Linear rotary magnetic transmission mechanism and wing-changing device for underwater vehicle

Abstract

The present invention discloses a linear rotary magnetic transmission mechanism, including an outer rotor, an intermediate rotor and an inner rotor; the inner side surface of the intermediate rotor is provided with an intermediate inner magnetic group, including a plurality of annular magnets with N poles and S poles arranged alternately in the axial direction; the outer side surface of the inner rotor is provided with an inner magnetic group, including a plurality of annular magnets corresponding to the intermediate inner magnetic group and with opposite magnetic poles; the outer side surface of the intermediate rotor is provided with an intermediate outer magnetic group, including a plurality of tile-shaped magnets with N poles and S poles arranged alternately in the circumferential direction; the inner side surface of the outer rotor is provided with an outer magnetic group, including a plurality of tile-shaped magnets corresponding to the intermediate outer magnetic group and with opposite magnetic poles. The above transmission mechanism can realize both linear and rotary transmission at the same time; and the linear and rotary transmission units are independent of each other, eliminating the magnetic coupling between the two, reducing the control difficulty of linear and rotary motion, and the magnetic transmission is a non-contact transmission with low noise and low power consumption, which can solve the sealing problem of deep-sea multi-degree-of-freedom transmission.

Description

Technical Field

[0001] The present invention relates to the field of underwater transmission, and in particular to a linear-rotating magnetic transmission mechanism and a wing-changing device for an underwater vehicle. Background Art

[0002] In recent years, with the deepening of marine development activities, various underwater robots and deep-sea equipment have become important tools for exploration and reconnaissance. When deep-sea submersibles are sailing in the deep sea, in order to adapt to the needs of different depths and operating conditions, they usually need to adopt a variable wing structure. The variable wing structure can reduce the resistance of navigation, improve the economy and stability of navigation, and also reduce the difficulty of deployment and recovery. The flip angle of the wing can change the buoyancy and resistance of the vehicle, change the navigation state; the aspect ratio can affect the economy and stability of gliding. The existing two-degree-of-freedom variable wing scheme of underwater vehicles usually uses two sets of control drive units to drive the two movements respectively, and the combined structure is usually more complex and occupies more space. Each drive unit usually adopts liquid / pneumatic drive and pressure compensation motor drive; among them, liquid / pneumatic drive can provide a large driving force, but the volume is large and the structure is complex, and it cannot be applied to small mechanical equipment. The sealing form currently used by motor drive in the deep sea is mostly based on dynamic sealing technology based on pressure compensation, which cannot meet the needs of long-term operation of deep-sea equipment. Summary of the invention

[0003] Based on this, the technical problem to be solved by the present invention is to provide a linear-rotary magnetic transmission mechanism and a variable-wing device for underwater vehicles which have a simple structure, can realize linear and rotational motion at the same time, have low transmission difficulty, and are suitable for long-term application at full sea depth.

[0004] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solutions:

[0005] A linear rotary magnetic transmission mechanism comprises an outer rotor, an intermediate rotor and an inner rotor, wherein the outer rotor is fixedly connected to the inner rotor;

[0006] The intermediate rotor comprises an intermediate inner magnetic group arranged on the inner side surface and an intermediate outer magnetic group arranged on the outer side surface;

[0007] The intermediate inner magnetic group includes a plurality of annular magnets with N poles and S poles arranged alternately in the axial direction; the inner rotor includes an inner magnetic group arranged on the outer side, and the inner magnetic group includes a plurality of annular magnets corresponding to the intermediate inner magnetic group and with opposite magnetic poles;

[0008] The middle external magnetic group includes a plurality of tile-shaped magnets with N poles and S poles alternately arranged in the circumferential direction; the inner side surface of the outer rotor is provided with an external magnetic group, and the external magnetic group includes a plurality of tile-shaped magnets corresponding to the middle external magnetic group and with opposite magnetic poles.

[0009] Furthermore, each tile-shaped magnet and annular magnet is radially magnetized, the central angle and axial length corresponding to each tile-shaped magnet are equal, and the diameter and axial length of each annular magnet are equal.

[0010] The present invention also includes a wing-changing device for an underwater vehicle, including a body and spread wings, and also includes the above-mentioned linear rotary magnetic transmission mechanism, a sealed housing and a power unit, wherein the spread wings are fixedly connected to the outer rotor and the inner rotor, the power unit and the intermediate rotor are arranged in the sealed housing, and the sealed housing is connected to the body; the power unit is drivingly connected to the intermediate rotor and can drive the intermediate rotor to rotate around the axis and move axially linearly.

[0011] Furthermore, it also includes an adjustment mechanism, which includes a connecting rod and a bearing; the rotating circle of the bearing is fixed to the rear end of the wing; the axis of the bearing coincides with the rotation axis of the wing; the front end of the connecting rod is hinged to the non-rotating circle of the bearing; the rear end of the connecting rod is hinged to the body; the rear end of the sealed shell is hinged to the body.

[0012] Furthermore, the sealed shell includes an inner isolation sleeve, an isolation cylinder, a shell and a rear cover, the front end of the shell is connected to the isolation cylinder, the rear end of the shell is connected to the rear cover, and the front end of the isolation cylinder is connected to the inner isolation sleeve; the power unit is arranged in the shell, the intermediate rotor is arranged in the isolation cylinder, the inner isolation sleeve isolates the inner rotor from the intermediate rotor, isolates the intermediate rotor in the sealed shell, and the inner rotor is isolated from the outer rotor outside the sealed shell.

[0013] Furthermore, sealing rings are provided at the connection between the inner isolation sleeve and the isolation cylinder, at the connection between the isolation cylinder and the shell, and at the connection between the shell and the rear cover.

[0014] Furthermore, a watertight connector is provided on the rear cover.

[0015] Furthermore, a whole machine support frame is connected to the rear end of the sealed shell, and the whole machine support frame is hinged to the machine body.

[0016] Furthermore, the rear end of the connecting rod is hingedly connected to the machine body through a first hinge support, and the whole machine support frame is hingedly connected to the machine body through a second hinge support.

[0017] Furthermore, a sliding support frame is provided in the isolation cylinder, a front end of the sliding support frame is connected to the intermediate rotor, and a rear end of the sliding support frame is connected to the power unit.

[0018] Compared with the prior art, the advantages and positive effects of the present invention are:

[0019] The linear-rotary magnetic transmission mechanism has a simple structure. By adopting a composite magnetic transmission form, it can realize both linear and rotary transmission at the same time. The linear transmission unit and the rotary transmission unit are independent of each other, eliminating the magnetic coupling between the two, and reducing the control difficulty of linear motion and rotary motion: for example, when there is a certain torque load, although there is a certain circumferential offset between the outer magnetic group and the middle outer magnetic group, it does not change the magnetic force between the middle inner magnetic group and the inner magnetic group, and does not affect the transmission capacity of the axial force; the principle of torque transmission when there is an axial load is the same. The magnetic transmission mechanism is a non-contact transmission with low noise and low power consumption. It solves the dynamic sealing problem of underwater two-degree-of-freedom transmission and is suitable for long-term work at full sea depth.

[0020] After reading the specific embodiments of the present invention in conjunction with the accompanying drawings, other features and advantages of the present invention will become more clear. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 It is a structural schematic diagram of the linear rotary magnetic transmission mechanism of the present invention;

[0023] Figure 2 It is a principle diagram of magnetic force rotation transmission of the linear rotation magnetic transmission mechanism of the present invention;

[0024] Figure 3 It is a principle diagram of magnetic linear transmission of the linear rotary magnetic transmission mechanism of the present invention;

[0025] Figure 4 It is a structural schematic diagram of the variable wing device of the underwater vehicle of the present invention;

[0026] Figure 5 for Figure 4 A partial enlarged view of

[0027] Figure 6 A schematic diagram of the aspect ratio adjustment mechanism of the variable wing device of the underwater vehicle of the present invention;

[0028] Figure 7 It is a schematic diagram of aspect ratio adjustment of the variable wing device of the underwater vehicle of the present invention;

[0029] Figure 8 A schematic diagram of the flip angle adjustment of the variable wing device of the underwater vehicle of the present invention;

[0030] Description of reference numerals:

[0031] Linear rotary magnetic transmission mechanism 1; outer rotor 11; outer magnetic group 111, outer yoke 112; intermediate rotor 12; intermediate outer magnetic group 121; intermediate inner magnetic group 122; intermediate yoke 123; inner rotor 13; inner magnetic group 131; inner yoke 132;

[0032] Body 2;

[0033] Wingspan 3;

[0034] Inner isolation sleeve 41; isolation cylinder 42; housing 43; rear cover 44; sealing rings 45, 46, 47; watertight connector 48;

[0035] Power unit 5;

[0036] Connecting rod 61; bearing 62; bearing support frame 63; bearing retaining ring 64; twist support 65; bracket 66; second twist support 67; first twist support 68;

[0037] The whole machine support frame 71; the inner sliding support frame 72; and the outer sliding support frame 73. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0039] It should be noted that in the description of the present invention, the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings, which are only for the convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0040] Reference Figure 1-Figure 8 , is an embodiment of the linear rotary magnetic transmission mechanism 1 of the present invention, such as Figure 1 As shown, the linear rotary magnetic transmission mechanism 1 comprises an outer rotor 11, an intermediate rotor 12 and an inner rotor 13. The outer rotor 11 is fixedly connected to the inner rotor 13. The intermediate rotor 12 is arranged between the outer rotor 11 and the inner rotor 13, and the outer rotor 11, the intermediate rotor 12 and the inner rotor 13 are arranged at intervals from each other.

[0041] The intermediate rotor 12 includes an intermediate outer magnetic group 121 arranged on the outer side and an intermediate inner magnetic group 122 arranged on the inner side. The intermediate inner magnetic group 122 includes a plurality of annular magnets with N poles and S poles arranged alternately in the axial direction. The outer side of the inner rotor 13 is provided with an inner magnetic group 131, and the inner side of the outer rotor 11 is provided with an outer magnetic group 111. The inner magnetic group 131 includes a plurality of annular magnets corresponding to the intermediate inner magnetic group 122 and having opposite magnetic poles. A linear transmission unit is formed between the intermediate inner magnetic group 122 and the inner magnetic group 131.

[0042] The middle external magnetic group 121 includes a plurality of tile-shaped magnets with N poles and S poles arranged alternately in the circumferential direction; the external magnetic group 111 includes a plurality of tile-shaped magnets with opposite magnetic poles corresponding to the middle external magnetic group 121. The middle external magnetic group 121 and the external magnetic group 111 form a rotation transmission unit.

[0043] The outer rotor 11 and the inner rotor 13 are connected as a whole as a slave (master) moving magnetic component, and the intermediate rotor 12 is a master (slave) moving magnetic component, which can realize axial movement and rotational movement.

[0044] In this embodiment, each tile-shaped magnet and annular magnet are permanent magnets. Each magnet is radially magnetized, that is, each tile-shaped magnet is alternately equipped with multiple magnetized N poles and S poles in the circumferential direction, and each annular magnet is alternately equipped with multiple magnetized N poles and S poles in the axial direction. The central angle and axial length corresponding to each tile-shaped magnet are equal, and the diameter and axial length of each annular magnet are equal. In this embodiment, each rotor is composed of two parts, namely, a yoke and a permanent magnet, that is, the outer rotor 11 includes an outer yoke 112 and an outer magnetic group 111 arranged on the inner side of the outer yoke; the inner rotor 13 includes an inner yoke 132 and an inner magnetic group 131 arranged on the outer side of the inner yoke; the intermediate rotor 12 includes an intermediate yoke 123, an intermediate outer magnetic group 121 arranged on the outer side of the intermediate yoke, and an intermediate inner magnetic group 122 arranged on the inner side of the intermediate yoke. The yoke material is generally a high magnetic permeability material, which can improve the magnetic field performance.

[0045] The composite magnetic force transmission form is as follows Figure 3 As shown, the linear transmission is that when the intermediate rotor 12 (or the inner rotor 13) is driven by the power unit 5 to move a distance L1 in the axial direction, due to the magnetic push-pull principle, an axial force F will be generated on the other magnetic group, thereby driving the driven magnetic group to move axially. Figure 2 As shown, the rotation transmission is that after the outer rotor 11 (or the intermediate rotor 12) rotates an angle A, it will generate a torque on the other magnetic group, thereby driving the driven magnetic group to generate rotational motion. The two motions can be transmitted separately or simultaneously.

[0046] The linear rotary magnetic transmission mechanism 1 mentioned above has a simple structure and a small size. By adopting a composite magnetic force transmission form, it can simultaneously realize linear and rotary two-degree-of-freedom transmission; and the linear transmission unit and the rotary transmission unit are independent of each other, eliminating the magnetic coupling between the two, and reducing the control difficulty of linear motion and rotary motion: for example, when there is a certain torque load, although there is a certain offset in the circumferential direction between the outer magnetic group 111 and the middle outer magnetic group 121, it will not change the magnetic force between the middle inner magnetic group 122 and the inner magnetic group 131, and will not affect the transmission capacity of the axial force; the principle of torque transmission when there is an axial load is the same. And the above-mentioned magnetic transmission mechanism is a non-contact transmission, with low noise and low power consumption. At the same time, it can solve the dynamic sealing problem of underwater two-degree-of-freedom transmission and is suitable for long-term work at full sea depth.

[0047] The above-mentioned linear rotary magnetic transmission mechanism 1 can realize non-contact torque and axial force transmission. The outer rotor 11 (inner rotor 13) and the intermediate rotor 12 are both connected to the equipment structure. One rotor is connected to the power unit 5 and is arranged in a sealed housing. It can perform active compound motion along the inner surface of the sealed housing. The other rotor is connected to the equipment component and performs non-contact driven motion in the seawater along with the active magnetic component. In this embodiment, the intermediate rotor 12 drives the outer rotor 11 (inner rotor 13). In actual application, the outer rotor 11 (inner rotor 13) can also drive the intermediate rotor 12. Figure 6 As shown, the motion form can be a rotational motion around the central axis of the device, which can achieve a 360° rotation, or a linear reciprocating motion along the surface of the sealed shell, and a set of devices can be used to achieve a two-degree-of-freedom transmission. The power unit 5 and the active magnetic component are accommodated in the sealed shell, and the sealed shell forms a closed space through the static sealing component, and the static seal can replace the dynamic seal, thereby achieving the purpose of sealing without leakage.

[0048] Reference Figure 4-Figure 8 The present invention also includes a wing-changing device for an underwater vehicle, comprising the above-mentioned linear rotary magnetic transmission mechanism 1, a body 2, a wing 3 arranged on the body 2, a sealed housing and a power unit 5. The sealed housing is a pressure-resistant housing that can withstand the full sea depth pressure. An installation groove is provided on the wing 3, and the linear rotary magnetic transmission mechanism 1 is installed in the installation groove. The wing 3 is fixedly connected to the outer rotor 11 and the inner rotor 13. Figure 5As shown, the outer yoke 112 is fixed to the wing 3, and the outer yoke is fixedly connected to the outer sliding support frame 73, and the outer sliding support frame 73 is slidably sleeved on the outer surface of the sealed shell. The middle part of the installation groove of the wing 3 protrudes to form a cylinder, which is fixedly connected to the inner rotor 13. The power unit 5 and the intermediate rotor 12 are arranged in the sealed shell, and the sealed shell is connected to the body 2. The power unit 5 is drivingly connected to the intermediate rotor 12, and can drive the intermediate rotor 12 to rotate and axially move linearly. The intermediate rotor 12 then drives the outer rotor 11 and the inner rotor 13 to rotate and axially move linearly, and then drives the wing 3 to rotate around the axis and axially move linearly.

[0049] The variable wing device also includes an adjustment mechanism, which includes a connecting rod 61 and a bearing 62. The rotating ring (inner ring or outer ring) of the bearing 62 is fixed to the rear end of the wing 3. In this embodiment, the inner ring of the bearing 62 is fixed to the wing 3, and the inner ring of the bearing 62 is connected to the wing 3 through a bearing support frame 63. A bearing retaining ring 64 is also provided on the rear side of the bearing support frame 63 to prevent the bearing 62 from falling off. The axis of the bearing 62 coincides with the rotation axis of the wing 3, that is, the bearing 62 is sleeved on the outside of the sealed housing. The front end of the connecting rod 61 is hinged to the non-rotating ring (outer ring) of the bearing 62 through a hinge 65, and the hinge 65 is supported by a bracket 66 and installed on the outer ring of the bearing 62. The rear end of the connecting rod 61 is hinged to the body 2 through a first hinge support 68. The rear end of the sealed housing is hinged to the body 2 through a second hinge support 67. The body 2, the connecting rod 61, the hinge support 65, the first hinge support 68, the wing 3, the sealing shell, and the second hinge support 67 constitute a swing guide rod mechanism. Figure 6 The axial force transmission of the linear rotating magnetic transmission mechanism 1 drives the wing 3 to move linearly around the outer surface of the sealing shell, thereby changing the length between the wing 3 and the second hinge support 67, as shown. Figure 6 As shown, at this time, the connecting rod 61 will rotate around the first hinge support 68, thereby forming a pitching motion of the wing 3 and changing the aspect ratio, as shown in FIG. Figure 7 The torque transmission of the linear rotating magnetic transmission mechanism 1 drives the wing 3 to rotate around the central axis of the sealed housing, changing the flip angle of the wing 3, such as Figure 8 .

[0050] Specifically, the sealed shell includes an inner isolation sleeve 41, an isolation cylinder 42, a shell 43 and a rear cover 44. The front end of the shell 43 is connected to the isolation cylinder 42, the rear end of the shell 43 is connected to the rear cover 44, and the front end of the isolation cylinder 42 is connected to the inner isolation sleeve 41. The power unit 5 is arranged in the shell 43, the intermediate rotor 12 is arranged in the isolation cylinder 42, the inner isolation sleeve 41 isolates the inner rotor 13 from the intermediate rotor 12, isolates the intermediate rotor 12 in the sealed shell, and isolates the inner rotor 13 outside the sealed shell. The inner isolation sleeve 41, the isolation cylinder 42, the shell 43, and the rear cover 44 are all designed to withstand full sea depth pressure. The rear end of the sealed shell is connected to the whole machine support frame 71, and the whole machine support frame 71 is hinged to the body 2 through the second hinge support 67.

[0051] The connection between the inner isolation sleeve 41 and the isolation cylinder 42, the connection between the isolation cylinder 42 and the housing 43, and the connection between the housing 43 and the rear cover 44 are all provided with sealing rings 45 (46, 47), which are used for static sealing to achieve the purpose of sealing without leakage, thus solving the sealing problem of long-term deep-sea composite transmission. In this embodiment, a watertight connector 48 for controlling the output is provided on the rear cover 44.

[0052] In this embodiment, an inner sliding support frame 72 is disposed in the isolation cylinder 42, and the front end of the inner sliding support frame 72 is connected to the intermediate rotor 12, and the rear end is connected to the output shaft of the power unit 5. The inner sliding support frame 72 can move linearly and rotationally along the axial direction of the isolation cylinder 42 through the power unit 5, thereby driving the intermediate rotor 12 to move.

[0053] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for a person skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to replace some of the technical features therein by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions claimed to be protected by the present invention.

Claims

1. A linear rotary magnetic transmission mechanism, characterized in that: It comprises an outer rotor, an intermediate rotor and an inner rotor, wherein the outer rotor is fixedly connected to the inner rotor; The intermediate rotor comprises an intermediate inner magnetic group arranged on the inner side surface and an intermediate outer magnetic group arranged on the outer side surface; The intermediate inner magnetic group includes a plurality of annular magnets with N poles and S poles arranged alternately in the axial direction; the inner rotor includes an inner magnetic group arranged on the outer side, and the inner magnetic group includes a plurality of annular magnets corresponding to the intermediate inner magnetic group and with opposite magnetic poles; The middle external magnetic group includes a plurality of tile-shaped magnets with N poles and S poles alternately arranged in the circumferential direction; the inner side surface of the outer rotor is provided with an external magnetic group, and the external magnetic group includes a plurality of tile-shaped magnets corresponding to the middle external magnetic group and with opposite magnetic poles.

2. The linear-rotary magnetic transmission mechanism according to claim 1, characterized in that: Each tile-shaped magnet and the annular magnet are magnetized radially, the central angle and axial length corresponding to each tile-shaped magnet are equal, and the diameter and axial length of each annular magnet are equal.

3. A wing-changing device for an underwater vehicle, comprising a body and wings, characterized in that: It also includes the linear rotary magnetic transmission mechanism, sealed housing and power unit as described in any one of claims 1-2, the wing is fixedly connected to the outer rotor and the inner rotor, the power unit and the intermediate rotor are arranged in the sealed housing, and the sealed housing is connected to the body; the power unit is drivingly connected to the intermediate rotor and can drive the intermediate rotor to rotate around the axis and move axially linearly.

4. The wing-changing device according to claim 3, characterized in that: It also includes an adjustment mechanism, which includes a connecting rod and a bearing; the rotating circle of the bearing is fixed to the rear end of the wing; the axis of the bearing coincides with the rotation axis of the wing; the front end of the connecting rod is hinged to the non-rotating circle of the bearing; the rear end of the connecting rod is hinged to the body; and the rear end of the sealed shell is hinged to the body.

5. The wing-changing device according to claim 4, characterized in that: The sealed housing includes an inner isolation sleeve, an isolation cylinder, a housing and a rear cover, wherein the front end of the housing is connected to the isolation cylinder, the rear end of the housing is connected to the rear cover, and the front end of the isolation cylinder is connected to the inner isolation sleeve; the power unit is arranged in the housing, the intermediate rotor is arranged in the isolation cylinder, the inner isolation sleeve isolates the inner rotor from the intermediate rotor, isolates the intermediate rotor in the sealed housing, and isolates the inner rotor from the outer rotor outside the sealed housing.

6. The wing-changing device according to claim 5, characterized in that: Sealing rings are provided at the connection between the inner isolation sleeve and the isolation cylinder, at the connection between the isolation cylinder and the shell, and at the connection between the shell and the rear cover.

7. The wing-changing device according to claim 6, characterized in that: The rear cover is provided with a watertight connector.

8. The wing-changing device according to claim 5, characterized in that: The rear end of the sealed shell is connected with a whole machine support frame, and the whole machine support frame is hinged to the machine body.

9. The wing-changing device according to claim 8, characterized in that: The rear end of the connecting rod is hingedly connected to the machine body through a first hinge support, and the whole machine support frame is hingedly connected to the machine body through a second hinge support.

10. The wing-changing device according to claim 5, characterized in that: A sliding support frame is arranged in the isolation cylinder, the front end of the sliding support frame is connected to the intermediate rotor, and the rear end of the sliding support frame is connected to the power unit.

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