Propulsion device, mobile device in water area and driving method thereof

Abstract

The present application proposes a propulsion device, a movable device in water area and a driving method thereof. The propulsion device provided by the present application includes: a prime mover, provided with a driving shaft, the driving shaft is used to output rotational torque; a driven shaft, arranged coaxially with the driving shaft; a magnetic attraction component, including a first friction disc and a second friction disc, the first friction disc is fixed to one end of the driving shaft, the second friction disc is fixed to the end of the driven shaft close to the driving shaft, and is magnetically attracted to the first friction disc; a propeller is fixed to the end of the driven shaft away from the second friction disc, and the propeller obtains rotational torque through the driven shaft, the magnetic attraction component and the driving shaft. The propulsion device of the present application transmits torque between the driving shaft and the driven shaft by magnetic attraction. The suction force of the magnet does not change with time and daily temperature, which solves the instability problem of the spring-type friction disc. At the same time, it has a simple structure and low cost, and solves the problems of high cost, complex structure and large space occupied by the hydraulic type.

Description

Technical Field

[0001] The present application mainly relates to the field of propeller application technology, and in particular to a propulsion device, a movable device in water area and a driving method thereof. Background Art

[0002] During operation, marine propulsion systems can collide with the rotating impellers in shallow or debris-laden waters. If this happens, the impeller and drive system can be damaged if the connection is rigid. If the propeller is driven directly by a motor, this can cause a sudden change in the motor's operating conditions, generating a large inrush current that can burn out components in the control circuit.

[0003] Therefore, a torque protection device is required between the rotating impeller and the machine's drive components. When the real-time torque exceeds a set value, the master and slave mechanisms should disengage to protect the machine and impeller. Once the abnormality passes, normal function can be quickly restored to ensure the ship's return. Existing torque protection devices are either spring-type or hydraulic, each with significant drawbacks. Spring-type devices experience changes in spring compression force over time and with ambient temperature, affecting system stability. While hydraulic types overcome the shortcomings of spring-type devices, they are complex, require a large layout space, and are costly. Summary of the Invention

[0004] The present application provides a propulsion device, a movable device in water area and a driving method thereof.

[0005] In order to solve the above technical problems, the present application provides a propulsion device, which includes:

[0006] A prime mover is provided with a driving shaft, wherein the driving shaft is used to output a rotational torque;

[0007] A driven shaft is coaxially arranged with the driving shaft;

[0008] The magnetic attraction assembly includes a first friction disk and a second friction disk, wherein the first friction disk is fixed to one end of the driving shaft, and the second friction disk is fixed to one end of the driven shaft close to the driving shaft and is magnetically attracted to the first friction disk;

[0009] A propeller is fixed to the end of the driven shaft away from the second friction disk, and the propeller obtains rotational torque through the driven shaft, the magnetic attraction component and the driving shaft.

[0010] The first friction disc includes a first magnet disc and a first friction plate, and the first magnet disc and the first friction plate are stacked in sequence from the driving shaft to the driven shaft; the friction surface of the first friction plate is in contact with the friction surface of the second friction disc.

[0011] The second friction disc includes a second magnet disc and a second friction plate, and the second magnet disc and the second friction plate are stacked in sequence from the driven shaft to the driving shaft; the friction surface of the second friction plate is in contact with the friction surface of the first friction plate.

[0012] The first friction disc and the second friction disc are electromagnetically matched, and the magnitude of the magnetic force between the first friction disc and the second friction disc can be adjusted according to the rotational torque of the driving shaft;

[0013] The propulsion device further includes a torque detector connected to the prime mover and configured to detect the rotational torque output by the driving shaft.

[0014] The first friction disc and the second friction disc are electromagnetically matched, and the magnitude of the magnetic force between the first friction disc and the second friction disc can be adjusted according to the rotational torque of the driving shaft;

[0015] The propulsion device further includes a torque detector connected to the prime mover and configured to detect the rotational torque output by the driving shaft.

[0016] Among them, the propulsion device also includes a frame and a driver. The frame is used to fix the prime mover, driven shaft, magnetic attraction component and propeller to the equipment body. The driver is electrically connected to the torque detector and the prime mover respectively. The driver is used to generate a drive signal according to the rotational torque detected by the torque detector, and use the drive signal to drive the prime mover to work.

[0017] Wherein, an underwater suspension part is provided in the frame, and the torque detector is provided in the underwater suspension part.

[0018] Among them, the second friction disk includes a third magnet disk and a third friction plate, and the third magnet disk and the third friction plate are stacked in sequence from the driven shaft to the driving shaft. The third magnet disk is arranged in the driven shaft, and the third friction plate is arranged at one end of the driven shaft close to the driving shaft. The third friction plate is in contact with the friction plate of the first friction disk.

[0019] The first friction disk includes a fourth magnet disk and a fourth friction plate, and the fourth magnet disk and the fourth friction plate are stacked in sequence from the driving shaft to the driven shaft; the friction surface of the fourth friction plate is in contact with the friction surface of the second friction disk; the fourth magnet disk is arranged inside the driving shaft, and the fourth friction plate is arranged at one end of the driving shaft close to the driven shaft.

[0020] In order to solve the above technical problems, the present application provides a movable device for water areas, which includes a device body and the above-mentioned propulsion device, wherein the propulsion device is fixedly connected to the device body and is used to provide driving force to the device body.

[0021] To solve the above technical problems, the present application provides a driving method, which is applied to a propulsion device, the propulsion device comprising: a prime mover provided with a driving shaft, the driving shaft being used to output rotational torque; a driven shaft arranged coaxially with the driving shaft; a magnetic attraction assembly comprising a first friction disc and a second friction disc, the first friction disc being fixed to one end of the driving shaft, the second friction disc being fixed to an end of the driven shaft close to the driving shaft, and electromagnetically cooperating with and magnetically attracted to the first friction disc; a propeller being fixed to an end of the driven shaft away from the second friction disc, the propeller obtaining rotational torque via the driven shaft, the magnetic attraction assembly, and the driving shaft;

[0022] The driving method includes:

[0023] Acquiring torque information of the driving shaft;

[0024] generating a driving electrical signal based on the torque information;

[0025] The first friction disk and the second friction disk are controlled to be magnetically attracted to each other according to the driving electrical signal.

[0026] Wherein, the driving method further includes:

[0027] Based on the torque information, obtaining a real-time torque value of the driving shaft;

[0028] When the real-time torque value exceeds a preset torque threshold, outputting the driving electrical signal of the first friction disk and / or the second friction disk is stopped, so that the driving shaft and the driven shaft are separated.

[0029] Wherein, the driving method further includes:

[0030] detecting the distance between the propeller and an obstacle;

[0031] When the distance is less than or equal to a preset threshold, outputting the driving electrical signal of the first friction disk and / or the second friction disk is stopped, so that the driving shaft and the driven shaft are separated.

[0032] Compared with the prior art, the present application has the following advantages: the propulsion device provided by the present application includes: a prime mover having a driving shaft for outputting rotational torque; a driven shaft arranged coaxially with the driving shaft; a magnetic assembly comprising a first friction disc and a second friction disc, the first friction disc being fixed to one end of the driving shaft, the second friction disc being fixed to the end of the driven shaft closer to the driving shaft and magnetically attracted to the first friction disc; and a propeller being fixed to the end of the driven shaft away from the second friction disc, the propeller obtaining rotational torque via the driven shaft, the magnetic assembly, and the driving shaft. The propulsion device of the present application transmits torque between the driving shaft and the driven shaft through magnetic attraction. The magnetic assembly forms a torque protection device that can separate the driving shaft and the driven shaft in the event of an abnormality, protecting the structures of the driving shaft, the driven shaft, and the like from damage. The suction force of the magnetic assembly does not change with time or daily temperature, thus solving the instability problem of spring-type friction discs. At the same time, the magnetic assembly has a simple structure and low cost, solving the problems of high cost, complex structure, and large space occupied by hydraulic types. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without inventive efforts. Among them:

[0034] Figure 1 This is a structural diagram of the first embodiment of the propulsion device provided by this application;

[0035] Figure 2 It is a structural schematic diagram of the second embodiment of the propulsion device provided by this application;

[0036] Figure 3 is a structural schematic diagram of the third embodiment of the propulsion device provided by this application;

[0037] Figure 4 This is a structural diagram of the fourth embodiment of the propulsion device provided by this application;

[0038] Figure 5 This is a structural diagram of an embodiment of a mobile device for water areas provided by the present application;

[0039] Figure 6 This is a flow chart of an embodiment of a driving method provided by the present application;

[0040] Figure 7is a flow chart of another embodiment of the driving method provided by the present application;

[0041] Figure 8 yes Figure 1 A schematic diagram of the separation of the driving shaft and the driven shaft of the propulsion device shown;

[0042] Figure 9 This is a schematic diagram of a framework of an embodiment of a terminal device provided by the present application;

[0043] Figure 10 It is a structural diagram of an embodiment of a computer storage medium provided by this application. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0045] It will be understood by those skilled in the art that, unless expressly stated otherwise, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the description of the present invention refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof. It should be understood that when this application refers to an element being "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may be intermediate elements. In addition, "connected" or "coupled" as used herein may include wireless connections or wireless couplings. The term "and / or" used herein includes all or any one of the units and all combinations of one or more associated listed items.

[0046] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those skilled in the art in the art to which the present invention belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with their meanings in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless specifically defined as herein.

[0047] In response to the above problems of the prior art, this application proposes a propulsion device. For details, please refer to Figure 1 , Figure 1 It is a structural schematic diagram of the first embodiment of the propulsion device provided in this application.

[0048] In the embodiments of this application, Figure 1 As shown, propulsion device 100 includes a prime mover (not shown), which is provided with a drive shaft 111 for outputting rotational torque. The power output of the prime mover includes, but is not limited to, gear transmission output, belt transmission output, and motor direct drive output. The power output of the prime mover is transmitted to other components of propulsion device 100 via drive shaft 111.

[0049] The propulsion device 100 further includes a driven shaft 12, which is coaxially arranged with the driving shaft 111 and connected to a propeller 13, such as the propeller 13 in a marine propulsion system. The rotational torque of the driven shaft 12 is transmitted by the driving shaft 111. To address the problems of the prior art, the propulsion device 100 in the embodiment of the present application combines the driving shaft 111 and the driven shaft 12 by magnetic attraction, thereby transmitting the rotational torque from the driving shaft 111 to the driven shaft 12, thereby rotating the propeller 13. In other words, the propeller 13 rotates under the action of the rotational torque of the driven shaft.

[0050] Specifically, the propulsion device 100 also includes a magnetic assembly 14, which couples the driving shaft 111 and the driven shaft 12 together. The magnetic assembly 14 uses magnetic attraction to hold the driving shaft 111 and the driven shaft 12 together, generating friction through the friction plates within the magnetic assembly 14, thereby providing a channel for transmitting rotational torque. Compared to existing technologies, since the magnetic attraction does not change with time or daily temperature, it effectively solves the instability problem of spring-type friction discs. Simultaneously, the simple structure and low cost address the high cost, complex structure, and large space requirements of hydraulic friction discs.

[0051] Among them, the magnetic attraction component 14 specifically includes a first friction disk 141 and a second friction disk 142. The first friction disk 141 is fixed to one end of the driving shaft 111 close to the driven shaft 12, and the second friction disk 142 is fixed to one end of the driven shaft 12 close to the driving shaft 111. The first friction disk 141 and the second friction disk 142 are magnetically attracted to each other.

[0052] Furthermore, the propeller 13 is fixed to an end of the driven shaft 12 away from the second friction disc, and the propeller 13 obtains rotational torque via the driven shaft 12 , the magnetic attraction assembly 14 and the driving shaft 111 .

[0053] In one specific embodiment, the first friction disc 141 specifically includes a first magnet disc 1411 and a first friction plate 1412. The first magnet disc 1411 and the first friction plate 1412 are stacked sequentially from the driving shaft 111 toward the driven shaft 12, with the first friction plate 1412 disposed on the first magnet disc 1411. The first friction plate 1412 is in contact with the friction surface of the second friction disc 142. The magnetic attraction between the first and second friction discs 141, 142, brings the friction surfaces of the second friction disc 142 and the first friction disc 141 together. The rotational torque on the driving shaft 111 then acts on the contacting friction surfaces, generating friction, which drives the driven shaft 12 to rotate, thereby transmitting the rotational torque.

[0054] Specifically, the second friction disc 142 includes a second magnet disc 1421 and a second friction plate 1422. The second magnet disc 1421 and the second friction disc 1422 are stacked in a direction from the driven shaft 12 to the driving shaft 111. The second friction disc 1422 is disposed on the second magnet disc 1421. The second friction plate 1422 mates with the friction surface of the first friction disc 141. For example, the second friction plate 1422 of the second friction disc 142 can mate with the first friction plate 1421 of the first friction disc 141.

[0055] Among them, the friction plate in the embodiment of the present application can be made of wear-resistant material to ensure the long-term normal operation of the propulsion device 100.

[0056] It should be noted that within the scope of protection of the present application, it is not required that both the first friction disc 141 and the second friction disc 142 be provided with a magnet disc. A magnetic attraction effect can be achieved by providing a magnet disc in at least one of the first friction disc 141 and the second friction disc 142. The specific combination method will not be repeated here.

[0057] For example, a magnet disk is provided in one of the first friction disk 141 or the second friction disk 142, and the other friction disk is made of metal. The magnet disk can be magnetically attracted and combined with the metal friction disk after being energized to generate magnetism.

[0058] In another specific embodiment, a third magnet disk 1431 may also be provided in the driven shaft 12. For details, see Figure 2 , Figure 2 This is a schematic diagram of the structure of the second embodiment of the propulsion device provided by this application. A third magnet disk 1431 is disposed on the driven shaft 12 near the driving shaft 111, and a third friction plate 1432 is provided on the end of the driven shaft 12 near the driving shaft 111. By placing the third magnet disk 1431 within the driven shaft 12, the volume occupied by the magnetic attraction assembly 14 is effectively reduced, improving the internal space utilization of the propulsion device 100.

[0059] In another specific embodiment, a fourth magnet disk 1441 may also be provided in the driving shaft 111. For details, see Figure 3 , Figure 3 This is a schematic diagram of the structure of the third embodiment of the propulsion device provided in this application. A fourth magnet disk 1441 is disposed on the driving shaft 111 near the driven shaft 12, and a fourth friction plate 1442 is provided on the end of the driving shaft 111 near the driven shaft 12. By placing the fourth magnet disk 1441 within the driving shaft 111, the volume occupied by the magnetic attraction assembly 14 can be effectively reduced, thereby improving the internal space utilization of the propulsion device 100.

[0060] In another specific embodiment, the driving shaft 111 may also be provided with a fifth magnetic disk 1451, and the driven shaft 12 may also be provided with a sixth magnetic disk 1461. For details, please refer to Figure 4 , Figure 4 : is a structural schematic diagram of the fourth embodiment of the propulsion device provided in the present application. Among them, the fifth magnet disk 1451 is arranged at a position where the driving shaft 111 is close to the driven shaft 12, and a fifth friction plate 1452 is provided at one end of the driving shaft 111 close to the driven shaft 12. The sixth magnet disk 1461 is arranged at a position where the driven shaft 12 is close to the driving shaft 111, and a sixth friction plate 1462 is provided at one end of the driven shaft 12 close to the driving shaft 111. By arranging the fifth magnet disk 1451 inside the driving shaft 111 and the sixth magnet disk 1461 inside the driven shaft 12, the occupied volume of the magnetic attraction component 14 can be effectively reduced, and the internal space utilization rate of the propulsion device 100 can be improved.

[0061] Furthermore, the first friction disc 141 and the second friction disc 142 in the magnetic attraction assembly 14 of the embodiment of the present application can cooperate electromagnetically, that is, at least one of the first friction disc 141 and the second friction disc 142 is provided with an electromagnet, and the electromagnet can automatically adjust the magnetic force between the first friction disc 141 and the second friction disc 142 by utilizing the characteristic of controlling the magnetic force according to the working current.

[0062] In a specific embodiment, the magnetic force of the first friction disc 141 and the second friction disc 142 can be adjusted according to the rotational torque of the driving shaft 111, thereby providing a magnetic torque protection solution. Specifically, the propulsion device 100 also includes a torque detector (not shown in the figure), wherein the torque detector is connected to the prime mover and can be placed at any position of the propulsion device 100 to detect the rotational torque output by the driving shaft 111. When the rotational torque output by the driving shaft 111 exceeds a preset safety torque threshold, the magnetic force of the first friction disc 141 and the second friction disc 142 can be controlled by current to separate the driving shaft 111 from the driven shaft 12, thereby achieving torque protection.

[0063] Furthermore, the propulsion device 100 also includes a frame (not shown in the figure) and a driver (not shown in the figure). The frame is used to fix the prime mover, the driven shaft 12, the magnetic attraction assembly 14 and the propeller 13 to the device body, and the driver is electrically connected to the torque detector and the prime mover respectively. The driver is used to generate a drive signal based on the rotational torque detected by the torque detector, and use the drive signal to drive the prime mover to work. On the one hand, the drive signal output by the driver can drive the prime mover to adjust the output rotational torque to achieve automatic torque transmission; on the other hand, it can adjust the magnetic force of the first friction disk 141 and the second friction disk 142 to achieve torque protection.

[0064] Furthermore, an underwater suspension portion may be provided in the frame, and the torque detector is provided in the underwater suspension portion, which can effectively protect electrical devices such as the torque detector during underwater operation.

[0065] The propulsion device provided by the present application includes: a prime mover, provided with a driving shaft, the driving shaft is used to output rotational torque; a driven shaft, arranged coaxially with the driving shaft; a magnetic attraction component, including a first friction disc and a second friction disc, the first friction disc being fixed to one end of the driving shaft, the second friction disc being fixed to the end of the driven shaft close to the driving shaft, and being magnetically attracted to the first friction disc; a propeller, fixed to the end of the driven shaft away from the second friction disc, the propeller obtaining rotational torque via the driven shaft, the magnetic attraction component and the driving shaft. The propulsion device of the present application transmits torque between the driving shaft and the driven shaft by magnetic attraction, and the magnetic attraction component forms a torque protection device, which can separate the driving shaft and the driven shaft in the event of an abnormal situation, protecting the structures of the driving shaft and the driven shaft from damage. Moreover, the suction force of the magnetic attraction component does not change with time and daily temperature, which solves the instability problem of the spring-type friction disc. At the same time, the structure is simple and the cost is low, which solves the problems of the hydraulic type with high cost, complex structure and large space occupation.

[0066] based on Figures 1 to 4 The propulsion device shown in the figure, this application also provides a mobile device in water area, such as a ship, etc. Figure 5 , Figure 5 This is a schematic diagram of the structure of an embodiment of a mobile device for water areas provided by this application. The mobile device for water areas can be any type of water transportation vehicle, such as a commercial vessel, passenger ship, yacht, fishing boat, sailboat, civilian ship, etc. It can also be water area inspection equipment, water area management equipment, water area environment monitoring equipment, and other equipment capable of moving in water areas.

[0067] In the embodiments of this application, Figure 5 As shown, the movable device 200 in water area includes a device body 21 and a propulsion device 22. Figure 5Taking the propulsion device 22 as an outboard motor and the device body 21 as a ship as an example, the propulsion device 22 is fixedly connected to the device body 21 and is used to provide propulsion force to the device body 21.

[0068] Specifically, a specific embodiment of the propulsion device 22 can be Figures 1 to 4 The specific structure of the propulsion device shown is not described here in detail.

[0069] based on Figures 1 to 5 The propulsion device shown in the figure, this application also provides a driving method, please refer to Figure 6 , Figure 6 It is a flowchart of an embodiment of the driving method provided by this application.

[0070] like Figure 6 As shown, the driving method of the embodiment of the present application specifically includes the following steps:

[0071] Step S11: Obtain torque information of the driving shaft.

[0072] Step S12: Generate a driving electrical signal based on the torque information.

[0073] Step S13: controlling the first friction disc and the second friction disc to be magnetically attracted to each other according to the driving electrical signal.

[0074] Specifically, the propulsion device can output corresponding current according to the driving electrical signal. After the electromagnets on the first friction disc and / or the second friction disc are energized, the friction surface of the first friction disc and the friction surface of the second friction disc are bonded together under the action of magnetic force through the electromagnets on the first friction disc and / or the second friction disc, thereby realizing the transmission of rotational torque between the driving shaft and the driven shaft.

[0075] based on Figures 1 to 5 The present application also provides another driving method, please refer to Figure 7 , Figure 7 This is a flow chart of another embodiment of the driving method provided by the present application.

[0076] like Figure 7 As shown, the driving method of the embodiment of the present application specifically includes the following steps:

[0077] Step S21: Obtain torque information of the driving shaft.

[0078] Step S22: Based on the torque information, obtain the real-time torque value of the driving shaft.

[0079] Step S23: when the real-time torque value exceeds the preset torque threshold, stop outputting the driving electrical signal of the first friction disk and / or the second friction disk, so as to separate the driving shaft and the driven shaft.

[0080] Specifically, the propulsion device can detect the real-time torque value of the driving shaft using a torque detector, such as a torque sensor. Based on the real-time torque value, the propulsion device can determine whether the rotational torque between the driving shaft and the driven shaft exceeds a preset safety torque threshold. When the rotational torque exceeds the preset safety torque threshold, the propulsion device can control the magnetic force of the first and second friction discs using current, such as by stopping or reducing the output of the driving electrical signal to the first and / or second friction discs, thereby separating the driving shaft from the driven shaft and achieving torque protection.

[0081] Furthermore, the propulsion device can also detect the distance between the propeller and the obstacle; when the distance is less than or equal to a preset threshold, the output of the driving electrical signal of the first friction disk and / or the second friction disk is stopped to separate the driving shaft and the driven shaft. For details, please refer to Figure 8 , Figure 8 yes Figure 1 Schematic diagram of the separation of the driving shaft and the driven shaft of the propulsion device shown, wherein Figure 8 Label and Figure 1 The reference numbers have the same meaning and will not be repeated here.

[0082] In order to implement the driving method based on the propulsion device in the above embodiment, the present application also provides a terminal device 300, see Figure 9 The terminal device 300 of the embodiment of the present application includes a processor 31, a memory 32, an input and output device 33 and a bus 34.

[0083] The processor 31 , the memory 32 , and the input / output device 33 are respectively connected to the bus 34 . The memory 32 stores program data, and the processor 31 is used to execute the program data to implement the driving method described in the above embodiment.

[0084] In the embodiment of the present application, the processor 31 may also be referred to as a CPU (Central Processing Unit). The processor 31 may be an integrated voltage control system chip with signal processing capabilities. The processor 31 may also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated voltage control system (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor may be a microprocessor, or the processor 31 may be any conventional processor.

[0085] This application also provides a computer storage medium, please continue to refer to Figure 10 , Figure 10 4 is a schematic structural diagram of an embodiment of a computer storage medium provided in the present application. The computer storage medium 400 stores program data 41. When the program data 41 is executed by a processor, it is used to implement the driving method of the above embodiment.

[0086] When the embodiments of the present application are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0087] The above description is only an implementation method of the present application and does not limit the patent scope of the present application. Equivalent structures or equivalent process changes made by utilizing the contents of the description and drawings of this application, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A propulsion device, characterized in that: The propulsion device comprises: A prime mover is provided with a driving shaft, wherein the driving shaft is used to output a rotational torque; A driven shaft is coaxially arranged with the driving shaft; The magnetic attraction assembly includes a first friction disk and a second friction disk, wherein the first friction disk is fixed to one end of the driving shaft, and the second friction disk is fixed to one end of the driven shaft close to the driving shaft and is magnetically attracted to the first friction disk; a propeller fixed to an end of the driven shaft away from the second friction disc, the propeller obtaining rotational torque via the driven shaft, the magnetic assembly, and the driving shaft; The propulsion device further includes a torque detector connected to the prime mover and configured to detect the rotational torque output by the driving shaft. The first friction disc and the second friction disc are electromagnetically coupled, and the magnitude of the magnetic force between the first friction disc and the second friction disc can be adjusted according to the rotational torque of the driving shaft. The propulsion device also includes a driver, which is used to stop outputting the driving electrical signal of the first friction disk and / or the second friction disk when the distance between the propeller and the obstacle is less than or equal to a preset threshold, so as to separate the driving shaft and the driven shaft.

2. The propulsion device according to claim 1, characterized in that The first friction disc includes a first magnet disc and a first friction plate, and the first magnet disc and the first friction plate are stacked in sequence from the driving shaft to the driven shaft; the friction surface of the first friction plate is in contact with the friction surface of the second friction disc.

3. The propulsion device according to claim 2, characterized in that The second friction disc includes a second magnet disc and a second friction plate, and the second magnet disc and the second friction plate are stacked in sequence from the driven shaft to the driving shaft; the friction surface of the second friction plate is in contact with the friction surface of the first friction plate.

4. The propulsion device according to claim 2, characterized in that The propulsion device also includes a frame, which is used to fix the prime mover, driven shaft, magnetic attraction assembly and propeller to the equipment body. The driver is electrically connected to the torque detector and the prime mover respectively. The driver is used to generate a drive signal based on the rotational torque detected by the torque detector, and use the drive signal to drive the prime mover to work.

5. The propulsion device according to claim 4, characterized in that: An underwater suspension portion is provided in the frame, and the torque detector is provided in the underwater suspension portion.

6. The propulsion device according to claim 1, characterized in that The second friction disc includes a third magnet disc and a third friction plate. The third magnet disc and the third friction plate are stacked in sequence from the driven shaft to the driving shaft. The third magnet disc is arranged in the driven shaft. The third friction plate is arranged at one end of the driven shaft close to the driving shaft. The third friction plate is in contact with the friction plate of the first friction disc.

7. The propulsion device according to claim 1 or 6, characterized in that: The first friction disk includes a fourth magnet disk and a fourth friction plate, and the fourth magnet disk and the fourth friction plate are stacked in sequence from the driving shaft to the driven shaft; the friction surface of the fourth friction plate is in contact with the friction surface of the second friction disk; wherein, the fourth magnet disk is arranged inside the driving shaft, and the fourth friction plate is arranged at one end of the driving shaft close to the driven shaft.

8. A movable device in water area, characterized in that: The movable device in water area comprises a device body and a propulsion device according to any one of claims 1 to 7, wherein the propulsion device is fixedly connected to the device body and is used to provide a driving force to the device body.

9. A driving method, characterized in that: The driving method is applied to a propulsion device, which includes: a prime mover provided with a driving shaft for outputting rotational torque; a driven shaft coaxially arranged with the driving shaft; a magnetic attraction assembly including a first friction disc and a second friction disc, the first friction disc being fixed to one end of the driving shaft, the second friction disc being fixed to an end of the driven shaft close to the driving shaft, and electromagnetically cooperating with and magnetically attracted to the first friction disc; a propeller fixed to an end of the driven shaft away from the second friction disc, the propeller obtaining rotational torque via the driven shaft, the magnetic attraction assembly, and the driving shaft; the propulsion device also includes a torque detector and a driver, the torque detector being connected to the prime mover; The driving method includes: acquiring torque information of the driving shaft based on the torque detector; generating a driving electrical signal based on the torque information; controlling the magnetic attraction between the first friction disk and the second friction disk according to the driving electrical signal; The driving method further includes: detecting the distance between the propeller and an obstacle; When the distance is less than or equal to a preset threshold, the driver stops outputting the driving electrical signal of the first friction disk and / or the second friction disk, so as to separate the driving shaft and the driven shaft.

10. The driving method according to claim 9, wherein: The driving method further includes: Based on the torque information, obtaining a real-time torque value of the driving shaft; When the real-time torque value exceeds a preset torque threshold, outputting the driving electrical signal of the first friction disk and / or the second friction disk is stopped, so that the driving shaft and the driven shaft are separated.

Images