Magnetic coupling underwater vector propeller based on hybrid mechanism

Abstract

The invention discloses a magnetic coupling underwater vector thruster based on a hybrid mechanism, and relates to the technical field of underwater thrusters, the magnetic coupling underwater vector thruster comprises a supporting mechanism and a magnetic coupling mechanism, the supporting mechanism is provided with a protection mechanism, and the tail of the protection mechanism is provided with a 3RRR parallel vector propulsion mechanism used for adjusting the thrust vector direction of the thruster. One end of the magnetic coupling mechanism is mounted in the protection mechanism, and the other end of the magnetic coupling mechanism is mounted on the 3RRR parallel vector propulsion mechanism; according to the magnetic coupling mechanism, non-physical contact type power transmission is achieved through the magnetic physical characteristics of the outer rotor magnet and the inner rotor magnet, stable and reliable torque transmission is guaranteed, meanwhile, overload protection can be achieved, the reliability of the propeller can be remarkably improved, and the service life of the propeller can be remarkably prolonged.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater propeller, in particular to a magnetic coupling underwater vector propeller based on a hybrid parallel mechanism. BACKGROUND

[0002] With the continuous breakthrough of ocean engineering technology, autonomous underwater vehicles (underwater autonomous vector propeller) have become a key technology for deep sea resource exploration. In order to ensure its high-precision control and maneuvering performance in complex hydrodynamic environment, the innovative design research of the propeller has irreplaceable engineering value.

[0003] Parallel vector propeller has the characteristics of parallel mechanism not easy to have dynamic error, high positioning accuracy, small motion inertia, high stiffness and stable structure, and is widely used in underwater robots. According to the adjustment of the thrust vector of the underwater autonomous vector propeller to meet the pitch and yaw requirements, the mainstream parallel vector propeller mechanism currently adopts a configuration with two rotational degrees of freedom and one moving degree of freedom. However, the parallel mechanism configuration in the prior art does not consider the "tilting" effect caused by the rotational dynamics behavior on the propeller, and still has deficiencies in structural stiffness and space utilization. In addition, the traditional underwater vector propeller also faces the problem of overload protection when overload occurs (such as the propeller being entangled by fishing nets, water grass, etc.). SUMMARY

[0004] In view of the above technical problems, the present application provides a magnetic coupling underwater vector propeller based on a hybrid parallel mechanism, which comprises a supporting mechanism and a magnetic coupling mechanism, a protection mechanism is installed on the supporting mechanism, a 3RRR parallel vector propelling mechanism for adjusting the direction of the thrust vector of the propeller is installed at the tail of the protection mechanism, one end of the magnetic coupling mechanism is installed inside the protection mechanism, and the other end of the magnetic coupling mechanism is installed on the 3RRR parallel vector propelling mechanism.

[0005] Further, the magnetic coupling mechanism comprises a propeller, an inner rotor shaft, an inner rotor, a magnetic coupling isolation sleeve, an outer rotor and a motor two, the propeller is rotatably installed in the 3RRR parallel vector propulsion mechanism, one end of the inner rotor shaft is rotatably installed in the 3RRR parallel vector propulsion mechanism, the other end of the inner rotor shaft is rotatably installed in the protection mechanism, the propeller and the inner rotor shaft are connected through the universal joint assembly, the universal joint assembly is rotatably installed on the 3RRR parallel vector propulsion mechanism near one end of the inner rotor shaft, the magnetic coupling isolation sleeve and the motor two are fixedly installed in the protection mechanism, the outer rotor is rotatably installed in the protection mechanism, a plurality of outer rotor magnets are uniformly and circularly spaced on the outer rotor, the inner rotor is fixedly installed on one end of the inner rotor shaft close to the protection mechanism, a plurality of inner rotor magnets are fixedly and circularly installed on the inner rotor, the inner rotor magnets are arranged inside the magnetic coupling isolation sleeve, the outer rotor magnets are arranged outside the magnetic coupling isolation sleeve, the outer rotor magnets and the inner rotor magnets are in gap cooperation with the magnetic coupling isolation sleeve, the plurality of outer rotor magnets and the plurality of inner rotor magnets are arranged one-to-one, the outer rotor is fixedly connected with the output shaft of the motor two, and the inner rotor magnets and the outer rotor magnets have opposite magnetic poles on the sides close to each other.

[0006] Further, the protection mechanism comprises a support cylinder, a support plate, a streamlined head, a cover plate and an end head, the cover plate is fixedly installed on the support mechanism through the end head, a sealing ring eight is arranged at the joint of the cover plate and the end head, the support cylinder is fixedly installed at one end of the cover plate away from the propeller, the streamlined head is fixedly installed at one end of the support cylinder away from the cover plate through the support plate, the streamlined head has a streamlined shape to reduce resistance when working in water, a sealing ring seven is arranged at the joint of the support cylinder and the support plate, and a sealing ring six is arranged at the joint of the support plate and the streamlined head.

[0007] Further, the 3RRR parallel vector propulsion mechanism comprises a rotating frame one, a driven rod, a rotating frame two, a rotating frame three, a support frame and a power mechanism, the rotating frame one, the rotating frame two and the rotating frame three are all installed on the power mechanism, the support frame is uniformly provided with three linkage rods in a circumferential shape, the driven rod is provided with three, both ends of each driven rod are provided with a bolt assembly and a bearing five, one end of the first driven rod is hinged to the rotating frame one through the bolt assembly and the bearing five, the other end of the first driven rod is hinged to the first linkage rod through the bolt assembly and the bearing five, one end of the second driven rod is hinged to the rotating frame two through the bolt assembly and the bearing five, the other end of the second driven rod is hinged to the second linkage rod through the bolt assembly and the bearing five, one end of the third driven rod is hinged to the rotating frame three through the bolt assembly and the bearing five, the other end of the third driven rod is hinged to the third linkage rod through the bolt assembly and the bearing five, the rotating frame one, the rotating frame two and the rotating frame three are driven by the power mechanism to drive the support frame to move through the corresponding driven rod and linkage rod, so as to adjust the posture of the support frame.

[0008] Further, the power mechanism comprises a sealing plate, a motor one, a support base one, a support base two and a support base three, the motor one and the support base one are fixedly installed on the support mechanism, the motor one is provided with three, a driving shaft one is fixedly installed on the output shaft of the first motor one, one end of the driving shaft one away from the motor one is fixedly installed with a gear one, a driving shaft two is fixedly installed on the output shaft of the second motor one, one end of the driving shaft two away from the motor one is fixedly installed with a gear two, a driving shaft three is fixedly installed on the output shaft of the third motor one, one end of the driving shaft three away from the motor one is fixedly installed with a gear three, the support base two is fixedly installed on the support base one, the support base three is fixedly installed on the support base two, the sealing plate is fixedly installed on the support base three, the rotating frame one is rotatably installed on the support base three, the rotating frame one is rotatably connected with the sealing plate, the rotating frame two is rotatably installed on the support base two, the rotating frame two is rotatably connected with the support base three, the rotating frame three is rotatably installed on the support base one, the rotating frame three is rotatably connected with the support base two, the driving shaft one is rotatably connected with the support base one, the support base two and the support base three, the driving shaft two is rotatably connected with the support base one and the support base two, the driving shaft three is rotatably connected with the support base one, the rotating frame one is provided with a gear ring one, the gear one is meshedly connected with the gear ring one, the rotating frame two is provided with a gear ring two, the gear two is meshedly connected with the gear ring two, the rotating frame three is provided with a gear ring three, the gear three is meshedly connected with the gear ring three, the support base one is provided with an avoiding groove one, the support base two is provided with an avoiding groove two, the support base three is provided with an avoiding groove three, the gear one is arranged in the avoiding groove one, the gear two is arranged in the avoiding groove two, and the gear three is arranged in the avoiding groove three.

[0009] Further, the propeller is rotatably installed in the support frame, a bearing nine is arranged between the propeller and the support frame, one end of the inner rotor shaft is rotatably installed in the sealing plate, the other end of the inner rotor shaft is rotatably installed in the support cylinder, a bearing four and a sealing ring three are arranged between the inner rotor shaft and the sealing plate, a bearing eight is arranged between the inner rotor shaft and the support cylinder, a bearing four is arranged between the inner rotor shaft and the head, a sealing ring nine is arranged between the inner rotor shaft and the support base two, and between the inner rotor shaft and the support base three, the universal coupling assembly is rotatably connected with the sealing plate through the bearing one, the magnetic coupling isolation sleeve is fixedly installed in the support cylinder, a bearing six is arranged between the inner rotor and the magnetic coupling isolation sleeve, the outer rotor is rotatably installed in the support plate, a bearing seven is arranged between the outer rotor and the support plate, and the motor two is fixedly installed in the support plate; the universal coupling assembly comprises a universal joint one, a cross shaft and a universal joint two, the universal joint one and the universal joint two are connected through the cross shaft, the universal joint one is fixedly connected with the propeller, the universal joint two is fixedly connected with the inner rotor shaft, the universal joint two is installed on the sealing plate, and the bearing one is arranged at the connection between the universal joint two and the sealing plate.

[0010] Further, the support base three, the support base two and the support base one are arranged with a bearing three between the support base three and the rotating frame one, between the support base two and the rotating frame two, and between the support base one and the rotating frame three, a sealing ring one is arranged outside the bearing two, the support base one, the support base two and the support base three are arranged with a bearing three between the support base one and the driving shaft one, between the support base two and the driving shaft two, and between the support base one and the driving shaft three, a sealing ring two is arranged at the connection between the support base one and the head.

[0011] Further, the support mechanism comprises a base, a rack, a control module, a motor three, a rotating seat one and a rotating seat two, the base is fixedly installed on the rack, a sealing ring four is arranged at the connection between the base and the rack, the control module and the motor three are fixedly installed in the base, the rotating seat one and the rotating seat two are rotatably installed in the base, the rotating seat one is fixedly connected with the output shaft of the motor three, the rotating seat two is fixedly installed on the rotating seat one, a bearing ten is arranged between the rotating seat one and the base, and a sealing ring five is arranged between the rotating seat two and the base; the motor one, the motor two and the motor three are connected with the control module, the rack is used for being connected with an external machine used for underwater work, the control module is connected with an external control system, and the external control system realizes control on the motor one, the motor two and the motor three through the control module.

[0012] Compared with the prior art, the present application has the following beneficial effects: (1) The present application can balance the overturning moment and the adjustment of the sailing angle caused by the rotation of the propeller by driving the corresponding driven rods and the connecting rods through the driving of the rotating frame one, the rotating frame two and the rotating frame three, and then driving the supporting frame to rotate. (2) The rotating frame one, the rotating frame two and the rotating frame three of the 3RRR parallel vector propulsion mechanism in the present application are all non-traditional curved rod structures, thereby improving the structural stiffness and being more suitable for complex underwater working conditions. At the same time, the gear ring one, the gear ring two and the gear ring three are respectively connected with the gear one, the gear two and the gear three through internal meshing, which is smaller than the radial size of the mechanism compared with the external meshing connection mode in the prior art, thereby improving the space utilization rate of the propeller. (3) The magnetic coupling mechanism in the present application realizes non-physical contact power transmission through the magnetic physical properties of the outer rotor magnet and the inner rotor magnet, effectively eliminates the wear problem caused by mechanical contact, and can realize overload protection. When the propeller is accidentally stuck or overloaded, the outer rotor magnet and the inner rotor magnet will slip, thereby protecting the motor two and the inner rotor shaft, the inner rotor, the magnetic coupling isolation sleeve and the outer rotor from being damaged, ensuring stable and reliable torque transmission, and significantly improving the reliability and service life of the propeller. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 It is a schematic diagram of the overall structure of the present application.

[0014] Figure 2 It is a schematic diagram of the 3RRR parallel vector propulsion mechanism structure of the present application.

[0015] Figure 3 It is a schematic diagram of the 3RRR parallel vector propulsion mechanism structure of the present application. Figure 1 .

[0016] Figure 4 It is a schematic diagram of the 3RRR parallel vector propulsion mechanism structure of the present application. Figure 2 .

[0017] Figure 5 It is a schematic diagram of the 3RRR parallel vector propulsion mechanism structure of the present application. Figure 3 .

[0018] Figure 6 It is a schematic diagram of the magnetic coupling mechanism structure of the present application. Figure 1 .

[0019] Figure 7 It is a schematic diagram of the magnetic coupling mechanism structure of the present application. Figure 2 .

[0020] Figure 8 It is a schematic diagram of the magnetic coupling mechanism structure of the present application. Figure 3 .

[0021] Figure 9 A partial structure diagram of the magnetic coupling mechanism of the present application Figure 4 .

[0022] Figure 10 A partial structure diagram of the present application.

[0023] Figure 11 A partial structure diagram of the present application Figure 10 along the direction of A-A.

[0024] Figure 12 A partial structure diagram of the present application Figure 11 at B.

[0025] Figure 13 A partial structure diagram of the present application Figure 11 at C.

[0026] Figure 14 A partial structure diagram of the present application

[0027] Figure 15 A partial structure diagram of the present application

[0028] Reference numerals: 101 - rotating frame one; 102 - bolt assembly; 103 - driven rod; 104 - rotating frame two; 105 - rotating frame three; 106 - support frame; 107 - connecting rod; 108 - gear one; 109 - gear ring one; 110 - gear two; 111 - gear ring two; 112 - gear three; 113 - gear ring three; 114 - cover plate; 115 - bearing one; 116 - bearing two; 117 - bearing three; 118 - motor one; 119 - bearing four; 120 - sealing ring one; 121 - driving shaft one; 122 - driving shaft two; 123 - driving shaft three; 124 - support seat one; 125 - support seat two; 126 - support seat three; 127 - sealing ring two; 128 - sealing ring three; 129 - bearing five; 130 - sealing ring nine; 201 - propeller; 202 - universal coupling assembly; 203 - inner rotor shaft; 204 - inner rotor; 205 - magnetic coupling isolation sleeve; 206 - outer rotor magnet; 207 - outer rotor; 208 - inner rotor magnet; 209 - motor two; 210 - bearing six; 211 - bearing seven; 212 - bearing eight; 213 - bearing nine; 301 - base; 302 - frame; 303 - control module; 304 - sealing ring four; 305 - motor three; 306 - rotating seat one; 307 - sealing ring five; 308 - rotating seat two; 309 - bearing ten; 401 - support cylinder; 402 - support plate; 403 - streamlined head; 404 - cover plate; 405 - end cover; 406 - sealing ring six; 407 - sealing ring seven; 408 - sealing ring eight. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application will be described in detail below with reference to the drawings and specific embodiments.

[0030] Embodiment: As shown in the figure, the present application provides a magnetic coupling underwater vector propeller based on a hybrid mechanism, comprising a supporting mechanism and a magnetic coupling mechanism, a protection mechanism is installed on the supporting mechanism, a 3RRR parallel vector propulsion mechanism for adjusting the thrust vector direction of the propeller is installed at the tail of the protection mechanism, one end of the magnetic coupling mechanism is installed inside the protection mechanism, and the other end of the magnetic coupling mechanism is installed on the 3RRR parallel vector propulsion mechanism. Figures 1-15

[0031] The magnetic coupling mechanism comprises a propeller 201, a universal joint assembly 202, an inner rotor shaft 203, an inner rotor 204, a magnetic coupling isolation sleeve 205, an outer rotor 207 and a motor two 209, the propeller 201 is rotatably installed in the 3RRR parallel vector propulsion mechanism, one end of the inner rotor shaft 203 is rotatably installed in the 3RRR parallel vector propulsion mechanism, the other end of the inner rotor shaft 203 is rotatably installed in the protection mechanism, the propeller 201 and the inner rotor shaft 203 are connected through the universal joint assembly 202, one end of the universal joint assembly 202 close to the inner rotor shaft 203 is rotatably installed on the 3RRR parallel vector propulsion mechanism, the magnetic coupling isolation sleeve 205 and the motor two 209 are fixedly installed in the protection mechanism, the outer rotor 207 is rotatably installed in the protection mechanism, a plurality of outer rotor magnets 206 are fixedly and uniformly spaced in a circumferential manner on the outer rotor 207, the inner rotor 204 is fixedly installed on one end of the inner rotor shaft 203 close to the protection mechanism, a plurality of inner rotor magnets 208 are fixedly and uniformly spaced in a circumferential manner on the inner rotor 204, the inner rotor magnets 208 are arranged inside the magnetic coupling isolation sleeve 205, the outer rotor magnets 206 are arranged outside the magnetic coupling isolation sleeve 205, the outer rotor magnets 206 and the inner rotor magnets 208 are in gap cooperation with the magnetic coupling isolation sleeve 205, the plurality of outer rotor magnets 206 and the plurality of inner rotor magnets 208 are one-to-one corresponding, the outer rotor 207 is fixedly connected with the output shaft of the motor two 209, and the inner rotor magnets 208 and the outer rotor magnets 206 have opposite magnetic poles on the side close to each other; in this embodiment, the arrangement mode of the magnetic poles of the inner rotor magnets 208 and the outer rotor magnets 206 is as shown in the figure. Figure 9

[0032] In the present application, the magnetic coupling mechanism realizes non-physical contact torque transmission through the magnetic physical properties of the outer rotor magnets 206 and the inner rotor magnets 208, and can also realize overload protection effect, when the propeller 201 is accidentally stuck or overloaded, the outer rotor magnets 206 and the inner rotor magnets 208 will slip, thereby protecting the motor two 209 and the inner rotor shaft 203, the inner rotor 204, the magnetic coupling isolation sleeve 205 and the outer rotor 207 from being damaged. ​​

[0033] When the load is below the rated load, the outer rotor magnet 206 is coupled with the inner rotor magnet 208 through the interaction of the magnets, and the two are kept synchronous rotation, so that the torque is effectively transmitted; when overload occurs (such as the propeller being entangled by fishing nets, water grass, etc.), the load torque of the propeller 201 transmitted to the inner rotor magnet 208 through the universal joint assembly 202 and the inner rotor shaft 203 abnormally increases, the outer rotor magnet 206 and the inner rotor magnet 208 will slip, and the reaction torque transmitted to the output shaft of the motor two 209 is limited to the maximum torque value that can be transmitted, and will not increase with the increase of the load. Therefore, the output shaft of the motor two 209 will not be stopped, and the motor two 209 is prevented from being burned due to overcurrent. At the same time, once the overload is removed, the load torque of the propeller 201 decreases. When the load torque is less than the maximum torque value that can be transmitted again, the outer rotor magnet 206 and the inner rotor magnet 208 will be re-coupled, so that they return to the state of synchronous rotation with the output shaft of the motor two 209; thereby the power transmission from the output shaft of the motor two 209 to the propeller 201 is realized through the non-physical contact interaction of the magnets, effectively eliminating the wear problem caused by mechanical contact, and also realizing stable and reliable torque transmission, while maintaining efficient power transmission, the reliability and service life of the propeller are also significantly improved.

[0034] The protection mechanism includes a support cylinder 401, a support plate 402, a streamlined head 403, a cover plate 404 and an end cover 405, the cover plate 404 is fixedly installed on the support mechanism through the end cover 405, a sealing ring eight 408 is arranged at the connection between the cover plate 404 and the end cover 405, the support cylinder 401 is fixedly installed at one end of the cover plate 404 away from the propeller 201, the streamlined head 403 is fixedly installed at one end of the support cylinder 401 away from the cover plate 404 through the support plate 402, the shape of the streamlined head 403 is streamlined to reduce the resistance when working in water, a sealing ring seven 407 is arranged at the connection between the support cylinder 401 and the support plate 402, and a sealing ring six 406 is arranged at the connection between the support plate 402 and the streamlined head 403.

[0035] 3RRR parallel vector propulsion mechanism includes rotating frame one 101, driven rod 103, rotating frame two 104, rotating frame three 105, support frame 106 and power mechanism, rotating frame one 101, rotating frame two 104 and rotating frame three 105 are all installed on the power mechanism, support frame 106 is uniformly distributed with three connecting rods 107 in a circular manner, driven rod 103 is provided with three, both ends of each driven rod 103 are provided with bolt assembly 102 and bearing five 129, one end of the first driven rod 103 is hinged with rotating frame one 101 through bolt assembly 102 and bearing five 129, the other end of the first driven rod 103 is hinged with the first connecting rod 107 through bolt assembly 102 and bearing five 129, one end of the second driven rod 103 is hinged with rotating frame two 104 through bolt assembly 102 and bearing five 129, the other end of the second driven rod 103 is hinged with the second connecting rod 107 through bolt assembly 102 and bearing five 129, one end of the third driven rod 103 is hinged with rotating frame three 105 through bolt assembly 102 and bearing five 129, the other end of the third driven rod 103 is hinged with the third connecting rod 107 through bolt assembly 102 and bearing five 129, the power mechanism is used to drive rotating frame one 101, rotating frame two 104 and rotating frame three 105 to drive support frame 106 to move through corresponding driven rod 103 and connecting rod 107, so as to adjust the posture of support frame 106; in the embodiment, rotating frame one 101, rotating frame two 104 and rotating frame three 105 all adopt the structure form of setting straight rods on a circular ring (non-traditional curved rods, such as Figures 1-4 ).

[0036] In the application, rotating frame one 101, rotating frame two 104 and rotating frame three 105 of the 3RRR parallel vector propulsion mechanism are all non-traditional curved rod structures, so that the structural rigidity is improved, and the underwater complex working conditions, such as the ocean current resistance and the collision of marine organisms during navigation, can be better adapted; meanwhile, gear ring one 109, gear ring two 111 and gear ring three 113 are respectively connected with gear one 108, gear two 110 and gear three 112 in meshing, so that the transmission components realize efficient coupling inside the 3RRR parallel vector propulsion mechanism, compared with the meshing connection mode in the prior art, the radial size of the mechanism is reduced, and then the space utilization rate of the propeller is improved; the application can drive corresponding driven rod 103 and connecting rod 107 to drive the rotation of support frame 106 through the driving of rotating frame one 101, rotating frame two 104 and rotating frame three 105, so as to balance the overturning moment generated by the rotation of the propeller.

[0037] The power mechanism comprises a sealing plate 114, three motors 118, a support base 124, a support base 125 and a support base 126. The motors 118 and the support base 124 are fixedly installed on the supporting mechanism. The first motor 118 is provided with an output shaft, on which a driving shaft 121 is fixedly installed. The driving shaft 121 is fixedly installed with a gear 108 at one end away from the motor 118. The second motor 118 is provided with an output shaft, on which a driving shaft 122 is fixedly installed. The driving shaft 122 is fixedly installed with a gear 110 at one end away from the motor 118. The third motor 118 is provided with an output shaft, on which a driving shaft 123 is fixedly installed. The driving shaft 123 is fixedly installed with a gear 112 at one end away from the motor 118. The support base 125 is fixedly installed on the support base 124. The support base 126 is fixedly installed on the support base 125. The sealing plate 114 is fixedly installed on the support base 126. A rotating frame 101 is rotatably installed on the support base 126. The rotating frame 101 is rotatably connected with the sealing plate 114. A rotating frame 104 is rotatably installed on the support base 125. The rotating frame 104 is rotatably connected with the support base 126. A rotating frame 105 is rotatably installed on the support base 124. The rotating frame 105 is rotatably connected with the support base 125. The driving shaft 121 is rotatably connected with the support base 124, the support base 125 and the support base 126. The driving shaft 122 is rotatably connected with the support base 124 and the support base 125. The driving shaft 123 is rotatably connected with the support base 124. The rotating frame 101 is provided with a gear ring 109. The gear 108 is meshedly connected with the gear ring 109. The rotating frame 104 is provided with a gear ring 111. The gear 110 is meshedly connected with the gear ring 111. The rotating frame 105 is provided with a gear ring 113. The gear 112 is meshedly connected with the gear ring 113. The support base 124 is provided with an avoiding slot 1. The support base 125 is provided with an avoiding slot 2. The support base 126 is provided with an avoiding slot 3. The gear 108 is arranged in the avoiding slot 1. The gear 110 is arranged in the avoiding slot 2. The gear 112 is arranged in the avoiding slot 3.

[0038] The propeller 201 is rotatably installed in the support frame 106, and a bearing nine 213 is arranged between the propeller 201 and the support frame 106. One end of the inner rotor shaft 203 is rotatably installed in the sealing plate 114, and the other end of the inner rotor shaft 203 is rotatably installed in the support cylinder 401. A bearing four 119 and a sealing ring three 128 are arranged between the inner rotor shaft 203 and the sealing plate 114. A bearing eight 212 is arranged between the inner rotor shaft 203 and the support cylinder 401. A bearing four 119 is arranged between the inner rotor shaft 203 and the sealing head 405 and between the inner rotor shaft 203 and the support base one 124. A sealing ring nine 130 is arranged between the inner rotor shaft 203 and the support base two 125 and between the inner rotor shaft 203 and the support base three 126. The universal joint assembly 202 is rotatably connected to the sealing plate 114 through a bearing one 115. The magnetic coupling isolation sleeve 205 is fixedly installed in the support cylinder 401. A bearing six 210 is arranged between the inner rotor 204 and the magnetic coupling isolation sleeve 205. The outer rotor 207 is rotatably installed in the support plate 402. A bearing seven 211 is arranged between the outer rotor 207 and the support plate 402. The motor two 209 is fixedly installed in the support plate 402. The universal joint assembly 202 includes a universal joint one, a cross shaft, and a universal joint two. The universal joint one and the universal joint two are connected through the cross shaft. The universal joint one is fixedly connected to the propeller 201. The universal joint two is fixedly connected to the inner rotor shaft 203. The universal joint two is installed on the sealing plate 114. The bearing one 115 is arranged at the connection between the universal joint two and the sealing plate 114.

[0039] A bearing two 116 and a sealing ring one 120 are arranged between the support base three 126 and the rotating frame one 101, between the support base two 125 and the rotating frame two 104, and between the support base one 124 and the rotating frame three 105. The sealing ring one 120 is arranged outside the bearing two 116. A bearing three 117 is arranged between the support base one 124, the support base two 125, the support base three 126, and the driving shaft one 121. A bearing three 117 is arranged between the support base one 124, the support base two 125, and the driving shaft two 122. A bearing three 117 is arranged between the support base one 124 and the driving shaft three 123. A sealing ring two 127 is arranged at the connection between the support base one 124 and the sealing head 405.

[0040] The supporting mechanism comprises a base 301, a rack 302, a control module 303, a motor three 305, a rotating seat one 306 and a rotating seat two 308, the base 301 is fixedly installed on the rack 302, a sealing ring four 304 is arranged at the connecting position of the base 301 and the rack 302, the control module 303 and the motor three 305 are both fixedly installed in the base 301, the rotating seat one 306 and the rotating seat two 308 are both rotatably installed in the base 301, the rotating seat one 306 is fixedly connected with the output shaft of the motor three 305, the rotating seat two 308 is fixedly installed on the rotating seat one 306, a bearing ten 309 is arranged between the rotating seat one 306 and the base 301, and a sealing ring five 307 is arranged between the rotating seat two 308 and the base 301; the motor one 118, the motor two 209 and the motor three 305 are all connected with the control module 303, the rack 302 is used for being connected with an external machine used for underwater work, the control module 303 is connected with an external control system, and the external control system realizes control on the motor one 118, the motor two 209 and the motor three 305 through the control module 303.

[0041] The working principle of the present application is that the whole propeller is installed on the machine used for underwater work through the rack 302, the external control system sends a control signal to the motor three 305 through the control module 303, the output shaft of the motor three 305 drives the rotating seat two 308 to rotate through the rotating seat one 306, the rotating seat two 308 drives the remaining components of the propeller except the supporting mechanism to rotate through the supporting cylinder 401, and then the postures of the remaining components except the supporting mechanism relative to the underwater working machine are adjusted.

[0042] The external control system sends a control signal to the motor two 209 through the control module 303, the output shaft of the motor two 209 drives the outer rotor 207 to rotate, the outer rotor 207 drives the outer rotor magnet 206 to rotate, the outer rotor magnet 206 drives the inner rotor magnet 208 to rotate through magnetic force, the inner rotor magnet 208 drives the inner rotor shaft 203 to rotate through the inner rotor 204, the inner rotor shaft 203 drives the propeller 201 to rotate through the universal coupling assembly 202, and the rotation of the propeller 201 provides power for the whole propeller to sail underwater.

[0043] The external control system sends corresponding control signals to the plurality of motors 118 through the control module 303; the output shaft of the first motor 118 drives the gear 108 to rotate through the driving shaft 121, while the output shaft of the second motor 118 drives the gear 110 to rotate through the driving shaft 122, and the third motor 118 drives the gear 112 to rotate through the driving shaft 123; the gear 108 drives the rotating frame 101 to rotate through the gear ring 109, the rotating frame 101 drives the support frame 106 to rotate through the corresponding driven rods 103 and connecting rods 107, the gear 110 drives the rotating frame 104 to rotate through the gear ring 111, the rotating frame 104 drives the support frame 106 to rotate through the corresponding driven rods 103 and connecting rods 107, the gear 112 drives the rotating frame 105 to rotate through the gear ring 113, and the rotating frame 105 drives the support frame 106 to rotate through the corresponding driven rods 103 and connecting rods 107.

[0044] The rotation of the support frame 106 is adjusted to balance the overturning moment generated by the rotation of the propeller; when the angle of the propeller needs to be adjusted, the angle of the propeller to be adjusted and the amplitude of the rotation required to balance the overturning moment generated by the rotation of the propeller are adjusted to adjust the amplitude of the rotation of the support frame 106 (according to the actual application scene, the amplitude of the rotation of the support frame 106 is calculated by the external control system); when the support frame 106 drives the propeller 201 to adjust the angle, the propeller 201 drives the universal joint to swing, thereby completing the adjustment of the sailing angle of the propeller.

Claims

1. A magnetic coupling underwater vector thruster based on a hybrid mechanism, characterized in that, The support mechanism is provided with a protection mechanism, the tail of the protection mechanism is provided with a 3RRR parallel vector propulsion mechanism for adjusting the thrust vector direction of the propeller, one end of the magnetic coupling mechanism is installed in the protection mechanism, and the other end of the magnetic coupling mechanism is installed on the 3RRR parallel vector propulsion mechanism.

2. The hybrid mechanism based magnetic coupling underwater vector thruster of claim 1, wherein, The magnetic coupling mechanism comprises a propeller (201), an inner rotor shaft (203), an inner rotor (204), a magnetic coupling isolation sleeve (205), an outer rotor (207) and a motor two (209), the propeller (201) is rotationally installed in the 3RRR parallel vector propulsion mechanism, one end of the inner rotor shaft (203) is rotationally installed in the 3RRR parallel vector propulsion mechanism, the other end of the inner rotor shaft (203) is rotationally installed in the protection mechanism, the propeller (201) and the inner rotor shaft (203) are connected through a universal coupling assembly (202), one end of the universal coupling assembly (202) close to the inner rotor shaft (203) is rotationally installed on the 3RRR parallel vector propulsion mechanism, the magnetic coupling isolation sleeve (205) and the motor two (209) are fixedly installed in the protection mechanism, the outer rotor (207) is rotationally installed in the protection mechanism, a plurality of outer rotor magnets (206) are fixedly and uniformly spaced in a circumferential shape on the outer rotor (207), the inner rotor (204) is fixedly installed on one end of the inner rotor shaft (203) close to the protection mechanism, a plurality of inner rotor magnets (208) are fixedly and uniformly spaced in a circumferential shape on the inner rotor (204), the inner rotor magnets (208) are arranged inside the magnetic coupling isolation sleeve (205), the outer rotor magnets (206) are arranged outside the magnetic coupling isolation sleeve (205), the outer rotor magnets (206) and the inner rotor magnets (208) are in gap cooperation with the magnetic coupling isolation sleeve (205), the plurality of outer rotor magnets (206) and the plurality of inner rotor magnets (208) are arranged in one-to-one correspondence, the outer rotor (207) is fixedly connected with the output shaft of the motor two (209), and the inner rotor magnets (208) and the outer rotor magnets (206) have opposite magnetic poles on the sides close to each other.

3. The hybrid mechanism based magnetic coupling underwater vector thruster of claim 2, wherein, The protection mechanism includes a support cylinder (401), a support plate (402), a streamlined head (403), a cover plate (404) and a sealing head (405), the cover plate (404) is fixedly installed on the support mechanism through the sealing head (405), a sealing ring eight (408) is arranged at the joint of the cover plate (404) and the sealing head (405), the support cylinder (401) is fixedly installed at one end of the cover plate (404) away from the propeller (201), the streamlined head (403) is fixedly installed at one end of the support cylinder (401) away from the cover plate (404) through the support plate (402), the streamlined head (403) is streamlined in shape to reduce the resistance when working in water, a sealing ring seven (407) is arranged at the joint of the support cylinder (401) and the support plate (402), and a sealing ring six (406) is arranged at the joint of the support plate (402) and the streamlined head (403).

4. The hybrid mechanism based magnetic coupling underwater vector thruster of claim 3, wherein, The 3RRR parallel vector propulsion mechanism includes a rotating frame one (101), a driven rod (103), a rotating frame two (104), a rotating frame three (105), a support frame (106) and a power mechanism, the rotating frame one (101), the rotating frame two (104) and the rotating frame three (105) are all installed on the power mechanism, three linkage rods (107) are circumferentially and uniformly arranged on the support frame (106), the driven rod (103) is provided with three, bolt assemblies (102) and bearings five (129) are installed at two ends of each driven rod (103), one end of the first driven rod (103) is hinged to the rotating frame one (101) through the bolt assembly (102) and the bearing five (129), the other end of the first driven rod (103) is hinged to the first linkage rod (107) through the bolt assembly (102) and the bearing five (129), one end of the second driven rod (103) is hinged to the rotating frame two (104) through the bolt assembly (102) and the bearing five (129), the other end of the second driven rod (103) is hinged to the second linkage rod (107) through the bolt assembly (102) and the bearing five (129), one end of the third driven rod (103) is hinged to the rotating frame three (105) through the bolt assembly (102) and the bearing five (129), and the other end of the third driven rod (103) is hinged to the third linkage rod (107) through the bolt assembly (102) and the bearing five (129), the rotating frame one (101), the rotating frame two (104) and the rotating frame three (105) are driven by the power mechanism to drive the support frame (106) to move through the corresponding driven rods (103) and linkage rods (107), so as to adjust the posture of the support frame (106).

5. The hybrid mechanism based magnetic coupling underwater vector thruster of claim 4, wherein, The power mechanism includes a sealing plate (114), a motor (118), a support seat (124), a support seat (125), a support seat (126), the motor (118) and the support seat (124) are fixedly installed on the support mechanism, the motor (118) is provided with three, the output shaft of the first motor (118) is fixedly installed with a driving shaft (121), the driving shaft (121) is fixedly installed with a gear (108) away from the motor (118), the output shaft of the second motor (118) is fixedly installed with a driving shaft (122), the driving shaft (122) is fixedly installed with a gear (110) away from the motor (118), the output shaft of the third motor (118) is fixedly installed with a driving shaft (123), the driving shaft (123) is fixedly installed with a gear (112) away from the motor (118), the support seat (125) is fixedly installed on the support seat (124), the support seat (126) is fixedly installed on the support seat (125), the sealing plate (114) is fixedly installed on the support seat (126), the rotating frame (101) is rotatably installed on the support seat (126), the rotating frame (101) is rotatably connected with the sealing plate (114), the rotating frame (104) is rotatably installed on the support seat (125), the rotating frame (104) is rotatably connected with the support seat (126), the rotating frame (105) is rotatably installed on the support seat (124), the rotating frame (105) is rotatably connected with the support seat (125), the driving shaft (121) is rotatably connected with the support seat (124), the support seat (125) and the support seat (126), the driving shaft (122) is rotatably connected with the support seat (124) and the support seat (125), the driving shaft (123) is rotatably connected with the support seat (124), the rotating frame (101) is provided with a gear ring (109), the gear (108) is meshedly connected with the gear ring (109), the rotating frame (104) is provided with a gear ring (111), the gear (110) is meshedly connected with the gear ring (111), the rotating frame (105) is provided with a gear ring (113), the gear (112) is meshedly connected with the gear ring (113), the support seat (124) is provided with a avoiding slot (one), the support seat (125) is provided with a avoiding slot (two), the support seat (126) is provided with a avoiding slot (three), the gear (108) is arranged in the avoiding slot (one), the gear (110) is arranged in the avoiding slot (two), the gear (112) is arranged in the avoiding slot (three).

6. The hybrid mechanism based magnetic coupling underwater vector thruster of claim 5, wherein, The propeller (201) is rotatably installed in the support frame (106), a bearing nine (213) is arranged between the propeller (201) and the support frame (106), one end of the inner rotor shaft (203) is rotatably installed in the sealing plate (114), the other end of the inner rotor shaft (203) is rotatably installed in the support cylinder (401), a bearing four (119) and a sealing ring three (128) are arranged between the inner rotor shaft (203) and the sealing plate (114), a bearing eight (212) is arranged between the inner rotor shaft (203) and the support cylinder (401), a bearing four (119) is arranged between the inner rotor shaft (203) and the sealing head (405), a sealing ring nine (130) is arranged between the inner rotor shaft (203) and the support base one (124), a sealing ring nine (130) is arranged between the inner rotor shaft (203) and the support base two (125), a sealing ring nine (130) is arranged between the inner rotor shaft (203) and the support base three (126), the universal coupling assembly (202) and the sealing plate (114) are rotatably connected through the bearing one (115), the magnetic coupling isolation sleeve (205) is fixedly installed in the support cylinder (401), a bearing six (210) is arranged between the inner rotor (204) and the magnetic coupling isolation sleeve (205), the outer rotor (207) is rotatably installed in the support plate (402), a bearing seven (211) is arranged between the outer rotor (207) and the support plate (402), and the motor two (209) is fixedly installed in the support plate (402); the universal coupling assembly (202) comprises a universal joint one, a cross shaft and a universal joint two, the universal joint one and the universal joint two are connected through the cross shaft, the universal joint one is fixedly connected with the propeller (201), the universal joint two is fixedly connected with the inner rotor shaft (203), the universal joint two is installed on the sealing plate (114), and the bearing one (115) is arranged at the connection position of the universal joint two and the sealing plate (114).

7. The hybrid mechanism based magnetic coupling underwater vector thruster of claim 6, wherein, The support base three (126) and the rotating frame one (101), the support base two (125) and the rotating frame two (104), and the support base one (124) and the rotating frame three (105) are all installed with a bearing two (116) and a sealing ring one (120), the sealing ring one (120) is arranged on the outer side of the bearing two (116), the support base one (124), the support base two (125) and the support base three (126) are all arranged with a bearing three (117) between the support base one (124), the support base two (125) and the driving shaft two (122), the support base one (124) and the driving shaft three (123) are all installed with a bearing three (117), and the connection position of the support base one (124) and the sealing head (405) is provided with a sealing ring two (127).

8. The hybrid mechanism based magnetic coupling underwater vector thruster of claim 7, wherein, The support mechanism comprises a base (301), a rack (302), a control module (303), a motor three (305), a rotating seat one (306) and a rotating seat two (308), the base (301) is fixedly installed on the rack (302), a sealing ring four (304) is arranged at the connecting position of the base (301) and the rack (302), the control module (303) and the motor three (305) are both fixedly installed in the base (301), the rotating seat one (306) and the rotating seat two (308) are both rotatably installed in the base (301), the rotating seat one (306) is fixedly connected with the output shaft of the motor three (305), the rotating seat two (308) is fixedly installed on the rotating seat one (306), a bearing ten (309) is arranged between the rotating seat one (306) and the base (301), and a sealing ring five (307) is arranged between the rotating seat two (308) and the base (301); the motor one (118), the motor two (209) and the motor three (305) are connected with the control module (303), the rack (302) is used for being connected with an external machine used for underwater work, the control module (303) is connected with an external control system, and the external control system realizes control on the motor one (118), the motor two (209) and the motor three (305) through the control module (303).

Images