CN108820169B - Electric conduit type water-spraying propeller - Google Patents
Electric conduit type water-spraying propeller Download PDFInfo
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- CN108820169B CN108820169B CN201810844792.9A CN201810844792A CN108820169B CN 108820169 B CN108820169 B CN 108820169B CN 201810844792 A CN201810844792 A CN 201810844792A CN 108820169 B CN108820169 B CN 108820169B
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- motor
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- water
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- 238000005507 spraying Methods 0.000 title claims abstract description 37
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 101
- 230000007704 transition Effects 0.000 claims 1
- 238000009434 installation Methods 0.000 abstract description 7
- 238000007667 floating Methods 0.000 abstract description 5
- 238000011161 development Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009189 diving Effects 0.000 description 3
- 230000005855 radiation Effects 0.000 description 3
- 238000007789 sealing Methods 0.000 description 3
- 244000058871 Echinochloa crus-galli Species 0.000 description 2
- 235000015225 Panicum colonum Nutrition 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 239000004576 sand Substances 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 241000282461 Canis lupus Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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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
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/08—Propulsion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H11/00—Marine propulsion by water jets
- B63H11/02—Marine propulsion by water jets the propulsive medium being ambient water
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Structures Of Non-Positive Displacement Pumps (AREA)
- Nozzles (AREA)
Abstract
The invention discloses an electric conduit type water spraying propeller which is smaller than the conventional size, light in weight, simple in structure and easy to control, and can meet the installation requirement and the control requirement of a small-sized robot platform. Comprising the following steps: a housing fixing unit and a motor driving unit; the housing fixing unit includes: the water inlet cover, the shell, the guide cover and the water spraying cover are coaxially connected in sequence; the motor driving unit includes: a motor and a propeller; the motor is fixed inside the air guide sleeve, the power output shaft of the motor is used as a rotating shaft to face the direction of the water inlet sleeve, and the propeller is connected with the rotating shaft and driven by the rotating shaft to rotate. The sprinkler with the structural form can realize the rapid movement of the underwater robot under water and the floating and submerging of the robot due to large thrust.
Description
Technical Field
The invention relates to a propeller, in particular to a water-jet propeller.
Background
With the progress of human awareness of the sea, development of the sea, utilization of sea resources and protection of sea resources, an underwater robot plays an important role in sea development and utilization as a device that moves underwater, has a vision and perception system, uses a mechanical or other tool to replace or assist a person to accomplish an underwater work task by a remote control or autonomous remote control manner.
Underwater robots are a typical military and civil technology, which can be used not only for exploration and development of offshore resources, but also for irreplaceable roles in sea warfare. In order to compete for sea rights, various countries are developing underwater robots for various purposes. Underwater propulsion is receiving wide attention both at home and abroad as a power provider for underwater robots. Several underwater propulsors are described below:
(1) Pump jet propeller
In the last century, the united kingdom was first equipped with a new pump jet propeller (PumpJetThruster) on a "Trafalgar" level offensive nuclear submarine. The propulsion mode can effectively reduce the radiation noise of submarines, thereby being more concerned by the navy countries of the world.
Compared with the submarine propelled by the large side inclined propeller, the submarine propelled by the pump jet has the greatest advantages of greatly reducing the radiation noise of the submarine propeller and improving the low-noise navigational speed of the submarine. Taking the us sea wolf level attack type nuclear submarine as an example, the highest underwater navigational speed of the submarine is more than 30 knots (up to 35 knots are reported), the low-noise navigational speed of the submarine is more than 20 knots when the submarine is underwater for 30 meters, the radiation noise is close to the ocean environment noise, and the submarine is called the quietest and fastest submarine in the world by us authorities.
Although pump jet propulsion is advantageous over conventional propeller propulsion, it has its own drawbacks that have not been overcome. Firstly, the power lost by the water inlet is high, and no good method is found at present to further reduce the loss. Secondly, when the pump jet propulsion is in shallow draft, especially in waters with high sand content, there is a risk of sucking crushed stone and sand into the system.
(2) WT series digging booster
Commercial underwater propulsion (DPV) produced by WUWeiner Kai engineering technology limited company, also called frog booster, is one of important aid means for diving lovers or special forces to navigate, is widely favored by users at home and abroad, and is widely applied to underwater frog propulsion, underwater shooting, diving entertainment, auxiliary underwater lifesaving and the like.
WT1-50 series underwater propulsion device has small volume and light weight, adopts the storage battery as power, is provided with battery capacity display and is convenient to charge. The water is in a zero-buoyancy state. A special sealing structure is adopted. The use and maintenance are simple, safe and reliable. The maximum diving depth is 50 meters.
(3) Underwater hollow propeller without hub
Liu Wenzhi, li Haibo, etc., an underwater hollow hub-less propeller. The rotor is of a hollow annular structure, the rotor permanent magnet is fixed on the rotor in a pole-dividing manner to form a rotor of a hollow structure, the propeller is fixed inside the hollow rotor, the propeller, the rotor and the rotor permanent magnet form a whole, and the rotor is fixed in the motor shell through the ceramic bearing. The propeller blade of the invention does not generate induced resistance and cavitation phenomenon when rotating, thereby greatly improving the efficiency of the propeller. In addition, the motor has increased its diameter and pole number, so that the motor has raised torque, and is suitable for use in high water depth and high density environment and easy installation on ship.
(4) Underwater spherical motor propeller
Zhang Jiang, wanghong et al invent a kind of underwater spherical electric motor propeller. The stator core is spherical, three mutually perpendicular grooves are formed in the surface of the spherical stator core along a great circle, three-phase concentrated windings are respectively placed in the grooves, the windings are perpendicular to each other, the coils of the three-phase windings are connected to the underwater sealing plug through cables, a spherical sealing shell fixed with the stator core is wrapped outside the stator core, a spherical outer rotor is sleeved on the sealing shell through a rubber bearing, a water groove is formed in the surface of the rubber bearing, a rotor core is arranged between the two rubber bearings, a tiny gap is reserved between the rotor core and the sealing shell, the rotor core, the rubber bearing and a rotor shell are combined together, and propeller blades are directly fixed on the rotor shell. The invention realizes the vector propulsion of the underwater motor propeller, improves the performance of the propeller, simultaneously simplifies the mechanical structure of the underwater working device, reduces the weight and the volume, and has better applicability and higher reliability.
However, the existing underwater propeller has the following problems: at present, the underwater robot mostly adopts torpedo-shaped design and propeller propulsion, the mechanical structure of the underwater robot determines that the advancing and retreating of the underwater robot can generate larger speed, but the underwater robot has large turning radius and is not suitable for operation in a narrow area. In addition, the propeller has the air pocket, is high in noise, has large cavitation loss, and reduces concealment performance and biocompatibility. When the weight of the robot is large, the existing water spraying propeller cannot meet the speed requirement of underwater movement due to insufficient thrust, and cannot realize up-and-down floating in water due to insufficient thrust.
Disclosure of Invention
In view of the above, the invention provides an electric conduit type water jet propeller which has good protection performance and low noise, and can meet the use requirements of a robot for fast movement in water and up-down floating and sinking.
The electric conduit type water spraying propeller is characterized by comprising: a housing fixing unit and a motor driving unit;
The housing fixing unit includes: the water inlet cover, the shell, the guide cover and the water spraying cover are coaxially connected in sequence; a water inlet is formed in the water inlet cover, and the shell is used for providing a mounting position for connecting the propeller with external equipment; a wiring hole is formed in the guide cover; a water spraying opening is formed in the water spraying cover;
The motor driving unit includes: a motor and a propeller; the motor is fixed inside the guide cover, and a control wire for controlling the motor passes through the wiring hole; the power output shaft of the motor is used as a rotating shaft to face the direction of the water inlet cover, and an oil seal is sleeved at the connecting end of the rotating shaft and the motor; the screw propeller is connected with the rotating shaft and driven by the rotating shaft to rotate.
The water inlet on the water inlet cover is in a grid shape.
The water inlet cover is a hemispherical shell.
And a fairing is arranged at one end of the shell of the motor, which faces the water spraying cover.
The beneficial effects are that:
(1) The water spraying propeller has the characteristics of small accessory resistance, good protection performance, low noise, simple transmission mechanism and the like; the maximum thrust of the propeller can reach 2.9N under the condition that the rotating diameter of the propeller blade is only 36.5mm, and the propulsion efficiency is high; the electric conduit type water spraying propeller with the structural form can realize the rapid movement of the robot in water and the up-down floating and sinking, thereby solving the defect of the current underwater movement of the robot.
(2) The electric conduit type water spraying propeller is easy to control, the water flow pipeline is long, the directivity of the water spraying propeller is good, the influence of interference such as water flow can be effectively reduced, and the movement direction of the robot can be accurately controlled by controlling the water spraying direction.
(3) The water inlet cover is designed into a hemispherical shell, the water inlet is in a grid shape, water grass winding and gravel blocks can be effectively prevented from entering the propeller, and guarantee is provided for the underwater efficient and safe operation of the robot.
Drawings
FIG. 1 is a three-dimensional block diagram of the present invention;
FIG. 2 is an exploded view of the propeller of the present invention;
FIG. 3 is a block diagram of a portion of the motor of FIG. 2;
FIGS. 4 and 5 are block diagrams of the pod of FIG. 2;
Wherein: 1-a water spraying cover, 2-a tail cone and 3-a motor; 4-air guide sleeve, 5-fixed hole, 6-propeller, 7-fixed shell, 8-water inlet cover, 9-mounting hole, 10-wiring hole, 1-1-water jet, 3-1-shell, 3-2-motor front end cover, 3-3-oil seal, 3-4-hexagon socket screw, 3-5-rotating shaft, 4-1-supporting seat, 4-2-mounting hole, 4-3-air guide sleeve shell and 4-4 motor fixed shell
Detailed Description
The invention will now be described in detail by way of example with reference to the accompanying drawings.
The embodiment provides an electric conduit type water spraying propeller which is smaller than the conventional size, light in weight, simple in structure and easy to control, and can meet the installation requirement and the control requirement of a small-sized robot platform.
As shown in fig. 1 and 2, the appearance of the whole electric conduit type water jet propeller is similar to a cylinder, so that the requirement of underwater water jet propulsion of an amphibious robot is met, and the purpose of leg driving of the robot in land and amphibious transitional environments is achieved.
The water jet propeller comprises: a housing fixing unit and a motor driving unit, wherein the housing fixing unit includes: the water inlet cover 8, the shell 7, the air guide cover 4 and the water spraying cover 1 are coaxially connected in sequence. The water inlet cover 8 is designed into a hemispherical shell, the hemispherical surface of the water inlet is provided with a grid-shaped water inlet, and the water inlet is designed into a grid shape, so that the possibility of influencing the operation of the underwater propeller due to the entrainment of sundries such as water grass, gravel and the like can be effectively reduced; the shape of the water inlet cover 8 is similar to a hemispherical shape, so that the area of the water inlet surface can be increased, and the water inlet quantity can be increased. The casing 7 fixedly connected with the water inlet cover 8 mainly plays a role of installation and fixation, and is used for providing an installation position for connecting the propeller with external equipment, and the whole water-jet propeller can be fixed on the leg of the underwater robot through the threaded hole 9. The air guide sleeve 4 is a cylindrical sleeve, and can serve as a shell to protect and also can serve as a guide effect of water flow in the water spraying motor to improve propulsion efficiency. The circumference of the air guide sleeve 4 is provided with a wiring hole 10, and a wire used for connecting a motor positioned in the shell fixing unit and an electronic speed regulator positioned outside the shell fixing unit passes through the wiring hole 10, so that after the electronic speed regulator is connected, the rotating speed of the motor is controlled through PWM signals of the electronic speed regulator. The water spraying cover 1 is a hollow truncated cone-shaped shell with openings at two ends, the larger-diameter end is connected with the air guide cover 4, and the smaller-diameter end is used as the water spraying opening 1-1, so that the area of the cross section of the water spraying opening 1-1 is smaller than that of the water inlet (the larger-diameter end) and the cross section of the water flow of the air guide cover, the water flow can be accelerated and sprayed out, and the thrust is increased.
The structure of the air guide sleeve 4 is shown in fig. 4 and 5, and comprises an air guide sleeve shell 4-3, wherein a motor fixing shell 4-4 is coaxially arranged inside the air guide sleeve shell 4-3, and the air guide sleeve shell 4-3 and the motor fixing shell 4-4 are fixedly connected through three supporting seats 4-1 distributed in the circumferential direction. The motor 3 is placed inside the motor fixing housing 4-4 and is fixed with the motor fixing housing 4-4 through the mounting hole 4-2. The motor fixing housing 4-4 is an annular airtight housing having a center hole which is a water flow passage passing through the pod. The water flow enters from the water inlet, and the screw propeller rotates at a high speed to continuously push the water flow backwards. Therefore, when the water flows through the guide cover 4, the water flow has a certain speed, the guide cover 4 can isolate the water flow with a certain speed from the water flow outside the water-jet propeller, and the function of keeping the water flow speed inside the propeller to the maximum extent is achieved.
The motor driving unit includes: a motor 3 and a propeller 6; the motor 3 after the sealing treatment is installed on the central axis of the shell fixing unit, as shown in fig. 3, the installation hole on the motor front end cover 3-2 is fixed with the installation hole 4-2 inside the air guide sleeve 4, thereby realizing the fixation of the motor 3 in the shell fixing unit. One end of a front end cover 3-2 of the motor, which faces the water spray cover 1, is connected with a shell 3-1 of the motor, a power output shaft positioned on the central axis of the other end of the motor 3 is used as a rotating shaft 3-5, and an oil seal 3-3 for sealing oil and preventing dust is sleeved at the connecting end of the rotating shaft 3-5 and the shell 3-1. Meanwhile, the rotating shaft 3-5 is fixedly provided with the inner hexagon set screw 3-4, and the inner hexagon set screw 3-4 is matched with the fixed hole 5 on the propeller 6 to fix the propeller 6 on the rotating shaft 3-5, so that the rotating shaft 3-5 rotates to drive the propeller 6 to rotate. In order to make the motor 3 a smooth streamlined body and thus reduce the resistance of water, a cone-shaped fairing structure, called a tail cone 2, is added to the tail of the motor housing 3-1 (the end of the housing 3-1 facing the water spray cover 1).
The working principle of the water spraying propeller is as follows:
The water spraying propeller is controlled by a brushless electronic speed regulator, PWM signals are given, the brushless motor rotates, and the propeller 6 is driven to rotate at a high speed through the rotation of the rotating shaft 3-5; when water flows from the water inlet cover 8, the paddle rotating at high speed continuously pushes a large amount of water back, and the water flows through the motor 3 and the tail cone 2 and finally is sprayed out from the water spraying port 1-1 to generate thrust. The thrust of the water jet propeller is adjusted by changing the rotation speed of the motor 3 by changing the duty ratio.
The maximum thrust of the propeller can reach 2.9N under the condition that the rotating diameter of the blade is only 36.5mm, and compared with the similar water-spraying propeller, the water-spraying propeller has small size (the axial maximum size is 110mm, the radial maximum size is 41 mm), light weight (the mass is about 200g in the air), simple mechanism, compact structure, convenient maintenance and convenient installation and fixation, and can improve the rapidity and the maneuverability of the robot. The device is applied to the underwater robot, and can realize the rapid movement of the underwater robot under water and the floating and submerging of the robot due to the large thrust.
In summary, the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. An electric conduit type water jet propeller, comprising: a housing fixing unit and a motor driving unit;
The housing fixing unit includes: a water inlet cover (8), a shell (7), a guide cover (4) and a water spraying cover (1) which are coaxially connected in sequence; a water inlet is formed in the water inlet cover (8), and the shell (7) is used for providing a mounting position for connecting the propeller with external equipment; a wiring hole (10) is formed in the guide cover (4); a water spraying opening (1-1) is formed in the water spraying cover (1);
The motor driving unit includes: a motor (3) and a propeller (6); the motor (3) is fixed inside the guide cover (4), and a control line for controlling the motor (3) passes through the wiring hole (10); the power output shaft of the motor (3) is used as a rotating shaft (3-5) to face the direction of the water inlet cover (8), and an oil seal (3-3) is sleeved at the connecting end of the rotating shaft (3-5) and the motor (3); the propeller (6) is connected with the rotating shaft (3-5) and is driven by the rotating shaft (3-5) to rotate;
the water spraying cover (1) is a truncated cone-shaped shell, the larger diameter end of the water spraying cover is connected with the air guiding cover (4), and the smaller diameter end of the water spraying cover is used as a water spraying opening (1-1); a fairing is arranged at one end of a shell (3-1) of the motor (3) facing the water spraying cover (1);
The motor (3) is fixed in the air guide sleeve (4) in the following manner: the inside of the air guide sleeve shell (4-3) is coaxially provided with a motor fixing shell (4-4), and the air guide sleeve shell (4-3) and the motor fixing shell (4-4) are fixedly connected through a supporting seat (4-1); the motor (3) is fixed inside the motor fixing shell (4-4); the motor fixing shell (4-4) is an annular closed shell with a central hole, and the central hole is a water flow channel flowing through the guide cover;
The electric conduit type water spraying propeller meets the requirement of underwater water spraying propulsion of the amphibious robot, and can achieve the purpose of leg type driving of the robot on land and in the amphibious transition environment.
2. An electric conduit type water jet propeller according to claim 1, characterized in that the water inlet on the water inlet cover (8) is grid-shaped.
3. An electric conduit type water jet propeller as claimed in claim 1 or 2, characterized in that the water inlet cover (8) is a hemispherical shell.
4. An electric ducted water jet propeller according to claim 1 or 2, characterized in that the rotational speed of the motor (3) is controlled by an electronic governor, and that the electric wires for connecting the motor (3) and the electronic governor located outside the housing fixing unit pass through the wiring hole (10), and that the motor rotational speed is controlled by PWM signals to the electronic governor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810844792.9A CN108820169B (en) | 2018-07-27 | 2018-07-27 | Electric conduit type water-spraying propeller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810844792.9A CN108820169B (en) | 2018-07-27 | 2018-07-27 | Electric conduit type water-spraying propeller |
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| Publication Number | Publication Date |
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| CN108820169A CN108820169A (en) | 2018-11-16 |
| CN108820169B true CN108820169B (en) | 2024-07-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810844792.9A Active CN108820169B (en) | 2018-07-27 | 2018-07-27 | Electric conduit type water-spraying propeller |
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| CN (1) | CN108820169B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111319744A (en) * | 2018-12-14 | 2020-06-23 | 韦翔 | Underwater lightning water-jet propeller |
| CN109878667B (en) * | 2019-04-04 | 2019-11-08 | 南京涵铭置智能科技有限公司 | A kind of underwater observation robot and its observation method |
| CN113665771B (en) * | 2020-05-13 | 2022-07-15 | 上海交通大学 | Underwater simple movement device based on fluid driving |
| CN112046719B (en) * | 2020-09-16 | 2024-05-31 | 浙江优奈特电机有限公司 | Propeller for use in water |
| CN112874743A (en) * | 2021-01-19 | 2021-06-01 | 武汉波依迈科技有限公司 | Rim propeller and advancing tool adopting same |
| CN113071635B (en) * | 2021-03-31 | 2021-12-03 | 湖南翰坤实业有限公司 | Motion system of underwater combat robot |
| CN114919725B (en) * | 2022-06-13 | 2024-04-16 | 上海大学 | Underwater movement device based on deformation Tesla valve |
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|---|---|---|---|---|
| KR20110117835A (en) * | 2010-04-22 | 2011-10-28 | 삼성중공업 주식회사 | Propulsion efficiency enhancing apparatus for duct type thruster using nozzle |
| CN106081029A (en) * | 2016-06-17 | 2016-11-09 | 哈尔滨工程大学 | The thrust ducted propeller such as forward and reverse |
| CN207157470U (en) * | 2017-08-07 | 2018-03-30 | 西安工业大学 | A kind of small underwater propeller |
| CN208789911U (en) * | 2018-07-27 | 2019-04-26 | 北京理工大学 | A kind of electronic catheter type hydraulic propeller |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5289068A (en) * | 1990-08-23 | 1994-02-22 | Westinghouse Electric Corp. | Two-stage submersible propulsor unit for water vehicles |
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2018
- 2018-07-27 CN CN201810844792.9A patent/CN108820169B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110117835A (en) * | 2010-04-22 | 2011-10-28 | 삼성중공업 주식회사 | Propulsion efficiency enhancing apparatus for duct type thruster using nozzle |
| CN106081029A (en) * | 2016-06-17 | 2016-11-09 | 哈尔滨工程大学 | The thrust ducted propeller such as forward and reverse |
| CN207157470U (en) * | 2017-08-07 | 2018-03-30 | 西安工业大学 | A kind of small underwater propeller |
| CN208789911U (en) * | 2018-07-27 | 2019-04-26 | 北京理工大学 | A kind of electronic catheter type hydraulic propeller |
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| CN108820169A (en) | 2018-11-16 |
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