CN115959273A

CN115959273A - Propeller

Info

Publication number: CN115959273A
Application number: CN202211666915.7A
Authority: CN
Inventors: 李戈扬; 李鹏; 吴海洋; 秦洪德
Original assignee: Harbin Engineering University
Current assignee: Harbin Engineering University
Priority date: 2022-12-21
Filing date: 2022-12-21
Publication date: 2023-04-14

Abstract

A propeller belongs to the technical field of underwater robots. Has multi-freedom propulsion capability. The propeller comprises a propeller body, wherein a control device and a driving device are arranged in the propeller body, the control device sends an instruction to the driving device, and the driving device internally adopts a magnetic universal joint device to transmit the output torque of a main pushing motor to a propeller in a non-contact manner. The invention utilizes the coupling of the magnetic field of the permanent magnet in the air gap to convert the magnetic energy into the mechanical energy to realize the torque transmission; the space position of the propeller is changed through the control of the servo motor, so that the vector propulsion effect is achieved, the freedom degree of the propeller is increased, the multi-direction propulsion purpose is achieved, and the high-efficiency propulsion is achieved; the water flow during the speed reduction passes through the generator set, so that the conversion from mechanical energy to electric energy is realized, and the energy can be reasonably utilized.

Description

Propeller

Technical Field

The invention belongs to the technical field of underwater robots, and particularly relates to a propeller.

Background

A general propeller usually only has a propelling capability of one degree of freedom, and a large amount of energy is consumed when the propeller is decelerated, so that a novel vector propelling underwater robot is designed.

For example, patent No. CN2022101044395.1 discloses an underwater propeller which has high efficiency, excellent heat dissipation performance, low noise, and propulsion capability with only one degree of freedom.

Another patent, for example, CN202111219191.7 discloses an underwater propeller which can realize multiple propulsion and has a small volume but only one degree of freedom propulsion capability.

Disclosure of Invention

In order to solve the above problems, the present invention further provides a propeller having a propulsion capability with multiple degrees of freedom.

The technical scheme adopted by the invention is as follows: a propeller, characterized by: the propeller comprises a propeller body, wherein a control device and a driving device are arranged in the propeller body, the control device sends an instruction to the driving device, and the driving device internally adopts a magnetic universal joint device to transmit the output torque of a main pushing motor to a propeller in a non-contact manner.

Compared with the prior art, the invention has the following beneficial effects:

the invention utilizes the coupling of the magnetic field of the permanent magnet in the air gap to convert the magnetic energy into the mechanical energy to realize the torque transmission; the space position of the propeller is changed through the control of the servo motor, so that the vector propulsion effect is achieved, the freedom degree of the propeller is increased, the multi-direction propulsion purpose is achieved, and the high-efficiency propulsion is achieved; the water flow during the deceleration passes through the generator set, so that the conversion from mechanical energy to electric energy is realized, and the energy can be reasonably utilized.

The robot adopts two reconfigurable magnetic coupling propellers as main power units of a propulsion system, each propeller has vector reconfiguration capacity of two degrees of freedom, and compared with a traditional underwater robot, the robot has higher maneuverability and flexibility.

Drawings

FIG. 1 is a schematic view of the magnetic gimbal assembly of the present invention;

FIG. 2 is a schematic view of the structure of a driving magnet A and a driving magnet B according to the present invention;

FIG. 3 is a schematic view showing the magnet magnetizing directions of the driving magnet A and the driving magnet B according to the present invention;

FIG. 4 is a schematic view of the steering apparatus of the present invention;

FIG. 5 is a schematic diagram of a generator set of the present invention;

FIG. 6 is a schematic view of the present generator set installation;

wherein: 1. a cylindrical rotor; 2. a drive magnet B; 3. a waterproof housing; 4. a drive magnet A; 5. a spherical rotor; 6. a propeller; 7. an arc magnet B; 8. an arc magnet A; 9. a small synchronizing wheel; 10. a conveyor belt; 11. a large synchronizing wheel; 12. a motor unit housing; 13. a generator; 14. a servo motor A; 15. an arc-shaped guide rail A; 16. a servo motor B; 17. an arc-shaped guide rail shell; 18. an arc-shaped guide rail B.

Detailed Description

For a better understanding of the objects, structure and function of the invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings.

Referring to fig. 1 to 6, the propeller of the present invention includes a propeller body, a control device and a driving device are provided in the propeller body, the control device sends a command to the driving device, and a magnetic universal joint device is provided in the driving device to transmit the output torque of a main thrust motor to a propeller 6 in a non-contact manner.

The driving device comprises a main pushing motor, a magnetic universal joint device, a steering device and a propeller 6, wherein the propeller 6 is installed on the magnetic universal joint device, the magnetic universal joint device is installed on the steering device, and the vector pushing force generated by the propeller 6 is redirected to a required direction under the condition that the steering device does not move or the position and the angle of the main pushing motor are changed, so that the vector pushing is realized.

As shown in fig. 1, the magnetic universal joint device includes a cylindrical rotor 1, a driving magnet B2, a waterproof case 3, a driving magnet A4, and a spherical rotor 5; drive magnet A4 is attached to on spherical rotor 5, drive magnet B2 installs on 1 inside wall of cylinder rotor, and drive magnet B2 and the 1 suit of cylinder rotor are in the 3 outsides of waterproof housing, and drive magnet A4 and spherical rotor 5 rotate and install in cylinder rotor 1, make drive magnet B2 encircle in the drive magnet A4 outside, the external screw propeller 6 of spherical rotor 5, cylinder rotor 1 carries out rigid connection through shaft coupling and main motor that pushes away.

The cylindrical rotor 1 and the spherical rotor 5 keep a coupling state at a certain angle under the interaction of the driving magnet A and the driving magnet B, and attraction exists on the central axis of the rotor, so that the spherical rotor 5 is close to the main thrust motor side, and the spherical rotor 5 can be ensured to be always positioned at the fixed position of the central cavity of the waterproof shell 3. When the underwater operation is carried out, a cavity filled with water exists between the spherical rotor 5 and the cylindrical waterproof shell 3, and the mechanical friction between the spherical rotor 5 and the waterproof shell 3 can be reduced by means of the tension of the water. And the rotating speed of the propeller 6 can be changed by adjusting the magnitude of the current so as to realize the change of the speed and the change of the pushing space position of the propeller 6.

Wherein: drive magnet A4 comprises four arc magnet A8 that are spherical distribution, drive magnet B2 comprises four arc magnet B7 that are the cartridge type distribution, and magnet magnetizes the direction as shown in fig. 3, and adjacent magnet magnetizes opposite direction between four arc magnet A8, and adjacent magnet magnetizes opposite direction between four arc magnet B7, and arc magnet A8 and arc magnet B7 position correspond the setting, and the direction of magnetizing is the same. That is, the N-stage of the arc-shaped magnet B7 corresponds to the S-stage of the arc-shaped magnet A8, and the S-stage of the arc-shaped magnet B7 corresponds to the N-stage of the arc-shaped magnet A8.

When the main push motor drives the four arc magnets B7 to rotate around the Z axis through the cylindrical rotor 1, the four arc magnets A8 also rotate around the Z axis at the same speed due to the interaction of attractive force and repulsive force between magnetic poles, and then the output torque of the main push motor is transmitted to the propeller 6 through the spherical rotor 5.

Meanwhile, the relative positions of the four arc magnets A8 are unchanged, and the four arc magnets A8 can rotate around the X axis and the Y axis within a certain range along with the spherical rotor 5, so that the propeller 6 is changed in spatial position by adjusting the work of the servo motor in the figure 4, but the relative positions of the four arc magnets A8 are still unchanged, the output torque of the main pushing motor can be transmitted to the propeller 6, vector motion is realized, the torque transmission direction is changed, and vector propulsion is realized.

As shown in fig. 4, the steering device includes a servo motor a14, an arc-shaped guide rail a15, a servo motor B16, an arc-shaped guide rail housing 17 and an arc-shaped guide rail B18; arc guide rail shell 17 is cylindrical housing, and magnetic force universal joint device's waterproof housing 3 installs on its center pin, arc guide rail A15 and arc guide rail B18 are along X axle and Y axle direction cross arrangement respectively, and arc guide rail A15 and arc guide rail B18 all are connected with screw 6, arc guide rail A15 and arc guide rail B18 one end all are articulated with arc guide rail shell 17, the other end respectively with servo motor A14 and servo motor B16's output shaft, it is rotatory around X axle and Y axle respectively to drive arc guide rail A15 and arc guide rail B18 by servo motor A14 and servo motor B16 to drive screw 6 and turn to.

When an instruction is sent to the underwater thruster through the control device, a receiver on the thruster receives signals, the arc-shaped guide rails A15 and the arc-shaped guide rails B18 move in space by adjusting the servo motors A14 and B16, and the rotating speed of the propeller 6 can be changed by adjusting the current so as to change the speed and the space position pushed by the propeller 6.

Arc spout A is seted up at arc guide rail A15's middle part, two-layer support body structure about arc guide rail B18 adopts makes arc guide rail A15 slide in arc guide rail B18's intermediate layer, and all sets up arc spout B on the upper and lower two-layer support body of arc guide rail B18, makes the pole portion of screw 6 slide in arc spout A and arc spout B simultaneously.

As shown in fig. 6, the propeller body further includes a generator set; the generating set is installed in the main casing outside of propeller body. The number of the generator sets is preferably two, and the generator sets are respectively arranged on the left side and the right side of the propeller.

As shown in fig. 5, the generator set comprises a small synchronizing wheel 9, a conveyor belt 10, a large synchronizing wheel 11, a generator set shell 12 and a generator 13; the large synchronizing wheel 11 is an impeller part and a wheel shaft part which are connected integrally, the impeller part is rotatably installed outside a motor set shell 12, the wheel shaft part is arranged inside the motor set shell 12 and is in transmission connection with the small synchronizing wheel 9 through a conveyor belt 10, the small synchronizing wheel 9 is connected with an input shaft of a generator 13, and the generator 13 is installed on the motor set shell 12.

The generator 13 adopts a brushless generator

In the process of ship body deceleration braking, when a deceleration signal is received, a generator set receiving signal linked on a propeller starts to work, when water flow during deceleration flows through the generator set, the water flow scours impeller parts in the generator set to drive a large synchronous wheel 11 to move, the large synchronous wheel 11 transmits power to a small synchronous wheel 9 through a conveyor belt 10, the small synchronous wheel 9 is linked with a generator, under the movement of the small synchronous wheel 9, the generator 13 is driven to move, the generator 13 generates electricity through magnetic force, conversion from mechanical energy to electric energy is achieved, current is generated, and electricity obtained during deceleration is stored in a storage battery through a lead through a charge-discharge protection device. Thereby achieving vector propulsion and energy utilization during deceleration.

The invention mainly increases the freedom degree of the propeller by a vector method, thereby achieving multidirectional propulsion and realizing high-efficiency propulsion, and resistance in deceleration can be converted into energy to be stored and reused by a generator set additionally arranged on the propeller. Therefore, on the basis of vector propulsion, the magnetic force control is utilized to realize the conversion of multiple degrees of freedom, and a motor set is additionally arranged to realize the recycling of energy.

It is to be understood that the present invention has been described with reference to certain embodiments and that various changes in form and details may be made therein by those skilled in the art without departing from the spirit and scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.

Claims

1. A propeller, characterized by: the propeller comprises a propeller body, wherein a control device and a driving device are arranged in the propeller body, the control device sends an instruction to the driving device, and the driving device internally adopts a magnetic universal joint device to transmit the output torque of a main pushing motor to a propeller (6) in a non-contact manner.

2. A propeller as claimed in claim 1, wherein: the driving device comprises a main pushing motor, a magnetic universal joint device, a steering device and a propeller (6), wherein the propeller (6) is installed on the magnetic universal joint device, the magnetic universal joint device is installed on the steering device, and the vector pushing force generated by the propeller (6) is redirected to the required direction through the steering device, so that the vector pushing is realized.

3. A propeller as claimed in claim 2, wherein: the magnetic universal joint device comprises a cylindrical rotor (1), a driving magnet B (2), a waterproof shell (3), a driving magnet A (4) and a spherical rotor (5); drive magnet A (4) are attached to on spherical rotor (5), drive magnet B (2) are installed on cylindrical rotor (1) inside wall, and drive magnet B (2) and cylindrical rotor (1) suit are in waterproof shell (3) outside, and drive magnet A (4) and spherical rotor (5) rotate to be installed in cylindrical rotor (1), make drive magnet B (2) encircle in drive magnet A (4) outside, spherical rotor (5) external screw (6), cylindrical rotor (1) and main motor that pushes away carry out rigid connection.

4. A propeller as claimed in claim 3, wherein: drive magnet A (4) comprise four arc magnet A (8) that are spherical distribution, drive magnet B (2) comprise four arc magnet B (7) that are the cartridge type distribution, and adjacent magnet opposite direction that magnetizes between four arc magnet A (8), and adjacent magnet opposite direction that magnetizes between four arc magnet B (7), and arc magnet A (8) and arc magnet B (7) position are corresponding to be set up, and the direction of magnetizing is the same.

5. A propeller as claimed in claim 2, wherein: the steering device comprises a servo motor A (14), an arc-shaped guide rail A (15), a servo motor B (16), an arc-shaped guide rail shell (17) and an arc-shaped guide rail B (18); arc guide rail shell (17) are cylindrical shell, and install on its center pin magnetic force universal joint device's waterproof shell (3), X axle and Y axle direction cross arrangement are followed respectively in arc guide rail A (15) and arc guide rail B (18), and arc guide rail A (15) and arc guide rail B (18) all are connected with screw (6), arc guide rail A (15) and arc guide rail B (18) one end all are articulated with arc guide rail shell (17), the other end respectively with servo motor A (14) and servo motor B (16)'s output shaft, it is rotatory around X axle and Y axle respectively to drive arc guide rail A (15) and arc guide rail B (18) by servo motor A (14) and servo motor B (16), thereby drive screw (6) and turn to.

6. A propeller according to claim 5, wherein: arc spout A is seted up at the middle part of arc guide rail A (15), arc guide rail B (18) adopt two-layer support body structure from top to bottom, make arc guide rail A (15) slide in the intermediate layer of arc guide rail B (18), and all set up arc spout B on the upper and lower two-layer support body of arc guide rail B (18), make the pole portion of screw (6) slide in arc spout A and arc spout B simultaneously.

7. A propeller as claimed in claim 1, wherein: the propeller body further comprises a generator set; the generator set is installed on the outer side of the main shell of the propeller body.

8. A propeller according to claim 7, wherein: the generator set comprises a small synchronous wheel (9), a conveyor belt (10), a large synchronous wheel (11), a motor set shell (12) and a generator (13); the large synchronizing wheel (11) is an impeller part and a wheel shaft part which are connected integrally, the impeller part is rotatably installed outside a motor set shell (12), the wheel shaft part is arranged inside the motor set shell (12) and is in transmission connection with the small synchronizing wheel (9) through a conveying belt (10), the small synchronizing wheel (9) is connected with an input shaft of a generator (13), and the generator (13) is installed on the motor set shell (12).