Unmanned undersea vehicles (also known as unmanned underwater vehicles, underwater drones, or UUVs) are vehicles that operate underwater without a human occupant. Typically, unmanned undersea vehicles are divided into two categories, remotely operated underwater vehicles (also known as ROVs), and autonomous underwater vehicles (also known as AUVs). Where the former is controlled by a remote human operator and the latter operates independently of human input.
Typically to navigate and maneuver through underwater terrain, unmanned undersea vehicles must supply power to drive motors and propellers. However, it can be appreciated that these vehicles will be operated in environments with varying levels of corrosiveness. Thus, it may be desirable to limit contact between drive motor components and corrosive liquids in which the vehicles will be operated.
The subject matter claimed herein is not limited to embodiments that solve any disadvantages or that operate only in environments such as those described above. Rather, this background is only provided to illustrate one exemplary technology area where some embodiments described herein may be practiced.
An unmanned undersea vehicle may include a magnetic coupler drive.
In one or more embodiments, the magnetic coupler drive is incorporated into a hull section, such as a tail section of the unmanned undersea vehicle. However, the magnetic coupler drive may, in other embodiments, be located within any number of sections in the unmanned undersea vehicle.
In one or more embodiments, the magnetic coupler drive includes a motor shaft magnet, a titanium housing disposed about the motor shaft magnet, and a propeller shaft magnet magnetically coupled to the motor shaft magnet, but physically separated from the propeller shaft magnet by the titanium housing.
Additional features and advantages of exemplary embodiments of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of such exemplary embodiments. The features and advantages of such embodiments may be realized and obtained by means of the instruments and combinations particularly pointed out in the appended claims. These and other features will become more fully apparent from the following description and appended claims, or may be learned by the practice of such exemplary embodiments as set forth hereinafter.
In order to describe the manner in which the above-recited and other advantages and features of the invention can be obtained, a more particular description of the invention briefly described above will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. Understanding that these drawings depict only typical embodiments of the invention and are not therefore to be considered to be limiting of its scope, the invention will be described and explained with additional specificity and detail through the use of the accompanying drawings in which:
The disclosed invention presents an innovative means to transmit power from drive motors to propellers to convert rotational motion to linear thrust to create the necessary propulsion for underwater navigation.
Embodiments disclosed herein comprise apparatuses, systems, components, and methods for unmanned undersea vehicles. These unmanned undersea vehicles can be used to carry payloads and software packages to detect, classify, localize, identify, and/or retrieve targets. In particular, disclosed embodiments may be designed to meet certain constraints. For example, in some embodiments, such unmanned undersea vehicles are designed to be less than 240 pounds, operate at 1000 feet below the surface of a body of water, be less than 99 inches in length, and/or be less than 9 inches in diameter. Indeed, in some embodiments, such unmanned undersea vehicles may be configured to be used in torpedo tubes of various watercraft.
Embodiments illustrated herein may include components that help to meet certain corrosion resistance requirements. Alternatively, or additionally, embodiments may include components configured to meet certain buoyancy requirements.
In addition to other features, the unmanned undersea vehicles illustrated herein include a magnetic coupler drive in its tail. The magnetic coupler drive is implemented in a fashion that isolates certain elements physically from other elements. In particular, embodiments are arranged in a fashion that physically isolates a propeller for the vehicle from the motor of the vehicle that drives the propeller. In particular, the vehicle will be implemented in a body of water or other corrosive liquid which may harm certain components of the vehicle. Thus, some embodiments are implemented to allow the propeller to be in contact with the liquid along with a shaft and bearing assembly coupled to the propeller to be in contact with the liquid. However, the motor used to drive the propeller and a motor shaft coupled to the motor are isolated by a housing from the liquid to prevent corrosion of the motor and motor shaft. The motor is nonetheless able to drive the propeller by using a set of magnets. In particular, one magnet is coupled to the motor shaft which is isolated from the liquid, while a different magnet is coupled to the propeller shaft where the propeller is not isolated from the liquid. A barrier is disposed between the motor shaft magnet and the propeller shaft magnet. For example, in some embodiments, a titanium housing is disposed about the motor shaft magnet and the propeller shaft magnet in a fashion that prevents any direct physical contact between the two. The titanium housing can be used to seal the motor from the environment external to the vehicle.
However, a magnetic coupling between the magnets remains. This is accomplished by careful selection of magnet sizes and strengths and housing dimensions. Magnet sizes and strengths and housing dimensions are typically selected based on characteristics of the drive motor. In particular, in the examples illustrated herein, the drive motor is selected to be about a 200 W (average power) motor. The motor shaft magnet and drive propeller shaft magnet illustrated herein are selected based on that motor power rating. Similarly, the housing illustrated herein is sized and shaped based on magnet strengths and motor power rating.
As shown in
In some embodiments, the magnetic drive 200 is coupled to a 200-Watt motor. To function efficiently the components of the magnetic drive 200 are sized appropriately based on the use of a 200-Watt motor.
One embodiment of the motor shaft magnet 201 may, for example, include a neck 206, a shoulder 207, and a body 208. In particular, the neck 206 may have a length of approximately 0.63 inches, and an outer diameter of approximately 1.02 inches. Additionally, or alternatively, the body 208 may have a length of approximately 1.90 inches, an inner diameter of approximately 1.378 inches, and an outer diameter of approximately 2.05 inches. Additionally, or alternatively, the neck 206 and the body 208 may be joined at the shoulder 207, giving the motor shaft magnet 201 a combined length of approximately 2.53 inches.
One embodiment of the propeller shaft magnet 203 may, for example, include a neck 211, a shoulder 210, and a body 209. In particular, the neck 211 may have a length of approximately 0.47 inches, and an outer diameter of approximately 0.75 inches. Additionally, or alternatively, the body 209 may have a length of approximately 1.52 inches, and an outer diameter of approximately 1.102 inches. Additionally, or alternatively, the neck 211 and the body 209 may be joined at the shoulder 210, giving the propeller shaft magnet 203 a combined length of approximately 1.99 inches.
One embodiment of the magnetic drive 200 may include, for example, the propeller shaft magnet 203 located at least partially within the motor shaft magnet 201 (although physically separated), wherein the outer diameter of the body 209 is approximately equidistance at all points from the inner diameter of the body 208. In some embodiments, for the magnetic drive 200 to function efficiently, the distance between the motor shaft magnet 201 and the propeller shaft magnet 203 is approximately 0.375 inches. That is, the distance between the neck 206 and the body 209 is, in some embodiments, approximately 0.375 inches. In other words, the distance from the shoulder 210 to the neck 206 is approximately 1.90 inches. In other embodiments, in inner diameter of the neck 206 and the inner diameter of the neck 211 are approximately equal.
In some embodiments of the magnetic drive 200, the motor shaft magnet 201 may include a pin hole 212b. Additionally, or alternatively, the propeller shaft magnet 203 may include a pin hole 212a. Particularly, the pin holes 212a and b have a diameter within the range of at least approximately 0.124 inches and at least approximately 0.129 inches. In one embodiment, the pin hole 212b is at least approximately 0.31 inches from the end of the neck 206. Additionally, or alternatively, the pin hole 212a is at least approximately 0.31 inches from the end of the neck 211. The pin holes 212a and 212b may be used to receive a fastener for connecting the magnets to the corresponding shafts 213 and 213.
It should be appreciated that the described dimensional embodiments are to be considered in all respects only as illustrative and not restrictive. Thus, the magnetic drive 200 may be appropriately sized through a number of other embodiments and variations.
In some embodiments, the size of the magnets used for the motor shaft magnet 201 and the propeller shaft magnet 203 may vary. For example, in one embodiment, increasing the size of the magnets may have the effect of increasing the power output capable for the magnetic drive 200. That is, higher power motors can be used for the magnetic drive.
Returning once again to
In some embodiments, the tail section 190 may include, for example, fins 204 of similar size, dimensional ratio, material, and weight. In other embodiments, the tail section 190 may include, for example, fins 204 of different size, dimensional ratio, material, and weight. Further, a particular combination of the fins 204 may improve, for example, the buoyancy of the underwater vehicle 100, the maximum speed of the underwater vehicle 100, the maneuverability of the of the underwater vehicle 100, or other enhancing features. Due to the unique removable aspect of the fins 204, a user may selectively determine the best combination of fins 204 for a particular mission.
As noted above, the fins 204 are attached to protruding members 205. One or more of the protruding members 205 are coupled to rotational shafts 217, which are in turn coupled to solenoids 218. The solenoids 218 can be controlled to control lateral orientations of the rotational shafts 217 and thus the orientations of the protruding members 205 and fins 204. This can be used to control direction of the vehicle and/or climbing or diving of the vehicle.
Note that the protruding members 205 are configured in size and shape to engage securely with mating cavities in the fins 204.
The tail section 190 further includes a foam shell 191 about portions of the tail section 190. In some embodiments, the foam shell 191 is constructed for weight savings and buoyancy. For example, in one embodiment the foam shell 191 is positively buoyant. Further, the foam shell 191 can be constructed of syntactic foam, which comprises hollow glass balls suspended in urethane. In other embodiments, the tail section 109 may include a foam shell 191 about portions of the tail section 190, wherein the foam shell 191 is constructed of any material with positively buoyant features.
The present invention may be embodied in other specific forms without departing from its spirit or essential characteristics. Thus, the described embodiments are to be considered in all respects only as illustrative and not restrictive. The scope of the invention is, therefore, indicated by the appended claims rather than by the foregoing description. All changes that come within the meaning and range of equivalency of the claims are to be embraced within their scope.
This application claims the benefit of and priority to U.S. Provisional Patent Application Ser. No. 62/875,425 filed on Jul. 17, 2019 and entitled “MAGNETIC DRIVE WITH REMOVABLE FINS AND WEIGHT BALANCE FOR AN UNMANNED UNDERSEA VEHICLE,” which application is expressly incorporated herein by reference in its entirety.
Number | Date | Country | |
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62875425 | Jul 2019 | US |