Underwater propeller and underwater robot

Abstract

The utility model relates to the technical field of propellers, and discloses an underwater propeller and an underwater robot, the propeller comprises a shell, a paddle assembly and a sealing shaft sleeve; a sealing cavity is formed in the sealing shaft sleeve, a speed reduction assembly is arranged in the sealing shaft sleeve, the head end of the sealing shaft sleeve stretches into the paddle assembly, the sealing shaft sleeve and the paddle assembly are connected through a movable sealing piece, the tail end of the sealing shaft sleeve is fixedly connected with the shell, and a static sealing piece is arranged between the contact faces of the sealing shaft sleeve and the shell. The interior of the shell is a sealed cavity, a power assembly is arranged in the shell, an output shaft of the power assembly is connected with a speed reduction assembly, and the speed reduction assembly is in transmission connection with the paddle assembly. According to the scheme, sealing of the speed reduction assembly is achieved through the sealing shaft sleeve, sealing between the sealing shaft sleeve and the paddle assembly is achieved through the movable sealing piece, the movable sealing piece can achieve effective sealing when the paddle rotates, the structure is simpler, sealing is achieved through the structural piece, and compared with oil seal sealing, the thrust of the propeller is larger.

Description

Technical Field

[0001] The utility model relates to the technical field of propellers, in particular to an underwater propeller and an underwater robot. Background Art

[0002] When the underwater robot moves underwater, it is powered by an underwater propeller to achieve underwater movement. As an underwater driving component, the underwater propeller has high requirements for waterproof and sealing performance in order to ensure normal operation underwater due to the limitations of its operating environment. Traditional underwater propellers are sealed with sealants, but long-term underwater operations can easily cause the glue to gradually fail, especially when the sealant fills weak areas. The failure of the sealant causes water to enter the underwater propeller and cause failure.

[0003] Chinese patent CN202321388857.6 discloses an underwater motor with an oil pressure compensation membrane and a propeller composed of the same, belonging to the field of underwater motors and propellers composed of the same, including a stator main shaft, a winding is arranged on the outer ring of the stator main shaft, a rotor is rotatably connected to the stator main shaft corresponding to the outer side of the winding, a housing is arranged on the outer side of the rotor, a lower end cover and an upper end cover are rotatably connected to the two ends of the stator main shaft corresponding to the rotor, a filling cavity along the length direction is opened at the position of the stator main shaft corresponding to the upper end cover, the winding can pass through the filling cavity and extend out of the stator main shaft, the stator main shaft is filled with sealant in the filling cavity, a balance base is arranged at one end of the lower end cover away from the stator main shaft, an oil pressure compensation membrane is arranged between the lower end cover and the balance base, the oil pressure compensation membrane is connected to the motor on the side close to the stator main shaft and is filled with sealing oil, and the oil pressure compensation membrane is connected to the outside world and is filled with water on the side away from the stator main shaft. However, this sealing method using sealing oil will consume the thrust of the propeller.

[0004] The utility model overcomes the existing defects and provides an underwater propeller with greater thrust and better sealing performance by changing the connection structure of various components inside the propeller. Utility Model Content

[0005] The main purpose of the utility model is to provide an underwater propeller, including a housing, a blade assembly and a sealing sleeve;

[0006] The interior of the sealing sleeve is a sealing cavity, a speed reduction assembly is arranged inside the sealing sleeve, the head end of the sealing sleeve extends into the blade assembly, the sealing sleeve and the blade assembly are connected via a dynamic seal, the tail end of the sealing sleeve is fixedly connected to the housing, and a static seal is arranged between the contact surfaces of the sealing sleeve and the housing;

[0007] The interior of the shell is a sealed cavity, and a power assembly is arranged inside the shell. The output shaft of the power assembly is connected to the reduction assembly, and the reduction assembly is drivingly connected to the blade assembly.

[0008] Optionally, the reduction assembly includes a sun gear, a planetary gear, a fixed gear, a connecting shaft, a front cover and a rear cover;

[0009] The front cover and the rear cover are annular, the front cover and the rear cover are connected by the connecting shaft, the planetary gear is sleeved on the connecting shaft, a first bearing is sleeved between the connecting shaft and the planetary gear, and the front cover is connected to the blade assembly;

[0010] The output shaft of the power assembly extends from the rear end of the sealing sleeve into the interior of the sealing sleeve and passes through the rear cover. A second bearing is provided between the peripheral surface of the rear cover and the inner surface of the sealing sleeve. The front cover and the rear cover are distributed on both side end surfaces of the sun gear.

[0011] The sun gear is sleeved on the output shaft of the power assembly and rotates synchronously with the output shaft. The fixed gear is annular and surrounds the circumference of the sun gear. The outer side of the fixed gear is fixedly connected to the inner side of the sealing sleeve.

[0012] The connecting shaft is located between the inner circumferential surface of the fixed gear and the outer circumferential surface of the sun gear, and the planetary gears sleeved on the connecting shaft are respectively meshed with the inner side of the fixed gear and the sun gear.

[0013] Optionally, the number of the connecting shafts is three, which are arranged in a ring array with the sun gear as the axis, and the number of the planetary gears corresponds to the number of the connecting shafts;

[0014] The output shaft drives the sun gear to rotate, and the sun gear meshes with the planetary gears, driving the planetary gears to rotate around the sun gear. At the same time, the planetary gears rotate around the connecting shaft.

[0015] Optionally, the blade assembly includes a blade shaft, a first end cover, a blade, a hub and a fairing cap;

[0016] The blade is provided on the outer surface of the hub, the blade shaft is provided inside the hub, the fairing cap connects the blade shaft and the hub, and the hub cover is provided at the head end of the sealing sleeve and matched with the housing;

[0017] The first end cover is arranged at the head end of the sealing sleeve and is used to connect the dynamic seal and the sealing sleeve. One end of the blade shaft passes through the first end cover and extends into the interior of the sealing sleeve and is fixedly connected to the front cover, and the other end is fixedly connected to the fairing cap.

[0018] Optionally, the dynamic seal comprises a dynamic seal ring, a static seal ring and a sealing ring;

[0019] The sealing ring is sleeved on the blade shaft, a first annular groove is provided on one side of the end surface of the sealing ring, an annular positioning groove is provided on the other side, and a second annular groove is provided on the circumferential surface of the sealing ring;

[0020] The middle part of the first end cover is an annular step, and the annular step, the first annular groove and the blade shaft form a first annular sealing groove, and the first annular sealing groove is provided with the dynamic sealing ring for filling, and the second annular groove and the inner surface of the sealing sleeve form a second annular sealing groove, and the second annular sealing groove is provided with the static sealing ring for filling.

[0021] Optionally, it includes a positioning ring and a third bearing, the positioning ring is installed in the annular positioning groove, the third bearing sleeve is arranged on the blade shaft and is located inside the sealing sleeve, one end face of the third bearing is in contact with the sealing ring for positioning, and the other end is in contact with the front cover for positioning.

[0022] Optionally, it includes a fairing, which is connected to the head end of the shell through a support ring, and the blade is located inside the fairing; the support ring is located between the shell and the hub, and is fixedly connected to the shell and the hub.

[0023] Optionally, the power assembly includes an output shaft, a stator, a mover and a second end cover;

[0024] The stator is arranged inside the housing, the mover is arranged inside the stator, the mover is connected to the output shaft, and the output shaft rotates synchronously with the mover;

[0025] The rear end of the output shaft is connected to the positioning shaft extending from the second end cover, and a fourth bearing is provided between the inner side of the output shaft and the outer peripheral surface of the positioning shaft;

[0026] A fourth bearing is provided between the front end of the output shaft and the inner side of the housing;

[0027] A static seal is provided between the peripheral surface of the second end cover and the contact surface of the inner side surface of the shell.

[0028] Optionally, a circuit cabin is provided at the rear of the shell, the outer shell of the circuit cabin is matched and connected with the shell, a bent pipe is provided in the circuit cabin, the bent pipe connects the shell and the outside of the circuit cabin, and the bent pipe is filled with sealant.

[0029] The utility model also provides an underwater robot, comprising the above-mentioned underwater propeller, a control cabin, a buoyancy cabin and a detection component;

[0030] The outer surface of the buoyancy cabin is streamlined, the buoyancy cabin wraps the control cabin, the control cabin is a sealed cabin, and the underwater propeller and the detection assembly are respectively connected to the control cabin;

[0031] The buoyancy chamber comprises a top surface, a bottom surface and a peripheral surface, the top surface and the bottom surface are arranged opposite to each other and are parallel to each other, the top surface and the bottom surface are planes, the top surface and the bottom surface are connected with each other through the peripheral surface, and the top surface and the bottom surface are smoothly transitioned with the peripheral surface respectively;

[0032] The circumferential surface is a convex streamlined surface, and is provided with two first areas and two second areas. The two first areas are symmetrically distributed on the front and rear sides of the circumferential surface, and the two second areas are symmetrically distributed on the left and right sides of the circumferential surface. The front and rear sides of the circumferential surface are respectively smooth and concave to form the first areas, and the left and right sides are respectively smooth and concave to form the second areas. The detection assembly is provided in the first area or the second area.

[0033] The top surface and the bottom surface are connected by a first channel, the first area and the second area are connected by a second channel, and the underwater propeller is arranged in the first channel and the second channel;

[0034] The number of the first channels is at least two, and they are symmetrically distributed around the geometric center of the top surface.

[0035] Compared with the prior art, the utility model has the following beneficial effects:

[0036] The underwater thruster provided by the utility model realizes the sealing of the reduction assembly by means of a sealing sleeve, and realizes the sealing between the sealing sleeve and the blade assembly by means of a dynamic seal. The dynamic seal can realize effective sealing when the blade rotates, and the structure is simpler. The sealing is realized by means of structural parts. Compared with oil seal, the thrust of the thruster is greater. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] One or more embodiments are exemplarily described by corresponding drawings, which do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and the figures in the drawings do not constitute proportional limitations unless otherwise stated.

[0038] Figure 1 This is a schematic diagram of an embodiment of the underwater propeller of the utility model;

[0039] Figure 2 This is a cross-sectional view of an embodiment of the underwater propeller of the utility model Figure 1 ;

[0040] Figure 3 A is a partial enlarged view of an embodiment of the underwater propeller of the utility model;

[0041] Figure 4 This is a cross-sectional view of an embodiment of the underwater propeller of the utility model Figure 2 ;

[0042] Figure 5 This is a cross-sectional view of an embodiment of the underwater propeller of the utility model Figure 3 ;

[0043] Figure 6 This is a schematic diagram of the internal decomposition of an embodiment of the underwater propeller of the utility model;

[0044] Figure 7 This is a thrust test diagram of an embodiment of the underwater propeller of the utility model;

[0045] Figure 8 This is a schematic diagram of an embodiment of the underwater robot of the utility model;

[0046] Fig. 9 It is a schematic diagram of the interior of an underwater robot embodiment of the utility model.

[0047] Reference numerals:

[0048] 1- underwater propeller; 10- housing; 101- line compartment; 102- bent pipeline; 11- blade assembly; 111- blade shaft; 112- first end cover; 1121- annular step; 113- blade; 114- hub; 115- fairing cap; 12- sealing sleeve; 121- positioning ring; 122- third bearing; 13- reduction assembly; 131- sun gear; 132- planetary gear; 133- fixed gear; 134- connecting shaft; 135- front cover; 136- rear cover; 137- first bearing; 138- second bearing; 14- dynamic seal; 141- dynamic seal ring ;142-static sealing ring;143-sealing ring;1431-first annular groove;1432-annular positioning groove;1433-second annular groove;15-static sealing member;16-power assembly;161-output shaft;162-stator;163-mover;164-second end cover;1641-positioning shaft;165-fourth bearing;17-fairing;171-support ring;2 control cabin;3-buoyancy cabin;31-top surface;32-bottom surface;33-peripheral surface;331-first area;332-second area;34-first channel;35-second channel;4-detection assembly. DETAILED DESCRIPTION

[0049] In order to facilitate the understanding of the utility model, the utility model is described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is described as "fixed to" another element, it can be directly on another element, or there can be one or more centered elements between them. When an element is described as "connected" to another element, it can be directly connected to another element, or there can be one or more centered elements between them. The terms "vertical", "horizontal", "left", "right", "inside", "outside" and similar expressions used in this specification are only for illustrative purposes. In the description of the utility model, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating relative importance or implicitly indicating the number of technical features indicated. Therefore, unless otherwise specified, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features; "multiple" means two or more. The term "include" and any variation thereof means non-exclusive inclusion, and one or more other features, integers, steps, operations, units, components and / or combinations thereof may be present or added.

[0050] In addition, unless otherwise expressly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, an indirect connection through an intermediate medium, or a connection between two components. All technical and scientific terms used in this specification have the same meaning as those generally understood by technicians in the technical field of the present utility model. The terms used in the specification of the present utility model are only for the purpose of describing specific embodiments and are not intended to limit the present utility model. The term "and / or" used in this specification includes any and all combinations of one or more related listed items.

[0051] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0052] Underwater robots are of great value in scientific research and work production in the marine field, and are increasingly used at the forefront of science and engineering. The detection of underwater engineering equipment provides detection information for maintenance assessment, such as the cleanliness judgment of the gate area, whether the underwater structure of offshore wind power needs maintenance, etc. In addition, it also plays an important role in underwater terrain mapping. As the core component of the underwater robot, the underwater thruster has the function of driving the underwater robot to move underwater. Due to the limitations of its operating environment, in order to ensure the normal operation of the thruster underwater, the waterproof sealing requirements of the internal transmission, circuit and other components of the thruster are high, which is an important prerequisite for ensuring the normal operation of the underwater robot.

[0053] like Figure 1-6 The figure is a schematic diagram of an embodiment of the underwater propeller provided by the utility model.

[0054] Please refer to Figure 1-6 This embodiment is used to provide a driving force to drive the underwater robot to move underwater, and includes a housing 10, a blade assembly 11, and a sealing sleeve 12. The interior of the sealing sleeve 12 is a sealed cavity, and a speed reduction assembly 13 is provided inside the sealing sleeve 12. The head end of the sealing sleeve 12 extends into the blade assembly 11, and the sealing sleeve 12 and the blade assembly 11 are connected through a dynamic seal 14. The tail end of the sealing sleeve 12 is fixedly connected to the housing 10, and a static seal 15 is provided between the contact surfaces of the sealing sleeve 12 and the housing 10.

[0055] The interior of the housing 10 is a sealed cavity. A power assembly 16 is disposed inside the housing 10 . An output shaft 161 of the power assembly 16 is connected to the reduction assembly 13 . The reduction assembly 13 is in transmission connection with the blade assembly 11 .

[0056] Specifically, the sealing sleeve 12 is used for sealing and waterproofing of the reduction assembly 13, and the housing 10 is used for sealing and waterproofing of the power assembly 16. A plurality of annular positioning slots are provided inside the sealing sleeve 12. The power assembly 16 can be a housingless motor, which outputs power by rotating the output shaft 161, and the reduction assembly 13 can be a planetary reduction mechanism. The speed of the output shaft 161 of the power assembly 16 is decelerated by the reduction assembly 13 and then output to the blade assembly 11, driving the blade assembly 11 to rotate, and the rotation of the blade assembly 11 drives the water flow to generate a driving force.

[0057] In one embodiment, the reduction assembly 13 includes a sun gear 131 , planetary gears 132 , a fixed gear 133 , a connecting shaft 134 , a front cover 135 , and a rear cover 136 .

[0058] The front cover 135 and the rear cover 136 are annular and connected via a connecting shaft 134 . The planetary gear 132 is sleeved on the connecting shaft 134 . A first bearing 137 is sleeved between the connecting shaft 134 and the planetary gear 132 . The front cover 135 is connected to the blade assembly 11 .

[0059] The output shaft 161 of the power assembly 16 extends from the rear end of the sealing sleeve 12 into the interior of the sealing sleeve 12 and passes through the rear cover 136. A second bearing 138 is provided between the circumferential surface of the rear cover 136 and the inner surface of the sealing sleeve 12. The front cover 135 and the rear cover 136 are distributed on both side end surfaces of the sun gear 131.

[0060] The sun gear 131 is sleeved on the output shaft 161 of the power assembly 16 and rotates synchronously with the output shaft 161 . The fixed gear 133 is annular and surrounds the circumference of the sun gear 131 . The outer side of the fixed gear 133 is fixedly connected to the inner side of the sealing sleeve 12 .

[0061] The connecting shaft 134 is located between the inner circumference of the fixed gear 133 and the outer circumference of the sun gear 131 . The planetary gears 132 sleeved on the connecting shaft 134 are meshed with the inner side of the fixed gear 133 and the sun gear 131 respectively.

[0062] The outer peripheral surface of the second bearing 138 is inserted into the groove of the sealing sleeve 12, and the inner peripheral surface is in contact with the outer peripheral surface of the rear cover 136, which plays the role of radial positioning of the rear cover 136 and reducing friction.

[0063] Furthermore, the number of the connecting shafts 134 is three, which are arranged in a ring array with the sun gear 131 as the axis, and the number of the planetary gears 132 corresponds to the number of the connecting shafts 134 .

[0064] Specifically, the sun gear 131 and the planetary gear 132 are both spur gears, and the fixed gear 133 is an internal gear. The sun gear 131 meshes with the planetary gear 132, and the planetary gear 132 meshes with the internal teeth of the fixed gear 133. The output shaft 161 drives the sun gear 131 to rotate, and then drives the planetary gear 132 to rotate around the sun gear 131, and the connecting shaft 134 on which the planetary gear 132 is sleeved rotates around the sun gear 131. Since the first bearing 137 is sleeved between the connecting shaft 134 and the planetary gear 132, the planetary gear 132 rotates around the connecting shaft 134 at the same time.

[0065] When the connecting shaft 134 rotates around the sun gear 131, it drives the front cover 135 and the rear cover 136 connected to the two ends of the connecting shaft 134 to rotate, and then drives the blade assembly 11 connected to the front cover 135 to rotate, so that the speed of the power assembly 16 is reduced and output to the blade assembly 11.

[0066] In one embodiment, the blade assembly 11 includes a blade shaft 111 , a first end cover 112 , blades 113 , a hub 114 and a fairing 115 .

[0067] The outer surface of the hub 114 is provided with blades 113 , the blade shaft 111 is arranged inside the hub 114 , the fairing 115 connects the blade shaft 111 and the hub 114 , and the hub 114 cover is arranged at the head end of the sealing sleeve 12 and matched with the housing 10 .

[0068] The first end cover 112 is arranged at the head end of the sealing sleeve 12 and is used to connect the dynamic seal 14 and the sealing sleeve 12. One end of the blade shaft 111 passes through the first end cover 112 and extends into the interior of the sealing sleeve 12 and is fixedly connected to the front cover 135, and the other end is fixedly connected to the fairing cap 115.

[0069] Furthermore, the dynamic seal 14 includes a dynamic seal ring 141, a static seal ring 142 and a seal ring 143. The seal ring 143 is sleeved on the blade shaft 111, and a first annular groove 1431 is provided on one side of the end face of the seal ring 143, and an annular positioning groove 1432 is provided on the other side. A second annular groove 1433 is provided on the circumference of the seal ring 143.

[0070] The middle part of the first end cover 112 is an annular step 1121, and the outer side of the first end cover 112 is provided with screws and fixedly connected with the sealing ring 143. The annular step 1121 and the first annular groove 1431 form a first annular sealing groove, and a dynamic sealing ring 141 for filling is provided in the first annular sealing groove to achieve sealing and waterproofing between the first end cover 112, the sealing ring 143, and the blade shaft 111. The second annular groove 1433 and the inner surface of the sealing sleeve 12 form a second annular sealing groove, and a static sealing ring 142 for filling is provided in the second annular sealing groove to achieve sealing and waterproofing between the sealing ring 143 and the sealing sleeve 12.

[0071] The first end cover 112 and the dynamic seal 14 are used to realize radial positioning of the blade shaft 111 in the sealing sleeve 12. The fairing cap 115 and the hub 114 are used to realize axial positioning of the blade shaft 111 in the sealing sleeve 12. The dynamic seal 14 is used to realize waterproofing of the first end cover 112, the blade shaft 111, and the first end of the sealing sleeve 12.

[0072] Furthermore, it also includes a positioning ring 121 and a third bearing 122, the positioning ring 121 is installed in the annular positioning groove 1432, the third bearing 122 is sleeved on the blade shaft 111, and is located inside the sealing sleeve 12, one end surface of which is in contact with the sealing ring 143 for positioning, and the other end is in contact with the front cover 135 for positioning. In other embodiments, a positioning ring 121 may be provided on each of the two end surfaces of the third bearing 122, the positioning ring 121 on the left end surface is installed in the annular positioning groove 1432, and the positioning ring 121 on the right end surface is located between the third bearing 122 and the front cover 135.

[0073] The positioning ring 121 is used for axial positioning of the third bearing 122 in the sealing sleeve 12 , and the third bearing 122 is used for radial positioning of the blade shaft 111 in the sealing sleeve 12 .

[0074] In one embodiment, the fairing 17 is connected to the head end of the shell 10 through a support ring 171 , and the blades 113 are located inside the fairing 17 ; the support ring 171 is located between the shell 10 and the hub 114 , and is fixedly connected to the shell 10 and the hub 114 .

[0075] In one embodiment, the power assembly 16 includes an output shaft 161, a stator 162, a mover 163 and a second end cover 164. The stator 162 is disposed inside the housing 10, the mover 163 is disposed inside the stator 162, the mover 163 is connected to the output shaft 161, and the output shaft 161 and the mover 162 rotate synchronously. The rear end of the output shaft 161 is connected to the positioning shaft 1641 extending from the second end cover 164, and a fourth bearing 165 is provided between the inner side of the output shaft 161 and the outer peripheral surface of the positioning shaft 1641. A fourth bearing 165 is provided between the front end of the output shaft 161 and the inner side of the housing 10. A static seal 15 is provided between the contact surface between the peripheral surface of the second end cover 164 and the inner side surface of the housing 10.

[0076] The stator 162 is specifically a coil, and the mover 163 is specifically a permanent magnet. When the coil is energized, it drives the permanent magnet disposed inside it to rotate. The fourth bearing 165 is used for radial positioning of the output shaft 161 .

[0077] The static sealing member 15 in the above embodiment is specifically a sealing gasket.

[0078] In one embodiment, a circuit compartment 101 is provided at the rear of the shell 10, the outer shell of the circuit compartment 101 is matched and connected with the shell 10, a bent pipe 102 is provided in the circuit compartment 101, the bent pipe 102 connects the shell 10 and the outside of the circuit compartment 101, the bent pipe 102 is filled with sealant, and the bent pipe 102 is used to arrange the circuit and connect with the outside.

[0079] like Figure 7 As shown, the sealing structure adopted in this embodiment generates greater thrust under the same power compared with the oil seal method.

[0080] like Figure 8-9 As shown, the utility model also provides an underwater robot embodiment.

[0081] Please refer to Figure 8-9 This embodiment includes the above-mentioned underwater propeller 1 embodiment, and also includes a control cabin 2, a buoyancy cabin 3 and a detection assembly 4. The outer surface of the buoyancy cabin 3 is streamlined, and the buoyancy cabin 3 wraps the control cabin 2, and the control cabin 2 is a sealed cabin. The underwater propeller 1 and the detection assembly 4 are respectively connected to the control cabin 2, and the underwater propeller 1 is connected to the control cabin 2 through a support ring 171.

[0082] The buoyancy chamber 3 includes a top surface 31, a bottom surface 32 and a peripheral surface 33. The top surface 31 and the bottom surface 32 are arranged opposite to each other and are parallel to each other. The top surface 31 and the bottom surface 32 are planes. The top surface 31 and the bottom surface 32 are connected by the peripheral surface 33. The top surface 31 and the bottom surface 32 are smoothly transitioned to the peripheral surface 33 (rounded transition).

[0083] The circumferential surface 33 is a convex streamlined surface, and is provided with two first areas 331 and two second areas 332. The two first areas 331 are symmetrically distributed on the front and rear sides of the circumferential surface 33, and the two second areas 332 are symmetrically distributed on the left and right sides of the circumferential surface 33. The front and rear sides of the circumferential surface 33 are respectively smooth and concave to form the first area 331, and the left and right sides are respectively smooth and concave to form the second area 332. The detection component 4 is arranged in the first area 331 or the second area 332.

[0084] The top surface 31 and the bottom surface 32 are connected by a first channel 34, and the first area 331 and the second area 332 are connected by a second channel 35. The first channel 34 and the second channel 35 are provided with an underwater propeller 1. In this embodiment, the underwater propeller 1 has no fairing, and the first channel 34 and the second channel 35 play the role of the fairing. There are at least two first channels 34, which are symmetrically distributed around the geometric center of the top surface 31.

[0085] In summary, the underwater thruster provided by the utility model realizes the sealing of the deceleration assembly through the sealing sleeve, and realizes the sealing between the sealing sleeve and the blade assembly through the dynamic seal. The dynamic seal can realize effective sealing when the blade rotates, and the structure is simpler. The sealing is achieved through the structural parts. Compared with the oil seal, the thrust of the thruster is greater.

[0086] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may also be combined, the steps may be implemented in any order, and there are many other changes in different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity. Although the present invention has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An underwater propeller, characterized in that: It includes a housing, a blade assembly and a sealing sleeve; The interior of the sealing sleeve is a sealing cavity, a speed reduction assembly is arranged inside the sealing sleeve, the head end of the sealing sleeve extends into the blade assembly, the sealing sleeve and the blade assembly are connected via a dynamic seal, the tail end of the sealing sleeve is fixedly connected to the housing, and a static seal is arranged between the contact surfaces of the sealing sleeve and the housing; The interior of the shell is a sealed cavity, and a power assembly is arranged inside the shell. The output shaft of the power assembly is connected to the reduction assembly, and the reduction assembly is drivingly connected to the blade assembly.

2. The underwater propeller according to claim 1, characterized in that: The reduction assembly includes a sun gear, a planetary gear, a fixed gear, a connecting shaft, a front cover and a rear cover; The front cover and the rear cover are annular, the front cover and the rear cover are connected by the connecting shaft, the planetary gear is sleeved on the connecting shaft, a first bearing is sleeved between the connecting shaft and the planetary gear, and the front cover is connected to the blade assembly; The output shaft of the power assembly extends from the rear end of the sealing sleeve into the interior of the sealing sleeve and passes through the rear cover. A second bearing is provided between the peripheral surface of the rear cover and the inner surface of the sealing sleeve. The front cover and the rear cover are distributed on both side end surfaces of the sun gear. The sun gear is sleeved on the output shaft of the power assembly and rotates synchronously with the output shaft. The fixed gear is annular and surrounds the circumference of the sun gear. The outer side of the fixed gear is fixedly connected to the inner side of the sealing sleeve. The connecting shaft is located between the inner circumferential surface of the fixed gear and the outer circumferential surface of the sun gear, and the planetary gears sleeved on the connecting shaft are respectively meshed with the inner side of the fixed gear and the sun gear.

3. The underwater propeller according to claim 2, characterized in that: The number of the connecting shafts is three, which are arranged in a ring array with the sun gear as the axis, and the number of the planetary gears corresponds to the number of the connecting shafts; The output shaft drives the sun gear to rotate, and the sun gear meshes with the planetary gears, driving the planetary gears to rotate around the sun gear. At the same time, the planetary gears rotate around the connecting shaft.

4. The underwater propeller according to claim 2, characterized in that: The blade assembly includes a blade shaft, a first end cover, a blade, a hub and a fairing cap; The blade is provided on the outer surface of the hub, the blade shaft is provided inside the hub, the fairing cap connects the blade shaft and the hub, and the hub cover is provided at the head end of the sealing sleeve and matched with the housing; The first end cover is arranged at the head end of the sealing sleeve and is used to connect the dynamic seal and the sealing sleeve. One end of the blade shaft passes through the first end cover and extends into the interior of the sealing sleeve and is fixedly connected to the front cover, and the other end is fixedly connected to the fairing cap.

5. The underwater propeller according to claim 4, characterized in that: The dynamic seal comprises a dynamic seal ring, a static seal ring and a sealing ring; The sealing ring is sleeved on the blade shaft, a first annular groove is provided on one side of the end surface of the sealing ring, an annular positioning groove is provided on the other side, and a second annular groove is provided on the circumferential surface of the sealing ring; The middle part of the first end cover is an annular step, and the annular step, the first annular groove and the blade shaft form a first annular sealing groove, and the first annular sealing groove is provided with the dynamic sealing ring for filling, and the second annular groove and the inner surface of the sealing sleeve form a second annular sealing groove, and the second annular sealing groove is provided with the static sealing ring for filling.

6. The underwater propeller according to claim 5, characterized in that: It includes a positioning ring and a third bearing. The positioning ring is installed in the annular positioning groove. The third bearing sleeve is arranged on the blade shaft and is located inside the sealing sleeve. One end surface of the third bearing contacts with the sealing ring for positioning, and the other end contacts with the front cover for positioning.

7. The underwater propeller according to claim 4, characterized in that: It comprises a fairing, which is connected to the head end of the shell through a support ring, and the blade is located inside the fairing; the support ring is located between the shell and the hub, and is fixedly connected to the shell and the hub.

8. The underwater propeller according to claim 1, characterized in that: The power assembly includes an output shaft, a stator, a mover and a second end cover; The stator is arranged inside the housing, the mover is arranged inside the stator, the mover is connected to the output shaft, and the output shaft rotates synchronously with the mover; The rear end of the output shaft is connected to the positioning shaft extending from the second end cover, and a fourth bearing is provided between the inner side of the output shaft and the outer peripheral surface of the positioning shaft; A fourth bearing is provided between the front end of the output shaft and the inner side of the housing; A static seal is provided between the peripheral surface of the second end cover and the contact surface of the inner side surface of the shell.

9. The underwater propeller according to claim 8, characterized in that: A circuit compartment is provided at the rear of the shell, the outer shell of the circuit compartment is matched and connected with the shell, a bent pipe is provided in the circuit compartment, the bent pipe connects the shell and the outside of the circuit compartment, and the bent pipe is filled with sealant.

10. An underwater robot, characterized in that: The underwater propeller comprises any one of claims 1 to 9, and further comprises a control cabin, a buoyancy cabin and a detection assembly; The outer surface of the buoyancy cabin is streamlined, the buoyancy cabin wraps the control cabin, the control cabin is a sealed cabin, and the underwater propeller and the detection assembly are respectively connected to the control cabin; The buoyancy chamber comprises a top surface, a bottom surface and a peripheral surface, the top surface and the bottom surface are arranged opposite to each other and are parallel to each other, the top surface and the bottom surface are planes, the top surface and the bottom surface are connected with each other through the peripheral surface, and the top surface and the bottom surface are smoothly transitioned with the peripheral surface respectively; The circumferential surface is a convex streamlined surface, and is provided with two first areas and two second areas. The two first areas are symmetrically distributed on the front and rear sides of the circumferential surface, and the two second areas are symmetrically distributed on the left and right sides of the circumferential surface. The front and rear sides of the circumferential surface are respectively smooth and concave to form the first areas, and the left and right sides are respectively smooth and concave to form the second areas. The detection assembly is provided in the first area or the second area. The top surface and the bottom surface are connected by a first channel, the first area and the second area are connected by a second channel, and the underwater propeller is arranged in the first channel and the second channel; The number of the first channels is at least two, and they are symmetrically distributed around the geometric center of the top surface.

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