WO2020057337A1 - 水下内置舵航行推进器 - Google Patents

水下内置舵航行推进器 Download PDF

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Publication number
WO2020057337A1
WO2020057337A1 PCT/CN2019/103080 CN2019103080W WO2020057337A1 WO 2020057337 A1 WO2020057337 A1 WO 2020057337A1 CN 2019103080 W CN2019103080 W CN 2019103080W WO 2020057337 A1 WO2020057337 A1 WO 2020057337A1
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Prior art keywords
rudder
horizontal
emergency stop
casing
navigation
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PCT/CN2019/103080
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English (en)
French (fr)
Inventor
付小华
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浙江唯海科技有限公司
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Priority to CA3110743A priority Critical patent/CA3110743C/en
Publication of WO2020057337A1 publication Critical patent/WO2020057337A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/06—Steering by rudders
    • B63H25/38—Rudders

Definitions

  • the invention relates to the field of submersibles, in particular to an underwater built-in rudder navigation thruster.
  • the utility model of Chinese patent application number CN201720813053.4 discloses an underwater submersible vehicle, including a submersible body, at least one tail thruster, and a tail wing connected to the tail of the submersible body.
  • the tail wing includes a A horizontal wing plate, and shrouds fixed to both sides of the horizontal wing plate in the length direction;
  • the underwater submersible has a tail thruster (propeller) and a tail rudder (rudder) connected to the tail of the submersible body when sailing, and it is easy to catch the fishing net , Water grass, etc., and easy to collide with reefs, etc., lack of safety; therefore, design a propeller and rudder will not catch fishing nets, water plants, etc., and will not collide with reefs, etc.
  • the built-in rudder navigation thruster underwater has become an urgent problem.
  • the purpose of the present invention is to overcome the current existence of underwater submersibles.
  • the tail thrusters (propellers) and tail rudders (rudders) connected to the tail of the submersible body during navigation are easy to catch fishing nets, waterweeds, etc., and are easy to collide with reefs.
  • the disadvantage of poor performance is to provide an underwater built-in rudder propeller that does not catch fishing nets, water plants, etc., and does not collide with reefs, etc. during navigation.
  • An underwater built-in rudder navigation thruster includes a shell, a septum provided in the shell, and a horizontal rudder provided at the rear end of the septum, which are symmetrically disposed on the upper and lower sides of the septum and are connected to the shell.
  • the two inlets penetrating through the front end are provided at the rear end of the housing and the front end communicates with the rear end of the inlet.
  • the propellers are located in the outlets.
  • the steering emergency stop rudders are located in the outlets and located behind the propellers.
  • the underwater built-in rudder navigation thruster is placed under the underwater submersible when in use, and the vertical direction of the underwater submersible is adjusted by the horizontal rudder; the emergency stop or reverse and adjustment of the underwater submersible can be realized by adjusting the steering emergency stop rudder. Sailing direction.
  • the propeller and rudder will not catch fishing nets, waterweeds, etc., and they will not collide with reefs, etc., and have better safety.
  • the horizontal rudder includes a horizontal shaft provided at the rear end of the septum and hinged to the housing at both ends, a horizontal rudder plate connected to the horizontal shaft at the front end, and a motor provided in the housing, respectively.
  • the coupling of one end of the output shaft and the horizontal shaft is connected; or the horizontal rudder driving device is a horizontal rudder trigger provided in the housing and one end is connected to one end of the horizontal shaft.
  • the horizontal rudder structure is simple and practical.
  • the steering emergency stop rudder includes: a vertical articulated shaft hinged to the housing at both ends, two arcuate rudder plates hinged to the vertical hinged shaft at the two open ends, two provided in the housing and One end is connected with two steering emergency stop rudders one-to-one correspondingly, two one-to-one corresponding to the recesses on the opposite sides of the water outlet; when the steering emergency stop rudder is not used, the arc-shaped rudder The convex ends are located one-to-one in the receiving depressions. Steering the emergency stop rudder can quickly achieve the emergency stop or reversing of the underwater vehicle and adjust the navigation direction.
  • the steering emergency stop rudder further includes: two return torsion springs sleeved on the vertical hinge shaft and corresponding to the arc-shaped rudder plate, which are provided on the rear side of the outlet channel and the two ends are respectively connected to the housing An arc-shaped rudder limit stop connected to the rear end.
  • the reset torsion spring facilitates the turning of the convex end of the arc-shaped rudder plate into the accommodating recess when the steering emergency stop rudder is not in use; the arc-shaped rudder plate limit rod restricts the arc-shaped rudder plate from rotating beyond the neutral position of the water outlet.
  • the shape of the arc-shaped rudder plate is a spherical plane; an included angle ⁇ of a tangent line between two large arcs at the intersection of the spherical plane is 50 degrees to 70 degrees.
  • the shape of the arc-shaped rudder is a spherical plane.
  • the angle ⁇ of the tangent of the two large arcs at the intersection of the spherical plane is 50 degrees to 70 degrees.
  • the cross-sectional area of the water inlet is larger than the cross-sectional area of the water outlet; the cross-sectional area of the front end of the water inlet is greater than the cross-sectional area of the rear end of the water inlet. Conducive to the rapid flow of water into the water channel, to ensure that the propeller is full of water during navigation to improve navigation power.
  • An underwater built-in rudder navigation thruster includes: a casing, which is provided in the casing with two laterally side-by-side propulsion devices; the propulsion device includes: a spacer disposed in the casing and a middle portion
  • the horizontal rudder at the rear end of the partition is symmetrically provided on the upper and lower sides of the partition and is connected to the front end of the casing.
  • the two outlets are provided at the rear end of the casing and the front end communicates with the rear end of the inlet.
  • the propeller in the outlet channel is a steering emergency stop rudder provided in the outlet channel and located on the rear side of the propeller.
  • the underwater built-in rudder propeller is used in the lower part of the underwater submersible.
  • the horizontal direction of the underwater submersible is used to adjust the up and down direction of the underwater submersible.
  • the speed of the underwater submersible is adjusted by adjusting the difference in speed between the two propellers.
  • Steering the emergency stop rudder can realize the emergency stop or reversing of the underwater vehicle and adjust the navigation direction.
  • the propeller and rudder will not catch fishing nets, waterweeds, etc., and they will not collide with reefs, etc., and have better safety.
  • the horizontal rudder includes a horizontal shaft provided at the rear end of the septum and hinged to the housing at both ends, a horizontal rudder plate connected to the horizontal shaft at the front end, and a motor provided in the housing, respectively.
  • the coupling of one end of the output shaft and the horizontal shaft is connected; or the horizontal rudder driving device is a horizontal rudder trigger provided in the housing and one end is connected to one end of the horizontal shaft.
  • the horizontal rudder structure is simple and practical.
  • the steering emergency stop rudder includes: a vertical articulated shaft hinged to the housing at both ends, two arcuate rudder plates hinged to the vertical hinged shaft at the two open ends, two provided in the housing and One end is connected with two steering emergency stop rudders one-to-one correspondingly, two one-to-one corresponding to the recesses on the opposite sides of the water outlet; when the steering emergency stop rudder is not used, the arc-shaped rudder The convex ends are located one-to-one in the receiving depressions. Steering the emergency stop rudder can quickly achieve the emergency stop or reversing of the underwater vehicle and adjust the navigation direction.
  • the shape of the arc-shaped rudder plate is a spherical plane; an included angle ⁇ of a tangent line between two large arcs at the intersection of the spherical plane is 50 degrees to 70 degrees.
  • the shape of the arc-shaped rudder is a spherical plane.
  • the angle ⁇ of the tangent of the two large arcs at the intersection of the spherical plane is 50 degrees to 70 degrees.
  • the cross-sectional area of the water inlet is larger than the cross-sectional area of the water outlet; the cross-sectional area of the front end of the water inlet is greater than the cross-sectional area of the rear end of the water inlet. Conducive to the rapid flow of water into the water channel, to ensure that the propeller is full of water during navigation to improve navigation power.
  • the present invention has the beneficial effects that the underwater propeller and rudder propeller and rudder will not catch fishing nets, waterweeds, etc., and will not collide with reefs, etc. during navigation.
  • the safety is better.
  • the horizontal rudder structure is simple and practical. Steering the emergency stop rudder can quickly achieve the emergency stop or reversing of the underwater vehicle and adjust the navigation direction.
  • the reset torsion spring facilitates the turning of the convex end of the arc-shaped rudder plate into the accommodating recess when the steering emergency stop rudder is not in use; the arc-shaped rudder plate limit rod restricts the arc-shaped rudder plate from rotating beyond the neutral position of the water outlet.
  • the shape of the arc-shaped rudder is a spherical plane.
  • the angle ⁇ of the tangent of the two large arcs at the intersection of the spherical plane is 50 degrees to 70 degrees.
  • FIG. 1 is a schematic structural diagram of Embodiment 1 of the present invention.
  • Figure 2 is a top view of Figure 1;
  • A is the state diagram of the emergency stop reversing rudder
  • B and C are the state diagrams of the emergency stop reversing rudder for turning right or left respectively;
  • D is a schematic structural diagram of a sub-rudder plate, E is a left view of D, and F is a top view of D;
  • Embodiment 2 of the present invention is a schematic structural diagram of Embodiment 2 of the present invention.
  • FIG. 6 is a left side view of FIG. 5.
  • housing 1 septum 2, inlet 3, outlet 4, propeller 5, horizontal shaft 6, horizontal rudder plate 7, motor 8, coupling 9, vertical hinge shaft 10, arc rudder plate 11.
  • Embodiment 1 is shown in FIG. 1 to FIG. 4: an underwater built-in rudder navigation thruster, including: a casing 1, a septum 2 provided in the casing 1 and a rear of the septum 2
  • the horizontal rudder at the end is symmetrically provided on the upper and lower sides of the septum 2 and two water inlets 3 are penetrated through the front end of the casing 1.
  • the water outlet 4 is provided on the rear end of the casing 1 and the front end communicates with the rear end of the water inlet 3.
  • the propeller 5 provided in the outlet channel 4 is a steering emergency stop rudder provided in the outlet channel 4 and located on the rear side of the propeller 5.
  • the horizontal rudder includes: a horizontal shaft 6 provided at the rear end of the septum 2 and both ends of which are hinged to the housing 1 through bearings; a horizontal rudder plate 7 welded at the front end to the horizontal shaft 6;
  • the motor 8 is a coupling 9 which is key-connected to one end of the motor 8 and the horizontal shaft 6 respectively.
  • the steering emergency stop rudder includes: a vertical articulated shaft 10 articulated at both ends with the housing 1 through bearings, two arcuate rudder plates 11 articulated with the vertical articulated shaft 10 through bearings, respectively.
  • the steering emergency stop rudder further includes: two return torsion springs (not shown in the drawing) which are sleeved on the vertical hinge shaft 10 and correspond to the arc-shaped rudder plate 11 one-to-one, and are arranged behind the water outlet 4
  • the arc-shaped rudder plate limit rods 14 which are screwed to the rear end of the casing 1 at the sides and at both ends respectively.
  • the shape of the arc-shaped rudder plate 11 is a spherical plane; the angle ⁇ of the tangent of the two large arcs at the intersection of the spherical plane is 60 degrees.
  • the cross-sectional area of the water inlet 3 is larger than the cross-sectional area of the water outlet 4; the cross-sectional area of the front end of the water inlet 3 is larger than the cross-sectional area of the rear end of the water inlet 3.
  • the said underwater built-in rudder propeller is placed under the underwater submersible when in use, and the up and down direction of the underwater submersible is adjusted by the horizontal rudder; when an emergency stop or reverse is needed, the emergency stop reverse steering rudder is turned
  • the lever 12 enables the arc-shaped rudder plate 11 to be rotated to be opposite to the rear end of the water outlet 4 to realize an emergency stop or reverse, and the sailing direction of the ship can be adjusted by adjusting the relative positions of the two arc-shaped rudder plates 11.
  • Embodiment 2 as shown in FIG. 5 and FIG. 6, and with reference to FIG. 3 and FIG. 4: an underwater built-in rudder navigation thruster, including: a casing 1, two casings provided in the casing 1
  • the housing 1 of the propulsion device arranged side by side in a horizontal direction;
  • the propulsion device includes: a septum 2 provided in the housing 1 and a horizontal rudder provided at the rear end of the septum 2 and symmetrically provided on the upper and lower sides of the septum 2
  • the two water inlets 3 penetrating the front end of the casing 1 are provided at the outlet 4 of the rear end of the housing 1 and the front end communicates with the rear end of the inlet 3, and the propeller 5 provided in the outlet 4 is provided at the outlet 4
  • the steering emergency stop rudder located in the middle and on the rear side of the propeller 5.
  • the horizontal rudder includes: a horizontal shaft 6 provided at the rear end of the septum 2 and both ends of which are hinged to the housing 1 through bearings; a horizontal rudder plate 7 welded at the front end to the horizontal shaft 6;
  • the motor 8 is a coupling 9 which is key-connected to one end of the motor 8 and the horizontal shaft 6 respectively.
  • the steering emergency stop rudder includes: vertical hinged shafts 10 hinged to the housing 1 at both ends through bearings, two arcuate rudder plates 11 hinged to the vertical hinged shaft 10 at the two open ends, and In the body 1, one end and two steering emergency stop rudder boards are screwed one-to-one corresponding to the steering emergency stop levers 12, and the two one-to-one correspond to the receiving recesses 13 provided on the opposite sides of the water outlet 4; the steering emergency stop rudder When not in use, the convex ends of the arc-shaped rudder plate 11 are located one-to-one in the receiving recesses 13.
  • the shape of the arc-shaped rudder plate 11 is a spherical plane; the angle ⁇ of the tangent of the two large arcs at the intersection of the spherical plane is 60 degrees.
  • the cross-sectional area of the water inlet 3 is larger than the cross-sectional area of the water outlet 4; the cross-sectional area of the front end of the water inlet 3 is larger than the cross-sectional area of the rear end of the water inlet 3.
  • Said underwater built-in rudder thruster is used in the lower part of the underwater submersible when in use.
  • the vertical direction of the underwater submersible is adjusted by the horizontal rudder, and the navigation direction of the underwater submersible is adjusted by adjusting the rotation speed difference between the two propellers 5;
  • turn the steering emergency stop lever 12 of the emergency reversing rudder to turn the arc-shaped rudder plate 11 to the opposite end of the water outlet 4 to achieve an emergency stop or reversing.
  • the relative position of 11 can adjust the sailing direction of the ship.
  • the beneficial effects of the present invention are that the propeller and rudder will not catch fishing nets, water plants, etc., and will not collide with reefs, etc., when the underwater built-in rudder propeller is used for navigation, and the safety is better.
  • the horizontal rudder structure is simple and practical. Steering the emergency stop rudder can quickly achieve the emergency stop or reversing of the underwater vehicle and adjust the navigation direction.
  • the reset torsion spring facilitates the turning of the convex end of the arc-shaped rudder plate into the accommodating recess when the steering emergency stop rudder is not in use; the arc-shaped rudder plate limit rod restricts the arc-shaped rudder plate from rotating beyond the neutral position of the water outlet.
  • the shape of the arc-shaped rudder plate is a spherical plane.
  • the angle ⁇ of the tangent of the two large arcs at the intersection of the spherical plane is 60 degrees. It is better to realize the emergency stop or reversing of the underwater submersible and adjust the sailing direction.

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
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Abstract

一种水下内置舵航行推进器，包括壳体（1），设于壳体（1）中的中隔体（2）和设于中隔体（2）后端的水平舵（6），对称设于中隔体（2）上侧和下侧且与壳体（1）前端贯通的两个进水道（3），设于壳体（1）后端且前端与进水道（3）后端连通的出水道（4），设于出水道（4）中的螺旋桨（5），设于出水道（4）中且位于螺旋桨（5）后侧的转向急停舵。水下内置舵航行推进器航行时螺旋桨和舵不会挂住渔网、水草等，且不会与礁石等碰撞，安全性较好。

Description

水下内置舵航行推进器 技术领域
本发明涉及潜航器领域，尤其是一种水下内置舵航行推进器。
背景技术
中国专利申请号CN201720813053.4的实用新型公开了一种水下潜航器，包括潜航器本体，至少一个尾部推进器，及连接于潜航器本体尾部的尾翼，尾翼包括插装于潜航器本体尾部的水平翼板，以及固定于水平翼板长度方向的两侧的导流罩；该水下潜航器存在航行时连接于潜航器本体尾部的尾部推进器(螺旋桨)及尾翼(舵)易挂住渔网、水草等，且易与礁石等碰撞，安全性较差的不足；因此，设计一种航行时螺旋桨和舵不会挂住渔网、水草等，且不会与礁石等碰撞，安全性较好的水下内置舵航行推进器，成为亟待解决的问题。
发明内容
本发明的目的是为了克服目前的水下潜航器存在航行时连接于潜航器本体尾部的尾部推进器(螺旋桨)及尾翼(舵)易挂住渔网、水草等，且易与礁石等碰撞，安全性较差的不足，提供一种航行时螺旋桨和舵不会挂住渔网、水草等，且不会与礁石等碰撞，安全性较好的水下内置舵航行推进器。
本发明的具体技术方案是：
一种水下内置舵航行推进器，包括：壳体，设于壳体中的中隔体和设于中隔体后端的水平舵，对称设于中隔体上侧和下侧且与壳体前端贯通的两个进水道，设于壳体后端且前端与进水道后端连通的出水道，设于出水道中的螺旋桨，设于出水道中且位于螺旋桨后侧的转向急停舵。所述的水下内置舵航行推进器使用时置于水下潜航器下部，通过水平舵调整水下潜航器上下方向；通过调整转向急停舵能实现水下潜航器的急停或倒车及调整航行方向。所述的水下内置舵航行推进器航行时螺旋桨和舵不会挂住渔网、水草等，且不会与礁石等碰撞，安全性较好。
作为优选，所述的水平舵包括：设于中隔体后端且两端分别与壳体铰接的水平轴，前端与水平轴连接的水平舵板，设于壳体中的电机，分别与电机的输出轴和水平轴一端连接的联轴器；或水平舵驱动装置为设于壳体中且一端与水平轴一端连接的水平舵扳杆。水平舵结构简单实用。
作为优选，所述的转向急停舵包括：两端分别与壳体铰接的竖向铰接轴， 两个开口端分别与竖向铰接轴铰接的弧形舵板，两个设于壳体中且一端与两个转向急停舵板一一对应连接的转向急停扳杆，两个一一对应设于出水道相对两侧边的容置凹陷；转向急停舵不使用时，弧形舵板的凸端一一对应位于容置凹陷中。转向急停舵能快捷实现水下潜航器的急停或倒车及调整航行方向。
作为优选，所述的转向急停舵还包括：两个套设于竖向铰接轴上且与弧形舵板一一对应的复位扭转弹簧，设于出水道后侧且两端分别与壳体后端连接的弧形舵板限位杆。复位扭转弹簧利于转向急停舵不使用时，弧形舵板的凸端转动复位到容置凹陷中；弧形舵板限位杆限止弧形舵板转动超过出水道的中位。
作为优选，所述的弧形舵板的形状为球面切面；球面切面上两条大圆弧在交点处的切线的夹角α为50度至70度。弧形舵板的形状为球面切面，球面切面上两条大圆弧在交点处的切线的夹角α为50度至70度，实现水下潜航器的急停或倒车及调整航行方向效果更好。
作为优选，所述的进水道的截面积大于出水道的截面积；进水道前端的截面积大于进水道后端的截面积。利于水快速流入进水道，保证航行时螺旋桨处充满水提高航行动力。
一种水下内置舵航行推进器，包括：壳体，设于壳体中的两个横向并列设置的推进装置的壳体；推进装置包括：设于壳体中的中隔体和设于中隔体后端的水平舵，对称设于中隔体上侧和下侧且与壳体前端贯通的两个进水道，设于壳体后端且前端与进水道后端连通的出水道，设于出水道中的螺旋桨，设于出水道中且位于螺旋桨后侧的转向急停舵。所述的水下内置舵航行推进器使用时置于水下潜航器下部，通过水平舵调整水下潜航器上下方向，通过调整两个螺旋桨的转速差实现调整水下潜航器航行方向；通过调整转向急停舵能实现水下潜航器的急停或倒车及调整航行方向。所述的水下内置舵航行推进器航行时螺旋桨和舵不会挂住渔网、水草等，且不会与礁石等碰撞，安全性较好。
作为优选，所述的水平舵包括：设于中隔体后端且两端分别与壳体铰接的水平轴，前端与水平轴连接的水平舵板，设于壳体中的电机，分别与电机的输出轴和水平轴一端连接的联轴器；或水平舵驱动装置为设于壳体中且一端与水平轴一端连接的水平舵扳杆。水平舵结构简单实用。
作为优选，所述的转向急停舵包括：两端分别与壳体铰接的竖向铰接轴， 两个开口端分别与竖向铰接轴铰接的弧形舵板，两个设于壳体中且一端与两个转向急停舵板一一对应连接的转向急停扳杆，两个一一对应设于出水道相对两侧边的容置凹陷；转向急停舵不使用时，弧形舵板的凸端一一对应位于容置凹陷中。转向急停舵能快捷实现水下潜航器的急停或倒车及调整航行方向。
作为优选，所述的弧形舵板的形状为球面切面；球面切面上两条大圆弧在交点处的切线的夹角α为50度至70度。弧形舵板的形状为球面切面，球面切面上两条大圆弧在交点处的切线的夹角α为50度至70度，实现水下潜航器的急停或倒车及调整航行方向效果更好。
作为优选，所述的进水道的截面积大于出水道的截面积；进水道前端的截面积大于进水道后端的截面积。利于水快速流入进水道，保证航行时螺旋桨处充满水提高航行动力。
与现有技术相比，本发明的有益效果是：所述的水下内置舵航行推进器航行时螺旋桨和舵不会挂住渔网、水草等，且不会与礁石等碰撞，安全性较好。水平舵结构简单实用。转向急停舵能快捷实现水下潜航器的急停或倒车及调整航行方向。复位扭转弹簧利于转向急停舵不使用时，弧形舵板的凸端转动复位到容置凹陷中；弧形舵板限位杆限止弧形舵板转动超过出水道的中位。弧形舵板的形状为球面切面，球面切面上两条大圆弧在交点处的切线的夹角α为50度至70度，实现水下潜航器的急停或倒车及调整航行方向效果更好。
附图说明
图1是本发明实施例1的结构示意图；
图2是图1的俯视图；
图3中：A是急停倒车舵急停倒车的状态图，B和C分别是急停倒车舵用于右转或左转的状态图；
图4中：D是分舵板的结构示意图，E是D的左视图，F是D的俯视图；
图5是本发明实施例2的结构示意图；
图6是图5的左视图。
图中：壳体1、中隔体2、进水道3、出水道4、螺旋桨5、水平轴6、水平舵板7、电机8、联轴器9、竖向铰接轴10、弧形舵板11、转向急停扳杆12、容置凹陷13、弧形舵板限位杆14。
具体实施方式
下面结合附图所示对本发明进行进一步描述。
实施例1，如附图1至附图4所示：一种水下内置舵航行推进器，包括：壳体1，设于壳体1中的中隔体2和设于中隔体2后端的水平舵，对称设于中隔体2上侧和下侧且与壳体1前端贯通的两个进水道3，设于壳体1后端且前端与进水道3后端连通的出水道4，设于出水道4中的螺旋桨5，设于出水道4中且位于螺旋桨5后侧的转向急停舵。
所述的水平舵包括：设于中隔体2后端且两端分别与壳体1通过轴承铰接的水平轴6，前端与水平轴6焊接的水平舵板7，设于壳体1中的电机8，分别与电机8的输出轴和水平轴6一端键连接的联轴器9。
所述的转向急停舵包括：两端分别与壳体1通过轴承铰接的竖向铰接轴10，两个开口端分别与竖向铰接轴10通过轴承铰接的弧形舵板11，两个设于壳体1中且一端与两个转向急停舵板上端一一对应螺接的转向急停扳杆12，两个一一对应设于出水道4相对两侧边的容置凹陷13；转向急停舵不使用时，弧形舵板11的凸端一一对应位于容置凹陷13中。
所述的转向急停舵还包括：两个套设于竖向铰接轴10上且与弧形舵板11一一对应的复位扭转弹簧(附图中未画出)，设于出水道4后侧且两端分别与壳体1后端螺接的弧形舵板限位杆14。
所述的弧形舵板11的形状为球面切面；球面切面上两条大圆弧在交点处的切线的夹角α为60度。
所述的进水道3的截面积大于出水道4的截面积；进水道3前端的截面积大于进水道3后端的截面积。
所述的水下内置舵航行推进器使用时置于水下潜航器下部，通过水平舵调整水下潜航器上下方向；当需要急停或倒车时，扳动急停倒车舵的转向急停扳杆12，使弧形舵板11转动到与出水道4后端相对实现急停或倒车，且通过调整两个弧形舵板11的相对位置能实现调整船舶航行方向。
实施例2，如附图5、附图6所示，并参见附图3、附图4：一种水下内置舵航行推进器，包括：壳体1，设于壳体1中的两个横向并列设置的推进装置的壳体1；推进装置包括：设于壳体1中的中隔体2和设于中隔体2后端的水平 舵，对称设于中隔体2上侧和下侧且与壳体1前端贯通的两个进水道3，设于壳体1后端且前端与进水道3后端连通的出水道4，设于出水道4中的螺旋桨5，设于出水道4中且位于螺旋桨5后侧的转向急停舵。
所述的水平舵包括：设于中隔体2后端且两端分别与壳体1通过轴承铰接的水平轴6，前端与水平轴6焊接的水平舵板7，设于壳体1中的电机8，分别与电机8的输出轴和水平轴6一端键连接的联轴器9。
所述的转向急停舵包括：两端分别与壳体1通过轴承铰接的竖向铰接轴10，两个开口端分别与竖向铰接轴10铰接的弧形舵板11，两个设于壳体1中且一端与两个转向急停舵板一一对应螺接的转向急停扳杆12，两个一一对应设于出水道4相对两侧边的容置凹陷13；转向急停舵不使用时，弧形舵板11的凸端一一对应位于容置凹陷13中。
所述的弧形舵板11的形状为球面切面；球面切面上两条大圆弧在交点处的切线的夹角α为60度。
所述的进水道3的截面积大于出水道4的截面积；进水道3前端的截面积大于进水道3后端的截面积。
所述的水下内置舵航行推进器使用时置于水下潜航器下部，通过水平舵调整水下潜航器上下方向，通过调整两个螺旋桨5的转速差实现调整水下潜航器航行方向；当需要急停或倒车时，扳动急停倒车舵的转向急停扳杆12，使弧形舵板11转动到与出水道4后端相对实现急停或倒车，通过调整两个弧形舵板11的相对位置能实现调整船舶航行方向。
本发明的有益效果是：所述的水下内置舵航行推进器航行时螺旋桨和舵不会挂住渔网、水草等，且不会与礁石等碰撞，安全性较好。水平舵结构简单实用。转向急停舵能快捷实现水下潜航器的急停或倒车及调整航行方向。复位扭转弹簧利于转向急停舵不使用时，弧形舵板的凸端转动复位到容置凹陷中；弧形舵板限位杆限止弧形舵板转动超过出水道的中位。弧形舵板的形状为球面切面，球面切面上两条大圆弧在交点处的切线的夹角α为60度，实现水下潜航器的急停或倒车及调整航行方向效果更好。
除上述实施例外，在本发明的权利要求书及说明书所公开的范围内，本发明的技术特征或技术数据可以进行重新选择及组合，从而构成新的实施例，这 些都是本领域技术人员无需进行创造性劳动即可实现的，因此这些本发明没有详细描述的实施例也应视为本发明的具体实施例而在本发明的保护范围之内。

Claims (10)

  1. 一种水下内置舵航行推进器，包括：壳体，其特征是，所述的水下内置舵航行推进器还包括：设于壳体中的中隔体和设于中隔体后端的水平舵，对称设于中隔体上侧和下侧且与壳体前端贯通的两个进水道，设于壳体后端且前端与进水道后端连通的出水道，设于出水道中的螺旋桨，设于出水道中且位于螺旋桨后侧的转向急停舵。
  2. 根据权利要求1所述的水下内置舵航行推进器，其特征是：所述的水平舵包括：设于中隔体后端且两端分别与壳体铰接的水平轴，前端与水平轴连接的水平舵板，设于壳体中的电机，分别与电机的输出轴和水平轴一端连接的联轴器；或水平舵驱动装置为设于壳体中且一端与水平轴一端连接的水平舵扳杆。
  3. 根据权利要求1或2所述的水下内置舵航行推进器，其特征是：所述的转向急停舵包括：两端分别与壳体铰接的竖向铰接轴，两个开口端分别与竖向铰接轴铰接的弧形舵板，两个设于壳体中且一端与两个转向急停舵板一一对应连接的转向急停扳杆，两个一一对应设于出水道相对两侧边的容置凹陷；转向急停舵不使用时，弧形舵板的凸端一一对应位于容置凹陷中。
  4. 根据权利要求3所述的水下内置舵航行推进器，其特征是：所述的转向急停舵还包括：两个套设于竖向铰接轴上且与弧形舵板一一对应的复位扭转弹簧，设于出水道后侧且两端分别与壳体后端连接的弧形舵板限位杆。
  5. 根据权利要求3所述的水下内置舵航行推进器，其特征是：所述的弧形舵板的形状为球面切面；球面切面上两条大圆弧在交点处的切线的夹角α为50度至70度。
  6. 根据权利要求1或2所述的水下内置舵航行推进器，其特征是：所述的进水道的截面积大于出水道的截面积；进水道前端的截面积大于进水道后端的截面积。
  7. 一种水下内置舵航行推进器，包括：壳体，其特征是，所述的水下内置舵航行推进器还包括：设于壳体中的两个横向并列设置的推进装置的壳体；推进装置包括：设于壳体中的中隔体和设于中隔体后端的水平舵，对称设于中隔体上侧和下侧且与壳体前端贯通的两个进水道，设于壳体后端且前端与进水道后端连通的出水道，设于出水道中的螺旋桨，设于出水道中且位于螺旋桨后侧的转向急停舵。
  8. 根据权利要求7所述的水下内置舵航行推进器，其特征是：所述的水平舵包 括：设于中隔体后端且两端分别与壳体铰接的水平轴，前端与水平轴连接的水平舵板，设于壳体中的电机，分别与电机的输出轴和水平轴一端连接的联轴器；或水平舵驱动装置为设于壳体中且一端与水平轴一端连接的水平舵扳杆。
  9. 根据权利要求7或8所述的水下内置舵航行推进器，其特征是：所述的转向急停舵包括：两端分别与壳体铰接的竖向铰接轴，两个开口端分别与竖向铰接轴铰接的弧形舵板，两个设于壳体中且一端与两个转向急停舵板一一对应连接的转向急停扳杆，两个一一对应设于出水道相对两侧边的容置凹陷；转向急停舵不使用时，弧形舵板的凸端一一对应位于容置凹陷中。
  10. 根据权利要求9所述的水下内置舵航行推进器，其特征是：所述的弧形舵板的形状为球面切面；球面切面上两条大圆弧在交点处的切线的夹角α为50度至70度。
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