阅读说明：本技术 机-桨-身融合式集成推进装置 (Machine-oar-body integrated propulsion unit ) 是由 靳栓宝 陈俊全 何升阳 魏应三 易新强 姜亚鹏 于 2019-08-27 设计创作，主要内容包括：本发明提供了一种机-桨-身融合式集成推进装置,所述机-桨-身融合式集成推进装置包括沿航行器的航行方向与航行器的尾壳分离设置的推进器壳体以及收容于推进器壳体内的驱动部。驱动部包括集成电机、水润滑轴承、轮毂、导叶以及与集成电机的转子集成设置的叶轮。该集成推进装置还包括设置于尾壳与推进器壳体之间连通水下航行器的外部与叶轮的进水侧的进水管道,如此设置,实现了通过航行器壳外流体的冲压作用和转子直接带动叶轮转动的抽吸作用将水流引入进水管道后,经叶轮排出以产生航行推力,充分利用了水流的作用力,提高了工作效率。(The invention provides a machine-paddle-body integrated propulsion device, which comprises a propeller shell and a driving part, wherein the propeller shell is arranged separately from a tail shell of an aircraft along the navigation direction of the aircraft, and the driving part is accommodated in the propeller shell. The driving part comprises an integrated motor, a water lubrication bearing, a hub, a guide vane and an impeller which is integrated with a rotor of the integrated motor. This integrated advancing device is still including setting up the inlet channel that feeds through the outside of underwater vehicle and the intake side of impeller between tail shell and propeller casing, so set up, realized through the punching press effect of the outer fluid of navigation ware shell and the rotor directly drive impeller pivoted suction effect with rivers introduce the inlet channel after, discharge through the impeller in order to produce navigation thrust, make full use of the effort of rivers, improved work efficiency.)

1. A machine-paddle-body fusion integrated propulsion device for driving an underwater vehicle, characterized by: the machine-paddle-body fusion type integrated propulsion device comprises a propeller shell (2) and a driving part, wherein the propeller shell (2) is separated from a tail shell (1) of the aircraft along the navigation direction of the aircraft, and the driving part is accommodated in the propeller shell (2); the driving part comprises an integrated motor (31), a water lubrication bearing (36), a wheel hub (32), a front guide vane (34), a rear guide vane (35) and an impeller (33) which is integrated with a rotor (311) of the integrated motor (31); the integrated propulsion device further comprises a water inlet pipeline (4) arranged between the tail shell (1) and the propeller shell (2) and used for communicating the outside of the underwater vehicle with the water inlet side of the impeller (33), so that water flow is introduced into the water inlet pipeline (4) through the stamping effect of fluid outside a sailer shell and the suction effect of the rotor (311) directly driving the impeller (33) to rotate, and then the water flow is discharged through the impeller (33) to generate sailing thrust.

2. The integrated machine-paddle-body propulsion device according to claim 1, characterized in that: the propeller shell (2) comprises an inner wall surface (21), an outer wall surface (22), a connecting surface (23) connecting the inner wall surface (21) and the outer wall surface (22), and a containing space formed in the inner wall surface (21) and used for containing the driving part; the contour line of the outer wall surface (22) and the contour line of the outer wall (11) of the tail shell (1) are in smooth transition arrangement.

3. The integrated machine-paddle-body propulsion device according to claim 2, characterized in that: the water inlet pipe (4) is provided with a water inlet (41) communicated with external water flow and a water outlet (42) opened towards the water inlet side of the impeller (33); the water inlet (41), the outer wall surface (22) and the outer wall (11) of the tail shell (1) are in smooth transition connection.

4. The integrated machine-paddle-body propulsion device according to claim 3, characterized in that: the connecting surface (23) is in smooth transition connection with the inner wall surface (21) and the outer wall surface (22), and the top wall of the water outlet (42) is attached to the inner wall surface (21).

5. The integrated machine-paddle-body propulsion device according to claim 3, characterized in that: the tail shell (1) is provided with a matching surface (12) which is gradually contracted and extended along the direction of the central axis of the tail shell (1) from the outer wall (11), the matching surface (12) and the connecting surface (23) are arranged in opposite directions, and the matching surface and the connecting surface are both arranged in a streamline manner.

6. The integrated machine-paddle-body propulsion device according to claim 5, characterized in that: the water inlet pipeline (4) comprises but is not limited to a single-channel structure, a double-channel structure, a three-channel structure or a four-channel structure.

7. The integrated machine-paddle-body propulsion device according to claim 6, characterized in that: the water inlet pipeline (4) is of a herringbone double-flow-channel structure and is provided with two drainage flow channels (411) clamped between the matching surface (12) and the connecting surface (23) and a water outlet flow channel (421) extending from the connecting position of the two drainage flow channels (411) to the water outlet (42).

8. The integrated machine-paddle-body propulsion device according to claim 2, characterized in that: the integrated electric machine (31) has a stator (312) arranged at the periphery of the rotor (311) and an electric machine air gap (313) arranged between the stator (312) and the rotor (311); the periphery of the rotor (311) is rotatably mounted in the propeller housing (2) through a water-lubricated bearing (36); the water lubrication bearing (36) comprises a front thrust bearing (361) and a rear thrust bearing (362) which are arranged on two sides of the rotor (311) and a water lubrication supporting bearing (363) which supports and is connected with the rotor (311) and the impeller 33, a cooling gap (364) is formed between the front thrust bearing (361) and the rear thrust bearing (362) and the water lubrication supporting bearing (363) in a clearance fit mode, the cooling gap (364) is communicated with the motor air gap (313), and a cooling lubrication channel (360) which is arranged on the peripheral side of the water lubrication supporting bearing (363) is formed.

9. The integrated machine-paddle-body propulsion device according to claim 1, characterized in that: preceding stator (34) with back stator (35) fixed mounting in on wheel hub (32), preceding stator (34) with back stator (35) are located separately the both sides of impeller (33).

Technical Field

The invention relates to the field of underwater propulsion, in particular to an integrated, low-resistance and high-performance machine-paddle-body fusion type integrated propulsion device deeply fused with tail molded lines of a prime mover and an underwater vehicle.

Background

The traditional ship power system is a system for providing power for ship navigation, and generally, a prime mover drives a propeller to rotate (part of the propeller is also provided with a gear box speed reduction device) through a shaft system so as to provide propulsive force for ships. On the one hand, the entire power system is arranged with a compartment running through nearly half of the hull, taking up a lot of space on the hull and giving rise to bad compartment noise. On the other hand, the rudder of the underwater vehicle is structurally connected with the propeller, and when the attachments such as rudder fins are disturbed by water flow (for example) to generate vibration, the working state of the propeller is influenced.

The patent application with the application number of CN201410093845.X discloses an integrated motor propulsion device, which comprises an inner stator and an outer rotor, wherein the inner stator and the outer rotor are both formed by silicon steel sheets in a superposition mode, the inner stator and the outer rotor are both in a salient pole structure, an excitation winding is wound on salient pole teeth of the inner stator, a plurality of permanent magnets are embedded in the inner stator along the circumferential direction, the permanent magnets are arranged corresponding to the excitation winding, a magnetic conduction sealing cover is arranged between the inner stator and the outer rotor, two ends of the magnetic conduction sealing cover are fixedly connected and sealed with a first end cover and a second end cover respectively, the inner stator is positioned in a first sealing space formed by the magnetic conduction sealing cover, the first end cover and the second end cover, and two ends of the inner stator are fixedly connected; two ends of the outer rotor are rotatably supported on the first end cover and the second end cover through water lubrication bearings respectively, rubber shock absorbers are arranged between the first end cover and the second end cover and the corresponding water lubrication bearings respectively, and the propeller is fixedly connected with the outer rotor. The integrated motor propulsion device is connected with the rudder, and attachments such as rudder fins and the like can influence the inflow of the propeller; and the navigation vehicle is completely driven by the integrated motor, the power of the integrated motor is limited, and the provided navigation thrust is limited.

Patent application No. CN201310473359.6 discloses an underwater vehicle using water jet propulsion technology, comprising an underwater propulsion device and a control system. The underwater propelling device comprises a tail part, a water inlet disc and a head part which are sequentially arranged from left to right. The tail part and the head part are respectively provided with a jet orifice for providing propulsion power. The water inlet disc is provided with a water inlet for absorbing water and a high-pressure pump for converting the absorbed water into high-pressure water flow. The high-pressure pumps are respectively connected with the jet orifices through pipelines, and the propelling power on the jet orifices is provided by the high-pressure water flow converted by the high-pressure pumps. An electromagnetic valve is arranged on a pipeline between the jet orifice and the water outlet of the high-pressure pump. The high-pressure pump and the water quantity control device are connected with the control system. The underwater vehicle is additionally provided with the high-pressure pump to pressurize water flow, so that the size and the weight of the underwater vehicle are further increased, the underwater vehicle is not easy to control, and the manufacturing cost is increased.

In view of the above, there is a need for an improved integrated propulsion device with a combined machine-paddle-body design to solve the above problems.

Disclosure of Invention

The invention aims to provide a machine-propeller-body integrated propulsion device which has a simple structure, integrates a propeller and a tail-hull linear depth of an aircraft, and can realize that a rotor of an integrated motor directly drives an impeller to do work.

In order to achieve the above object, the present invention provides a combined engine-propeller-body propulsion device for driving an underwater vehicle, the combined engine-propeller-body propulsion device comprising a propeller casing separated from a tail casing of the vehicle in a navigation direction of the vehicle, and a driving part accommodated in the propeller casing; the driving part comprises an integrated motor, a water lubrication bearing, a hub, a front guide vane, a rear guide vane and an impeller which is integrated with a rotor of the integrated motor; the integrated propulsion device of machine-oar-body fusion still includes the inlet channel that sets up and communicate the outside of the underwater vehicle and the intake side of impeller between the tail shell and the propeller casing to realize through the punching press effect of the outer fluid of navigation ware shell and the suction effect that the rotor directly drove the impeller rotation behind the rivers introduction inlet channel, discharge through the impeller in order to produce the navigation thrust.

As a further improvement of the present invention, the propeller housing includes an inner wall surface, an outer wall surface, a connecting surface connecting the inner wall surface and the outer wall surface, and a housing space formed in the inner wall surface for housing the driving portion; the contour line of the outer wall surface and the contour line of the outer wall of the tail shell are in smooth transition arrangement.

As a further improvement of the present invention, the water inlet pipe has a water inlet communicating with an external water flow and a water outlet opening toward the water inlet side of the impeller; the water inlet, the outer wall surface and the outer wall of the tail shell are connected in a smooth transition mode.

As a further improvement of the invention, the connecting surface is in smooth transition connection with the inner wall surface and the outer wall surface, and the top wall of the water outlet is attached to the inner wall surface.

As a further improvement of the present invention, the tail shell has a fitting surface which gradually shrinks and extends from the outer wall to the central axis direction of the tail shell, the fitting surface and the connecting surface are arranged in opposite directions, and both are arranged in a streamline shape.

As a further improvement of the invention, the water inlet pipeline comprises but is not limited to a single-channel structure, a double-channel structure, a three-channel structure or a four-channel structure.

As a further improvement of the invention, the water inlet pipeline is of a herringbone double-flow-channel structure and is provided with two drainage flow channels clamped between the matching surface and the connecting surface and a water outlet flow channel extending from the connecting position of the two drainage flow channels to the water outlet.

As a further improvement of the present invention, the integrated motor has a stator disposed at an outer periphery of the rotor and a motor air gap disposed between the stator and the rotor; the periphery of the rotor is rotatably arranged in the propeller shell through a water-lubricated bearing; the water lubricated bearing including set up in the preceding thrust bearing of rotor both sides is connected with back thrust bearing and support the rotor with the water lubricated supporting bearing of impeller, preceding thrust bearing reaches back thrust bearing with clearance fit is formed with the cooling gap between the water lubricated supporting bearing, the cooling gap with the motor air gap is linked together, is formed with the ring and locates the cooling lubrication passageway of water lubricated supporting bearing week side.

As a further improvement of the invention, the front guide vane and the rear guide vane are fixedly arranged on the hub, and the front guide vane and the rear guide vane are respectively arranged at two sides of the impeller.

The invention has the beneficial effects that:

1. according to the machine-propeller-body integrated propulsion device, the tail shell of the aircraft and the propeller shell are arranged in a separated mode, the water inlet pipeline for communicating the outside of the aircraft and the water inlet side of the impeller is arranged between the tail shell of the aircraft and the propeller shell, the impeller and the rotor of the integrated motor are integrated, water flow is introduced into the water inlet pipeline through the stamping effect of fluid outside the aircraft shell and the suction effect of directly driving the impeller to rotate by the rotor, and then the water flow is discharged through the impeller to generate sailing thrust, so that the acting force of the water flow is fully utilized, and the working efficiency is improved; the influence of attachments such as rudder fins on the inflow of the propeller is avoided, so that the driving part can work stably in the shell of the propeller; interaction factors of the propeller and the aircraft are fully utilized through reasonable scheme design, so that the propelling efficiency is improved;

2. according to the invention, the shell, the tail shell and the water inlet of the propeller are set to be in smooth transition, so that the propeller and the tail shell of the underwater vehicle are fused into a whole, the outer shell of the underwater vehicle keeps an overall streamline shape, the navigation resistance can be effectively reduced, the propulsion power consumption is reduced, and the hydrodynamic performance is improved;

3. the invention adopts an electric transmission mode, takes the integrated motor as a prime motor, integrates the rotor of the integrated motor with the impeller, directly drives the paddle or the impeller to do work by utilizing the rotation of the motor rotor, cancels related matching systems and accessories of the traditional shafting and simplifies the structure of the underwater vehicle.

Drawings

FIG. 1 is a schematic cross-sectional view of a preferred embodiment of the integrated propulsion device of the present invention;

FIG. 2 is an enlarged view of a portion of the area I in FIG. 1;

FIG. 3 is an enlarged view of a portion of region II of FIG. 2;

FIG. 4 is a schematic structural view of a dual flow channel structure;

FIG. 5 is a schematic diagram of a single channel configuration;

FIG. 6 is a schematic structural view of a three-channel structure;

fig. 7 is a schematic structural diagram of a four-channel structure.

The parts in the drawings are numbered as follows:

100. a machine-paddle-body integrated propulsion device; 1. a tail shell; 11. an outer wall; 12. a mating surface; 2. a propeller housing; 21. an inner wall surface; 22. an outer wall surface; 23. a connecting surface; 31. an integrated motor; 311. a rotor; 312. a stator; 313. a motor air gap; 32. a hub; 33. an impeller; 34. a front guide vane; 35. a rear guide vane; 36. water lubricating the bearing; 360. cooling the lubrication channel; 361. a front thrust bearing; 362. a rear thrust bearing; 363. water lubricating the support bearing; 364. cooling the gap; 4. a water inlet pipe; 41. a water inlet; 411. a drainage flow channel; 42. a water outlet; 421. a water outlet flow channel; 401. an accommodating space; 4', a single-channel structure; 4', a three-flow-channel structure; 4', four-channel structure.

Detailed Description

The following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the advantages and features of the invention easier to understand by those skilled in the art, and thus will clearly and clearly define the scope of the invention.

Referring to fig. 1 to 4, the present invention provides a fused-propeller-body integrated propulsion device 100 for driving an underwater vehicle to sail, wherein the fused-propeller-body integrated propulsion device 100 comprises a propeller casing 2 disposed apart from a tail casing 1 of the vehicle in a sailing direction of the vehicle (indicated by an arrow in fig. 1), a driving part accommodated in the propeller casing 2, and a water inlet pipe 4 disposed between the tail casing 1 and the propeller casing 2; the driving part comprises an integrated motor 31, a water lubrication bearing 36, a hub 32, a front guide vane 34, a rear guide vane 35 and an impeller 33 which is integrated with a rotor 311 of the integrated motor 31. That is, the impeller 33 is attached to the rotor 311, and the impeller 33 rotates with the rotation of the rotor 311; the water inlet pipe 4 is communicated with the outside of the aircraft and the water inlet side of the impeller 33, so that water flow is introduced into the water inlet pipe 4 through the punching action of fluid outside a shell of the aircraft and the suction action of the rotor 311 directly driving the impeller 33 to rotate, and then is discharged through the impeller 33 to generate navigation thrust. According to the arrangement, the surface incoming flow of the underwater vehicle is fully utilized to provide working flow for the driving part, and the propelling efficiency is improved.

The tail shell 1 is arranged in an axisymmetric structure and is provided with a central axis OP; the tail shell 1 comprises an outer wall 11 in streamline arrangement and a matching surface 12 formed by gradually contracting and extending from the outer wall 11 to the central axis OP direction. The mating surface 12 is disposed toward the thruster housing 2, and a junction of the outer wall 11 and the mating surface 12 is smoothly transited.

Propeller casing 2 with tail-shell 1 sets up relatively, propeller casing 2 also is the setting of axisymmetric structure, just the axis of propeller casing 2 with the axis collineation of tail-shell 1 is axis OP. Specifically, the propeller casing 2 includes an inner wall surface 21, an outer wall surface 22, a connecting surface 23 connecting the inner wall surface 21 and the outer wall surface 22, and a housing space (not numbered) formed in the inner wall surface 21 for housing the drive unit; the connecting surface 23 is formed by gradually contracting from the outer wall surface 22 to the central axis OP, the connecting surface 23 and the matching surface 12 are oppositely arranged, and an accommodating space 401 for accommodating the water inlet pipe 4 is formed between the connecting surface 23 and the matching surface 12.

Particularly, the connecting surface 23 and the matching surface 12 are both in streamline arrangement, and the connecting surface 23 is in smooth transition connection with the inner wall surface 21 and the outer wall surface 22, so that the overall profile of the propeller shell 2 is in streamline arrangement, and underwater navigation is facilitated.

The outer wall surface 22 and the outer wall 11 of the tail shell 1 are arranged in a smooth transition mode, that is, the contour line of the outer wall surface 22 and the contour line of the outer wall 11 of the tail shell 1 are connected in a smooth transition mode. So set up for propeller casing 2 fuses as an organic whole with the tail-stock 1 of navigation, and the shell of underwater navigation is whole to keep streamlined, can effectively reduce the navigation resistance, reduces and impels the consumption, improves hydrodynamic force performance.

Referring to fig. 4 in combination with fig. 1 to 2, in the present embodiment, the water inlet pipe 4 is a horizontally-laid double-flow-channel structure in a shape of a herringbone, and has two water inlets 41 communicated with external water flow and a water outlet 42 opening to the water inlet side of the impeller 33, and correspondingly, the water inlet pipe 4 includes two drainage flow channels 411 and a water outlet flow channel 421 extending from the connection of the two drainage flow channels 411 to the water outlet 42; the drainage channel 411 is clamped in the accommodating space 401, the water outlet channel 421 is clamped between the inner wall surfaces 21, and the top wall of the water outlet 42 is attached to the inner wall surfaces 21. Preferably, the center line of the water outlet 42 is collinear with the central axis OP; the wall surface of the drainage flow channel 411 is attached to the connection surface 23 and the mating surface 12. That is, the propeller casing 2 is separated from the tail casing 1 of the aircraft, and the drainage flow channel 411 is arranged between the tail casing 1 and the propeller casing 2, so that the influence of attachments such as rudder fins on the underwater aircraft, which are connected and arranged with the propeller, on the propeller inflow is avoided, and the driving part in the propeller casing 2 can work stably.

In particular, the water inlet 41, the outer wall surface 22 and the outer wall 11 of the tail casing 1 are connected in a smooth transition manner, i.e., the outer contour lines of the three are connected in a smooth transition manner. By the arrangement, the sailing resistance can be effectively reduced, water flow on the surface of the underwater vehicle can conveniently flow into the water inlet 41, the drainage effect is achieved, and the working flow is provided for the driving part.

It should be noted that, as those skilled in the art should understand, the water inlet pipe 4 is not limited to a double-flow structure, and compared with a single-flow structure, the double-flow structure may increase the inflow, which is beneficial to meeting the design flow of the propeller, avoiding cavitation of the impeller, and simultaneously reducing the height of the flow channel, so that the flow is smoother, and flow separation in the flow channel is avoided. However, the water inlet pipe 4 may also be configured as a single flow passage structure 4 ' (as shown in fig. 5), a three flow passage structure 4 ' (as shown in fig. 6), a four flow passage structure 4 ' (as shown in fig. 7) or a structure with more flow passages to meet the requirements of the propeller for different designed speeds and designed flow rates, and a person skilled in the art can set the number of flow passages of the water inlet pipe 4 according to the design and the requirement of the speeds, and only needs to ensure that the water flow on the surface of the underwater vehicle is smoothly introduced through the drainage flow passage 411 and then is introduced into the impeller 33 through the water outlet flow passage 421, which is not particularly limited.

Referring to fig. 2 to fig. 3 in combination with fig. 1, the driving portion is disposed in the accommodating space formed by the inner wall surface 21, and the hub 32 is fixedly mounted in the propeller housing 2 and disposed on the central axis OP. That is, the center lines of the water outlet 42 and the hub 32 are collinear with the central axis OP, so that the water flowing out through the water outlet 42 is guided to the impeller 33.

Preferably, the driving portion further includes a front guide vane 34 and a rear guide vane 35 fixedly mounted on the hub 32, and the front guide vane 34 and the rear guide vane 35 are respectively disposed at two sides of the impeller 33. With such arrangement, the front guide vane 34 and the rear guide vane 35 can respectively rectify the inflow of the impeller to be flowed into the impeller 33 and the outflow of the impeller discharged through the impeller 33, thereby increasing the axial flow momentum and facilitating the driving part to keep a stable working state.

The integrated motor 31 is an inner rotor and outer stator structure. Specifically, the integrated motor 31 has a stator 312 disposed on the outer periphery of the rotor 311 and a motor air gap 313 disposed between the stator 312 and the rotor 311, the rotor 311 has a hollow structure, and the hub 32, the front guide vane 34, the rear guide vane 35, and the impeller 33 integrated with the rotor 311 are disposed inside the rotor 311, which makes the propeller more compact. The outer periphery of the rotor 311 is rotatably mounted in the propeller housing 2 by a water lubricated bearing 36. The water lubricated bearing 36 includes a front thrust bearing 361 and a rear thrust bearing 362 provided on both sides of the rotor 311, and a water lubricated support bearing 363 supporting and connecting the rotor 311 and the impeller 33.

When the propeller is operating, thrust is transferred through the water film between the integrated motor rotor 311 and the thrust bearings (front thrust bearing 361 and rear thrust bearing 362). Specifically, a front thrust bearing 361 and a rear thrust bearing 362 are both mounted on the inner wall surface 21 of the propeller housing 2, a cooling gap 364 is formed between the front thrust bearing 361 and the rear thrust bearing 362 and the water lubrication supporting bearing 363 in a clearance fit manner, the cooling gap 364 is communicated with the motor air gap 313, and a cooling lubrication channel 360 is formed around the outer circumferential side of the water lubrication supporting bearing 363. With this arrangement, when the impeller 33 rotates to do work, the generated high-speed high-pressure water flows in the cooling and lubrication channel 360 and flows back to the front thrust bearing 361 through the rear thrust bearing 362 (the water flow direction is shown by the arrow in fig. 3), so as to lubricate and cool the front thrust bearing 361, the rear thrust bearing 362 and the water-lubricated support bearing 363, which is beneficial to prolonging the service life of the water-lubricated bearing 36.

The working principle of the integrated propulsion device 100 is explained below:

when the underwater vehicle sails, the rotor 311 of the integrated motor 31 rotates to directly drive the impeller 33 to rotate, under the combined action of stamping and suction, the water from the surface of the underwater vehicle flows through the water inlet 41 into the water inlet pipe 4, is gently guided by the drainage flow channel 411, flows into the propeller housing 2 through the water outlet flow channel 421, flows into the impeller 33 after being rectified by the front guide vane 34, is discharged after being pressurized by the impeller 33, flows out of the underwater vehicle after being rectified by the rear guide vane 35, and interacts with the impeller 33 to generate sailing thrust to drive the underwater vehicle to sail.

In conclusion, the integrated propulsion device 100 with the machine-propeller-body fusion structure provided by the invention has the advantages that the propeller shell 2 is separated from the tail shell 1 of the underwater vehicle, the water inlet pipeline 4 communicating the outside of the vehicle with the water inlet side of the impeller 33 is arranged between the tail shell 1 and the propeller shell 2, and the impeller 33 is integrated with the rotor 311 of the integrated motor 31, so that related matching systems and accessories of the traditional shaft system are eliminated, the sailing thrust is generated by leading water flow into the water inlet pipeline 4 through the stamping action of fluid outside the sailing vehicle shell and the suction action of directly driving the impeller 33 to rotate by the rotor 311, the sailing thrust is generated by discharging the water flow through the impeller 33, the acting force of the water flow is fully utilized, and the working efficiency is improved; the influence of attachments such as rudder fins on the inflow of the propeller is avoided, so that the driving part can work stably in the propeller shell 2; the interaction factors of the propeller and the aircraft are fully utilized through reasonable scheme design, and the propelling efficiency is improved. The underwater vehicle with the machine-oar-body integrated propulsion device 100 integrates the tail shell 1 and the propeller shell 2 of the underwater vehicle into a whole and keeps an integral streamline shape, thereby realizing the low-resistance shape of the machine-oar-body integrated propulsion device; the 'machine-paddle-body integrated' underwater vehicle is formed by integrating, crossing and penetrating a plurality of disciplines, can further improve the performances of a power system such as high power density, high efficiency, high maneuverability, low noise and the like, and has wide application prospect.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.