Cyclorata

Abstract

A cyclorotor (1) that can be used as a propulsion device for a ship is provided. The cyclorotor includes a body (18) and a rotating housing (2) including a plurality of blade modules (16a...16f) circumferentially arranged around the body. The cyclorotor further includes a plurality of blade assemblies, each having a blade (4a...4f) disposed within a respective blade module and extending from the rotating housing and having a blade axis (6) pivotable relative to the rotating housing. Each blade assembly is associated with an electric motor (10) having a drive shaft, a drive gear (30) mechanically connected to the drive shaft, and a blade actuator including the drive gear and a driven gear mechanically connected to each blade assembly for pivoting each blade about its blade axis. Each blade module is preferably removable from the body.

Description

Technical Field

[0001] The present invention relates to a cyclorotor, and more particularly to a cyclorotor that can be used as a propulsion device when mounted on a ship's hull. However, this cyclorotor can also be used as a turbine such as a wind turbine and a waterwheel.

Background Art

[0002] Known propulsion devices include a plurality of blades extending from a rotating housing, and each blade can be pivoted around its respective blade axis by each blade actuator to provide thrust in a direction perpendicular to the axis of rotation of the rotating housing. Such a propulsion device may also be referred to as a cyclorotor, a cycloid propeller or a propulsion unit, or a Voith Schneider propeller operating in a cycloid mode or a trochoid mode.

[0003] Each blade actuator can use one or more of a mechanical, hydraulic, pneumatic and electric actuator, for example, an electric motor, to pivot each blade around its blade axis.

Summary of the Invention

[0004] The present invention provides a cyclorotor, which comprises a main body and a rotating housing provided with a plurality of blade modules circumferentially arranged around the main body, and a plurality of blade assemblies, each blade assembly being arranged within a respective blade module and having a blade extending from the rotating housing and having a blade axis pivotable with respect to the rotating housing, a plurality of blade actuators, each blade actuator being associated with each of the blade assemblies, and each blade actuator has an electric motor with a drive shaft, A drive gear mechanically connected to the drive shaft, A drive gear and a driven gear mechanically connected to each blade assembly are used to rotate each blade around its blade axis. It is equipped with.

[0005] Each blade actuator defines the angle of each blade relative to the rotating housing. In this specification, the term “drive gear” refers, for convenience, to a gear mechanically connected to the drive shaft of the electric motor, and the term “driven gear” refers to a gear mechanically connected to each blade assembly. This notation most accurately describes the situation where, once the drive shaft of the electric motor begins to rotate, the driven gears are mechanically driven by the drive gears to rotate the blades around their respective blade axes. However, it will be readily apparent that during normal operation of the cyclorotor, there are situations where the drive gears are effectively driven to rotate by the driven gears, and situations where such rotation is prevented by the drive gears to maintain a desired blade angle. In this specification, the term “mechanically connected” encompasses both direct and indirect connections between components unless otherwise specified.

[0006] The blade modules can extend radially outward from the main body and are preferably adapted to be removable independently from the main body so that they can be replaced with other blade modules as needed. In some configurations, the blade modules cannot be removed from the main body. This may be the case, for example, in the case of a small cyclorotor.

[0007] The structural members of each blade module define an outer housing or casing with an interior where the respective blade assemblies are housed. The structural members of the main body define an outer housing or casing with an interior where the electric motors of the blade actuators can be housed. The electric motors of each blade actuator can also be housed in their respective blade modules. Therefore, all the components of each blade actuator can either be housed in their respective blade modules or distributed across each blade module and the main body of the rotating housing.

[0008] The drive gear of each blade actuator can be disconnected from the drive shaft of its respective electric motor, or from the driven gear. This allows for blade freewheeling. Blade freewheeling is also possible when each electric motor is not operating, unless the electric motor is a permanent magnet motor, i.e., an electric motor with a rotor in which the rotor poles are defined by multiple permanent magnets instead of rotor windings. Each electric motor can have an appropriate structure.

[0009] The drive gear and driven gear of each blade actuator can define a transmission gear located within each blade module for pivoting each blade around its blade axis. In other words, the teeth of the drive gear and driven gear can mesh with each other. In another configuration, the drive gear and driven gear of each blade actuator can be mechanically connected indirectly by a drive train. In other words, the teeth of the drive gear and the driven gear of each blade actuator do not need to mesh with each other and can be mechanically connected by a suitable drive train, such as one or more drive belts, drive chains, or gear trains. If the drive train includes a drive belt or drive chain, it will be easily understood that the term "gears," for example, can be considered to include other components such as pulleys, sprockets, and plate wheels that are properly engaged with the drive belt or drive chain.

[0010] The drive gear of each blade actuator can be directly mechanically connected to the drive shaft of its respective electric motor. Alternatively, the drive gear of each blade actuator can be indirectly mechanically connected to the drive shaft of its respective electric motor by a drive train, such as one or more shafts, a drive belt, a drive chain, or a gear train.

[0011] Generally, by utilizing an appropriate drive train, the drive shaft of each electric motor can be mechanically connected to its respective blade assembly, causing the blade to rotate around its blade axis as the drive shaft rotates.

[0012] When the electric motor is located in the body of the rotating housing, the drive train of each blade actuator can extend from an opening connecting the interior of the body to the interior of each blade module. Each drive train can be selectively reconfigured so as not to pass through or obstruct the opening. This allows for independent sealing of the opening between the body and the blade module, as will be explained in detail below, and enables the removal and replacement of the blade module. It also means that the drive train does not extend across the interface from which the blade module is removed from the body. In other words, reconfiguration of the drive train involves mechanically cutting the drive shaft and drive gear, and / or the drive gear and driven gear, so that the blade module can be removed from the body and replaced when necessary. Each drive train can be reconfigured in an appropriate manner so as not to pass through the opening or extend across the interface.

[0013] If the drive train of each blade actuator includes a drive belt or drive chain extending through its respective opening or across its respective interface, the drive belt or drive chain can be cut and removed or reconfigured so as not to block the opening. This allows, for example, a drive gear to be separated from the driven gear.

[0014] Each drive train, which mechanically connects the drive shaft of each electric motor to a drive gear, may include one or more shafts extending through their respective openings or across interfaces. One or more shafts can be used to engage and disengage the transmission between the drive shaft and the drive gear. In one configuration, one end of a shaft may be mechanically connected to the drive shaft of each electric motor, and the other end of a shaft may be mechanically connected to a drive gear. The shafts may be removably connected to one or both of the drive shafts and drive gears by a pair of flanges that can be connected to each other by a suitable coupling, for example, mechanical fasteners such as bolts or screws, or other suitable fastening means. By tightening and removing or releasing the mechanical fasteners and cutting the flanges, the shafts can be completely removed or moved to a position where they do not extend across openings or interfaces. The shafts may be movable or reconfigurable relative to the drive shaft of each electric motor (for example, movable between a drive position connected to the drive gear and a retracted position located within the body or blade module and not extending through openings or across interfaces), or they may be fixed relative to the drive shaft. If the shaft is movable relative to the drive shaft of the electric motor, it may be able to slide along the drive shaft between a driven position and a retracted position while remaining mechanically connected to the drive shaft. If the shaft is fixed to the drive shaft of the electric motor, the drive shaft and electric motor can be moved or reconfigured so that the shaft is entirely contained within the body of the rotating housing, rather than extending through an opening or across an interface, and can be translated or rotated relative to the body of the rotating housing, for example. (The drive shaft and electric motor can also be made movable or reconfigured so that the drive shaft does not extend through an opening or across an interface, for example, if mechanically and directly connected to the drive gears without using a drive train, so that the drive gears are detached from the drive shafts of their respective electric motors.)After the replacement blade module is installed, the shaft can be mechanically reconnected to one or both of the drive shaft and drive gear, for example, by reinserting and tightening a mechanical fastener, or by other suitable fastening means for reconnecting the flange. The shaft can be part of the replacement blade module and, for example, be movable or reconfigurable relative to the drive shaft of each electric motor between a retracted position during blade module replacement and a drive position extending through their respective openings or across the interface, and can be mechanically connected to the drive shaft of the electric motor located within the body of the rotating housing. This allows the drive gear of the blade actuator to re-engage with the drive shaft of each electric motor.

[0015] In an alternative configuration, each drive train may include two or more shafts that can be used to engage and disengage the transmission gears between the drive shaft and the drive gear. One shaft may be mechanically connected to the drive shaft of each electric motor, and the other shaft may be mechanically connected to the drive gear. The shafts may be releasably connected to each other by a pair of flanges that can be connected to each other by a suitable coupling, for example, a mechanical fastener such as a bolt or screw, or other suitable fastening means. When the flanges are cut by tightening, loosening, or releasing the mechanical fastener, at least one of the shafts may be moved to a position where the drive shaft does not extend through the opening or across the interface. This disengages the drive gear from the drive shaft of each electric motor. In an alternative configuration, one of the shafts may be fixed, while the other is movable or reconfigurable. The fixed shaft is typically connected to the drive gear and may be mounted for rotation by one or more bearings. The fixed shaft is typically located within the blade module and does not pass through the openings or cross the interface. Thus, the fixed shaft, bearings, and drive gear are part of the blade module and are removed together with the blade module if replacement is necessary. The movable shaft can be movable or reconfigurable relative to the drive shaft (for example, it can be movable between a drive position connected to a fixed shaft and a retracted position located within the body and not extending through openings or across interfaces) or fixed relative to the drive shaft. If the movable shaft is movable relative to the drive shaft, it may be able to slide on the drive shaft between the drive position and the retracted position while remaining mechanically connected. If the movable shaft is fixed to the drive shaft, the drive shaft and electric motor can be made movable or reconfigurable relative to the body of the rotating housing, for example, so that the movable shaft is entirely located within the body of the rotating housing rather than extending through openings or across interfaces. After being disconnected from the other shaft, the shaft mechanically connected to the drive shaft can be completely removed from the drive shaft.After the replacement blade module is installed, the movable shaft can be mechanically reconnected to the fixed shaft of the replacement blade module, for example, by reinserting and tightening a mechanical fastener or by other suitable fastening means for reconnecting a flange. This allows the drive gear of the blade actuator to re-engage with the drive shaft of each electric motor.

[0016] Each blade assembly may consist of only one bearing assembly that rotatably mounts each blade. Each bearing assembly (or “swivel bearing”) may include a retaining ring fixed to the blade module housing and a swivel ring fixed to the root portion of each blade. The retaining ring of each bearing assembly may be fixed to the blade module housing by multiple mechanical fasteners, e.g., bolts or screws, or other suitable fastening means. The swivel ring of each bearing assembly may be fixed to the blade by multiple mechanical fasteners, e.g., bolts or screws, or other suitable fastening means.

[0017] The driven gear of each blade actuator can be formed either as an integral part of the rotating ring of the bearing assembly, or as a separate part fixed to the rotating ring to rotate together as a single rotating component of the bearing assembly. When the driven gear is formed as an integral part of the rotating ring of the bearing assembly, the teeth of the driven gear can be formed on the surface of the rotating ring. When the driven gear is formed as a separate part, the driven gear can be formed as a ring, and the teeth of the driven gear can be formed on the surface of the ring. The driven gear can be fixed to the rotating ring of the bearing assembly by a number of mechanical fasteners, such as bolts or screws, or other suitable fastening means.

[0018] When the drive gear and driven gear of each blade actuator define a transmission gear, i.e., when the teeth mesh with each other, the transmission gear can be a bevel gear. In this configuration, the driven gear of each blade actuator can be a conical gear having a rotation axis substantially parallel to its respective blade axis. The drive gear of each blade actuator can be a conical gear having a rotation axis substantially perpendicular to its respective blade axis. The drive shaft and the optional drive train that mechanically connects the drive shaft to the drive gear can also have rotation axes substantially parallel to their respective blade axes. Such a structure provides a physically compact blade assembly. Appropriate types of conical gears (e.g., miter, straight, spiral, etc.) can be used.

[0019] When the drive gear and driven gear are indirectly mechanically connected, for example by a drive belt or drive chain connected around the gear, or by one or more intermediate gears, the drive gear and driven gear can have axes of rotation substantially parallel to their respective blade axes. The drive gear can be directly mechanically connected to the drive shaft of the respective electric motor.

[0020] Each blade module can be removably connected to the body of the rotating housing by a number of mechanical fasteners (e.g., bolts or screws) or other suitable fastening means. Each blade module is preferably a self-contained unit comprising a blade assembly and all the mechanical components necessary for blade operation, separated from the electric motor, in one configuration. Thus, in this configuration, a replacement blade module becomes fully operational simply by mechanically connecting it to the drive shaft of the respective electric motor located within the body of the rotating housing. In another configuration, all the mechanical components necessary for blade operation, including the electric motor, are located within the replacement blade module. In either configuration, a faulty blade module can be easily removed and replaced, as will be described in detail below.

[0021] Each opening between the body and each blade module is typically defined by a first opening formed in the structural member of the blade module and an aligned second opening formed in an adjacent structural member that defines the body. When the cyclorotor is submerged in water during use (such as when mounted on a ship's hull or used as a water turbine), the inside of the rotating housing must be kept watertight. In this case, the blade modules are preferably removablely fixed to the body to maintain a watertight seal that prevents water from entering the inside of the rotating housing. One or more seals can be provided between the opposing structural members of each blade module and the body and can extend around the openings. Typically, the solution for replacing blade modules differs depending on whether the interface of the cyclorotor is submerged in water or dry.

[0022] The first and second openings can be sealed with their respective panels before removing and replacing the blade module from the main body. The first panel can temporarily seal the first opening in the structural member of the blade module, preventing water from entering the inside of the blade module through the first opening when the blade module is removed. The second panel can temporarily seal the second opening in the structural member of the main body, preventing water from entering the inside of the main body and the remaining blade module through the second opening when the blade module is removed. This allows the faulty blade module to be removed and replaced without the need for dry dock facilities or ballast, and without raising the turbine. The first and second panels are preferably installed from inside the main body of the rotating housing. For example, the first opening can be slightly smaller than the second opening. Thus, the first opening can be closed and sealed by fixing the first panel to the structural member of the blade module to be replaced, which surrounds the first opening and is accessible through the larger second opening. The first panel can be installed from the inside of the main body and received through the larger second opening. Once the first panel is fixed in place, the second opening can be closed and sealed by fixing the second panel to the structural members of the main body surrounding the second opening. The first and second panels can be installed while allowing engineers to access the inside of the main body.

[0023] Each panel can be detachably secured to the respective structural members of the blade module or body by a plurality of mechanical fasteners (e.g., bolts or screws) or some other suitable fastening means.

[0024] One or more seals can be provided between the first panel and the structural members of the blade module to provide a watertight seal between them. One or more seals can be provided between the second panel and the structural members of the main body to provide a watertight seal between them. One or more seals can extend around each opening.

[0025] Once the main body and the blade module to be exchanged are made watertight, the mechanical fixture or other fixing means used to removably secure the blade module to the main body can preferably be loosened, removed or released from the inside of the main body. Even if the mechanical fixture or other fixing means are removed or released, the watertightness of the blade module or the main body to be exchanged must not be impaired. For example, the openings in the structural members of the main body or the blade module for receiving the mechanical fixture can be filled with a suitable plug or cap, or one or more seals can be included between the fixing shaft and the inner surface of each opening, and a waterproof mechanical fixture that is not tightened or released but not completely removed from the opening can be used.

[0026] When the mechanical fixture and other fixing means are loosened, removed or released, the blade module can be removed from the rest of the rotary housing and can be separated from the main body in a controlled manner.

[0027] If the cyclorotor is not underwater when the blade module is being exchanged, the mechanical fixture or other fixing means can be easily loosened, removed or released without following the procedure for temporarily sealing or making watertight the main body and the blade module to be exchanged. This applies when the cyclorotor is attached to the hull of a ship in a dry dock or when it is ballasted to be above the waterline. However, even if the cyclorotor is not located underwater, it is still usually preferable to fix the first panel to the blade module, temporarily cover or seal the first opening, and then remove it from the main body.

[0028] When replacing a blade module, it is usually necessary to support the weight of the blade module with a support structure. In one configuration, the blade module is attached to a winch cable that can be used to lower or raise the blade module after it has been removed from the main body. In another configuration, the blade module may be supported from above or below by a cradle or other support structure. The process of removing the blade module from the main body usually differs depending on how the blade module is structurally connected to the main body.

[0029] The replacement blade module can be lowered or raised using the included winch cable (or other support structure) until it is aligned with the main body. It can then be secured to the main body by inserting and tightening mechanical fasteners or other fastening means. During the installation process, the replacement blade module may be sealed by panels or other means fixed to temporarily cover or seal openings in the structural members of the blade module. After the replacement blade module is properly secured to the main body in a watertight manner, the panels fixed to the main body and blade module to temporarily seal the openings can be removed to release the openings connecting the interior of the main body to the interior of the replacement blade module. If the drive gears of the blade actuator of the replacement blade module are mechanically connected indirectly to the drive shafts of each electric motor by a drive train, the drive train can be re-engaged to pass through the openings. This includes, for example, the reconnection of one or more shaft couplings. Additionally, removed drive belts or drive chains can be reinstalled or reconnected to pass through the openings. This allows, for example, the drive gears to re-mesh with the driven gears.

[0030] The present invention provides a method for repairing a cyclorotor as described above, and the method is The steps include sealing a first opening in the blade module to be replaced and a second opening in the main body that is appropriately aligned, Remove the sealed blade module from the main unit.

[0031] This method may further include disconnecting the drive gears from one or both of the drive shafts and driven gears of each electric motor before sealing. This may include, for example, reconfiguring the drive train so that it does not penetrate or otherwise block the first and second openings when the electric motors are located inside the body.

[0032] The method further involves securing the replacement sealing blade module to the main unit.

[0033] Open the first opening in the replacement blade module and, if sealed, the aligned second opening inside the main body.

[0034] This method may further include, after opening, re-engaging the drive gears with one or both of the drive shafts and driven gears of each electric motor. This may include reconnecting the drive train or reconfiguring the drive train to extend from the first and second openings.

[0035] A cyclorotor can be mounted on the hull of a ship as a propulsion system.

[0036] The hull of a vessel may be provided with an access opening from which a winch cable can be attached to a blade module to be replaced from above. The access opening may be formed in an annular collar that surrounds a rotating housing and forms a structural member of the vessel's hull. The inner profile of the collar preferably conforms to the outer profile of the rotating housing, and an annular gap or clearance is provided between the rotating housing and the collar, allowing the rotating housing to rotate freely. The rotating housing can be rotated until the blade module to be removed is aligned with the access opening. In some configurations, there are two or more access openings spaced appropriately apart.

[0037] A cyclorotor may include a slewing bearing for rotatably mounting the rotating housing. The slewing bearing may comprise a rotating ring and a stationary ring fixed to the rotating housing. The stationary ring may be adapted to be fixed directly or indirectly to the hull of a vessel by a mounting plate or mounting structure, as appropriate.

[0038] A cyclorotor may include a main electric machine (e.g., an electric motor or generator) having a drive shaft mechanically connected to the rotating ring of a slewing bearing. When a cyclorotor is used as a propulsion system for a ship, the main electric machine can be operated as a motor to rotate the rotating housing and generate thrust. When a cyclorotor is used as a turbine, the main electric machine can be operated as a generator to rotate the rotating housing by moving, for example, air or water, and thereby generate electricity.

[0039] The present invention further provides a vessel comprising a cyclorotor and a grounding assembly as described above, the grounding assembly including a grounding circuit between each blade assembly and a grounding connection provided on the hull of the vessel. When the vessel uses applied current cathodic protection (ICCP) for corrosion prevention, the grounding system is designed to prevent damage to the blade assemblies and other components by the circulating current that protects the vessel from corrosion. [Brief explanation of the drawing]

[0040] [Figure 1] A perspective view of the propulsion device according to the present invention. [Figure 2] A perspective view of the propulsion system installed on the hull of the ship shown in Figure 1. [Figure 3] Cross-sectional view of the installed propulsion device shown in Figure 2. [Figure 4] A schematic diagram showing the blade module and blade actuator. [Figure 5] A schematic diagram showing the blade module and blade actuator. [Figure 6] A schematic diagram showing the blade module and blade actuator. [Figure 7] A schematic diagram showing the blade module and blade actuator. [Figure 8] A schematic diagram showing the first and second panels fixed using mechanical fasteners. [Figure 9] A schematic diagram showing the first and second panels fixed using mechanical fasteners. [Figure 10] A schematic diagram showing the first and second panels fixed using watertight mechanical fasteners. [Figure 11] A schematic diagram of the propulsion system shown in Figure 1, with the blade module removed. [Figure 12] A schematic diagram of the propulsion system shown in Figure 1, with the blade module removed. [Figure 13] A schematic diagram of the grounding assembly of the propulsion device according to the present invention. [Figure 14] A schematic diagram of a propulsion system according to the present invention installed on a ship.

[0041] The following explanation describes cyclorotors used as propulsion systems for ships, but it will be easy to see that the same principle can be applied to other types of cyclorotors, such as wind turbines and hydraulic turbines.

[0042] Referring to Figures 1 to 3, the marine propulsion system 1 comprises a rotating housing 2. Six blades 4a, 4b…, 4f extend axially from the lower surface 2a of the rotating housing 2. Each blade 4a, 4b…, 4f has a blade axis 6 that can pivot relative to the rotating housing 2 by a blade actuator 8. The propulsion system 1 comprises six blade actuators 8. Each blade actuator 8 comprises an electric motor 10, a drive train 12, and a transmission gear 14 that pivots each blade. Each blade 4a, 4b…, 4f extends radially outward from the main body 18 and is mounted on blade modules 16a, 16b…, 16e, 16f which are mounted on a single bearing assembly 20 (or “slewing bearing”).

[0043] Figure 3 schematically shows two of the six blade actuators 8 and two of the six bearing assemblies 20. Figures 4 through 6 show one of the blade modules 16d in more detail, and in particular show the configuration of each blade assembly, including each blade actuator 8 and bearing assembly 20. It will be easy to see that the other blade actuators and blade assemblies have the same structure. In the following description, we will assume that blade module 16d is being replaced due to a malfunction or other reason. However, it will be easy to see that the same process can be used to replace any of the blade modules 16a, 16b, ..., 16f.

[0044] The structural members 22 of each blade module 16a, 16b…, 16f form part of the outer housing and define the interior in which parts of each blade assembly 20 and each blade actuator 8 are located. Each bearing assembly 20 includes a fixing ring 24 that is fixed to the blade module housing, particularly to a circular mounting ring, by mechanical fasteners such as bolts or screws, and a rotating ring 26 that is fixed to the root portion of each blade 4a, 4b…, 4f by mechanical fasteners such as bolts or screws.

[0045] The driven gear 28 is formed as a separate component fixed to the rotating ring 26 and rotates together with the bearing assembly 20 as an integral rotating component by mechanical fastening, for example, bolts or screws. The driven gear 28 is a conical gear having a rotation axis substantially parallel to each blade shaft 6.

[0046] The drive gear 30 is mechanically connected to the drive shaft 32 of each electric motor 10 by the drive train 12. The drive gear 30 of each blade actuator 8 is also a conical gear having a rotation axis substantially perpendicular to each blade axis 6. The driven gear 28 and the drive gear 30 define a bevel gear as a single-stage transmission gear 14 that rotates each blade when the drive gear rotates due to the drive shaft 32 and the drive train 12.

[0047] The drive train 12 comprises a first shaft 12a mechanically connected to the drive shaft 32, and a second shaft 12b mechanically connected to the drive gear 30 and rotatably supported by a pair of bearings 34. The second shaft 12b is entirely located within the blade module 16f and is fixed (apart from rotation).

[0048] The first shaft 12a includes a radial flange, and the second shaft 12b includes a radial flange. Together, the flanges define a coupling with aligned openings such that the flanges are releasably connected together by mechanical fasteners such as bolts or screws. This coupling allows the drive gear 30 of each blade actuator 8 to be disconnected from the drive shaft 32 of each electric motor 10, as will be described in more detail below.

[0049] The structural member 36 of the main body 18 forms part of the outer housing and defines the interior where the six electric motors 10 are arranged. In an alternative configuration, each electric motor may be located within its own blade module. Each drive gear can be mechanically connected to the drive shaft of its respective electric motor, and can be mechanically connected directly to the driven gear (i.e., as a single-stage transmission gear), or indirectly by means of a drive belt or drive chain, for example.

[0050] The rotating housing 2 has six openings 38, each opening providing access from the inside of the main body 18 to the inside of the respective blade modules 16a, 16b…, 16e, and 16f. Each opening 38 is defined by a first opening 40 in the structural member 20 of each blade module and aligned second openings 42 formed in adjacent structural members 36 that define the main body 18.

[0051] Under normal use, each drive train 12 passes through its respective opening 38, mechanically connecting the drive shaft 32 of each electric motor 10 to the drive gear 30. When the electric motors 10 are located within the main body 18 and the drive gears 30 are located within each blade module 16a, 16b…, 16f, each drive train 12 must traverse the interface between the main body and each blade module, each interface being effectively defined by the opening 38. When it is necessary to remove any of the blade modules 16a, 16b…, 16f, each opening 38 must often be sealed. To seal each opening, the drive trains 12 must be moved or reconfigured so that they do not extend through the opening or traverse the interface through which the blade module will be removed from the main body 18.

[0052] The mechanical fasteners used to connect the flanges of the first and second shafts 12a and 12b can be removed so that they are no longer connected. As shown in Figure 5, the electric motor 10 can then be moved backward on its mounting so that the first shaft 12a is fixed away from the second shaft 12b to which it is fixed, and no longer extends through the respective openings 38. The second shaft 12b is now no longer mechanically connected to the drive shaft 32 of the respective electric motor 10, and the severed drive train 12 does not prevent the blade module 16d from being attached to and removed from the body 18 once the openings 38 are properly sealed. The first shaft 12a can then be removed from the drive shaft 32 as shown in Figure 6. It will be readily understood that each drive train can also be reconfigured in other ways so that it does not extend through the openings or across the interface between the body and the blade module being replaced. It will also be readily understood that alternative drive trains, for example, including one or more of a drive belt, drive chain, and gear train, can be used. Such drive belts or drive chains can be removed or cut, for example, if they extend through openings or across interfaces.

[0053] The opening 38 between the main body and the blade module 16d to be replaced can be sealed once the drive train 12 no longer penetrates the opening 38. In particular, the first and second openings 40 and 42 can be sealed by panels 44a and 44b, respectively (see Figure 7). The first panel 44a is used to temporarily seal the first opening 40 in the structural member 22 of the blade module 16d to prevent water from entering the inside of the blade module through the first opening when it is removed. The second panel 44b temporarily seals the second opening 42 to the structural member 38 of the main body 18 to prevent water from entering the inside of the main body or the remaining blade module through the second opening when the blade module 16d is removed. The first and second panels 44a and 44b are installed from inside the main body of the rotating housing. As schematically shown in Figures 8 to 10, the first opening 40 is slightly smaller than the second opening 42. Therefore, the first opening 40 can be closed and sealed by securing the first panel 44a to a structural member 22 of the replaceable blade module, which surrounds the first opening and is accessible through a larger second opening 42. The first panel 44a can be fitted from inside the body 18 and accommodated through the second opening 42. Once the first panel 44a is secured, the second opening 42 can be closed and sealed by securing the second panel 44b to a structural member 36 of the body 18 that surrounds the second opening 42. The first and second panels 44a, 44b are removably connected to the respective structural members of the blade module or body by a plurality of mechanical fasteners, such as bolts or screws.

[0054] Figures 8 and 9 show only the mechanical fasteners 46 used to secure the first panel 44a to the blade module 16d. The mechanical fasteners 46 are received through an opening in the first panel 44a and screwed into aligned openings in the structural member 22 of the removable blade module 16d. Figures 8 and 9 also show how the blade module 16d is removably connected to the body 18 by a plurality of mechanical fasteners 48, for example, bolts or screws. The mechanical fasteners 48 are accommodated through an opening 50 in the second panel 44b. Additional openings (not shown) in the second panel receive mechanical fasteners that secure the second panel to the structural member 36 of the body 18. The mechanical fasteners for securing the second panel 44b to the body 18 are received through an opening in the second panel and screwed into aligned openings in the structural member 36 of the body. The opening 50 in the second panel 44b provides access to a mechanical fastener 48 that is received through an opening 52 in the structural member 36 of the main body 18 and screws into an aligned opening 54 in the structural member 22 of the blade module 16d.

[0055] Once the main body 18 and blade module 16d to be replaced are secured to the first and second panels 44a and 44b to ensure watertightness, the mechanical fasteners 48 that secure the main body and blade module together can preferably be removed from inside the main body 18. The openings 52 in the structural members 36 of the main body 18 are then filled with plugs or caps 56 to ensure the main body remains watertight. Alternatively, as shown in Figure 10, watertight mechanical fasteners 58 can be used. Such watertight mechanical fasteners 58 are released from the structural members 22 of the blade module 16d but are not removed from the structural members 36 of the main body 18. One or more O-ring seals 60 are provided between the shaft of each mechanical fastener 58 and each opening 52 in the structural members 22 of the main body 18 to maintain a watertight seal. Figures 8 to 10 also show other O-rings that provide a watertight seal between opposing surfaces.

[0056] Once the mechanical fasteners 48 or 58 are tightened, removed, or released, the blade module 16d can be detached from the rest of the rotating housing and separated from the body 18 in a controlled manner.

[0057] Figures 11 and 12 show the blade module 16d after it has been removed from the main body 18. The adjacent side plate can also be removed before the blade module 16d is removed, as shown in the figure.

[0058] After inserting and tightening the mechanical fasteners 48, 58 from inside the main body to attach and secure the replacement blade module to the main body 18, the first and second panels 44a, 44b can be removed by loosening and removing the mechanical fasteners. It will be easily understood that the first panel 44a will be fixed to the replacement blade module to seal the opening in the casing or housing of the replacement blade module before being installed in place of the removed blade module. Thus, the blade module will remain waterproof during blade module replacement.

[0059] After the opening 38 between the interior of the main body 18 and the interior of the replacement blade module is opened, the first shaft 12a can be reconnected to the drive shaft 32 so that the flanges of the first and second shafts 12a and 12b abut against each other, and the electric motor 10 can be advanced on its mounting. The flanges can then be reconnected to each other so that the drive shaft 32 is mechanically connected to the drive gear 30 of the replacement blade module by the drive train 12. It will be readily apparent that each drive train can also be reconfigured in other ways so that it extends through the opening and is mechanically connected to the drive shaft and drive gear.

[0060] As shown in Figure 3, the propulsion device 1 is equipped with a slewing bearing 62 for rotatably mounting the rotating housing 2. The slewing bearing 62 comprises a rotating ring fixed to the rotating housing 2 and a stationary ring. The stationary ring is fixed to the hull of the ship by a mounting plate 64.

[0061] The slewing bearing 62 includes a driven gear fixed to a rotating ring.

[0062] Multiple rolling elements (not shown) are positioned between the driven ring and the stationary ring.

[0063] Figures 2 and 3 show a propulsion device 1 mounted within an annular collar H that forms a structural member of the ship's hull. The annular collar includes an upper annular surface H1, a first inner cylindrical surface H2, an inner conical surface H3, and a second inner cylindrical surface H4. Surface H2 is adjacent to the slewing bearing 62, and surfaces H3 and H4 define the inner contour of the collar that generally conforms to the outer shape of the rotating housing 2. The rotating housing 2 and the inner surfaces H3 and H4 of the collar are separated by a gap G that allows the rotating housing to rotate freely. The gap G has an open end on the lower surface 2a of the rotating housing 2 and a closed end adjacent to the slewing bearing 62. One or more static or dynamic seals (not shown) can be provided at the closed end to provide a watertight seal and prevent water from entering the interior of the rotating housing 2 past the slewing bearing 62.

[0064] During blade module replacement, the weight of the removed blade module 16d must be supported by a support structure (not shown). In one configuration, the blade module 16d is attached to a winch cable that can be used to lower or raise the blade module after it has been removed from the main body. The winch cable can also be used to lower or raise the replacement blade module. The winch cable can be secured to the appropriate part of the blade module and can pass through the opening O of the annular collar H surrounding the propulsion unit (see Figure 2). The propulsion unit 1 can be rotated so that the blade module 16d to be replaced is positioned below the opening O, and the winch cable can be passed through the opening and secured to the blade module. It will be readily apparent that other methods of supporting the blade module can also be used.

[0065] The mounting plate 64 is fixed to the collar H by an intermediate fixing structure (not shown) located between the lower surface of the mounting plate and the upper annular surface H1 of the collar. In an alternative configuration, the stationary portion of the slewing bearing 62 can be directly fixed to the hull of the ship, for example, the inner surface H2 of the collar.

[0066] Two drive gears 66a and 66b (or "pinion gears") are positioned radially inward of the driven gears of the slewing bearing 62. The first drive gear 66a is mechanically connected to the drive shaft 68a of the first main motor 70a. The second drive gear 66b is mechanically connected to the drive shaft 68b of the second main motor 70b.

[0067] The driven gear and the first drive gear 66a of the slewing bearing 62 define a first single-stage transmission gear. The driven gear and the second drive gear 66b of the slewing bearing 62 define a second single-stage transmission gear in parallel with the first single-stage transmission gear.

[0068] The first and second main motors 70a and 70b are mounted on the mounting plate 64.

[0069] The drive shafts 68a and 68b of the first and second main electric motors 70a and 70b are aligned approximately parallel to the axis of rotation of the rotating housing 2.

[0070] Figure 13 shows the grounding assembly 100. The grounding assembly 100 provides an electrical grounding circuit 102 between each blade assembly 104 and the hull 106 of the ship. (Although Figure 13 shows that only one blade assembly 104 is connected to a grounding connection 108 on the vessel by its respective grounding circuit 102, it will be readily apparent that all blade assemblies are preferably connected to the grounding connection in a similar manner. Each grounding circuit 102 may include means such as a brush 110 for interface a fixed grounding circuit to the blade root, which can pivot around its respective blade axis. The brush 110 may slide against an annular track 112 on the blade root. A slip ring or other suitable coupling 114 may be used to connect a portion of the grounding circuit that rotates with the rotating housing to a portion of the grounding circuit that is stationary relative to the vessel's hull. Figure 13 shows a power supply unit P for generating circulating currents that protect the vessel as part of an applied current cathodic protection (ICCP) system. The grounding assembly 100 provides a low-impedance electrical path for these circulating currents from each blade assembly 104 to the grounding connection 108. [Explanation of Symbols]

[0071] 1 Cyclorotor 2-rotation housing 4a blade 4b Blade 4c blade 4D Blade 4e Blade 4f blade 6 Blade shaft 8-blade actuator 10 Electric motors 16a Blade Module 16b Blade Module 16c blade module 16d blade module 16e Blade Module 16f blade module 20 Bearing Assembly 24 stationary rings 28 Driven gear 30 drive gears 32 drive shaft 38 Opening 40 First opening 42 Second opening

Claims

1. A cyclorotor (1), wherein the cyclorotor (1) is A rotating housing (2) comprising a main body (18) and a plurality of blade modules (16a, 16b, ... 16f) arranged circumferentially around the main body (18), A plurality of blade assemblies, each blade assembly being located within its respective blade module (16a, 16b, ... 16f), and having blades (4a, 4b, ... 4f) extending from the rotating housing (2) and having blade axes (6) that are rotatable relative to the rotating housing (2), A plurality of blade actuators (8), each blade actuator (8) being attached to each of the blade assemblies, and It is equipped with, and each blade actuator (8) An electric motor (10) having a drive shaft (32), A drive gear (30) mechanically connected to the drive shaft (32), To rotate each blade (4a, 4b, ... 4f) around its blade axis (6), the drive gear (30) and the driven gears (28) mechanically connected to each blade assembly are used. A cyclorotor (1) is provided, wherein each blade assembly includes a bearing assembly (20) that rotatably mounts each blade (4a, 4b, ... 4f), and each bearing assembly (20) includes a stationary ring (24) fixed to the blade module (16a, 16b, ... 16f) housing and a rotating ring (26) fixed to the base of each blade.

2. The cyclorotor (1) according to claim 1, wherein the driven gear (28) is formed as an integral part of the rotating ring of each bearing assembly, and the teeth of the driven gear are formed on the surface of the rotating ring, or the driven gear is formed as a separate part fixed to the rotating ring (26) of each bearing assembly (20).

3. The cyclorotor (1) according to claim 1 or claim 2, wherein the drive gear (30) and driven gear (28) of each blade actuator (8) define a transmission gear (14) located in each blade module (16a, 16b, ... 16f).

4. The cyclorotor (1) according to claim 3, wherein each transmission gear (14) is a bevel gear.

5. The cyclorotor (1) according to claim 4, wherein the driven gear (28) of each blade actuator is a conical gear having a rotation axis substantially parallel to the respective blade axis (6), and the driving gear (30) of each blade actuator (8) is a conical gear having a rotation axis substantially perpendicular to the respective blade axis (6).

6. The cyclorotor (1) according to any one of claims 1 to 5, wherein the drive gear (30) of each blade actuator (8) is detachable from the drive shaft (32) of each electric motor (10).

7. The cyclorotor (1) according to any one of claims 1 to 6, wherein the drive gear (30) of each blade actuator (8) is detachable from the driven gear (28).

8. The cyclorotor (1) according to any one of claims 1 to 7, wherein the drive gear (30) of each blade actuator (8) is mechanically connected to one or both of the drive shaft (32) and each driven gear (28) of each electric motor (10) by their respective drive trains (12).

9. The cyclorotor (1) according to any one of claims 1 to 8, further comprising a plurality of openings (38), each opening providing access between the interior of the main body (18) and the interior of each of the blade modules (16a, 16b, ... 16f), wherein the drive train (12) of each blade actuator (8) passes through each opening (38) during normal use, and is adapted to be selectively reconfigured so as not to pass through the openings (38) so as to seal the openings (38) for blade module replacement.

10. The cyclorotor (1) according to any one of claims 1 to 8, further comprising a plurality of openings (38), each opening (38) providing access between the interior of the main body (18) and the interior of each of the blade modules (16a, 16b, ... 16f).

11. The cyclorotor (1) according to claim 10, wherein each opening (38) is defined by a first opening (40) formed in a structural member of the blade module (16a, 16b, ... 16f) and aligned second openings (42) formed in adjacent structural members of the main body (18).

12. The cyclorotor (1) according to claim 11, further comprising: a first panel (44a) detachably connected to a structural member of the blade module (16a, 16b, ... 16f) for sealing a first opening (40); and a second panel (44b) detachably connected to a structural member of the main body (18) for sealing a second opening (42).

13. The cyclorotor (1) according to claim 12, further comprising one or more seals extending around a first opening between the first panel and the structural member of the blade module, and one or more seals extending around a second opening between the second panel and the structural member of the main body.

14. The cyclorotor (1) according to any one of claims 1 to 13, wherein each blade module (16a, 16b, ... 16f) is detachably connected to the main body (18) by a plurality of mechanical fasteners (48, 58).

15. A method for repairing a cyclorotor (1) according to any one of claims 1 to 14, wherein the method is The steps include sealing the first opening (40) in the blade module (16d) to be replaced and, if appropriate, the aligned second opening (42) in the main body (18), The steps include removing the sealed blade module (16d) from the main body (18) and Methods that include...

16. The method according to claim 15, further comprising disconnecting the drive gear (30) from one or both of the drive shafts (32) and the driven gears (28) of each electric motor (10) before sealing.

17. moreover, The steps include fixing the replacement sealing blade module to the main body (18), The first opening (40) and the aligned second opening (42) in the replacement blade module are sealed, and the step of opening them if they are sealed. The method according to claim 15 or claim 16, including the method described in claim 15 or claim 16.

18. The method according to any one of claims 15 to 17, further comprising re-engaging the drive gear with the drive shaft (32) of each electric motor (10) and one or both of each driven gear after opening.

19. A ship equipped with one or more cyclorotors (1) according to any one of claims 1 to 14, mounted as a propulsion system on the hull (106) of the ship.

20. The vessel according to claim 19, wherein the hull (106) of the vessel is provided with an access opening (O) from which a winch cable can be attached to a blade module (16a, 16b, ... 16f) to be replaced.

21. The vessel according to claim 20, wherein the access opening (O) is provided in an annular collar (H) that surrounds the rotating housing (2) and forms a structural member of the hull (106) of the vessel.

22. The vessel according to any one of claims 19 to 21, further comprising a grounding assembly (100), the grounding assembly (100) comprising a grounding circuit (102) between each blade assembly (104) and a grounding connection (108) on the hull (106) of the vessel.

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