阅读说明：本技术 可变输出转矩和螺距的跨介质水空两用推进装置 (Cross-medium water-air dual-purpose propulsion device with variable output torque and variable screw pitch ) 是由 单润柳 谌勇 于 2019-11-15 设计创作，主要内容包括：本发明提供了一种可变输出转矩和螺距的跨介质水空两用推进装置,包括转矩变换装置、螺旋桨螺距调节装置、壳体装置以及螺旋桨装置,所述转矩变换装置、螺旋桨螺距调节装置安装在壳体装置中；所述螺旋桨装置安装在壳体装置上,本发明通过转矩变换装置、螺旋桨螺距调节装置的配合能够实现螺旋桨装置跨介质水空两栖的推进动作,且具有螺旋桨推进器的输出转矩变换功能和螺距调节功能,可以实现在空中工作时该跨介质水空两用推进装置为高转速、小转矩、小螺距状态；在水中工作时,该跨介质水空两用推进装置为低转速、大转矩、大螺距状态,结构合理,安装和拆卸方便,实用性强。(The invention provides a cross-medium water-air dual-purpose propulsion device with variable output torque and variable screw pitch, which comprises a torque conversion device, a propeller screw pitch adjusting device, a shell device and a propeller device, wherein the torque conversion device and the propeller screw pitch adjusting device are arranged in the shell device; the propeller device is arranged on the shell device, the cross-medium water-air amphibious propulsion action of the propeller device can be realized through the matching of the torque conversion device and the propeller pitch adjusting device, and the cross-medium water-air amphibious propulsion device has the output torque conversion function and the pitch adjusting function of the propeller thruster, and can realize the state of high rotating speed, small torque and small pitch when the cross-medium water-air amphibious propulsion device works in the air; when the cross-medium water-air dual-purpose propulsion device works in water, the cross-medium water-air dual-purpose propulsion device is in a low rotating speed, large torque and large screw pitch state, and is reasonable in structure, convenient to install and disassemble and high in practicability.)

1. A cross-medium water-air dual-purpose propulsion device with variable output torque and pitch is characterized by comprising a torque conversion device, a propeller pitch adjusting device, a shell device and a propeller device,

the torque conversion device and the propeller pitch adjusting device are arranged in the shell device;

the propeller device is mounted on the housing device.

2. The variable output torque and pitch transmediate water-air propulsion device according to claim 1, characterized in that the casing arrangement comprises a propeller mounting (3), a motor mounting (14) and a split housing (22);

the motor fixing seat (14) is arranged inside the split type shell (22) and is integrally connected with the split type shell (22);

the propeller fixing seat (3) is movably connected with the split type shell (22);

the propeller device is installed on the propeller fixing seat (3).

3. The cross-medium water-air dual-purpose propulsion device with variable output torque and screw pitch according to claim 2, characterized in that the torque conversion device comprises a first one-way bearing (10), a second one-way bearing (11), a straight-tooth internal gear (12), a pinion hollow main shaft (13), a hollow shaft motor (15) and a secondary gear reducer gear shaft (20);

the hollow shaft motor (15) is installed on the motor fixing seat (14) in a matching manner;

one end of the pinion hollow spindle (13) is in driving connection with a hollow shaft motor (15);

the other end of the pinion hollow main shaft (13) sequentially passes through the second one-way bearing (11) and the first one-way bearing (10) and is connected with the propeller fixing seat (3) through the first one-way bearing (10);

the inner ring of the second one-way bearing (11) is fixedly connected with the output shaft of the straight-tooth inner gear (12);

the outer ring of the second one-way bearing (11) is fixedly connected with the propeller fixing seat (3);

the gear shaft (20) of the secondary gear reducer is arranged in the split type shell (22);

when the hollow shaft motor (15) drives the pinion hollow main shaft (13) to rotate forwards, the pinion hollow main shaft (13) drives the propeller fixing seat (3) to drive the propeller device to rotate forwards through the first one-way bearing (10); at the moment, the inner ring and the outer ring of the first one-way bearing (10) are locked and do not rotate relatively, the straight-tooth internal gear (12) rotates reversely, the inner ring and the outer ring of the second one-way bearing (11) are not locked, and the power of an output shaft of the straight-tooth internal gear (12) is not transmitted to the outer ring of the second one-way bearing (11);

when hollow spindle motor (15) drive pinion hollow spindle (13) reversal, can order about second grade gear reducer gear shaft (20) and drive straight-tooth internal gear (12) corotation, thereby order about screw fixing base (3) through second one-way bearing (11) and drive screw device corotation, the interior outer lane of first one-way bearing (10) can not be locked this moment, the outer lane of first one-way bearing (10) can not be transmitted to the power of pinion hollow spindle (13) output, consequently, can not transmit for screw fixing base (3).

4. The cross-medium water-air dual-purpose propulsion device with variable output torque and screw pitch according to claim 3, characterized in that the secondary gear reducer gear shaft (20) is provided with a first connecting part, a second connecting part, a third connecting part and a fourth connecting part in sequence;

the first connecting part and the second connecting part are arranged in a gap and are sequentially connected with the split type shell (22) as supports;

the third connecting portion comprises a first right-toothed spur gear (23);

the fourth connecting portion comprises a second spur gear (24);

when the hollow pinion main shaft (13) rotates forwards, the hollow pinion main shaft (13) drives the first straight-toothed spur gear (23) to drive the second straight-toothed spur gear (24) to rotate backwards, and at the moment, the second straight-toothed spur gear (24) drives the inner straight-toothed gear (12) to rotate backwards.

5. The cross-medium water-air dual-purpose propulsion device with variable output torque and pitch according to claim 3, characterized in that the propeller pitch adjusting device comprises a pitch adjusting chute (4), a pitch adjusting guide rod (5), a cylindrical cam mechanism roller (16), a steering engine (17) and a cylindrical cam (18);

the pitch adjusting guide rod (5) penetrates through the hollow pinion main shaft (13) and extends to the outer parts of two ends of the hollow pinion main shaft (13);

one end of the screw pitch adjusting guide rod (5) is connected with the screw pitch adjusting sliding groove (4);

the other end of the pitch adjusting guide rod (5) is in sliding connection with a cylindrical cam (18) through a cylindrical cam mechanism roller (16);

the steering engine (17) is installed in the split type shell (22) and is in driving connection with the cylindrical cam (18).

6. The cross-medium water-air propulsion device with variable output torque and pitch according to claim 5, characterized in that the pinion hollow main shaft (13) is arranged concentrically with the pitch adjusting guide rod (5);

a limiting rod (40) is arranged on the split type shell (22), a limiting groove (41) is arranged on the limiting rod (40), the cylindrical cam mechanism roller (16) penetrates through the limiting groove (41) and is in sliding fit with the limiting groove (41), and the cylindrical cam mechanism roller (16) can move relative to the limiting rod (40);

when the steering engine (17) drives the cylindrical cam (18) to rotate, the roller (16) of the cylindrical cam mechanism can drive the screw pitch adjusting guide rod (5) to move along the axial direction.

7. The cross-medium water-air propulsion device with variable output torque and pitch according to claim 5, characterized in that the propeller device comprises a first propeller blade (1), a first blade rotating shaft (2), a first rotating guide rod (8), a second blade rotating shaft (9), a second propeller blade (19) and a second rotating guide rod (26);

the first paddle rotating shaft (2) and the second paddle rotating shaft (9) are symmetrically arranged on two sides of the propeller fixing seat (3) respectively;

one end of the first blade rotating shaft (2) is fixedly connected with the first propeller blade (1), the other end of the first blade rotating shaft (2) is connected with one end of the second rotating guide rod (26), the first blade rotating shaft (2) and the second rotating guide rod (26) are in matched transmission through a key slot, and the first blade rotating shaft (2) is axially positioned by a nut;

one end of the second paddle rotating shaft (9) is fixedly connected with the second propeller paddle (19), the other end of the second paddle rotating shaft (9) is connected with one end of the first rotating guide rod (8), the second paddle rotating shaft (9) and the first rotating guide rod (8) are in matched transmission through a key groove, and the second paddle rotating shaft (9) is axially positioned by a nut;

the other ends of the first rotating guide rod (8) and the second rotating guide rod (26) are respectively installed on the screw pitch adjusting sliding groove (4) in a matching mode;

when the pitch adjusting sliding chute (4) is driven by the pitch adjusting guide rod (5) to move along the axial direction, the first rotating guide rod (8) and the second rotating guide rod (26) can respectively drive the second paddle rotating shaft (9) and the first paddle rotating shaft (2) to synchronously and reversely rotate around the axial direction;

at the moment, the first paddle (1) and the second paddle (19) rotate along with the first paddle rotating shaft (2) and the second paddle rotating shaft (9) respectively.

8. The variable output torque and pitch transmediate water-air propulsion device according to claim 2, characterized in that the propeller fixing base (3) and the split housing (22) are separate pieces.

9. The cross-medium water-air dual-purpose propulsion device with variable output torque and screw pitch according to claim 4, characterized in that the diameter of the straight-tooth internal gear (12) is larger than that of the second straight-tooth spur gear (24);

a main shaft pinion (31) is arranged on the pinion hollow main shaft (13);

the diameter of the main shaft pinion (31) is smaller than that of the first straight-tooth cylindrical gear (23);

the first straight-tooth cylindrical gear (23) and the second straight-tooth cylindrical gear (24) are respectively and fixedly connected with the gear shaft (20) of the secondary gear reducer or integrally formed.

10. The cross-medium water-air dual-purpose propulsion device with variable output torque and screw pitch according to claim 1, characterized in that a first runner (33) and a second runner (34) are arranged on the screw pitch adjusting runner (4);

one ends of the first rotating guide rod (8) and the second rotating guide rod (26) close to the screw pitch adjusting sliding groove (4) are respectively installed in the first sliding groove (33) and the second sliding groove (34) in a matched mode.

Technical Field

The invention relates to the technical field of space propulsion, in particular to a cross-medium water-air dual-purpose propulsion device with variable output torque and variable screw pitch.

Background

At present, the unmanned aerial vehicle and the unmanned underwater vehicle have rapid technical development and play an important role in civil fields such as marine search, aerial shooting and cargo transportation and military fields such as military investigation and material transfer. With the increase in demand, foreign scholars began researching aircrafts capable of water-air amphibious travel. In the process of marine search, the amphibious aircraft can quickly and autonomously fly to the position above a marine destination and then submerge into water to perform search and shooting tasks, so that time is saved, and power consumption is reduced. The propeller propulsion is a propulsion mode widely adopted by unmanned aerial vehicles and unmanned underwater vehicles, so that the design of a cross-medium hybrid propeller is an important technical link for realizing the water-air amphibious aircraft. Because the marine propeller and the air propeller are different in medium (water and air) property and different in pitch and output torque, the existing cross-medium propulsion device is formed by combining an underwater propulsion module and an air propulsion module. And switching the corresponding working modules in different media to realize driving. The volume and the weight of the cross-medium propeller are large due to the scheme, the resistance in the process of advancing is also large, the application range is limited, and the driving efficiency is influenced. Therefore, most researchers at present only adopt the air propeller as a propulsion device to realize air propulsion and underwater propulsion in the prototype manufacturing of the amphibious aircraft. However, when the air propeller works underwater, the efficiency is often too low because of too fast rotating speed, insufficient output torque and too small pitch.

Patent document CN204586397U discloses an amphibious aircraft, which comprises a fuselage, a nose, side wings, a front wheel mounting rack and a front wheel, side wing fans, side wing fan power motors, side wing fan adjustment motors, a side wing master gear and a side wing slave gear, a rear wheel, a rear wing fan power motor, a rear wing fan adjustment motor, a rear wing master gear and a rear wing slave gear, two airbags, a camera, a control system and a battery, wherein the number of the side wings, the front wheel mounting rack and the front wheel, the side wing fans, the side wing fan power motors, the side wing fan adjustment motors, the side wing master gear and the side wing slave gear is two, so as to form two sets of systems, each set is symmetrically mounted on two sides of the fuselage, but the design is large in size, so that the efficiency is.

Disclosure of Invention

In view of the defects in the prior art, the invention aims to provide a cross-medium water-air dual-purpose propulsion device with variable output torque and pitch.

The invention provides a cross-medium water-air dual-purpose propulsion device with variable output torque and pitch, which comprises a torque conversion device, a propeller pitch adjusting device, a shell device and a propeller device,

the torque conversion device and the propeller pitch adjusting device are arranged in the shell device;

the propeller device is mounted on the housing device.

Preferably, the housing device comprises a propeller fixing base 3, a motor fixing base 14 and a split-type shell 22;

the motor fixing seat 14 is arranged inside the split type shell 22 and is integrally connected with the split type shell 22;

the propeller fixing seat 3 is movably connected with the split type shell 22;

the propeller device is installed on the propeller fixing seat 3.

Preferably, the torque conversion means includes a first one-way bearing 10, a second one-way bearing 11, a straight internal gear 12, a pinion hollow main shaft 13, a hollow shaft motor 15, and a secondary gear reducer gear shaft 20;

the hollow shaft motor 15 is mounted on the motor fixing seat 14 in a matching manner;

one end of the pinion hollow main shaft 13 is in driving connection with a hollow shaft motor 15;

the other end of the pinion hollow main shaft 13 sequentially passes through the second one-way bearing 11 and the first one-way bearing 10 and is connected with the propeller fixing seat 3 through the first one-way bearing 10;

the inner ring of the second one-way bearing 11 is fixedly connected with the output shaft of the straight-tooth internal gear 12;

the outer ring of the second one-way bearing 11 is fixedly connected with the propeller fixing seat 3;

the secondary gear reducer gear shaft 20 is installed inside the split case 22;

when the hollow shaft motor 15 drives the pinion hollow main shaft 13 to rotate forwardly, the pinion hollow main shaft 13 drives the propeller fixing seat 3 to drive the propeller device to rotate forwardly through the first one-way bearing 10; at the moment, the inner ring and the outer ring of the first one-way bearing 10 are locked and do not rotate relatively, the straight-tooth internal gear 12 rotates reversely, the inner ring and the outer ring of the second one-way bearing 11 are not locked, and the power of an output shaft of the straight-tooth internal gear 12 is not transmitted to the outer ring of the second one-way bearing 11;

when hollow spindle motor 15 drives the hollow main shaft of pinion 13 reversal, can order about secondary gear reducer gear shaft 20 and drive straight-tooth internal gear 12 corotation to order about screw fixing base 3 through one-way bearing 11 and drive screw device corotation, the inner and outer lane of first one-way bearing 10 can not be locked this moment, and the power of hollow main shaft of pinion 13 output can not transmit the outer lane for one-way bearing 10, consequently can not transmit for screw fixing base 3.

Preferably, the secondary gear reducer gear shaft 20 is provided with a first connecting portion, a second connecting portion, a third connecting portion, and a fourth connecting portion in sequence;

the first connecting part and the second connecting part are arranged in a gap and are sequentially connected with the split-type shell 22 as supports;

the third connecting portion comprises a first spur gear 23;

the fourth connecting portion includes a second spur gear 24;

when the hollow main pinion shaft 13 rotates forwards, the hollow main pinion shaft 13 drives the first spur gear 23 to drive the second spur gear 24 to rotate backwards, and at the same time, the second spur gear 24 drives the internal spur gear 12 to rotate backwards.

Preferably, the propeller pitch adjusting device comprises a pitch adjusting chute 4, a pitch adjusting guide rod 5, a cylindrical cam mechanism roller 16, a steering engine 17 and a cylindrical cam 18;

the pitch adjusting guide rod 5 penetrates through the hollow main shaft 13 of the pinion and extends to the outer parts of two ends of the hollow main shaft 13 of the pinion;

one end of the screw pitch adjusting guide rod 5 is connected with the screw pitch adjusting sliding groove 4;

the other end of the pitch adjusting guide rod 5 is in sliding connection with a cylindrical cam 18 through a cylindrical cam mechanism roller 16;

the steering engine 17 is arranged in the split-type shell 22 and is in driving connection with the cylindrical cam 18.

Preferably, the hollow pinion spindle 13 is arranged concentrically with the pitch adjustment guide rod 5;

the split type shell 22 is provided with a limiting rod 40, the limiting rod 40 is provided with a limiting groove 41, the cylindrical cam mechanism roller 16 penetrates through the limiting groove 41 and is in sliding fit with the limiting groove 41, and the cylindrical cam mechanism roller 16 can move relative to the limiting rod 40;

when the steering engine 17 drives the cylindrical cam 18 to rotate, the cylindrical cam mechanism roller 16 can drive the pitch adjusting guide rod 5 to move along the axial direction.

Preferably, the propeller arrangement comprises a first propeller blade 1, a first blade rotation shaft 2, a first rotation guide rod 8, a second blade rotation shaft 9, a second propeller blade 19 and a second rotation guide rod 26;

the first paddle rotating shaft 2 and the second paddle rotating shaft 9 are symmetrically arranged on two sides of the propeller fixing seat 3 respectively;

one end of the first propeller rotating shaft 2 is fixedly connected with the first propeller blade 1, the other end of the first propeller rotating shaft 2 is connected with one end of the second rotating guide rod 26, the first propeller rotating shaft 2 and the second rotating guide rod 26 are in matched transmission through a key groove, and the first propeller rotating shaft 2 is axially positioned by a nut;

one end of the second propeller rotating shaft 9 is fixedly connected with the second propeller blade 19, the other end of the second propeller rotating shaft 9 is connected with one end of the first rotating guide rod 8, the second propeller rotating shaft 9 and the first rotating guide rod 8 are in matched transmission through a key groove, and the second propeller rotating shaft 9 is axially positioned by a nut;

the other ends of the first rotating guide rod 8 and the second rotating guide rod 26 are respectively installed on the pitch adjusting chute 4 in a matching way;

when the pitch adjusting chute 4 is driven by the pitch adjusting guide rod 5 to move along the axial direction, the first rotating guide rod 8 and the second rotating guide rod 26 can respectively drive the second paddle rotating shaft 9 and the first paddle rotating shaft 2 to synchronously and reversely rotate around the axial direction;

at this time, the first blade 1 and the second blade 19 rotate along with the first blade rotating shaft 2 and the second blade rotating shaft 9, respectively.

Preferably, the propeller fixing base 3 and the split housing 22 are separate parts.

Preferably, the diameter of the spur internal gear 12 is larger than the diameter of the second spur gear 24;

a main shaft pinion 31 is arranged on the pinion hollow main shaft 13;

the diameter of the main shaft pinion 31 is smaller than that of the first straight-toothed cylindrical gear 23;

the first straight-toothed cylindrical gear 23 and the second straight-toothed cylindrical gear 24 are respectively fastened with the gear shaft 20 of the secondary gear reducer or integrally formed.

Preferably, the pitch adjusting chute 4 is provided with a first chute 33 and a second chute 34;

one ends of the first rotating guide rod 8 and the second rotating guide rod 26 close to the pitch adjusting chute 4 are respectively installed in the first chute 33 and the second chute 34 in a matching way.

Compared with the prior art, the invention has the following beneficial effects:

1. the invention can realize the cross-medium water-air amphibious propulsion, has the output torque conversion function and the pitch adjustment function of the propeller thruster, and can realize the state of high rotating speed, small torque and small pitch of the cross-medium water-air amphibious propulsion device when working in the air; when the cross-medium water-air dual-purpose propulsion device works in water, the cross-medium water-air dual-purpose propulsion device is in a low-rotating-speed, large-torque and large-pitch state, and the working efficiency is high.

2. The amphibious sport vehicle is reasonable in structure, convenient to install, suitable for amphibious sport in the air and in water and high in practicability.

3. The propeller fixing seat 3 and the split type shell 22 are designed into component parts, so that the installation and the maintenance are convenient, and the operation is convenient.

4. The invention greatly improves the movement efficiency of the cross-medium water-air dual-purpose propulsion device in different media.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the internal structure of the present invention;

FIG. 3 is an external view of the present invention;

FIG. 4 is a schematic view of a propeller pitch adjustment arrangement;

fig. 5 is a schematic structural view of the split case 22;

fig. 6 is a schematic structural view of the stopper rod 40.

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.

The invention provides a cross-medium water-air dual-purpose propulsion device with variable output torque and variable screw pitch, which comprises a torque conversion device, a propeller screw pitch adjusting device, a shell device and a propeller device, wherein the torque conversion device and the propeller screw pitch adjusting device are arranged in the shell device; the propeller device is mounted on a housing device, specifically, as shown in fig. 1, 3 and 5, the housing device includes a propeller fixing base 3, a motor fixing base 14 and a split-type housing 22; the motor fixing seat 14 is arranged inside the split type shell 22 and is integrally connected with the split type shell 22; the propeller fixing seat 3 is movably connected with the split type shell 22, preferably, the propeller fixing seat 3 is connected with the split type shell 22 through a bearing, the propeller fixing seat 3 can freely rotate relative to the split type shell 22, and the propeller device is installed on the propeller fixing seat 3. The amphibious sport vehicle is reasonable in structure, convenient to install and suitable for amphibious sport in the air and in water.

Specifically, as shown in fig. 1, the torque conversion device includes a first one-way bearing 10, a second one-way bearing 11, a straight-tooth internal gear 12, a pinion hollow main shaft 13, a hollow shaft motor 15, and a secondary gear reducer gear shaft 20; the hollow shaft motor 15 is mounted on the motor fixing seat 14 in a matching manner, a stator of the hollow shaft motor 15 is fixedly connected with the motor fixing seat 14, for example, the stator of the hollow shaft motor 15 is fixed with the motor fixing seat 14 through a structural adhesive such as epoxy structural adhesive, and for example, the stator of the hollow shaft motor 15 is fixed with the motor fixing seat 14 through bolts; one end of the hollow pinion main shaft 13 is in transmission connection with the hollow shaft motor 15, for example, an output shaft on a rotor of the hollow shaft motor 15 is connected with the hollow pinion main shaft 13 through adhesive gluing, and for example, an output shaft on a rotor of the hollow shaft motor 15 is connected with the hollow pinion main shaft 13 through screws, the other end of the hollow pinion main shaft 13 sequentially passes through the second one-way bearing 11, the first one-way bearing 10 and is connected with the propeller fixing seat 3 through the first one-way bearing 10, an inner ring of the second one-way bearing 11 is matched with an output shaft key groove of the straight-tooth internal gear 12, and an outer ring of the second one-way bearing 11 is matched with a key.

Specifically, during assembly, the hollow shaft motor 15 is inserted into the motor fixing seat 14 from the rear of the motor fixing seat 14 and is glued. The top end of the hollow pinion main shaft 13 is fixed with the inner ring of the first one-way bearing 10 through a shaft shoulder and a nut, torque is transmitted through key groove matching, the outer ring of the first one-way bearing 10 is installed in a bearing hole of the propeller fixing seat 3, and the torque is transmitted through key groove matching. In order to facilitate the assembly, the propeller fixing seat 3 is designed into a component part, and is convenient to install, maintain and operate.

Specifically, as shown in fig. 1 and fig. 2, specifically, the two-stage gear reducer gear shaft 20 is provided with a first connecting portion, a second connecting portion, a third connecting portion, and a fourth connecting portion in sequence; the first connecting part and the second connecting part are arranged in a gap and are sequentially movably connected with the split-type shell 22 as supports, for example, the first connecting part and the second connecting part are arranged in the split-type shell 22 through bearings; the third connecting portion comprises a first spur gear 23; the fourth connecting portion includes a second spur gear 24; when the hollow pinion main shaft 13 rotates forward, the hollow pinion main shaft 13 drives the first spur gear 23 to drive the second spur gear 24 to rotate backward, and at this time, the second spur gear 24 drives the internal spur gear 12 to rotate backward, in a preferred embodiment, the diameter of the internal spur gear 12 is greater than that of the second spur gear 24, a main shaft pinion 31 is disposed on the hollow pinion main shaft 13, the hollow pinion main shaft 13 is integrally connected with the main shaft pinion 31, the diameter of the main shaft pinion 31 is smaller than that of the first spur gear 23, specifically, for example, the design parameters of the secondary gear reducer gear shaft 20 are as follows: the reduction ratio is that i is 30, the center distance is 45mm, the reference circle pressure angle is 20 degrees, the modulus is 1, the number of teeth of the hollow main shaft 13 of the pinion is 15, positive displacement is adopted to avoid undercut, and the displacement coefficient is 0.4; the number of teeth of the first straight-tooth cylindrical gear 23 is 75, the center distance between the two gear shafts is ensured to be unchanged by adopting negative displacement, and the displacement coefficient is-0.4; the number of teeth of the second straight-tooth cylindrical gear 24 is 18, and straight-tooth internal gears are adopted and are not displaced, and the number of teeth is 108. The design parameters are only preferred embodiments and do not limit the scope of the invention.

Further, as shown in fig. 1 and fig. 2, the first spur gear 23 and the second spur gear 24 are respectively and tightly connected with the secondary gear reducer gear shaft 20, for example, the first spur gear 23 and the second spur gear 24 are respectively and integrally connected with the secondary gear reducer gear shaft 20, and for example, the first spur gear 23 and the second spur gear 24 are respectively and tightly mounted on the secondary gear reducer gear shaft 20 through a key; the main shaft pinion 31 is in external meshing transmission with the first straight-tooth cylindrical gear 23, and the straight-tooth internal gear 12 and the second straight-tooth cylindrical gear 24 are in internal gear meshing transmission. During assembly, because the split-type housing 22 is of a split-type structure, after the split-type housing 22 is disassembled, the first connecting portion and the second connecting portion of the secondary gear reducer gear shaft 20 can be respectively installed into the bearing, the first optical axis fixing ring 21 and the second optical axis fixing ring 25, and then the bearing and the second optical axis fixing ring 25 are placed into the bearing fixing seat corresponding to the split-type housing 22, the first optical axis fixing ring 21 and the second optical axis fixing ring 25 are further adjusted to proper positions, wherein the first optical axis fixing ring 21 is in contact with the bearing at the second connecting portion, the second optical axis fixing ring 25 is in contact with the bearing at the first connecting portion, after the first optical axis fixing ring and the second optical axis fixing ring are installed in place, the end cover 32 is installed, the bearing at the first connecting portion is in contact with the end cover 32, the lubrication mode is grease lubrication, and.

Further, as shown in fig. 1 and 2, an output shaft of the internal straight gear 12 is fixed to an inner ring of the second one-way bearing 11 through a shoulder and a nut, and is matched with a key groove to transmit torque, an outer ring of the second one-way bearing 11 is mounted on the propeller fixing seat 3, and when the propeller is assembled, the fit clearance between the internal straight gear 12 and the second straight spur gear 24, and between the hollow main pinion 13 and the first straight spur gear 23 is adjusted.

Specifically, the first one-way bearing 10 is preferably a PNY model: CSK12, second one-way bearing 11 is preferably of the PNY brand type: one-way bearing of CSK 17. The hollow shaft motor 15 is preferably of the type manufactured by Kollmorgen: the torque of RBE-01210 directly drives a motor. The propeller fixing base 3 and the split housing 22 are preferably made of a metal housing, such as an aluminum alloy, or made of a photosensitive resin material by 3D printing.

Specifically, as shown in fig. 1 and 4, the propeller pitch adjusting device includes a pitch adjusting chute 4, a pitch adjusting guide rod 5, a cylindrical cam mechanism roller 16, a steering engine 17 and a cylindrical cam 18; the pitch adjusting guide rod 5 penetrates through the hollow main shaft 13 of the pinion and extends to the outer parts of two ends of the hollow main shaft 13 of the pinion; one end of the screw pitch adjusting guide rod 5 is connected with the screw pitch adjusting sliding groove 4; the other end of the pitch adjusting guide rod 5 is in sliding connection with a cylindrical cam 18 through a cylindrical cam mechanism roller 16; the steering engine 17 is installed inside the split-type shell 22 and is in driving connection with the cylindrical cam 18, specifically, the hollow main shaft 13 of the pinion is concentrically arranged with the pitch adjusting guide rod 5, and when the steering engine 17 drives the cylindrical cam 18 to rotate, the cylindrical cam mechanism roller 16 can drive the pitch adjusting guide rod 5 to move along the axial direction; the split type shell 22 is provided with a limiting rod 40, as shown in the figure, the limiting rod 40 is provided with a limiting groove 41, the cylindrical cam mechanism roller 16 penetrates through the limiting groove 41 and is in sliding connection with the limiting groove 41 in a matched mode, the cylindrical cam mechanism roller 16 can move relative to the limiting rod 40, and the limiting rod 40 has a limiting effect on the cylindrical cam mechanism roller 16, so that the cylindrical cam mechanism roller 16 can move along the axial direction of the pitch adjusting guide rod 5, the pitch adjusting guide rod 5 and the cylindrical cam mechanism roller 16 are prevented from rotating around a central shaft, and a single degree of freedom is guaranteed. In a preferred embodiment, the steering engine 17 is fixed at a steering engine fixing seat at the tail part of the split-type shell 22 through bolt and nut matching, and is fixed with a screw and a cylindrical cam 18 through a steering wheel, and a roller 16 of the cylindrical cam mechanism is tightly connected with the pitch adjusting guide rod 5, for example, through a bolt; the pitch adjusting guide rod 5 penetrates through the pinion hollow main shaft 13 and the hollow shaft motor 15, and the pitch adjusting guide rod 5 is matched with the propeller fixing seat 3 through a deep groove ball bearing to provide support; further, the screw pitch adjusting guide rod 5 is matched with the screw pitch adjusting sliding groove 4 through a pair of deep groove ball bearings, so that the screw pitch adjusting guide rod and the screw pitch adjusting sliding groove are axially fixed, but the screw pitch adjusting guide rod and the screw pitch adjusting sliding groove can rotate relatively, and the rotation of the propeller device is separated from the axial movement of the screw pitch adjusting guide rod 5 and do not interfere with each other. The propeller device propulsion rotation and the pitch adjustment rotation are not affected by each other, and can work and adjust independently. During assembly, the first deep groove ball bearing is sleeved on the pitch adjusting guide rod 5, the inner ring of the bearing is in contact positioning with the shaft shoulder of the bearing, and then the pitch adjusting chute 4 is assembled to enable the hole shoulder of the pitch adjusting chute 4 to be in contact with the outer ring of the bearing. Furthermore, a second bearing sleeve is sleeved, a bearing outer ring is contacted with a hole shoulder of the pitch adjusting chute 4, and finally, an axial fixing chute nut 6 is screwed up and contacted with a bearing inner ring to carry out axial fixing.

It should be noted that the split housing 22 is a split component and includes two parts, wherein the limiting rod 40 is disposed on one part of the split housing 22, and the motor fixing seat 14 is disposed on the other part of the split housing 22.

Specifically, as shown in fig. 1, the propeller device includes a first propeller blade 1, a first blade rotating shaft 2, a first rotation guide rod 8, a second blade rotating shaft 9, a second propeller blade 19, and a second rotation guide rod 26; the first paddle rotating shaft 2 and the second paddle rotating shaft 9 are symmetrically arranged on two sides of the propeller fixing seat 3 respectively; one end of the first propeller blade rotating shaft 2 is fixedly connected with the first propeller blade 1, and the other end of the first propeller blade rotating shaft 2 is connected with one end of the second rotating guide rod 26; one end of the second propeller blade rotating shaft 9 is fixedly connected with the second propeller blade 19, and the other end of the second propeller blade rotating shaft 9 is connected with one end of the first rotating guide rod 8; the other ends of the first rotating guide rod 8 and the second rotating guide rod 26 are respectively installed on the pitch adjusting chute 4 in a matching way; when the pitch adjusting chute 4 is driven by the pitch adjusting guide rod 5 along the circumferential direction to move, the first rotating guide rod 8 and the second rotating guide rod 26 can respectively drive the second paddle rotating shaft 9 and the first paddle rotating shaft 2 to synchronously and reversely rotate around the axial direction. In a preferred embodiment, one end of each of the first rotating guide rod 8 and the second rotating guide rod 26 is respectively installed in the first sliding groove 33 and the second sliding groove 34 of the pitch adjusting sliding groove 4, and are in high-order fit, the other end of each of the first rotating guide rod 8 and the second rotating guide rod 26 is respectively and fixedly connected with the second paddle rotating shaft 9 and the first paddle rotating shaft 2 through key groove fit, and after the first rotating guide rod 8 and the second rotating guide rod 26 are installed, nuts are used for axially fixing the first rotating guide rod 8 and the second rotating guide rod 26. Second paddle axis of rotation 9, first paddle axis of rotation 2 are connected through bearing and screw fixing base 3 respectively. After second paddle axis of rotation 9, first paddle axis of rotation 2 and bearing have been assembled, the end cover is installed, further insert first propeller paddle 1, second propeller paddle 19 respectively in the groove of first paddle axis of rotation 2, second paddle axis of rotation 9 propeller axis of rotation to use bolt and nut fixed, can eliminate the paddle size like this and to the influence of end cover installation. First screw paddle 1, second screw paddle 19 can also rotate relative screw fixing base 3 when following the fast rotation of screw fixing base 3 and providing the thrust that moves ahead, and then change pitch.

It should be noted that in the present invention, the connection between the propeller fixing base 3 and the split-type housing 22 is movably connected through a bearing, and the end cover of the propeller fixing base is arranged outside, and the connection is provided with a sealing member, so that the whole split-type housing 22 is sealed, and a good waterproof effect is achieved. In addition, the design is a light medium-crossing water-air dual-purpose propulsion device, the weight is light, the size is small, the propulsion operation in air and under water can be realized through two propeller blades, the device is suitable for completing various tasks, the application range is wide, and the practicability is high.

The pitch regulation principle of the invention is as follows:

the steering wheel 17 drives the cylindrical cam 18 to rotate through the steering wheel, the roller 16 of the cylindrical cam mechanism drives the pitch adjusting guide rod 5 to move along the axial direction in the groove of the cylindrical cam 18, the axial direction of the pitch adjusting sliding groove 4 matched with the pitch adjusting guide rod 5 can synchronously move back and forth, the first rotating guide rod 8 and the second rotating guide rod 26 respectively drive the second propeller blade 19 under the high pair matching of the corresponding sliding grooves, and the first propeller blade 1 rotates around the second propeller blade rotating shaft 9 and the first propeller blade rotating shaft 2. The pitch of the first propeller blade 1 can be accurately adjusted by controlling the rotation angle of the steering engine 17. And under the condition that first screw propeller blade 1 rotates along with screw fixing base 3 fast, this rotation that provides forward thrust can not drive pitch adjustment guide rod 5 and rotate, can not influence the pitch adjustment mechanism in back. The rotation of the two propeller blades is separated from the axial movement of the pitch adjusting guide rod 5 without mutual interference. The two propeller blades do not influence each other in propelling rotation and pitch adjusting rotation, and can work and adjust independently. In the air medium, the screw pitch of the propeller is adjusted to be a small screw pitch, and in the underwater medium, the screw pitch of the propeller is adjusted to be a large screw pitch.

By combining the output torque conversion function and the pitch adjustment function of the cross-medium water-air dual-purpose propeller, the cross-medium water-air dual-purpose propeller can be in a high-rotating-speed, small-torque and small-pitch state when working in the air; when the cross-medium water-air dual-purpose propulsion device works in water, the cross-medium water-air dual-purpose propulsion device is in a low rotating speed, large torque and large screw pitch state. The invention greatly improves the efficiency of the cross-medium water-air dual-purpose propulsion device in different media.

The output torque variation principle of the invention is as follows:

when the hollow shaft motor 15 rotates forwards, the inner ring and the outer ring of the first one-way bearing 10 are locked, no relative rotation exists between the inner ring and the outer ring of the first one-way bearing, the inner ring can drive the outer ring to rotate at the same speed, the hollow pinion main shaft 13 directly transmits power to the propeller fixing seat 3 through the hollow pinion main shaft 10, and therefore the first propeller blade 1 and the second propeller blade 19 are directly driven to rotate at high rotating speed and low torque output by the hollow shaft motor 15, and the working state of the propulsion device in an air medium is achieved. At this time, through the speed reduction transmission of the main shaft pinion 31 and the first straight-tooth cylindrical gear 23 on the pinion hollow main shaft 13 and the speed reduction transmission of the second straight-tooth cylindrical gear 24 and the straight-tooth internal gear 12, the rotation output by the straight-tooth internal gear 12 is reversed, namely, the shaft of the straight-tooth internal gear 12 drives the second one-way bearing 11 to be reversed, the inner ring and the outer ring of the second one-way bearing 11 cannot be locked, as with a common bearing, the inner ring and the outer ring of the second one-way bearing 11 can rotate relatively, the outer ring of the second one-way bearing 11 can drive the propeller fixing seat 3 to rotate together at the rotating speed of the hollow shaft motor 15, and the inner ring can rotate at the speed output by the straight-tooth internal gear 12, and the directions of the. The power transmitted to the propeller in the state is high in rotating speed and low in torque, and is the working state of the propeller in the air medium.

When the hollow shaft motor 15 rotates reversely, the inner ring and the outer ring of the first one-way bearing 10 are in a loose state and cannot be locked, and the inner ring rotates to drive the outer ring to rotate, so that the power output by the hollow shaft motor 15 through the pinion hollow main shaft 13 cannot be transmitted to the propeller fixing seat 3. Because the hollow shaft motor 15 rotates reversely, the rotation speed output by the straight-tooth internal gear 12 is in a positive rotation state through the transmission of the main shaft pinion 31 and the first straight-tooth cylindrical gear 23 on the pinion hollow main shaft 13 and the reduction transmission of the second straight-tooth cylindrical gear 24 and the straight-tooth internal gear 12, so that the inner ring and the outer ring of the second one-way bearing 11 are in a locking state, the inner ring of the second one-way bearing 11 can drive the outer ring to rotate, and after the hollow shaft motor 15 reduces the speed through the secondary gear reducer gear shaft 20 to increase the torque, the power is transmitted to the propeller fixing seat 3 through the second one-way bearing 11, so that the first propeller blade 1 and the second propeller blade 19 are driven by the motor reduced and. The power transmitted to the propeller in the state is low in rotating speed and large in torque, and is the working state of the propeller in the underwater medium.

In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.

The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.