UNDERWATER HELICOPTER WITH CYCLOIDAL RIM VECTOR PROPULSION

Abstract

The present disclosure provides an underwater helicopter with cycloidal rim vector propulsion. The underwater helicopter includes a disc-shaped underwater helicopter hull, a rim driving mechanism, paddles and rotation adjusting mechanisms. The rim driving mechanism is annular, and the diameter size of the rim driving mechanism is matched with the circumference size of the disc-shaped underwater helicopter hull. The rim driving mechanism is fixedly installed in a cavity in the circumference of the disc-shaped underwater helicopter hull. The rotation adjusting mechanisms are uniformly and fixedly installed on the outer side of the rim driving mechanism. The paddle is fixedly connected with the rotation adjusting mechanism.

Claims

1. An underwater helicopter with cycloidal rim vector propulsion, comprising a disc-shaped underwater helicopter hull, a rim driving mechanism, a plurality of paddles and a plurality of rotation adjusting mechanisms, wherein the rim driving mechanism is annular, and the diameter size of the rim driving mechanism is matched with the circumference size of the disc-shaped underwater helicopter hull; the rim driving mechanism is fixedly installed in a cavity in the circumference of the disc-shaped underwater helicopter hull; the rotation adjusting mechanisms are uniformly and fixedly installed on the outer side of the rim driving mechanism; the paddle is fixedly connected with the rotation adjusting mechanism; the rim driving mechanism can drive the rotation adjusting mechanisms and the paddles to rotate along the circumferential direction; each rotation adjusting mechanism can drive the connected paddle to rotate in a longitudinal profile through an axis of the disc-shaped underwater helicopter hull; the disc-shaped underwater helicopter hull, as a main body of a propeller, is combined with the rim driving mechanism, the paddles and the rotation adjusting mechanisms to jointly form the underwater helicopter with cycloidal rim vector propulsion, so that the integrated design of the underwater helicopter and the propeller is realized.

2. The underwater helicopter with cycloidal rim vector propulsion according to claim 1, wherein the paddles are annularly arranged on the circumference of the disc-shaped underwater helicopter hull in central symmetry, and when the paddles directly rotate around the axis of the disc-shaped underwater helicopter hull, propulsive force is annularly and uniformly distributed on the whole circumference of the underwater helicopter.

3. The underwater helicopter with cycloidal rim vector propulsion according to claim 1, wherein the rim driving mechanism comprises a motor control module, an inner stator, an outer rotor, water-lubricated bearings and an annular shell, the inner stator is encapsulated in an inner cavity of the annular shell through resin glue, a certain gap exists between the outer rotor and the inner stator, the outer rotor and the inner stator are limited by two pairs of water-lubricated bearings so that the outer rotor and the inner stator are centered, the outer rotor is fixedly connected with the rotation adjusting mechanism, the motor control module is used for driving the outer rotor to rotate, and the annular shell is fixedly connected with the cavity in the circumference of the disc-shaped underwater helicopter hull.

4. The underwater helicopter with cycloidal rim vector propulsion according to claim 3, wherein water inlet holes and water outlet holes are formed in the annular shell, and during the operation of the rim driving mechanism, water serves as a lubricant and a coolant in the gap between the outer rotor and the inner stator.

5. The underwater helicopter with cycloidal rim vector propulsion according to claim 1, wherein the rotation adjusting mechanism comprises a box, a motor, a main shaft, a main gear, an intermediate shaft, a first driven wheel, a secondary gear, a second driven wheel, a connecting shaft and a support frame, the motor is fixed in the box and connected with the main shaft through a coupling, the main gear is fixed on the main shaft, the first driven wheel is meshed with the main gear, the secondary gear and the first driven wheel are fixed on the intermediate shaft, the secondary gear is meshed with the second driven wheel, the secondary gear and the second driven wheel are a pair of bevel gears, the second driven wheel and the support frame are fixed on the connecting shaft, one end of the connecting shaft is connected with the box through a bearing, one end of the support frame extends out of the box and is fixedly connected with the paddle, and the second driven wheel drives the support frame and the paddle to rotate in a plane parallel to a rotating surface of the second driven wheel through the connecting shaft.

6. The underwater helicopter with cycloidal rim vector propulsion according to claim 5, wherein an electric control system controls the motor to realize the angular variation of the support frame and the paddles at an output end in the range of 90 to 90 with a horizontal profile of the disc-shaped underwater helicopter hull.

7. The underwater helicopter with cycloidal rim vector propulsion according to claim 1, wherein the rotation adjusting mechanism drives the paddle to rotate by 90 to 90 in a plane through the axis of the disc-shaped underwater helicopter hull; when the angle rotates by 0 relative to the horizontal profile of the disc-shaped underwater helicopter hull, that is, an axis of the paddle is vertical to the axis of the disc-shaped underwater helicopter hull, the paddle provides propulsive force in the vertical direction to realize the movement of the underwater helicopter in the vertical direction; when the angle rotates by 90 or 90, that is, the axis of the paddle is parallel to the axis of the disc-shaped underwater helicopter hull, the paddle provides propulsive force in the horizontal direction to realize the movement of the underwater helicopter in the horizontal direction; and when the angle rotates in the range of 90 to 90, the paddle can provide propulsive force in the direction required by the underwater helicopter.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0023] FIG. 1 is a structural schematic diagram of an underwater helicopter with cycloidal rim vector propulsion provided by the present disclosure.

[0024] FIG. 2 is a structural schematic diagram of a rim driving mechanism provided by the present disclosure.

[0025] FIG. 3 is a structural schematic diagram of a rotation adjusting mechanism provided by the present disclosure.

[0026] FIGS. 4A-B are working schematic diagrams of an underwater helicopter with cycloidal rim vector propulsion provided by the present disclosure.

[0027] FIG. 5 is a rotation angle schematic diagram of a paddle in a rotation adjusting mechanism provided by the present disclosure.

[0028] Reference signs: 1, disc-shaped underwater helicopter hull; 2, cavity; 3, rim driving mechanism; 4, paddle; 5, support frame; 6, rotation adjusting mechanism; 7, annular shell; 8, water-lubricated bearing; 9, inner stator; 10, outer rotor; 11, rim; 12, water-lubricated bearing; 13, motor control module; 14, box; 15, motor; 16, main shaft; 17, main gear; 18, intermediate shaft; 19, first driven wheel; 20, secondary gear; 21, second driven wheel; 22, protection plate; and 23, connecting shaft.

DETAILED DESCRIPTION OF THE EMBODIMENTS

[0029] The present disclosure is described in detail in conjunction with the attached figures and the embodiments. It needs to be noted that the following embodiments are intended to explain the present disclosure, but not to limit the present disclosure. For the inner side and outer side in the present disclosure relative to the disc-shaped underwater helicopter hull, the position close to the disc-shaped underwater helicopter hull is called inner side, and the position away from the disc-shaped underwater helicopter hull is called outer side.

[0030] As shown in FIG. 1, FIG. 1 is a specific example schematic diagram of an underwater helicopter with cycloidal rim vector propulsion in the present disclosure. The underwater helicopter includes a disc-shaped underwater helicopter hull 1, a rim driving mechanism 3, paddles 4 and rotation adjusting mechanisms 6. The rim driving mechanism 3 is annular, and the diameter size of the rim driving mechanism 3 is matched with the circumference size of the disc-shaped underwater helicopter hull 1 so that the rim driving mechanism 3 can be fixedly installed in a cavity 2 in the circumference of the disc-shaped underwater helicopter hull 1. The rotation adjusting mechanisms 6 are uniformly and fixedly installed on the outer side of the rim driving mechanism 3. The paddle 4 is connected with a support frame 5 extending out of the rotation adjusting mechanism 6.

[0031] As shown in FIG. 2, the rim driving mechanism 3 includes a motor control module 3, an inner stator 9, an outer rotor 10, a rim 11, water-lubricated bearings 8 and 12 and an annular shell 7. The inner stator 9 is encapsulated in an inner cavity of the annular shell 7 through resin glue. A certain gap exists between the outer rotor 10 and the inner stator 9. The outer rotor 10 and the inner stator 9 are limited by two pairs of water-lubricated bearings 8 and 12 so that the outer rotor 10 and the inner stator 9 are centered. The outer rotor 10 is fixedly connected with a box 14 of the rotation adjusting mechanism 6, and can be regarded as integrated design. The motor control module 12 is placed at a lower end of the rim driving mechanism 3. The annular shell 7 is fixedly connected with the cavity 2 in the circumference of the disc-shaped underwater helicopter hull 1.

[0032] The rotation adjusting mechanism 6, as shown in FIG. 3, includes a box 14, a motor 15, a main shaft 16, a main gear 17, an intermediate shaft 18, a first driven wheel 19, a secondary gear 20, a second driven wheel 21, a protection plate 22, a connecting shaft 23 and a support frame 5. The motor 15 is connected with the main shaft 16 through a coupling. The main gear 17 is fixed on the main shaft 16. The first driven wheel 19 is meshed with the main gear 17. The secondary gear 20 and the first driven wheel 19 are fixed on the intermediate shaft 18. The secondary gear 20 is meshed with the second driven wheel 21. The secondary gear 20 and the second driven wheel 21 are a pair of bevel gears. The second driven wheel 21 and the support frame 5 are fixed on the connecting shaft 23. The connecting shaft 23 is connected with the box through a bearing. One end of the support frame 5 extends out of the box and is fixedly connected with the paddle 4. In other specific examples of the present disclosure, the paddle 4 can rotate around an axis of the paddle 4 except that the paddle 4 can swing along with the support frame 5.

[0033] In one specific embodiment of the present disclosure, the rotation adjusting mechanism 6 drives the paddle 4 to rotate by any angle of 90 to 90 in a plane through the axis of the disc-shaped underwater helicopter hull 1. When the angle rotates by 0, that is, an axis of the paddle 4 is vertical to the axis of the disc-shaped underwater helicopter hull 1 (as shown in (a) of FIGS. 4A-B), the paddle 4 provides propulsive force in the vertical direction to realize the movement of the underwater helicopter in the vertical direction, so that free take-off and landing and spot hovering functions of the disc-shaped underwater helicopter hull are realized. When the angle rotates by 90 or 90, that is, the axis of the paddle 4 is parallel to the axis of the disc-shaped underwater helicopter hull 1 (as shown in (b) of 4), the paddle 4 provides propulsive force in the horizontal direction to realize the movement of the underwater helicopter in the horizontal direction. When the angle rotates in the range of 90 to 90, the paddle 4 can provide propulsive force in the direction required by the underwater helicopter to realize a full-circle steering function of the disc-shaped underwater helicopter hull. The angle relation of the paddle 4 driving rotation through the support frame is as shown in FIG. 5.

[0034] The rim driving mechanism 3 is powered on, the rotation adjusting mechanism 6 is off, and the outer rotor 10, together with the rotation adjusting mechanism 6, drives the paddle 4 to rotate to realize the movement of the underwater helicopter in the vertical direction. The rim driving mechanism 3 is powered on, the rotation adjusting mechanism 6 is powered on, and the motor 15 starts to work to drive the main gear 17 to be meshed with the first driven wheel 19 for multi-stage transmission to the connecting shaft 23 finally. The support frame 5 is driven to rotate by 90. The paddle 4 is changed from a horizontal state to a vertical state. The outer rotor 10, together with the rotation adjusting mechanism 6, drives the paddle 4 to rotate, so that the movement of the underwater helicopter in the horizontal direction is realized.

[0035] In the foregoing specific implementations, the technical solutions, and benefits of the present disclosure are described in detail. It should be understood that the foregoing descriptions are merely specific implementations of the present disclosure, but are not intended to, limit the protection scope of the present disclosure. Any modification, equivalent replacement, or improvement made without departing from the spirit and principle of the present disclosure shall fall within the protection scope of the present disclosure.