Pod type multi-rotor underwater propeller

Abstract

The utility model discloses a pod type multi-rotor underwater propeller which comprises a motor shell fixed at the bottom of a support, a motor arranged in the motor shell, a main shaft driven by the motor to rotate and a propeller of the main shaft. The motor is characterized in that the motor is a three-phase three-layer multi-rotor motor and comprises three single-phase multi-rotor motor sets which are installed in the axial direction of a main shaft, each single-phase multi-rotor motor set is of a 360-degree closed ring structure composed of a plurality of small motors, rotors and stators in the motor sets are alternately arranged, and semicircular magnetic poles are arranged on the two sides of each stator with a winding groove as the center; the permanent magnet rotor is coupled with stator semicircular magnetic poles on two adjacent sides to form a small motor; the rotors of the three motor groups are in one-to-one correspondence along the axial direction of the motors and are coaxially connected in series by rotor shafts, and the magnetic field directions of the rotors are staggered by 120 degrees in sequence; a main shaft fluted disc is arranged on the main shaft, serves as a timing gear to be meshed with the pinions on the rotor shafts so as to drive the three motor sets to continuously operate, and also serves as a thrust gear to output motor torque. The propeller is higher in rotating speed and efficiency, smaller in size and lighter in weight.

Description

Technical Field

[0001] The utility model relates to a pod-type multi-rotor underwater propeller. Background Art

[0002] Motors have been used as an existing technology for more than 100 years. However, there are more and more applications for motors, which puts higher requirements on motors. The current scientific research field generally focuses on how to improve the performance of existing motors. The main research direction is to develop new motors with small size, light weight, high efficiency, simple structure and adaptability to more different applications.

[0003] As an underwater power output device, the core mechanism of the pod-type underwater thruster is still the motor. At present, with the application and promotion of new energy ships or ship external propulsion devices, the pod-type underwater thruster is usually the best power component choice for such ships or propulsion devices.

[0004] At present, the main structural forms of the above-mentioned pod-type underwater propulsion system are divided into the following two types:

[0005] The first is the motor-propeller coaxial structure: its structure mainly includes a fixed bracket, a motor housing fixed to the bottom of the bracket, and a motor arranged in the motor housing. The motor and the propeller are coaxial, and have the advantages of simple structure, short axial length, and relatively convenient manufacturing. However, due to the coaxial arrangement of the motor and the propeller, and the synchronization of the rotation speed and the propeller, and the propeller speed of large ships is very low. For example, for a thousand-ton ship, the propeller speed is below 200 revolutions per minute, and the propeller speed of a 10,000-ton ship is only a few dozen revolutions per minute. The motor power is the speed multiplied by the torque, so the propeller of this type of structural scheme can only increase the torque of the motor to meet its high power at low speed. This leads to the disadvantages of its motor being large in size, heavy in weight, large waterfront area, large resistance, and low efficiency. Therefore, it is difficult to design this structural scheme into a full-rotation propeller;

[0006] The second is the motor and propeller coaxial planetary gear reduction structure: its structure mainly includes a fixed bracket, a motor housing fixed to the bottom of the bracket, a motor and a planetary reduction structure arranged in the motor housing, and the motor shaft is concentric with the output shaft of the planetary reducer, and the output shaft fixes the propeller. This propeller has the advantages of increasing the motor speed, reducing the size and weight of the motor, reducing the water-facing area and reducing resistance, but because the motor shaft and the planetary gear reducer shaft are concentrically arranged in series, the propeller axial dimension is long, the turning radius is too large, the steering control is difficult, the structure is relatively complex, and the structure is also difficult to design into a full-rotation propeller. Summary of the invention

[0007] The purpose of the utility model is: on the one hand, the utility model is to provide a pod-type multi-rotor underwater thruster that can achieve higher rotation speed, higher working efficiency, small size, light weight, simple structure, especially a single rotor with a short magnetic pole magnetic circuit, small magnetic resistance, and low magnetic heat loss, which can realize the application of the full-rotation structure scheme of a higher-power underwater pod-type electric thruster.

[0008] The technical solution of the utility model is: a pod-type multi-rotor underwater propeller, comprising a bracket, a motor housing fixed at the bottom of the bracket, a motor arranged in the motor housing, a main shaft driven to rotate by the motor and a propeller fixed thereon; the characteristics are:

[0009] The motor is a three-phase three-layer multi-rotor motor or a three-phase single-layer multi-rotor motor;

[0010] The three-phase multi-layer multi-rotor motor comprises three single-phase multi-rotor motor groups installed along the axial direction of the main shaft, each single-phase multi-rotor motor group is formed by corresponding rotors and stators being installed in series in an alternating circumferential direction, wherein each stator center is provided with a winding slot for winding the stator coil, and corresponding semicircular magnetic poles are provided on both sides of the winding slot as the center, respectively coupling two adjacent permanent magnet rotors, and each permanent magnet rotor is simultaneously coupled with the semicircular magnetic poles of the stators on both sides to form a small motor; the stator coils of the three single-phase multi-rotor motor groups are connected in a triangle or star shape;

[0011] The rotors of the three single-phase multi-rotor motor sets are arranged one by one along the axial direction of the motor, and the rotors of the three single-phase multi-rotor motor sets corresponding to each other in the axial direction are coaxially connected in series through the same rotor shaft, and their magnetic field directions are staggered by 120 degrees in sequence;

[0012] A main shaft gear is also fixed on the main shaft, and the main shaft gear is meshed with the pinion gear fixed on each rotor shaft, and when meshed, the magnetic field direction of the rotor in each single-phase multi-rotor motor set is consistent, so that the main shaft gear is used as a timing gear of the rotors of the three single-phase multi-rotor motor sets to limit the angle relationship that all rotor magnetic fields need to correspond to, so as to drive the rotors of each single-phase multi-rotor motor set to operate continuously, and is also used as a thrust gear of the rotors of the three single-phase multi-rotor motor sets to output motor torque;

[0013] The three-phase single-layer multi-rotor motor includes three equally divided arc-shaped single-phase multi-rotor motor groups installed in a closed loop with the main shaft of the motor as the center, and a main shaft gear plate fixed to the main shaft for outputting the motor torque; each arc-shaped single-phase multi-rotor motor group is composed of a rotor and a stator installed alternately in series, a winding groove is provided in the center of the stator for winding the stator coil, and corresponding semicircular magnetic poles are provided on both sides of the winding groove as the center, respectively coupling two adjacent permanent magnet rotors, and each permanent magnet rotor is simultaneously coupled with the semicircular magnetic poles of the stators on both sides to form a small motor; and the stator coils of the three arc-shaped single-phase multi-rotor motor groups are connected in a triangle or star shape;

[0014] The rotor magnetic field directions of the three arc-shaped single-phase multi-rotor motor sets are staggered by 120 degrees in sequence, and the main shaft gear plate is meshed with the pinion fixed on the rotor shaft of each rotor, and when meshed, the magnetic field direction of the rotor in each arc-shaped single-phase multi-rotor motor set is consistent, so that the main shaft gear plate serves as the timing gear of the rotors of the three arc-shaped single-phase multi-rotor motor sets to limit the angular relationship to which all rotor magnetic fields need to correspond, so as to drive the rotors of each arc-shaped single-phase multi-rotor motor set to operate continuously, and also serves as the thrust gear of the rotors of the three arc-shaped single-phase multi-rotor motor sets to output motor torque.

[0015] Furthermore, the stator coils in the winding slots of the stator in the utility model are wound using flat wire windings.

[0016] Furthermore, the number of teeth of the pinion in the present invention is divisible by 3, and the number of teeth of the main shaft gear plate is divisible by X, where X=360 degrees / y, and y is the angle between two adjacent rotors on the circumference.

[0017] Furthermore, the utility model also includes a main shaft end cover, a gear box cover and a motor end cover. The gear box cover is fixed to the front end of the motor housing, and the main shaft end cover is snap-fitted and fixed to the front end of the gear box cover, and a gear disc oil chamber for sealing the main shaft gear disc is formed between the main shaft end cover and the gear box cover; the motor end cover is fixed to the rear end of the motor housing, and a water seal assembly is fixed to the rear part of the motor end cover, and a water seal sleeve is provided inside the water seal assembly, which is sleeved on the main shaft and fixed to the propeller; a front bearing sleeved on the main shaft is fixed to the inner side of the main shaft end cover, and a rear bearing sleeved on the main shaft is fixed inside the motor end cover, and a fastening nut for locking the propeller to the water seal sleeve is fixed at the end of the main shaft.

[0018] Furthermore, the motor housing in the utility model includes a supporting end wall fixed to the gear box cover, the supporting end wall is formed with an outer ring wall and an inner ring wall located on the inner side of the outer ring wall, and an annular groove for embedding the three-phase three-layer multi-rotor motor or the three-phase single-layer multi-rotor motor is formed between the inner ring wall and the outer ring wall; and a plurality of internal water channels axially penetrating the motor housing are provided in the inner ring wall for cooling the three-phase three-layer multi-rotor motor or the three-phase single-layer multi-rotor motor; the main shaft end cover is provided with a water inlet hole corresponding to each internal water channel connected thereto, and the motor end cover is provided with a water outlet hole corresponding to each internal water channel connected thereto.

[0019] Furthermore, the water outlet hole on the motor end cover in the utility model is an L-shaped hole, the inlet of which is axially opposite to the corresponding internal water channel, and the outlet is distributed radially along the motor end cover.

[0020] In actual implementation, a number of corresponding positioning ears can be formed on the outer periphery of the main shaft end cover, the outer periphery of the gear box cover, the outer periphery of the motor housing and the outer periphery of the motor end cover, and the positioning ears are provided with positioning holes for passing screws to fix the four together.

[0021] The top and bottom of the stator are provided with positioning protrusions, the outer wall surface of the inner ring wall is provided with positioning grooves matching the positioning protrusions at the bottom of the stator, and the inner wall surface of the outer ring wall is provided with positioning grooves matching the positioning protrusions at the top of the stator. The process for machining the motor housing is very simple, and the stator can be embedded in the motor housing to obtain precise positioning and play a good heat dissipation role.

[0022] The advantages of the utility model are:

[0023] 1. The pod-type multi-rotor underwater thruster of the utility model adopts a three-phase three-layer multi-rotor motor. One advantage of the overall design of this multi-rotor motor is that each single-phase multi-rotor motor group is a 360-degree closed loop structure composed of a number of small motors. The magnetic circuits of all single small motors in the closed loop are completely closed without any magnetic field loss. The connection between adjacent stator coils in each single-phase multi-rotor motor group is extremely short, which reduces line loss, is conducive to saving the manufacturing materials of the entire motor and simplifying the production process.

[0024] Specifically, on the one hand, since the two sides of the stator in each single-phase multi-rotor motor group serve as the magnetic poles of the two adjacent rotors, after power is turned on, the force of the magnetic field acts on the rotors on both sides at the same time. Compared with all existing types of motors, the path of the magnetic field is greatly shortened, the magnetic circuit is extremely short, the magnetic resistance is extremely small, and the magnetic heat loss is reduced. On the other hand, due to the open structure design of the stator winding slot, the coil can be wound with thin copper flat wire, and the slot full rate is higher than any existing motor, which reduces copper heat loss and improves the efficiency of the motor. Compared with the most efficient motor of the same power, it saves more than 50% of silicon steel sheets and copper materials, and saves more than 95% of silicon steel sheets and copper materials compared with traditional motors. Furthermore, the winding process of the stator coil is simpler than any existing motor. And the upper and lower sides of the magnetic poles of each stator are in contact with the inner and outer wall surfaces of the motor housing, with a large contact area, which effectively improves the heat dissipation conditions and the heat dissipation effect of the motor. Compared with traditional motors, other materials are also saved to varying degrees.

[0025] 2. The overall design of the utility model can significantly increase the speed of the rotor, and the rated operating speed of the rotors constituting each single-phase multi-rotor motor group can reach many times that of a high-power motor. All rotors are coupled to a main shaft gear disc to ensure the timing relationship of all rotor angles, while achieving the effect of reducing speed and increasing torque, and making the overall structure of the motor simpler.

[0026] 3. The overall design of the utility model is small in size and light in weight. Depending on the motor speed, power and torque requirements, the volume and weight of the existing high-speed motor can be half, or even smaller and lighter, with a weight of only a few tenths of that of the traditional motor.

[0027] 4. The output speed and torque of the overall design of the utility model can be flexibly designed and configured with different small motors and spindle gear plates of different sizes according to needs, so as to achieve more flexible power and speed configuration. Compared with ordinary motors, it has a relatively wide range of speeds and does not require a gearbox, which saves the cost of gearboxes and provides more customized options.

[0028] 5. The most complicated process in the traditional motor manufacturing process is winding, especially for high-power motors, in which winding, wire embedding, and wire tying basically require manual operations. Even if small and medium-power motors can be produced with automatic winding equipment, the equipment is extremely expensive. Taking a 10-kilowatt winding production line as an example, it costs at least 10 million yuan, which is a huge investment. Moreover, a complete set of equipment can only produce one product, which has no versatility and still requires a lot of manpower. The winding process of the three-phase three-layer multi-rotor motor solution of the utility model is extremely simple. A winding equipment can be suitable for motors with power of tens to hundreds of kilowatts by replacing simple tooling. It has strong versatility and is very easy to achieve fully automatic production. The investment in a fully automatic production line will not exceed one-tenth of the traditional motor equipment, and unmanned production can be achieved.

[0029] 6. The utility model combines all the advantages of the motor propeller coaxial structure and the motor and propeller coaxial planetary gear reduction structure, while solving all their disadvantages. Compared with the two existing solutions, the utility model has a smaller volume, a smaller water-facing area, a lighter weight, a higher efficiency, a more reasonable structure, a simpler production process, uses less raw materials, has a lower cost, is more convenient to install, and has better maneuverability. It is more suitable for the application scenario of full-rotation electric propellers.

[0030] 7. Compared with the existing pod-type underwater thrusters, the biggest feature of the structure of the pod-type underwater thruster provided in this case is that multiple small motors are arranged around the propeller main shaft. The small gears on the rotor of the small motor are kneaded with the main shaft gear disc to produce a larger speed ratio, thereby greatly increasing the speed of the motor. Compared with the existing motor-propeller coaxial structure scheme, it reduces 90% of the weight, 70% of the volume and water resistance. Compared with the existing motor and propeller coaxial planetary gear reduction structure scheme, it reduces 50% of the weight, 50% of the volume and water resistance. At the same time, it greatly improves the efficiency of the motor and reduces the manufacturing cost, and solves the shortcomings of the existing scheme to the greatest extent. It is particularly suitable for the pod-type underwater thruster to be designed as a full-turn vector propulsion device with 360° horizontal rotation. Therefore, the pod-type multi-rotor underwater thruster provided in this case has great application value in the field of new energy electric ships. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The utility model is further described below in conjunction with the accompanying drawings and embodiments:

[0032] Figure 1 This is a front view of a first embodiment of a pod-type multi-rotor underwater propulsion device of the utility model;

[0033] Figure 2 for Figure 1 Left view of

[0034] Figure 3 for Figure 1 Schematic diagram of the three-dimensional structure;

[0035] Figure 4 for Figure 1 Schematic diagram of the three-dimensional assembly structure;

[0036] Figure 5 for Figure 1 The main section of

[0037] Figure 6 It is a schematic diagram of the structure of a small motor of a single-phase multi-rotor motor group;

[0038] Figure 7 It is a schematic diagram of a separate three-dimensional structure of a stator in a small motor;

[0039] Figure 8 A schematic diagram of corresponding rotors of three single-phase multi-rotor motor groups connected in series through a single rotor shaft;

[0040] Fig. 9 for Figure 8 The leftmost diagram of the rotor magnet magnetic field direction of the A-phase multi-rotor motor group;

[0041] Fig.10 for Figure 8 Schematic diagram of the magnetic field direction of the rotor magnet of the B-phase multi-rotor motor group located in the middle;

[0042] Fig.11 for Figure 8 The rightmost diagram of the rotor magnet magnetic field direction of the C-phase multi-rotor motor group;

[0043] Fig.12 It is a schematic diagram of the assembly structure of three single-phase multi-rotor motor groups;

[0044] Fig.13 for Fig.12 Middle AA section view;

[0045] Fig.14 for Fig.12 Middle BB section;

[0046] Fig.15 for Fig.12 Mid-CC section;

[0047] Fig.16 It is a schematic diagram of the positioning structure of a single-phase multi-rotor motor group in a motor housing;

[0048] Fig.17 It is a schematic diagram of the magnetic circuit of an existing single-phase AC motor;

[0049] Fig.18 It is a schematic diagram of the magnetic circuit of an existing three-phase AC motor;

[0050] Fig.19 It is a schematic diagram of the magnetic circuit of the small motor in this case;

[0051] Fig. 20 This is a schematic diagram of a three-dimensional assembly structure of another embodiment of the present invention;

[0052] Fig.21 for Fig. 20 A schematic diagram of the front structure of a three-phase single-layer multi-rotor motor used in the embodiment (including three arc-shaped single-phase multi-rotor motor groups installed in a closed loop);

[0053] Fig. 22 for Fig.21 Schematic diagram of the magnetic field direction of the rotor magnet of the mid-arc A-phase multi-rotor motor set;

[0054] Fig.23 for Fig.21 Schematic diagram of the magnetic field direction of the rotor magnet of the medium arc B-phase multi-rotor motor set;

[0055] Fig.24 for Fig.21 Schematic diagram of the magnetic field direction of the rotor magnets of a medium-arc C-phase multi-rotor motor unit.

[0056] In the figure: 1, bracket; 2, motor housing; 2a, support end wall; 2b, outer ring wall; 2c, inner ring wall; 2d, positioning groove; 3, main shaft; 4, propeller; 5, rotor; 6, stator; 6a, winding groove; 6b, semicircular magnetic pole; 6c, positioning convex part; 7, stator coil; 8, rotor shaft; 9, main shaft gear disc; 10, pinion; 11, main shaft end cover; 11a, water inlet hole; 12, gear box cover; 13, motor end cover; 13a, water outlet hole; 14, gear disc oil chamber; 15, water seal assembly; 16, water seal sleeve; 17, front bearing; 18, rear bearing; 19, fastening nut; 20, inner water channel; A, A-phase multi-rotor motor group; B, B-phase multi-rotor motor group; C, C-phase multi-rotor motor group; H, magnetic circuit. DETAILED DESCRIPTION

[0057] Embodiment 1: First combine Figure 1-Figure 19 The first embodiment of a pod-type multi-rotor underwater propulsion device provided in this case is described as follows:

[0058] First, Figure 1-Figure 3 As shown, this pod-type multi-rotor underwater propulsion device, like conventional technology, has a bracket 1, a motor housing 2 fixed to the bottom of the bracket 1, a motor arranged in the motor housing 2, a main shaft 3 driven to rotate by the motor, and a propeller 4 fixed thereon.

[0059] Further integration Figure 4 and Figure 5As shown, the core improvement of this embodiment is that its motor uses a three-phase three-layer multi-rotor motor, which has three single-phase multi-rotor motor groups, namely, A-phase multi-rotor motor group A, B-phase multi-rotor motor group B and C-phase multi-rotor motor group C, which are axially installed along the main shaft 3, and a main shaft gear 9 fixed to the main shaft 1 for outputting motor torque. Three single-phase multi-rotor motor groups are accommodated in the motor housing 2, the front end of the motor housing 2 is fixed with a gear box cover 12, and the main shaft end cover 11 is fastened to the front end of the gear box cover 12, and a gear disc oil chamber 14 for sealing the main shaft gear disc 9 is formed between the main shaft end cover 11 and the gear box cover 12; the motor end cover 13 is fixed to the rear end of the motor housing 2, and a water seal assembly 15 is fixed to the rear part of the motor end cover 13, and a water seal sleeve 16 is arranged inside the water seal assembly 15, which is sleeved on the main shaft 3 and fixed to the propeller 4; a front bearing 17 sleeved on the main shaft 3 is fixed to the inner side of the main shaft end cover 11, and a rear bearing 18 sleeved on the main shaft 3 is fixed inside the motor end cover 13, and a fastening nut 19 for locking the propeller 4 to the water seal sleeve 16 is fixed at the end of the main shaft 3.

[0060] Further integration Figure 6-Figure 7 As shown, each single-phase multi-rotor motor group is composed of corresponding rotors 5 and stators 6 installed in series in an alternating circumferential direction, wherein a winding slot 6a is provided at the center of each stator 6 for winding a stator coil 7, and corresponding semicircular magnetic poles 6b are provided on both sides of the winding slot 6a as the center, respectively coupling two adjacent permanent magnet rotors 5, and each permanent magnet rotor 5 is simultaneously coupled to the semicircular magnetic poles 6b of the stators 6 on both sides to form a small motor; the stator coils 7 of the three single-phase multi-rotor motor groups are connected in a triangle or star shape.

[0061] More specifically combined Figure 8-Figure 11 As shown, the rotors 5 of the A-phase multi-rotor motor group A, the B-phase multi-rotor motor group B and the C-phase multi-rotor motor group C are all arranged one by one along the axial direction of the motor, and the rotors 5 of the three corresponding single-phase multi-rotor motor groups in the axial direction are coaxially connected in series through the same rotor shaft 8, and their magnetic field directions are staggered by 120 degrees in sequence.

[0062] Recombination Figure 4 and Figure 5 As shown, the main shaft gear disc 9 is transmission coupled with each rotor shaft 8, specifically, a pinion 10 is fixed on the rotor shaft 8 and meshes with the main shaft gear disc 9. When meshing, the magnetic field direction of the rotor 5 in each single-phase multi-rotor motor group is consistent. Figure 13-15 As shown, the main shaft gear 9 serves as a timing gear for the rotors 5 of the three single-phase multi-rotor motor sets to limit the angular relationship to which the magnetic fields of all the rotors 5 need to correspond, so as to drive the rotors 5 of each single-phase multi-rotor motor set to operate continuously, and also serves as a thrust gear for the rotors 5 of the three single-phase multi-rotor motor sets to output the motor torque.

[0063] In this embodiment, the number of teeth of the pinion 10 is divisible by 3, and the number of teeth of the main shaft gear plate 9 is divisible by X, where X=360 degrees / y, and y is the angle between two adjacent rotors 5 on the circumference.

[0064] In this embodiment, the stator coil 7 in the winding slot 6a of the stator 6 is wound with a flat wire winding. If it can be wound with a thin copper flat wire, the slot filling rate is higher than any existing motor, which reduces the copper heat loss and improves the motor efficiency. Compared with the existing most efficient motor with the same power, more than 50% of silicon steel sheets and copper materials are saved, and more than 95% of silicon steel sheets and copper materials are saved compared with traditional motors.

[0065] Further recombining Figure 1-5 As shown, the motor housing 2 includes a supporting end wall 2a fixed to the gear box cover 12, and an outer annular wall 2b and an inner annular wall 2c located on the inner side of the outer annular wall 2b are formed on the supporting end wall 2a, and an annular groove for embedding the three-phase three-layer multi-rotor motor is formed between the inner annular wall 2c and the outer annular wall 2b; and a plurality of internal water channels 20 axially penetrating the motor housing 2 for cooling the three-phase three-layer multi-rotor motor are provided in the inner annular wall 2c; the main shaft end cover 11 is provided with a water inlet hole 11a connected thereto corresponding to each internal water channel 20, and the motor end cover 13 is provided with a water outlet hole 13a connected thereto corresponding to each internal water channel 20.

[0066] Specific as Figure 5 As shown, the water outlet hole 13 a on the motor end cover 13 in this embodiment is an L-shaped hole, the inlet of which is axially opposite to the corresponding inner water channel 20 , and the outlet is distributed radially along the motor end cover 13 .

[0067] Further Fig.16 As shown, for each single-phase multi-rotor motor group, the top and bottom of each stator 6 are provided with an arc-shaped positioning protrusion 6c, and the outer wall surface of the inner ring wall 2c is provided with an arc-shaped positioning groove 2d matching the arc-shaped positioning protrusion 6c at the bottom of the stator, and the inner wall surface of the outer ring wall 2b is provided with an arc-shaped positioning groove 2d matching the arc-shaped positioning protrusion 6c at the top of the stator 6, thereby facilitating the accurate and stable installation and positioning of the motor housing 2 to the stator 6 and the motor group in which it is located.

[0068] Combination Figure 17-Figure 19 As shown, since the two sides of the stator 6 in the small motor of each single-phase multi-rotor motor group in this embodiment serve as the magnetic poles of the two adjacent rotors 5 respectively, after power is turned on, the force generating the magnetic field acts on the rotors 5 on both sides at the same time, compared with all existing types of motors, the path of the magnetic field is greatly shortened, the magnetic circuit H is extremely short, the magnetic resistance is extremely small, and the magnetic heat loss is reduced. In comparison, the magnetic circuit H of the existing three-phase AC motor is longer, and the magnetic circuit H of the single-phase AC motor is the longest, both of which are longer than the magnetic circuit H of the small motor in this case.

[0069] Embodiment 2:

[0070] Combination Figure 20-24 The second specific embodiment of a pod-type multi-rotor underwater propulsion device provided by the utility model is shown. Its overall structure is the same as that of embodiment 1, and it also has a bracket 1, a motor housing 2 fixed to the bottom of the bracket 1, a motor arranged in the motor housing 2, a main shaft 3 driven to rotate by the motor, and a propeller 4 fixed thereon. The difference between it and embodiment 1 is that the motor adopts a three-phase single-layer multi-rotor motor.

[0071] This three-phase single-layer multi-rotor motor has three equally divided arc-shaped single-phase multi-rotor motor groups, namely, arc-shaped A-phase multi-rotor motor group A, arc-shaped B-phase multi-rotor motor group B and arc-shaped C-phase multi-rotor motor group C, which are installed in a closed loop with the main shaft 3 of the motor as the center, and a main shaft gear plate 9 fixed to the main shaft 3 for outputting the motor torque. The angle of each arc-shaped single-phase multi-rotor motor group on the circumference is 120 degrees. Fig.21 shown.

[0072] Still combined Fig. 20 As shown, three arc-shaped single-phase multi-rotor motor groups are all accommodated in the motor housing 2, the front end of the motor housing 2 is fixed with a gear box cover 12, and the main shaft end cover 11 is buckled and fixed to the front end of the gear box cover 12, and a gear disc oil chamber 14 for sealing the main shaft gear disc 9 is formed between the main shaft end cover 11 and the gear box cover 12; the motor end cover 13 is fixed to the rear end of the motor housing 2, and a water seal assembly 15 is fixed to the rear part of the motor end cover 13, and a water seal sleeve 16 is provided inside the water seal assembly 15, which is sleeved on the main shaft 3 and fixed to the propeller 4; a front bearing 17 sleeved on the main shaft 3 is fixed to the inner side of the main shaft end cover 11, and a rear bearing 18 sleeved on the main shaft 3 is fixed inside the motor end cover 13, and a fastening nut 19 for locking the propeller 4 to the water seal sleeve 16 is fixed at the end of the main shaft 3.

[0073] Further integration Figure 21-24 As shown, the arc-shaped A-phase multi-rotor motor group A, the arc-shaped B-phase multi-rotor motor group B and the arc-shaped C-phase multi-rotor motor group C are all formed by corresponding rotors 5 and stators 6 being installed in series in an alternating circumferential direction, wherein each stator 6 is provided with a winding slot 6a at the center for winding a stator coil 7, and corresponding semicircular magnetic poles 6b are provided on both sides of the winding slot 6a as the center, respectively coupling two adjacent permanent magnet rotors 5, and each permanent magnet rotor 5 is simultaneously coupled with the semicircular magnetic poles 6b of the stators 6 on both sides to form a small motor; the stator coils 7 of the three arc-shaped single-phase multi-rotor motor groups are connected in a triangle or star shape, and the structure of the above-mentioned small motor can be referred to in Example 1. Figure 6 and Figure 7 shown.

[0074] More specifically combined Figure 22-Figure 23As shown, the magnetic field directions of the rotors 5 of the arc-shaped A-phase multi-rotor motor group A, the arc-shaped B-phase multi-rotor motor group B and the arc-shaped C-phase multi-rotor motor group C are staggered by 120 degrees respectively.

[0075] Recombination Fig. 20 As shown, the main shaft gear disc 9 is transmission-coupled with the rotor shaft 8 of each rotor 5, and specifically, a pinion 10 is fixed on the rotor shaft 8 of each rotor 5 to mesh with the main shaft gear disc 9. When meshing, the magnetic field directions of the rotors 5 in each arc-shaped single-phase multi-rotor motor set are all consistent, so that the main shaft gear disc 9 is used as a timing gear of the rotors 5 of the three arc-shaped single-phase multi-rotor motor sets to limit the angle relationship that all the rotors 5 magnetic fields need to correspond to, so as to drive the rotors 5 of each arc-shaped single-phase multi-rotor motor set to operate continuously, and is also used as a thrust gear of the rotors 5 of the three single-phase multi-rotor motor sets to output the motor torque.

[0076] And the number of teeth of the pinion 10 is divisible by 3, and the number of teeth of the main shaft gear plate 9 is divisible by X, X=360 degrees / y, y is the angle between two adjacent rotors 5 on the circumference.

[0077] Similarly, the stator coil 7 in the winding slot 6a of the stator 6 in this embodiment is wound with a flat wire winding. If it can be wound with a thin copper flat wire, the slot fill rate is higher than any existing motor, reducing copper heat loss, thereby improving the motor efficiency. Compared with the existing most efficient motor with the same power, more than 50% of silicon steel sheets and copper materials are saved, and more than 95% of silicon steel sheets and copper materials are saved compared with traditional motors.

[0078] The water channel structure inside the motor housing 2 in this embodiment is the same as that in Embodiment 1 (only the three-phase three-layer multi-rotor motor in the motor housing 2 is replaced by a three-phase single-layer multi-rotor motor). For details, please refer to the description of Embodiment 1 and combine Figure 5 As shown, this embodiment will not be described in detail.

[0079] Of course, the above embodiments are only for illustrating the technical concept and features of the utility model, and their purpose is to enable people familiar with the technology to understand the content of the utility model and implement it accordingly, and they cannot be used to limit the protection scope of the utility model. Any modifications made according to the spirit of the main technical solution of the utility model should be included in the protection scope of the utility model.

Claims

1. A pod-type multi-rotor underwater propulsion device, comprising a bracket (1), a motor housing (2) fixed to the bottom of the bracket (1), a motor arranged in the motor housing (2), a main shaft (3) driven to rotate by the motor, and a propeller (4) fixed thereon; characterized in that: The motor is a three-phase three-layer multi-rotor motor or a three-phase single-layer multi-rotor motor; The three-phase multi-layer multi-rotor motor comprises three single-phase multi-rotor motor groups installed along the axial direction of a main shaft (3), each single-phase multi-rotor motor group is formed by corresponding rotors (5) and stators (6) being installed in series in an alternating circumferential direction, wherein a winding slot (6a) is provided at the center of each stator (6) for winding a stator coil (7), and corresponding semicircular magnetic poles (6b) are provided on both sides of the winding slot (6a) as the center, respectively coupling two adjacent permanent magnet rotors (5), and each permanent magnet rotor (5) is simultaneously coupled to the semicircular magnetic poles (6b) of the stators (6) on both sides to form a small motor; the stator coils (7) of the three single-phase multi-rotor motor groups are connected in a triangle or star shape; the rotors (5) of the three single-phase multi-rotor motor groups are arranged one by one along the axial direction of the motor , and the rotors (5) of the three single-phase multi-rotor motor groups corresponding to each other in the axial direction are coaxially connected in series through the same rotor shaft (8), and the directions of their magnetic fields are staggered by 120 degrees in sequence; a main shaft gear disc (9) is also fixed on the main shaft (3), and the main shaft gear disc (9) is meshed with the pinion gears (10) fixed on each rotor shaft (8), and when meshed, the directions of the magnetic fields of the rotors (5) in each single-phase multi-rotor motor group are consistent, so that the main shaft gear disc (9) serves as a timing gear of the rotors (5) of the three single-phase multi-rotor motor groups to limit the angular relationship that the magnetic fields of all the rotors (5) need to correspond to, so as to drive the rotors (5) of each single-phase multi-rotor motor group to operate continuously, and also serves as a thrust gear of the rotors (5) of the three single-phase multi-rotor motor groups to output motor torque; The three-phase single-layer multi-rotor motor comprises three equally divided arc-shaped single-phase multi-rotor motor groups installed in a closed loop with the motor's main shaft (3) as the center, and a main shaft gear (9) fixed to the main shaft (3) for outputting the motor torque; each arc-shaped single-phase multi-rotor motor group is composed of a rotor (5) and a stator (6) installed alternately in series, a winding slot (6a) is provided at the center of the stator (6) for winding the stator coil (7), and corresponding semicircular magnetic poles (6b) are provided on both sides with the winding slot (6a) as the center, respectively coupling two adjacent permanent magnet rotors (5), and each permanent magnet rotor (5) is simultaneously coupled to the semicircular magnetic poles (6b) of the stators (6) on both sides to form a small motor; and the stators of the three arc-shaped single-phase multi-rotor motor groups are The coils (7) are connected in a triangle or star shape; the magnetic field directions of the rotors (5) of the three arc-shaped single-phase multi-rotor motor sets are staggered by 120 degrees in sequence; the main shaft gear (9) is meshed with the pinion (10) fixed on the rotor shaft (8) of each rotor (5); and when meshed, the magnetic field directions of the rotors (5) in each arc-shaped single-phase multi-rotor motor set are kept consistent, so that the main shaft gear (9) serves as a timing gear of the rotors (5) of the three arc-shaped single-phase multi-rotor motor sets to limit the angular relationship that all the rotors (5) magnetic fields need to correspond to, so as to drive the rotors (5) of each arc-shaped single-phase multi-rotor motor set to operate continuously, and also serves as a thrust gear of the rotors (5) of the three arc-shaped single-phase multi-rotor motor sets to output motor torque.

2. A pod-type multi-rotor underwater propulsion device according to claim 1, characterized in that The stator coil (7) in the winding slot (6a) of the stator (6) is wound using a flat wire winding.

3. A pod-type multi-rotor underwater propulsion device according to claim 1, characterized in that The number of teeth of the pinion (10) is divisible by 3, and the number of teeth of the main shaft gear disc (9) is divisible by X, where X=360 degrees / y, and y is the angle between two adjacent rotors (5) on the circumference.

4. A pod-type multi-rotor underwater propulsion device according to claim 1, characterized in that The motor housing (2) further comprises a main shaft end cover (11), a gear box cover (12) and a motor end cover (13); the gear box cover (12) is fixed to the front end of the motor housing (2), and the main shaft end cover (11) is fastened to the front end of the gear box cover (12); a gear plate oil chamber (14) for sealing the main shaft gear plate (9) is formed between the main shaft end cover (11) and the gear box cover (12); the motor end cover (13) is fixed to the rear end of the motor housing (2), and a water seal assembly is fixed to the rear of the motor end cover (13). The water seal assembly (15) is provided with a water seal sleeve (16) sleeved on the main shaft (3) and fixed to the propeller (4) inside; a front bearing (17) sleeved on the main shaft (3) is fixed inside the main shaft end cover (11), and a rear bearing (18) sleeved on the main shaft (3) is fixed inside the motor end cover (13); a fastening nut (19) for locking the propeller (4) to the water seal sleeve (16) is fixed at the end of the main shaft (3).

5. A pod-type multi-rotor underwater propulsion device according to claim 4, characterized in that The motor housing (2) comprises a supporting end wall (2a) fixed to the gear box cover (12); an outer ring wall (2b) and an inner ring wall (2c) located on the inner side of the outer ring wall (2b) are formed on the supporting end wall (2a); an annular groove for embedding the three-phase three-layer multi-rotor motor or the three-phase single-layer multi-rotor motor is formed between the inner ring wall (2c) and the outer ring wall (2b); and a plurality of inner water channels (20) axially penetrating the motor housing (2) and used for cooling the three-phase three-layer multi-rotor motor or the three-phase single-layer multi-rotor motor are provided in the inner ring wall (2c); and water inlet holes (11a) communicating with the inner water channels (20) are provided on the spindle end cover (11) corresponding to each inner water channel (20), and water outlet holes (13a) communicating with the inner water channels (20) are provided on the motor end cover (13).

6. A pod-type multi-rotor underwater propulsion device according to claim 5, characterized in that The water outlet hole (13a) on the motor end cover (13) is an L-shaped hole, the inlet of which is axially opposite to the corresponding internal water channel (20), while the outlet is distributed radially along the motor end cover (13).

7. The pod-type multi-rotor underwater propulsion device according to claim 5, characterized in that The top and bottom of the stator (6) are provided with positioning protrusions (6c), the outer wall surface of the inner annular wall (2c) is provided with a positioning groove (2d) matching the positioning protrusion (6c) at the bottom of the stator (6), and the inner wall surface of the outer annular wall (2b) is provided with a positioning groove (2d) matching the positioning protrusion (6c) at the top of the stator (6).

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