade 633 causes water to enter the fourth mounting cavity 636 through the first inlet groove 631 and the second inlet groove 632, and then exit through the drainage cavity 645 and the guide hole 642. The discharged water forms... The water flow further guides the direction of the air bubbles to reduce the damage caused by cavitation. When the operation is completed, the underwater execution vessel rises to the surface. The telescopic device located below the underwater execution vessel drives the connecting frame 712 to move upward. The connecting frame 712 drives the second connecting cylinder 511 to tilt upward, so that the position of the first liquid inlet 631 is at the position of the underwater thruster guide tube 513 on the water surface, making the second connecting cylinder 511 tilted upward. The guide hole 642 is blocked by the blocking structure, the water spray structure is turned on, and the hydraulic conveyor 1 is started. The hydraulic conveyor 1 drives the rotating shaft 2 to rotate, the rotating shaft 2 drives the universal joint 3 to rotate, the universal joint 3 drives the connecting structure to rotate, and the connecting structure drives the rotating column. Rotating column 611 rotates inside the second connecting cylinder 511, driving propeller 612 to rotate inside the propeller duct 513. Rotating blade 633 rotates synchronously with rotating column 611. The rotation of blade 633 causes water to enter the fourth mounting cavity 636 through the first and second inlet channels 631 and 632, then is sprayed out through a water spray structure. The sprayed water comes into contact with the rotating propeller 612, impacting the bio-assisted substances adhering to the side of the propeller 612. During this impact, the propeller 612 rotates, evenly rinsing the outer surface of the propeller 612 and improving the cleaning effect.During underwater operations, a telescopic device located below the underwater hull moves the connecting frame 712 upwards or downwards, causing the second connecting cylinder 511 to swing, thereby changing the angle of the propeller 612 and altering the direction of movement of the underwater hull. like Figure 4 As shown, specifically, the connection structure includes a first connecting cylinder 411 fixedly installed on the side of the universal joint 3 and a first connecting post 412 fixedly installed on the end face of the rotating post 611. The first connecting post 412 extends into the interior of the first connecting cylinder 411. The sides of the first connecting cylinder 411 and the first connecting post 412 are provided with slots 413. The interior of the slot 413 is provided with a pin 414 that passes through the slot 413. The pin 414 and the first connecting post 412 are fixed by passing the pin 414 through the interior of the slot 413. The first connecting cylinder 411 and the first connecting post 412 are fixedly connected by the pin 414. like Figure 9 , Figure 10 and Figure 11As shown, specifically, a first connecting rod 512 is fixedly installed at equal intervals on the outer side of the second connecting cylinder 511. The side of the first connecting rod 512 away from the second connecting cylinder 511 is fixedly installed on the inner side of the thruster guide tube 513. The thruster guide tube 513 is fixedly installed through the first connecting rod 512. Two sliding grooves 711 are symmetrically opened on the outer side of the second connecting cylinder 511 corresponding to the inner side of the connecting frame 712. The sliding grooves 711 are rectangular grooves. A second connecting post 713 is fixedly installed on the side of the connecting frame 712 corresponding to the position of the sliding grooves 711. The second connecting column 713 is slidably installed inside the slide groove 711. The telescopic device below the underwater actuator drives the connecting frame 712 to move vertically. When the connecting frame 712 moves, the second connecting column 713 slides inside the slide groove 711, thereby changing the tilt angle of the second connecting cylinder 511. The rotating column 611 has a first mounting cavity 619 inside, and a movable cavity 621 is formed on the end face of the first mounting cavity 619. Guide cavities 622 are formed equidistantly on the side of the movable cavity 621. The rotating column 611 has a first mounting cavity 619 inside, and a movable cavity 621 is formed on the end face of the first mounting cavity 619. Guide cavities 622 are formed on the side of the movable cavity 621. A second mounting cavity 623 is provided on the side corresponding to the guide cavity 622. A third mounting cavity 624 is provided on the side of the second mounting cavity 623 at equal intervals to the wall of the second connecting cylinder 511. A fixed first hydraulic expansion joint 625 is provided inside the third mounting cavity 624. An adapter ring 626 is fixedly installed at the output end of the first hydraulic expansion joint 625 corresponding to the position of the second mounting cavity 623. A movable column 627 is movably installed inside the movable cavity 621. A second connecting cylinder 627 is fixedly installed on the side of the movable column 627 corresponding to the position of the guide cavity 622. Rod 628, one end of the second connecting rod 628 extends into the interior of the adapter ring 626, the interior of the rotating column 611 is provided with a rotating hole 613 corresponding to the position of the propeller 612, the interior of the rotating hole 613 is rotatably mounted with a rotating shaft 614, one end of the rotating shaft 614 is fixedly mounted with a fixed gear 617 corresponding to the interior of the first mounting cavity 619, one end of the movable column 627 extends into the interior of the first mounting cavity 619 and a movable rack 618 that meshes with the fixed gear 617 is fixedly mounted at the position corresponding to the fixed gear 617; More specifically, the first hydraulic telescopic device 625 drives the adapter ring 626 to move, the adapter ring 626 drives the second connecting rod 628 to move, the second connecting rod 628 drives the movable column 627 to move, the movable column 627 drives the fixed gear 617 to rotate through the meshing of the movable rack 618 and the fixed gear 617, the fixed gear 617 drives the rotating shaft 614 to rotate, and the rotating shaft 614 drives the propeller 612 to rotate. like Figure 6As shown, specifically, a first connecting block 615 is fixedly installed at the end of the rotating shaft 614 away from the fixed gear 617, the propulsion propeller 612 is fixedly installed at the end of the first connecting block 615 away from the rotating shaft 614, and a bearing seat 616 is fixedly installed on the outer side of the rotating column 611 corresponding to the position of the first connecting block 615, and the first connecting block 615 is rotatably installed on the inner side of the bearing seat 616. More specifically, the movable rack 618 meshes with the fixed gear 617, causing the fixed gear 617 to rotate. The fixed gear 617 causes the rotating shaft 614 to rotate, the rotating shaft 614 causes the first connecting block 615 to rotate, and the first connecting block 615 causes the propulsion propeller 612 to rotate. like Figure 7 As shown, specifically, the water spray structure includes an outlet pipe 634 fixedly installed on the outside of the second connecting cylinder 511. The interior of the outlet pipe 634 is interconnected with the interior of the fourth mounting cavity 636 through the second inlet groove 632. A solenoid valve 635 is provided on the side of the outlet pipe 634, and a water spray pipe 637 is fixedly installed on the side of the outlet pipe 634. The opening and closing of the flow channel of the outlet pipe 634 is controlled by the solenoid valve 635. The angle between the outlet pipe 634 and the water spray pipe 637 is different among several water spray structures. More specifically, during use, water is sprayed from several water pipes 637 at different angles to the side of the propeller 612 to clean the rotating hole 613. like Figure 11 As shown, specifically, the blocking structure includes a movable hole 641 opened on the end face of the guide hole 642. The movable hole 641 extends into the interior of the first mounting cavity 619. A guide rod 644 is movably installed inside the movable hole 641. One end of the guide rod 644 extends into the interior of the first mounting cavity 619 and is fixedly installed with a second connecting block 643. The end of the second connecting block 643 away from the guide rod 644 is fixedly installed on the side of the movable rack 618. The other end of the guide rod 644 passes through the guide hole 642 and extends to the side of the rotating column 611 and is fixedly installed with a blocking block 646 adapted to the guide hole 642. Specifically, the formation of the block 646 moving into the guide hole 642 will cause the propeller 612 to rotate 360 ​​degrees, and the stroke of the block 646 moving inside the guide hole 642 will cause the propeller 612 to rotate 360 ​​degrees.

[0022] Working principle: The initial power of the entire device comes from the hydraulic conveyor 1 installed on the underwater execution hull. As the core power source, the hydraulic conveyor receives high-pressure hydraulic oil from the surface mother ship via the umbilical cable and converts it into rotational mechanical energy. Its output end is connected to the universal joint 3 via the rotating shaft 2. The other end of the universal joint 3 is reliably connected to the rotating column 611 of the underwater propulsion execution module through a quick-release connection structure consisting of the first connecting cylinder 411, the first connecting column 412 and the pin 414. The telescopic device installed below the underwater execution hull has its output end fixed to a connecting frame 712. The connecting frame forms a sliding pair with the sliding groove 711 on the outside of the second connecting cylinder 511 through the second connecting columns 713 on both sides. This allows the vertical stroke of the telescopic device to be converted into the pitch swing of the second connecting cylinder 511 and its entire internal transmission system and the external propulsion duct 513 around the pivot point of the universal joint 3. When the device is performing normal deep-sea propulsion operations, i.e., in deep-sea propulsion mode, the hydraulic conveyor 1 is started, driving the rotating shaft 2 to rotate. The power is transmitted through the universal joint 3 and the connecting structure to the rotating column 611, causing it to rotate at high speed inside the second connecting cylinder 511. The multiple propulsion propellers 612 arranged circumferentially at the end of the rotating column 611 rotate synchronously inside the fixed propeller duct 513. The propeller duct 513 is fixed to the second connecting cylinder 511 through the first connecting rod 512. Its function is to pre-accelerate the water flow into the propeller disk, improve the inflow conditions, and make the outflow wake more uniform and concentrated, thereby improving the propulsion efficiency at the source and delaying the generation of cavitation. In this mode, the solenoid valve 635 on the water spray structure is in the closed state, and the block 646 in the blocking structure is in the position of disengaging from the guide hole 642 under the action of the moving rack 618. As propulsion power and speed increase, cavitation is prone to occur in the low-pressure area on the back of the propeller. At this time, the system automatically enters the anti-cavitation auxiliary mode. A fixed rotating propeller 633 is installed in the fourth mounting cavity 636 of the rotating column 611. It rotates together with the rotating column 611. Its rotation is similar to a centrifugal pump, which draws external seawater into the fourth mounting cavity 636 through the first liquid inlet groove 631 on the second connecting cylinder 511 and the corresponding second liquid inlet groove 632 on the rotating column 611. Under the action of centrifugal force, the seawater is accelerated through the drainage cavity 645 and finally ejected at high speed from the guide hole 642. This directional jet precisely acts on the cavitation area that is being generated on the back of the propeller blade 612, thereby significantly reducing the impact of the micro-jet generated by cavitation collapse on the blade material, effectively reducing vibration and noise, protecting the propeller from cavitation damage, and maintaining the stability of thrust. Once the underwater operation is completed and the vessel surfaces, the device can switch to a surface self-cleaning mode to remove marine organisms and dirt adhering to the propeller 612. First, the telescopic device beneath the underwater vessel activates, pushing the connecting frame 712 upwards. Through the sliding of the second connecting column 713 within the groove 711, the entire second connecting cylinder 511 assembly is forced to tilt upwards, ultimately causing part of the propeller duct 513 to emerge above the water surface, while the first inlet tank 631 is submerged to provide water for the pump. Next, the first hydraulic telescopic device 625 actuates, pushing the adapter ring 626 to move. This, via the second connecting rod 628, drives the movable column 627 and the moving rack 618. The movement of the moving rack 618 drives the fixed gear 617 to rotate, which in turn drives the rotating shaft 614 and the propeller 612. 12 rotates, adjusting the blade angle to a position conducive to scouring; on the other hand, the second connecting block 643 fixed to the side of the moving rack 618 moves accordingly, pushing the guide rod 644 and its end block 646 forward until the guide hole 642 is completely blocked. At the same time, the solenoid valve 635 on the water spray structure opens, and the flow channel is switched: the seawater pumped into the fourth mounting cavity 636 by the rotating propeller 633 can no longer be discharged from the guide hole 642, but is forced to enter the outlet pipe 634 through the second liquid inlet 632, and finally sprayed out at high speed from multiple water spray pipes 637 at different angles. These multi-angled water spray pipes 637 form an interwoven water jet network, impacting the surface of the rotating propeller 612 blades from all directions, using the kinetic energy of the water flow to efficiently peel off and remove the attached biological dirt.

[0023] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention.

Claims

1. A marine deep-sea hydraulic rotary actuator, comprising an underwater actuator hull and a hydraulic conveyor (1) installed below the underwater actuator hull, characterized in that, A rotating shaft (2) is fixedly installed at the output end of the hydraulic conveyor (1). A universal joint (3) is fixedly installed at the end of the rotating shaft (2) away from the hydraulic conveyor (1). A detachable connecting structure is provided at the end of the universal joint (3) away from the rotating shaft (2). An expansion joint is provided below the hull of the underwater actuator. A connecting frame (712) is fixedly installed at the output end of the expansion joint. A second connecting cylinder (511) is movably installed inside the connecting frame (712). A rotating column (611) is provided inside the second connecting cylinder (511). One end of the rotating column (611) is fixedly connected to one end of the connecting structure. The end of the rotating column (611) away from the connecting structure passes through the inner side of the second connecting cylinder (511) and is provided with movable pushers at equal intervals around the circumference. The second connecting cylinder (511) has a fixed propeller guide tube (513) on its outer side corresponding to the position of the propeller (612). The rotating column (611) has a fourth mounting cavity (636) inside, and a fixed rotating blade (633) is installed inside the fourth mounting cavity (636). The second connecting cylinder (511) has a first liquid inlet groove (631) equidistantly arranged on its outer side. The second connecting cylinder (511) has several water spray structures that are interconnected with the inside of the second connecting cylinder (511) fixedly installed on its outer side. The rotating column (611) has two second liquid inlet grooves (632) on its outer side corresponding to the position of the fourth mounting cavity (636). The rotating column (611) has a guide hole (642) at one end. The end face of the guide hole (642) is provided with a drainage cavity (645) that communicates with the fourth mounting cavity (636). The guide hole (642) is provided with a sliding plugging structure. The rotating column (611) is provided with a first mounting cavity (619). The end face of the first mounting cavity (619) is provided with a movable cavity (621). The side of the movable cavity (621) is provided with guide cavities (622) at equal intervals. The inner side of the rotating column (611) is provided with a second mounting cavity (623) corresponding to the position of the guide cavity (622). The side of the second mounting cavity (623) is provided with a third mounting cavity (624) corresponding to the wall of the second connecting cylinder (511) at equal intervals. The third mounting cavity (624) is provided with a fixed first hydraulic expansion joint. 625), the output end of the first hydraulic expansion joint (625) is fixedly installed with an adapter ring (626) at the position corresponding to the second mounting cavity (623). The movable column (627) is movably installed inside the movable cavity (621). The side of the movable column (627) is fixedly installed with a second connecting rod (628) at the position corresponding to the guide cavity (622). One end of the second connecting rod (628) extends into the interior of the adapter ring (626). The interior of the rotating column (611) is provided with a rotating hole (613) at the position corresponding to the propeller (612). The rotating shaft (614) is rotatably installed inside the rotating hole (613). One end of the rotating shaft (614) is fixedly installed with a fixed gear (617) at the interior of the first mounting cavity (619).One end of the movable column (627) extends into the interior of the first mounting cavity (619), and a movable rack (618) meshing with the fixed gear (617) is fixedly installed at the position corresponding to the fixed gear (617). The blocking structure includes a movable hole (641) opened on the end face of the guide hole (642). The movable hole (641) extends into the interior of the first mounting cavity (619), and a guide rod (644) is movably installed inside the movable hole (641). One end of the guide rod (644) extends into the interior of the first mounting cavity (619) and a second connecting block (643) is fixedly installed thereon. The end of the second connecting block (643) away from the guide rod (644) is fixedly installed on the side of the movable rack (618), and the other end of the guide rod (644) extends through the guide hole (642) to the side of the rotating column (611) and a blocking block (646) adapted to the guide hole (642) is fixedly installed thereon.

2. The marine deep-sea hydraulic rotary actuator according to claim 1, characterized in that, The first liquid inlet tank (631) and the water spray structure are symmetrically distributed on the front and rear sides of the fourth mounting cavity (636), and the two second liquid inlet tanks (632) are respectively set at positions corresponding to the first liquid inlet tank (631) and the water spray structure.

3. A marine deep-sea hydraulic rotary actuator according to claim 2, characterized in that, The second connecting cylinder (511) is fixedly installed with a first connecting rod (512) at equal intervals on the outer side. The side of the first connecting rod (512) away from the second connecting cylinder (511) is fixedly installed on the inner side of the thruster guide tube (513). The outer side of the second connecting cylinder (511) is symmetrically opened with two sliding grooves (711) corresponding to the inner side of the connecting frame (712). The sliding grooves (711) are rectangular grooves. The side of the connecting frame (712) is fixedly installed with a second connecting column (713) corresponding to the position of the sliding groove (711). The second connecting column (713) is slidably installed inside the sliding groove (711).

4. A marine deep-sea hydraulic rotary actuator according to claim 3, characterized in that, A first connecting block (615) is fixedly installed at the end of the rotating shaft (614) away from the fixed gear (617). The propulsion propeller (612) is fixedly installed at the end of the first connecting block (615) away from the rotating shaft (614). A bearing seat (616) is fixedly installed on the outer side of the rotating column (611) corresponding to the position of the first connecting block (615). The first connecting block (615) is rotatably installed on the inner side of the bearing seat (616).

5. A marine deep-sea hydraulic rotary actuator according to claim 4, characterized in that, The water spray structure includes an outlet pipe (634) fixedly installed on the outside of the second connecting cylinder (511). The interior of the outlet pipe (634) is connected to the interior of the fourth mounting cavity (636) through the second inlet groove (632). A solenoid valve (635) is provided on the side of the outlet pipe (634), and a water spray pipe (637) is fixedly installed on the side of the outlet pipe (634).

6. A marine deep-sea hydraulic rotary actuator according to claim 5, characterized in that, The angle between the liquid outlet pipe (634) and the water spray pipe (637) is different among several of the aforementioned water spray structures.

7. A marine deep-sea hydraulic rotary actuator according to claim 6, characterized in that, The connection structure includes a first connecting cylinder (411) fixedly installed on the side of the universal joint (3) and a first connecting post (412) fixedly installed on the end face of the rotating post (611). The first connecting post (412) extends into the interior of the first connecting cylinder (411). The sides of the first connecting cylinder (411) and the first connecting post (412) are provided with slots (413). The interior of the slots (413) is provided with pins (414) that penetrate the slots (413).

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