Internal propeller thruster electric motor with spherical movement capability

Abstract

The invention relates to multi-axis motion generating and guiding systems of autonomous vehicles moving in air and water.

Description

[0001] INTERNAL PROPELLER THRUSTER ELECTRIC MOTOR WITH SPHERICAL MOVEMENT CAPABILITY

[0002] Technical field of the invention

[0003] The invention relates to multi-axis motion generating and guiding systems of autonomous vehicles moving in air and water.

[0004] The State of the Art

[0005] Electric thrust motors used in vehicles consist of motors that have the freedom to rotate on a single axis.

[0006] The thrust systems in vehicles consist of various propeller mechanisms connected to an electric motor shaft that operates with single-axis direct current or alternating current. There are many different types of motors such as single-axis brushed direct current motors, brushless motors or alternating current electric motors. These motors have a single degree of freedom and can only rotate around a fixed axis. Propellers with different wing geometries are connected to the rotor shaft to create the thrust force along the rotation axis of the motor. With the rotation of the motor, the propeller creates a thrust force in line with the current position of the vehicle.

[0007] There are up-down movement guidance vanes on the vehicle wings and left-right movement guidance wings on the tail section. The position tracking and steering of the vehicle is achieved by using the motor and wings together.

[0008] Autonomous vehicles (submarines, aircraft, quadrocopters, etc.) moving in water and air and ammunitions with various features moving in submarines (submarine missiles, capsules, etc.) provide the necessary thrust force for movement by means of highspeed rotating motors and use various additional mechanisms to stay on the determined route and change direction.

[0009] Submarines move by creating forward thrust through the thruster motor located in the tail section. Right, left, up and down movements are achieved by rudder or by fins located on the body and controlled by electronic systems. Some the submarines used for search and rescue and exploration purposes control the right-left steering movement by means of additional motors located parallel to the vehicle axis.

[0010] Aircraft provide the main thrust force by means of motors located in the wing section that can produce high power. They can perform the orientation movement by means of the air-guiding additional mechanisms located on the wings and tail.

[0011] Quadrocopters can perform all of the descent, ascent and orientation movements together by means of the control of the high-speed motors they use in place of wings at different speeds.

[0012] Although various suggestions and applications have been developed for electric thruster motors in the state of the art, these developments are not sufficient. Some applications related to the inventions developed for this purpose are described below.

[0013] The invention, which is the subject of the application numbered “US5413010A” in the state of the art, relates to electric motors whose shafts can move in a spherical geometry. It consists of a stator and rotor body, and the rotor consists of a single-piece body and permanent magnets inside. Its basic structure is designed for mechanical angular movement. There is small coil structures positioned cellularly in the stator body to be explained below.

[0014] The invention, which is the subject of the application numbered “KR101284338B1” in the state of the art, relates to a spherical electric motor structure designed to function as a wheel. It consists of a rotor and stator structure, and by means of the small electronic coil modules located around the stator, the rotor is rotated by magnetic fields. It is explained that wheels are used to maintain the distance between the stator and the rotor.

[0015] The invention, which is the subject of the application numbered “US6066011A” in the state of the art, is a marine thruster system, a device with a fluid inlet, a fluid outlet, a cover, a fluid passageway and an inner toroidal body around which the circulating fluid passes at high speed. A mechanism rotating on a single axis creates a thrust force underwater. It only creates rotational force on one axis. While it has a transverse elliptical geometry, there is a cylindrical section rotor structure in the vertical direction and it is explained that there is a thruster propeller on the rotor. The most fundamental difference of our invention is that it has a 3-way movement capability in spherical coordinates. The rotor and stator bearings are spherical.

[0016] In the state of the art, the rotational force is provided by the magnetic fields of the coil structures consisting of the rotor and stator structure of spherical electric motors. A magnetic field is needed for rotational movement and there is no layer preventing friction. In the state of the art electric motors, there is a bearing that provides centring between the rotor and stator structures. The stator windings consist of consecutive coils that will create rotational moment on one axis. The rotor body is a core with a cylindrical geometry and is covered with conductors. In addition, there is no driving force or they do not have multi-directional movement capability.

[0017] As a result, due to the negativities described above and the inadequacy of existing solutions on the subject, it has become necessary to make a development in the relevant technical field.

[0018] The aim of the invention

[0019] The most important aim of the invention is to design an electric thruster structure that has the ability to orient in three axes without the need for an additional mechanism for the fin and thruster motor.

[0020] Another aim of the invention is that the stator and rotor surfaces have a spherical geometry and have the ability to rotate freely. In this way, no bearing is used and the rotor can rotate in three axes within the stator.

[0021] Another aim of the invention is to have additional coil windings in four different positions in addition to the windings in the direction of the main rotation axis to increase the ability to rotate in each axis and to obtain different rotation angles. In this way, the propeller gains the ability to rotate at an angle to the axis and gains the ability to move spherically.

[0022] Another aim of the invention is that the outer surface of the rotor has a spherical structure. Another aim of the invention is that the core consists of a spherical magnetic material and the surface of the rotor is covered with conductor material.

[0023] Another aim of the invention is to directly fix the propeller structure to the rotor without using a shaft.

[0024] Another aim of the invention is to have a propeller model that can move in three axes without requiring additional connections and to create thrust force in three axes.

[0025] Description of the drawings

[0026] FIGURE -1 is the drawing showing the side (a) and front (b) views of the internal propeller thruster electric motor with spherical motion capability, which is the subject of the invention.

[0027] FIGURE -2 is the drawing showing the perspective view of the stator (c) and rotor (d) of the internal propeller thruster electric motor with spherical motion capability, which is the subject of the invention.

[0028] FIGURE -3 is the drawing showing the perspective view of the rotor positions of the internal propeller thruster electric motor with spherical motion capability, which is the subject of the invention, rotated at different angles.

[0029] FIGURE -4 is the drawing showing the front view of the rotor and stator components of the internal propeller thruster electric motor with spherical motion capability, which is the subject of the invention.

[0030] FIGURE -5 is the drawing showing the exploded view of the stator of the internal propeller thruster electric motor with spherical motion capability, which is the subject of the invention.

[0031] FIGURE -6 is the drawing showing the exploded view of the rotor of the internal propeller thruster electric motor with spherical motion capability, which is the subject of the invention.

[0032] Reference numbers

[0033] 1. Stator

[0034] 2. Rotor

[0035] 3. Stator inner layer

[0036] 4. Stator magnetic core 5. Coil 1

[0037] 6. Coil 2

[0038] 7. Coil 3

[0039] 8. Coil 4

[0040] 9. Coil inner cores

[0041] 10. Rotor conductor layer

[0042] 11. Rotor insulator layer

[0043] 12. Rotor core

[0044] 13. Propeller

[0045] 14. Propeller blades

[0046] Description of the Invention

[0047] The invention relates to multi-axis motion generating and guiding systems of autonomous vehicles moving in air and water.

[0048] The invention eliminates the need for the use of additional mechanism due to the selfguiding feature of the motion generating system without using different systems of thrust forces and orientation mechanisms in vehicles and without the need for additional mechanical connection systems and external motion guiding parts, and enables the creation of smaller and more useful vehicle designs.

[0049] The invention consists of coils placed in a cross position on the stator (1 ). There is no permanent magnet in both the stator (1 ) and the rotor (2), and rotational moment and thrust force are generated by eddy currents directly by means of the conductor surfaces. Both the stator (1 ) and rotor (2) structures are layered, and there are layers to prevent friction. The stator (1 ) structure is layered and consists of a single structure, is spherical and allows fluid (liquid and / or gas) exit. The rotor (2) is layered and consists of a single structure and does not use an additional tool (bearing etc.) for bearing.

[0050] In the invention, the rotor (2) and stator (1 ) are spherical in form and have the ability to move in three directions in spherical coordinates.

[0051] Unlike its counterparts, the invention can perform the tasks of the fin and the thruster motor with a single propeller electric motor structure. Without the use of bearings, the stator (1 ) and rotor (2) surfaces have a spherical geometry and have the ability to rotate freely. In addition to the windings in the direction of the main rotation axis of the stator (1 ) windings, there are additional coil windings in four different positions to increase the ability to rotate on each axis and to obtain different rotation angles. Thus, the propeller (13) gains the ability to rotate at an angle to the axis and gains spherical movement ability.

[0052] The outer surface of the rotor (2) has a spherical structure. The core is a magnetic material in the shape of a sphere slice and the spherical surface of the rotor is covered with a conductor material. The propeller (13) structure in the invention is directly fixed to the rotor (2) without a shaft.

[0053] The invention consists of two basic components, the fixed stator (1 ) and the movable rotor (2). In the stator (1 ), there are Coil 1 (5), Coil 2 (6), Coil 3 (7) and Coil 4 (8) to move the rotor (2). Coil 1 (5) and Coil 2 (6) are wound on the stator magnetic core (4) at an angle to create rotational torque in the z and x axes, while Coil 3 (7) and Coil 4 (8) are wound on the z and y axes at an angle to create rotational torque. There are coil cores (9) with magnetic properties to increase the effect of the coils. Each coil represents a two-phase or three-phase asynchronous motor model that will create a thrust force within itself.

[0054] In the stator (1 ), the stator magnetic core (4) and coil cores (9) are made of a material with high magnetic permeability in order to direct the magnetic field onto the rotor (2) and focus the magnetic flux. The stator inner layer (3) is made of a light and hard material that has no magnetic or conductor properties and allows the rotor (2) to be centred. The stator inner layer (3) is very thin in order to reduce losses.

[0055] The rotor (2) consists of the rotor core (12), rotor insulator layer (1 1 ), rotor conductor layer (10) and the propeller (13) that will create a thrust force in the fluid. The rotor insulator layer (1 1 ) is made of a non-magnetic, non-conductor and hard material to ensure that the rotor (2) is bedded in the stator (1 ). The outer surface of the rotor insulator layer (1 1 ) and the outer surface of the stator inner layer (3) are friction surfaces and have precision machined, polished and hardened surfaces. Eddy currents are formed in the rotor conductor layer (10) due to the variable magnetic field created by at least one or more stator coils, coil 1 (5), coil 2 (6), coil 3 (7) and coil 4 (8). Eddy currents rotate the rotor (2) in the x, y and z axes. The rotor core (12) is made of soft iron with high magnetic permeability and increases the density of the magnetic flux created by at least one or more stator coils, coil 1 (5), coil 2 (6), coil 3 (7) and coil 4 (8), and ensures that it is collected in the rotor conductor layer (10). The propeller (13) is fixed on the rotor core (12). The propeller (13) rotates with the rotor (2) and creates a thrust force in the fluid by means of at least one or more blades, namely the propeller blades (14) that are located on it.

Claims

CLAIMS1. Internal propeller thrusting electric motor with spherical movement capability, comprising- the stator (1 ), which is a fixed part consisting of a single spherical and layered structure, and of the stator inner layer (3), the stator magnetic core (4), coil 1 (5), coil 2 (6), coil 3 (7), coil 4 (8) and coil inner cores (9), and- the rotor (2) which is is a movable part consisting of a single spherical and layered structure, and of the rotor conductor layer (10), rotor insulator layer (11 ), rotor core (12), propeller (13) and propeller blades (14).

2. Internal propeller thrusting electric motor with spherical movement capability according to Claim 1 , wherein the fixed stator comprises- the stator inner layer (3) that is made of non-magnetic and non-conductive, light and hard material, with precision machined, polished and hardened surfaces,- the stator magnetic core (4) that is made of a material with high magnetic permeability to direct the magnetic field onto the rotor (2) and focus the magnetic flux together with at least one or more coil inner cores (9),- at least one or more coils 1 (5) and at least one or more coils 2 (6) that move the rotor (2) with eddy currents and create torque in the z and x axes; at least one or more coils 3 (7) and at least one or more coils 4 (8) that create torque in the z and y axes, and- at least one or more coil inner cores (9) made of material with high magnetic permeability to direct the magnetic field onto the rotor (2) and focus the magnetic flux together with the stator magnetic core (4).

3. Internal propeller thrusting electric motor with spherical movement capability according to Claim 1 , wherein the rotor comprisesthe rotor conductor layer (10), which is the layer in which eddy currents are created due to the variable magnetic field created by at least one or more stator coils, namely coil 1 (5), coil 2 (6), coil 3 (7) and coil 4 (8),- the rotor insulator layer (11 ), which is a coating made of a non-magnetic, non-conductive and hard material with precision machined, polished and hardened surfaces to ensure the bearing of the rotor (2) within the stator (1 ),- the rotor core (12) which increases the density of the magnetic flux created by at least one the stator coils as coil 1 (5), coil 2 (6), coil 3 (7) and coil 4 (8), which have high magnetic permeability, and ensures that it is collected in the rotor conductor layer (10),- the propeller (13) which rotates with the rotor (2) and is fixed directly to the rotor (2), and- at least one or more propeller blades (14) that is located on the propeller (13) and creates a thrust force in the fluid.

4. Internal propeller thrusting electric motor system with spherical movement capability according to Claim 2, comprising coil 1 (5), coil 2 (6), coil 3 (7) and coil 4 (8) which can be produced from winding or conductive iron.

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