CN219857576U

CN219857576U - Balance paddle propulsion device and submarine

Info

Publication number: CN219857576U
Application number: CN202321028144.9U
Authority: CN
Inventors: 林艺魁
Original assignee: Guangdong Intelligent Unmanned System Research Institute Nansha
Current assignee: Guangdong Intelligent Unmanned System Research Institute Nansha
Priority date: 2023-04-28
Filing date: 2023-04-28
Publication date: 2023-10-20
Anticipated expiration: 2033-04-28

Abstract

The utility model discloses a balance paddle propulsion device and a submarine, wherein the balance paddle propulsion device comprises: a first rotating shaft; the first propeller is connected with the first rotating shaft; the second rotating shaft is rotatably sleeved on the inner side of the first rotating shaft, and at least one end of the second rotating shaft extends out of the first rotating shaft; the second propeller is connected with an extending part of the second rotating shaft opposite to the first rotating shaft; the driving source is connected with the first rotating shaft or the second rotating shaft and is used for driving the first rotating shaft or the second rotating shaft to rotate; and the linkage mechanism is respectively connected with the first rotating shaft and the second rotating shaft and is used for enabling the rotating directions of the first rotating shaft and the second rotating shaft to be opposite. According to the utility model, the reverse rotation of the first rotating shaft and the second rotating shaft synchronously drives the first propeller and the second propeller to rotate in the opposite direction, so that the reverse moment can be counteracted, and the stability of the navigation posture of the submarine is improved.

Description

Balance paddle propulsion device and submarine

Technical Field

The utility model relates to the technical field of marine equipment, in particular to a balance paddle propulsion device and a submarine.

Background

The underwater robot is widely applied to the fields of dam detection, underwater fishing, underwater tracking, underwater culture, underwater scientific investigation, pipeline detection and the like, and currently, a unidirectional propeller is mainly adopted to provide propulsion power, but the reverse moment during propulsion can influence the navigation posture of the underwater robot, and the faster the rotating speed, the larger the reverse moment, and the more serious the influence on the posture.

Disclosure of Invention

Aiming at the technical problems, the utility model provides a balance paddle propulsion device and a submarine, which can solve the problem of unstable navigation posture caused by reverse moment generated by the existing underwater propulsion device.

In order to solve the above technical problems, in a first aspect, an embodiment of the present utility model provides a balance paddle propulsion device, including:

a first rotating shaft;

the first propeller is connected with the first rotating shaft;

the second rotating shaft is rotatably sleeved on the inner side of the first rotating shaft, and at least one end of the second rotating shaft extends out of the first rotating shaft;

the second propeller is connected with an extending part of the second rotating shaft opposite to the first rotating shaft;

the driving source is connected with the first rotating shaft or the second rotating shaft and is used for driving the first rotating shaft or the second rotating shaft to rotate;

and the linkage mechanism is respectively connected with the first rotating shaft and the second rotating shaft and is used for enabling the rotating directions of the first rotating shaft and the second rotating shaft to be opposite.

Optionally, the linkage mechanism includes:

the first bevel gear is sleeved on the outer side of the first rotating shaft;

the second bevel gear is sleeved on the extending part of the second rotating shaft relative to the first rotating shaft;

and the third bevel gear is respectively connected with the first bevel gear and the second bevel gear in a matching way.

Optionally, the second rotating shaft includes a front end and a rear end, and the front end and the rear end both extend from the first rotating shaft;

the second propeller is connected to the front end;

the driving source is connected to the rear end.

Optionally, the second bevel gear is disposed proximate the rear end.

Optionally, the balance paddle propulsion device further includes a first rolling bearing, where the first rolling bearing is disposed between the inner side of the first rotating shaft and the second rotating shaft.

Optionally, the balance paddle propulsion device further includes:

the speedometer is connected with the driving source and is used for measuring the rotating speed of the driving source;

and the controller is connected with the speedometer and the driving source and is used for adjusting the rotating speed of the driving source according to the rotating speed measured by the speedometer.

Optionally, the balance paddle propulsion device further comprises a housing; the housing includes:

a cylindrical portion in which the drive source is disposed;

the conical part comprises a conical top and a conical bottom connected with the cylindrical part, and the first rotating shaft penetrates into the shell from the conical top;

the linkage mechanism is disposed within the tapered portion;

the first propeller and the second propeller are disposed at one end of the outer side of the housing near the tapered portion.

Optionally, the second propeller is sleeved at the front end of the second rotating shaft;

the shell further comprises a tail cover, and the tail cover is connected to the end part of the front end and locks the second propeller.

Optionally, the balance paddle propulsion device further comprises a second rolling bearing, and the second rolling bearing is arranged between the inner side of the cone top and the first rotating shaft.

In a second aspect, embodiments of the present utility model further provide a submersible vehicle, including a balance blade propulsion device as described in the above embodiments.

As mentioned above, the first rotating shaft and the second rotating shaft are connected through the linkage mechanism, the driving source drives one of the first rotating shaft and the second rotating shaft to rotate, the other one of the first rotating shaft and the second rotating shaft is driven by the linkage mechanism to rotate reversely, and the reverse rotation of the first rotating shaft and the second rotating shaft synchronously drives the first propeller and the second propeller to rotate reversely, so that the reverse moment can be counteracted, and the stability of the navigation posture of the submarine is improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the utility model and together with the description, serve to explain the principles of the utility model. In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the description of the embodiments will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.

Fig. 1 is a schematic perspective view of a propeller driving device according to an embodiment of the present utility model;

FIG. 2 is an exploded view of FIG. 1;

FIG. 3 is a schematic cross-sectional view of FIG. 1;

FIG. 4 is a schematic view of another embodiment of a propeller propulsion apparatus;

fig. 5 is a schematic diagram of the working principle of a linkage mechanism according to an embodiment of the present utility model.

The achievement of the objects, functional features and advantages of the present utility model will be further described with reference to the accompanying drawings, in conjunction with the embodiments. Specific embodiments of the present utility model have been shown by way of the above drawings and will be described in more detail below. The drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but rather to illustrate the inventive concepts to those skilled in the art by reference to the specific embodiments.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the utility model. Rather, they are merely examples of apparatus and methods consistent with aspects of the utility model as detailed in the accompanying claims.

The underwater robot is widely applied to the fields of dam detection, underwater fishing, underwater tracking, underwater culture, underwater scientific investigation, pipeline detection and the like, and currently, a unidirectional propeller is mainly adopted to provide propulsion power, but the reverse moment during propulsion can influence the navigation posture of the underwater robot, and the faster the rotating speed, the larger the reverse moment, and the more serious the influence on the posture. Based on the above, the utility model provides a balance paddle propulsion device and a submarine.

Referring to fig. 1, fig. 1 is a schematic perspective view of a propeller propulsion device according to an embodiment of the present utility model, fig. 2 is an exploded view of fig. 1, and fig. 3 is a schematic cross-sectional view of fig. 1. The balance blade propulsion device comprises a first rotating shaft 10, a first propeller 20, a second rotating shaft 30, a second propeller 40, a driving source 50 and a linkage mechanism 60.

The first propeller 20 is connected with the first rotating shaft 10, and the first rotating shaft 10 can drive the first propeller 20 to rotate when rotating. The second rotating shaft 30 is rotatably sleeved on the inner side of the first rotating shaft 10, that is, the second rotating shaft 30 penetrates through the first rotating shaft 10 and is coaxially arranged with the first rotating shaft 10. For example, a first rolling bearing 71 may be provided between the inner side of the first rotary shaft 10 and the second rotary shaft 30 to enable the second rotary shaft 30 to rotate with respect to the first rotary shaft 10, and the first rolling bearing 71 may be provided in 1, 2 or more as needed. At least one end of the second rotating shaft 30 extends out of the first rotating shaft 10, the second propeller 40 is connected with an extending part of the second rotating shaft 30 opposite to the first rotating shaft 10, and the second rotating shaft 30 can drive the second propeller 40 to rotate when rotating; the driving source 50 is connected to the first shaft 10 or the second shaft 30, and is used for driving the first shaft 10 or the second shaft 30 to rotate, and the driving source 50 may be a motor, or may be other transmission mechanisms driven by the motor. The linkage mechanism 60 is connected to the first rotary shaft 10 and the second rotary shaft 30, respectively, for reversing the rotation directions of the first rotary shaft 10 and the second rotary shaft 30.

For example, as shown in fig. 3, both ends of the second rotating shaft 30 extend from the first rotating shaft 10, the driving source 50 is connected to the second rotating shaft 30, and the second propeller 40 is connected to the other end of the second rotating shaft 30, or may be connected to the same end as the driving source 50, and the embodiment is not limited thereto. The driving source 50 drives the second rotating shaft 30 to rotate, the second rotating shaft 30 drives the first rotating shaft 10 to rotate in the opposite direction through the linkage mechanism 60, and the first rotating shaft 10 drives the first propeller 20 to rotate when rotating, so that the first propeller 20 and the second propeller 40 synchronously rotate in the opposite direction. In this embodiment, the second rotating shaft 30 is a driving shaft, the first rotating shaft 10 is a driven shaft, and the two shafts realize synchronous reverse rotation through the linkage mechanism 60.

For another example, as shown in fig. 4, fig. 4 is a schematic structural diagram of another propeller driving device according to an embodiment of the present utility model, only one end of the second rotating shaft 30 extends from the first rotating shaft 10, the driving source 50 is connected to the first rotating shaft 10, and the driving source 50 and the second propeller 40 are respectively located at two opposite ends of the first rotating shaft 10. In this embodiment, the driving source 50 drives the first rotating shaft 10 to rotate, the first rotating shaft 10 drives the second rotating shaft 30 to rotate in the opposite direction through the linkage mechanism 60, and the second rotating shaft 30 drives the second propeller 40 to rotate when rotating, so as to realize that the first propeller 20 and the second propeller 40 synchronously rotate in the opposite direction. In this embodiment, the first rotating shaft 10 is a driving shaft, the second rotating shaft 30 is a driven shaft, the two shafts realize synchronous reverse rotation through the linkage mechanism 60, the first propeller 20 provides forward power when rotating, and the second propeller 40 reverses to counteract the reverse torque.

In the above embodiment of the present utility model, the first rotating shaft 10 and the second rotating shaft 30 are connected through the linkage mechanism 60, the driving source 50 drives one of the first rotating shaft 10 and the second rotating shaft 30 to rotate, and the other rotates reversely under the driving of the linkage mechanism 60, and the reverse rotation of the first rotating shaft 10 and the second rotating shaft 30 synchronously drives the first propeller 20 and the second propeller 40 to rotate reversely, so that the reverse moment can be offset, and the stability of the navigation posture of the submarine can be improved.

It should be noted that, in order to enable the balance propeller propulsion apparatus to provide a larger power, the blades of the first propeller 20 and the blades of the second propeller 40 may be designed to have a certain curved or twisted shape, etc. according to the need, and the size of the second propeller 40 providing the counter moment to maintain the balance of the movement of the submarine is also designed to be smaller than that of the first propeller 20, and the embodiment of the present utility model is not particularly limited.

In one embodiment, referring to fig. 3 and 5, fig. 5 is a schematic diagram illustrating the working principle of a linkage mechanism according to an embodiment of the present utility model, the linkage mechanism 60 may include a first bevel gear 61, a second bevel gear 62, and a third bevel gear 63. The first bevel gear 61 is fitted over the first shaft 10, and the first bevel gear 61 may be a separate structure or may be integrally formed with the first shaft 10, and the present embodiment is not particularly limited. The second bevel gear 62 is sleeved on the second rotating shaft 30 at the extending part opposite to the first rotating shaft 10, and likewise, the second bevel gear 62 may be an independent structure or may be an integrally formed structure with the second rotating shaft 30. The third bevel gear 63 is cooperatively connected with the first bevel gear 61 and the second bevel gear 62, respectively. For example, the third bevel gear 63 may be mounted inside the housing of the balance blade propulsion device.

In the linkage mechanism 60 of the present embodiment, when one of the first bevel gear 61 and the second bevel gear 62 actively rotates, the other can be driven to rotate reversely by the third bevel gear 63, so that the first rotating shaft 10 and the second rotating shaft 30 can rotate reversely.

As an example, referring to fig. 3, the second shaft 30 includes a front end 31 and a rear end 32, and the front end 31 and the rear end 32 are protruded from the first shaft 10, i.e., both ends of the second shaft 30 are protruded from the first shaft 10. The second propeller 40 is connected to the front end 31, and the driving source 50 is connected to the second rotating shaft 30 and to the rear end 32 of the second rotating shaft 30. In this embodiment, the second rotating shaft 30 at the inner side is used as the driving shaft, and the driving source 50 and the second propeller 40 are respectively connected to two ends of the second rotating shaft 30, so that the overall structure is compact.

Further, the second bevel gear 62 is disposed near the rear end 32 of the second shaft 30, so as to minimize the length of the rear end 32 extending out of the first shaft 10, thereby reducing the volume of the balance blade propulsion device.

In one embodiment, the counter-balance paddle propulsion device may also include a speedometer 80 and a controller (not shown). A speedometer 80 is connected to the drive source 50 for measuring the rotational speed of the drive source 50, for example, the speedometer 80 may be an encoder for measuring the rotational speed of the drive source 50. The controller is connected with the speedometer 80 and the driving source 50, the speedometer 80 feeds back the measured rotation speed to the controller, and the controller can adjust the rotation speed of the driving source 50 according to the rotation speed measured by the speedometer 80.

In one embodiment, with continued reference to fig. 1-4, the balance blade propulsion device may further include a housing 90; the housing 90 may include a cylindrical portion 91 and a tapered portion 92. The drive source 50 is disposed in the cylindrical portion 91. The tapered portion 92 includes a cone tip 921 and a cone bottom 922 connected to the cylindrical portion 91, and the first rotation shaft 10 penetrates from the cone tip 921 into the housing 90, and the link mechanism 60 is provided in the tapered portion 92. The first propeller 20 and the second propeller 40 are disposed outside the housing 90 near one end of the tapered portion 92.

The first rotary shaft 10, the second rotary shaft 30, the driving source 50 and the linkage mechanism 60 are arranged in the casing 90 to seal the structural key parts and enhance the waterproof property.

As an example, referring to fig. 3, the second propeller 40 is sleeved on the front end 31 of the second rotating shaft 30. The housing 90 may further include a tail cap 93, the tail cap 93 being attached to the end of the front end 31 to lock the second propeller 40. The outer surface of the tail cap may be streamlined/smoothly curved to reduce drag during advancement.

As an example, referring still to fig. 3, the balance blade propulsion device may further include a second rolling bearing 72, where the second rolling bearing 72 is disposed between the inner side of the cone roof 921 and the first shaft 10, so as to enable the first shaft 10 to rotate relative to the tapered portion 92 of the housing 90.

The embodiment of the utility model also provides a submarine, which comprises the balance paddle propulsion device. For example, the submarine can be applied to the fields of dam detection, underwater fishing, underwater tracking, underwater cultivation, underwater scientific investigation, pipeline detection and the like.

Regarding the relevant working principle and process of the submarine according to the embodiment of the present utility model, reference is made to the description of the above-mentioned embodiment of the present utility model about the propeller device, and the description thereof is omitted here.

The utility model provides a balance paddle propulsion device and a submarine craft, and specific examples are used herein to illustrate the principles and embodiments of the utility model. In the present utility model, the descriptions of the embodiments are focused on, and the details or descriptions of the other embodiments may be referred to for the parts not described in detail or in the description of one embodiment.

The foregoing is merely an embodiment of the present utility model, and the technical features of the technical solution of the present utility model may be arbitrarily combined, and for brevity, all of the possible combinations of the technical features of the foregoing embodiment are not described, however, as long as there is no contradiction between the combinations of the technical features, all should be considered as the scope of the present utility model.

In addition, in the description of the present utility model, it should be understood that the terms "length", "width", "thickness", "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model. In addition, the present utility model may be identified by the same or different reference numerals for structural elements having the same or similar characteristics. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more features.

Claims

1. A balance paddle propulsion device, comprising:

a first rotating shaft;

the first propeller is connected with the first rotating shaft;

2. The balance blade propulsion device of claim 1, wherein the linkage mechanism comprises:

the first bevel gear is sleeved on the outer side of the first rotating shaft;

3. The balance blade propulsion device of claim 2, wherein the second shaft includes a front end and a rear end, and wherein the front end and the rear end each extend from the first shaft;

the second propeller is connected to the front end;

the driving source is connected to the rear end.

4. A counter-balance paddle propulsion device according to claim 3, wherein the second bevel gear is provided close to the rear end.

5. The balance blade propulsion device of claim 1, further comprising a first rolling bearing disposed between an inner side of the first shaft and the second shaft.

6. The balanced paddle propulsion device of claim 1, further comprising:

7. The propeller arrangement of any one of claims 1-6, further comprising a housing; the housing includes:

a cylindrical portion in which the drive source is disposed;

the linkage mechanism is disposed within the tapered portion;

8. The balance blade propulsion device of claim 7, wherein the second propeller is sleeved at the front end of the second rotating shaft;

9. The balance blade propulsion device of claim 7, further comprising a second rolling bearing disposed between the inner side of the cone roof and the first shaft.

10. A submarine comprising a balance paddle propulsion arrangement according to any of claims 1 to 9.