A disc motor direct drive cycloid propeller

Abstract

The application relates to a disc motor direct-drive cycloid propeller, which comprises a shell, a plurality of spiral wing blades and a driving assembly; the plurality of spiral wing blades are arranged on the same outer surface of the shell in parallel and are rotationally connected with the shell; the driving assembly comprises a pole shoe, a first motor driving element and a second motor driving element, the pole shoe is arranged in the shell, the shell is rotationally connected with the pole shoe along an axial direction parallel to the spiral wing blades, the first motor driving element is connected with the pole shoe and the shell and is used for driving the shell to rotate around the pole shoe, and the second motor driving element is connected with the pole shoe and the plurality of spiral wing blades and is used for driving the plurality of spiral wing blades to synchronously rotate; the first motor driving element can drive the shell to rotate around the pole shoe, and the plurality of spiral wing blades revolve simultaneously; meanwhile, the second motor driving element can drive the plurality of spiral wing blades to rotate on their own axes; and the first motor driving element and the second motor driving element are used for realizing the complex motion of the plurality of spiral wing blades.

Description

Technical Field

[0001] This invention relates to the field of marine propulsion technology, and in particular to a disc motor direct-drive cycloidal propulsion system. Background Technology

[0002] A propeller is a ship propulsion device that generates thrust through the combined motion of a propeller blade. Its core structure consists of a disc and several circumferentially evenly distributed helical blades, which can oscillate around their own axis via a control mechanism. By adjusting the blade angle of attack, continuous control of the magnitude and direction of thrust can be achieved, giving the ship excellent maneuverability.

[0003] Traditional propellers suffer from three major problems that severely limit their performance improvement and application range: Firstly, the structure is complex and bulky, requiring power transmission through multiple transmission components such as gearboxes and connecting rods. Redundant components result in a loose overall structure, occupying a large amount of installation space on the ship, making it difficult to adapt to small and medium-sized ships or space-constrained cabin environments. Secondly, the energy conversion efficiency is low, there is significant mechanical friction loss in the multi-stage transmission process, and the energy transmission path is long, resulting in low overall efficiency of the propulsion system and increasing ship energy consumption and operating costs. Third, there is a contradiction between propulsion rate and heat dissipation. Traditional propulsion systems rely on external heat dissipation devices, which not only occupy extra space but also have limited heat dissipation efficiency. If the power input is increased to improve the propulsion rate, the motor may overheat, leading to performance degradation or even equipment failure. Summary of the Invention

[0004] In view of this, it is necessary to provide a disc motor direct-drive cycloidal actuator to solve the above problems.

[0005] On one hand, an embodiment of the present invention provides a disc-type motor direct-drive cycloidal propeller, including a housing, multiple propeller blades, and a drive assembly; the multiple propeller blades are arranged parallel to each other on the same outer surface of the housing and are all rotatably connected to the housing; the drive assembly includes a pole shoe, a first motor drive unit, and a second motor drive unit, the pole shoe is built into the housing and used for fixed connection with the hull, the housing is rotatably connected to the pole shoe in an axial direction parallel to the propeller blades, the first motor drive unit is connected to the pole shoe and the housing, and is used to drive the housing to rotate around the pole shoe, the second motor drive unit is connected to the pole shoe and the multiple propeller blades, and is used to drive the multiple propeller blades to rotate synchronously.

[0006] Furthermore, the pole shoe includes three connecting rings and multiple radial connecting blocks. The three connecting rings are coaxially arranged from the inside to the outside. Any two adjacent connecting rings are connected by the multiple radial connecting blocks, and a mounting cavity is formed between the multiple radial connecting blocks between two adjacent connecting rings. Partial components of the first motor drive are mounted in the multiple mounting cavities between the two outer connecting rings, and partial components of the second motor drive are mounted in the multiple mounting cavities between the two inner connecting rings.

[0007] Furthermore, each of the connecting rings has an annular heat dissipation channel inside, and the three annular heat dissipation channels are connected. A water inlet is provided on one side of the outer wall of the housing, and a water outlet is provided on the other side of the outer wall of the housing. The annular heat dissipation channel of the outermost connecting ring is arranged on the outer wall of the connecting ring, and the annular heat dissipation channel of the outermost connecting ring is connected to the water inlet and the water outlet. The annular heat dissipation channel of the outermost connecting ring is rotatably and sealingly connected to the inner wall of the housing.

[0008] Furthermore, the first motor drive component includes a first stator and a first rotor. The first stator is embedded in a plurality of mounting cavities between the two outer connecting rings. The first rotor is fixedly connected to the inner wall of the housing. The first stator and the first rotor are arranged sequentially along the rotation axis of the housing.

[0009] Furthermore, the first motor drive component also includes a stabilizing disk, which is fixedly disposed on the inner wall of the housing. The stabilizing disk, the first rotor, and the first stator are arranged sequentially along the rotation axis of the housing.

[0010] Furthermore, the second motor drive component includes a second stator, a second rotor, and a transmission component. The second stator is embedded in a plurality of mounting cavities between the two inner connecting rings. The second rotor is connected to a plurality of propeller blades via the transmission component. The second stator and the second rotor are arranged sequentially along the rotation axis of the housing.

[0011] Furthermore, the transmission component includes a sun gear and a plurality of planet gears. The sun gear is rotatably connected to the housing and connected to the second rotor. The plurality of planet gears are respectively connected to a plurality of propeller blades, and all of the plurality of planet gears are meshed with the sun gear.

[0012] Furthermore, the top of the shell has a first opening, through which the hull end connection structure extends into the shell and connects with the pole shoe; the bottom of the shell has a second opening. It also includes a disk detachably connected to the second opening of the housing, and the plurality of propeller blades are rotatably connected to the disk.

[0013] Furthermore, it also includes sensor arrays, controller clusters, and actuator systems; The sensor array is used to collect the operating condition information of the thruster; The controller cluster is connected to the sensor array to enable data interaction and command issuance; The actuator system is connected to the controller cluster and the drive assembly.

[0014] On the other hand, embodiments of the present invention provide a ship, including a hull equipped with a disc motor direct-drive cycloidal propulsion unit as described above.

[0015] Compared with existing technologies: (1) The first driving component enables the propeller blade to revolve around the center, and the second driving component controls the propeller blade to rotate on its own axis. This combination of the propeller blade's revolution and rotation is achieved. This coaxial motor design significantly simplifies the complex structure controlled by the traditional eccentric disk or servo mechanism, reduces the volume and weight of the propeller, and improves energy conversion efficiency and reliability, thus greatly enhancing the efficiency of hydraulic propulsion. (2) Significant breakthroughs have been achieved in space utilization and structural compactness through the collaborative design of dual-motor drive components; (3) The propeller airfoil and water lubrication design are adopted to improve propulsion performance.

[0016] (4) By setting the heat dissipation channel on the pole shoe and the water inlet and outlet of the shell, a self-priming external liquid circulation heat dissipation structure is formed, which has high heat dissipation efficiency, no need for additional heat dissipation device, simplifies the structure, can stably remove the heat of the motor, avoid overheating affecting performance, and ensure the long-term reliable operation of the thruster. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall external structure of the disc motor direct-drive cycloidal propeller provided in an embodiment of the present invention. Figure 2 A schematic diagram of the overall internal structure of the disc motor direct-drive cycloidal propeller provided in an embodiment of the present invention; Figure 3 for Figure 2 A schematic diagram of the structure on the mid-pole boot; Figure 4 for Figure 2 Schematic diagram of the arrangement of the inlet and outlet on the shell; Figure 5 for Figure 3 A schematic diagram of the structure in which the three annular heat sinks are connected by connecting pipes; Figure 6 for Figure 2 A schematic diagram of the structure in which the first and second stators are arranged on the pole shoes; Figure 7 for Figure 6 Schematic diagram of the structure of the second stator; Figure 8 for Figure 2 A schematic diagram of the transmission components.

[0018] Figure label: Shell 100, inlet 110, outlet 120, support ring 130, disc 140; 200 rotor blades; Drive assembly 300; 310, connecting ring 311, radial connecting block 312, annular heat dissipation channel 313, connecting pipe 314; First motor drive component 320, first stator 321, first rotor 322, stabilizer disk 323; The components include a second motor drive unit 330, a second stator 331, a stator core 3311, a stator winding 3312, a second stator 332, a transmission component 333, a sun gear 3331, and planetary gears 3332. Detailed Implementation

[0019] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0020] On the one hand, such as Figure 1 and Figure 2 As shown in the figure, an embodiment of the present invention provides a disc-type motor direct-drive cycloidal propeller, including a housing 100, a plurality of propeller blades 200, and a drive assembly 300; the plurality of propeller blades 200 are arranged parallel to each other on the same outer surface of the housing 100 and are all rotatably connected to the housing 100; the drive assembly 300 includes a pole shoe 310, a first motor drive 320, and a second motor drive 330. The pole shoe 310 is built into the housing 100 and is used for fixed connection with the hull. The housing 100 is rotatably connected to the pole shoe 310 in an axial direction parallel to the propeller blades 200. The first motor drive 320 is connected to the pole shoe 310 and the housing 100 and is used to drive the housing 100 to rotate around the pole shoe 310. The second motor drive 330 is connected to the pole shoe 310 and the plurality of propeller blades 200 and is used to drive the plurality of propeller blades 200 to rotate synchronously.

[0021] In practice, the first motor drive unit 320 can drive the housing 100 to rotate around the pole shoe 310, and the multiple propeller blades 200 will revolve accordingly. At the same time, the second motor drive unit 330 can drive the multiple propeller blades 200 to rotate on their own axis. The complex movement of the multiple propeller blades 200 is realized by the first motor drive unit 320 and the second motor drive unit 330. The structure is simple and the size is small.

[0022] In this embodiment, the housing 100 is the main structure of the propeller, and its rotation drives the multiple propeller blades 200 mounted on it to rotate synchronously.

[0023] In one embodiment, the housing 100 has a gradually expanding conical structure. The smaller diameter end face of the housing 100 is used for connection with the hull, and a plurality of propeller blades 200 are installed at the larger diameter end face of the housing 100. Meanwhile, the interior of the housing 100 is hollow to accommodate the drive assembly 300.

[0024] In this embodiment, multiple propeller blades 200 are arranged in parallel on the same outer surface of the housing 100, and are all rotatably connected to the housing 100.

[0025] In this embodiment, the drive assembly 300 drives the housing 100 to rotate along its central axis, thereby driving multiple propeller blades 200 to rotate synchronously. Simultaneously, the drive assembly 300 also drives the multiple propeller blades 200 to rotate on their own axes. Specifically, the drive assembly 300 includes a pole shoe 310, a first motor drive 320, and a second motor drive 330. The pole shoe 310 is built into the housing 100 and used for fixed connection to the hull. The housing 100 is rotatably connected to the pole shoe 310 in an axial direction parallel to the propeller blades 200. The first motor drive 320 is connected to the pole shoe 310 and the housing 100, and is used to drive the housing 100 to rotate around the pole shoe 310. The second motor drive 330 is connected to the pole shoe 310 and the multiple propeller blades 200, and is used to drive the multiple propeller blades 200 to rotate synchronously.

[0026] In this embodiment, the pole shoe 310 is used to connect to the hull, and some components thereon are used to mount the first motor drive 320 and the second motor drive 330.

[0027] like Figure 3As shown, in one embodiment, the pole shoe 310 includes three connecting rings 311 and a plurality of radial connecting blocks 312. The three connecting rings 311 are coaxially arranged from the inside to the outside. Any two adjacent connecting rings 311 are connected by the plurality of radial connecting blocks 312, and a mounting cavity is formed between the plurality of radial connecting blocks 312 between two adjacent connecting rings 311. Parts of the first motor drive 320 are mounted in the plurality of mounting cavities between the two outer connecting rings 311, and parts of the second motor drive 330 are mounted in the plurality of mounting cavities between the two inner connecting rings 311. The pole shoe 310 is made of a high magnetic permeability material.

[0028] In one embodiment, each connecting ring 311 has an annular heat dissipation channel 313 inside, and the three annular heat dissipation channels 313 are interconnected, such as... Figure 4 As shown, an inlet 110 is provided on one side of the outer wall of the housing 100, and an outlet 120 is provided on the other side of the outer wall of the housing 100. The annular heat dissipation channel 313 of the outermost connecting ring 311 is arranged on the outer side wall of the connecting ring 311. The annular heat dissipation channel 313 of the outermost connecting ring 311 is connected to the inlet 110 and the outlet 120, and the annular heat dissipation channel 313 of the outermost connecting ring 311 is rotatably and sealingly connected to the inner wall of the housing 100.

[0029] The inlet 110 is funnel-shaped, and the outlet 120 is circular. As the housing 100 rotates, external water continuously enters the annular heat dissipation channel 313 through the inlet 110 and exits through the outlet 120. It should be noted that the diameter of the inlet 110 should be larger than that of the outlet 120, that is, the water inlet resistance of the inlet 110 is less than that of the outlet 120, so that a water flow from the inlet 110 to the outlet 120 is formed within the annular heat dissipation channel 313.

[0030] like Figure 5 As shown, the three annular heat dissipation channels 313 include an inner annular channel, a middle annular channel, and an outer annular channel from the inside out. The outer annular channel is connected to the water inlet 110 and the water outlet 120. Each annular channel is connected by a hollow cylindrical connecting pipe 314 for water cooling circulation and heat dissipation.

[0031] like Figure 2 and Figure 6 As shown, in one embodiment, the first motor drive unit 320 includes a first stator 321 and a first rotor 322. The first stator 321 is embedded in a plurality of mounting cavities between two outer connecting rings 311. The first rotor 322 is fixedly connected to the inner wall of the housing 100. The first stator 321 and the first rotor 322 are arranged sequentially along the rotation axis of the housing 100.

[0032] The first rotor 322 includes a first rotor disk and a first magnet assembly. The first rotor disk has an annular groove on the side near the first stator 321, and the magnet assembly is fixedly disposed in the annular groove.

[0033] In this embodiment, the first motor drive unit 320 further includes a stabilizing disk 323, which is fixedly disposed on the inner wall of the housing 100. The stabilizing disk 323, the first rotor 322, and the first stator 321 are arranged sequentially along the rotation axis of the housing 100.

[0034] It also includes a support ring 130 fixed on the inner wall of the housing 100. The support ring 130 is located between the first rotor 322 and the stabilizing disk 323 and is used to support the stabilizing disk 323.

[0035] The stabilizing disk 323 is located above the first rotor 322 and is used to bear the upward axial force generated when the first rotor 322 rotates at high speed, so as to ensure the stability of the thruster during operation and avoid the oscillation of the thruster body when rotating at high speed. The stabilizing disk 323 uses artificial diamond as the outer ring material to ensure the load-bearing and wear-resistant capacity of the outer ring.

[0036] like Figure 2 and Figure 6 As shown, in one embodiment, the second motor drive 330 includes a second stator 331, a second rotor 332, and a transmission member 333. The second stator 331 is embedded in multiple mounting cavities between two inner connecting rings 311. The second rotor 332 is connected to multiple propeller blades 200 via the transmission member 333. The second stator 331 and the second rotor 332 are arranged sequentially along the rotation axis of the housing 100.

[0037] The second rotor 332 includes a second rotor disk and a second magnet assembly. The second rotor disk has an installation groove on the side near the second stator 331, and the second magnet assembly is fixedly installed in the installation groove. The other side of the second rotor disk is connected to the transmission component 333.

[0038] It is understandable that the first stator 321 and the second stator 331 have the same structure. Taking the structure of the second stator 331 as an example, such as... Figure 7 As shown, the second stator 331 includes multiple stator cores 3311 and multiple stator windings 3312. The multiple stator cores 3311 are evenly arranged circumferentially along the central axis of the housing 100. The multiple stator windings 3312 are respectively wound on the multiple stator cores 3311. The multiple stator cores 3311 are respectively installed in the corresponding mounting slots.

[0039] like Figure 8As shown, in one embodiment, the transmission component 333 includes a sun gear 3331 and a plurality of planet gears 3332. The sun gear 3331 is rotatably connected to the housing 100 and connected to the second rotor 332. The plurality of planet gears 3332 are respectively connected to a plurality of propeller blades 200, and the plurality of planet gears 3332 are all meshed with the sun gear 3331.

[0040] In this embodiment, the top of the shell 100 is provided with a first opening so that the hull end connection structure can extend into the shell 100 through the first opening and connect with the pole shoe 310, and the bottom of the shell 100 is provided with a second opening.

[0041] To facilitate the installation of the aforementioned transmission component 333 and multiple propeller blades 200, this embodiment also includes a disk 140 detachably connected to the second opening of the housing 100, and multiple propeller blades 200 are rotatably connected to the disk 140.

[0042] The disc 140 is precisely positioned with the housing 100 by a positioning pin. Mounting holes are evenly opened along the circumference of the disc 140. The bushing is fixed in the mounting hole by interference fit. The water-lubricated bearing is embedded in the bushing. The rotating shaft of the propeller blade 200 is clearance-fitted with the water-lubricated bearing, and a limiting ring is provided in the middle of the rotating shaft.

[0043] The rotor blade 200 includes a blade body and a rotating shaft. A bushing is fixedly installed on the disk 140. The rotating shaft is connected to the bushing through a water-lubricated rotating pair, and the axial direction of the rotating shaft is limited to the bushing. One end of the rotating shaft is coaxially fixedly connected to the planetary gear 3332, and the other end extends to the outside of the disk 140 and is fixedly connected to the blade body.

[0044] Meanwhile, the rotor blade 200 features a helical curved surface structure, with a streamlined cross-section that increases the contact area with water. Compared to straight blades, it has higher strength and avoids the drawback of straight blades being easily entangled by underwater seaweed.

[0045] This embodiment also includes a noise reduction component installed on the outside of the housing 100.

[0046] In one embodiment, the noise reduction component is a noise reduction speaker. The noise reduction speaker first uses a microphone to receive the noise generated by the rotation of the motor and blades through a computer algorithm, and then uses the internal chip of the speaker to generate a sound wave opposite to the noise to cancel out the noise generated by the propeller during operation, thereby blocking the propagation of noise in the medium and achieving the purpose of noise reduction.

[0047] This implementation scheme also includes sensor arrays, controller clusters, and actuator systems; The sensor array is used to collect information about the thruster's operating conditions; The controller cluster is connected to the sensor array to enable data interaction and command issuance; The actuator system is connected to the controller cluster and drive assembly 300.

[0048] In one embodiment, the sensor array comprises a Hall speed sensor mounted on the inner side of the first rotor 322, a flange torque sensor embedded in the output shaft of the sun gear 3331, a PT100 temperature sensor array distributed in the slots of the stator winding 3312 and the meshing surface of the planetary gear, an ultrasonic water flow sensor mounted on the main water inlet pipe of the annular heat dissipation channel 313, a MEMS noise sensor array arranged in four quadrants on the inner wall of the thruster shroud, and a six-degree-of-freedom attitude sensor fixed to the vibration reduction platform of the thruster base. It is used to collect in real time the rotational speed ω_syn, torque T_out, temperature field distribution T(x,y,z), cooling flow rate Q_cool, noise spectrum SPL(f), and attitude angles (α_pitch, β_roll, γ_yaw).

[0049] In one embodiment, the controller cluster consists of an S7-1500 series PLC deployed in a waterproof control cabinet, a remote WinCC monitoring center located on a shore-based server, and redundant manual control panels in the cockpit. Data interaction and command issuance are achieved through the Profinet ring network and the OPC UA protocol.

[0050] In one embodiment, the actuator system includes a dual-channel motor drive module mounted on the IGBT power cabinet, a 12-way proportional flow valve group integrated into the annular heat dissipation channel 313 manifold, and a 24-unit active noise-canceling speaker array embedded in the acoustic cavity of the flow guide, which are used to adjust the motor power, cooling flow rate and sound wave cancellation, respectively.

[0051] The above settings enable manual, semi-automatic, and fully automatic control modes for the thruster.

[0052] Example 1, Manual Control Mode: The operator can directly set the target speed ω_ref∈[0, 1200]rpm, torque limit T_lim∈[0, 5000]Nm and cooling flow rate Q_set∈[0.5, 50]L / min through the control panel, and the PLC will perform open-loop control by shielding the adaptive algorithm.

[0053] Example 2, Semi-automatic control mode: In semi-automatic mode, the PLC dynamically calculates the basic control values ​​based on sensor feedback, but allows the operator to correct PID parameters (Kp∈[0.1, 5.0], Ki∈[0.01, 1.0], Kd∈[0, 0.5]), adjust the flow distribution coefficient K_flow∈[0.8, 1.2], or intervene in emergency situations online. Example 3, Fully Automatic Control Mode: In fully automatic mode, the PLC activates the adaptive PID-Fuzzy composite adjustment module, and combines it with the feedforward compensation algorithm and federated Kalman filter state fusion to autonomously generate motor drive signals and flow valve opening commands. At the same time, it calls the active noise control algorithm and the fluid-thermal-solid coupling heat dissipation strategy to achieve the optimization target of thrust fluctuation standard deviation ≤3.5% and system comprehensive energy efficiency ≥89.7%.

[0054] On the other hand, embodiments of the present invention provide a ship, including a hull equipped with a disc motor direct-drive cycloidal propulsion unit as described above.

[0055] Compared with existing technologies: (1) The first driving component enables the rotor blade 200 to revolve around the sun, and the second driving component controls the rotor blade 200 to rotate on its own axis. This combination of the rotor blade 200's revolution and rotation is achieved. This coaxial motor design significantly simplifies the complex structure of traditional eccentric disk or servo mechanism control, reduces the volume and weight of the thruster, and improves energy conversion efficiency and reliability, greatly enhancing the efficiency of hydrodynamic propulsion. (2) Through the collaborative design of dual-motor drive components, a major breakthrough has been achieved in terms of space utilization and structural compactness; (3) The propeller airfoil and water lubrication design are adopted to improve propulsion performance.

[0056] (4) A self-priming external liquid circulation cooling structure is formed by the heat dissipation channel set on the pole shoe 310 and the water inlet 110 and water outlet 120 of the housing 100. The heat dissipation efficiency is high, no additional heat dissipation device is required, the structure is simplified, the heat of the motor can be stably removed, the overheating will not affect the performance, and the long-term reliable operation of the thruster can be guaranteed.

[0057] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A disc-type motor direct-drive cycloidal propeller, characterized in that, include: case; Multiple propeller blades are arranged in parallel on the same outer surface of the housing and are all rotatably connected to the housing. The drive assembly includes a pole shoe, a first motor drive unit, and a second motor drive unit. The pole shoe is built into the housing and is fixedly connected to the hull. The housing is rotatably connected to the pole shoe in an axial direction parallel to the propeller blades. The first motor drive unit is connected to the pole shoe and the housing and is used to drive the housing to rotate around the pole shoe. The second motor drive unit is connected to the pole shoe and multiple propeller blades and is used to drive the multiple propeller blades to rotate synchronously.

2. The disc motor direct-drive cycloidal propeller according to claim 1, characterized in that, The pole shoe includes three connecting rings and multiple radial connecting blocks. The three connecting rings are coaxially arranged from the inside to the outside. Any two adjacent connecting rings are connected by the multiple radial connecting blocks, and a mounting cavity is formed between the multiple radial connecting blocks between two adjacent connecting rings. Partial components of the first motor drive are installed in the multiple mounting cavities between the two outer connecting rings, and partial components of the second motor drive are installed in the multiple mounting cavities between the two inner connecting rings.

3. The disc motor direct-drive cycloidal propeller according to claim 2, characterized in that, Each of the connecting rings has an annular heat dissipation channel inside, and the three annular heat dissipation channels are connected. A water inlet is provided on one side of the outer wall of the housing, and a water outlet is provided on the other side of the outer wall of the housing. The annular heat dissipation channel of the outermost connecting ring is arranged on the outer wall of the connecting ring, and the annular heat dissipation channel of the outermost connecting ring is connected to the water inlet and the water outlet. The annular heat dissipation channel of the outermost connecting ring is rotatably and sealingly connected to the inner wall of the housing.

4. The disc motor direct-drive cycloidal propeller according to claim 2, characterized in that, The first motor drive component includes a first stator and a first rotor. The first stator is embedded in a plurality of mounting cavities between the two outer connecting rings. The first rotor is fixedly connected to the inner wall of the housing. The first stator and the first rotor are arranged sequentially along the rotation axis of the housing.

5. The disc motor direct-drive cycloidal propeller according to claim 4, characterized in that, The first motor drive unit also includes a stabilizing disk, which is fixedly disposed on the inner wall of the housing. The stabilizing disk, the first rotor, and the first stator are arranged sequentially along the rotation axis of the housing.

6. The disc motor direct-drive cycloidal propeller according to claim 2, characterized in that, The second motor drive unit includes a second stator, a second rotor, and a transmission component. The second stator is embedded in a plurality of mounting cavities between the two inner connecting rings. The second rotor is connected to a plurality of propeller blades via the transmission component. The second stator and the second rotor are arranged sequentially along the rotation axis of the housing.

7. The disc motor direct-drive cycloidal propeller according to claim 6, characterized in that, The transmission component includes a sun gear and multiple planetary gears. The sun gear is rotatably connected to the housing and connected to the second rotor. The multiple planetary gears are respectively connected to multiple propeller blades, and all of the multiple planetary gears are meshed with the sun gear.

8. The disc motor direct-drive cycloidal propeller according to claim 1, characterized in that, The top of the shell has a first opening, through which the hull end connection structure extends into the shell and connects with the pole shoe; the bottom of the shell has a second opening. It also includes a disk detachably connected to the second opening of the housing, and the plurality of propeller blades are rotatably connected to the disk.

9. The disc motor direct-drive cycloidal propeller according to claim 1, characterized in that, It also includes sensor arrays, controller clusters, and actuator systems; The sensor array is used to collect the operating condition information of the thruster; The controller cluster is connected to the sensor array to enable data interaction and command issuance; The actuator system is connected to the controller cluster and the drive assembly.

10. A ship, characterized in that, The hull includes a cycloidal propulsion system with a disc motor as described in any one of claims 1-9.

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