3523 results about "Propeller" patented technology

The invention discloses an air-ground multi-mode cross-domain robot system with a clutch structure and a control method. The air-ground multi-mode cross-domain robot system comprises a machine body, wings, clutch assemblies and rotor assemblies. The aircraft body drives the connecting rod mechanism through the steering engine to control the bilateral wings to move. Rotor driving motors, wheels and transmission gear sets are integrated on the wings, and motor power can be distributed to wheel driving shafts and propeller shafts. The clutch assembly is connected with a motor and a propeller shaft through a ratchet wheel meshing mechanism, and power on-off control is achieved, in the ground running process, a clutch is separated to stop rotation of a propeller, power is fully output to wheels to serve as driving wheels, and in the flight mode, the clutch is meshed to synchronously drive rotors and the wheels. According to the system, bimodal power distribution is achieved through a single motor, a driving wheel motor does not need to be additionally arranged, the structural complexity is effectively reduced, the moving speed and controllability are remarkably improved through the ground mode propeller static design, the advantage of cross-domain operation is achieved, and the system is suitable for complex task scenes.

The invention discloses an AUV (Autonomous Underwater Vehicle) path tracking method based on predicted line-of-sight angle guidance, which comprises the following steps: acquiring a real-time navigation state through inertial navigation, acoustic positioning and DVL fusion, introducing a fixed time disturbance predictor to estimate a sideslip angle and an ocean current velocity component on line, adaptively adjusting a line-of-sight distance according to transverse error-navigational speed-curvature, and tracking the path of the AUV. Calculating a predicted line-of-sight angle and outputting an expected heading; and then a propeller and a control surface are driven by adopting a fixed time feedback control law, so that track and attitude error fixed time convergence of the under-actuated AUV under the conditions of strong time-varying ocean current and large sideslip is realized. The method does not need a side thruster or an ocean current prior model, is simple in algorithm structure, is suitable for a high-speed high-curvature track, and has the advantages of high speed, high steady-state precision, low energy consumption and high robustness.

A vertical take-off or landing (VTOL) aircraft is disclosed that includes a propulsion system comprising at least four tilting propulsion assemblies and two or more lifting propulsion assemblies. Actuation of the tilting mechanisms can convert the aircraft from a hover configuration, in which all propellers produce thrust generally upward to counteract the aircraft's weight, to a forward flight configuration, in which the four or more tilting propellers produce thrust generally in a forward direction parallel to the fuselage to overcome drag in cruise flight and the lifting propellers produce no thrust or a level of thrust generally less than that required in the hover configuration.

The invention provides a multi-mode underwater detection robot. The robot comprises a body section assembly formed by connecting a plurality of cabin pipe assemblies and power cabin assemblies in series. Joints between the cabin pipe assemblies are connected through joint connecting pieces (7); a steering engine joint piece (3) is arranged at the joint connecting piece, a propeller propelling device (4) is arranged at the power cabin assembly, and when the underwater posture and the propelling working condition of the robot are adjusted, a steering engine of the steering engine joint piece applies force to the joint connecting piece to change the included angle of the joint connecting piece, so that the body section assembly is twisted, and the posture of the robot is converted into different modes; the propelling direction of the propeller propelling device is changed; the problems that an existing underwater robot is single in mode, incapable of adapting to complex environments, low in energy efficiency, difficult in structure maintenance and poor in function expansion capacity can be solved.

The utility model relates to a foldable propeller and a cross-medium aircraft with the same, the foldable propeller comprises a propeller hub controlled to rotate, a limiting structure arranged at the end part of the propeller hub and a plurality of blades uniformly arranged around the axis of the propeller hub, and each blade is hinged with the propeller hub; the hinged axis between the paddle and the propeller hub is perpendicular to the rotating axis of the propeller hub, and the limiting structure is located at the front end of the propeller hub in the direction of the pulling force generated when the paddle rotates along with the propeller hub; when the propeller hub rotates, the blades hinged to the propeller hub rotate and unfold under the action of centrifugal force to abut against the limiting structure. When the propeller hub stops rotating, the blades hinged to the propeller hub are folded to be close to the rotating axis of the propeller hub due to self weight or fluid resistance in the underwater flight process. The propellers are configured to be of a foldable structural form, so that the propellers are not prone to being impacted by water flow and damaged, meanwhile, turbulent flow generated when the water flow passes through the propellers is reduced, and the speed and stability of the cross-medium aircraft in the underwater flight process are improved.

The invention relates to the technical field of underwater vehicle fault diagnosis, in particular to a multi-mode propeller fault diagnosis method and diagnosis system. Comprising the following steps: collecting and preprocessing multi-modal data; quantizing the quality of the acoustic signal data and the visual signal data obtained in the previous step in real time; constructing a quality sensing gating network model; and training a quality sensing gating network model, and outputting a propeller fault type by using the trained quality sensing gating network model. The characteristics of the low-quality mode are dominated, enhanced and corrected through the characteristics of the high-quality mode, the interaction strength of the depth characteristics is actively controlled in real time from the source quality of signals, and high robustness and accuracy of propeller fault diagnosis can still be kept in a complex and severe environment.

The invention discloses an integrated machining device suitable for a large marine propeller, which comprises a machining adjusting assembly, the machining adjusting assembly is composed of an X-axis moving mechanism, a Y-axis moving mechanism and a Z-axis moving mechanism, one side of the Z-axis moving mechanism is fixedly provided with a rotating mechanism, one end of the rotating mechanism is fixedly connected with a cutting assembly, and the other end of the rotating mechanism is fixedly connected with a cutter; according to the large marine propeller integrated machining device with the automatic machining function and the self-adaptive clamping function, through the integrated multi-axis linkage machining adjusting assembly and the three-dimensional scanner, automatic path planning can be conducted, and automatic operation is achieved; therefore, the dependence on advanced technicians is greatly reduced, the machining efficiency and the product consistency are remarkably improved, and meanwhile, through the collaborative design of the rotatable three-jaw chuck and the center supporting mechanism, simultaneous reliable supporting from the interior and the exterior of the workpiece can be automatically achieved during clamping.

The invention discloses a method for completing an autonomous deep-sea exploration task by a deep-sea cross-domain unmanned aerial vehicle. The method comprises the following steps: determining a target area; taking off to a specified height from the sea level, receiving a task execution command and then flying to a target area; when the relative distance between the current position and the coordinates of the target area reaches a preset value, descending; when it is detected that the device is contacted with seawater, the device dives through gravity; when it is detected that the set depth is reached, the propeller is restarted, and the detection task is executed; after the detection task is completed, the standby battery is rejected and ascends; after leaving the water surface, rising to a specified height and switching to a homeward flight mode; and when the deep-sea cross-domain unmanned aerial vehicle is within the sight distance range, a manual landing task is executed. The invention further discloses the deep-sea cross-domain unmanned aerial vehicle. According to the unmanned aerial vehicle and the method, autonomous switching operation between an air medium and an underwater medium can be realized, and the unmanned aerial vehicle has the capability of autonomously completing detection and water body sampling in an extreme deep sea environment.

The invention discloses an unmanned aerial vehicle suitable for microwave reconnaissance interference equipment and an equipment antenna arrangement method, and belongs to the field of unmanned aerial vehicles. The unmanned aerial vehicle comprises a fuselage, wings and an empennage. The fuselage comprises a fuselage head, a fuselage body and a fuselage tail. The wings adopt upper single wings and are mounted at the top of the fuselage; the empennage is installed at the tail of the fuselage. The head of the fuselage adopts a nose cover made of wave-transparent materials, a plurality of forward interference antennas are mounted in the nose cover, lateral interference antennas and reconnaissance antenna arrays are mounted on fuselage skins on two sides of a fuselage main body, a plurality of backward interference antennas are mounted in an engine cover made of wave-transparent materials at the tail of the fuselage, and propellers at the tail end of the unmanned aerial vehicle are made of wave-transparent materials. Through the conformal design of the unmanned aerial vehicle and the antenna, the influence of the antenna on the aerodynamic performance of the unmanned aerial vehicle is reduced to the maximum extent, the aerodynamic layout of the unmanned aerial vehicle is optimized by combining the antenna arrangement, and the task antenna is not shielded.

The invention discloses an embedded fiber grating sensor self-calibration strain monitoring system and method.The system comprises a fiber grating sensor, an optical fiber demodulator and a stress buffering type self-calibration mechanism, and the fiber grating sensor is embedded into a propeller blade prefabricated mounting groove through a metal embedded part and a gradient modulus adhesive layer; the plurality of fiber grating sensors are symmetrically distributed in a propeller blade prefabricated mounting groove in pairs, and infrared rays of each pair of symmetrical fiber grating sensors are converged at the circle center of a propeller hub to form a dynamic reference point; the optical fiber demodulator is integrated on the propeller hub and is connected with the plurality of optical fiber grating sensors; the stress buffering type self-calibration mechanism integrates a double-shaft flexible hinge and a shape memory alloy, and interface stress buffering and fiber grating sensor position collaborative self-calibration are achieved. The interface stress is effectively reduced through the gradient modulus glue layer, and the shape memory alloy drives the double-shaft flexible hinge to efficiently correct the offset of the fiber grating sensor in real time and buffer the vibration.

The invention belongs to the technical field of mechanical transmission, and discloses a conductor ring and magnetic resistance array composite permanent magnet thrust bearing and a damping force calculation method. The conductor ring and magnetic resistance array combined type permanent magnet thrust bearing realizes the bearing of non-contact magnetic thrust through the combination of the eddy current ring and the magnetic group array. When thrust from a propeller at the stern end of a propulsion shafting acts, the rotor magnetic group array axially moves, axial traction force is generated between the rotor magnetic group array and the stator magnetic resistance array to counteract the thrust action from the axial direction, meanwhile, the magnetic group array cuts the vortex ring, induction damping is generated on the surface of the vortex ring, damping force is formed, and the vortex ring is driven to rotate. And therefore, the longitudinal vibration during transmission of the propulsion shafting is reduced, and the propulsion shafting system is more silent and stable during operation. In addition, the damping force calculation method does not need complex three-dimensional structure modeling and grid division, is simple in solution, high in universality and short in calculation time consumption, and has high engineering application practical value.

A modular vertical take-off and landing aircraft for transporting persons and / or loads, comprising a flight module with multiple drive units arranged on a supporting framework structure, each drive unit having an electric motor and a propeller operatively connected to the electric motor, a transport module having a conveying pod and a connection device for connecting the conveying pod to the flight module. The connection device has an elongated shaft, one end of which is attached to the conveying pod, and a coupling device for connecting the flight module to another end of the elongate shaft of the transport module.

A station keeping waterfowl system includes at least one self propelled station keeping waterfowl decoy and a homing buoy each having water resistant housings, with at least a portion of the decoy housing having a form of a waterfowl. The decoy and buoy each include batteries, microprocessors, and power switches. The decoy includes a motor driven propeller, a motor driven rudder, and a receiving array of antennae for radio direction finding and radio ranging to the buoy. The receiving array is a T-array of antennae comprising a first transverse linear array and a second longitudinal linear array. The homing buoy emits a homing signal and the one or more waterfowl decoys autonomously navigate to remain within a predetermined radius around the buoy. The system includes a simple handheld controller which preferably comprises no more than two switches or buttons.

The invention relates to a paddle clamp device which comprises a paddle clamp provided with a pin shaft bin; the two paddle bodies are respectively connected with the paddle clamp, so that the two paddle bodies are symmetrically arranged along the first axis; a torsion angle is formed from the blade tip to the root of the blade body; the fixed seat is provided with a pin shaft hole; the connecting pin shaft penetrates through the pin shaft bin and the pin shaft hole, so that the paddle clamp is rotationally connected with the fixed seat; and the axis of the connecting pin shaft is crossed with the first axis, so that the torsion angle is increased when the paddle body deflects downwards. The blade body can be driven to be automatically corrected in the direction opposite to the deflection direction, the flapping degree is reduced, and the stability in the flight process is improved.

The invention discloses a propeller hub assembly, a propeller and an aircraft, and relates to the technical field of propellers, the propeller hub assembly comprises a mounting seat, a propeller hub and a flapping hinge, the mounting seat is in driving connection with the output end of a power device, the propeller hub is used for mounting blades of the propeller, and the flapping hinge comprises an elastic bearing; and the propeller hub is rotationally connected to the mounting seat through the elastic bearing. According to the technical scheme, the maintenance difficulty and the maintenance cost of the propeller can be reduced.

To provide a uniaxial two-rudder vessel capable of easily carrying out directional control and speed control and capable of carrying out vessel position retention maneuvering with fixed retention capacity at a low speed range.SOLUTION: A biaxial four-rudder vessel includes a maneuvering controller 201 for controlling an action direction of thrust around a stern working on a hull 110 by controlling a direction of a propeller wake flow of propulsion propellers 101a, 101b. The maneuvering controller 201 has parallel movement maneuvering unit 286 for moving the hull 110 in parallel in an arbitrary direction by combining an action direction of thrust of a starboard propulsion system 100a and an action direction of thrust of a stern propulsion system 100b in low speed range maneuvering.SELECTED DRAWING: Figure 2

The invention provides an unmanned aerial vehicle system with symmetrical crossed wings and a control method, and relates to the field of unmanned aerial vehicles. Comprising a fuselage structure, a power module and a flight control module, and the fuselage structure comprises a cylindrical fuselage and four wings which are arranged on the peripheral side of the cylindrical surface of the fuselage and are symmetrically and crosswise distributed; the four wings are distributed in an X-shaped crossing manner or a cross-shaped crossing manner; the power module comprises a motor and a propeller, the motor is arranged at a wingtip of the wing, an output shaft of the motor is in the same direction as the axial direction of the fuselage and faces the tail of the fuselage, and the propeller is connected to the output shaft of the motor; the flight control module is arranged in the fuselage and used for controlling the output rotating speed of the four motors. The four-rotor FPV unmanned aerial vehicle has the advantages of a four-rotor FPV and a fixed-wing unmanned aerial vehicle, lift force can be generated through wings, cruising and sprint can be achieved in a fixed-wing mode, pitching, yawing and rolling postures of the unmanned aerial vehicle can be controlled by changing the rotating speed of a motor, a control plane does not need to be designed for the unmanned aerial vehicle to control the postures, the structure is simplified, and cost is low.

A design method for a blade with orientation structures, a blade and a performance test method for a blade are provided, which relate to the technical field of blade design, and are universal to blades whose parameters are completely or partially known. In the design method, orientation awls are provided at a trailing edge of a blade from a variable-pitch propeller; orientation awls are provided at a trailing edge of a blade from a fixed-pitch propeller or a fan blade from a jet engine, and orientation grooves are provided on a back of the blade. Meanwhile, during providing orientation awls for either blade, the blade is stretched in a chord direction to ensure that an area of a pressure surface of a modified blade is equal to an area of a pressure surface of its original.

The invention belongs to the technical field of mobile robots, and particularly relates to an amphibious hexapod robot which comprises a robot body, six walking feet, a protection box, propellers, a multi-sensor system and a central control unit. The six walking feet are arranged on the two sides of the robot body, and a waterproof driving joint is arranged at the tail end of each foot. The protection box is arranged at the root of the walking foot and internally integrated with propellers; the sensor system comprises a water depth sensor, an attitude sensor and a grounding detection module; the central control unit is used for collecting sensor data in real time, judging whether the current environment is a land or a water area, automatically switching a walking mode or a water propulsion mode, and meanwhile adaptively adjusting gaits and the rotating speed of propellers according to the water depth and the terrain. The robot has environment perception, mode decision, gait generation, grounding prevention protection and energy optimization strategies, full-autonomous and high-adaptability movement in the land and water environment is achieved, and the working capacity and safety of the robot in the complex environment are improved.

The invention discloses an arresting protection device of a rear propeller type aircraft and the aircraft, and relates to the field of aircrafts. The arresting hook is hinged below the tail part of the aircraft fuselage; the telescopic limiting and buffering mechanism is mounted on the fuselage and located between the arresting hook and the propeller, and the telescopic limiting and buffering mechanism has a retraction state and an extension locking state; the trigger mechanism is arranged on the telescopic limiting buffer mechanism. Therefore, by increasing the first angle a of the arresting hook swinging upwards for the first time, the impact force of the arresting hook on the fuselage is effectively reduced, and lightweight design of the telescopic limiting buffer mechanism and the fuselage bearing area is facilitated; the telescopic limiting buffer mechanism can be switched among different states to limit the upward swinging angle of the arresting hook, so that the arresting cable is always located below the lowest rotating plane of the propeller, collision with the propeller is avoided, safety of the propeller and the aircraft body is guaranteed, and safety of the aircraft with the rear propeller in the recovery process is improved.

The invention discloses a GNN-PINN hybrid architecture-based propeller wake flow pressure field reconstruction device and method and a storage medium, and belongs to the field of flow field measurement. The method comprises the following steps: firstly, obtaining CFD simulation data of multi-model propellers under different working conditions and constructing a data set; adding noise to the velocity field data to simulate experimental noise; a hybrid architecture pressure reconstruction model based on deep fusion of a graph neural network (GNN) and a physical information neural network (PINN) is constructed, and the physical rationality of output is ensured through a physical constraint mechanism; after the network training is finished, PIV experimental data is used as a test set for verification, and the result shows that the GNN-PINN hybrid model can realize rapid and high-precision reconstruction of the wake flow pressure field. The method overcomes the defects of interference of traditional pressure measurement on a flow field and long consumed time of a CFD method, is suitable for wake flow pressure field reconstruction of propellers of various models and under various working conditions, and has high robustness and engineering application value.

The invention discloses a ship maneuverability prediction method, a ship maneuverability prediction system and a ship maneuverability prediction device taking propeller performance changes into regular waves. The method comprises the following steps: firstly, calculating the motion response, the second-order wave drift force and the drift moment of a ship body under different regular wave conditions based on a potential flow theory, establishing a wave force fitting equation taking the wave direction and the navigational speed as variables, and performing ship manipulation motion numerical simulation in regular waves based on an obtained calculation result; acquiring an input parameter range of the propeller in a manipulating motion state; establishing a CFD numerical model of ship propeller performance in regular waves, simulating heaving and pitching motion of the propeller under motion response, determining the range of the heaving and pitching motion, and calculating propeller thrust data under different wave conditions and input parameters; and carrying out regression analysis on the propeller thrust data, and fitting to obtain a prediction formula of the propeller thrust coefficient in the regular waves. The formula couples the wavelength-to-length ratio, the advance speed coefficient and the wave direction angle, and quantifies the dynamic influence of the wave on the propeller thrust.

The invention provides an underwater integrated navigation method and system based on speed prediction, and relates to the technical field of underwater navigation.The underwater integrated navigation method comprises the steps that observation data of an inertial navigation system (INS), a Doppler log (DVL) and a pressure sensor (PS) are obtained, and when the observation speed of the Doppler log (DVL) fails or meets the gross error condition, the pressure sensor (PS) is determined; predicting the observation speed based on the corrected rotating speed of the propeller; based on the observation data, calculating an IMU pre-integration factor, a DVL factor and a PS factor, constructing a factor graph, and fusing the observation data through a factor graph optimization method to obtain a final underwater vehicle state, including position coordinates, speed, attitude, accelerometer and gyroscope zero offset errors; according to the method, the pseudo DVL factor constructed by the speed predicted value replaces the DVL factor to participate in the navigation framework, so that the navigation precision divergence is effectively inhibited in the DVL failure state.

The invention relates to the technical field of bridge underwater part detection, in particular to bridge underwater part detection equipment which comprises a mounting frame, a sealed waterproof shell is fixedly arranged at the upper end of the mounting frame, a lifting frame is hinged to one side of the lower end of the mounting frame, and floating cylinders are fixedly arranged on the two sides of the lower end of the mounting frame; a propeller is fixedly arranged at the rear part of the mounting frame, a detection mechanism is arranged at the lower end of the lifting frame, a wireless signal transceiver is fixedly arranged at the upper end of the sealed waterproof shell, and remote control is realized through the propeller and the wireless signal transceiver, so that the equipment can be autonomously navigated to a to-be-detected area, and the risk and cost of manual diving operation are reduced; the lifting frame adopts a multi-degree-of-freedom adjusting hydraulic cylinder, a motor I and a motor II, so that the position and angle of the detection mechanism can be flexibly adjusted to adapt to piers or underwater structures with different depths and different gradients, and the detection coverage rate and precision are improved.

The low-noise pipeline pump comprises a pipeline body, a motor and conveying propellers, a plurality of pump pipe barrels arranged in one-to-one correspondence with the conveying propellers are arranged on the surface of the pipeline body, a positioning petal is fixedly installed on the inner side of the pipeline body, and a first flow guide ring and a second flow guide ring are arranged on the surface of the positioning petal. The first flow guide ring and the second flow guide ring are located on the inner sides of the pump pipe barrels, and the motor is fixed to the inner side of the pipeline body through the pump pipe barrels. According to the utility model, the flow channel cavity and the bent branch structure are arranged in the pipeline body, so that under the flow guide of the first flow guide ring and the second flow guide ring, the fluid can be guided to smoothly enter the main channel when the fluid flows forwards, and vortex is generated through the bent branch structure when the fluid flows backwards, thereby forming the effect of a Tesla valve; the interference of fluid vortex on the pipeline pump is effectively prevented and avoided, so that the stability of the pipeline pump in various flowing directions is ensured, and the mute effect of the pipeline pump is improved.

The invention provides a comfort-based eVTOL multi-parameter fusion adaptive control method and device, and the method comprises the steps: S1, obtaining comfort-related parameters in real time, and enabling the comfort-related parameters to comprise in-cabin noise, in-cabin vibration intensity, in-cabin temperature, in-cabin humidity, and in-cabin air quality index; and S2, based on the comfort related parameters and according to a preset mapping relation, control parameters are output, and the control parameters comprise a propeller rotating speed adjusting instruction, a propeller pitch compensation instruction and an in-cabin air conditioner and ventilation system control instruction. And S3, controlling the aircraft in real time based on the output control parameters. According to the invention, through multi-parameter fusion, a set of through-flight adaptive control method and device is constructed, and the comfort of eVTOL is improved.

The invention relates to the technical field of marine propeller manufacturing, and discloses a marine propeller blade cladding welding method based on artificial intelligence, which comprises the following steps: collecting blade surface point cloud of a propeller to generate a surface grid; the missing type of the blade is analyzed through the surface grids, and a double-face collaborative automatic welding mechanism of the blade is set; identifying the relative position deviation and the temperature field distribution range of the blade in the welding process by using a double-sided collaborative automatic welding mechanism, and creating a defect automatic positioning node of the blade; track deviation data and motor compensation signals of welding equipment are collected, and an intelligent welding monitoring network of the blades is constructed; setting a blade parameter anomaly detection unit and a thermal deformation control system; and in combination with a double-sided collaborative automatic welding mechanism, an intelligent welding monitoring network, a parameter anomaly detection unit and a thermal deformation control system, cladding welding treatment of the paddle is executed, and a cladding welding result is obtained. The welding quality and the welding efficiency of the propeller can be improved.

It provides the following solutions: the system includes subsystems such as an integrated management and evaluation subsystem, and constructs a ship six-degree-of-freedom motion model. A thrust calculation model is built for the problem of propeller thrust affected by broken ice during the propulsion process. By treating broken ice as independent moving objects, the motion of broken ice is solved to obtain the relative motion speed between the ship and broken ice. The influence of broken ice on propeller performance is considered by incorporating the relative speed between the ship and broken ice into the propeller modeling process, which acts on the aforementioned model. The annular crack method is used to determine the breaking shape of level ice, and the generated broken ice is close to real-world conditions.

The invention relates to an electric propulsion heat dissipation system, a power device and an aircraft, and relates to the technical field of aircrafts. The electric propulsion cooling system comprises propellers, arms, power motors and radiators, the electric propulsion cooling system is fixedly connected to an aircraft body structure of the aircraft through the arms, the propellers are arranged at the output ends of the power motors, and the power motors are installed on the arms and can drive the propellers to rotate around the axes of the power motors. The radiator dissipates heat of the power motor through cooling liquid circulation, the vehicle arms are provided with heat dissipation grooves and air outlets, the radiator is installed in the heat dissipation grooves, and orthographic projections of blades of the propeller on the corresponding surfaces of the vehicle arms at least partially cover the radiator, so that airflow generated by the propeller can penetrate through the radiator and then enter the external space through the air outlets. According to the electric propulsion heat dissipation system, the power device and the aircraft, the problem that the lightweight design of the aircraft is affected due to the fact that a current cooling system is large in size and weight is solved.

The invention provides a combustion-supporting air preheating device for an annealing furnace, and relates to the technical field of air preheating combustion-supporting equipment, the combustion-supporting air preheating device comprises a preheating box, and a plurality of rows of preheating pipes are fixedly connected in the preheating box; a threaded propeller shaft is rotationally arranged in the preheating box and close to the leeward side of the preheating pipe, and a longitudinal guide shaft is welded in parallel in the preheating box and close to the threaded propeller shaft; the preheating pipe is sleeved with a retaining ring in a sliding mode, a gear ring is rotationally installed on the retaining ring, a retaining ring is welded to the gear ring, a small annular steel wire brush and a large annular steel wire brush are fixed to the inner circumference and the outer circumference of the retaining ring respectively, and brush wires on the annular steel wire brush on the inner side are evenly distributed on the inner circumference of a supporting ring of the retaining ring. Brush wires on the annular steel wire brush on the outer side are uniformly distributed on the periphery of a supporting ring of the annular steel wire brush; according to the preheating device, the trouble that the preheating device needs to be greatly disassembled to expose the preheating pipe, and then the preheating pipe can be cleaned can be omitted, and operation and use are easy, convenient and efficient.