CN103818535B - Integrate motor propelling unit - Google Patents

Abstract

The integrated motor propulsion device includes an inner stator and an outer rotor both made of superimposed silicon steel sheets. Both the inner stator and the outer rotor have a salient pole structure. The salient pole teeth of the inner stator are wound with excitation windings. Embedded with a plurality of permanent magnets, the permanent magnets are set corresponding to the excitation winding, and a magnetically conductive sealing cover is provided between the inner stator and the outer rotor, and the two ends of the magnetically conductive sealing cover are respectively fixed and sealed , the inner stator is located in the sealed space 1 formed by the magnetically conductive sealing cover, the end cover 1 and the end cover 2, and the two ends of the inner stator are fixedly connected with the end cover 1 and the end cover 2 respectively; the two ends of the outer rotor are respectively passed through the water The lubricating bearing is rotatably supported on the end cover 1 and the end cover 2, rubber shock absorbers are respectively arranged between the end cover 1, the end cover 2 and the corresponding water lubricating bearings, and the propeller is fixedly connected to the outer rotor. The invention integrates the motor and the propeller into an integral structure, reduces volume and weight, effectively reduces vibration and noise, and improves propulsion efficiency and work reliability.

Description

Integrated motor propulsion

technical field

The invention relates to an underwater propulsion device, in particular to a propulsion device in which the motor and the propulsion device are integrated by fixedly connecting propeller blades to the motor rotor, and in particular to a permanent magnet propulsion device suitable for deep-sea mobile workstations.

Background technique

The underwater propulsion device is a widely used power device, which is used to propel ships, boats, submersibles, deep-sea mobile workstations, offshore work platforms and other surface/submerged objects for sailing motion and attitude adjustment.

At present, underwater propulsion devices are generally composed of a separate motor and propeller, such as "an electric underwater propeller" disclosed in Chinese patent ZL200620055186.1. Since the motor and propeller are independent components, the motor needs to be connected through a joint The propeller is driven by transmission devices such as shaft gear and magnetic coupling, so this type of equipment has a complex structure, consumes a lot of materials, consumes a lot of power during the power transmission process, and has high noise, and the propeller is basically directly fixed on the power shaft of the motor. Therefore, in A dynamic sealing structure is required for sealing, and the dynamic sealing structure has the problems of high machining accuracy and poor sealing effect. In the deep sea environment, the propulsion device using the dynamic sealing structure has poor working reliability and is inconvenient for maintenance.

With the emergence of electric propulsion, motor propulsion devices with integrated propellers have appeared in the prior art. This propulsion device is usually driven by brushless DC motors, but the efficiency of brushless DC motor drives is low under low-speed conditions. In the prior art, in order to improve the efficiency of low-speed working conditions and provide sufficient torque, an additional gear reducer is often required. The configuration of the gear reducer not only increases the volume and weight of the propulsion device, but also generates relatively large Large vibration and noise seriously affect the normal work of sonar and some precision sensors. On the other hand, the existing motor propulsion device for the integration of propellers in deep-sea mobile workstations also has the following defects: First, the deep-sea mobile workstations carry The control devices of multiple sets of propulsion motors are generally installed in a pressure-resistant and sealed drive tank. The drive tank and the propulsion motors at different positions are connected by watertight connectors and cables. The heat dissipation conditions of each drive device in the drive tank are poor, and electromagnetic interference The problem is serious, the reliability of the system is poor, the transmission distance of the signal line of the position sensor in the watertight cable is too long, the interference is extremely serious, and the working reliability of the propulsion device is seriously affected; second, it does not have the function of pressure compensation, resulting in the need for a large thickness and air gap The sealing shell of the motor affects the transmission efficiency of the motor; thirdly, the rotor position sensor needs to be used to monitor the rotor position in real time. However, the existing rotor position sensor has a high failure rate, which affects the reliability of the propulsion device.

Contents of the invention

The applicant improves on the above-mentioned shortcomings in the prior art, and provides an integrated motor propulsion device, which integrates the motor and the propeller, has small volume, light weight, low noise, high propulsion efficiency, simple sealing structure and good sealing effect. Well, the work reliability is high.

Technical scheme of the present invention is as follows:

Integrated motor propulsion device, including inner stator, outer rotor and propeller. The inner stator and outer rotor are made of superimposed silicon steel sheets. The inner stator and outer rotor are salient pole structures. The salient pole teeth of the inner stator are wound with excitation windings. , the inside of the inner stator is embedded with a plurality of permanent magnets along the circumferential direction, and the permanent magnets are arranged corresponding to the field windings. A magnetically conductive sealing cover is provided between the inner stator and the outer rotor, and the two ends of the magnetically conductive sealing cover are respectively connected to the end caps 1 and 2. The second end cover is fixed and sealed, the inner stator is located in the sealed space 1 formed by the magnetically conductive sealing cover, the first end cover and the second end cover, and the two ends of the inner stator are fixedly connected with the first end cover and the second end cover respectively; The two ends of the rotor are rotatably supported on the end cover 1 and the end cover 2 respectively through water-lubricated bearings. Rubber shock absorbers are respectively arranged between the end cover 1 and the end cover 2 and the corresponding water-lubricated bearings. The propeller and the outer rotor Fixed.

Its further technical scheme is:

The two ends of the outer rotor are provided with trapezoidal slide rails, and the outer rotor is clearance-fitted with the trapezoidal grooves of the water-lubricated bearing through the trapezoidal slide rails.

The water-lubricated bearing is made of Sairon material.

An annular groove is provided on the mating surface of the water-lubricated bearing and the outer rotor, allowing fluid to enter the annular groove and lubricate the water-lubricated bearing.

The end cover 1 is fixedly connected to the housing 1, and the two are sealed and connected to form a sealed space 2. The control circuit board is fixed in the housing 1, and the lead wire of the excitation winding is connected to the control circuit board through an electrical connector. The connector is installed on the end cover one, and the end cover one is provided with a through hole, which connects the sealed space one and the sealed space two, and the control circuit of the control circuit board is led out through the watertight connector.

A power module is arranged on the control circuit board, and heat-conducting silicone grease is evenly coated between the power module and the shell one.

The outer periphery of the propeller is provided with a fairing, and the fairing is fixedly supported on the first end cover and/or the second end cover.

The outer periphery of the propeller is provided with a fairing, and the fairing is fixedly supported on the shell one through a strut.

The end cover 2 is fixedly connected to the shell 2, and the two are sealed. The shell 2 has an axial through hole communicating with the outside. The axial through hole extends to the inside of the shell 2, and the pressure compensation film passes through the The compression ring is press-fitted in the second casing, and the pressure compensation film covers the axial through hole, the compression ring is fixedly connected to the second casing, and a pressure compensation film is arranged between the outer wall of the extension section of the axial through hole There is a spring, and a sealed space 3 is formed between the end cover 2, the shell 2 and the pressure compensation film. The end cover 2 is provided with a through hole, and the through hole connects the sealed space 1 with the sealed space 3.

Technical effect of the present invention:

1. The present invention adopts a double-salient pole motor with permanent magnets inlaid on the outer rotor and inner stator to increase the output torque by increasing the magnetic flux density of the air gap, which greatly improves the torque volume ratio. Compared with the brushless DC motor of the same power Compared with the motor, there is no need for an additional gear reducer, and it is smaller in size, lighter in weight, and has higher efficiency in low-speed and high-torque conditions, and rubber shock absorbers are installed on the thrust surface and radial bearing surface, which significantly reduces Vibration and noise of the propulsion unit.

2. The present invention connects the propeller and the outer rotor as a whole, so that the motor and the propeller are integrated, which saves the power transmission device between the motor and the propeller, and saves the traditional main drive shaft, thereby avoiding the need for intermediate transmission links. Energy loss effectively reduces the noise and vibration during device operation; water lubricated bearings with annular grooves are used to allow fluid to enter the annular grooves and lubricate the water lubricated bearings, which can ensure a stable formation between the outer rotor and the water lubricated bearings lubricating film, which can greatly reduce the wear of water-lubricated bearings, and reduce noise and vibration; The dynamic sealing structure with high processing precision and poor sealing effect or the configuration of an additional magnetic coupling greatly improves the reliability and propulsion efficiency of the system, and at the same time reduces the volume, weight and cost of the propulsion device.

3. The propulsion device of the present invention is integrated with a control device with a control circuit board, which further improves the integration of the system, cancels the traditional propulsion drive tank, avoids electromagnetic interference between multiple sets of control devices, and simultaneously controls The device adopts the pulse detection method to identify the rotor position, cancels the use of the rotor position sensor with a high failure rate, greatly improves the reliability of the system, and also saves the number of watertight connectors and watertight cables, reducing the cost.

4. The propulsion device of the present invention is integrated with the pressure compensation structure, and the rubber pressure compensation film and the compression spring are set so that after launching, the oil pressure in the propulsion device and the external seawater pressure are always in balance, and according to the underwater The maximum working depth can adjust the pre-filled oil quantity of the pressure compensation structure. The setting of the pressure compensation structure can reduce the thickness and air gap of the magnetic seal cover, and improve the transmission efficiency of the propulsion device.

Description of drawings

Fig. 1 is a schematic diagram of the external structure of the present invention.

Fig. 2 is a sectional view along line A-A of Fig. 1 .

Fig. 3 is a B-B sectional view of Fig. 2 .

Among them: 1. Inner stator; 2. Outer rotor; 3. Propeller; 4. Excitation winding; 5. Permanent magnet; 6. Magnetic sealing cover; 7. End cover 1; 8. End cover 2; 9. Water lubricated bearing ; 10, rubber shock absorber; 11, fairing; 12, shell one; 13, sealed space two; 14, control circuit board; 141, power module; 15, electrical connector; 16, sealed space one; 17, Watertight connector; 18, strut; 19, housing two; 20, pressure compensation film; 21, compression ring; 22, spring; 23, sealing space three; 24, flat key, 25, lead wire; 26, auxiliary support axis.

detailed description

The specific implementation manner of the present invention will be described below in conjunction with the accompanying drawings.

See Fig. 1 and Fig. 2, the present invention includes an inner stator 1, an outer rotor 2 and a propeller 3, and both the inner stator 1 and the outer rotor 2 are formed by stacking silicon steel sheets, as shown in Fig. 3, the inner stator 1 and the outer rotor 2 are convex pole structure, and the matching relationship of the basic structure of the inner stator 1 and the outer rotor 2 is 6n/4n, where n is a positive integer, and n≥1, that is, the inner stator 1 has 6n outwardly convex protrusions evenly distributed on the circumference. poles, the outer rotor has 4n inward salient poles evenly distributed on the circumference, as an example, Figure 3 shows the structural form of the stator-rotor coordination when n is 2, the salient pole teeth of the inner stator 1 are wound on The field winding 4 is connected, and the winding direction of the field winding 4 in the same phase is opposite. The interior of the inner stator 1 is embedded with a plurality of permanent magnets 5 along the circumferential direction. The permanent magnets 5 are arranged corresponding to the field winding 4. The permanent magnets 5 are preferably radially magnetized. The direction of the magnetic flux generated when the field winding 4 is energized is consistent with the direction of the corresponding permanent magnet 5. In this way, the magnetic flux density of the air gap can be increased to increase the output torque. There is a magnetically conductive sealing cover 6, and the two ends of the magnetically conductive sealing cover 6 are fixedly connected to the end cover 1 7 and the end cover 2 8 respectively, and an O-shaped seal is used between the magnetically conductive sealing cover 6 and the end cover 1 7 and the end cover 2 8 The sealing ring is sealed and assembled. The inner stator 1 is located in the sealed space 16 formed by the magnetically conductive sealing cover 6, the end cover 1 7 and the end cover 2 8, and the two ends of the inner stator 1 are connected to the end cover 1 7 and the end cover 2 respectively. 8 is fixedly installed through the flat key 24; the two ends of the outer rotor 2 are rotatably supported on the end cover one 7 and the end cover two 8 through the water lubricated bearings 9 respectively, and the end cover one 7 and the end cover two 8 are connected with the corresponding water lubricated bearings. Rubber shock absorbers 10 are respectively provided between the bearings 9. Specifically, trapezoidal slide rails are provided at both ends of the outer rotor 2, and the outer rotor 2 cooperates with the trapezoidal groove of the water-lubricated bearing 9 through the trapezoidal slide rails. A water-lubricated bearing 9 and the corresponding assembled end cover 1 7 and end cover 2 8 are assembled by interference fit to limit the circumferential rotation of the water-lubricated bearing 9; the propeller 3 is installed on the outer hub of the outer rotor 2 through set screws .

Further, the water-lubricated bearing 9 is made of Sairon material, and an annular groove is provided on the matching surface between the water-lubricated bearing 9 and the outer rotor 2, allowing fluid to enter the annular groove and lubricate the water-lubricated bearing 9, so that when the outer When the rotor 2 runs stably, a stable lubricating film, such as an oil film or a lubricating film of other fluid media, is formed between the outer rotor 2 and the water-lubricated bearing 9, thereby greatly reducing the wear of the thrust bearing and reducing noise and vibration.

Further, the control device is integrated on the propulsion device formed by the stator rotor and the propeller, specifically, the end cover one 7 is fixedly connected to the shell one 12, and the two are sealed and connected by an O-ring. A sealed space 2 13 is formed, the control circuit board 14 is fixed in the housing 1 12, the lead wire 25 of the excitation winding 4 is connected to the control circuit board 14 through the electrical connector 15, and the electrical connector 15 is mounted on the end cover 7, and the end cover 1 The cover one 7 is provided with a through hole, and the through hole connects the sealed space one 16 with the sealed space two 13 to ensure smooth compensation oil circuit; the control circuit of the control circuit board 14 is drawn out through the watertight connector 17, and The power module 141 and the housing one 12 are fastened and installed with fastening screws, and thermal conductive silicone grease is evenly coated between them to achieve the purpose of sufficient heat dissipation.

Further, the present invention is additionally equipped with a pressure compensation structure, specifically, the end cover 2 8 is fixedly connected to the housing 2 19, and an O-ring seal is used between the two, and the housing 2 19 is equipped with a The axial through hole communicated with the outside, the axial through hole extends to the inside of the second housing 19, the pressure compensation film 20 is pressed into the second housing 19 through the compression ring 21, and the pressure compensation film 20 covers the axial The through hole, the compression ring 21 is fixedly connected with the second shell 19, the anti-corrosion spring 22 is arranged between the pressure compensation film 20 and the outer wall of the axial through hole extension, the end cover 8, the second shell 19 and the A sealed space 3 23 is formed between the pressure compensation films 20, the pressure compensation film 20 is preferably made of rubber material, the spring 22 is preferably made of stainless steel, and the end cover 2 8 is provided with a through hole, which makes the sealed space 16 communicate with the sealed space 3 23 , to ensure that the compensation oil circuit is unobstructed.

In order to block the radial flow of water flow and improve the propulsion efficiency, the outer periphery of the propeller 3 is provided with a fairing 11. When the entire propulsion device is not integrated with a control device and a pressure compensation structure, the fairing 11 is fixedly supported on On the first end cover 7 and/or the second end cover 8; when the entire propulsion device is not integrated with a control device and/or a pressure compensation structure, the fairing 11 is fixedly supported on the first shell 12 and/or through the strut 18 Or case two 19 on.

In the case of using a large-scale propulsion device, since the diameter of the propeller 3 is very large and the propeller is very heavy, it is usually necessary to use an auxiliary support shaft to play a supporting role. On the cover 2 8, the inner stator 1 is set on the auxiliary support shaft 26. The setting of the auxiliary support shaft 26 is mainly suitable for the Daxing propulsion device, which can improve the dynamic balance performance of the device, and can also effectively reduce noise and vibration.

Taking the application of the deep-sea mobile workstation as an example, the operation mode of the present invention is as follows:

As shown in Figure 2, before launching into the water, the sealed space 16 and the sealed space 3 23 are filled with transformer oil, so that the spring 22 is in a pre-compressed state to reserve a certain internal pressure. Effect, the oil pressure of the sealed space 16 and the sealed space 3 23 is always in balance with the external seawater pressure, and the propulsion device of the present invention is fixedly installed with the hull of the deep-sea mobile workstation through the end flange of the shell 12, and works , the deep-sea mobile workstation provides power and control signals for the propulsion device of the present invention through the watertight connector 17, and after the control circuit board 14 identifies the rotor position, it performs commutation control and current chopping control on the excitation winding 4 to adjust the outer rotor 2 The rotational speed and the thrust generated by the propeller 3 form a rotating magnetic field in the air gap between the inner stator 1 and the outer rotor 2, which drives the rotor to rotate and drives the propeller to generate hydrodynamic force, which is transmitted through the water-lubricated bearings 9 at both ends of the outer rotor 2 Forward and backward thrust.

The commutation control of the excitation winding 4 by the control circuit board 14 of the present invention does not require additional rotor position sensors in the prior art, and detects its current pulse response by injecting square wave voltage pulses into all non-excitation phase windings of the inner stator 1. The signal calculates the unsaturated inductance of each phase winding under different rotor positions. According to the one-to-one correspondence between the pre-measured inductance and the rotor position angle in the linear region, the rotor position is calculated in real time by using the function fitting method, thereby realizing real-time monitoring. And identify the rotor position, thereby adjusting the rotational speed of the outer rotor 2 and the thrust generated by the propeller 3. Compared with the prior art, there is no need to use a rotor position sensor with a high failure rate, and the working reliability of the propulsion device is improved.

The above description is an explanation of the present invention, not a limitation of the invention. For the limited scope of the present invention, please refer to the claims. Within the protection scope of the present invention, any form of modification can be made.

Claims (9)

1. Integrated motor propulsion device, including inner stator (1), outer rotor (2) and propeller (3), inner stator (1) and outer rotor (2) are made of silicon steel sheets superimposed, characterized in that: inner stator (1) and the outer rotor (2) are salient pole structures, and the excitation winding (4) is wound on the salient pole teeth of the inner stator (1), and a plurality of permanent magnets are embedded in the inner stator (1) along the circumferential direction (5), the permanent magnet (5) is set corresponding to the excitation winding (4), and a magnetically conductive sealing cover (6) is provided between the inner stator (1) and the outer rotor (2), and the two magnetically conductive sealing covers (6) The ends are respectively fixed and sealed with the end cover one (7) and the end cover two (8). The inner stator (1) is located in the The two ends of the inner stator (1) are fixedly connected with the end cover one (7) and the end cover two (8) respectively; the two ends of the outer rotor (2) are respectively lubricated by water 9) It is rotatably supported on the end cover one (7) and the end cover two (8), and rubber is respectively arranged between the end cover one (7), the end cover two (8) and the corresponding water-lubricated bearings (9). The shock absorber (10), the propeller (3) are fixedly connected with the outer rotor (2). 2. The integrated motor propulsion device according to claim 1, characterized in that: both ends of the outer rotor (2) are provided with trapezoidal slide rails, and the outer rotor (2) passes through the trapezoidal slide rails and the water-lubricated bearing ( 9) The trapezoidal groove clearance fit. 3. The integrated motor propulsion device according to claim 1, characterized in that: the water-lubricated bearing (9) is made of Sairon material. 4. The integrated motor propulsion device according to claim 1, characterized in that: an annular groove is provided on the mating surface of the water-lubricated bearing (9) and the outer rotor (2), allowing fluid to enter the annular groove and Lubricate the water lubricated bearing (9). 5. The integrated motor propulsion device according to claim 1, characterized in that: the first end cover (7) is fixedly connected to the first shell (12), and the two are sealed to form a sealed space two (13) , the control circuit board (14) is fixed in the housing one (12), the lead wire of the excitation winding (4) is connected to the control circuit board (14) through the electrical connector (15), and the electrical connector (15) is installed at the terminal On the cover one (7), the end cover one (7) is provided with a through hole, which connects the sealed space one (16) with the sealed space two (13), and the control circuit of the control circuit board (14) passes through the water Tight connector (17) is drawn. 6. The integrated electric motor propulsion device according to claim 5, characterized in that: the control circuit board (14) is provided with a power module (141), and the distance between the power module (141) and the shell one (12) is uniform Coated with thermal grease. 7. The integrated motor propulsion device according to claim 1, characterized in that: the outer periphery of the propeller (3) is provided with a fairing (11), and the fairing (11) is fixedly supported on the end cover one (7) and/or Or end cap two (8). 8. The integrated motor propulsion device according to claim 5, characterized in that: the outer periphery of the propeller (3) is provided with a fairing (11), and the fairing (11) is fixedly supported on the casing by a strut (18) One (12) on. 9. The integrated motor propulsion device according to any one of claims 1 to 8, characterized in that: the second end cover (8) is fixedly connected to the second shell (19), and the two are sealed, and the shell The second body (19) has an axial through hole communicating with the outside, and the axial through hole extends to the inside of the second housing (19), and the pressure compensation film (20) is pressed into the housing through the compression ring (21) Two (19), and the pressure compensation film (20) covers the axial through hole, the compression ring (21) is fixedly connected with the housing two (19), the pressure compensation film (20) and the axial through hole A spring (22) is provided between the outer walls of the extension section, and a sealed space (23) is formed between the end cover two (8), the casing two (19) and the pressure compensation film (20), and the end cover two (8) A through hole is provided, and the through hole communicates the sealed space one (16) with the sealed space three (23).