Modular rudder propeller

Abstract

This utility model provides a modular rudder-driven propulsion device, including a module mounting frame and a propulsion assembly detachably mounted on the module mounting frame via a sliding insertion method. The propulsion assembly includes a mounting base plate, a servo mechanism component disposed on the upper surface of the mounting base plate, a propulsion body fixed to the lower surface of the mounting base plate, and a rudder blade connected to the output end of the servo mechanism component. The lower surface edge of the mounting base plate is provided with a U-shaped groove. The module mounting frame is provided with a U-shaped frame plate adapted to the U-shaped groove. A plurality of mounting holes are evenly arranged at positions corresponding to the U-shaped groove and the U-shaped frame plate. The propulsion assembly is locked and fixed to the module mounting frame by screws and nuts passing through the mounting holes. This utility model relates to the field of unmanned surface vessel technology.

Description

Technical Field

[0001] This utility model relates to the field of unmanned vessel technology, and in particular to a modular rudder-driven propulsion device. Background Technology

[0002] The development of propulsion systems for unmanned ships and underwater robots has always been committed to improving efficiency, reliability, and ease of maintenance. Among them, ruddered propulsion systems that integrate propulsion and steering functions have become an important technological branch. Such designs help simplify the hull structure and optimize the tail flow field. In recent years, the concept of modular design has been introduced into this field, aiming to reduce maintenance difficulty and time costs and improve the flexibility of equipment deployment through quick-disassembly and quick-assembly structures.

[0003] However, existing modular thrusters still have many shortcomings in practical implementation: their modular connection structure is often quite complex, the disassembly and assembly process is cumbersome, and they fail to achieve true speed and convenience; the rigidity and reliability of the connection parts are sometimes difficult to guarantee, affecting the stability of power transmission; at the same time, the fixing method of the rudder blades has a play, which leads to a decrease in control accuracy, and the streamlined design of the external thruster has limited effect on suppressing water flow disturbance. These factors together affect the working efficiency and overall performance of the entire propulsion system.

[0004] Therefore, the inventors urgently need a modular rudder-driven propulsion device that is compact, reliably connected, and easy to assemble and disassemble to solve the above problems. Utility Model Content

[0005] In view of the above-mentioned defects in the prior art, this utility model provides a modular rudder-driven propulsion device, which aims to solve the problems of inconvenient disassembly and assembly, insufficient connection reliability, misalignment of the rudder blade, and poor airflow guiding effect of the existing modular propulsion devices.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is: a modular rudder-driven propulsion device, comprising a module mounting frame and a propulsion assembly detachably mounted on the module mounting frame via a sliding insertion method. The propulsion assembly includes a mounting base plate, a servo component disposed on the upper surface of the mounting base plate, a propulsion body fixed to the lower surface of the mounting base plate, and a rudder blade connected to the output end of the servo component. The lower surface edge of the mounting base plate is provided with a U-shaped groove, and the module mounting frame is provided with a U-shaped frame plate adapted to the U-shaped groove. A plurality of mounting holes are evenly provided at positions corresponding to the U-shaped groove and the U-shaped frame plate, and the propulsion assembly is locked and fixed to the module mounting frame by screws and nuts passing through the mounting holes.

[0007] Based on the above, the advantages of a modular rudder-driven propulsion system are that it solves the problems of inconvenient assembly and disassembly, insufficient connection reliability, misalignment in rudder blade fixing, and poor airflow guidance in existing modular propulsion systems; mainly reflected in: 1. This utility model achieves rapid guidance and initial positioning of the thruster assembly along a predetermined trajectory by sliding and inserting a U-shaped groove set on the lower surface edge of the mounting base plate with a U-shaped frame plate set on the module mounting frame. Then, by using screws and nuts passing through the U-shaped groove and corresponding mounting holes on the U-shaped frame plate, the entire thruster assembly is reliably locked and fixed on the module mounting frame. This structure omits complex alignment and installation steps, and enables quick assembly and disassembly that can be operated by a single person, effectively solving the problem of inconvenient assembly and disassembly. 2. This utility model effectively distributes and transmits the vibration and thrust load of the thruster assembly during operation to the entire module mounting frame through the large sliding contact surface of the U-shaped groove and the U-shaped frame plate, as well as the cooperation of several evenly arranged mounting holes and screws and nuts. This avoids stress concentration and prevents the thruster assembly from loosening or displacing under stress through the huge locking force provided by the screws and nuts. This greatly enhances the rigidity and reliability of the connection and solves the problem of insufficient connection reliability. 3. This utility model directly connects the output end of the servo motor component to the rudder blade and rigidly fixes the entire propulsion assembly to the module mounting frame, ensuring that a stable support foundation is formed between the housing of the servo motor component, the mounting base plate and the hull. This effectively suppresses the problem of deviation (i.e., misalignment) between the actual angle of the rudder blade and the angle of the servo motor output command caused by the loosening or deformation of the foundation structure, and provides a solid structural guarantee for the precise control of the rudder blade.

[0008] Furthermore, the propulsion body includes a transmission component, a flow guide fixedly disposed at the front end of the transmission component, and a propeller guard fixedly disposed at the rear end of the transmission component. The transmission component includes two symmetrically arranged transmission outer covers and a propeller structure housed in the space formed by the two transmission outer covers. The signal transmission axis of the propeller structure extends upward and is connected to the lower surface of the mounting base plate.

[0009] Based on the above, the beneficial effects of the fairing are: optimizing the water flow at the front of the propeller, enabling the water flow to be pre-organized and guided smoothly towards the propeller area, thereby reducing water inlet resistance, avoiding eddy currents, and improving propulsion efficiency; the beneficial effects of the propeller shield are: providing safety protection for the propeller and assisting in water flow guidance, physically isolating the high-speed rotating propeller from the surrounding area, preventing foreign objects from colliding with the propeller and avoiding harm to surrounding personnel or organisms, while also helping to organize the discharged water flow; the beneficial effects of the transmission casing are: by using two symmetrically arranged pieces to enclose and form an accommodating space, a streamlined shell is formed and structural support is provided. This shape design effectively reduces underwater navigation resistance and achieves the dual function of protecting the internal mechanism and maintaining the overall structural stability; the beneficial effects of the propeller structure are: generating thrust to propel the equipment forward or backward, with its signal transmission axis extending upward and connecting to the mounting base plate, enabling the receipt of power and control signals from the unmanned vessel, and providing the main propulsion for the entire unmanned vessel through rotation and water propulsion.

[0010] Furthermore, the output end of the servo component is provided with a square plate, the upper end of the rudder blade is provided with a square groove that matches the shape of the square plate, the square plate is inserted into the square groove, the lower end of the rudder blade is provided with a D-shaped opening, the bottom ends of the two symmetrical transmission covers are each provided with a connecting plate, the upper ends of the tails of the two connecting plates are jointly supported by a positioning plate, the upper end of the positioning plate is provided with a D-shaped rod that is inserted and matched with the D-shaped opening.

[0011] Based on the above, the beneficial effects of the square plate and square slot interlocking are that it achieves zero-slip torque transmission and circumferential positioning between the upper end of the rudder blade and the output end of the servo motor component, accurately transmits the rotational motion of the servo motor component to the rudder blade, and effectively prevents the rudder blade from rotating and slipping relative to the output shaft during use, eliminating play. The beneficial effects of the D-shaped opening and D-shaped rod interlocking are that it achieves radial constraint and precise positioning at the lower end of the rudder blade, providing a solid, anti-rotation support point for the lower part of the rudder blade. Combined with the upper square plate, it forms a two-point positioning system, greatly enhancing... The rigidity and stability of the rudder blade installation further eliminates control play; the connecting plate provides a structural foundation for mounting the positioning plate and extends the support point rearward, enabling the positioning plate and its D-shaped rod to be stably fixed to the tail of the propeller body, providing a robust mounting platform away from the servo motor for the lower support of the rudder blade; the positioning plate, by mounting the D-shaped rod to support the lower end of the rudder blade, enables the concentrated bearing of the force and torque from the lower end of the rudder blade and evenly distributes it to the two connecting plates with which it is threaded, ensuring the strength and durability of the support structure.

[0012] Furthermore, a flow guide is provided between the front end of the connecting plate and the housing of the propeller structure.

[0013] Based on the above, the beneficial effect of the flow guide is to optimize the water flow state in the area between the connecting plate and the propeller structure shell in the closed space between the two transmission outer covers, realize the smooth guidance of the water flow, reduce the water flow separation and eddy phenomenon that may occur in this structural area, and thus reduce the navigation resistance.

[0014] Furthermore, each of the two symmetrical transmission covers has a guide vane extending upward from its top. The guide vane includes a vertical plane portion, a front guide surface located at the front end of the vertical plane portion, and a rear guide surface located at the rear end of the vertical plane portion. The front guide surface forms a first angle with the extension line of the outer side of the vertical plane portion, and the rear guide surface forms a second angle with the extension line of the outer side of the vertical plane portion. The first angle is greater than the second angle. The signal transmission shaft at the upper end of the propeller structure is located within the sealed space formed between the two guide vanes.

[0015] Based on the above, the beneficial effects of the guide vane are: optimizing the flow field of water flowing through the outer region of the top of the transmission cover and protecting the internal structure, thereby reducing the flow resistance and eddy current phenomenon of the water flow outside the structure, while protecting the internal signal transmission shaft; the beneficial effect of the vertical plane is that it constitutes the main support structure and main guiding surface of the guide vane, realizing the main guiding and supporting function of the water flow; the beneficial effect of the front guide surface is that, through the large first angle formed between it and the extension line of the outer side of the vertical plane, a sufficiently wide frontal plane is constructed within a limited space. Its core function is to divert the oncoming water flow non-sharply and smoothly, forcing most of the water flow to turn and flow along the surface of the guide vane. To both sides, turbulent water flow that might directly impact the signal transmission shaft and the lower surface of the mounting base is guided to the sides in advance, thus protecting the critical components behind. Although its own resistance is relatively large, it results in the optimization of the overall flow field. The beneficial effect of the rear guide surface is that the smaller second angle formed between it and the extension line of the outer side of the vertical plane can cooperate with the front structure to form a gradually narrowing flow channel, which accelerates and guides the water flow over its surface, helping the water flow to merge into the mainstream wake more quickly. This effectively suppresses the premature water flow separation phenomenon that may be caused by the wider front guide surface structure, reduces the tail vortex scale, and compensates for the drag loss brought by the front.

[0016] Furthermore, an interface module is provided on the front of the upper surface of the mounting base plate. The interface module is electrically connected to the servo component and the propeller structure respectively via cables. The interface module is provided with a quick-connect plug for quick connection with external control equipment.

[0017] Based on the above, the beneficial effects of the interface module are that it realizes the central integration and standardized conversion of all electrical signal connections of the propulsion assembly, and through cables, it electrically connects to the servo components and propeller structure respectively, realizing the convergence of scattered power lines and signal lines in one place, and providing a unified electrical interface for external devices; the beneficial effects of the quick-connect plug are that it provides a fast, reliable and mis-pluggable electrical connection interface with external control equipment. Its specific physical structure can quickly pair and lock with the corresponding plug, realizing the rapid connection or disconnection of the entire propulsion assembly and the hull control system without tools, which greatly improves the efficiency of disassembly, assembly and maintenance.

[0018] Furthermore, the first included angle is 65° to 75°, and the second included angle is 50° to 60°.

[0019] Furthermore, the inner surface of the U-shaped groove and the corresponding contact surface of the U-shaped frame plate are provided with anti-slip textures to increase friction.

[0020] Based on the above, the beneficial effect of the anti-slip texture is to significantly increase the static friction between the U-shaped groove and the U-shaped frame plate. Its uneven texture structure meshes with each other when the two are inserted and fitted together, which effectively prevents the pusher assembly from accidentally sliding relative to the module mounting frame before it is finally locked by screws and nuts. It plays a role in pre-positioning and preventing loosening, ensuring safety and convenience during the installation process.

[0021] To more clearly illustrate the above-mentioned features of this utility model and the objectives it aims to achieve, the present utility model will be further described below in conjunction with the accompanying drawings and specific embodiments. Attached Figure Description

[0022] Figure 1 : This is a perspective view of the present invention. Figure 2 : This is a cross-sectional view of the present invention. Figure 3 : This is a perspective view of the rudder blade of this utility model. Figure 4 This is a perspective view of the rudder blade of this utility model from another angle. Figure 5 This is a top view schematic diagram of the guide vane of this utility model. Figure 6 : This is a schematic diagram of the module mounting bracket of this utility model. Figure 7 : This is a schematic diagram of the mounting base plate of this utility model.

[0023] Reference numerals: 1-Module mounting bracket, 11-U-shaped frame plate, 2-Thruster assembly, 21-Mounting base plate, 211-U-shaped groove, 212-Interface module, 22-Servo component, 221-Square plate, 23-Thruster body, 231-Transmission component, 2311-Transmission cover, 23111-Connecting plate, 23112-Positioning plate, 23113-D-shaped rod, 23114-Guide component, 23115-Guide plate, 231151-Vertical plane, 231152-Front guide surface, 231153-Rear guide surface, 2312-Propeller structure, 232-Guide fairing, 233-Propeller shield, 24-Rudder blade, 241-Square groove, 242-D-shaped opening. Detailed Implementation

[0024] like Figures 1-7 As shown, a modular rudder-driven propulsion device includes a module mounting frame 1 and a propulsion assembly 2 detachably mounted on the module mounting frame 1 via a sliding insertion method. The propulsion assembly 2 includes a mounting base plate 21, a servo component 22 disposed on the upper surface of the mounting base plate 21, a propulsion body 23 fixed to the lower surface of the mounting base plate 21, and a rudder blade 24 connected to the output end of the servo component 22. The lower surface edge of the mounting base plate 21 is provided with a U-shaped groove 211. The module mounting frame 1 is provided with a U-shaped frame plate 11 adapted to the U-shaped groove 211. A plurality of mounting holes are evenly provided at positions corresponding to the U-shaped groove 211 and the U-shaped frame plate 11, and the propulsion assembly 2 is locked and fixed to the module mounting frame 1 by screws and nuts passing through the mounting holes.

[0025] The thruster body 23 includes a transmission component 231, a flow guide 232 fixedly disposed at the front end of the transmission component 231, and a propeller guard 233 fixedly disposed at the rear end of the transmission component 231. The transmission component 231 includes two symmetrically arranged transmission outer covers 2311 and a propeller structure 2312 housed in the space formed by the two transmission outer covers 2311. The signal transmission axis of the propeller structure 2312 extends upward and is connected to the lower surface of the mounting base plate 21.

[0026] The output end of the servo component 22 is provided with a square plate 221. The upper end of the rudder blade 24 is provided with a square groove 241 that matches the shape of the square plate 221. The square plate 221 is inserted into the square groove 241. The lower end of the rudder blade 24 is provided with a D-shaped opening 242. The bottom ends of the two symmetrical transmission covers 2311 are each provided with a connecting plate 23111. The upper ends of the tails of the two connecting plates 23111 are jointly supported by a positioning plate 23112. The upper end of the positioning plate 23112 is provided with a D-shaped rod 23113 that is inserted into the D-shaped opening 242.

[0027] A flow guide 23114 is provided between the front end of the connecting plate 23111 and the shell of the propeller structure 2312.

[0028] The top ends of the two symmetrical transmission covers 2311 are each provided with a guide vane 23115 extending upwards. The guide vane 23115 includes a vertical plane portion 231151, a front guide surface 231152 disposed at the front end of the vertical plane portion 231151, and a rear guide surface 231153 disposed at the rear end of the vertical plane portion 231151. The front guide surface 231152 and the extension line of the outer side of the vertical plane portion 231151 form a first included angle α, and the rear guide surface 231153 and the extension line of the outer side of the vertical plane portion 231151 form a second included angle β. The first included angle α is greater than the second included angle β. The signal transmission shaft at the upper end of the propeller structure 2312 is located in the sealed space formed between the two guide vanes 23115.

[0029] An interface module 212 is provided on the front of the upper surface of the mounting base plate 21. The interface module 212 is electrically connected to the servo component 22 and the propeller structure 2312 via cables. The interface module 212 is provided with a quick-connect plug for quick connection with external control equipment.

[0030] The first included angle α is 65° to 75°, and the second included angle β is 50° to 60°.

[0031] The inner surface of the U-shaped groove 211 and the corresponding contact surface of the U-shaped frame plate 11 are provided with anti-slip textures to increase friction.

[0032] In summary, the specific embodiments of this utility model are as follows: First, the thruster assembly 2 is installed. The operator aligns the U-shaped groove 211 on the lower edge of the mounting base plate 21 with the U-shaped frame plate 11 on the module mounting frame 1 and slides it in along its length. The anti-slip texture on the inner surface of the U-shaped groove 211 and the corresponding contact surface of the U-shaped frame plate 11 provides additional frictional resistance during this process, effectively preventing accidental slippage and achieving initial positioning. After the thruster assembly 2 is slid into place, screws are passed through the corresponding mounting holes on the U-shaped groove 211 and the U-shaped frame plate 11 and tightened with nuts to securely lock and fix the entire thruster assembly 2 to the module mounting frame. After the mechanical installation is completed, the electrical connection is made. The quick-connect plug on the interface module 212 set on the front of the upper surface of the mounting base plate 21 is quickly inserted into the quick-connect socket of the external control device, thereby realizing a fast and reliable electrical connection with the unmanned ship control system. The interface module 212 is connected to the electrical signal input terminals of the servo component 22 and the propeller structure 2312 through internal cables, respectively, thus completing the construction of the power and control signal transmission path. During operation, the propeller structure 2312 receives control signals and power from the interface module 212 above the mounting base plate 21 through its signal transmission shaft, and begins to rotate to generate thrust. The water flow first passes through the guide shroud 232 fixed to the front end of the transmission component 231. Its streamlined shape organizes and guides the water flow, making it flow smoothly towards the propeller area. Then the water flow is accelerated by the propeller structure 2312, and finally discharged after being organized by the propeller guard 233 at the rear end of the transmission component 231. The propeller guard 233 also provides safety protection for the propeller. When a change of course is required, the control system sends a command to the servo component 22 via the interface module 212. The output end of the servo component 22 begins to rotate, causing the square plate 221 on it to rotate synchronously. The square plate 221 is inserted into the square groove 241 at the upper end of the rudder blade 24, thereby transmitting torque to the rudder blade 24 without slippage, driving it to rotate around the axis. During this process, the D-shaped opening 242 at the lower end of the rudder blade 24 rotates relative to the D-shaped rod 23113 fixed at the upper end of the positioning plate 23112. The D-shaped rod 23113 provides a solid radial support for the lower end of the rudder blade 24, and together with the square plate 221 at the upper end, forms a stable two-point positioning, ensuring the accuracy and stability of the rudder blade 24 when rotating, and effectively eliminating control play. When the water flows through the propeller body 23, it is further optimized by its external structure. The two symmetrically arranged transmission covers 2311 and the guide vane 23115 at the top together form a streamlined shell. The front guide surface 231152 of the guide vane 23115 smoothly diverts the oncoming water flow to both sides with its larger first included angle α, protecting the signal transmission shaft and other components behind it. Its rear guide surface 231153 guides the outflowing water flow with a smaller second included angle β, which helps to reduce eddies. When maintenance or replacement is required, simply disconnect the electrical connection of the quick-connect plug, loosen and remove the fastening screws and nuts, and the entire thruster assembly 2 can be slid out along the U-shaped frame plate 11 in the opposite direction, achieving quick disassembly.

[0033] The above description is only the optimal solution embodiment of this utility model and is not intended to limit this utility model. Various modifications or substitutions made by those skilled in the art to this utility model without departing from the essence and protection scope of this utility model should also be within the protection scope of this utility model.

Claims

1. A modular rudder-driven propulsion system, characterized in that: The device includes a module mounting bracket (1) and a thruster assembly (2) that is detachably mounted on the module mounting bracket (1) by means of sliding plug-in. The thruster assembly (2) includes a mounting base plate (21), a servo component (22) disposed on the upper surface of the mounting base plate (21), a thruster body (23) fixed on the lower surface of the mounting base plate (21), and a rudder blade (24) connected to the output end of the servo component (22). The lower surface edge of the mounting base plate (21) is provided with a U-shaped groove (211). The module mounting bracket (1) is provided with a U-shaped frame plate (11) that is adapted to the U-shaped groove (211). A plurality of mounting holes are evenly provided at the positions corresponding to the U-shaped groove (211) and the U-shaped frame plate (11). The thruster assembly (2) is locked and fixed on the module mounting bracket (1) by screws and nuts passing through the mounting holes.

2. A modular rudder-driven propulsion system according to claim 1, characterized in that: The main body of the thruster (23) includes a transmission component (231), a flow guide (232) fixedly disposed at the front end of the transmission component (231), and a propeller guard (233) fixedly disposed at the rear end of the transmission component (231). The transmission component (231) includes two symmetrically arranged transmission outer covers (2311) and a propeller structure (2312) housed in the space formed by the two transmission outer covers (2311). The signal transmission axis of the propeller structure (2312) extends upward and is connected to the lower surface of the mounting base plate (21).

3. A modular rudder-driven propulsion system according to claim 2, characterized in that: The output end of the servo component (22) is provided with a square plate (221). The upper end of the rudder blade (24) is provided with a square groove (241) that matches the shape of the square plate (221). The square plate (221) is inserted into the square groove (241). The lower end of the rudder blade (24) is provided with a D-shaped opening (242). The bottom ends of the two symmetrical transmission covers (2311) are each provided with a connecting plate (23111). The upper ends of the tails of the two connecting plates (23111) are jointly supported by a positioning plate (23112). The upper end of the positioning plate (23112) is provided with a D-shaped rod (23113) that is inserted into the D-shaped opening (242).

4. A modular rudder-driven propulsion system according to claim 3, characterized in that: A flow guide (23114) is provided between the front end of the connecting plate (23111) and the shell of the propeller structure (2312).

5. A modular rudder-driven propulsion system according to claim 2, characterized in that: The top ends of the two symmetrical transmission covers (2311) are each provided with a guide vane (23115). The guide vane (23115) includes a vertical plane portion (231151), a front guide surface (231152) disposed at the front end of the vertical plane portion (231151), and a rear guide surface (231153) disposed at the rear end of the vertical plane portion (231151). The front guide surface (231152) forms a first angle (α) with the extension line of the outer side of the vertical plane portion (231151), and the rear guide surface (231153) forms a second angle (β) with the extension line of the outer side of the vertical plane portion (231151). The first angle (α) is greater than the second angle (β). The signal transmission shaft at the upper end of the propeller structure (2312) is located in the sealed space formed between the two guide vanes (23115).

6. A modular rudder-driven propulsion system according to claim 2, characterized in that: An interface module (212) is provided on the front of the upper surface of the mounting base plate (21). The interface module (212) is electrically connected to the servo component (22) and the propeller structure (2312) respectively via cables. The interface module (212) is provided with a quick-connect plug for quick connection with external control equipment.

7. A modular rudder-driven propulsion system according to claim 5, characterized in that: The first included angle (α) is 65° to 75°, and the second included angle (β) is 50° to 60°.

8. A modular rudder-driven propulsion system according to claim 1, characterized in that: The inner surface of the U-shaped groove (211) and the corresponding contact surface of the U-shaped frame plate (11) are provided with anti-slip textures to increase friction.

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