A vector magnetic coupling thruster combining electromagnetic and permanent magnet

Abstract

This application relates to the technical field of underwater power thrusters, and particularly to a vector magnetic coupling thruster combining electromagnetic and permanent magnets. As the types and operation types of underwater robots and ships are increasing, the performance requirements for underwater thrusters are getting higher and higher. Underwater equipment is immersed in water for a relatively long time. If the sealing performance of the underwater thruster is not good, it will cause equipment failures, resulting in the inability of the underwater equipment to work properly and shortening the service life of the underwater equipment. The underwater permanent magnet coupling thruster that converts dynamic sealing into static sealing has problems such as low transmission efficiency, insufficient transmitted power, and a single transmitted power direction due to the too large gap between the inner and outer rotors. In view of the deficiencies of the prior art, the present invention provides a vector magnetic coupling thruster combining electromagnetic and permanent magnets suitable for underwater power vector propulsion, which realizes vector propulsion of magnetic coupling through a steering gear and compensates for the gap energy loss generated during magnetic coupling vector propulsion through an electromagnet.

Description

Technical Field

[0001] The present application relates to the technical field of underwater propulsion systems, and in particular to a vector magnetic coupling propulsion system combining electromagnetic and permanent magnets. Background Art

[0002] Underwater power units typically use a motor to drive a propeller to generate thrust, thereby powering underwater equipment. Sealing is a key technology for underwater propulsion. While dynamic sealing offers a simple structure, it can be unreliable and require regular replacement of sealing rings. Therefore, underwater propulsion systems generally avoid this method. A better solution to the dynamic sealing problem is magnetic coupling. Magnetic coupling thrusters typically consist of a motor, motor driver, inner rotor, isolation sleeve, and outer rotor, converting power from dynamic seals to static seals. Compared to barrel-type magnetic coupling thrusters, disc-type magnetic coupling thrusters are more compact, but they also suffer from a single power transmission direction and low transmission efficiency due to large transmission gaps. Summary of the Invention

[0003] In response to the shortcomings of the existing technology, the present application provides a vector magnetic coupling thruster that combines electromagnetic and permanent magnets and is suitable for underwater power vector propulsion, so as to at least solve the problems in the related technology of single power transmission direction and low transmission efficiency due to excessive transmission gap.

[0004] In order to achieve the above-mentioned objectives, the present application provides a vector magnetic coupling thruster combining electromagnetic and permanent magnets, including a drive mechanism, a vector propulsion system and a propeller system, wherein the vector propulsion system is provided with an inner rotor and an outer rotor, the drive mechanism is transmission-connected to the inner rotor, and the outer rotor is transmission-connected to the propeller system, the drive mechanism drives the inner rotor to rotate, and the inner rotor drives the outer rotor to rotate through the magnetic field force, thereby driving the propeller system, an electromagnetic compensation system is provided on the inner rotor, and the electromagnetic compensation system is provided with a permanent magnet, an electromagnet, an electronic switch board, a first brush slip ring for inputting current and a second brush slip ring for outputting current, an electromagnetic coil is wound on the electromagnet, and the first brush slip ring, the electronic switch board, the electromagnetic coil and the second brush slip ring are electrically connected.

[0005] In some embodiments, the propeller is provided with a shell, the driving mechanism is fixedly arranged inside the shell, the driving mechanism is transmission-connected to the inner rotor arranged inside the shell through a first coupling, and the outer rotor is arranged outside the shell, and its position corresponds to the inner rotor.

[0006] In some embodiments, the vector propulsion system further includes a steering servo, a support plate, a support mechanism, and a second coupling. The outer rotor is connected to the support mechanism via the second coupling. The steering servo is fixedly arranged at the lower part of the outer shell via the support plate. The steering servo is connected to the support structure via a transmission connection to drive the outer rotor to deflect.

[0007] In some of these embodiments, the propeller system includes a fairing, blades, and a propeller hub. The fairing is fixedly arranged on a support mechanism, and the support mechanism is connected to the blades through the propeller hub. The outer rotor is drivingly connected to the blades through a second coupling.

[0008] In some of these embodiments, a plurality of electromagnets wound with electromagnetic coils are equally spaced along the circumference inside the inner rotor, and the electromagnetic coils wound on adjacent arranged electromagnets have opposite winding directions.

[0009] In some of these embodiments, permanent magnets with the same number as the electromagnets are equally spaced along the circumference inside the inner rotor. The permanent magnets are arranged inside the inner circle of the electromagnets arranged in a circumference, and each permanent magnet is correspondingly arranged with an electromagnet.

[0010] In some of these embodiments, electronic switches corresponding to the number of electromagnets are arranged on the electronic switch board.

[0011] In some of these embodiments, the first brush slip ring is electrically connected to the current input end of the electronic switch board, the second brush slip ring is electrically connected to the current output end of the electromagnetic coil, and the current output end of the electronic switch board is electrically connected to the current input end of the electromagnetic coil.

[0012] In some of these embodiments, current input and output ends corresponding to the first brush slip ring and the second brush slip ring are arranged on the outer shell.

[0013] In some of these embodiments, the drive mechanism is fixedly arranged at the front end inside the outer shell and is drivingly connected to the inner rotor arranged inside the outer shell. Other parts of the vector propulsion system are arranged outside the outer shell and are drivingly connected to the propeller system arranged at the tail of the thruster body.

[0014] According to the above content, the beneficial effects of the technical solution of the present invention compared with the prior art are as follows: The present invention can achieve vector propulsion of a statically sealed underwater thruster, and when the magnetic gap of the magnetic coupling thruster is too large, compensate for the unbalanced power transmission, and increase the reliability and stability of the magnetic coupler during underwater operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings described herein are used to provide a further understanding of the present application and form a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation to the present application. In the drawings:

[0016] Figure 1 is a schematic diagram of the overall structure of an embodiment of the present application;

[0017] Figure 2 is an enlarged schematic diagram of the inner rotor of an embodiment of the present application;

[0018] Figure 3 This is the schematic diagram of the electromagnetic compensation system in the embodiment of the present application.

[0019] Description of the reference numerals in the drawings: driving mechanism 1, housing 2, first coupling 3, inner rotor 41, permanent magnet 42, electromagnet 43, electromagnetic coil 44, first brush slip ring 451, second brush slip ring 452, electronic switch board 46, outer rotor 51, steering servo 52, support plate 53, support mechanism 54, second coupling 55, fairing 61, blade 62, propeller shaft sleeve 63. Detailed implementation manners

[0020] In order to make the objectives, technical solutions and advantages of the present application clearer and more understandable, the present application will be described and explained below in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments provided in the present application without making creative efforts belong to the scope of protection of the present application. In addition, it can also be understood that although the efforts made in the development process may be complex and time-consuming, for those of ordinary skill in the art related to the content disclosed in the present application, some design, manufacturing or production changes made on the basis of the technical content disclosed in the present application are only conventional technical means and should not be understood as insufficient disclosure of the content of the present application.

[0021] Referring to "embodiment" in the present application means that the specific features, structures or characteristics described in combination with the embodiment may be included in at least one embodiment of the present application. The phrase appears in various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those of ordinary skill in the art understand explicitly and implicitly that the embodiments described in the present application can be combined with other embodiments without conflict.

[0022] Unless otherwise defined, the technical or scientific terms used in this application should have the ordinary meaning understood by a person of ordinary skill in the technical field to which this application belongs. The words "one", "a", "the" and the like used in this application do not indicate a limit on quantity and may indicate the singular or plural. The terms "include", "comprise", "have" and any variations thereof used in this application are intended to cover non-exclusive inclusions; for example, a process, method, system, product or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units that are not listed, or may also include other steps or units that are inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like used in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The word "multiple" used in this application means greater than or equal to two. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, "A and / or B" can mean: A exists alone, A and B exist at the same time, and B exists alone. The terms "first", "second", "third" and the like involved in this application are merely used to distinguish similar objects and do not represent a specific ordering of the objects.

[0023] The present application provides a vector magnetic coupling thruster combining electromagnetic and permanent magnets, including a drive mechanism, a vector propulsion system and a propeller system. The vector propulsion system is provided with an inner rotor and an outer rotor. The drive mechanism is transmission-connected to the inner rotor, and the outer rotor is transmission-connected to the propeller system. The drive mechanism drives the inner rotor to rotate, and the inner rotor drives the outer rotor to rotate through the magnetic field force, thereby driving the propeller system. An electromagnetic compensation system is provided on the inner rotor, and the electromagnetic compensation system is provided with a permanent magnet, an electromagnet, an electronic switch board, a first brush slip ring for inputting current and a second brush slip ring for outputting current. An electromagnetic coil is wound around the electromagnet, and the first brush slip ring, the electronic switch board, the electromagnetic coil and the second brush slip ring are electrically connected.

[0024] Implementation example Figure 1 、 Figure 2 and Figure 3 As shown, a vector magnetic coupling propulsion system using electromagnetic and permanent magnets includes a drive mechanism 1, a housing 2, a vector propulsion system, and a propeller system. Specifically, the vector propulsion system includes an inner rotor 41, an outer rotor 51, a steering servo 52, a support plate 53, a support mechanism 54, and a second coupling 55; the propeller system includes a shroud 61, blades 62, and a propeller sleeve 63.

[0025] The drive mechanism 1 is fixedly mounted inside the housing 2, and the inner rotor 41 is disposed therein. The drive mechanism 1 is connected to the inner rotor 41 via a first coupling 3, providing kinetic energy for the propeller. The vector propulsion system, with the exception of the inner rotor 41, is located outside the housing 2. The outer rotor 51 is disposed outside the housing 2 at a position corresponding to the inner rotor 41, allowing the inner rotor 41 to drive the outer rotor 51 to rotate via magnetic field force. The outer rotor 51 is connected to a support structure 54 via a second coupling 55, which supports and secures the outer rotor 51. A steering servo 52 is fixedly mounted at the bottom of the housing 2 via a support plate 53 and is connected to the support structure 54. The steering servo 52 can drive the support structure 54 to deflect, thereby driving the outer rotor 51 for vector propulsion. The propeller shaft 63 is used to connect the vector propulsion system to the blades 62 and also supports and secures the shroud 61. Specifically, the deflector 61 is fixedly mounted on the support mechanism 54 , the support mechanism 54 is connected to the blades 62 via the propeller sleeve 63 , and the outer rotor 51 is connected to the support mechanism 54 via the second coupling 55 , thereby the outer rotor 51 is transmission-connected to the blades 62 .

[0026] Exemplarily, the driving mechanism 1 is fixedly arranged at the front end inside the outer casing 2 and is transmission-connected to the inner rotor 41 arranged inside the outer casing 2. The other parts of the vector propulsion system are arranged outside the outer casing 2. The outer rotor 51 is driven by the inner rotor 41 through the magnetic field force and is transmission-connected to the propeller system arranged at the tail of the propeller body.

[0027] Specifically, an electromagnetic compensation system is provided on the inner rotor 41. The electromagnetic compensation system includes a permanent magnet 42, an electromagnet 43, an electronic switch board 46, a first brush slip ring 451 for inputting current, and a second brush slip ring 452 for outputting current. An electromagnetic coil 44 is wound around the electromagnet 43. The electromagnet 43 is embedded inside the inner rotor 41 and arranged equidistantly along the circumference of the inner rotor 41. The electromagnetic coils 44 wound around adjacent arranged electromagnets 43 have opposite winding directions. At the same time, a number of permanent magnets 42 equal to and corresponding to the number of electromagnets 43 are embedded or arranged in other ways along the circumference inside the inner rotor 41. The permanent magnets 42 are arranged inside or outside the circle of the electromagnets 43 arranged in a circle. A magnetic structure corresponding to the electromagnets 43 and / or permanent magnets 42 provided on the inner rotor 41 is provided on the outer rotor 51. At the same time, the electronic switch board 46 is fixedly arranged on the inner rotor 41. Electronic switches corresponding to the number of electromagnets 43 are provided on the electronic switch board 46. The input current of the electromagnetic coil 44 is controlled through the electronic switches, so as to compensate for the gap energy loss caused by vector propulsion. Among them, the first brush slip ring 451 and the second brush slip ring 452 are arranged along the circumferential surface of the inner rotor 41. The first brush slip ring 451 is electrically connected to the current input end of the electronic switch board 46, the second brush slip ring 452 is electrically connected to the current output end of the electromagnetic coil 44, and the current output end of the electronic switch board 46 is electrically connected to the current input end of the electromagnetic coil 44.

[0028] When the thruster performs vector propulsion, the current flows from the first brush slip ring 451 through the electronic switch board 46 into the electromagnetic coil 44, and then flows out from the second brush slip ring 452. A number of electronic switches corresponding to the number of electromagnets 43 and permanent magnets 42 are distributed on the electronic switch board 46, which are respectively used to connect / disconnect a plurality of electromagnetic coils. When there is a gap loss between the inner rotor 41 and the outer rotor 51, the current of a plurality of electromagnetic coils 44 is controlled respectively by controlling the electronic switch board 46, so as to realize gap loss compensation.

[0029] Preferably, current input ends and current output ends corresponding to the first brush slip ring 451 and the second brush slip ring 452 are provided on the housing 2.

[0030] Preferably, the housing 2 can be set as a sealed housing.

[0031] Preferably, the magnetic structure provided on the outer rotor 51 can be an electromagnet or a permanent magnet.

[0032] Preferably, the inner rotor 41 and the outer rotor 51 have the same diameter.

[0033] Preferably, the number of electromagnets 43 is set to 8 to produce relatively good results. Therefore, the number of corresponding electromagnetic coils 44 and permanent magnets 42 is also 8, and the number of electronic switches distributed on the electronic switch board 46 can also be set to 8.

[0034] Working method and principle: During the working process, the driving mechanism 1 drives the inner rotor 41 to rotate through the first coupling 3. The inner rotor 41 drives the outer rotor 51 to rotate through the magnetic field force. The outer rotor 51 drives the blade 62 to rotate through the support mechanism 54, forming the power transmission chain of the thruster. When the control steering gear 52 drives the outer rotor 51 for vector propulsion, an unequal clearance loss will occur between the inner rotor 41 and the outer rotor 51. At this time, the electromagnetic compensation system 4 can compensate for the unequal clearance loss by controlling the current input of the electromagnetic coil 44 through the electronic switch board 46, so as to achieve the purpose of stable operation of the thruster.

[0035] Those skilled in the art should understand that the technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as these combinations of technical features do not conflict, they should be considered to be within the scope described in this specification.

[0036] The above-described embodiments only represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. An electromagnetic and permanent magnet combined vector magnetic coupling thruster, comprising a driving mechanism (1), a vector propulsion system and a propeller system. The vector propulsion system is provided with an inner rotor (41) and an outer rotor (51). The driving mechanism (1) is in transmission connection with the inner rotor (41), and the outer rotor (51) is in transmission connection with the propeller system. The driving mechanism (1) drives the inner rotor (41) to rotate, and the inner rotor (41) drives the outer rotor (51) to rotate through magnetic field force, so as to drive the propeller system, and is characterized in that: An electromagnetic compensation system is provided on the inner rotor (41). The electromagnetic compensation system is provided with a permanent magnet (42), an electromagnet (43), an electronic switch board (46), a first brush slip ring (451) for inputting current, and a second brush slip ring (452) for outputting current. An electromagnetic coil (44) is wound around the electromagnet (43). A plurality of the electromagnets (43) wound with the electromagnetic coil (44) are equally arranged along the circumference inside the inner rotor (41), and the same number of the permanent magnets (42) as that of the electromagnets (43) are equally arranged along the circumference inside the inner rotor (41). The first brush slip ring (451), the electronic switch board (46), the electromagnetic coil (44), and the second brush slip ring (452) are electrically connected. A magnetic structure corresponding to and cooperating with the electromagnet (43) and / or the permanent magnet (42) on the inner rotor (41) is provided on the outer rotor (51). When gap loss occurs between the inner rotor (41) and the outer rotor (51), the currents of a plurality of the electromagnetic coils (44) are controlled respectively through the electronic switch board (46) to achieve gap loss compensation; The thruster is provided with a housing (2). The driving mechanism (1) is fixedly arranged inside the housing (2). The driving mechanism (1) is in transmission connection with the inner rotor (41) arranged inside the housing (2) through a first coupling (3). The outer rotor (51) is arranged outside the housing (2) and is corresponding in position to the inner rotor (41); The vector propulsion system further includes a steering servo (52), a support plate (53), a support mechanism (54), and a second coupling (55). The outer rotor (51) is connected to the support mechanism (54) through the second coupling (55). The steering servo (52) is fixedly arranged at the lower part of the housing (2) through the support plate (53). The steering servo (52) is in transmission connection with the support mechanism (54) to drive the outer rotor (51) to deflect.

2. The vector magnetic coupling thruster combining electromagnetic and permanent magnets according to claim 1, characterized in that: The propeller system includes a fairing (61), a propeller blade (62), and a propeller shaft sleeve (63). The fairing (61) is fixedly arranged on the support mechanism (54). The support mechanism (54) is connected to the propeller blade (62) through the propeller shaft sleeve (63). The outer rotor (51) is in transmission connection with the propeller blade (62) through the second coupling (55).

3. The vector magnetic coupling thruster combining electromagnetic and permanent magnets according to claim 1, characterized in that: The electromagnetic coils (44) wound around the adjacent arranged electromagnets (43) are wound in opposite directions.

4. The vector magnetic coupling thruster combining electromagnetic and permanent magnets according to claim 3, characterized in that: The permanent magnet (42) is arranged inside the circle of the circumferentially arranged electromagnets (43), and each permanent magnet (42) is correspondingly arranged with an electromagnet (43).

5. The vector magnetic coupling thruster combined with electromagnetic permanent magnet according to claim 3, characterized in that: The electronic switch board (46) is provided with electronic switches corresponding to the number of the electromagnets (43).

6. The vector magnetic coupling thruster combined with electromagnetic permanent magnet according to claim 1, wherein: The first brush slip ring (451) is electrically connected to the current input end of the electronic switch board (46), the second brush slip ring (452) is electrically connected to the current output end of the electromagnetic coil (44), and the current output end of the electronic switch board (46) is electrically connected to the current input end of the electromagnetic coil (44).

7. The vector magnetic coupling thruster combined with electromagnetic permanent magnet according to claim 1, characterized in that: The housing (2) is provided with a current input end and a current output end corresponding to the first brush slip ring (451) and the second brush slip ring (452).

8. The vector magnetic coupling thruster combined with electromagnetic permanent magnet according to claim 1, characterized in that: The driving mechanism (1) is fixedly arranged at the front end inside the housing (2) and is in transmission connection with the inner rotor (41) arranged in the housing (2), and other parts of the vector propulsion system are arranged outside the housing (2) and are in transmission connection with the propeller system arranged at the tail of the thruster body.

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