CN114802671A - Axial vibration reduction device and system for shaftless rim propeller - Google Patents

Abstract

The invention relates to an axial vibration damper and system for a shaftless rim propeller, which are arranged in a propeller body, wherein the propeller body comprises a shell and the shaftless rim propeller, and the shaftless rim propeller is arranged in the shell, wherein the axial vibration damper comprises one or two electromagnetic actuators arranged at one end or two ends of the shaftless rim propeller; one or two electromagnetic actuators respectively comprise a magnetic core framework, a guide ring, a permanent magnet framework and two permanent magnet groups, the magnetic core framework is detachably connected with the shell, the guide ring is arranged between the magnetic core framework and the permanent magnet framework, the permanent magnet framework is detachably connected with the shaftless rim propeller, the two permanent magnet groups are respectively arranged on one opposite sides of the magnetic core framework and the permanent magnet framework, and the opposite sides of the two permanent magnet groups are both in sliding connection with the guide ring and mutually exclusive magnetic force is formed between the two permanent magnet groups; the problem of current damping measure all can't adapt to the excitation frequency change of pulse thrust to the damping effect is poor is solved.

Description

Axial vibration damping device and system for shaftless wheel rim thruster

technical field

The invention relates to the technical field of shock absorption and noise reduction, in particular to an axial shock absorption device and system for a shaftless wheel rim thruster.

Background technique

With the globalization of the economy, shipping accounts for an increasing proportion of transportation, which makes the status of ships more and more important. At present, ships are driven by traditional propeller shafting, but because the traditional propulsion shafting occupies 15% to 20% of the cabin, the space utilization rate of the cabin is low, the structure is increasingly complex, the design and construction costs are high, and the shafting is too long for the main engine. The energy efficiency transmitted to the propeller is low, and at the same time, it brings more hazards such as shafting vibration and noise, so enterprises have begun to adopt more advanced shaftless rim propellers. Although the shaftless rim thruster can greatly reduce the vibration and noise generated by the shafting transmission, the shaftless rim thruster will generate pulsating thrust during the propulsion process, and the shaftless rim thruster passes through the base and the ship. Direct connection, so the pulsating thrust is transmitted directly to the ship. Pulsating thrust is useless and harmful. For surface ships, the vibration generated by pulsating thrust will affect the comfort of their rides and cause harm to the equipment in the hull. The main source of , greatly reduces the acoustic stealth performance of underwater ships. Therefore, it is very important to study the vibration reduction of shaftless rim thrusters.

In the pulsating thrust generated by the shaftless rim thruster, the longitudinal pulsating thrust is generally several times or even dozens of times the lateral pulsating thrust. Therefore, controlling the longitudinal vibration of the shaftless rim thruster can more effectively reduce the ship vibration. There are generally three ways to control noise, one is to solve the problem from the vibration source, suppress or eliminate the vibration source to eliminate the radiation noise fundamentally; the other is to solve the problem from the vibration transmission path; the third is to solve the problem on the radiation surface. From the perspective of longitudinal vibration suppression of shaftless wheel rim thrusters, the second measure is the most efficient and economical.

At present, the vibration suppression of shaftless wheel rim thrusters mainly focuses on vibration absorption and vibration isolation, such as adding high damping steel. Therefore, none of the existing vibration reduction measures can adapt to the change of the excitation frequency of the pulse thrust, so that the vibration reduction effect is poor.

SUMMARY OF THE INVENTION

In view of this, it is necessary to provide an axial vibration damping device and system for a shaftless wheel rim thruster, in order to solve the problem that the existing vibration reduction measures cannot adapt to the excitation frequency change of the pulse thrust, so that the vibration reduction effect is poor. question.

The invention provides an axial vibration damping device for a shaftless wheel rim propeller, which is installed in a propeller body, wherein the propeller body includes a casing and a shaftless wheel rim propeller, and the shaftless wheel rim propeller is Built into the housing, including one or two electromagnetic actuators installed on one or both ends of the shaftless rim thruster; one or both of the electromagnetic actuators include a magnetic core skeleton, a guide ring, a permanent A magnet skeleton and two permanent magnet groups, the magnetic core skeleton is detachably connected to the housing, the guide ring is arranged between the magnetic core skeleton and the permanent magnet skeleton, the permanent magnet skeleton is connected to the The shaftless wheel rim thruster is detachably connected, the two permanent magnet groups are respectively arranged on the opposite sides of the magnetic core skeleton and the permanent magnet skeleton, and the opposite sides of the two permanent magnet groups are The guide rings are slidably connected and form mutually repelling magnetic forces.

Further, the electromagnetic actuator also includes an electromagnetic coil and a power supply device, the electromagnetic coil is sleeved on one of the permanent magnet groups, and the electromagnetic coil is electrically connected to the power supply device. The magnitude of the output current of the power supply device is used to adjust the magnetic magnitude of the permanent magnet group that is sheathed with the electromagnetic coil, and between the two electromagnet groups a force acting on the shaftless wheel rim can be formed. the electromagnetic force of the device.

Further, both the magnetic core skeleton and the permanent magnet skeleton are in the shape of an annular disk, and the magnetic core skeleton, the guide ring and the permanent magnet skeleton are all arranged coaxially with the shaftless wheel rim thruster.

Further, each of the permanent magnet groups includes a plurality of permanent magnets uniformly arranged along the circumference of the magnetic core skeleton and/or the permanent magnet skeleton.

Further, a plurality of through holes are uniformly opened on the guide ring along its circumferential direction, and the plurality of the permanent magnets in each of the permanent magnet groups correspond to the plurality of the through holes one-to-one, and the plurality of the The permanent magnets are all slidably connected with the corresponding through holes.

Further, the guide ring is fixedly connected with the housing; or

The guide ring is fixedly connected with the magnetic core frame; or

The guide ring is fixedly connected with the permanent magnet skeleton.

Further, each of the magnetic bodies is detachably connected to the magnetic core frame and/or the permanent magnet frame via a screw.

The present invention also provides an axial vibration damping system for a shaftless wheel rim thruster, including the above-mentioned axial vibration damping device for a shaftless wheel rim thruster, and a control assembly, the control assembly having A detection end and a control end, the detection end is used for detecting the vibration state of the shaftless wheel rim thruster, and the control end is connected with the power supply device to drive the power supply device to act.

Further, the detection end includes a displacement sensor, the displacement sensor is fixedly arranged on the casing, and the displacement sensor can detect the relative displacement of the permanent magnet skeleton relative to the casing to obtain The size of the distance between the two permanent magnet groups.

Further, the detection end includes an acceleration sensor, the acceleration sensor is fixed on the casing, and the acceleration sensor can detect the axial acceleration of the casing to obtain the axial pulse thrust. size.

Compared with the prior art, an axial vibration damping device for a shaftless wheel rim thruster is provided, wherein by arranging a magnetic core skeleton detachably connected with the housing and a detachable connection with the shaftless wheel rim thruster. Permanent magnet skeleton, when the shaftless wheel rim thruster generates pulse thrust, it can be converted into relative motion between the magnetic core skeleton and the permanent magnet skeleton. By setting two permanent magnet groups on the magnetic core skeleton and the permanent magnet On the opposite side of the skeleton, the opposite sides of the two permanent magnet groups are slidably connected with the guide ring, and a mutually repulsive magnetic force is formed between them, so that the electromagnetic actuator can effectively operate under the non-contact interaction force. Absorbing pulse reasoning, the electromagnetic actuator has the advantages of fast response, uniform thrust, stable motion, high reliability and reset function, which can effectively reduce the pulsating thrust of the shaftless rim thruster, thereby reducing the axial vibration of the ship ;

An axial vibration damping system for shaftless wheel rim thruster is also provided. The detection end detects the vibration state of the shaftless wheel rim thruster to control the current size of the electromagnetic coil, so as to achieve effective control of the pulse thrust. In order to reduce the effect of vibration, at the same time, the permanent magnet group without the electromagnetic coil will be subjected to the same size and opposite direction as the magnetic group with the electromagnetic coil, and can be transmitted to the shaftless through the permanent magnet frame. The rim thruster can control the pulse thrust transmitted by the shaftless rim thruster to the hull in real time, and finally suppress the axial vibration of the hull.

Description of drawings

Fig. 1 is the overall schematic diagram of the propeller body provided by the present invention;

Fig. 2 is the exploded schematic diagram of the thruster body provided by the present invention;

3 is a schematic structural diagram of a shaftless wheel rim thruster axial vibration damping device installed on a thruster body provided by the present invention;

FIG. 4 is a schematic diagram of the overall structure of the present embodiment of an axial vibration damping device for a shaftless wheel rim thruster provided by the present invention;

FIG. 5 is a schematic diagram of magnetic connection between two magnetic body groups of an axial vibration damping device for a shaftless wheel rim thruster provided by the present invention;

6 is a schematic diagram of the overall structure of the present embodiment of an axial vibration damping system for a shaftless wheel rim thruster provided by the present invention;

FIG. 7 is a control principle diagram of an axial vibration damping system for a shaftless wheel rim thruster provided by the present invention.

Detailed ways

The preferred embodiments of the present invention are specifically described below with reference to the accompanying drawings, wherein the accompanying drawings constitute a part of the present application, and together with the embodiments of the present invention, are used to explain the principles of the present invention, but are not used to limit the scope of the present invention.

For ease of understanding, the application scenarios of the axial damping device and the damping system are first described. The damping device and the damping system in the embodiment of the present invention are both installed in the propeller body 100, as shown in FIG. 1 . The thruster body 100 includes a housing and a shaftless rim thruster 140 built into the housing.

Specifically, as shown in FIGS. 2-3 , the housing includes a flange 110 , a rim base 120 and a shaft end sleeve 130 that are connected end to end along an axis direction, wherein the shaftless rim thruster 140 is built into the wheel In the rim base 120, it should be noted that the shaftless rim is connected to the rim base 120 via the electromagnetic actuator 200, and the electromagnetic actuator 200 is used to reduce the transmission of the shaftless rim thruster 140 to the hull. pulse thrust.

It should be noted that the thrust on the hull mainly consists of two parts:

1) The static thrust of the seawater outside the device on the device section and the static thrust in the shaftless rim thruster 140;

2) The shaftless rim thruster 140 transmits the pulse thrust to the hull through the electromagnetic actuator 200 , the rim base 120 and the flange 110 .

According to the above-mentioned force characteristics, the embodiment of the present invention uses the function of the electromagnetic actuator 200 itself to reduce the pulse thrust of the hull transmitted by the shaftless rim thruster 140, thereby reducing the vibration of the hull.

It can be understood that, in order to reduce the above-mentioned impulse reasoning, the electromagnetic actuator 200 is arranged in the inner ring of the rim base 120, and there is a certain gap between the electromagnetic actuator 200 and the inner ring of the rim base 120, and inside the gap Fill with lubricating heat-dissipating material. Similarly, the shaftless wheel rim thruster 140 is also arranged in the inner ring of the wheel rim base 120 . There is also a certain gap between the shaftless wheel rim thruster 140 and the inner ring of the wheel rim base 120 , and the gap is filled with lubricating and heat-dissipating materials. The purpose is that the movement of the electromagnetic actuator 200 absorbs the impulse thrust, so as to achieve the effect of reducing vibration. At the same time, the shaftless wheel rim thruster 140 and the wheel rim base 120 are not rigidly connected, and their own The vibration is transmitted to the electromagnetic actuator 200 .

As shown in FIGS. 3-4 , an axial vibration damping device for the shaftless wheel rim thruster 140 in this embodiment includes one or two electromagnetic actuators mounted on one or both ends of the shaftless wheel rim thruster 140 . One or two electromagnetic actuators 200 each include a magnetic core skeleton 210, a guide ring 220, a permanent magnet skeleton 230 and two permanent magnet groups 240, the magnetic core skeleton 210 is detachably connected to the housing, and the guide ring 220 It is arranged between the magnetic core skeleton 210 and the permanent magnet skeleton 230. The permanent magnet skeleton 230 is detachably connected to the shaftless wheel rim thruster 140. The two permanent magnet groups 240 are respectively arranged on the opposite sides of the magnetic core skeleton 210 and the permanent magnet skeleton 230. On one side, the opposite sides of the two permanent magnet groups 240 are both slidably connected with the guide ring 220, and a mutually repelling magnetic force is formed therebetween.

Wherein, by providing the magnetic core skeleton 210 detachably connected to the housing and the permanent magnet skeleton 230 detachably connected to the shaftless wheel rim thruster 140, when the shaftless wheel rim thruster 140 generates a pulse thrust, it can be converted into a magnetic The relative movement between the core skeleton 210 and the permanent magnet skeleton 230 is achieved by arranging two permanent magnet groups 240 on the opposite sides of the magnetic core skeleton 210 and the permanent magnet skeleton 230 respectively, and the two permanent magnet groups 240 on the opposite side. Both sides are slidably connected with the guide ring 220, and a mutually repulsive magnetic force is formed therebetween. Under the non-contact interaction force, the electromagnetic actuator 200 can effectively absorb pulse reasoning, and the electromagnetic actuator 200 has a response It has the advantages of high speed, uniform thrust, stable motion, high reliability and reset function, which can effectively reduce the 140 pulsating thrust of the shaftless rim thruster, thereby reducing the axial vibration of the ship.

In order to further adapt to the above-mentioned complex pulse thrust, in a preferred embodiment, the electromagnetic actuator 200 further includes an electromagnetic coil 250 and a power supply device, the electromagnetic coil 250 is sleeved on one of the permanent magnet groups 240, and the electromagnetic coil 250 It is electrically connected to the power supply equipment, and by changing the magnitude of the output current of the power supply equipment, it is used to adjust the magnetic size of the permanent magnet group 240 covered with the electromagnetic coil 250, that is, according to the distance between the two permanent magnet groups 240, A corresponding magnitude of current is applied to the electromagnetic coil 250 to absorb or release the above-mentioned pulse thrust well, and an electromagnetic force acting on the shaftless wheel rim thruster 140 can be formed between the two electromagnet groups.

In a preferred embodiment, the magnetic core skeleton 210 and the permanent magnet skeleton 230 are both annular disks, and the magnetic core skeleton 210 , the guide ring 220 and the permanent magnet skeleton 230 are all arranged coaxially with the shaftless wheel rim pusher 140 .

In order to make the magnetic core bobbin 210 and/or the permanent magnet bobbin 230 receive uniform force, in a preferred embodiment, each permanent magnet group 240 includes uniformly disposed along the circumferential direction of the magnetic core bobbin 210 and/or the permanent magnet bobbin 230 multiple permanent magnets. It should be noted that, the number of permanent magnets in each permanent magnet group 240 is not limited, and is determined according to specific conditions. The number of permanent magnets in each permanent magnet group 240 in this embodiment is six.

In order to limit the relative movement direction between the magnetic core skeleton 210 and the permanent magnet skeleton 230, in a preferred embodiment, a plurality of through holes 221 are evenly opened on the guide ring 220 along its circumferential direction, and each permanent magnet group 240 The plurality of permanent magnets are in one-to-one correspondence with the plurality of through holes 221 , and the plurality of permanent magnets are all slidably connected to the corresponding through holes 221 .

Of course, in other preferred embodiments, the guide ring 220 can also be implemented by adopting other forms of sliding structures. It should be noted that the structure of the guide ring 220 should not affect the repulsive force between the two magnetic body groups.

In a preferred embodiment, the guide ring 220 is fixedly connected to the housing. It can be understood that the guide ring 220 can also be fixedly connected to the magnetic core frame 210 , or the guide ring 220 is fixedly connected to the permanent magnet frame 230 . The guide ring 220 only needs to have a function of restricting the relative movement direction between the magnetic core bobbin 210 and the permanent magnet bobbin 230 .

In a preferred embodiment, each magnetic body is detachably connected to the magnetic core frame 210 and/or the permanent magnet frame 230 via a screw.

Of course, the magnetic body can also be detachably connected to the magnetic core skeleton 210 and/or the permanent magnet skeleton 230 by using other connection methods.

The present invention also provides an axial vibration damping system for the shaftless wheel rim thruster 140, including the above axial vibration damping device for the shaftless wheel rim thruster 140, and a control assembly 300, as shown in FIG. 6 . Show.

The current magnitude of the electromagnetic coil 250 is controlled by detecting the vibration state of the shaftless wheel rim thruster 140 at the detection end, so as to effectively control the pulse thrust and reduce the effect of vibration.

In a preferred embodiment, the detection end includes a displacement sensor 320, the displacement sensor 320 is fixed on the casing, and the displacement sensor 320 can detect the relative displacement of the permanent magnet skeleton 230 relative to the casing to obtain two permanent magnets. The size of the distance between the sets of magnets 240 .

In a preferred embodiment, the detection end includes an acceleration sensor 330, the acceleration sensor 330 is fixed on the casing, and the acceleration sensor 330 can detect the axial acceleration of the casing to obtain the axial pulse thrust.

In specific implementation, the shaftless wheel rim thruster 140 generates thrust to push the permanent magnet frame 230 to move in the inner ring of the wheel rim base 120 , and the displacement sensor 320 on the wheel rim base 120 is arranged to measure the relationship between the permanent magnet frame 230 and the wheel rim in real time. For the axial relative displacement signal of the base 120, the accelerometer sensor on the rim base 120 is arranged to measure the acceleration signal of the rim base 120 in real time.

The controller 310 obtains the relative distance between the two permanent magnet groups 240 according to the axial relative displacement signal between the permanent magnet skeleton 230 and the rim base 120 , and the controller 310 obtains the relative distance between the two permanent magnet groups 240 according to the acceleration signal of the rim base 120 . Acceleration signal of shaftless rim thruster 140 .

The controller 310 can output to the corresponding power amplifier according to the acceleration signal of the shaftless wheel rim thruster 140 and the relative distance signal between the two permanent magnet groups 240, so as to control the current of the electromagnetic coil 250, after the current of the electromagnetic coil 250 is changed , the magnetic body set covered with the electromagnetic coil 250 can generate electromagnetic force in the magnetic field. According to Newton's third law, the permanent magnet group 240 not covered with the electromagnetic coil 250 will be subjected to an electromagnetic force of the same size and opposite direction as the magnetic body group covered with the electromagnetic coil 250, and the permanent magnet skeleton 230 can be transmitted to the non-magnetic The shaft rim thruster 140 is used to control the pulse thrust transmitted by the shaftless rim thruster 140 to the hull in real time, and finally suppress the axial vibration of the hull.

Therefore, to change the electromagnetic excitation force of the electromagnetic actuator 200 (ie, the above-mentioned electromagnetic force), only the distance between the two magnetic body groups (the distance between the magnetic core bobbin 210 and the permanent magnet bobbin 230 ) and the current of the electromagnetic coil 250 are changed Take it down, easy to operate.

In a preferred embodiment, the magnetic poles on the opposite sides of the two magnetic body groups have the same name, as shown in FIG. 5 , and their magnetic fields are evenly distributed along the central axis, so that when the electromagnetic coil 250 is energized, the permanent magnets can be subjected to contact with the shaftless wheel. Edge thruster 140 pulses the opposing electromagnetic excitation force.

In a preferred embodiment, the magnetic poles of the two magnetic body groups in the electromagnetic actuator 200 are arranged in an alliance and are used to generate an electromagnetic repulsive force. The repulsive force changes with the change of the gap between the magnetic body groups and the energized current of the electromagnetic coil 250, and the stiffness of the system can also be changed to achieve the purpose of semi-active control.

As shown in Figure 7, the principle of the device is that the system can be equivalent to a single-degree-of-freedom vibration isolation system, and the excitation force of the shaftless wheel rim thruster 140 is:

F=F ₀ sinωt,

Among them, the excitation force of the vibration isolation system is F ₀ sinωt, the amplitude transmitted to the hull is F ₁ , the excitation frequency of the shaftless rim thruster 140 is ω, and the initial excitation force of the vibration isolation system is F ₀ .

According to the above excitation force acting on the shaftless rim thruster 140 as F ₀ sinωt, an excitation displacement X can be obtained, and the active vibration isolation coefficient can be derived as:

Among them, C represents the damping coefficient of the system, and m represents the mass of the system. When the excitation frequency of the shaftless rim thruster 140 is ω, the electromagnetic actuator 200 can appropriately adjust the stiffness k to reduce the active vibration isolation coefficient, thereby improving the Vibration isolation effect.

It should be noted that the system stiffness k is mainly achieved by adjusting the distance Δ between the two magnetic body groups and the magnitude of the energizing current of the electromagnetic coil 250 . When the distance Δ between the two magnetic body groups is constant, the greater the energized current of the electromagnetic coil 250, the greater the corresponding system stiffness; The smaller the distance Δ, the greater the corresponding system stiffness, that is, by adjusting the current of the electromagnetic coil 250 and the distance Δ between the two magnetic body groups, the wide-band electromagnetic stiffness range can be adjusted.

It should be noted that there is a uniform air gap between the two magnetic body groups so that an axial electromagnetic excitation force can be generated, and the size of the air gap is determined by the required electromagnetic excitation force.

Compared with the prior art: an axial vibration damping device for the shaftless wheel rim thruster 140 is provided, wherein by arranging the magnetic core skeleton 210 detachably connected to the housing and the shaftless wheel rim thruster 140, When the connected permanent magnet skeleton 230 is disassembled, when the shaftless wheel rim thruster 140 generates a pulse thrust, it can be converted into the relative motion between the magnetic core skeleton 210 and the permanent magnet skeleton 230. By setting two permanent magnet groups 240, respectively It is arranged on the opposite side of the magnetic core skeleton 210 and the permanent magnet skeleton 230, and the opposite sides of the two permanent magnet groups 240 are both slidably connected with the guide ring 220, and a mutually repulsive magnetic force is formed therebetween. The electromagnetic actuator 200 can effectively absorb the pulse reasoning under the force of the force. The edge thruster 140 pulsates the thrust, thereby reducing the axial vibration of the ship;

An axial vibration damping system for the shaftless wheel rim thruster 140 is also provided. The detection end detects the vibration state of the shaftless wheel rim thruster 140 to implement the control of the current size of the electromagnetic coil 250, thereby realizing effective control. Pulse thrust to reduce the effect of vibration, at the same time, the permanent magnet group 240 that is not covered with the electromagnetic coil 250 will be subjected to the same size and opposite direction as the magnetic body group covered with the electromagnetic coil 250. The electromagnetic force, and through the permanent magnet The frame 230 can be transmitted to the shaftless rim thruster 140, so as to control the pulse thrust transmitted by the shaftless rim thruster 140 to the hull in real time, and finally suppress the axial vibration of the hull.

The above description is only a preferred embodiment of the present invention, but the protection scope of the present invention is not limited to this. Substitutions should be covered within the protection scope of the present invention.

Claims (10)

1. An axial vibration damping device for a shaftless rim thruster, installed in a thruster body, the thruster body comprising a housing and a shaftless rim thruster, the shaftless rim thruster having a built-in In the casing, it is characterized in that it comprises one or two electromagnetic actuators installed on one end or both ends of the shaftless wheel rim thruster; One or both of the electromagnetic actuators include a magnetic core skeleton, a guide ring, a permanent magnet skeleton and two permanent magnet groups, the magnetic core skeleton and the housing are detachably connected, and the guide ring is arranged on the Between the magnetic core skeleton and the permanent magnet skeleton, the permanent magnet skeleton and the shaftless wheel rim thruster are detachably connected, and the two permanent magnet groups are respectively arranged on the magnetic core skeleton and the permanent magnet skeleton. On the opposite side of the magnet skeleton, the opposite sides of the two permanent magnet groups are both slidably connected with the guide ring, and a mutually repelling magnetic force is formed therebetween. 2 . The axial vibration damping device for a shaftless wheel rim thruster according to claim 1 , wherein the electromagnetic actuator further comprises an electromagnetic coil and a power supply device, and the electromagnetic coil is sleeved on 2 . On one of the permanent magnet groups, the electromagnetic coil is electrically connected to the power supply equipment, and the output current of the power supply equipment is changed to adjust the magnetic properties of the permanent magnet group covered with the electromagnetic coil. size, and an electromagnetic force acting on the shaftless wheel rim thruster can be formed between the two sets of electromagnets. 3 . The axial vibration damping device for a shaftless wheel rim thruster according to claim 1 , wherein the magnetic core skeleton and the permanent magnet skeleton are in annular disk shapes, and the magnetic core skeleton, Both the guide ring and the permanent magnet skeleton are arranged coaxially with the shaftless wheel rim thruster. 4 . The axial vibration damping device for shaftless wheel rim thrusters according to claim 1 , wherein each of the permanent magnet groups comprises an axis along the magnetic core skeleton and/or the permanent magnet skeleton. 5 . A plurality of permanent magnets arranged uniformly in the circumferential direction. 5 . The axial vibration damping device for a shaftless wheel rim thruster according to claim 4 , wherein a plurality of through holes are uniformly opened on the guide ring along its circumferential direction, and each of the permanent magnets The plurality of the permanent magnets in the group correspond to the plurality of the through holes one-to-one, and the plurality of the permanent magnets are all slidably connected with the corresponding through holes. 6. The axial vibration damping device for a shaftless wheel rim thruster according to claim 1, wherein the guide ring is fixedly connected to the housing; or The guide ring is fixedly connected with the magnetic core frame; or The guide ring is fixedly connected with the permanent magnet skeleton. 7 . The axial vibration damping device for a shaftless wheel rim thruster according to claim 4 , wherein each of the magnetic bodies is connected to the magnetic core skeleton and/or the permanent magnet via a screw. 8 . The skeleton is detachably connected. 8. An axial vibration damping system for a shaftless wheel rim thruster, characterized in that it comprises the axial vibration damping device for a shaftless wheel rim thruster as claimed in claim 2, and further comprises a control assembly , the control assembly has a detection end and a control end, the detection end is used to detect the vibration state of the shaftless wheel rim thruster, and the control end is connected with the power supply device to drive the power supply device action. 9 . The axial vibration damping system for a shaftless wheel rim thruster according to claim 8 , wherein the detection end comprises a displacement sensor, and the displacement sensor is fixedly arranged on the housing, so that the The displacement sensor can detect the relative displacement of the permanent magnet skeleton with respect to the casing, so as to obtain the distance between the two permanent magnet groups. 10 . The axial vibration damping system for a shaftless wheel rim thruster according to claim 8 , wherein the detection end comprises an acceleration sensor, and the acceleration sensor is fixedly arranged on the housing, so the The acceleration sensor can detect the magnitude of the axial acceleration of the casing to obtain the magnitude of the axial pulse thrust.

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