WO2020042686A1 - 一种水下及水面辅助推进器 - Google Patents

一种水下及水面辅助推进器 Download PDF

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Publication number
WO2020042686A1
WO2020042686A1 PCT/CN2019/088210 CN2019088210W WO2020042686A1 WO 2020042686 A1 WO2020042686 A1 WO 2020042686A1 CN 2019088210 W CN2019088210 W CN 2019088210W WO 2020042686 A1 WO2020042686 A1 WO 2020042686A1
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Prior art keywords
connecting rod
underwater
main cabin
main
wing
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PCT/CN2019/088210
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English (en)
French (fr)
Inventor
姚震球
孙硕
姚潇
刘传艺
刘雯玉
汤翔宇
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江苏科技大学
江苏科技大学海洋装备研究院
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Publication of WO2020042686A1 publication Critical patent/WO2020042686A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/02—Divers' equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/02—Divers' equipment
    • B63C2011/028—Devices for underwater towing of divers or divers' sleds

Definitions

  • the invention belongs to the technical field of auxiliary thrusters, and relates to an underwater and surface auxiliary thruster, and more particularly to an underwater and surface auxiliary thruster of vector propulsion.
  • the auxiliary thruster is actually a submersible, divided into two types with and without umbilical cable.
  • the invention belongs to a propulsion device without an umbilical cable.
  • the auxiliary thruster can tow divers to swim, and realize functions such as underwater sightseeing and photography.
  • the propellers of auxiliary propellers are mostly fixedly installed or complicated mechanisms are used for tilting.
  • the tilting is driven by a motor, which has a small horsepower and cannot be effectively fixed at a certain angular position. Therefore, it is inconvenient and flexible to use.
  • the patent number is CN101513926B and the title is "Tilt Rotor Vector Propulsion Device for Underwater Thruster”.
  • the disadvantage of the disclosed underwater thruster is that the thruster cannot tilt in the left-right direction and cannot solve the problem of turning;
  • the patent number is CN106741791A and the name is “full-rotation underwater propeller”.
  • the disadvantage of the disclosed underwater propeller is that it uses motor to drive the tilt, and it cannot be effectively fixed at a certain angular position.
  • the purpose of the present invention is to overcome the problems and deficiencies in the prior art, mainly aiming at the problems of optimizing vector propulsion and the fixed position of the propulsion device at a certain tilting angle, realizing flexible and convenient full-slewing propulsion and effectively realizing the propulsion device in a certain
  • the fixation of an angular position provides a convenient, flexible and reliable underwater and surface auxiliary thruster.
  • an underwater and surface auxiliary thruster the innovations of which include:
  • the main cabin, the main cabin shell is streamlined, and a camera is installed in front of the main cabin;
  • two handles are installed above the main cabin, the handles are located at the middle and rear of the main cabin streamlined shell, and are symmetrically distributed, and the angle of the handle is There is a certain angle with the incoming flow direction;
  • a battery is also installed in the middle of the main compartment to supply power to the thruster;
  • Connecting wings, the connecting wings shells are streamlined, and the connecting wings are symmetrically arranged on both sides of the main cabin; the connecting wings are arranged at an angle ⁇ with the main cabin in a horizontal direction, so that the connecting wings on both sides are in an inverted V shape "distributed;
  • Vector propulsion mechanism the vector propulsion mechanism is fixedly connected to the outer end of each connecting wing, and the vector propulsion mechanism is lower than the main compartment; a hydraulic circulation system is installed in the main compartment and two sets of vector propulsion mechanisms, and the hydraulic circulation system includes A motor, a bi-directional hydraulic gear pump, a set of hydraulic locks, and a number of flexible oil pipes provided in the main compartment, and also include a bi-directional hydraulic motor provided in a vector propulsion mechanism;
  • the vector propulsion mechanism includes a cylindrical casing, The front side of the housing is provided with LED lights, a three-section vector tilting device is arranged in the cylindrical housing, and a wave tube and a duct propeller are sequentially arranged on the rear side of the cylindrical housing;
  • the three-section vector tilting device is in the form of a variable cross-section pipe as a whole, which is composed of three sections of pipes.
  • the first section of pipes is fixed on the front side of the inside of the cylindrical shell.
  • the connection surface between each two sections of pipes is circular and crosses the pipes
  • the cross section has an included angle ⁇ ; flanges are provided at the joints of the pipe shells, and are externally fastened by "C-rings", and internal gears are distributed on the inner ends of the second and third pipes,
  • the meshing gear is integrated with the pipeline and driven by a two-way hydraulic motor respectively;
  • the other end of the third section of pipeline is connected to the duct propeller, and a drive motor is distributed at the central axis of the duct propeller;
  • the corrugated tube has a round-shaped shell Body shape, the larger end is sealedly connected to the rear side of the cylindrical casing, and the smaller end is sealedly connected to the drive motor at the central axis of the duct propeller;
  • the wave energy propulsion mechanism is fixedly disposed directly below the main cabin;
  • the wave energy propulsion mechanism is composed of a vertical connecting rod, a horizontal connecting rod, a front wing and a tail wing, and the vertical connecting rod is located at the main Directly below the cabin, one end of the vertical connecting rod is connected to the main compartment, and the other end of the vertical connecting rod is connected to the front wing;
  • the horizontal connecting rod is vertically arranged with the vertical connecting rod, and one end of the horizontal connecting rod is connected with the front wing, The other end of the horizontal connecting rod is connected to the rear wing;
  • a buoyancy module which is in the shape of a cavity structure shell, and the buoyancy module is fixedly disposed directly above the main cabin.
  • the ratio of the lateral width to the longitudinal length of the main compartment is 0.8 to 1.2, and the height of the main compartment is 1/4 to 1/3 of the lateral width.
  • the included angle ⁇ has a size of 25 ° to 35 °.
  • the length of the vector propulsion mechanism is consistent with the main compartment, and the diameter of the cylindrical casing of the vector propulsion mechanism is 1/2 to 2/3 of the height of the main compartment.
  • the included angle ⁇ has a size of 15 ° to 22.5 °.
  • the ducted propeller includes a propeller and a duct disposed on an outer periphery of the propeller.
  • the cross sections of the vertical connecting rod and the horizontal connecting rod are circular or oval, and the length of the vertical connecting rod is 0.8 to 1 times the longitudinal length of the main cabin, and the length of the horizontal connecting rod is the length of the vertical connecting rod. 0.5 to 0.8 times.
  • front wings are bow-shaped, with a wingspan of 2.5 to 3 times the lateral width of the main cabin, and a maximum longitudinal arching distance is 1/10 to 1/8 of the wingspan.
  • the tail wing has a span of 1/2 to 2/3 of the front wing, and the tail wing is composed of two trapezoidal thin plates symmetrically distributed left and right, and the wider side of the two thin plates is connected to the horizontal connecting rod, and the wider one
  • the side length is 1/2 to 2/3 of the maximum arching distance of the front wing bow.
  • the lateral width of the buoyancy module is 1.2 to 1.5 times the lateral width of the main cabin, and the longitudinal length is 0.4 to 0.6 times the longitudinal length of the main cabin.
  • the overall shape fits the main cabin and the connecting wings, and the thickness of the main cabin is 1/4 to 1/3.
  • the underwater and surface auxiliary thruster of the present invention uses a three-section tilting device capable of 360 ° full-slewing propulsion.
  • the structure is simple and compact, which enhances the controllability and adaptability of the auxiliary thruster in complex environments.
  • the operation is convenient and flexible, which improves the diver's control ability, and uses a hydraulic circulation system to perform the tilt drive of the three-section tilting device; at the same time, the wave energy propulsion mechanism and the thruster can provide a certain amount of thrust and Buoyancy, which saves battery power and increases battery life.
  • a buoyancy module two states of underwater navigation and surface navigation can be realized;
  • the underwater and surface auxiliary thruster of the present invention wherein the bidirectional hydraulic gear pump in the hydraulic circulation system can perform forward and reverse operation, and improves the steering flexibility of the propulsion device; meanwhile, the bidirectional hydraulic motor and structure Simple, small size and light weight, small impact resistance and inertia, compared with the use of motor tilt, the two-way hydraulic motor is more convenient to start, brake, speed and commutate, and has larger torque and smooth operation; in addition, the hydraulic lock When the tilt is stopped, the oil can be prevented from flowing back, so that the propeller is fixed at a certain angular position; the problems of insensitive steering caused by the inaccurate tilt angle of the propeller are increased, the flexibility of operation is increased, and the safety of the diver is improved Sex
  • FIG. 1 is an overall effect diagram of the present invention.
  • FIG. 2 is an overall configuration diagram of the present invention.
  • FIG. 3 is a schematic diagram of installing a buoyancy module according to the present invention.
  • FIG. 4 is a diagram of a wave energy propulsion mechanism of the present invention.
  • FIG. 5 is a schematic structural diagram of a three-section tilting device of the present invention when tilted downward.
  • FIG. 6 is a schematic diagram of the internal driving structure of the three-section tilting device of the present invention.
  • FIG. 7 is a schematic longitudinal sectional view of a connection mode of a connecting surface of a three-section tilting device according to the present invention.
  • FIG. 8 is a schematic diagram of a hydraulic circulation system of the present invention.
  • FIG. 9 is a schematic diagram of a hydraulic lock (partially) working principle of a hydraulic circulation system of the present invention.
  • the underwater and surface auxiliary thruster of this embodiment includes a main cabin 1, and connecting wings 3 are symmetrically arranged on both sides of the main cabin 1, and the connecting wings 3 are arranged at an angle ⁇ with the main cabin 1 in a horizontal direction.
  • the included angle ⁇ is 25 ° ⁇ 35 °, so that the connecting wings on both sides have an “inverted V-shape” distribution, and the vector propulsion mechanism 2 is fixedly connected to the outer end of each connecting wing 3, and the vector propulsion mechanism 2 is lower than the main compartment. 1.
  • the buoyancy module 5 has a cavity structure shell shape.
  • the buoyancy module 5 is fixed to the main cabin 1 through the rear fixing module. When the buoyancy module 5 is installed, the buoyancy of the auxiliary thruster increases, and it can realize navigation on the water.
  • the thickness of the main cabin 1 is 1/4 ⁇ 1/3;
  • the lateral width of the buoyancy module 5 is 1.2 to 1.5 times the lateral width of the main cabin 1, and the longitudinal length is 0.4 to 0.6 times the longitudinal length of the main cabin 1.
  • the outer shell of the main compartment 1 is streamlined, which can effectively reduce navigation resistance; the ratio of the lateral width to the longitudinal length of the main compartment is 0.8 to 1.2, and the height of the main compartment is 1/4 to 1/3 of the lateral width; Cameras 1-3 are installed in the front of main cabin 1 to provide divers with camera functions.
  • Two handles 1-8 are installed above the main cabin.
  • the handles 1-8 are located in the middle and rear of the streamlined shell of the main cabin and are symmetrically distributed.
  • the angle of -8 is a certain angle with the direction of the incoming flow, which is convenient for the diver to grasp.
  • the cross-sectional shape of the handle is: a, circular; b, oval; c, regular polygon.
  • the surface of the handle is: a, smooth surface; b, uniform distribution of granular bumps; c, striped surface; d, checkered surface.
  • a battery 1-2 is provided in the main compartment 1 to provide electric power to the auxiliary thruster.
  • the battery 1-2 is located in the front of the middle of the main compartment, and a motor is installed at the rear side of the battery 1-2.
  • the motor 1-4 provides power for the two-way hydraulic gear pump 1-5; meanwhile, the two-way hydraulic gear pump 1-5 is connected with a hydraulic lock 1-6 and a hydraulic lock 1- 6
  • the two-way hydraulic gear pump 1-5 stops rotating, the oil in the soft oil pipes 1-7 can be prevented from flowing back, and the vector propulsion mechanism 2 can be effectively and accurately turned.
  • the motor 1-4, the bidirectional hydraulic gear pump 1-5, and the hydraulic lock 1-6 are the main compartment part of the hydraulic circulation system.
  • the vector propulsion mechanism 2 includes a cylindrical housing 2-2, and a hemispherical LED lamp 2-1 is mounted on the front side of the cylindrical housing 2-2, and the light provided by the hemispherical LED lamp 2-1 is provided.
  • the large irradiation area can provide brighter light for underwater work and play, and the hemispherical design can reduce the resistance; a three-section vector tilting device is set in the cylindrical casing 2-1 2- 3.
  • a wave tube 2-4 and a duct propeller 2-5 are arranged in order; the length of the vector propulsion mechanism 2 is consistent with that of the main cabin 1, and the cylindrical casing 2-2 of the vector propulsion mechanism 2
  • the diameter is 1/2 to 2/3 of the height of main cabin 1.
  • the three-section tilting device 2-3 is installed inside the vector propulsion mechanism 2.
  • the three-section tilting device 2-3 includes the first section pipe 2-3-1, the second section pipe 2-3-2, and the third section pipe 2 -3-3, the first section of the pipe 2-3-1, the second section of the pipe 2-3-2, and the third section of the pipe 2-3-3 are axially connected in series along the three-section tilting device pipe.
  • the first section of pipe 2-3-1 is fixed inside the cylindrical casing 2-2 of the vector propulsion mechanism 2.
  • the second section of pipe 2-3-2 and the third section of pipe 2-3-3 can be along the connecting surface 2-3.
  • the connecting surface 2-3-7 is circular, and forms an included angle ⁇ with the cross section of the pipeline, and the included angle ⁇ is 15 ° to 22.5 °; the three-section tilting device 2-3 passes between two The "C-rings" of the flaps are buckled 2-3-8. A space is left between the two “C-rings” to allow the pipe to rotate, and the two “C-rings" 2-3-8 are fixed by bolts.
  • a two-way hydraulic motor 2-3-4 is installed at one end of the first section pipe 2-3-1 and a second section of the pipe 2-3-2 of the three-section tilting device 2-3, and the two-way hydraulic motor is installed at 2-3-4 There are driving gears 2-3-6; the second section of pipes 2-3-2 and the third section of pipes 2-3-3 have internal gears 2-3-5 distributed at one end, and the second section of pipes 2-3-2 3.
  • the third section of pipe 2-3-3 is integrated with the added internal gear 2-3-5; the third section of pipe 2-3-3 is fixedly connected to the duct propeller 2-5, and the two-way hydraulic motor 2-3 -4 Drive the internal gear 2-3-5 to steer the ducted propeller 2-5 in different directions; the ducted propeller 2-5 includes the propeller 2-5-1 and the duct 2 disposed on the outer periphery of the propeller 2-5-1 -5-2, which can improve the efficiency of propeller propulsion; ducted propeller 2-5 is driven and rotated by drive motor 2-5-3, and drive motor 2-5-3 is powered by battery 1-2; waveform tube 2
  • the -4 is in the shape of a circular truncated shell.
  • the larger end is hermetically connected to the rear side of the cylindrical casing 2-2.
  • the smaller end is hermetically connected to the drive motor 2-5-3 at the central axis of the duct propeller, so that the vector propulsion mechanism 2 form a closed space.
  • the material properties of the wave tube 2-4 can be:
  • a, soft elastic materials such as polyethylene plastic, rubber plastic or rubber materials
  • Metal materials are mixed with soft materials. Soft materials are used in places where bending is difficult, and metal frames are used in places where resistance is used. Metal materials such as steel, aluminum alloy, and carbon fiber materials are used.
  • the wave energy propulsion mechanism 4 includes a vertical connecting rod 4-1, a horizontal connecting rod 4-2, a front wing 4-3, and a rear wing 4-4; one end of the vertical connecting rod 4-1 is connected to the main Cabin 1 is connected at the bottom and fixed by bolts. The other end of the vertical connecting rod 4-1 is connected to the upper part of the front wing 4-3.
  • the front wing 4-3 and the rear wing 4-4 are arranged back and forth, and the middle is connected by the horizontal connecting rod 4-2.
  • the connection is fixed.
  • the cross section of the vertical connecting rod 4-1 and the horizontal connecting rod 4-2 is circular or oval.
  • the length of the vertical connecting rod 4-1 is 0.8 to 1 times the longitudinal length of the main cabin, and the length of the horizontal connecting rod 4-2. It is 0.5 to 0.8 times the length of the vertical connecting rod.
  • the front wing 4-3 is bow-shaped, with a wingspan of 2.5 to 3 times the transverse width of the main cabin, and the maximum longitudinal arching distance is 1/10 to 1/8 of the wingspan;
  • the tail wing 4-4 has the wingspan 4-3 1/2 to 2/3 of the rear wing 4-4 is composed of two trapezoidal thin plates symmetrically distributed on the left and right sides. The wide side of the two thin plates is connected to the horizontal connecting rod, and the length of the wide side is the maximum arching distance of the front wing bow. 1/2 to 2/3.
  • the front wing 4-3 and the tail wing 4-4 are thin plates, both of which are bionic devices with good hydrodynamic performance.
  • the wave energy propulsion mechanism 4 can improve the comfort of divers' operation, generate forward power, save the power of the thruster batteries 1-2, and increase the endurance of the auxiliary thruster.
  • the materials used for the front wing 4-3 and the rear wing 4-4 are high in strength and low in stiffness, and have good elasticity, toughness and corrosion resistance.
  • the available materials are: a, rubber material; b, spring steel sheet covered with a rubber film.
  • the auxiliary thruster When the auxiliary thruster is sailing on the water, it is affected by the waves.
  • the auxiliary thruster moves upwards and drives the vertical connecting rod 4-1 due to the wave crest.
  • the 4 surface is bent downward by the action of the waves, and the water current and the front wing 4-3 form a certain angle of attack with the surface of the rear wing 4-4, so that the front wing 4-3 and the rear wing 4-4 are subject to the combined action of hydrodynamic lift and resistance.
  • the forward driving force is generated, as is the trough.
  • the auxiliary thruster orbits counterclockwise, and the front wing 4-3 bends downward under the action of the waves.
  • the auxiliary thruster can generate forward driving force no matter it is swaying, pitching, or rolling.

Abstract

一种水下及水面辅助推进器，包括主舱室（1）、连接翼（3）、矢量推进机构（2）、波浪能推进机构（4）和浮力模块（5）；连接翼（3）分别位于主舱室（1）两侧，并分别在外侧连接一组矢量推进机构（2），且矢量推进机构（2）低于主舱室（1）位置；波浪能推进机（2）构位于主舱室（1）的正下方，浮力模块（5）位于主舱室（1）上方。该辅助推进器使用的三节式倾转装置，能够进行360°全回转推进，结构简单而紧凑，操作方便灵活。

Description

一种水下及水面辅助推进器 技术领域
本发明属于辅助推进器技术领域，涉及一种水下及水面辅助推进器，更具体是涉及一种矢量推进的水下及水面辅助推进器。
背景技术
辅助推进器实际上是一种潜水器，分为带脐带缆和不带脐带缆两种。本发明属于不带脐带缆的推进装置。辅助推进器可以牵引潜水员游动，实现水下观光、摄影等功能。目前，辅助推进器的螺旋桨多采用固定安装的方式，或采用复杂的机构实现倾转，倾转使用电机驱动，马力小且不能有效在某一角度位置固定。因此，使用起来不方便也不灵活。
专利号为CN101513926B、名称为“用于水下推进器的倾转旋翼矢量推进装置”的专利，公开的水下推进器的缺点是推进器不能实现左右方向的倾转，无法解决转弯的问题；专利号为CN106741791A、名称为“全回转式的水下推进器”的专利，公开的水下推进器的缺点是使用电机驱动倾转，不能有效的固定于某一角度位置。
发明内容
本发明的目的是为了克服现有技术存在的问题和缺陷，主要针对优化矢量推进以及推进装置在某一倾转角度位置固定的问题，实现灵活方便的全回转推进以及有效的实现推进装置在某一角度位置的固定，提供一种使用方便、灵活、性能可靠的水下及水面辅助推进器。
为解决上述技术问题，本发明的技术方案为：一种水下及水面辅助推进器，其创新点在于：包括
主舱室，所述主舱室外壳呈流线型，在主舱室前方安装有摄像头；所述主舱室上方安装有两个把手，所述把手位于主舱室流线型外壳中后部，并对称分布，且把手的角度与来流方向呈一定夹角；在主舱室内部中间位置还安装有一块电池，用于对推进器进行供电；
连接翼，所述连接翼外壳呈流线型分布，且连接翼对称设置在主舱室的两侧；所述连接翼与主舱室水平方向呈夹角α设置，使两侧连接翼呈“倒V字型”分布；
矢量推进机构，所述矢量推进机构固定连接在各连接翼的外端，且矢量推进机构低于主舱室；所述主舱室与两组矢量推进机构内安装有一套液压循环系统，液压循环系统包括设置在主舱室内的一电机、一双向液压齿轮泵、一套液压锁和若干软油管，还包括设置在矢量推进机构内的双向液压马达；所述矢量推进机构包括圆柱形外壳，在圆柱形外壳前侧设置有LED灯，在圆柱形外壳内设置有套三节式矢量倾转装置，在圆柱形外壳后侧依次设置有波形管及导管 螺旋桨；
所述三节式矢量倾转装置整体呈变截面管道状，由三节管道组成，第一节管道固定在圆柱形外壳内部前侧，每两节管道之间的连接面呈圆形，并与管道横截面呈一夹角β；在管道外壳的连接处设有凸缘，并通过“C型圈”在外部扣住，且第二节管道及第三节管道的内侧一端分布有内啮合齿轮，内啮合齿轮与管道一体成型，并分别通过一个双向液压马达进行驱动；所述第三节管道的另一端与导管螺旋桨连接，且导管螺旋桨中轴处分布有驱动电机；所述波形管呈圆台型壳体状，开口较大一端密封连接在圆柱形外壳后侧，开口较小一端密封连接于导管螺旋桨中轴处驱动电机上；
波浪能推进机构，所述波浪能推进机构固定设置在主舱室的正下方；所述波浪能推进机构由竖直连接杆、水平连接杆、前翼及尾翼组成，所述竖直连接杆位于主舱室正下方，竖直连接杆的一端与主舱室连接，竖直连接杆的另一端与前翼连接；所述水平连接杆与竖直连接杆垂直设置，水平连接杆的一端与前翼连接，水平连接杆的另一端与后翼连接；
浮力模块，所述浮力模块呈空腔结构壳体状，且所述浮力模块固定设置在主舱室的正上方。
进一步地，所述主舱室横向宽度与纵向长度比值为0.8～1.2，且主舱室高度为横向宽度的1/4～1/3。
进一步地，所述夹角α大小为25°～35°。
进一步地，所述矢量推进机构的长度与主舱室保持一致，矢量推进机构的圆柱形外壳直径为主舱室高度的1/2～2/3。
进一步地，所述夹角β大小为15°～22.5°。
进一步地，所述导管螺旋桨包括螺旋桨以及设置在螺旋桨外周的导管。
进一步地，所述竖直连接杆和水平连接杆的横截面呈圆形或椭圆形，竖直连接杆长度为主舱室纵向长度的0.8～1倍，水平连接杆长度为竖直连接杆长度的0.5～0.8倍。
进一步地，所述前翼呈弓形，翼展为主舱室横向宽度的2.5～3倍，纵向最大拱起距离为翼展的1/10～1/8。
进一步地，所述尾翼翼展为前翼的1/2～2/3，所述尾翼由两片梯形薄板左右对称分布组成，两薄板较宽一侧连接于水平连接杆上，且较宽一侧长度为前翼弓形最大拱起距离的1/2～2/3。
进一步地，所述浮力模块横向宽度为主舱室横向宽度的1.2～1.5倍，纵向长度为主舱室纵向长度的0.4～0.6倍，且整体形状与主舱室及连接翼贴合，厚度为主舱室的1/4～1/3。
本发明的优点在于：
(1)本发明水下及水面辅助推进器，使用的三节式倾转装置，能够进行360°全回转推进，结构简单而紧凑，增强了复杂环境下辅助推进器的可控性和适应能力，操作方便灵活，提高了潜水员的操纵能力，且使用一套液压循环系统进行三节式倾转装置的倾转驱动；同时，波浪能推进机构，推进器在水中前进时，它能够提供一定的推力和浮力，起到节约电池电量，增加续航时间的作用；此外，通过安装浮力模块可以实现水下航行及水面航行两种状态；
(2)本发明水下及水面辅助推进器，其中，液压循环系统中双向液压齿轮泵，可进行正向和反向的运转，提高了推进装置转向的灵活性；同时，双向液压马达，结构简单、体积小且重量轻，耐冲击和惯性小，相对于使用电机倾转，双向液压马达更便于启动、制动、调速和换向，且转矩较大，运行平稳；此外，液压锁，在停止倾转时，可防止油液回流，使得螺旋桨固定于某一角度位置；避免螺旋桨倾转角度不准确带来的转向不灵敏等问题，增加了操作的灵活性，提高了潜水员的安全性；
(3)本发明水下及水面辅助推进器，其中，导管设置在螺旋桨的外处，可以起到提高螺旋桨推进效率的作用。
附图说明
下面结合附图和具体实施方式对本发明作进一步详细的说明。
图1是本发明的整体效果图。
图2是本发明的整体结构图。
图3是本发明的浮力模块安装示意图。
图4是本发明的波浪能推进机构图。
图5是本发明的三节式倾转装置向下倾转时结构示意图。
图6是本发明的三节式倾转装置内部驱动结构示意图。
图7是本发明的三节式倾转装置连接面连接方式纵剖面示意图。
图8是本发明的液压循环系统示意图。
图9是本发明的液压循环系统的液压锁(局部)工作原理示意图。
具体实施方式
下面的实施例可以使本专业的技术人员更全面地理解本发明，但并不因此将本发明限制在所述的实施例范围之中。
实施例
本实施例水下及水面辅助推进器，如图1所示，包括主舱室1，在主舱室1的两侧对称设置连接翼3，连接翼3与主舱室1水平方向呈夹角α设置，夹角α大小为25°～35°， 使两侧连接翼呈“倒V字型”分布，且在各连接翼3的外端固定连接矢量推进机构2，且矢量推进机构2低于主舱室1，避免或减少螺旋桨尾流对潜水员的干扰；在主舱室1的正下方固定设置波浪能推进机构4，在主舱室的正上方固定设置浮力模块5，浮力模块5呈空腔结构壳体状，浮力模块5通过其后侧的固定模块与主舱室1固定在一起，当加装浮力模块5时，辅助推进器浮力增大，可实现在水面航行，厚度为主舱室1的1/4～1/3；浮力模块5横向宽度为主舱室1横向宽度的1.2～1.5倍，纵向长度为主舱室1纵向长度的0.4～0.6倍。
如图2所示，主舱室1外壳呈流线型，能够有效减小航行阻力；主舱室横向宽度与纵向长度比值为0.8～1.2，且主舱室高度为横向宽度的1/4～1/3；在主舱室1前方安装有摄像头1-3，可以为潜水员提供摄像功能；主舱室上方安装有两个把手1-8，把手1-8位于主舱室流线型外壳中后部，并对称分布，且把手1-8的角度与来流方向呈一定夹角，方便潜水员抓握。把手截面形状为：a，圆形；b，椭圆形；c，正多边形。把手表面为：a，光滑表面；b，颗粒状凸点均匀分布；c，条纹状表面；d，方格状表面。
参照图2、8、9，所述主舱室1内安装有一块为辅助推进器提供电能的电池1-2，电池1-2位于主舱室中间靠前位置，电池1-2后侧安装有电机1-4和双向液压齿轮泵1-5，所述电机1-4为双向液压齿轮泵1-5提供动力；同时，双向液压齿轮泵1-5连接有液压锁1-6，液压锁1-6能够在双向液压齿轮泵1-5停止转动时，防止软油管1-7内的油液回流，保证矢量推进机构2有效、准确转向。所述电机1-4、双向液压齿轮泵1-5和液压锁1-6是液压循环系统的主舱室部分。
参照图2、5、6、7，矢量推进机构2包括圆柱形外壳2-2，圆柱形外壳2-2前侧安装有半球形LED灯2-1，半球形LED灯2-1提供的光线照射区域大，可以为水下工作及游玩提供较明亮的光线，并且半球形的设计能够起到减小阻力的作用；在圆柱形外壳2-1内设置有套三节式矢量倾转装置2-3，在圆柱形外壳2-2后侧依次设置有波形管2-4及导管螺旋桨2-5；矢量推进机构2的长度与主舱室1保持一致，矢量推进机构2的圆柱形外壳2-2直径为主舱室1高度的1/2～2/3。
矢量推进机构2内部安装有三节式倾转装置2-3，三节式倾转装置2-3包括第一节管道2-3-1、第二节管道2-3-2、第三节管道2-3-3，第一节管道2-3-1、第二节管道2-3-2、第三节管道2-3-3沿三节式倾转装置管道轴向串联连接。第一节管道2-3-1固定于矢量推进机构2的圆柱形外壳2-2内部，第二节管道2-3-2、第三节管道2-3-3可以沿连接面2-3-7进行转动，连接面2-3-7为圆形，并与管道横截面呈一夹角β，夹角β大小为15°～22.5°；三节式倾转装置2-3之间通过两瓣“C型圈”2-3-8扣住，两瓣“C型圈”之间留有空隙用以允许管道 转动，两瓣“C型圈”2-3-8之间通过螺栓固定。
三节式倾转装置2-3的第一节管道2-3-1、第二节管道2-3-2一端安装有双向液压马达2-3-4，双向液压马达2-3-4上安装有驱动齿轮2-3-6；第二节管道2-3-2、第三节管道2-3-3一端分布有内啮合齿轮2-3-5，且第二节管道2-3-2、第三节管道2-3-3与所加装的内啮合齿轮2-3-5一体成型；第三节管道2-3-3与导管螺旋桨2-5固定连接，双向液压马达2-3-4通过驱动内啮合齿轮2-3-5转动使导管螺旋桨2-5进行不同方向的转向；导管螺旋桨2-5包括螺旋桨2-5-1以及设置在螺旋桨2-5-1外周的导管2-5-2，可以起到提高螺旋桨推进效率的作用；导管螺旋桨2-5通过驱动电机2-5-3进行驱动旋转，驱动电机2-5-3由电池1-2提供电力；波形管2-4呈圆台型壳体状，开口较大一端密封连接在圆柱形外壳2-2后侧，开口较小一端密封连接于导管螺旋桨中轴处驱动电机2-5-3上，使得矢量推进机构2形成密闭空间。
波形管2-4的材料属性可以为：
a，软体弹性材料，如聚乙烯塑料、橡塑料或橡胶材料；
b，金属材料与软体材料混合，在易弯曲处使用软体材料，抗强度处使用金属框架，金属材料如钢材、铝合金、碳纤维材料等。
参照图1、3、4，波浪能推进机构4包括竖直连接杆4-1、水平连接杆4-2、前翼4-3、尾翼4-4；竖直连接杆4-1一端与主舱室1底部连接，通过螺栓进行固定，竖直连接杆4-1另一端连接在前翼4-3上部；前翼4-3与尾翼4-4前后排列，中间通过水平连接杆4-2进行连接固定。竖直连接杆4-1和水平连接杆4-2的横截面呈圆形或椭圆形，竖直连接杆4-1长度为主舱室纵向长度的0.8～1倍，水平连接杆4-2长度为竖直连接杆长度的0.5～0.8倍。前翼4-3呈弓形，翼展为主舱室横向宽度的2.5～3倍，纵向最大拱起距离为翼展的1/10～1/8；尾翼4-4翼展为前翼4-3的1/2～2/3，尾翼4-4由两片梯形薄板左右对称分布组成，两薄板较宽一侧连接于水平连接杆上，且较宽一侧长度为前翼弓形最大拱起距离的1/2～2/3。
前翼4-3与尾翼4-4呈薄板状，皆属于仿生装置，具有良好的水动力性能。所述波浪能推进机构4可以提高潜水员操纵的舒适度，产生向前的动力，节省推进器电池1-2的电量，增加辅助推进器的续航能力。前翼4-3与尾翼4-4所使用的材料，强度大而刚度小，具有较好的弹性及韧度、耐腐蚀性。可选择材料有：a，橡胶材料；b，覆有一层橡胶膜的弹簧钢片。
当辅助推进器在水面航行时，受到波浪的作用，垂荡运动时，由于波峰来临，使得辅助推进器向上运动并带动竖直连接杆4-1，这样使得前翼4-3与尾翼4-4表面受到波浪的作用而向下弯曲，水流和前翼4-3与尾翼4-4表面形成一定攻角，进而使得前翼4-3与尾翼4-4受到水动升力和阻力的共同作用而产生向前的驱动力，波谷来临时亦然。纵摇运动时， 假设辅助推进器逆时针环绕，前翼4-3在波浪的作用下向下弯曲，前翼4-3表面与水流形成一定攻角后就会在水动升力和阻力的共同作用下产生向前的驱动力，尾翼4-4亦然。横摇运动时，假设辅助推进器顺时针倾斜，左翼在波浪的作用下向下弯曲，这样水流就会与左翼表面形成一定的攻角，左翼受到水动升力和阻力的共同作用下产生向前的驱动力，右翼亦然。综上述分析，辅助推进器不论在垂荡、纵摇、横摇情况下，均能产生向前的驱动力。
以上显示和描述了本发明的基本原理和主要特征以及本发明的优点。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的只是说明本发明的原理，在不脱离本发明精神和范围的前提下，本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明范围内。本发明要求保护范围由所附的权利要求书及其等效物界定。

Claims (10)

  1. 一种水下及水面辅助推进器，其特征在于：包括
    主舱室，所述主舱室外壳呈流线型，在主舱室前方安装有摄像头；所述主舱室上方安装有两个把手，所述把手位于主舱室流线型外壳中后部，并对称分布，且把手的角度与来流方向呈一定夹角；在主舱室内部中间位置还安装有一块电池，用于对推进器进行供电；
    连接翼，所述连接翼外壳呈流线型分布，且连接翼对称设置在主舱室的两侧；所述连接翼与主舱室水平方向呈夹角α设置，使两侧连接翼呈“倒V字型”分布；
    矢量推进机构，所述矢量推进机构固定连接在各连接翼的外端，且矢量推进机构低于主舱室；所述主舱室与两组矢量推进机构内安装有一套液压循环系统，液压循环系统包括设置在主舱室内的一电机、一双向液压齿轮泵、一套液压锁和若干软油管，还包括设置在矢量推进机构内的双向液压马达；所述矢量推进机构包括圆柱形外壳，在圆柱形外壳前侧设置有LED灯，在圆柱形外壳内设置有一套三节式矢量倾转装置，在圆柱形外壳后侧依次设置有波形管及导管螺旋桨；
    所述三节式矢量倾转装置整体呈变截面管道状，由三节管道组成，第一节管道固定在圆柱形外壳内部前侧，每两节管道之间的连接面呈圆形，并与管道横截面呈一夹角β；在管道外壳的连接处设有凸缘，并通过“C型圈”在外部扣住，且第二节管道及第三节管道的内侧一端分布有内啮合齿轮，内啮合齿轮与管道一体成型，并分别通过一个双向液压马达进行驱动；所述第三节管道的另一端与导管螺旋桨连接，且导管螺旋桨中轴处分布有驱动电机；所述波形管呈圆台型壳体状，开口较大一端密封连接在圆柱形外壳后侧，开口较小一端密封连接于导管螺旋桨中轴处驱动电机上；
    波浪能推进机构，所述波浪能推进机构固定设置在主舱室的正下方；所述波浪能推进机构由竖直连接杆、水平连接杆、前翼及尾翼组成，所述竖直连接杆位于主舱室正下方，竖直连接杆的一端与主舱室连接，竖直连接杆的另一端与前翼连接；所述水平连接杆与竖直连接杆垂直设置，水平连接杆的一端与前翼连接，水平连接杆的另一端与后翼连接；
    浮力模块，所述浮力模块呈空腔结构壳体状，且所述浮力模块固定设置在主舱室的正上方。
  2. 根据权利要求1所述的水下及水面辅助推进器，其特征在于：所述主舱室横向宽度与纵向长度比值为0.8～1.2，且主舱室高度为横向宽度的1/4～1/3。
  3. 根据权利要求1所述的水下及水面辅助推进器，其特征在于：所述夹角α大小为25°～35°。
  4. 根据权利要求1所述的水下及水面辅助推进器，其特征在于：所述矢量推进机构的长度与主舱室保持一致，矢量推进机构的圆柱形外壳直径为主舱室高度的1/2～2/3。
  5. 根据权利要求1所述的水下及水面辅助推进器，其特征在于：所述夹角β大小为15°～22.5°。
  6. 根据权利要求1所述的水下及水面辅助推进器，其特征在于：所述导管螺旋桨包括螺旋桨以及设置在螺旋桨外周的导管。
  7. 根据权利要求1所述的水下及水面辅助推进器，其特征在于：所述竖直连接杆和水平连接杆的横截面呈圆形或椭圆形，竖直连接杆长度为主舱室纵向长度的0.8～1倍，水平连接杆长度为竖直连接杆长度的0.5～0.8倍。
  8. 根据权利要求1或7所述的水下及水面辅助推进器，其特征在于：所述前翼呈弓形，翼展为主舱室横向宽度的2.5～3倍，纵向最大拱起距离为翼展的1/10～1/8。
  9. 根据权利要求8所述的水下及水面辅助推进器，其特征在于：所述尾翼翼展为前翼的1/2～2/3，所述尾翼由两片梯形薄板左右对称分布组成，两薄板较宽一侧连接于水平连接杆上，且较宽一侧长度为前翼弓形最大拱起距离的1/2～2/3。
  10. 根据权利要求1或7所述的水下及水面辅助推进器，其特征在于：所述浮力模块横向宽度为主舱室横向宽度的1.2～1.5倍，纵向长度为主舱室纵向长度的0.4～0.6倍，且整体形状与主舱室及连接翼贴合，厚度为主舱室的1/4～1/3。
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CN109878652B (zh) * 2019-04-10 2021-03-12 涵速智能科技（上海）有限公司 一种加浮板的水下推进器
CN113022832A (zh) * 2021-04-23 2021-06-25 王曰英 一种海空两栖无人航行器及布放回收方法
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