水下机器人永磁推进器关键特性  

The Key Characteristics of the Permanent Magnet Thruster for Underwater Vehicle

作　　者：王雷[1,2] 贾振元 刘鑫[2] 刘昊 WANG Lei;JIA Zhen-yuan;LIU Xin;LIU Hao(School of Mechanical Engineering, Dalian University of Technology, Dalian 116023, China;State Key Laboratory of Coal Mine Safety Technology, China Coal Technology & Engineering Group Shenyang Research Institute, Fushun 113122, China)

机构地区：[1]大连理工大学机械工程学院,辽宁大连116023 [2]煤科集团沈阳研究院有限公司煤矿安全技术国家重点实验室,辽宁抚顺113122

出　　处：《哈尔滨理工大学学报》2020年第4期33-39,共7页Journal of Harbin University of Science and Technology

基　　金：国家自然科学基金委员会-辽宁省人民政府联合基金(U180820010);辽宁省科学技术基金面上项目(2019-MS-233);中国煤炭科工集团科技创新基金面上项目(2017MS013);中煤科工集团科技创新基金青年基金(2017QN006,2020-QN-003);集团科技创新创业资金2018年度项目(2018ZD002).

摘　　要：针对水下机器人推进器水密性难题,提出永磁推进器将动密封转化为静密封,解决渗漏问题。采用电磁有限元方法研究了盘式与筒式永磁推进器扭矩、转差、隔离套材质对传动性能影响,并搭建实验平台进行性能验证,可得:相同结构下筒式永磁推进器最大传递能力5.7N·m,而盘式结构仅1.48N·m;内外磁套夹角为0°、15°和45°时,铝合金隔离套涡流损耗可达钛合金隔离套的46~48倍;实验验证得到额定转差800r/min时,筒式结构最大传扭46.3 N·m,满足工况需求扭矩,即带钛合金隔离套的筒式同步型永磁推进器传扭能力强,不丢转,更适合水下机器人应用。Aiming at the water tightness problem of underwater robot thrusters,it is proposed that permanent magnetic thrusters convert dynamic seals into static seals to solve the leakage problem.The electromagnetic finite element method was used to study the influence of the torque,slip,and material of the isolation sleeve on the transmission performance of the disc and barrel permanent magnet thrusters,and an experimental platform was built to verify the performance.The transmission capacity is 5.7N·m,while the disc structure is only 1.48N·m;when the internal and external magnetic sleeve angles are 0°,15°and 45°,and the slip is 800r/min,the eddy current loss of the aluminum alloy isolation sleeve can reach the titanium alloy isolation 46~47 times of the sleeve;when the experiment proves that the rated slip is 800r/min,the maximum torque transmission of the cylindrical structure is 46.3 N·m,which meets the torque demand of the working condition,that is,the cylindrical synchronous permanent magnet thruster with a titanium alloy isolation sleeve It has strong torque transmission ability and does not lose rotation.It is more suitable for underwater robot applications.

关 键 词：永磁推进器 水下机器人 磁场特性 隔离套动密封 

分 类 号：TD52[矿业工程—矿山机电]