CN208484816U - Underwater propeller and underwater robot - Google Patents
Underwater propeller and underwater robot Download PDFInfo
- Publication number
- CN208484816U CN208484816U CN201821060126.8U CN201821060126U CN208484816U CN 208484816 U CN208484816 U CN 208484816U CN 201821060126 U CN201821060126 U CN 201821060126U CN 208484816 U CN208484816 U CN 208484816U
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- Prior art keywords
- shell
- end cover
- shaft
- underwater propeller
- underwater
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- 230000005284 excitation Effects 0.000 claims description 31
- 238000004804 winding Methods 0.000 claims description 29
- 238000007789 sealing Methods 0.000 claims description 16
- 239000007788 liquid Substances 0.000 claims description 6
- 239000002131 composite material Substances 0.000 claims description 4
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 239000011247 coating layer Substances 0.000 claims description 3
- 239000010410 layer Substances 0.000 claims description 3
- 229920000642 polymer Polymers 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 238000000465 moulding Methods 0.000 claims 2
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 238000005260 corrosion Methods 0.000 description 3
- 239000011248 coating agent Substances 0.000 description 2
- 238000000576 coating method Methods 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- 238000009413 insulation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000002706 hydrostatic effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 239000000565 sealant Substances 0.000 description 1
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- Hydraulic Turbines (AREA)
Abstract
The utility model provides a kind of underwater propeller, includes electric machine structure, support guide structure and one or more paddle blades；The electric machine structure includes rotor assembly and stator module；Support guide structure, paddle blade are separately mounted to stator module, on rotor assembly；The rotor assembly includes shell, and multiple paddle blades are directly securedly mounted on shell along circumferential direction respectively；Alternatively, being indirectly attached on shell after multiple paddle blades are molded as one by the blade connection being arranged；The shell is located at the radial outside of stator module；Support guide structure includes guide pipe, and the paddle blade is located at the radially inner side of guide pipe.The utility model additionally provides a kind of underwater robot comprising above-mentioned underwater propeller.The utility model solves the key problem of submersible machine waterproof, it is not necessary to do pressure-resistant seal cabin again for motor complete machine, enormously simplify the structure of propeller, weight, size and manufacturing cost are effectively reduced.
Description
Technical field
The utility model relates to underwater propulsion fields, and in particular, to a kind of underwater propeller and underwater robot.
Background technique
Global underwater robot is in miniaturization, fast-developing, and small size, simple for structure, big function on intelligentized direction
Rate, safe and reliable underwater propeller are underwater robot miniaturization, intelligentized basis.
Traditional underwater propeller generallys use the form for axially arranging screw blade and motor, and motor is set to pressure resistance
The effect of high undersea hydrostatic pressures is resisted in cabin, this underwater propeller normal length is longer, and whole structure is heavy, and thrust ratio is generally small
High to the intensity requirement of pressure-resistant cabin under deepwater environment in 5:1, deepwater environment adaptability and manufacturing cost are high.
Utility model content
For the defects in the prior art, the purpose of the utility model is to provide a kind of underwater propeller and underwaters
People.
According to underwater propeller provided by the utility model, include electric machine structure, support guide structure and one or more
A paddle blade；
The electric machine structure includes rotor assembly and stator module；Support guide structure, paddle blade are separately mounted to stator
On component, rotor assembly；
The rotor assembly includes shell, and multiple paddle blades are directly securedly mounted on shell along circumferential direction respectively；Or
Person is indirectly attached on shell after multiple paddle blades are molded as one by the blade connection being arranged；The shell is located at fixed
The radial outside of sub-component；
Support guide structure includes guide pipe, and the paddle blade is located at the radially inner side of guide pipe.
Preferably, the rotor assembly also includes shaft, rotor magnet and first end cover, and first end cover and shell fasten
Connection is integrally formed, and the rotor magnet is mounted on the inner wall of shell；Shaft is circumferentially fixed in first end cover；
The stator module includes excitation winding, inner support and second end cover, and inner support and second end cover are integrally formed
Or be fastenedly connected, the excitation winding is mounted on the outer peripheral surface of inner support；
Space that first end cover, second end cover and shell surround formed article containing space, the rotor magnet and excitation around
Group is respectively positioned in article containing space.
Preferably, the inner support is tubulose, and the shaft, which runs through, to be arranged in the axially extending bore of inner tubular support, shaft
It is connect with inner support by the sliding bearing being arranged；
The sliding bearing includes polymer composite bearing, and the shaft includes No. 45 rotating steel shafts；
Multiple excitation windings are circumferentially distributed in the outside wall surface of inner tubular support；Multiple rotor magnets and excitation winding exist
It is oppositely arranged in the radial direction.
Preferably, the support guide structure also includes the first housing and the second housing, and the second housing is securedly mounted to
On two end caps；
The guide pipe includes to be fastenedly connected or integrally formed diameter socket part and guide part, the support that the second housing passes through setting
Opening lever is connected in diameter socket part, and the first housing is fastenedly connected on guide part by the fender rod being arranged.
Preferably, mounting bracket is also fastenedly connected on guide pipe；The fender rod is in be arranged cross；Diameter socket part and guiding
Portion is connect in inner wall with smoothed section on outer wall；
For the diameter socket part along the direction with guide part connecting pin to diameter socket part free end, the diameter of inner wall and outer wall is equal
Increase.
Preferably, threading hole is provided in the second end cover, the excitation winding is connected with motor lines, and motor lines are worn
In threading hole；Encapsulating layer is provided between the wall surface of the hole and motor lines of the threading hole；
It is provided with cable-through hole on second housing, motor lines run through cable-through hole in the direction of extension.
Preferably, waterproof coating layer is provided on the excitation winding and/or rotor magnet；
It axially extends on direction, there are gaps between shell and second end cover；Alternatively, shell and second end cover pass through axis
Bearing structure connection；
The paddle blade is biconvex profile, plano-convex aerofoil profile or concave-convex aerofoil profile.
Preferably, the first end cover includes integrally formed radial extension and fastening part, and shaft is along axial one end
It is circumferentially fixed on fastening part；
Shaft reaches the outside of article containing space along the axial other end through second end cover, and shaft is matched along the axial other end
Equipped with shaft end clamping plate, shaft end clamping plate is circumferentially fixed in shaft by the tightening pin of setting；
Annular groove is provided in the second end cover, the one end of the shaft end clamping plate in axial direction is rotatably installed in annular
In slot.
Preferably, capsul is additionally provided in article containing space, the capsul is securedly mounted in inner support；In capsul
Portion forms sealing space, and the excitation winding is mounted in sealing space, and completely slow press liquid is filled in sealing space.
The utility model additionally provides a kind of underwater robot, includes above-mentioned underwater propeller.
Compared with prior art, the utility model have it is following the utility model has the advantages that
1, the utility model solves the key problem of submersible machine waterproof, it is not necessary to do pressure-resistant seal again for motor complete machine
Cabin, enormously simplifies the structure of propeller, and weight, size and manufacturing cost are effectively reduced；
2, underwater propeller provided by the utility model can realize that thrust reaches 5KG, push away at only 300 grams of own wt
Again than reaching 14.5:1, size is compact and flexible, is easily installed.
3, there is no hardness to need to traditional structures such as pressure-resistant seal cabin or oil sealings for the utility model, and underwater propeller is no longer
It is limited by the depth of water, working environment is up to underwater 3000 meters.
4, the utility model uses the bearing of composite material, has excellent seawater corrosion resistance characteristic.
5, when working in water, the water flow near the utility model provides excellent water cooling for high-speed rotating motor, leads
While the structure of pipe paddle is capable of providing efficient thrust, it effectively prevent being involved in for underwater sundries.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other spies of the utility model
Sign, objects and advantages will become more apparent upon:
Fig. 1 is underwater propeller schematic perspective view；
Fig. 2 is underwater propeller side view；
Fig. 3 is underwater propeller cross-sectional view；
Fig. 4 is paddle blade section shape figure；
Fig. 5 is guide part, fender rod and the first housing connection schematic diagram；
Fig. 6 is perspective view under one visual direction of electric machine structure；
Fig. 7 is electric machine structure cross-sectional view；
Fig. 8 is perspective view under another visual direction of electric machine structure；
Fig. 9 is electric machine structure explosive view.
It is shown in figure:
Specific embodiment
The utility model is described in detail combined with specific embodiments below.Following embodiment will be helpful to this field
Technical staff further understands the utility model, but does not limit the utility model in any form.It should be pointed out that ability
For the those of ordinary skill in domain, without departing from the concept of the premise utility, various modifications and improvements can be made.
These are all within the protection scope of the present invention.
In the description of the present invention, it should be understood that term " on ", "lower", "front", "rear", "left", "right",
The orientation or positional relationship of the instructions such as "vertical", "horizontal", "top", "bottom", "inner", "outside" be orientation based on the figure or
Positional relationship is merely for convenience of describing the present invention and simplifying the description, rather than the device or member of indication or suggestion meaning
Part must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.
As shown in Figure 1 to Figure 3, underwater propeller 200 provided by the utility model includes electric machine structure 100, support guide
Structure 210 and one or more paddle blades 240；The electric machine structure 100 includes rotor assembly 110 and stator module 120；Branch
Support guide frame 210, paddle blade 240 is separately mounted to stator module 120, on rotor assembly 110；The rotor assembly 110 wraps
Containing shell 114, the shell 114 is located at the radial outside of stator module 120.Multiple paddle blades 240 are straight along circumferential direction respectively
It connects and is securedly mounted on shell 114；Alternatively, after multiple paddle blades 240 are molded as one by the blade connection being arranged, indirectly
It is mounted on shell 114；Support guide structure 210 includes guide pipe 220, and the paddle blade 240 is located at the radial direction of guide pipe 220
Inside.
As shown in Figures 6 to 9, the rotor assembly 110 also includes shaft 111, rotor magnet 112 and first end cover
113, first end cover 113 is fastenedly connected or is integrally formed with shell 114, and the rotor magnet 112 is mounted on the inner wall of shell 114
On face；Shaft 111 is circumferentially fixed in first end cover 113；The stator module 120 includes excitation winding 121, inner support 122
And second end cover 123, inner support 122 are integrally formed or are fastenedly connected with second end cover 123, the excitation winding 121 is installed
On the outer peripheral surface of inner support 122；The space that first end cover 113, second end cover 123 and shell 114 surround forms tolerant sky
Between, the rotor magnet 112 is respectively positioned in article containing space with excitation winding 121；Stator module 120 passes through with rotor assembly 110
One or more sliding bearings 130 connect.Preferably, the inner support 122 is tubulose, and the shaft 111 is through setting in pipe
In the axially extending bore of shape inner support 122, shaft 111 is connect with inner support 122 by the sliding bearing 130；Multiple excitations around
Group 121 is circumferentially distributed in the outside wall surface of inner tubular support 122；Multiple rotor magnets 112 are with excitation winding 121 in radial side
It is oppositely arranged upwards.Preferably, the cross-sectional shape of the inner support 122 is also possible to polygon, multiple excitation windings 121
It is located on multiple radial end faces of inner support 122.Preferably, can have with preprocessing for pacifying in the inner support 122
The locating slot of the excitation winding 121 of dress can increase excitation winding 121 and inner support when being potted to excitation winding 121
Effective fixed-area between 122 increases fixing intensity.
The support guide structure 210 also includes the first housing 231 and the second housing 232, the fastening installation of the second housing 232
In second end cover 123；The guide pipe 220 includes to be fastenedly connected or integrally formed diameter socket part 221 and guide part 222, the
Two housings 232 are connected in diameter socket part 221 by the bar 233 that struts of setting, the fender rod 234 that the first housing 231 passes through setting
It is fastenedly connected on guide part 222.Mounting bracket 260 is also fastenedly connected on guide pipe 220；As shown in figure 5, the fender rod
234 be in be arranged cross.Preferably, the paddle blade 240 is biconvex profile, plano-convex aerofoil profile or concave-convex aerofoil profile.Compared to existing
The circular section rotation oar blade that underwater propulsion structure uses, is conducive to mention using the aerofoil profile paddle blade structure for being usually used in aviation field
For bigger thrust.Paddle blade 240, guide pipe 220 and fender rod 234 collectively form the structure of conduit paddle, high providing
While imitating thrust, it effectively prevent being involved in for underwater sundries.It is, of course, preferable to ground, the paddle blade 240, fender rod 234 and support
The number of opening lever 233 can be allocated according to actual needs.Preferably, as shown in figure 3, diameter socket part 221 and guide part 222 exist
Inner wall is connect with smoothed section on outer wall；The diameter socket part 221 is along free to diameter socket part 221 with 222 connecting pin of guide part
On the direction at end, the diameter of inner wall and outer wall increases.For guide part 222, outer wall is in cylindrical shape, opposite diameter socket part
The inner diameter at 221 places end remains unchanged, and the inner diameter at end is gradually increased outward where the free end of guide part 222, is in
Reaming shape is conducive to reduce the resistance of motion in water.
Preferably, waterproof coating layer is provided on the excitation winding 121 and/or rotor magnet 112；The sliding bearing
130 include polymer composite bearing, and the shaft 111 includes No. 45 rotating steel shafts.The sliding bearing 130 is plastic shaft
Hold, such bearing be it is special underwater using bearing, have the advantage that wear-resisting, can absorb top load, it is chemically resistant,
It is corrosion-resistant, and can be worked normally in -40 degrees Celsius to+200 degrees Celsius of temperature.It is provided in the second end cover 123
Threading hole 141, the excitation winding 121 are connected with motor lines, and motor lines are threaded through in threading hole 141；The threading hole 141
Encapsulating layer is provided between wall surface of the hole and motor lines；Sealant pouring and sealing, which fills up motor line outlet, makes motor of the naked leakage in external environment
Line is all sealed in Embedding Material, is reached to motor lines water proof anti-corrosion pressure resistance effect.Correspondingly, on second housing 232
It is provided with cable-through hole, motor lines run through cable-through hole in the direction of extension.Preferably, the first end cover 113, second end cover 123
On be respectively arranged with first through hole 142, the second through-hole 143.In addition, axially extending on direction, shell 114 and second end cover
There are gaps between 123.Article containing space and external pressure difference can be balanced by above structure.Preferably, shell 114 and second
End cap 123 is connected by bearing arrangement, and the structure connection of electric machine structure 100 entire in this way is even closer, and intensity is relatively reliable.
As shown in fig. 7, the first end cover 113 includes integrally formed radial extension 151 and fastening part 152, shaft
111 is circumferentially fixed on fastening part 152 along axial one end；Shaft 111 is reached along the axial other end through second end cover 123
The outside of article containing space, shaft 111 are equipped with shaft end clamping plate 161 along the axial other end, and shaft end clamping plate 161 is tight by setting
Rationed marketing 162 is circumferentially fixed in shaft 111.As shown in figure 9, being provided with annular groove 170, the axis in the second end cover 123
The one end of end snap-gauge 161 in axial direction is rotatably installed in annular groove 170.Electric machine structure 100 entire in this way is seen in shape
Structure is more compact, and shaft end clamping plate 161 is rotated with shaft 111, and plays protection sliding bearing 130, and limitation shaft 111
The effect of the radial deflection of movement.
Preferably, capsul is additionally provided in article containing space, the capsul is securedly mounted in inner support 122；Sealing
Sealing space is formed inside shell, the excitation winding 121 is mounted in sealing space, completely slow press liquid is filled in sealing space,
The slow press liquid is insulating liquid.The purpose of capsul setting is that insulation and opposing stationary ring are built in sealing space
The waterproof coating on excitation winding 121 and 121 surface of excitation winding is further protected in border.Compared with the existing technology, this is practical new
It is smaller to the size requirement of capsul in type, therefore same thickness is able to bear bigger pressure difference, in addition, being in high pressure in time
Under, it is also only to have lost part beneficial effect that capsul, which is destroyed, the normal operation without will affect equipment.The sealing
Shell can be stiff case, be also possible to the shell with certain elasticity, for stiff case, pressure difference inside and outside sealing space by
Capsul itself undertakes, and reliability is high, but to the material requirements of capsul higher；For having the shell of certain elasticity, example
Such as rubber itself is able to bear certain external pressure, and certain deformation can be generated under deepwater high-pressure environment, so that insulation
The pressure increase of liquid, but be unlikely to increase very much too many, forms certain barometric gradient, be ultimately applied to excitation winding 121 or
The pressure of the waterproof coating on its surface is also relatively small, improves operation stability and service life.
The utility model additionally provides a kind of underwater robot comprising above-mentioned underwater propeller 200.
Specific embodiment of the utility model is described above.It is to be appreciated that the utility model not office
It is limited to above-mentioned particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims,
This has no effect on the substantive content of the utility model.In the absence of conflict, the spy in embodiments herein and embodiment
Sign can be arbitrarily combined with each other.
Claims (10)
1. a kind of underwater propeller (200), which is characterized in that comprising electric machine structure (100), support guide structure (210) and
One or more paddle blades (240)；
The electric machine structure (100) includes rotor assembly (110) and stator module (120)；Support guide structure (210), blade
Piece (240) is separately mounted to stator module (120), on rotor assembly (110)；
The rotor assembly (110) includes shell (114), the directly fastening installation along circumferential direction respectively of multiple paddle blades (240)
On shell (114)；Alternatively, being indirectly attached to after multiple paddle blades (240) are molded as one by the blade connection being arranged
On shell (114)；The shell (114) is located at the radial outside of stator module (120)；
Support guide structure (210) includes guide pipe (220), and the diameter that the paddle blade (240) is located at guide pipe (220) is inside
Side.
2. underwater propeller (200) according to claim 1, which is characterized in that the rotor assembly (110) is also comprising turning
Axis (111), rotor magnet (112) and first end cover (113), first end cover (113) is fastenedly connected with shell (114) or one
Molding, the rotor magnet (112) are mounted on the inner wall of shell (114)；Shaft (111) is circumferentially fixed in first end cover
(113) on；
The stator module (120) includes excitation winding (121), inner support (122) and second end cover (123), inner support
(122) it is integrally formed or is fastenedly connected with second end cover (123), the excitation winding (121) is mounted on the outer of inner support (122)
On circumferential surface；
The space that first end cover (113), second end cover (123) and shell (114) surround forms article containing space, the rotor magnetic
Body (112) and excitation winding (121) are respectively positioned in article containing space.
3. underwater propeller (200) according to claim 2, which is characterized in that the inner support (122) is tubulose, institute
Shaft (111) are stated through being arranged in the axially extending bore of inner tubular support (122), shaft (111) is with inner support (122) by setting
Sliding bearing (130) connection set；
The sliding bearing (130) includes polymer composite bearing, and the shaft (111) includes No. 45 rotating steel shafts；
Multiple excitation windings (121) are circumferentially distributed in the outside wall surface of inner tubular support (122)；Multiple rotor magnets (112)
It is oppositely arranged in radial directions with excitation winding (121).
4. underwater propeller (200) according to claim 2, which is characterized in that the support guide structure (210) is also wrapped
Containing the first housing (231) and the second housing (232), the second housing (232) is securedly mounted on second end cover (123)；
The guide pipe (220) includes to be fastenedly connected or integrally formed diameter socket part (221) and guide part (222), the second housing
(232) it is connected on diameter socket part (221) by the bar (233) that struts of setting, the fender rod that the first housing (231) passes through setting
(234) it is fastenedly connected on guide part (222).
5. underwater propeller (200) according to claim 4, which is characterized in that guide pipe is also fastenedly connected on (220)
Mounting bracket (260)；The fender rod (234) is in be arranged cross；Diameter socket part (221) and guide part (222) are in inner wall and outer wall
On smoothed section connection；
The diameter socket part (221) along direction with guide part (222) connecting pin to diameter socket part (221) free end, inner wall and
The diameter of outer wall increases.
6. underwater propeller (200) according to claim 4, which is characterized in that be provided on the second end cover (123)
Threading hole (141), the excitation winding (121) are connected with motor lines, and motor lines are threaded through in threading hole (141)；The threading
Encapsulating layer is provided between the wall surface of the hole and motor lines in hole (141)；
It is provided with cable-through hole on second housing (232), motor lines run through cable-through hole in the direction of extension.
7. underwater propeller (200) according to claim 2, which is characterized in that the excitation winding (121) and/or turn
Waterproof coating layer is provided on sub- magnet (112)；
It axially extends on direction, there are gaps between shell (114) and second end cover (123)；Alternatively, shell (114) and the
Two end caps (123) are connected by bearing arrangement；
The paddle blade (240) is biconvex profile, plano-convex aerofoil profile or concave-convex aerofoil profile.
8. underwater propeller (200) according to claim 2, which is characterized in that the first end cover (113) includes one
Molding radial extension (151) and fastening part (152), shaft (111) are circumferentially fixed in fastening part (152) along axial one end
On；
Shaft (111) reaches the outside of article containing space along the axial other end through second end cover (123), and shaft (111) is along axis
To the other end be equipped with shaft end clamping plate (161), shaft end clamping plate (161) by setting tightening pin (162) it is circumferentially fixed turn
On axis (111)；
It is provided with annular groove (170) on the second end cover (123), the one end of the shaft end clamping plate (161) in axial direction turns
It is dynamic to be mounted in annular groove (170).
9. the underwater propeller according to claim 2 or 7 (200), which is characterized in that be additionally provided with sealing in article containing space
Shell, the capsul are securedly mounted on inner support (122)；Sealing space, the excitation winding (121) are formed inside capsul
It is mounted in sealing space, completely slow press liquid is filled in sealing space.
10. a kind of underwater robot, which is characterized in that include underwater propeller described in any one of claims 1 to 9
(200)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821060126.8U CN208484816U (en) | 2018-07-05 | 2018-07-05 | Underwater propeller and underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821060126.8U CN208484816U (en) | 2018-07-05 | 2018-07-05 | Underwater propeller and underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208484816U true CN208484816U (en) | 2019-02-12 |
Family
ID=65249626
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821060126.8U Expired - Fee Related CN208484816U (en) | 2018-07-05 | 2018-07-05 | Underwater propeller and underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208484816U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108860540A (en) * | 2018-07-05 | 2018-11-23 | 上海查派机器人科技有限公司 | Underwater propeller and underwater robot |
-
2018
- 2018-07-05 CN CN201821060126.8U patent/CN208484816U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108860540A (en) * | 2018-07-05 | 2018-11-23 | 上海查派机器人科技有限公司 | Underwater propeller and underwater robot |
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Granted publication date: 20190212 |