CN210063340U

CN210063340U - Underwater robot propeller

Info

Publication number: CN210063340U
Application number: CN201920594889.9U
Authority: CN
Inventors: 何超; 李波
Original assignee: China University of Geosciences
Current assignee: China University of Geosciences
Priority date: 2019-04-25
Filing date: 2019-04-25
Publication date: 2020-02-14
Anticipated expiration: 2029-04-25

Abstract

The utility model provides a propeller of underwater robot, including bullet head, screw, oar fork, axle with rotatory glary circle, front column, protecgulum, bearing, transmission shaft, divertor, preceding mounting panel, preceding O type circle, casing, motor, back O type circle, back mounting panel, back lid, rear column, cable fixed head, cable. The utility model has the advantages that: the shaft is dynamically sealed by the rotary GREEN ring, so that the shaft is more wear-resistant than an O-shaped seal, and a sealing element does not need to be frequently replaced; compared with a mechanical sealing structure, the propeller is simple and compact, and the size of the propeller is reduced; the rotary Glare ring can bear larger pressure, and can ensure that the underwater robot can work stably for a long time in a deeper water area; the adopted packaging form has a simple structure and is suitable for packaging internal rotating motors with various powers.

Description

Underwater robot propeller

Technical Field

The utility model relates to an underwater detection observation device field especially relates to an underwater robot propeller.

Background

With the continuous and deep understanding of the ocean, how to effectively develop and utilize ocean biological energy, water resources, metal resources and the like becomes an important problem in front of people. Before the 70 s in the 20 th century, activities such as marine product culture, underwater target object observation, underwater salvage operation and the like are generally operated by divers, but the activities are limited by physical conditions and water depth of the divers, so that the operation time and the operation efficiency are limited. The emergence of underwater robots as aids for human development, exploration and utilization of the ocean plays an increasingly important role in aquaculture, underwater observation, subsea operation and the like. At present, the shadow of an underwater robot can be seen in the fields of underwater facility structure inspection, fish behavior observation, mariculture net cage inspection, aquaculture, fishery, marine oil platforms, nuclear power stations, tidal power stations, offshore wind power plants, commercial underwater operation support, toxic liquid inspection, diving field inspection, crime scene search, underwater search and rescue scientific research, scientific research and the like.

The underwater propeller is a power mechanism of the underwater robot, is an important module of the underwater robot, and the development of the underwater robot is promoted by the technical progress of the underwater propeller. At present, an underwater propeller mainly uses an O-shaped ring or a mechanical seal to realize dynamic seal on a moving shaft in the axial direction. The O-shaped ring is fast in dynamic seal abrasion, needs to be replaced regularly in a short time, and meanwhile, when the O-shaped ring is used for dynamic seal, the pressure born by the O-shaped ring is small, and the requirement that the underwater robot carries out exploration in a deeper water area cannot be met. The mechanical seal is only suitable for motors with larger shaft diameters, has complex structures and is not suitable for packaging small propellers.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model provides an underwater robot propeller chooses for use the axle to realize the dynamic seal with rotatory glary circle, can bear great water pressure, guarantees that the propeller can be in the long-time steady operation in deeper waters, and this compact structure, and is small, is applicable to the encapsulation of various size power propellers.

The utility model provides an underwater robot propeller, including bullet head (1), screw (2), oar fork (3), protecgulum (6), bearing (7), transmission shaft (8), divertor (9), casing (12), motor (13), back lid (16), wherein:

the front cover (6) is arranged at the front end of the shell (12), the motor (13) is arranged inside the shell (12), and the rear cover (16) is arranged at the rear end of the shell (12); the bullet head (1), the propeller (2) and the pulp fork (3) are sequentially arranged at the front end of the transmission shaft (8); the rear end of the transmission shaft (8) penetrates through the front cover (6) and is fixed on a shaft of the motor (13); the transmission shaft (8) and the front cover (6) are dynamically sealed by a rotary GREEN (4) for a shaft; the bearing (7) is arranged between the transmission shaft (8) and the front cover (6), and the bearing (7) is assembled on the front cover (6); a fluid director (9) is assembled on the front cover (6).

Further, still include preceding mounting panel (10) and rear mounting panel (15), preceding mounting panel (10) with divertor (9) are connected, rear mounting panel (15) are fixed on back lid (16), preceding mounting panel (10) with rear mounting panel (15) keep on same horizontal plane for install the propeller on the underwater robot.

Further, the cable fixing device also comprises a cable fixing head (18) and a cable (19), wherein the cable fixing head (18) is installed in a threaded hole of the rear cover (16); one end of the cable (19) is connected with the motor (13), the other end of the cable (19) penetrates through the cable fixing head (18), and glue pouring and sealing treatment is carried out on the connection position of the inner side of the rear cover (16) and the cable fixing head (18).

Further, the front cover (6) and the shell (12) are axially and statically sealed through a front O-shaped ring (11), and the rear cover (16) and the shell (12) are radially and statically sealed through a rear O-shaped ring (14).

Further, the propeller (2) is a four-blade propeller.

Further, the diameter of the front end of the transmission shaft (8) is smaller than that of the rear end, wherein the front end of the transmission shaft (8) is matched with the paddle fork (3) and the propeller (2), and the front end of the transmission shaft (8) is provided with threads which are matched and connected with the bullet heads (1); the connecting part of the front end and the rear end of the transmission shaft (8) is in contact with the bearing (7).

Furthermore, the front cover (6) is designed into an arc line shape, and a countersunk bolt hole connected with the shell (12) is processed on the front cover; the bolt hole of the front part of the shell (12) for installing the motor (13) is a countersunk hole.

Further, a gap is reserved between the transmission shaft (8) and the shell (12) for preventing gap friction between the transmission shaft (8) and the shell (12).

The utility model has the advantages that:

1. the utility model adopts the rotary GRILL ring for the shaft to carry out rotary dynamic sealing, the rotary GRILL ring for the shaft is wear-resistant, has good sealing performance and can bear larger pressure, the defects of quick wear, frequent replacement and large mechanical sealing volume of the original O-shaped ring dynamic sealing are solved, and the underwater propeller of the utility model has small volume and can stably work in deeper water areas for a long time;

2. the utility model is provided with the four-blade propeller and the fluid director, and directly regulates the functions of positive and negative rotation, acceleration, deceleration, stop and start of the underwater propeller by the PWM wave through the external controller, so that the underwater propeller can flexibly move underwater, and meanwhile, the PCB is not used for encapsulating the inside of the shell, thereby further reducing the volume of the propeller;

3. because the motor shaft is shorter, so the utility model discloses in design the transmission shaft, in order to guarantee the axial fixity of transmission shaft, form the step in the front end of transmission shaft and the junction of rear end, if with the step direct with the protecgulum cooperation, can produce very big frictional force, consequently installed the bearing additional between the two, realized the reliable compactness of cooperation between each part of propeller, reduced the frictional force between the cooperation.

Drawings

Fig. 1 is an exploded schematic view of an underwater robot propeller according to an embodiment of the present invention;

fig. 2 is a first schematic view of an assembly structure of the underwater robot propeller according to an embodiment of the present invention;

fig. 3 is a schematic view of an assembly structure of the underwater robot propeller according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, embodiments of the present invention will be further described below with reference to the accompanying drawings.

Referring to fig. 1, an embodiment of the present invention provides an underwater robot propeller and an assembling method thereof, wherein the underwater robot propeller includes a bullet 1, a propeller 2, a fork 3, a shaft rotating greige ring 4, a front pillar 5, a front cover 6, a bearing 7, a transmission shaft 8, a deflector 9, a front mounting plate 10, a front O-ring 11, a housing 12, a motor 13, a rear O-ring 14, a rear mounting plate 15, a rear cover 16, a rear pillar 17, a cable fixing head 18, and a cable 19.

Referring to fig. 2 and 3, the assembled underwater robot propeller has a main body portion of a motor 13, and the motor 13 is an inner rotor dc brushless motor and is installed inside a housing 12; a rear cover 16 is mounted at the rear end of the housing 12 with a rear O-ring 14 for radial static sealing therebetween; the cable fixing head 18 is mounted in a threaded hole of the rear cover 16; the cable 19 passes through the cable fixing head 18 and is connected with the motor 13; the cable fixing head 18 plays a role in fixing the cable 19, and pouring sealant is added at the joint of the inner side of the rear cover 16 and the cable fixing head 18 to ensure reliable sealing, so that the waterproof sealing performance between the rear cover 16 and the shell 12 is ensured, and an external control system can utilize PWM signals to regulate the forward and reverse rotation and the rotation speed of the motor 13 through the cable 19.

The shaft of the motor 13 is connected with the transmission shaft 8, the shaft and the transmission shaft are fixed by a fastening bolt, and the shaft of the motor 13 is a D-shaped shaft, so that normal torque transmission can be ensured. The diameter of the front end of the transmission shaft 8 is small, the diameter of the rear end is large, a step is formed at the joint of the front end and the rear end, the step is in contact with the bearing 7, the axial positioning of the transmission shaft 8 can be guaranteed during assembly, play cannot occur, and meanwhile friction force can be reduced. The bearing 7 is assembled on the front cover 6, the front cover 6 is designed into an arc streamline shape to play a role in guiding flow, the front cover 6 is installed on the front portion of the shell 12, and the front cover and the shell are axially and statically sealed through the front O-shaped ring 11. The rear end of the transmission shaft 8 penetrates through the front cover 6, the transmission shaft and the front cover 6 are rotationally and dynamically sealed through the rotary GREEN 4, and the pressure resistance required by dynamic sealing can be ensured by designing a gap between the transmission shaft 8 and the front cover 6. The rotary GREEN 4 for the shaft is used for dynamic sealing, can bear larger pressure, can ensure the normal work of the impeller in deeper water areas, has better wear resistance and does not need to be replaced frequently.

The paddle fork 3 and the propeller 2 are fitted to the front end of the drive shaft 8. Wherein the paddle fork 3 and the transmission shaft 8 are radially fixed by a fastening bolt, and a plane is selected at the contact part of the transmission shaft 8 and the fastening bolt, so that the torque transmission between the paddle fork 3 and the transmission shaft 8 is ensured. The propeller 2 is a four-blade propeller, the front part of the propeller fork 3 is provided with two bulges which form the shape of a fork, the two bulges are just matched with the concave part of the propeller 3, the torque can be transmitted to the propeller 2, and the normal rotation of the propeller 2 is ensured. The front end of the transmission shaft 8 is provided with a thread which is matched and connected with the bullet head 1, the bullet head 1 can ensure the axial fixation when the propeller 2 is assembled, and the function of diversion is achieved.

The fluid director 9 is fixed on the front cover 6 through the front upright post 5 and the bolt; the front mounting plate 10 is matched with the fluid director 9, the rear mounting plate 15 is mounted on the rear cover 16 through the rear upright post 17, and the front mounting plate 10 and the rear mounting plate 16 are kept on the same horizontal plane and used for mounting the propeller on the underwater robot. The front pillar 5 is used to fix the deflector 9 to the front cover 6.

Preferably, the front cover 6, the shell 12 and the rear cover 16 are made of aluminum alloy, so that heat dissipation is fast;

preferably, after the underwater robot propeller is packaged, corresponding oil is injected into the shell 12 to play a role in heat dissipation.

In this document, the terms front, back, upper and lower are used to define the components in the drawings and the positions of the components relative to each other, and are used for clarity and convenience of the technical solution. It is to be understood that the use of the directional terms should not be taken to limit the scope of the claims.

The features of the embodiments and embodiments described herein above may be combined with each other without conflict.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.

Claims

1. The utility model provides an underwater robot propeller which characterized in that, includes bullet head (1), screw (2), oar fork (3), protecgulum (6), bearing (7), transmission shaft (8), divertor (9), casing (12), motor (13), back lid (16), wherein:

2. The underwater robot propeller of claim 1, further comprising a front mounting plate (10) and a rear mounting plate (15), the front mounting plate (10) being connected to the deflector (9), the rear mounting plate (15) being fixed to the rear cover (16), the front mounting plate (10) and the rear mounting plate (15) being maintained at the same level for mounting the propeller to an underwater robot.

3. The underwater robotic propeller of claim 1, further comprising a cable fixing head (18) and a cable (19), the cable fixing head (18) being mounted within a threaded bore of the rear cover (16); one end of the cable (19) is connected with the motor (13), the other end of the cable (19) penetrates through the cable fixing head (18), and glue pouring and sealing treatment is carried out on the connection position of the inner side of the rear cover (16) and the cable fixing head (18).

4. The underwater robotic propeller of claim 1, wherein the front cover (6) is axially static sealed to the housing (12) by means of a front O-ring (11), and the rear cover (16) is radially static sealed to the housing (12) by means of a rear O-ring (14).

5. The underwater robotic propeller of claim 1, characterized in that the diameter of the front end of said transmission shaft (8) is smaller than the diameter of the rear end, wherein the front end of said transmission shaft (8) cooperates with said fork (3) and with said propeller (2), the front end of said transmission shaft (8) being provided with a thread cooperating with said bullet-head (1); the connecting part of the front end and the rear end of the transmission shaft (8) is in contact with the bearing (7).