WO2020207337A1 - 共轴反转周向推进器 - Google Patents

共轴反转周向推进器 Download PDF

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Publication number
WO2020207337A1
WO2020207337A1 PCT/CN2020/083135 CN2020083135W WO2020207337A1 WO 2020207337 A1 WO2020207337 A1 WO 2020207337A1 CN 2020083135 W CN2020083135 W CN 2020083135W WO 2020207337 A1 WO2020207337 A1 WO 2020207337A1
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WO
WIPO (PCT)
Prior art keywords
shaft
bevel gear
reversing
gear
output
Prior art date
Application number
PCT/CN2020/083135
Other languages
English (en)
French (fr)
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WO2020207337A8 (zh
Inventor
罗灿
Original Assignee
罗灿
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 罗灿 filed Critical 罗灿
Priority to JP2021557731A priority Critical patent/JP2022527928A/ja
Priority to US17/594,211 priority patent/US20220177105A1/en
Priority to CN202080001491.5A priority patent/CN111936387A/zh
Priority to EP20788646.6A priority patent/EP3954613A4/en
Priority to KR1020217033860A priority patent/KR20210151840A/ko
Publication of WO2020207337A1 publication Critical patent/WO2020207337A1/zh
Publication of WO2020207337A8 publication Critical patent/WO2020207337A8/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H23/00—Transmitting power from propulsion power plant to propulsive elements
    • B63H23/02—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing
    • B63H23/06—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing for transmitting drive from a single propulsion power unit
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H23/00—Transmitting power from propulsion power plant to propulsive elements
    • B63H23/02—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing
    • B63H23/04—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing the main transmitting element, e.g. shaft, being substantially vertical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H23/00—Transmitting power from propulsion power plant to propulsive elements
    • B63H23/32—Other parts
    • B63H23/321—Bearings or seals specially adapted for propeller shafts
    • 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
    • B63H25/42—Steering or dynamic anchoring by propulsive elements; Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
    • B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
    • B63H5/08—Arrangements on vessels of propulsion elements directly acting on water of propellers of more than one propeller
    • B63H5/10—Arrangements on vessels of propulsion elements directly acting on water of propellers of more than one propeller of coaxial type, e.g. of counter-rotative type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
    • B64C29/0008—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded
    • B64C29/0016—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded the lift during taking-off being created by free or ducted propellers or by blowers
    • B64C29/0033—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded the lift during taking-off being created by free or ducted propellers or by blowers the propellers being tiltable relative to the fuselage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D35/00—Transmitting power from power plants to propellers or rotors; Arrangements of transmissions
    • B64D35/04—Transmitting power from power plants to propellers or rotors; Arrangements of transmissions characterised by the transmission driving a plurality of propellers or rotors
    • B64D35/06—Transmitting power from power plants to propellers or rotors; Arrangements of transmissions characterised by the transmission driving a plurality of propellers or rotors the propellers or rotors being counter-rotating
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
    • F16H1/22—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts
    • F16H1/222—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with non-parallel axes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
    • B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
    • B63H5/08—Arrangements on vessels of propulsion elements directly acting on water of propellers of more than one propeller
    • B63H5/10—Arrangements on vessels of propulsion elements directly acting on water of propellers of more than one propeller of coaxial type, e.g. of counter-rotative type
    • B63H2005/106—Arrangements on vessels of propulsion elements directly acting on water of propellers of more than one propeller of coaxial type, e.g. of counter-rotative type with drive shafts of second or further propellers co-axially passing through hub of first propeller, e.g. counter-rotating tandem propellers with co-axial drive shafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H23/00—Transmitting power from propulsion power plant to propulsive elements
    • B63H23/02—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing
    • B63H23/06—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing for transmitting drive from a single propulsion power unit
    • B63H2023/062—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing for transmitting drive from a single propulsion power unit comprising means for simultaneously driving two or more main transmitting elements, e.g. drive shafts
    • B63H2023/067—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing for transmitting drive from a single propulsion power unit comprising means for simultaneously driving two or more main transmitting elements, e.g. drive shafts the elements being formed by two or more coaxial shafts, e.g. counter-rotating shafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H23/00—Transmitting power from propulsion power plant to propulsive elements
    • B63H23/32—Other parts
    • B63H23/321—Bearings or seals specially adapted for propeller shafts
    • B63H2023/323—Bearings for coaxial propeller shafts, e.g. for driving propellers of the counter-rotative type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H23/00—Transmitting power from propulsion power plant to propulsive elements
    • B63H23/02—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
    • F16H1/06—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with parallel axes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
    • F16H1/12—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
    • F16H1/22—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts

Definitions

  • the invention relates to a transmission structure of two propeller (or rotor) propellers, which is composed of an input end, a single-way commutator, a double-way deflector, a steering support, and two output ends.
  • the transmission structure is simple.
  • the two output ends can be controlled and synchronized to revolve around the axis of the reversing sleeve shaft.
  • the two output ends drive the two propellers (or rotors) to revolve, and the turnover control torque for controlling the turnover is small ,
  • the control device is very small. It is called a coaxial reverse circumferential propeller.
  • the propeller shaft In traditional fixed-shaft propellers, the propeller shaft is fixed and cannot be steered.
  • Traditional moving shaft propeller (or rotor) propellers rely on bevel gear pairs to drive the output shaft to revolve around the input shaft by forcibly driving the output shaft bearing to revolve around the input shaft to realize the shaft steering of the propeller (or rotor). Because it needs to overcome the unidirectional deflection moment to drive the output shaft bearing turnover, the control moment of forward rotation and reverse rotation during turnover is different, so the rated turnover control moment must be large, and the control device is also large.
  • the transmission structure of the traditional propeller propeller has a unidirectional deflection moment, and the propeller is not easy to rotate, and it is not a true circumferential propeller.
  • the unidirectional deflection moment is a moment that is automatically generated by the bevel gear pair to make the output shaft rotate in one direction around the input shaft axis when power is transmitted, and is positively related to the input moment.
  • I have previously invented and declared the omnidirectional transmission which does not produce unidirectional deflection moment when transmitting power, the output shaft is easy to turn, the turning control torque is small, the control device is small, and it is a true circumferential propeller.
  • the transmission structure of the multi-directional transmission is more complicated, and it is mainly suitable for single propeller (or rotor).
  • the aviation industry and the navigation industry need a circumferential propeller with simpler transmission structure, easy turnover of the output shaft, small control device, and suitable for two propellers (or rotors).
  • the present invention proposes its transmission structure.
  • the coaxial reversal circumferential thruster of the present invention is composed of an input end, a single-way commutator, a double-way deflector, a steering support and two output ends.
  • the input end inputs power from the power unit, and the rear is connected to the same shaft.
  • the function of the single-way commutator is to convert one rotation into two rotations with equal speed and opposite directions, and to transmit these two rotations in the two shafts of the reversing sleeve shaft.
  • the reversing sleeve shaft is two shafts nested in each other on the same axis, which are the inner shaft of the reversing sleeve shaft and the outer shaft of the reversing sleeve shaft.
  • the co-rotating shaft bearing is fixed, and the front bevel gear is set on the co-rotating shaft; the reversing bevel gear whose support is fixed is set to mesh with the front bevel gear, and the axis of the reversing bevel gear is perpendicular to the axis of the co-rotating shaft.
  • the reversing bevel gear is connected with the shaft, and its bearing is fixed as a support.
  • the reversing sleeve shaft and the same axis are located on the same axis, the bearing of the reversing sleeve shaft is fixed, and the bevel gear meshes with the reversing bevel gear after the outer shaft of the reversing sleeve shaft is set.
  • the co-rotating shaft is directly connected with the inner shaft of the counter-rotating sleeve shaft.
  • the front bevel gear and the rear bevel gear are indirectly connected through the reversing bevel gear. By setting the number of front bevel gear teeth equal to the number of rear bevel gear teeth, the transmission ratio of this indirect connection is equal to -1.0.
  • the form one single-way commutator makes the rotation speed of the two components of the reversing sleeve shaft inner shaft and the reversing sleeve shaft outer shaft equal and opposite.
  • Form two single-way commutator including co-rotating shaft, internal driving bevel gear, external driving bevel gear, internal driven bevel gear, external driven bevel gear and counter-sleeve shaft, refer to 1, 2, 3, in Figure 2 4, 15, 16, 17, and 18, etc.
  • the bearing of the same rotating shaft is fixed, the inner driving bevel gear and the outer driving bevel gear are arranged on the same rotating shaft, which are respectively arranged on both sides of the reversing sleeve shaft axis, and the inner driving bevel gear is installed after passing through the reversing sleeve shaft axis ,
  • the external driving bevel gear is set without passing through the axis of the reversing sleeve shaft.
  • Fix the reverse sleeve shaft bearing set the angle between the axis of the reverse sleeve shaft and the axis of the same rotating shaft in the same plane.
  • the included angle is the transmission angle.
  • the transmission angle value is determined according to actual needs.
  • the angle is 90 degrees.
  • the transmission ratio of the co-rotating shaft to the counter-rotating sleeve shaft inner shaft is equal to the same-rotating shaft to the counter-rotating sleeve
  • the single-way commutator makes the rotation speed of the two components of the reversing sleeve shaft inner shaft and the reversing sleeve shaft outer shaft equal and opposite.
  • Form three single-way commutator including co-rotating shaft, front gear, inner rangefinder gear, outer rangefinder front gear, outer rangefinder rear gear, inner rangefinder, outer rangefinder, rear gear, and reverse sleeve shaft, See 1, 2, 3, 4, 15, 16, 17, and 18 in Figure 3.
  • the front gear of the outer sideshaft and the rear gear of the outer sideshaft are arranged in sequence on the outer sideshaft; the rear gear is arranged on the outer shaft of the reversing sleeve shaft.
  • the front gear is set to mesh with the outer sideshaft front gear, the outer sideshaft rear gear meshes with the inner sideshaft gear, and the inner sideshaft gear meshes with the rear gear.
  • the counter-rotating sleeve shaft is arranged on the same axis as the counter-rotating shaft, the bearing of the counter-rotating sleeve shaft is fixed, and the counter-rotating shaft is directly connected with the inner shaft of the counter-rotating sleeve shaft.
  • the front gear and the rear gear are indirectly connected through the outer rangefinder front gear, the outer rangefinder rear gear, and the inner rangefinder gear.
  • the transmission ratio of this indirect connection is equal to -1.0, for example:
  • N is a natural number greater than 8.
  • Form four single-way commutator including co-rotating shaft, internal driving bevel gear, external driving bevel gear, internal driven bevel gear, external driven bevel gear and counter-sleeve shaft, see 1, 2, 3, in Figure 4 4, 15, 16, 17, and 18, etc.
  • the bearing of the same rotating shaft is fixed, and the inner driving bevel gear and the outer driving bevel gear are arranged on the same rotating shaft, which are respectively arranged on both sides of the axis of the reversing sleeve shaft.
  • the inner driving bevel gear does not pass through the axis of the reversing sleeve shaft.
  • the external driving bevel gear is set after passing through the axis of the reversing sleeve shaft.
  • the included angle is the transmission angle.
  • the transmission angle value is determined according to actual needs.
  • the angle is 90 degrees.
  • the transmission ratio of the co-rotating shaft to the counter-rotating sleeve shaft inner shaft is equal to the same-rotating shaft to the counter-rotating sleeve
  • the form four single-way commutator makes the rotation speed of the two components of the reversing sleeve shaft inner shaft and the reversing sleeve shaft outer shaft equal and opposite.
  • the function of the double-path deflector is to indirectly connect the inner shaft of the reversing sleeve shaft with the first output shaft through the two bevel gear pairs, and to connect the outer shaft of the reversing sleeve shaft with the second output shaft indirectly.
  • the unidirectional deflection moment automatically generated by the inner shaft of the reversing sleeve shaft to the first output shaft and the unidirectional deflection moment automatically generated by the outer shaft of the reversing sleeve shaft to the second output shaft have the same magnitude and opposite directions.
  • the two unidirectional deflection moments cancel each other out through the transmission of the bracket or through the output sleeve shaft.
  • the bevel gear pair is a mature technology.
  • the bevel gear pair is a pair of bevel gears that mesh with each other for transmission.
  • the axis of the input shaft and the axis of the output shaft intersect, and the intersecting angle is called the bending angle.
  • the ratio of the output shaft speed is its transmission ratio.
  • the two-way deflector includes a first driving bevel gear, a first driven bevel gear, a first output shaft, a second driving bevel gear, a second driven bevel gear, and a second output shaft.
  • a first driving bevel gear is arranged on the inner shaft of the reversing quill, the axis of the first output shaft and the axis of the reversing quill are intersected, and the intersection angle is the first turning angle, and the first output shaft is provided on the first output shaft.
  • a driven bevel gear keeps the first driving bevel gear meshed with the first driven bevel gear.
  • a second driving bevel gear is arranged on the outer shaft of the reversing sleeve shaft, and the second output shaft axis is set to intersect the reversing sleeve shaft axis. The intersection angle is the second bending angle.
  • the second output shaft is provided with a second bevel gear.
  • Two driven bevel gears keeping the second driving bevel gear in mesh with the second driven bevel gear.
  • the two bevel gear pairs are a bevel gear pair composed of a first driving bevel gear and a first driven bevel gear, and a bevel gear pair composed of a second driving bevel gear and a second driven bevel gear.
  • the two output shafts of the two-way deflector, the first output shaft and the second output shaft have independent speeds.
  • the first fold angle and the second fold angle are equal, which is another special case; when the axes of the two output shafts are in the same plane and the first fold angle and the second fold angle are equal, it is a special case.
  • the function of the steering support is to transmit through the bracket or through the output sleeve shaft, so that the one-way deflection moments received by the two output shafts cancel each other; it is controlled by the turnover control device to rotate.
  • the steering support includes fixed shaft components, brackets and moving shaft bearings.
  • the fixed shaft component is a machine that revolves around the axis of the reversing sleeve shaft.
  • the fixed shaft component has three forms, one of which can be selected: the fixed shaft component is a bearing arranged on the periphery of the reversing sleeve shaft, and the bearing supports the reversal Sleeve, see 9 in Figure 1.
  • the fixed shaft component of the second form is a shaft arranged on the axis of the reversing sleeve shaft, and its bearing is fixed, see 9 in Figure 2.
  • the form three fixed shaft component is a bearing arranged on the axis of the reversing sleeve shaft, and the shaft is fixed, see 9 in Figure 3.
  • the moving shaft bearing is the bearing that supports the output shaft and is arranged on the periphery of the output shaft; the first moving shaft bearing that supports the first output shaft is arranged on the periphery of the first output shaft; the bearing that supports the second output shaft is the second The moving shaft bearing is arranged on the periphery of the second output shaft.
  • the first moving shaft bearing and the second moving shaft bearing are combined into a moving shaft bearing supporting the output sleeve shaft, which is arranged on the periphery of the output sleeve shaft.
  • the bracket is a connecting machine that directly connects the fixed shaft components and all the moving shaft bearings. The direct connection makes the rotation speed of the steering support consistent.
  • the bracket is directly connected to the fixed shaft components and all the moving shaft bearings, the entire steering support can revolve around the axis of the reversing sleeve shaft.
  • the turnover refers to the components such as the steering support, the two output shafts, and the two output ends that rotate in the forward and reverse directions around the axis of the reversing sleeve shaft, and the rotation angle range is 360 degrees without other mechanical obstruction.
  • the steering support is directly connected or indirectly connected with the turnover control device, and is controlled by the turnover control device for turnover.
  • the turnover control device controls the turnover of the steering support, drives the turnover of the two output ends, and drives the turnover of the two propellers.
  • the control torque required for forward rotation and reverse rotation during turnover is the same, the turnover control torque is very small, and the control device is small.
  • the indirect connection between the steering support and the turnover control device includes indirect connection through gear pairs, indirect connection through worm and worm gear, indirect mechanical connection through connecting rod, indirect connection through hydraulic machinery and indirect connection through gear rack and so on.
  • the two output ends are respectively a first output end and a second output end, the output shaft where the first output end is located is the first output shaft, and the output shaft where the second output end is located is the second output shaft.
  • the two output ends are respectively connected with two propellers (or rotors).
  • the two output shafts form a special case of the output sleeve shaft
  • the two output ends are respectively connected to the two propellers (or rotors) of the coaxial reversed double propellers (or rotors).
  • the coaxial reversing double propeller (or rotor) is a mature technology, and refers to twin propellers (or rotors) with the same axis and opposite rotation directions.
  • the propeller (or rotor) is a mature technology, including blades and pitch changing devices.
  • the power plant adopts mature technology, such as an electric power plant, a steam power plant or a fuel power plant.
  • the turnover control device adopts mature technology, such as electric mechanism, mechanical mechanism or hydraulic mechanism.
  • the base of the turnover control device is fixed.
  • the shaft fixation, base fixation, support fixation or bearing fixation means that the shaft, the base, the support or the bearing is connected to the ship hull or aircraft fuselage through a connecting machine. Fixing the shaft, base, support or bearing makes the speed zero.
  • the quill shaft is a mature technology, and the multi-layer bearing supports the multi-layer shaft.
  • the bearing and the shaft and between the shafts can rotate relative to each other, but do not slide relatively in the axial direction.
  • Each bearing is a mature technology.
  • the bearing supports the shaft.
  • the bearing and the shaft can rotate relative to each other, but they do not slide relative to each other in the axial direction.
  • the direct connection means that the rotational speeds of the connected objects are the same through mechanical connection
  • the indirect connection means that the rotational speeds of the two driven objects are deterministically related through mechanical transmission.
  • the maintaining synchronization means that two objects are directly connected.
  • the connection is usually a direct connection, and an indirect connection will be specifically indicated.
  • Said gears and bevel gears are arranged on a certain shaft, and the set gears and bevel gears are kept synchronized with the shaft.
  • the worm gear, gear pair, connecting rod machinery, hydraulic machinery and rack and pinion are mature technologies, and their function is to convert the control movement of the turnover control device into the turnover of the steering support.
  • the coaxial counter-rotating circumferential propeller of the present invention is beneficial in that it proposes a transmission structure of two propeller (or rotor) propellers with a simple structure, and the control torque for controlling the propeller to rotate forward and reverse when transmitting power is the same ,
  • the turnover control torque is very small and the control device is very small.
  • the function is far beyond the traditional moving shaft propeller.
  • the transmission structure is simpler than that of a hundred-direction transmission, which can improve the transmission and control of two propellers (or rotors).
  • Fig. 1 is an example of a schematic diagram of a coaxial reversal circumferential thruster, which is also a schematic diagram of Embodiment 1 of the present invention.
  • 1 is the input end
  • 2 is the co-rotating shaft bearing
  • 3 is the co-rotating shaft
  • 4 is the reverse sleeve shaft
  • 5 is the first driving bevel gear
  • 6 is the second driving bevel gear
  • 7 is the first driven bevel Gear
  • 8 is the second driven bevel gear
  • 9 is the fixed shaft component
  • 10 is the bracket
  • 11 is a moving shaft bearing
  • 12 is the output sleeve shaft
  • 13 is the first output end
  • 14 is the second output end
  • 15 is Front bevel gear
  • 16 is reversing bevel gear
  • 17 is rear bevel gear
  • 18 is worm gear
  • 19 is worm.
  • Fig. 2 is a schematic diagram of two examples of a coaxial reversal circumferential thruster, which is also a schematic diagram of Embodiment 2 of the present invention.
  • 1 is the input end
  • 2 is the co-rotating shaft bearing and counter-rotating sleeve shaft bearing
  • 3 is the co-rotating shaft
  • 4 is the counter-rotating sleeve shaft
  • 5 is the first driving bevel gear
  • 6 is the second driving bevel gear
  • 7 is the first driven bevel gear
  • 8 is the second driven bevel gear
  • 9 is the fixed shaft component
  • 10 is the bracket
  • 11 is the first moving shaft bearing
  • 12 is the second moving shaft bearing
  • 13 is the first output end
  • 14 is the second output end
  • 15 is the inner driving bevel gear
  • 16 is the outer driving bevel gear
  • 17 is the inner driven bevel gear
  • 18 is the outer driven bevel gear
  • 19 is the first output shaft
  • 20 is the second output shaft.
  • Fig. 3 is a schematic diagram of three examples of a coaxial reversal circumferential thruster, which is also a schematic diagram of Embodiment 3 of the present invention.
  • 1 is the input end
  • 2 is the same shaft
  • 3 is the front gear
  • 4 is the counter-rotating sleeve shaft
  • 5 is the first driving bevel gear
  • 6 is the second driving bevel gear
  • 7 is the first driven bevel gear.
  • 8 is the second driven bevel gear
  • 9 is the fixed shaft component
  • 10 is the bracket
  • 11 is a moving shaft bearing
  • 12 is the output sleeve shaft
  • 13 is the first output end
  • 14 is the second output end
  • 15 is the outer side
  • 16 is the outer range shaft rear gear
  • 17 is the inner range shaft gear
  • 18 is the rear gear
  • 19 is the worm gear
  • 20 is the worm.
  • FIG. 4 is a schematic diagram of four examples of a coaxial reversal circumferential thruster, which is also a schematic diagram of Embodiment 4 of the present invention.
  • 1 is the input end
  • 2 is the co-rotating shaft bearing and counter-rotating sleeve shaft bearing
  • 3 is the co-rotating shaft
  • 4 is the counter-rotating sleeve shaft
  • 5 is the first driving bevel gear
  • 6 is the second driving bevel gear
  • 7 is the first driven bevel gear
  • 8 is the second driven bevel gear
  • 9 is the fixed shaft component
  • 10 is the bracket
  • 11 is the first moving shaft bearing
  • 12 is the second moving shaft bearing
  • 13 is the first output end
  • 14 is the second output end
  • 15 is the inner driving bevel gear
  • 16 is the outer driving bevel gear
  • 17 is the inner driven bevel gear
  • 18 is the outer driven bevel gear
  • 19 is the first output shaft
  • 20 is the second output shaft.
  • the input end is indicated by the input arrow
  • the output end is indicated by the output arrow
  • the propeller (or rotor) connected to the output end is not shown
  • the power unit connected to the input end is not shown
  • the turnaround connected to the steering support The control device is not shown.
  • the ground symbol indicates that the part is fixed. Each part only shows the mutual relationship, and does not reflect the actual size.
  • Embodiment 1 of the coaxial reversal circumferential propeller of the present invention is used for the transmission of double propellers of ships. It consists of an input end (1), a single-path commutator, a double-path deflector, a steering support and It consists of two output terminals. See Figure 1.
  • the input end (1) inputs power from the power device, and the rear is connected with the same rotating shaft (3).
  • the single-path commutator adopts the form of a single-path commutator, including the same rotating shaft (3), front bevel gear (15), reversing bevel gear (16), reversing bevel gear support, and rear bevel gear (17) And the reverse sleeve shaft (4).
  • the reversing sleeve shaft includes a reversing sleeve shaft inner shaft and a reversing sleeve shaft outer shaft.
  • the bearing of the same rotating shaft is fixed, and the front bevel gear (15) is arranged on the same rotating shaft (3); the reversing bevel gear (16) with fixed support is set to mesh with the front bevel gear (15), and the reversing bevel gear axis It is perpendicular to the axis of the same shaft.
  • the reverse sleeve shaft (4) and the same axis (3) are arranged on the same axis, and the reverse sleeve shaft bearing is fixed.
  • the bevel gear (17) meshes with the reversing bevel gear (16) after the outer shaft of the counter sleeve shaft is arranged.
  • the co-rotating shaft (3) is directly connected with the inner shaft of the counter-rotating sleeve shaft, and the front bevel gear (15) and the rear bevel gear (17) are indirectly connected through the reversing bevel gear (16).
  • the rotational speeds of the two components, the inner shaft of the reversing sleeve shaft and the outer shaft of the reversing sleeve shaft, are equal and opposite.
  • the two-way deflector includes a first driving bevel gear (5), a second driving bevel gear (6), a first driven bevel gear (7), a second driven bevel gear (8) and an output sleeve shaft (12).
  • the first output shaft is the inner shaft of the output sleeve shaft and is connected with the first output end (13); the second output end is the outer shaft of the output sleeve shaft and is connected with the second output end (14).
  • the first driving bevel gear (5) is directly connected with the inner shaft of the reversing sleeve shaft, and the second driving bevel gear (6) is directly connected with the outer shaft of the reversing sleeve shaft.
  • the axis of the output quill shaft and the axis of the reversing quill shaft form an included angle in the same plane.
  • the included angle is the folding angle, and the folding angle in this embodiment is 90 degrees.
  • a first driven bevel gear (7) is provided on the inner shaft of the output sleeve shaft, and a second driven bevel gear (8) is provided on the outer shaft of the output sleeve shaft. Keep the first driving bevel gear (5) meshed with the first driven bevel gear (7), and keep the second driving bevel gear (6) meshed with the second driven bevel gear (8).
  • the steering support includes a fixed shaft component (9), a bracket (10) and a moving shaft bearing (11).
  • a shaft component (9) of a certain form is arranged on the periphery of the anti-sleeve shaft, that is, a bearing supporting the inverted sleeve shaft, and a moving shaft bearing (11) is arranged on the periphery of the output sleeve shaft (12) to support the output sleeve
  • the shaft is directly connected with a fixed shaft component (9) and a moving shaft bearing (11) by a bracket (10), and the entire steering support can be rotated.
  • a worm wheel (18) is arranged on the fixed shaft component (9), the worm wheel (18) and the fixed shaft component (9) are kept synchronized, and a matching worm (19) is set to mesh with the worm wheel (18) to form a worm gear; the number of worm heads is 2 , The number of worm gear teeth is 30, and the worm gear ratio is 15.
  • the worm (19) is connected with the turnover control device, and the turnover control device adopts an electric mechanism.
  • the two output ends include a first output end (13) and a second output end (14), and the two output ends are respectively connected with the two propellers of the coaxial counter-rotating double propeller of the ship.
  • a reversing sleeve shaft is arranged in the vertical direction of the hull.
  • the rotation control device drives the steering support to revolve through the worm gear and worm.
  • the two output ends revolve, and the coaxial reversing double propeller revolves.
  • the ship’s coaxial counter-rotating twin propellers realize revolving propulsion.
  • the control torque required for forward rotation and reverse rotation during turnover is the same, the turnover control torque is very small, and the control device is small.
  • Embodiment 2 of the coaxial reversal circumferential propeller of the present invention is used for the transmission of two propellers of a submarine. It consists of the input end (1), single-way commutator, double-way deflector, and steering support And two output terminals. See Figure 2.
  • the input end (1) inputs power from the power device, and the rear is connected with the same rotating shaft (3).
  • the single-channel commutator adopts the form two single-channel commutator, including the same rotating shaft (3), inner driving bevel gear (15), outer driving bevel gear (16), inner driven bevel gear (17), and outer driven bevel gear (18) and reversing sleeve shaft (4).
  • the reversing sleeve shaft includes a reversing sleeve shaft inner shaft and a reversing sleeve shaft outer shaft.
  • the two-way deflector includes a first driving bevel gear (5), a second driving bevel gear (6), a first driven bevel gear (7), a second driven bevel gear (8), a first output shaft (19) and The second output shaft (20).
  • the first driving bevel gear (5) is directly connected with the inner shaft of the reversing sleeve shaft
  • the second driving bevel gear (6) is directly connected with the outer shaft of the reversing sleeve shaft.
  • the first bending angle is 91 degrees
  • the second bending angle is 89 degrees
  • a first passive bevel gear (7) is arranged on the upper part
  • a second passive bevel gear (8) is arranged on the second output shaft (20).
  • the first output shaft (19) is directly connected with the first output terminal (13)
  • the second output shaft (20) is directly connected with the second output terminal (14).
  • the steering support includes a fixed shaft bearing (9), a bracket (10), a first moving shaft bearing (11) and a second moving shaft bearing (12).
  • a form two fixed shaft component (9) is arranged on the axis of the reversing sleeve shaft, and the bearing is fixed.
  • a first moving shaft bearing (11) is arranged outside the first output shaft (19) to support the output shaft;
  • a second moving shaft bearing (12) is arranged outside the second output shaft (20) to support the output shaft.
  • the bracket (10) is directly connected with the fixed shaft component (9) and all the moving shaft bearings, and the entire steering support can rotate.
  • the fixed shaft component (9) is directly connected with the turnover control device, and the turnover control device adopts a hydraulic mechanism, namely a hydraulic motor, which is a mature equipment.
  • the first output end (13) and the second output end (14) of the two output ends are respectively connected with the two propellers of the submarine.
  • the turnover control device controls the turnover of the steering support, the turnover of the two output ends and the turnover of the two propellers.
  • the control torque required for forward rotation and reverse rotation during turnover is the same, the turnover control torque is very small, and the control device is small.
  • a reversing quill shaft is arranged in the vertical direction of the submarine, and the two propellers can revolve at a large angle, and the submarine can realize yaw propulsion; the total pitch of the two propellers is variable and the submarine can realize pitch propulsion.
  • the rotation directions of the two propellers are opposite.
  • Embodiment 3 of the coaxial reversal circumferential propeller of the present invention is used for the transmission of the rotor of a tilt-rotor aircraft. It consists of the input end (1), single-path commutator, double-path deflector, and steering support Socket and two output terminals. See Figure 3.
  • the input end (1) inputs power from the power device, and the rear is connected with the same shaft (2).
  • the single-channel commutator adopts the form of three single-channel commutators, including the co-rotating shaft (2), the front gear (3), the inner side shaft gear (17), the outer side shaft front gear (15), and the outer side shaft rear gear (16), inner range shaft, outer range shaft, rear gear (18) and reversing sleeve shaft (4).
  • the reversing sleeve shaft includes a reversing sleeve shaft inner shaft and a reversing sleeve shaft outer shaft. Fix the bearing of the same rotating shaft, and set the front gear (3) on the same rotating shaft (2). Set the inner range shaft and outer range shaft whose axes are parallel to the same shaft (2) and whose bearings are both fixed.
  • the inner range shaft gear (17) is arranged on the inner range shaft, and the outer range shaft front is arranged on the outer range shaft in turn.
  • Gear (15), outer side shaft rear gear (16); rear gear (18) is arranged on the outer shaft of the reversing sleeve shaft.
  • the front gear (3) meshes with the outer range shaft front gear (15), the outer range shaft rear gear (16) meshes with the inner range shaft gear (17), and the inner range shaft gear (17) meshes with the rear gear (18).
  • the reversing sleeve shaft (4) and the same shaft (2) are located on the same axis, and the same shaft (2) is directly connected with the inner shaft of the reversing sleeve shaft.
  • the front gear (3) and the rear gear (18) are indirectly connected through the outer sideshaft front gear (15), the outer sideshaft rear gear (16), and the inner sideshaft gear (17).
  • the rotation speed of the two components, the inner shaft of the reversing sleeve shaft and the outer shaft of the reversing sleeve shaft are equal, and the rotation directions are opposite.
  • the two-way deflector includes a first driving bevel gear (5), a second driving bevel gear (6), a first driven bevel gear (7), a second driven bevel gear (8) and an output sleeve shaft (12).
  • the first output shaft is the inner shaft of the output sleeve shaft and is connected with the first output end (13); the second output end is the outer shaft of the output sleeve shaft and is connected with the second output end (14).
  • the first driving bevel gear (5) is directly connected with the inner shaft of the reversing sleeve shaft, and the second driving bevel gear (6) is directly connected with the outer shaft of the reversing sleeve shaft.
  • the axis of the output quill shaft and the axis of the reversing quill shaft form an included angle in the same plane.
  • the included angle is the folding angle, and the folding angle in this embodiment is 90 degrees.
  • a first driven bevel gear (7) is provided on the inner shaft of the output sleeve shaft, and a second driven bevel gear (8) is provided on the outer shaft of the output sleeve shaft. Keep the first driving bevel gear (5) meshed with the first driven bevel gear (7), and keep the second driving bevel gear (6) meshed with the second driven bevel gear (8).
  • the steering support includes a fixed shaft component (9), a bracket (10) and a moving shaft bearing (11).
  • a form three fixed shaft component (9) is arranged on the axis of the reversing sleeve shaft, and the shaft is fixed.
  • a moving shaft bearing (11) is provided on the periphery of the output sleeve shaft (12) to support the output sleeve shaft, and a bracket (10) is used to directly connect the fixed shaft component (9) and a moving shaft bearing (11), and the entire steering support Can be turned around.
  • a worm wheel (19) is arranged on the fixed shaft part (9), the worm wheel (19) is kept synchronized with the fixed shaft part (9), and a matching worm (20) is set to mesh with the worm wheel (19) to form a worm gear; the number of worm heads is 2 , The number of worm gear teeth is 30, and the worm gear ratio is 15.
  • the worm (20) is connected with the turnover control device, and the turnover control device adopts an electric mechanism.
  • the two output terminals include a first output terminal (13) and a second output terminal (14), and the two output terminals are respectively connected with the two rotors of the coaxial reversed double rotor.
  • the coaxial counter-rotating dual-rotor adopts mature technology, and its rotor includes blades and a pitch changing device.
  • the turnover control device drives the steering support to revolve through the worm gear, the output sleeve shaft (12) revolves, the coaxial reverse double rotor revolves, the reversal is the tilt, set the coaxial reverse
  • the double-rotor is used as the left double-rotor of the tilt-rotor aircraft.
  • another set of coaxial inverted double-rotors is set as the right double-rotor of the tilt-rotor aircraft.
  • the control moments for forward rotation and reverse rotation are the same, the turnover control moment is small, and the control device is small.
  • the rotation angle range is 360 degrees, which is much larger than the 97.5 degrees of the traditional tiltrotor rotor wing.
  • the left and right double rotors of this embodiment can bear a larger load under the condition of the same rotor diameter.
  • Embodiment 4 Embodiment 2 of the coaxial reversal circumferential propeller of the present invention is used for the transmission of two propellers of a submarine, consisting of the input end (1), a single-way commutator, a two-way deflector, and a steering support And two output terminals. See Figure 4.
  • the input end (1) inputs power from the power device, and the rear is connected with the same rotating shaft (3).
  • the single-path commutator adopts the form of four single-path commutators, including co-rotating shaft (3), inner driving bevel gear (15), outer driving bevel gear (16), inner driven bevel gear (17), and outer driven bevel gear (18) and reversing sleeve shaft (4).
  • the reversing sleeve shaft includes a reversing sleeve shaft inner shaft and a reversing sleeve shaft outer shaft. To fix the bearing of the same rotating shaft, set the outer driving bevel gear (16) and the inner driving bevel gear (15) on the same rotating shaft (3), which are respectively arranged on both sides of the axis of the reversing sleeve shaft.
  • the inner driving bevel gear is not It is set after passing through the axis of the reversing sleeve shaft, and the external driving bevel gear is set after passing through the axis of the reversing sleeve shaft; the axis of the reversing sleeve shaft and the axis of the same rotating shaft are set to form a transmission angle in the same plane, and the reversing sleeve
  • the shaft bearing is fixed, and the transmission angle in this embodiment is 90 degrees; an internal driven bevel gear (17) is arranged on the inner shaft of the reversing sleeve shaft, so that the internal driven bevel gear (17) meshes with the internal driving bevel gear (15);
  • An external driven bevel gear (18) is arranged on the outer shaft of the reversing sleeve shaft, so that the external driven bevel gear (18) meshes with the external driving bevel gear (16).
  • the two-way deflector includes a first driving bevel gear (5), a second driving bevel gear (6), a first driven bevel gear (7), a second driven bevel gear (8), a first output shaft (19) and The second output shaft (20).
  • the first driving bevel gear (5) is directly connected with the inner shaft of the reversing sleeve shaft
  • the second driving bevel gear (6) is directly connected with the outer shaft of the reversing sleeve shaft.
  • the first bending angle is 91 degrees
  • the second bending angle is 89 degrees
  • a first passive bevel gear (7) is arranged on the upper part
  • a second passive bevel gear (8) is arranged on the second output shaft (20).
  • the first output shaft (19) is directly connected with the first output terminal (13)
  • the second output shaft (20) is directly connected with the second output terminal (14).
  • the steering support includes a fixed shaft bearing (9), a bracket (10), a first moving shaft bearing (11) and a second moving shaft bearing (12).
  • a form two fixed shaft component (9) is arranged on the axis of the reversing sleeve shaft, and the bearing is fixed.
  • a first moving shaft bearing (11) is arranged outside the first output shaft (19) to support the output shaft;
  • a second moving shaft bearing (12) is arranged outside the second output shaft (20) to support the output shaft.
  • the bracket (10) is directly connected with the fixed shaft component (9) and all the moving shaft bearings, and the entire steering support can rotate.
  • the fixed shaft component (9) is directly connected with the turnover control device, and the turnover control device adopts a hydraulic mechanism, namely a hydraulic motor, which is a mature equipment.
  • the first output end (13) and the second output end (14) of the two output ends are respectively connected with the two propellers of the submarine.
  • the turnover control device controls the turnover of the steering support, the turnover of the two output ends and the turnover of the two propellers.
  • the control torque required for forward rotation and reverse rotation during turnover is the same, the turnover control torque is very small, and the control device is small.
  • the reversing sleeve shaft is arranged in the vertical direction of the submarine, and the two propellers can rotate at a large angle, and the submarine can realize yaw propulsion; the total pitch of the two propellers is variable pitch, and the submarine can realize pitch propulsion.
  • the rotation directions of the two propellers are the same.

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Abstract

一种共轴反转周向推进器，包括输入端（1）、单路换向器、双路折向器、转向支座、两个输出端（13，14）。输入端连接动力装置。单路换向器把一个转动转化为转速相等、方向相反的两个转动。双路折向器通过两副锥齿轮副（5-8）分别间接连接反转套筒轴的两个轴与两个输出轴，两副锥齿轮副分别产生的两个单向偏转力矩大小相同、方向相反；通过支架传递或通过输出套筒轴（12）传递，两个单向偏转力矩相互抵消。两个输出端分别连接两个螺旋桨（或旋翼）。周转控制装置控制转向支座周转，正转与反转所需的控制力矩相同，周转控制力矩小，控制装置小。

Description

共轴反转周向推进器 技术领域
本发明涉及两个螺旋桨(或旋翼)推进器的传动结构，由输入端、单路换向器、双路折向器、转向支座、两个输出端组成，特点是在从输入端向两个输出端传递动力时，传动结构简单，两个输出端可以受控同步围绕反转套筒轴轴线周转，两个输出端带动两个螺旋桨(或旋翼)周转，控制周转的周转控制力矩很小，控制装置很小。称为共轴反转周向推进器。
背景技术
传统定轴螺旋桨推进器，螺旋桨轴固定不能转向。传统动轴螺旋桨(或旋翼)推进器，依靠锥齿轮副传动，通过强行带动输出轴轴承周转使输出轴围绕输入轴周转，实现螺旋桨(或旋翼)的轴转向。因为带动输出轴轴承周转需要克服单向偏转力矩，周转时正转与反转的控制力矩大小不同，所以额定周转控制力矩要很大，控制装置也很大。传统动轴螺旋桨推进器的传动结构存在单向偏转力矩，螺旋桨不易周转，不算真正的周向推进器。所述单向偏转力矩是传递动力时锥齿轮副自动产生的使输出轴围绕输入轴轴线单向转动的力矩，与输入力矩正相关。本人此前发明并申报了百向传动器，在传递动力时不产生单向偏转力矩，输出轴容易周转，周转控制力矩很小，控制装置很小，是真正的周向推进器。但百向传动器传动结构较复杂，主要适用于单螺旋桨(或旋翼)。航空业、航海业需要传动结构更简单的、输出轴容易周转、控制装置很小、适用于两个螺旋桨(或旋翼)的周向推进器。本发明就是提出其传动结构。
发明内容
本发明共轴反转周向推进器，由输入端、单路换向器、双路折向器、转向支座和两个输出端组成。
输入端从动力装置输入动力，后方连接同向轴。
单路换向器的作用是把一个转动转化为转速相等、方向相反的两个转动，并在反转套筒轴的两个轴中分别传递这两个转动。单路换向器有四种形式，任选其中之一：形式一单路换向器，包括同向轴、前锥齿轮、换向锥齿轮、换向锥齿轮支座、后锥齿轮和反转套筒轴，参见图1中的1、2、3、4、15、16和17等。所述反转套筒轴是同一个轴线上相互嵌套的两个轴，分别是反转套筒轴内轴、反转套筒轴外轴。设置同向轴轴承固定，在同向轴上设置前锥齿轮；设置其支座固定的换向锥齿轮与前锥齿轮啮合，换向锥齿轮轴线与同向轴轴线垂直。该换向锥齿轮与轴杆连接，其轴承作为支座固定。设置反转套筒轴与同向轴位于同一轴线，反转套筒轴的轴承固定，在反转套筒轴外轴设置后锥齿轮与换向锥齿轮啮合。同向轴与反转套筒轴内轴直接连接。前锥齿轮与后锥齿轮通过换向锥齿轮形成间接连接。通过设置前锥齿 轮齿数等于后锥齿轮齿数，使这个间接连接的传动比等于-1.0。形式一单路换向器使反转套筒轴内轴、反转套筒轴外轴这两个部件的转速相等、方向相反。形式二单路换向器，包括同向轴、内主动锥齿轮、外主动锥齿轮、内被动锥齿轮、外被动锥齿轮和反转套筒轴，参见图2中的1、2、3、4、15、16、17和18等。设置同向轴轴承固定，在同向轴上设置内主动锥齿轮、外主动锥齿轮，分别设置于反转套筒轴轴线的两侧，内主动锥齿轮穿过反转套筒轴轴线后设置，外主动锥齿轮不穿过反转套筒轴轴线就设置。固定反转套筒轴轴承，设置反转套筒轴轴线与同向轴轴线在同一平面内形成夹角，该夹角就是传动角，按实际需要确定传动角值，本发明实施例2中传动角为90度。在反转套筒轴内轴上设置内被动锥齿轮，保持内被动锥齿轮与内主动锥齿轮啮合；在反转套筒轴外轴上设置外被动锥齿轮，保持外被动锥齿轮与外主动锥齿轮啮合。通过设置内主动锥齿轮齿数、外主动锥齿轮齿数、内被动锥齿轮齿数和外被动锥齿轮齿数，使同向轴到反转套筒轴内轴的传动比等于同向轴到反转套筒轴外轴的传动比的负值；例如：使内主动锥齿轮齿数＝内被动锥齿轮齿数且外主动锥齿轮齿数＝外被动锥齿轮齿数。形式二单路换向器使反转套筒轴内轴、反转套筒轴外轴这两个部件的转速相等、方向相反。形式三单路换向器，包括同向轴、前齿轮、内旁轴齿轮、外旁轴前齿轮、外旁轴后齿轮、内旁轴、外旁轴、后齿轮和反转套筒轴，参见图3中的1、2、3、4、15、16、17和18等。设置同向轴轴承固定，在同向轴上设置前齿轮；设置其轴线分别与同向轴轴线平行的、其轴承都固定的内旁轴和外旁轴，内旁轴上设置内旁轴齿轮，外旁轴上依次设置外旁轴前齿轮、外旁轴后齿轮；在反转套筒轴外轴设置后齿轮。设置前齿轮与外旁轴前齿轮啮合，外旁轴后齿轮与内旁轴齿轮啮合，内旁轴齿轮与后齿轮啮合。设置反转套筒轴与同向轴位于同一轴线，反转套筒轴的轴承固定，设置同向轴与反转套筒轴内轴直接连接。前齿轮与后齿轮通过外旁轴前齿轮、外旁轴后齿轮、内旁轴齿轮形成间接连接。通过设置内旁轴齿轮齿数、外旁轴前齿轮齿数、外旁轴后齿轮齿数、前齿轮齿数和后齿轮齿数，使这个间接连接的传动比等于-1.0，例如：使外旁轴后齿轮齿数＝内旁轴齿轮齿数＝后齿轮齿数＝N，且使前齿轮齿数＝外旁轴前齿轮齿数＝2*N，N为大于8的自然数。形式三单路换向器使反转套筒轴内轴、反转套筒轴外轴这两个部件的转速相等、方向相反。形式四单路换向器，包括同向轴、内主动锥齿轮、外主动锥齿轮、内被动锥齿轮、外被动锥齿轮和反转套筒轴，参见图4中的1、2、3、4、15、16、17和18等。设置同向轴轴承固定，在同向轴上设置内主动锥齿轮、外主动锥齿轮，分别设置于反转套筒轴轴线的两侧，内主动锥齿轮不穿过反转套筒轴轴线就设置，外主动锥齿轮穿过反转套筒轴轴线后设置。固定反转套筒轴轴承，设置反转套筒轴轴线与同向轴轴线在同一平面内形成夹角，该夹角就是传动角，按实际需要确定传动角值，本发明实施例4中传动角为90度。在反转套筒轴内轴上设置内被动锥齿轮，保持内被动锥齿轮与内主动锥 齿轮啮合；在反转套筒轴外轴上设置外被动锥齿轮，保持外被动锥齿轮与外主动锥齿轮啮合。通过设置内主动锥齿轮齿数、外主动锥齿轮齿数、内被动锥齿轮齿数和外被动锥齿轮齿数，使同向轴到反转套筒轴内轴的传动比等于同向轴到反转套筒轴外轴的传动比的负值；例如：使内主动锥齿轮齿数＝内被动锥齿轮齿数且外主动锥齿轮齿数＝外被动锥齿轮齿数。形式四单路换向器使反转套筒轴内轴、反转套筒轴外轴这两个部件的转速相等、方向相反。
双路折向器的作用是通过两副锥齿轮副，使反转套筒轴内轴与第一输出轴间接连接，使反转套筒轴外轴与第二输出轴间接连接。反转套筒轴内轴对第一输出轴自动产生的单向偏转力矩与反转套筒轴外轴对第二输出轴自动产生的单向偏转力矩大小相同、方向相反。通过支架传递或通过输出套筒轴传递，这两个单向偏转力矩相互抵消。所述锥齿轮副是成熟技术，锥齿轮副是相互啮合的用于传动的一对锥齿轮，其输入轴轴线与输出轴轴线相交，相交的夹角称为折向角，其输入轴转速与输出轴转速之比为其传动比。双路折向器包括第一主动锥齿轮、第一被动锥齿轮、第一输出轴、第二主动锥齿轮、第二被动锥齿轮和第二输出轴。在反转套筒轴内轴上设置第一主动锥齿轮，设置第一输出轴轴线与反转套筒轴轴线相交，该相交夹角为第一折向角，在第一输出轴上设置第一被动锥齿轮，保持第一主动锥齿轮与第一被动锥齿轮啮合。在反转套筒轴外轴上设置第二主动锥齿轮，设置第二输出轴轴线与反转套筒轴轴线相交，此相交夹角为第二折向角，在第二输出轴上设置第二被动锥齿轮，保持第二主动锥齿轮与第二被动锥齿轮啮合。所述两副锥齿轮副就是第一主动锥齿轮与第一被动锥齿轮组成的锥齿轮副，还有第二主动锥齿轮与第二被动锥齿轮组成的锥齿轮副。所述双路折向器的第一输出轴、第二输出轴这两个输出轴各自有独立转速，当两个输出轴的轴线位于同一平面内，是一种特例；当两个输出轴的第一折向角与第二折向角角度相等，是另一种特例；当两个输出轴的轴线位于同一平面内且第一折向角与第二折向角角度相等，更是特例，这是两个输出轴相互嵌套形成输出套筒轴的特例。
转向支座的作用是通过支架传递或通过输出套筒轴传递，使两个输出轴受到的单向偏转力矩相互抵消；受周转控制装置控制而周转。转向支座包括定轴部件、支架和动轴轴承。定轴部件是围绕反转套筒轴轴线周转的机械，定轴部件有三种形式，任选其中之一：形式一定轴部件是在反转套筒轴外围设置的轴承，该轴承承托反转套筒轴，参见图1中的9。形式二定轴部件是在反转套筒轴轴线上设置的轴，其轴承固定，参见图2中的9。形式三定轴部件是在反转套筒轴轴线上设置的轴承，其轴固定，参见图3中的9。动轴轴承是承托输出轴的轴承，设置在输出轴的外围；承托第一输出轴的是第一动轴轴承，设置在第一输出轴外围；承托第二输出轴的是第二动轴轴承，设置在第二输出轴的外围。当两个输出轴形成输出套筒轴的特例时，第一动轴轴承与第二动轴轴承合并为承托输出套筒轴的一个动轴轴承，设置在 输出套筒轴的外围。支架是直接连接定轴部件与所有动轴轴承的连接机械，直接连接使转向支座转速一致。当支架直接连接定轴部件和所有动轴轴承后，整个转向支座可以围绕反转套筒轴轴线周转。所述周转指转向支座、两个输出轴、两个输出端等部件围绕反转套筒轴轴线正向、反向转动，在没有其他机械阻挡的条件下转动角度范围为360度。转向支座与周转控制装置直接连接或间接连接，受周转控制装置控制而周转。周转控制装置控制转向支座周转，带动两个输出端周转，带动两个螺旋桨周转。周转时正转与反转所需的控制力矩相同，周转控制力矩很小，控制装置很小。其中转向支座与周转控制装置的间接连接，包括通过齿轮副间接连接、通过蜗杆蜗轮间接连接、通过连杆机械间接连接、通过液压机械间接连接和通过齿轮齿条间接连接等。
两个输出端分别为第一输出端、第二输出端，第一输出端所在输出轴为第一输出轴，第二输出端所在输出轴为第二输出轴。两个输出端与两个螺旋桨(或旋翼)分别连接。当两个输出轴形成输出套筒轴的特例时，两个输出端与共轴反转双螺旋桨(或旋翼)的两个螺旋桨(或旋翼)分别连接。所述共轴反转双螺旋桨(或旋翼)为成熟技术，指轴线相同、转动方向相反的双螺旋桨(或旋翼)。所述螺旋桨(或旋翼)为成熟技术，包括桨叶及变距装置等。
所述动力装置采用成熟技术，比如电动力装置、汽动力装置或燃油动力装置。所述周转控制装置采用成熟技术，比如电动机构、机械机构或液压机构。周转控制装置的基座固定。所述轴固定、基座固定、支座固定或轴承固定是指该轴、该基座、该支座或该轴承通过连接机械与船舶船体或飞行器机身连接。固定轴、基座、支座或轴承就使其转速为零。所述套筒轴为成熟技术，多层轴承承托着多层轴，其轴承与轴之间、各轴之间可以相对转动，但沿轴向不相对滑移。各轴承为成熟技术，轴承承托着轴，轴承与轴之间可以相对转动，但沿轴向不相对滑移。所述直接连接即通过机械相连使被连接的对象转速相同，所述间接连接即通过机械传动使两个被传动对象的转速确定性相关。所述保持同步指两个对象直接连接。所述连接通常是直接连接，间接连接会专门明示。所述在某轴上设置齿轮、锥齿轮，设置的齿轮、锥齿轮与该轴保持同步。所述蜗轮蜗杆、齿轮副、连杆机械、液压机械和齿轮齿条是成熟技术，作用是把周转控制装置的控制运动转化为转向支座的周转。
本发明共轴反转周向推进器，其有益之处在于：提出了结构简单的两个螺旋桨(或旋翼)推进器的传动结构，传递动力时控制螺旋桨周转正转、反转的控制力矩相同，周转控制力矩很小，控制装置很小。功能远超传统动轴螺旋桨推进器。比百向传动器传动结构简单，可改善两个螺旋桨(或旋翼)的传动与控制。
附图说明
图1为共轴反转周向推进器示意图一例，也是本发明实施例1示意图。图中1为输入端，2为同向轴轴承，3为同向轴，4为反转套筒轴，5为第一主动锥齿轮，6为第二主动锥齿轮，7为第一被动锥齿轮，8为第二被动锥齿轮，9为定轴部件，10为支架，11为一个动轴轴承，12为输出套筒轴，13为第一输出端，14为第二输出端，15为前锥齿轮，16为换向锥齿轮，17为后锥齿轮，18为蜗轮，19为蜗杆。
图2为共轴反转周向推进器示意图二例，也是本发明实施例2示意图。图中1为输入端，2为同向轴轴承及反转套筒轴轴承，3为同向轴，4为反转套筒轴，5为第一主动锥齿轮，6为第二主动锥齿轮，7为第一被动锥齿轮，8为第二被动锥齿轮，9为定轴部件，10为支架，11为第一动轴轴承，12为第二动轴轴承，13为第一输出端，14为第二输出端，15为内主动锥齿轮，16为外主动锥齿轮，17为内被动锥齿轮，18为外被动锥齿轮，19为第一输出轴，20为第二输出轴。
图3为共轴反转周向推进器示意图三例，也是本发明实施例3示意图。图中1为输入端，2为同向轴，3为前齿轮，4为反转套筒轴，5为第一主动锥齿轮，6为第二主动锥齿轮，7为第一被动锥齿轮，8为第二被动锥齿轮，9为定轴部件，10为支架，11为一个动轴轴承，12为输出套筒轴，13为第一输出端，14为第二输出端，15为外旁轴前齿轮，16为外旁轴后齿轮，17为内旁轴齿轮，18为后齿轮，19为蜗轮，20为蜗杆。
图4为共轴反转周向推进器示意图四例，也是本发明实施例4示意图。图中1为输入端，2为同向轴轴承及反转套筒轴轴承，3为同向轴，4为反转套筒轴，5为第一主动锥齿轮，6为第二主动锥齿轮，7为第一被动锥齿轮，8为第二被动锥齿轮，9为定轴部件，10为支架，11为第一动轴轴承，12为第二动轴轴承，13为第一输出端，14为第二输出端，15为内主动锥齿轮，16为外主动锥齿轮，17为内被动锥齿轮，18为外被动锥齿轮，19为第一输出轴，20为第二输出轴。
各图中，输入端以输入箭头示意，输出端以输出箭头示意，与输出端连接的螺旋桨(或旋翼)未画出，与输入端连接的动力装置未画出，与转向支座连接的周转控制装置未画出。接地符号表示该部件固定。各部件只示意相互关系，未反映实际尺寸。
具体实施方式
实施例1：本发明共轴反转周向推进器的实施例1，用于船舶双螺旋桨的传动，由输入端(1)、单路换向器、双路折向器、转向支座和两个输出端组成。参见图1。
输入端(1)从动力装置输入动力，后方连接同向轴(3)。
单路换向器采用形式一单路换向器，包括同向轴(3)、前锥齿轮(15)、换向锥齿轮(16)、 换向锥齿轮支座、后锥齿轮(17)和反转套筒轴(4)。其中反转套筒轴包括反转套筒轴内轴和反转套筒轴外轴。使同向轴轴承固定，在同向轴(3)上设置前锥齿轮(15)；设置其支座固定的换向锥齿轮(16)与前锥齿轮(15)啮合，换向锥齿轮轴线与同向轴轴线垂直。设置反转套筒轴(4)与同向轴(3)位于同一轴线，反转套筒轴轴承固定。在反转套筒轴外轴设置后锥齿轮(17)与换向锥齿轮(16)啮合。同向轴(3)与反转套筒轴内轴直接连接，前锥齿轮(15)与后锥齿轮(17)通过换向锥齿轮(16)形成间接连接。使这个间接连接的传动比等于-1.0，实取：前锥齿轮齿数＝换向锥齿轮齿数＝后锥齿轮齿数＝17。反转套筒轴内轴、反转套筒轴外轴这两个部件的转速相等、方向相反。
双路折向器包括第一主动锥齿轮(5)、第二主动锥齿轮(6)、第一被动锥齿轮(7)、第二被动锥齿轮(8)和输出套筒轴(12)。其中第一输出轴即输出套筒轴内轴，与第一输出端(13)连接；第二输出端即输出套筒轴外轴，与第二输出端(14)连接。第一主动锥齿轮(5)与反转套筒轴内轴直接连接，第二主动锥齿轮(6)与反转套筒轴外轴直接连接。使输出套筒轴轴线与反转套筒轴轴线在同一平面内形成夹角，该夹角就是折向角，本实施例折向角为90度。在输出套筒轴内轴上设置第一被动锥齿轮(7)，在输出套筒轴外轴上设置第二被动锥齿轮(8)。保持第一主动锥齿轮(5)与第一被动锥齿轮(7)啮合，保持第二主动锥齿轮(6)与第二被动锥齿轮(8)啮合。使反转套筒轴内轴到输出套筒轴内轴的传动比等于反转套筒轴外轴到输出套筒轴外轴的传动比，实取：第一主动锥齿轮齿数＝第一被动锥齿轮齿数＝17，第二主动锥齿轮齿数＝第二被动锥齿轮齿数＝19。
转向支座包括定轴部件(9)、支架(10)和动轴轴承(11)。在反套筒轴轴外围设置形式一定轴部件(9)，即承托反转套筒轴的一个轴承，在输出套筒轴(12)外围设置一个动轴轴承(11)承托输出套筒轴，用支架(10)直接连接定轴部件(9)与一个动轴轴承(11)，整个转向支座可以周转。在定轴部件(9)上设置蜗轮(18)，蜗轮(18)与定轴部件(9)保持同步，设置配套的蜗杆(19)与蜗轮(18)啮合形成蜗轮蜗杆；蜗杆头数为2，蜗轮齿数为30，蜗轮蜗杆传动比15。蜗杆(19)与周转控制装置连接，周转控制装置采用电动机构。
两个输出端包括第一输出端(13)和第二输出端(14)，两个输出端与船舶共轴反转双螺旋桨的两个螺旋桨分别连接。
沿船体垂直方向布置反转套筒轴，周转控制装置通过蜗轮蜗杆带动转向支座周转，两个输出端周转，共轴反转双螺旋桨周转。船舶的共轴反转双螺旋桨实现周转推进。周转时正转与反转所需的控制力矩相同，周转控制力矩很小，控制装置很小。
实施例2：本发明共轴反转周向推进器的实施例2，用于潜艇两个螺旋桨的传动，由输入端(1)、单路换向器、双路折向器、转向支座和两个输出端组成。参见图2。
输入端(1)从动力装置输入动力，后方连接同向轴(3)。
单路换向器采用形式二单路换向器，包括同向轴(3)、内主动锥齿轮(15)、外主动锥齿轮(16)、内被动锥齿轮(17)、外被动锥齿轮(18)和反转套筒轴(4)。其中反转套筒轴包括反转套筒轴内轴和反转套筒轴外轴。使同向轴轴承固定，在同向轴(3)上设置外主动锥齿轮(16)、内主动锥齿轮(15)，分别设置于反转套筒轴轴线的两侧，内主动锥齿轮穿过反转套筒轴轴线后设置，外主动锥齿轮不穿过反转套筒轴轴线就设置；设置反转套筒轴轴线与同向轴轴线在同一平面内形成传动角，反转套筒轴轴承固定，本实施例传动角为90度；在反转套筒轴内轴上设置内被动锥齿轮(17)，使内被动锥齿轮(17)与内主动锥齿轮(15)啮合；在反转套筒轴外轴上设置外被动锥齿轮(18)，使外被动锥齿轮(18)与外主动锥齿轮(16)啮合。使同向轴到反转套筒轴内轴的传动比等于同向轴到反转套筒轴外轴的传动比的负值，实取：内主动锥齿轮齿数＝内被动锥齿轮齿数＝17，外主动锥齿轮齿数＝外被动锥齿轮齿数＝19。反转套筒轴内轴、反转套筒轴外轴这两个部件的转速相等、方向相反。
双路折向器包括第一主动锥齿轮(5)、第二主动锥齿轮(6)、第一被动锥齿轮(7)、第二被动锥齿轮(8)、第一输出轴(19)和第二输出轴(20)。第一主动锥齿轮(5)与反转套筒轴内轴直接连接，第二主动锥齿轮(6)与反转套筒轴外轴直接连接。使第一输出轴轴线与反转套筒轴轴线与第二输出轴轴线在同一平面内，第一折向角为91度，第二折向角为89度；在第一输出轴(19)上设置第一被动锥齿轮(7)，在第二输出轴(20)上设置第二被动锥齿轮(8)。第一输出轴(19)与第一输出端(13)直接连接，第二输出轴(20)与第二输出端(14)直接连接。保持第一主动锥齿轮(5)与第一被动锥齿轮(7)啮合，保持第二主动锥齿轮(6)与第二被动锥齿轮(8)啮合。使反转套筒轴内轴到第一输出端的传动比等于反转套筒轴外轴到第二输出端的传动比，实取：第一主动锥齿轮齿数＝第一被动锥齿轮齿数＝第二主动锥齿轮齿数＝第二被动锥齿轮齿数＝17。
转向支座包括定轴轴承(9)、支架(10)、第一动轴轴承(11)和第二动轴轴承(12)。在反转套筒轴轴线上设置形式二定轴部件(9)，其轴承固定。在第一输出轴(19)外设置第一动轴轴承(11)，承托该输出轴；在第二输出轴(20)外设置第二动轴轴承(12)，承托该输出轴。支架(10)直接连接定轴部件(9)与所有动轴轴承，整个转向支座可以周转。定轴部件(9)与周转控制装置直接连接，周转控制装置采用液压机构即液压马达，是成熟设备。
两个输出端中的第一输出端(13)、第二输出端(14)与潜艇两个螺旋桨分别连接。
周转控制装置控制转向支座周转，两个输出端周转，两个螺旋桨周转。周转时正转与反转所需的控制力矩相同，周转控制力矩很小，控制装置很小。沿潜艇的垂直方向布置反转套筒轴，两个螺旋桨可大角度周转，潜艇实现偏航推进；两个螺旋桨的总距差动变距，潜艇实 现俯仰推进。本实施例两个螺旋桨的转动方向相反。
实施例3：本发明共轴反转周向推进器的实施例3，用于倾转旋翼机旋翼的传动，由输入端(1)、单路换向器、双路折向器、转向支座和两个输出端组成。参见图3。
输入端(1)从动力装置输入动力，后方连接同向轴(2)。
单路换向器采用形式三单路换向器，包括同向轴(2)、前齿轮(3)、内旁轴齿轮(17)、外旁轴前齿轮(15)、外旁轴后齿轮(16)、内旁轴、外旁轴、后齿轮(18)和反转套筒轴(4)。其中反转套筒轴包括反转套筒轴内轴和反转套筒轴外轴。使同向轴轴承固定，在同向轴(2)上设置前齿轮(3)。设置其轴线与同向轴(2)分别平行的、其轴承都固定的内旁轴和外旁轴，内旁轴上设置内旁轴齿轮(17)，外旁轴上依次设置外旁轴前齿轮(15)、外旁轴后齿轮(16)；在反转套筒轴外轴设置后齿轮(18)。使前齿轮(3)与外旁轴前齿轮(15)啮合，外旁轴后齿轮(16)与内旁轴齿轮(17)啮合，内旁轴齿轮(17)与后齿轮(18)啮合。使反转套筒轴(4)与同向轴(2)位于同一轴线，同向轴(2)与反转套筒轴内轴直接连接。前齿轮(3)与后齿轮(18)通过外旁轴前齿轮(15)、外旁轴后齿轮(16)、内旁轴齿轮(17)形成间接连接。使这个间接连接的传动比等于-1.0，实取：外旁轴后齿轮齿数＝内旁轴齿轮齿数＝后齿轮齿数＝17，前齿轮齿数＝外旁轴前齿轮齿数＝34。反转套筒轴内轴、反转套筒轴外轴这两个部件的转速相等、转动方向相反。
双路折向器包括第一主动锥齿轮(5)、第二主动锥齿轮(6)、第一被动锥齿轮(7)、第二被动锥齿轮(8)和输出套筒轴(12)。其中第一输出轴即输出套筒轴内轴，与第一输出端(13)连接；第二输出端即输出套筒轴外轴，与第二输出端(14)连接。第一主动锥齿轮(5)与反转套筒轴内轴直接连接，第二主动锥齿轮(6)与反转套筒轴外轴直接连接。使输出套筒轴轴线与反转套筒轴轴线在同一平面内形成夹角，该夹角就是折向角，本实施例折向角为90度。在输出套筒轴内轴上设置第一被动锥齿轮(7)，在输出套筒轴外轴上设置第二被动锥齿轮(8)。保持第一主动锥齿轮(5)与第一被动锥齿轮(7)啮合，保持第二主动锥齿轮(6)与第二被动锥齿轮(8)啮合。使反转套筒轴内轴到输出套筒轴内轴的传动比等于反转套筒轴外轴到输出套筒轴外轴的传动比，实取：第一主动锥齿轮齿数＝第一被动锥齿轮齿数＝17，第二主动锥齿轮齿数＝第二被动锥齿轮齿数＝19。
转向支座包括定轴部件(9)、支架(10)和动轴轴承(11)。在反转套筒轴轴线上设置形式三定轴部件(9)，其轴固定。在输出套筒轴(12)外围设置一个动轴轴承(11)承托输出套筒轴，用支架(10)直接连接定轴部件(9)与一个动轴轴承(11)，整个转向支座可以周转。在定轴部件(9)上设置蜗轮(19)，蜗轮(19)与定轴部件(9)保持同步，设置配套的蜗杆(20)与蜗轮(19)啮合形成蜗轮蜗杆；蜗杆头数为2，蜗轮齿数为30，蜗轮蜗杆传动 比15。蜗杆(20)与周转控制装置连接，周转控制装置采用电动机构。
两个输出端包括第一输出端(13)和第二输出端(14)，两个输出端与共轴反转双旋翼的两个旋翼分别连接。共轴反转双旋翼采用成熟技术，其旋翼包括桨叶与变距装置。
沿机翼布置反转套筒轴，周转控制装置通过蜗轮蜗杆带动转向支座周转，输出套筒轴(12)周转，共轴反转双旋翼周转，周转就是倾转，设置该共轴反转双旋翼作为倾转旋翼机的左双旋翼。同理设置另一套共轴反转双旋翼作为倾转旋翼机的右双旋翼。本实施例共轴反转双旋翼倾转时正转与反转的控制力矩相同，周转控制力矩很小，控制装置很小。周转角度范围360度，远大于传统倾转旋翼机旋翼的倾转角度范围的97.5度。与传统倾转旋翼机的左右单旋翼相比，在旋翼直径相同条件下，本实施例的左右双旋翼可以承担更大的载荷。
实施例4：本发明共轴反转周向推进器的实施例2，用于潜艇两个螺旋桨的传动，由输入端(1)、单路换向器、双路折向器、转向支座和两个输出端组成。参见图4。
输入端(1)从动力装置输入动力，后方连接同向轴(3)。
单路换向器采用形式四单路换向器，包括同向轴(3)、内主动锥齿轮(15)、外主动锥齿轮(16)、内被动锥齿轮(17)、外被动锥齿轮(18)和反转套筒轴(4)。其中反转套筒轴包括反转套筒轴内轴和反转套筒轴外轴。使同向轴轴承固定，在同向轴(3)上设置外主动锥齿轮(16)、内主动锥齿轮(15)，分别设置于反转套筒轴轴线的两侧，内主动锥齿轮不穿过反转套筒轴轴线就设置，外主动锥齿轮穿过反转套筒轴轴线后设置；设置反转套筒轴轴线与同向轴轴线在同一平面内形成传动角，反转套筒轴轴承固定，本实施例传动角为90度；在反转套筒轴内轴上设置内被动锥齿轮(17)，使内被动锥齿轮(17)与内主动锥齿轮(15)啮合；在反转套筒轴外轴上设置外被动锥齿轮(18)，使外被动锥齿轮(18)与外主动锥齿轮(16)啮合。使同向轴到反转套筒轴内轴的传动比等于同向轴到反转套筒轴外轴的传动比的负值，实取：内主动锥齿轮齿数＝内被动锥齿轮齿数＝17，外主动锥齿轮齿数＝外被动锥齿轮齿数＝23。反转套筒轴内轴、反转套筒轴外轴这两个部件的转速相等、方向相反。
双路折向器包括第一主动锥齿轮(5)、第二主动锥齿轮(6)、第一被动锥齿轮(7)、第二被动锥齿轮(8)、第一输出轴(19)和第二输出轴(20)。第一主动锥齿轮(5)与反转套筒轴内轴直接连接，第二主动锥齿轮(6)与反转套筒轴外轴直接连接。使第一输出轴轴线与反转套筒轴轴线与第二输出轴轴线在同一平面内，第一折向角为91度，第二折向角为89度；在第一输出轴(19)上设置第一被动锥齿轮(7)，在第二输出轴(20)上设置第二被动锥齿轮(8)。第一输出轴(19)与第一输出端(13)直接连接，第二输出轴(20)与第二输出端(14)直接连接。保持第一主动锥齿轮(5)与第一被动锥齿轮(7)啮合，保持第二主动锥齿轮(6)与第二被动锥齿轮(8)啮合。使反转套筒轴内轴到第一输出端的传动比等于反转 套筒轴外轴到第二输出端的传动比，实取：第一主动锥齿轮齿数＝第一被动锥齿轮齿数＝第二主动锥齿轮齿数＝第二被动锥齿轮齿数＝17。
转向支座包括定轴轴承(9)、支架(10)、第一动轴轴承(11)和第二动轴轴承(12)。在反转套筒轴轴线上设置形式二定轴部件(9)，其轴承固定。在第一输出轴(19)外设置第一动轴轴承(11)，承托该输出轴；在第二输出轴(20)外设置第二动轴轴承(12)，承托该输出轴。支架(10)直接连接定轴部件(9)与所有动轴轴承，整个转向支座可以周转。定轴部件(9)与周转控制装置直接连接，周转控制装置采用液压机构即液压马达，是成熟设备。
两个输出端中的第一输出端(13)、第二输出端(14)与潜艇两个螺旋桨分别连接。
周转控制装置控制转向支座周转，两个输出端周转，两个螺旋桨周转。周转时正转与反转所需的控制力矩相同，周转控制力矩很小，控制装置很小。沿潜艇的垂直方向布置反转套筒轴，两个螺旋桨可大角度周转，潜艇实现偏航推进；两个螺旋桨的总距差动变距，潜艇实现俯仰推进。本实施例两个螺旋桨的转动方向相同。
以上显示和描述了本发明基本原理、主要特征和优点。本行业技术人员应该了解，本发明不受上述实施例限制，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与改进，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及同等物界定。

Claims (6)

  1. 共轴反转周向推进器，由输入端、单路换向器、双路折向器、转向支座和两个输出端组成，其特征在于：
    输入端从动力装置输入动力，后方连接同向轴；
    单路换向器有四种形式，任选其中之一：形式一单路换向器，包括同向轴、前锥齿轮、换向锥齿轮、换向锥齿轮支座、后锥齿轮和反转套筒轴，设置同向轴轴承固定，在同向轴上设置前锥齿轮，设置其支座固定的换向锥齿轮与前锥齿轮啮合，换向锥齿轮轴线与同向轴轴线垂直，该换向锥齿轮与轴杆连接，其轴承作为支座固定，设置反转套筒轴与同向轴位于同一轴线，反转套筒轴的轴承固定，在反转套筒轴外轴设置后锥齿轮与换向锥齿轮啮合，同向轴与反转套筒轴内轴直接连接，前锥齿轮与后锥齿轮通过换向锥齿轮形成间接连接，通过设置前锥齿轮齿数等于后锥齿轮齿数，使这个间接连接的传动比等于-1.0，形式一单路换向器使反转套筒轴内轴、反转套筒轴外轴这两个部件的转速相等、方向相反；
    双路折向器包括第一主动锥齿轮、第一被动锥齿轮、第一输出轴、第二主动锥齿轮、第二被动锥齿轮和第二输出轴，在反转套筒轴内轴上设置第一主动锥齿轮，设置第一输出轴轴线与反转套筒轴轴线相交，该相交夹角为第一折向角，在第一输出轴上设置第一被动锥齿轮，保持第一主动锥齿轮与第一被动锥齿轮啮合，在反转套筒轴外轴上设置第二主动锥齿轮，设置第二输出轴轴线与反转套筒轴轴线相交，此相交夹角为第二折向角，在第二输出轴上设置第二被动锥齿轮，保持第二主动锥齿轮与第二被动锥齿轮啮合；
    转向支座包括定轴部件、支架和动轴轴承，定轴部件是围绕反转套筒轴轴线周转的机械，转向支座中的定轴部件有三种形式，任选其中之一：形式一定轴部件是在反转套筒轴外围设置的轴承，该轴承承托反转套筒轴，动轴轴承是承托输出轴的轴承，设置在输出轴的外围，承托第一输出轴的是第一动轴轴承，设置在第一输出轴外围，承托第二输出轴的是第二动轴轴承，设置在第二输出轴的外围，当两个输出轴形成输出套筒轴的特例时，第一动轴轴承与第二动轴轴承合并为承托输出套筒轴的一个动轴轴承，设置在输出套筒轴的外围，支架是直接连接定轴部件与所有动轴轴承的连接机械，直接连接使转向支座转速一致，当支架直接连接定轴部件和所有动轴轴承后，整个转向支座可以围绕反转套筒轴轴线周转，转向支座与周转控制装置直接连接或间接连接，受周转控制装置控制而周转；
    两个输出端分别为第一输出端、第二输出端，第一输出端所在输出轴为第一输出轴，第二输出端所在输出轴为第二输出轴，两个输出端与两个螺旋桨(或旋翼)分别连接，当两个输出轴形成输出套筒轴的特例时，两个输出端与共轴反转双螺旋桨(或旋翼)的两个螺旋桨(或旋翼)分别连接；
    本发明共轴反转周向推进器，周转控制装置控制转向支座周转，带动两个输出端周转， 带动两个螺旋桨周转，周转时正转与反转所需的控制力矩相同，周转控制力矩很小，控制装置很小。
  2. 如权利要求1所述的共轴反转周向推进器，其中单路换向器替换为形式二单路换向器，形式二单路换向器包括同向轴、内主动锥齿轮、外主动锥齿轮、内被动锥齿轮、外被动锥齿轮和反转套筒轴，使同向轴轴承固定，在同向轴上设置内主动锥齿轮、外主动锥齿轮，分别设置于反转套筒轴轴线的两侧，内主动锥齿轮穿过反转套筒轴轴线后设置，外主动锥齿轮不穿过反转套筒轴轴线就设置，固定反转套筒轴轴承，设置反转套筒轴轴线与同向轴轴线在同一平面内形成夹角，该夹角就是传动角，在反转套筒轴内轴上设置内被动锥齿轮，保持内被动锥齿轮与内主动锥齿轮啮合，在反转套筒轴外轴上设置外被动锥齿轮，保持外被动锥齿轮与外主动锥齿轮啮合，通过设置内主动锥齿轮齿数、外主动锥齿轮齿数、内被动锥齿轮齿数和外被动锥齿轮齿数，使同向轴到反转套筒轴内轴的传动比等于同向轴到反转套筒轴外轴的传动比的负值，形式二单路换向器使反转套筒轴内轴、反转套筒轴外轴这两个部件的转速相等、方向相反。
  3. 如权利要求1所述的共轴反转周向推进器，其中单路换向器替换为形式三单路换向器，形式三单路换向器包括同向轴、前齿轮、内旁轴齿轮、外旁轴前齿轮、外旁轴后齿轮、内旁轴、外旁轴、后齿轮和反转套筒轴，设置同向轴轴承固定，在同向轴上设置前齿轮，设置其轴线分别与同向轴轴线平行的、其轴承都固定的内旁轴和外旁轴，内旁轴上设置内旁轴齿轮，外旁轴上依次设置外旁轴前齿轮、外旁轴后齿轮，在反转套筒轴外轴设置后齿轮，设置前齿轮与外旁轴前齿轮啮合，外旁轴后齿轮与内旁轴齿轮啮合，内旁轴齿轮与后齿轮啮合，设置反转套筒轴与同向轴位于同一轴线，反转套筒轴的轴承固定，设置同向轴与反转套筒轴内轴直接连接，前齿轮与后齿轮通过外旁轴前齿轮、外旁轴后齿轮、内旁轴齿轮形成间接连接，通过设置内旁轴齿轮齿数、外旁轴前齿轮齿数、外旁轴后齿轮齿数、前齿轮齿数和后齿轮齿数，使这个间接连接的传动比等于-1.0，形式三单路换向器使反转套筒轴内轴、反转套筒轴外轴这两个部件的转速相等、方向相反。
  4. 如权利要求1所述的共轴反转周向推进器，其中单路换向器替换为形式四单路换向器，形式四单路换向器包括同向轴、内主动锥齿轮、外主动锥齿轮、内被动锥齿轮、外被动锥齿轮和反转套筒轴，设置同向轴轴承固定，在同向轴上设置内主动锥齿轮、外主动锥齿轮，分别设置于反转套筒轴轴线的两侧，内主动锥齿轮不穿过反转套筒轴轴线就设置，外主动锥齿轮穿过反转套筒轴轴线后设置，固定反转套筒轴轴承，设置反转套筒轴轴线与同向轴轴线在同一平面内形成夹角，该夹角就是传动角，在反转套筒轴内轴上设置内被动锥齿轮，保持内被动锥齿轮与内主动锥齿轮啮合，在反转套筒轴外轴上设置外被动锥齿轮，保持外被动锥齿 轮与外主动锥齿轮啮合，通过设置内主动锥齿轮齿数、外主动锥齿轮齿数、内被动锥齿轮齿数和外被动锥齿轮齿数，使同向轴到反转套筒轴内轴的传动比等于同向轴到反转套筒轴外轴的传动比的负值，形式四单路换向器使反转套筒轴内轴、反转套筒轴外轴这两个部件的转速相等、方向相反。
  5. 如权利要求1所述的共轴反转周向推进器，其转向支座中的定轴部件替换为形式二定轴部件，形式二定轴部件是在反转套筒轴轴线上设置的轴，其轴承固定，转向支座中的支架和动轴轴承不变。
  6. 如权利要求1所述的共轴反转周向推进器，其转向支座中的定轴部件替换为形式三定轴部件，形式三定轴部件是在反转套筒轴轴线上设置的轴承，其轴固定，转向支座中的支架和动轴轴承不变。
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