CN114426090A - Propeller and underwater vehicle using same - Google Patents
Propeller and underwater vehicle using same Download PDFInfo
- Publication number
- CN114426090A CN114426090A CN202210133789.2A CN202210133789A CN114426090A CN 114426090 A CN114426090 A CN 114426090A CN 202210133789 A CN202210133789 A CN 202210133789A CN 114426090 A CN114426090 A CN 114426090A
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- motor
- bevel gear
- propeller
- hub
- blade
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- 230000008859 change Effects 0.000 claims description 19
- 230000000694 effects Effects 0.000 claims description 5
- 230000009471 action Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009347 mechanical transmission Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H23/00—Transmitting power from propulsion power plant to propulsive elements
- B63H23/02—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing
- B63H23/06—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing for transmitting drive from a single propulsion power unit
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Gear Transmission (AREA)
Abstract
The invention relates to the technical field of underwater propellers and aircrafts, and discloses a propeller which comprises a propeller hub, a fairing, a motor, a blade shaft, a blade and an inertia wheel, wherein the fairing is arranged at one end of the propeller hub, the motor is arranged in the fairing, the output end of the motor is fixedly connected with the propeller hub, the blade shaft is rotatably arranged at the side part of the propeller hub, one end of the blade shaft extends into the propeller hub and is fixedly provided with a first bevel gear, the other end of the blade shaft is connected with the blade, the inertia wheel is rotatably arranged in the propeller hub, the inertia wheel is fixedly connected with a second bevel gear meshed with the first bevel gear, and the second bevel gear is coaxially arranged with the motor. The invention can make the propeller generate axial thrust and lateral thrust only by one motor, simplifies the internal structure of the propeller, is convenient for assembly and makes the whole volume of the propeller smaller. Meanwhile, the invention also provides an underwater vehicle using the propeller, which has the advantages of simple structure, small volume, stable sailing and capability of realizing omnidirectional sailing.
Description
Technical Field
The invention relates to the technical field of underwater propellers and underwater vehicles, in particular to a propeller and an underwater vehicle using the same.
Background
In order to make it possible for an underwater vehicle to obtain sufficient steering force at low speeds, control methods have emerged in which the rudder is replaced by a vector thruster instead of a conventional thruster. The underwater propeller can change the propelling direction at will, thereby improving the maneuverability of the aircraft when the aircraft runs at low speed. The existing underwater vector propeller mostly controls the propelling direction by means of electromagnetic driving, hydraulic transmission, mechanical transmission and the like, and the structure of the existing underwater vector propeller is generally designed with various space mechanisms, and then the deflecting direction of the propeller is changed by utilizing a deflecting driver (electromagnetic, hydraulic and the like). Therefore, the vector thruster needs to be provided with a deflection driving device besides the main propulsion motor, and comprises a motor, a hydraulic system, a mechanical transmission system and the like, and the vector thruster is complex in structure, difficult to assemble and large in occupied space, so that the whole volume of the vector thruster is large.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a propeller which has a simple structure and does not need to additionally use a driver to generate lateral force.
In order to achieve the above object, the present invention provides a propeller, including a hub, a fairing, a motor, a blade shaft, a blade and an inertia wheel, wherein the fairing is arranged at one end of the hub, the motor is arranged in the fairing, an output end of the motor is fixedly connected with the hub, the blade shaft is rotatably arranged at a side part of the hub, one end of the blade shaft extends into the hub and is fixedly provided with a first bevel gear, the other end of the blade shaft is connected with the blade, the inertia wheel is rotatably arranged in the hub, the inertia wheel is fixedly connected with a second bevel gear engaged with the first bevel gear, and the second bevel gear is coaxially arranged with the motor;
the motor drives the hub, the blade shaft and the first bevel gear to rotate around the axis of the motor, the angular speed of the first bevel gear rotating around the axis of the motor is a first angular speed, the first bevel gear drives the second bevel gear to rotate around the axis of the second bevel gear, and the angular speed of the second bevel gear rotating around the axis of the second bevel gear is a second angular speed;
when the motor rotates at a constant speed, the first angular speed is the same as the second angular speed, and the propeller generates axial thrust; when the motor rotates in a variable speed mode, under the inertia effect of the inertia wheel, the speed change of the second bevel gear lags behind the speed change of the first bevel gear, the first angular speed is larger than or smaller than the second angular speed, and the first bevel gear and the second bevel gear rotate relative to each other to drive the blade shaft and the blades to rotate around the axis of the blade shaft, so that the pitch of the propeller changes, and the propeller generates lateral thrust.
The invention further comprises a controller, wherein the controller controls the rotation speed of the motor to change periodically, and the rotation speed change period of the motor is matched with the rotation period of the hub.
As a preferable scheme of the present invention, the motor is an external rotor motor, a rotor of the motor is fixedly connected with the hub, the rotor of the motor is provided with a rotating shaft, and the inertia wheel and the second bevel gear are rotatably sleeved on the rotating shaft.
As a preferable aspect of the present invention, the plurality of blade shafts are provided, and the plurality of blade shafts are evenly distributed around the axis of the motor.
As a preferable aspect of the present invention, the blade shaft is disposed in a radial direction of the hub.
As a preferable aspect of the present invention, the present invention further includes a magnetic encoder for detecting a rotational position of the motor.
As a preferable aspect of the present invention, the blade is connected to the blade shaft by a hinge.
Meanwhile, the invention also provides an underwater vehicle using the propeller, which comprises a body and the two propellers, wherein the two propellers are arranged and are respectively arranged at two ends of the body.
Compared with the prior art, the propeller and the underwater vehicle using the same have the advantages that: according to the invention, the first bevel gear is driven by the motor to drive the second bevel gear to rotate, when the motor rotates at uniform speed, the first bevel gear and the second bevel gear synchronously rotate around the axis of the motor, and the propeller generates axial thrust; when the motor rotates in a variable speed mode, under the action of the inertia wheel, the speed change of the second bevel gear lags behind that of the first bevel gear, the first bevel gear and the second bevel gear rotate relatively to drive the blade shaft and the blades to rotate around the axis of the blade shaft, so that the torsion angle of the blades is changed, the pitch of the propeller is changed, and the propeller generates lateral thrust. The underwater vehicle using the propeller has small overall size and can sail stably in all directions.
Drawings
FIG. 1 is a block diagram of a propeller provided by the present invention;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a cross-sectional view A-A of FIG. 2;
FIG. 4 is a cross-sectional view B-B of FIG. 2;
FIG. 5 is a connecting structure diagram of the first bevel gear and the second bevel gear in FIG. 1;
FIG. 6 is a block diagram of an underwater vehicle provided by the present invention;
in the figures, 1, hub; 11. a blade shaft; 12. a blade; 2. a cowling; 3. a motor; 31. a rotor; 32. a rotating shaft; 4. a first bevel gear; 5. an inertia wheel; 6. a second bevel gear; 7. an encoder; 8. a body; 9. a propeller.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the present invention, it should be understood that the present invention adopts the orientations or positional relationships indicated by the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. based on the orientations or positional relationships shown in the drawings, only for convenience of description and simplification of description, but not for indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
As shown in fig. 1-5, a propeller according to a preferred embodiment of the present invention includes a hub 1, a fairing 2, a motor 3, a blade shaft 11, a blade 12, and an inertia wheel 5, wherein the fairing 2 is disposed at one end of the hub 1, the motor 3 is disposed in the fairing 2, an output end of the motor 3 is fixedly connected to the hub 1, the blade shaft 11 is rotatably disposed at a side portion of the hub 1, one end of the blade shaft 11 extends into the hub 1 and is fixedly provided with a first bevel gear 4, the other end of the blade shaft 11 is connected to the blade 12, the inertia wheel 5 is rotatably disposed in the hub 1, the inertia wheel 5 is fixedly connected to a second bevel gear 6 engaged with the first bevel gear 4, and the second bevel gear 6 is coaxially disposed with the motor 3.
The motor 3 drives the hub 1, the blade shaft 11 and the first bevel gear 4 to rotate around the axis of the motor 3, specifically, the motor 3 drives the hub 1 to rotate around the axis of the motor 3, the hub 1 drives the blade shaft 11 to rotate around the axis of the motor 3, the blade shaft 11 drives the first bevel gear 4 to rotate around the axis of the motor 3, the angular velocity of the first bevel gear 4 rotating around the axis of the motor 3 is a first angular velocity, the first bevel gear 4 drives the second bevel gear 6 to rotate around the axis of the second bevel gear 6, the second bevel gear 6 drives the inertia wheel 5 to rotate around the axis of the second bevel gear 6, and the angular velocity of the second bevel gear 6 rotating around its own axis is a second angular velocity.
When the motor 3 rotates at a constant speed, the first angular speed is the same as the second angular speed, the first bevel gear 4 and the second bevel gear 6 rotate around the axis of the motor 3 synchronously, and the propeller generates axial thrust; when the motor 3 rotates at a variable speed, the speed change of the second bevel gear 6 lags behind the speed change of the first bevel gear 4 under the inertia effect of the inertia wheel 5, and the first angular speed is greater than or less than the second angular speed, specifically, when the motor 3 rotates at an accelerated speed, the rotation speed change of the inertia wheel 5 and the second bevel gear 6 lags behind the change of the rotation speed of the first bevel gear 4 under the inertia effect of the inertia wheel 5, so that the first angular speed is greater than the second angular speed, or, when the motor 3 rotates at a decelerated speed, the first angular speed is less than the second angular speed under the inertia effect of the inertia wheel 5, in both cases, the first angular speed is not equal to the second angular speed, and the first bevel gear 4 and the second bevel gear 6 drive the blade shaft 11 and the blade 12 to rotate around the axis of the blade shaft 11 relative to the rotation, so as to change the twist angle (i.e. the blade angle) of the blade 12, so that the propeller pitch is changed and the propeller generates lateral thrust; when the motor 3 is changed from variable-speed rotation to uniform-speed rotation, the change of the rotation speed of the inertia wheel 5 and the second bevel gear 6 lags behind for a certain time under the action of inertia, and finally the inertia wheel and the first bevel gear 4 rotate synchronously at a uniform speed.
According to the invention, the motor 3 drives the first bevel gear 4 to drive the second bevel gear 6 to rotate, when the motor 3 rotates at a uniform speed, the first bevel gear 4 and the second bevel gear 6 rotate synchronously around the axis of the motor 3, and the propeller generates axial thrust; when the motor 3 rotates at a variable speed, under the action of the inertia wheel 5, the speed change of the second bevel gear 6 lags behind the first bevel gear 4, the first bevel gear 4 and the second bevel gear 6 rotate relatively to drive the blade shaft 11 and the blades 12 to rotate around the axis of the blade shaft 11, so that the torsion angle of the blades 12 is changed, the pitch of the propeller is changed, and the propeller generates lateral thrust.
Illustratively, the present embodiment further comprises a controller, when the propeller needs to generate a lateral force, the controller controls the rotation speed of the motor 3 to periodically change and the rotation speed change period of the motor 3 is matched with the rotation period of the hub 1, so as to generate a thrust in a specific direction, and when the lateral thrust of the propeller needs to be controlled, only the phase angle of the current needs to be changed.
Illustratively, the motor 3 is an external rotor motor, the rotor 31 of the motor 3 is fixedly connected with the hub 1, the rotor 31 of the motor 3 is provided with a rotating shaft 32, and the flywheel 5 and the second bevel gear 6 are rotatably sleeved on the rotating shaft 32, so as to facilitate the rotation of the hub 1 driven by the motor 3 and the installation of the flywheel 5 and the second bevel gear 6.
Illustratively, the blade shafts 11 are arranged in plurality, the blade shafts 11 are uniformly distributed around the axis of the motor 3 and rotate smoothly, in the embodiment, two blade shafts 11 are arranged, two blade shafts 11 are adjacent, the rotation consistency of the two blade shafts 11 can be maintained, and only one first bevel gear 4 can be arranged, so that the structure is simplified.
Illustratively, the blade shaft 11 is disposed along the radial direction of the hub 1, and generally, the hub 1 is disposed coaxially with the motor 3, and the arrangement is reasonable, so that the first bevel gear 4 and the second bevel gear 6 provided on the blade shaft 11 are connected, and at the same time, the blade shaft 11 can enable the hub 1 to rotate smoothly when the blade shaft 11 follows the hub 1 to rotate around the axis of the motor 3.
Illustratively, the present embodiment further comprises a magnetic encoder 7 for detecting the rotational position of the motor 3, and determining the rotational positions of the hub 1 and the blades 12 by detecting the rotational position of the motor 3, so as to control the motor 3 to rotate to enable the hub 1 to be parked.
Illustratively, the blades 12 are connected to the blade shaft 11 by hinges so that the blades 12 can be folded rotationally for storage and transport of the entire propeller.
As shown in fig. 6, the underwater vehicle comprises a body 8 and the propellers 9 described above, two propellers 9 are provided, two propellers 9 are respectively provided at two ends of the body 8, and the rotation directions of the two propellers 9 are opposite to each other so as to counteract the yaw torque caused by the rotation of the hub 1 and the blades 12 and ensure that the body 8 can move smoothly.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (8)
1. A propeller, characterized by: the blade comprises a hub, a fairing, a motor, a blade shaft, blades and an inertia wheel, wherein the fairing is arranged at one end of the hub, the motor is arranged in the fairing, the output end of the motor is fixedly connected with the hub, the blade shaft is rotatably arranged at the side part of the hub, one end of the blade shaft extends into the hub and is fixedly provided with a first bevel gear, the other end of the blade shaft is connected with the blades, the inertia wheel is rotatably arranged in the hub, the inertia wheel is fixedly connected with a second bevel gear meshed with the first bevel gear, and the second bevel gear is coaxially arranged with the motor;
the motor drives the hub, the blade shaft and the first bevel gear to rotate around the axis of the motor, the angular speed of the first bevel gear rotating around the axis of the motor is a first angular speed, the first bevel gear drives the second bevel gear to rotate around the axis of the second bevel gear, and the angular speed of the second bevel gear rotating around the axis of the second bevel gear is a second angular speed;
when the motor rotates at a constant speed, the first angular speed is the same as the second angular speed, and the propeller generates axial thrust; when the motor rotates in a variable speed mode, under the inertia effect of the inertia wheel, the speed change of the second bevel gear lags behind the speed change of the first bevel gear, the first angular speed is larger than or smaller than the second angular speed, and the first bevel gear and the second bevel gear rotate relative to each other to drive the blade shaft and the blades to rotate around the axis of the blade shaft, so that the pitch of the propeller changes, and the propeller generates lateral thrust.
2. The propeller of claim 1, wherein: the controller is used for controlling the rotation speed of the motor to change periodically, and the rotation speed change period of the motor is matched with the rotation period of the hub.
3. The propeller of claim 1, wherein: the motor is an outer rotor motor, a rotor of the motor is fixedly connected with the propeller hub, a rotating shaft is arranged on the rotor of the motor, and the inertia wheel and the second bevel gear are rotatably sleeved on the rotating shaft.
4. The propeller of claim 1, wherein: the blade shaft sets up a plurality ofly, and a plurality of blade shafts are evenly distributed around the axis of motor.
5. The propeller of claim 1, wherein: the blade shafts are arranged in a radial direction of the hub.
6. The propeller of claim 1, wherein: also included is a magnetic encoder for detecting a rotational position of the motor.
7. The propeller of claim 1, wherein: the blade is connected with the blade shaft through a hinge.
8. An underwater vehicle, characterized by: the propeller comprises a body and two propellers according to any one of claims 1 to 7, wherein the two propellers are respectively arranged at two ends of the body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210133789.2A CN114426090A (en) | 2022-02-14 | 2022-02-14 | Propeller and underwater vehicle using same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210133789.2A CN114426090A (en) | 2022-02-14 | 2022-02-14 | Propeller and underwater vehicle using same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114426090A true CN114426090A (en) | 2022-05-03 |
Family
ID=81312698
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210133789.2A Pending CN114426090A (en) | 2022-02-14 | 2022-02-14 | Propeller and underwater vehicle using same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114426090A (en) |
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2022
- 2022-02-14 CN CN202210133789.2A patent/CN114426090A/en active Pending
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Application publication date: 20220503 |