CN111114729B - Vector water-jet propeller and vector water-jet propulsion method - Google Patents
Vector water-jet propeller and vector water-jet propulsion method Download PDFInfo
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- CN111114729B CN111114729B CN201911227290.2A CN201911227290A CN111114729B CN 111114729 B CN111114729 B CN 111114729B CN 201911227290 A CN201911227290 A CN 201911227290A CN 111114729 B CN111114729 B CN 111114729B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H11/00—Marine propulsion by water jets
- B63H11/02—Marine propulsion by water jets the propulsive medium being ambient water
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H11/00—Marine propulsion by water jets
- B63H11/02—Marine propulsion by water jets the propulsive medium being ambient water
- B63H11/10—Marine propulsion by water jets the propulsive medium being ambient water having means for deflecting jet or influencing cross-section thereof
- B63H11/107—Direction control of propulsive fluid
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- Combustion & Propulsion (AREA)
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- Ocean & Marine Engineering (AREA)
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Abstract
The invention discloses a vector water-jet propeller and a vector water-jet propulsion method, belongs to the technical field of water propulsion of ships and amphibious vehicles, and solves the problem that the existing water-jet propulsion ships and amphibious vehicles cannot effectively control the posture of a vehicle body or a ship body. The vector water-jet propeller of the invention mainly comprises: the water jet propeller comprises a water inlet shell, a water outlet shell, a propeller support, a water jet propeller inner container and an oil cylinder assembly arranged on the propeller support. The spherical propeller inner container can rotate in the shell, two ball head supports which are vertical relatively are fixedly arranged on the inner container, the inner container of the water-jet propeller is pushed to rotate in the shell by controlling the extension of a piston rod of the oil cylinder assembly, the left-right angle and the pitching angle of a water-jet pipe on the inner container are adjusted, and the water-jet angle of the vector water-jet propeller is controlled. The invention can change the angle of the tail water jet to obtain vector propulsion in different directions, further adjust the posture aiming at environmental disturbance and waves, and improve the wave resistance and navigation stability of the amphibious vehicle or ship.
Description
Technical Field
The invention relates to the technical field of water jet propulsion of ships and amphibious vehicles, in particular to a vector water jet propeller and a vector water jet propulsion method.
Background
At present, ship propulsion and amphibious vehicle water driving mainly have two forms: conventional propeller propulsion and recently developed water jet propulsion technologies. The water jet propulsion ship has certain advantages in the aspects of propulsion efficiency, maneuverability and the like compared with a propeller-driven ship, and is widely applied to various high-performance ships and military amphibious vehicles.
At present, research on the aspect of water jet propulsion ships mainly focuses on the aspects of propeller efficiency, course speed control and the like, and the research on ship and vehicle body navigation stability control is less, wherein partial research focuses on vector control of double-pump or multi-pump water jet propulsion ships, and the cooperative control of ship engine power drive and water jet propulsion pumps under different requirements is considered.
The stability control mode with the coordination of multiple pumps puts forward a certain requirement on an upper control algorithm of ship propulsion, and the problems of large installation and arrangement space and high manufacturing cost of the multiple water jet propulsion pumps are to be solved.
Disclosure of Invention
In view of the above analysis, the present invention aims to provide a vector waterjet propeller and a method for thrust vectoring waterjet propulsion, so as to solve the problem of instability caused by complicated motions such as surging and rolling during water navigation of amphibious vehicles and ships, and the problems that the requirement of the existing multi-pump coordinated stability control mode on an upper control algorithm for ship propulsion is high, and meanwhile, the installation and arrangement space of a plurality of waterjet propulsion pumps is large and the manufacturing cost is high. The vector water-jet propeller disclosed by the invention obtains vector propulsion forces in different directions by changing the jet angle of water sprayed by the tail of a single water-jet propulsion pump under the condition of considering the limited installation space of a vehicle body and a ship according to the maneuverability and the power performance of the water-jet propulsion pump, can further adjust the posture according to environmental waves, can finish the effect of cooperative work of a plurality of water-jet propulsion pumps, and can finish full vector adjustment of the posture of the water-jet propulsion pump while ensuring the power driving and accurate steering of the vehicle body and the ship.
The purpose of the invention is mainly realized by the following technical scheme:
a vector waterjet comprising: the water jet propeller comprises a propeller support, a servo hydraulic oil cylinder assembly, a propeller shell and a water jet propeller inner container;
the servo hydraulic oil cylinder assembly is rotatably arranged on the propeller bracket; the propeller shell is fixedly arranged on the propeller bracket; the inner container of the water jet propeller is sleeved in the propeller shell and is in contact with the inner wall of the propeller shell;
the water jet propeller inner bag includes: the water spraying device comprises a propeller inner container, a water inlet pipe, a water spraying pipe, a first ball head support and a second ball head support.
Specifically, the propeller bracket includes: the vertical plate, the bottom plate and the arc vertical plate;
the vertical plate is vertical to the bottom plate and is fixedly connected with the bottom plate; the upper surface of the arc-shaped vertical plate is arc-shaped, and the arc-shaped vertical plate is vertical to the bottom plate and is fixedly connected with the bottom plate; the vertical plate is parallel to the arc vertical plate;
set up the grudging post between riser and the bottom plate, the grudging post is respectively with riser and bottom plate fixed connection.
Specifically, the inner container of the propeller is of a spherical structure with an internal cavity; the water inlet pipe and the water spraying pipe are fixedly connected with the inner container of the propeller and are communicated with the inner cavity of the inner container of the propeller;
the first ball head support and the second ball head support are fixedly connected with the inner container of the propeller, and the first ball head support and the second ball head support are perpendicular to each other;
the first ball head support and the second ball head support are driven to rotate through the servo hydraulic oil cylinder assembly.
Specifically, servo hydraulic cylinder assembly includes: a first hydraulic cylinder and a second hydraulic cylinder; the first hydraulic oil cylinder is connected with the first ball head bracket through a first ball pair; and the second hydraulic oil cylinder is connected with the second ball head support through a second ball pair. The first ball pair and the second ball pair have the same structure.
Specifically, a first hydraulic oil cylinder and a second hydraulic oil cylinder are respectively arranged on the vertical plate through a first hinge seat and a second hinge seat; the first hinge seat and the second hinge seat are fixedly arranged on the vertical plate; the first hydraulic oil cylinder is hinged with the first hinged seat, and the second hydraulic oil cylinder is hinged with the second hinged seat.
Specifically, the second ball pair includes: the oil cylinder piston rod, the piston rod ball head and the second ball head mounting seat; the piston rod of the oil cylinder is fixedly connected with the ball head of the piston rod;
the second ball head mounting seat is connected with the second ball head support through a bolt, hemispherical cavities are formed in the second ball head mounting seat and the second ball head support, and the two hemispherical cavities are symmetrical and can be spliced to form a spherical mounting cavity;
the piston rod ball comprises a ball head, the ball head is arranged in the spherical mounting cavity, and the piston rod ball is in contact with the surfaces of the second ball head mounting seat and the second ball head support.
Specifically, the propeller housing includes: the water outlet shell and the water inlet shell are both of hemispherical shell structures; the water outlet shell is fixedly connected with the arc-shaped vertical plate; the water inlet shell is fixedly connected with the water outlet shell;
the propeller inner container is sleeved in the propeller shell and is contacted with the inner surfaces of the water inlet shell and the water outlet shell; set up inlet opening, apopore, first support mounting hole and second support mounting hole on the propeller shell, inlet opening, apopore, first support mounting hole and second support mounting hole provide installation space for inlet tube, spray pipe, first bulb support and second bulb support respectively.
Specifically, the servo hydraulic oil cylinder assembly is connected with the controller through a circuit system, and the servo hydraulic oil cylinder assembly controls the telescopic amount of a piston rod of the servo hydraulic oil cylinder through a servo electromagnetic valve.
A vector water jet propulsion method of a vector water jet propeller comprises the following steps:
step S1: connecting the circuit and the oil way, and performing circuit voltage stability detection and oil cleanliness and safety inspection in the oil way;
step S2: the controller sends control quantity to the servo electromagnetic valve, and the servo electromagnetic valve controls the extension and retraction of a piston rod of the servo hydraulic oil cylinder assembly;
step S3: the water spraying angle of the water spraying pipe is adjusted, and the angle of the reverse propelling force is adjusted.
Specifically, in step S3, the water spray angle of the water spray pipe is adjusted by:
the first ball head support is driven by controlling the expansion of the first hydraulic oil cylinder to rotate, the first ball head support drives the inner container of the propeller to deflect left and right in the horizontal direction, and the deflection angle of the water spraying pipe in the horizontal direction is adjusted;
the second ball head support is driven by the second hydraulic cylinder to do pitching motion in the vertical direction, and the deflection angle of the water spraying pipe in the vertical direction is adjusted;
the first hydraulic cylinder and the second hydraulic cylinder are controlled to synchronously perform telescopic motion, the inner container of the propeller performs pitching motion and left-right deflection motion, and the motion of two rotational degrees of freedom of the inner container of the propeller is synthesized into full-vector deflection motion, so that the water spray pipe has tail water spray jet flow in each vector direction.
Compared with the prior art, the invention has at least one of the following beneficial effects:
a) according to the vector water-jet propeller disclosed by the invention, the inner container of the propeller is in contact with the spherical surface of the water inlet and outlet shell, so that the inner container can rotate in the water-jet propeller shell, the servo hydraulic oil cylinder is utilized to push the two mutually perpendicular ball head supports to adjust the angle of the inner container of the propeller, the water-jet direction of the water-jet pipe is further adjusted, and the motion control of two rotational degrees of freedom of the nozzle of the propeller is completed, so that the vector propulsion force required by the amphibious vehicle or ship steering, posture adjustment and the like is obtained, the structure is clear, the control logic is simple, and the operation stability of the water-jet propulsion ship and.
b) The vector water-jet propeller structure adopts the form that two servo hydraulic oil cylinders are combined to control the directions of the inner container of the propeller and the water jet, and has the advantages of simple design structure, low processing and manufacturing cost, small occupied installation space and the like compared with the cooperative control of a plurality of propellers.
c) According to the vector water-jet propeller, the oil cylinder piston rod is in spherical contact with the ball head support on the propeller inner container, and the propeller inner container is in spherical contact with the water inlet and outlet shell, so that the assembly complexity among all connecting pieces is reduced, meanwhile, all parts can freely rotate due to the spherical surface, the friction loss is reduced, and the equipment maintenance cost is further reduced.
In the invention, the technical schemes can be combined with each other to realize more preferable combination schemes. Additional features and advantages 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 practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
FIG. 1 is a schematic view of a vector water jet propulsion unit according to the present invention;
FIG. 2 is a side view, partially in section, of the vector water jet of the present invention.
Reference numerals:
1-standing a plate; 2-a first articulated seat; 3-a first hydraulic oil cylinder; 4-a bottom plate; 5-a first ball head mounting seat; 6-a first ball head bracket; 7-a second hydraulic cylinder; 8-a second ball head mounting seat; 9-a second ball head bracket; 10-inner container of propeller; 11-a water inlet pipe; 12-a water spray pipe; 13-water outlet housing; 14-a water inlet housing; 15-arc vertical plates; 16-standing ribs; 17-a second articulated seat; 18-cylinder piston rod; 19-piston rod ball.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
Example one
The invention discloses a vector water-jet propeller, which comprises: the propeller support is provided with a servo hydraulic oil cylinder assembly, a propeller shell and a water-jet propeller liner. The oil cylinder assembly controls the angle of the inner container of the water-jet propeller through controlling the extension and retraction of the piston rod, and further controls the water-jet angle of the vector water-jet propeller. The inner container of the water-jet propeller is arranged inside the propeller shell and can rotate in the propeller shell, and the inner container of the water-jet propeller is driven to rotate through the servo hydraulic oil cylinder assembly, so that the vector adjustment of the water-jet angle is realized.
In this embodiment, the inner container of the water jet propeller is composed of a propeller inner container 10, a first ball head support 6, a second ball head support 9, a water inlet pipe 14 and a water outlet pipe 13, the first ball head support 6 and the second ball head support 9 which are fixedly installed on the propeller inner container 10 are respectively driven to rotate through a first hydraulic cylinder 3 and a second hydraulic cylinder 7, namely, the water jet propeller inner container is driven to rotate in the propeller shell through the first hydraulic cylinder 3 and the second hydraulic cylinder 7, and the orientation of the water jet pipe 12 is adjusted. Water enters an inner flow channel of a liner of the water jet propeller through a water inlet pipe 11 by a water jet propulsion pump and then is sprayed out from a water spraying port of a water spraying pipe 12 to form vector propulsion force for the amphibious vehicle or the water jet propulsion ship.
Specifically, the propeller housing includes: the water inlet shell 13 and the water outlet shell 14, the main bodies of the water inlet shell 13 and the water outlet shell 14 are both of a hemispherical structure and are provided with spherical inner walls, and the water inlet shell 13 and the water outlet shell 14 are spliced to form a propeller shell with a spherical inner cavity. The inner container of the water-jet propeller is arranged in the propeller shell, the outer wall of the inner container of the water-jet propeller is in surface contact with the inner cavity of the propeller shell, and the water inlet shell 13 and the water outlet shell 14 limit three freedom degrees of movement of the inner container of the water-jet propeller, so that the inner container of the water-jet propeller can rotate in the propeller shell.
The water jet propeller inner bag includes: the water jet propeller comprises a propeller inner container 10, a first ball head bracket 6, a second ball head bracket 9, a water inlet pipe 11 and a water jet pipe 12.
Specifically, the propeller inner bag 10 is the spherical structure who has inside cavity, and inlet tube 11 and spray pipe 12 are connected respectively to both ends around the propeller inner bag 10, and inlet tube 11 and spray pipe 12 all communicate with propeller inner bag 10 fixed connection and inside cavity. Furthermore, the water inlet pipe 11 is connected with a water pipe and used for supplying water to the water jet propeller, water flow is sprayed out from the water spray pipe 12, and the angle adjustment of the propelling force of the ship body or the amphibious vehicle is realized by adjusting the angle of the water spray pipe 12.
Specifically, a first ball head bracket 6 is arranged on one side of the propeller inner container 10, and a second ball head bracket 9 is arranged on the upper portion of the propeller inner container 10. First bulb support 6 and second bulb support 9 all with propeller inner bag 10 fixed connection, first bulb support 6 and second bulb support 9 all weld as an organic whole with propeller inner bag 10 or for processing design structure as an organic whole promptly to, first bulb support 6 and second bulb support 9 mutually perpendicular.
Propeller housing fixed mounting is on the propeller support, and specifically, the propeller support includes: riser 1, bottom plate 4 and arc riser 15. The vertical plate 1 is fixedly arranged at one end of the bottom plate 4 in a welding or bolt connection mode, and the vertical plate 1 is perpendicular to the bottom plate 4. The arc-shaped vertical plate 15 is fixedly installed at the other end of the bottom plate 4 in a welding or bolt connection mode, and the arc-shaped vertical plate 15 is perpendicular to the bottom plate 4, that is, the vertical plate 1 and the arc-shaped vertical plate 15 are parallel to each other.
Specifically, set up stud 11 between riser 1 and the bottom plate 4, stud 11 is the right triangle steel sheet, two sides that the right-angle side corresponds respectively with riser 1 and bottom plate 4 fixed connection, generally adopt welded fastening, and stud 11 is used for fixed riser 1 and bottom plate 4's relative position, makes it not take place relative deformation, keeps riser 1 perpendicular to bottom plate 4 all the time, makes stable in structure.
The upper end of the arc-shaped vertical plate 15 is provided with an arc-shaped mounting groove, the upper surface of the arc-shaped vertical plate 15 is an arc-shaped surface, and the diameter of the arc-shaped surface is the same as the diameter of the outer surface of the water inlet and outlet shell, so that the propeller shell can be mounted conveniently.
Specifically, the water outlet housing 13 is fixedly connected with the arc-shaped vertical plate 15 in a welding or bolt connection manner.
The water inlet shell 14 is connected with the water outlet shell 13 through bolts, and particularly, mounting portions are arranged on the edges of the water inlet shell 14 and the edge of the water outlet shell 13, so that the connection between the water outlet shell 13 and the water inlet shell 14 and the connection between the water outlet shell 13 and the arc-shaped vertical plate 15 are facilitated.
Specifically, the main body parts of the water inlet housing 14 and the water outlet housing 13 are both of a hemispherical shell structure, the water inlet housing 14 is provided with a water inlet hole for providing a space for the installation and rotation of the water inlet pipe 11, and the edge of the water inlet housing 14 is provided with two semicircular through grooves for providing an installation space for the first and second ball head brackets. Correspondingly, set up a apopore on the play water shell 13 hemisphere for spray pipe 12 provides installation and rotation space, the edge of play water shell 13 sets up two semicircular groove and the two semicircular groove butt joint formation two bulb support mounting holes at the 14 edges of the shell of intaking, is used for providing the space for the installation and the rotation of bulb support, and specific structure is seen in fig. 1.
That is, the spherical thruster liner 10 is sleeved in the spherical inner cavity of the thruster housing, and the thruster liner 10 contacts with the cavity wall of the inner cavity of the thruster housing.
The first ball head support 6 and the second ball head support 9 which are arranged at the upper end and the side surface of the inner container 10 of the propeller extend out of the side surface of the upper end of the shell of the propeller, and the diameter of the ball head support mounting hole is larger than the length size of the ball head support.
The water inlet pipe 11 and the water spray pipe 12 which are arranged at the left end and the right end of the inner container 10 of the propeller extend out of the water inlet hole and the water outlet hole of the shell of the propeller, and the diameters of the water inlet hole and the water outlet hole are larger than the diameters of the water inlet pipe 11 and the water spray pipe 12.
Furthermore, in order to further adjust the water spraying direction of the water spraying pipe 12 through the rotation of the inner container 10 of the propeller, a servo hydraulic oil cylinder assembly is arranged to drive the first ball support 6 and the second ball support 9 to rotate.
Specifically, servo hydraulic cylinder assembly includes: the hydraulic device comprises a first hydraulic oil cylinder 3, a second hydraulic oil cylinder 7, a first hinged seat 2 and a second hinged seat 17.
Specifically, first hydraulic cylinder 3 one end is articulated through first articulated seat 2 and is installed on riser 1, and the other end passes through ball pair and is connected with first bulb support 6 rotation. One end of the second hydraulic oil cylinder 7 is hinged on the vertical plate 1 through a second hinge seat 17, and the other end of the second hydraulic oil cylinder is rotatably connected with the second ball head support 9 through a ball pair.
Specifically, first articulated seat 2 and the articulated seat 17 of second are all through welding or bolted connection's mode fixed mounting on riser 1, and first hydraulic cylinder 3 is articulated with first articulated seat 2, and second hydraulic cylinder 7 is articulated through the articulated seat 17 of second.
Furthermore, the connection mode of the piston rod of the first hydraulic oil cylinder 3 and the first ball head support 6 is the same as that of the piston rod of the second hydraulic oil cylinder 7 and the second ball head support, and the connection modes are ball pair connection. Namely, the first hydraulic cylinder 3 has three rotational degrees of freedom relative to the first ball mount 6, and the second hydraulic cylinder 7 has three rotational degrees of freedom relative to the second ball mount 9.
In the embodiment, water spraying in each vector direction of the vector water spraying propeller is completed by the rotation of a drain pipe 13 welded on a propeller inner container 10 driven by the rotation of the propeller inner container 10, a hydraulic oil cylinder assembly arranged on a vertical plate 1 for driving the water spraying propeller inner container to rotate is connected with the propeller inner container 10 through a first ball head bracket and a second ball head bracket, wherein a piston rod ball head 19 of the hydraulic oil cylinder assembly is contacted with the spherical surface of a spherical groove of the ball head bracket, so that the hydraulic oil cylinder is connected with the ball head bracket through a spherical hinge, when a piston rod is controlled by a servo hydraulic oil cylinder assembly to extend or shorten, the piston rod ball head 19 freely rotates in the ball head bracket, the servo hydraulic oil cylinder assembly pushes and pulls the ball head bracket, the propeller inner container 10 is driven by the first ball head bracket and the second ball head bracket to rotate in a water inlet shell and a water outlet shell, and the two ball head, the horizontal and vertical swaying and pitching movements of the thruster liner 10 form each vector rotation direction, and further realize the water jet direction of each vector direction sprayed by the water spray pipe 13.
The first hydraulic oil cylinder 3 is connected with the first ball head bracket 6 through a first ball pair; the second hydraulic oil cylinder 7 is connected with a second ball head bracket 9 through a second ball pair. The first ball pair and the second ball pair have the same structure. The connection relationship between the hydraulic cylinder and the ball head bracket is described below by taking the second hydraulic cylinder 7 and the second ball head bracket 6 as an example:
as shown in fig. 2, the second hydraulic cylinder 7 can drive a cylinder piston rod 18 to extend and retract, and a piston rod ball 19 is connected to an end of the cylinder piston rod 18.
Specifically, the piston rod bulb 19 includes: the threaded rod is of a cylindrical structure with external threads arranged on the outer surface, and the ball head is spherical. The end part of the oil cylinder piston rod 18 is provided with a threaded hole, and a threaded rod of the piston rod ball 19 is screwed into the threaded hole of the oil cylinder piston rod 18 to complete the installation and connection of the piston rod ball 19 and the oil cylinder piston rod 18.
The second ball head mounting seat 8 is connected with the second ball head support 9 through a screw, and a hemispherical groove is formed in the second ball head support 9. One side of the second ball head mounting seat 8 is provided with a hemispherical groove, and the other side is provided with a truncated cone-shaped groove and the two grooves are communicated. The second ball head mounting seat 8 and two hemispherical grooves on the second ball head support 9 are spliced into a spherical cavity, and the piston rod ball head 19 is mounted in the spherical cavity and forms a spherical hinge structure with three rotational degrees of freedom with the second ball head mounting seat 8 and the second ball head support 8. The piston rod 18 of the oil cylinder is connected with the second ball head bracket 9 through a spherical hinge, and further, the second hydraulic oil cylinder 7 is connected with the second ball head bracket 9 through a spherical hinge.
In this embodiment, the total length of the piston rod of the hydraulic cylinder used in the first and second hydraulic cylinders is 200mm, the diameter of the piston rod is 14mm, the inner diameter of the cylinder barrel is 25mm, the width of the cylinder body is 50mm, the height of the cylinder body is not more than 70mm, the ball head 19 of the piston rod is provided with a threaded rod with the diameter of 5mm, the end of the piston rod 18 of the hydraulic cylinder is provided with an axial threaded hole, the center of the hole is perpendicular to the center of the thread, and the hole is used for assembling the piston rod 18 of the hydraulic.
During installation:
1) the inner container of the water-jet propeller is sleeved in the propeller shell, and the propeller shell is fixed on the propeller support.
2) Connecting the first and second hydraulic cylinders with the first and second ball head brackets:
taking the ball pair connection of the second ball head bracket 9 and the second hydraulic cylinder 7 as an example: firstly, a piston rod ball 19 is sleeved in the second ball mounting seat 8, a threaded rod of the piston rod ball 19 is screwed into a threaded hole in the end part of the oil cylinder piston rod 18, then the mounted whole is matched with the second ball support 9, the ball is positioned in a middle spherical mounting cavity of the second ball mounting seat 8 and the second ball support 9, and the second ball mounting seat 8 and the second ball support 9 are fixedly mounted through bolts, so that the mounting of a ball pair is completed.
3) Install first, second hydraulic cylinder on riser 1 through first, the articulated seat of second respectively, make first, second hydraulic cylinder can rotate for riser 1.
When the hydraulic control system is implemented, a control instruction is issued through a controller, the servo electromagnetic valve controls the piston rod of the second hydraulic oil cylinder 7 to stretch and retract, and the inner container of the water-jet propeller is driven to rotate in an up-and-down pitching manner; meanwhile, the servo electromagnetic valve controls the piston rod of the first hydraulic oil cylinder 3 to stretch and retract, and the inner container of the water-jet propeller is driven to rotate around the central shaft of the water-jet propeller in the horizontal plane. The two freedom degrees of motion are combined, so that the positions of the inner containers of the water jet propellers in all directions, namely the directions of the water jet nozzles in all vector directions, can be obtained within the mechanical limitation of the embodiment, and the vector propulsion force required by control can be obtained.
When the vehicle body or the ship body is in a head-tail inclination state when meeting waves, the controller controls the piston rod of the servo hydraulic oil cylinder assembly to extend or shorten through the servo electromagnetic valve, so that the inner container of the water jet propeller rotates in a pitching mode up and down, the propelling force in the inclined upper portion or the inclined lower portion is provided, the adjusting moment resisting the inclination of the vehicle body or the ship body is obtained, and the running state of the vehicle body or the ship body is adjusted in real time.
Example two
The embodiment provides a vector water-jet propulsion method of a vector water-jet propeller, the vector water-jet propeller provided by the embodiment one is used as a power source, and the angle of the reverse propulsion force is adjusted by adjusting the water-jet angle of the vector water-jet propeller, so that the posture and the advancing direction of a ship or an amphibious vehicle are adjusted.
The vector water jet propulsion method of the embodiment specifically comprises the following steps:
And 3, driving the two ball head supports to move by the extension and retraction of the piston rod of the servo hydraulic oil cylinder assembly, controlling the inner container 10 of the propeller to move, adjusting the angle of the water spraying pipe, and further adjusting the angle of the water spraying flow and the reverse propelling force of the water spraying flow to realize the adjustment of the posture or the advancing direction of the ship or the amphibious vehicle.
In the step 3, the angle of the water spraying pipe is adjusted by the following method:
two mutually perpendicular's first bulb support 6 and second bulb support 9 of fixed connection on the propeller inner bag 10, first bulb support 6 and second bulb support 9 can drive propeller inner bag 10 respectively and carry out the pitching motion of horizontal direction's left and right deflection motion and vertical direction.
After the installation is finished, the initial state is as follows: the first hydraulic cylinder 3 and the second hydraulic cylinder 7 are perpendicular to the vertical plate 1, the water inlet pipe 11 and the water spray pipe 12 are parallel to the first hydraulic cylinder and the second hydraulic cylinder, and the first ball head support 6 and the second ball head support 9 are perpendicular to the first hydraulic cylinder and the second hydraulic cylinder, as shown in fig. 1.
1) The first ball head support 6 is controlled to rotate by controlling the extension and retraction of the first hydraulic oil cylinder 3, the first ball head support 6 drives the propeller inner container 10 to deflect left and right in the horizontal direction, and the water spraying angle of the water spraying pipe 12 in the horizontal direction is adjusted.
2) The second hydraulic cylinder 7 arranged on the right side of the propeller inner container 8 controls the second ball head support 9 to rotate, the second ball head support 9 drives the propeller inner container 10 to do pitching motion in the vertical direction, and the water spraying angle of the water spraying pipe 12 in the vertical direction is adjusted.
3) And controlling the first hydraulic oil cylinder 3 and the second hydraulic oil cylinder 7 to synchronously perform telescopic motion, so that the inner container 10 of the propeller has pitching motion and left-right deflection motion, the motion of two rotational degrees of freedom of the inner container 10 of the propeller is synthesized into full-vector deflection motion, the tail water jet flow in each direction is completed, the water spray pipe 12 has the tail water jet flow in each vector direction, and the required vector propulsion force in each space vector direction is obtained.
In this embodiment, in order to adjust the water spraying angle of the water spraying pipe 12 of the vector water spraying propeller and further adjust the posture of the vehicle body or the ship body, two servo hydraulic cylinder assemblies are used for controlling two degrees of freedom of movement of the inner container 10 of the propeller.
The second hydraulic cylinder 7 located above the propeller inner container 10 can drive the second ball head support 9 above the propeller inner container 10 to move through the extension and contraction of the control cylinder piston rod 18, and the second ball head support 9 drives the propeller inner container 10 to move in the vertical direction in a pitching mode.
When the propeller liner 10 rotates in a pitching manner, the first hydraulic oil cylinder 3 on the right side of the propeller liner 10 drives the first ball support 6 on the right side of the propeller liner 10 to move through the expansion and contraction of the control piston rod, and the piston rod ball support drives the propeller liner 10 to rotate left and right in the horizontal plane.
When only a single hydraulic oil cylinder is controlled to stretch, the inner container of the water-jet propeller can respectively realize horizontal deflection motion or vertical pitching motion, and the combination of the two degrees of freedom rotary motions can enable the water-jet propeller to obtain vector propelling force in different directions, so that the same working effect as the cooperative control of a plurality of propellers is achieved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (5)
1. A vector waterjet, comprising: the water jet propeller comprises a propeller support, a servo hydraulic oil cylinder assembly, a propeller shell and a water jet propeller inner container;
the servo hydraulic oil cylinder assembly is rotatably arranged on the propeller bracket; the propeller shell is fixedly arranged on the propeller bracket; the inner container of the water-jet propeller is sleeved in the propeller shell and is in contact with the inner wall of the propeller shell;
the propeller support includes: the vertical plate (1), the bottom plate (4) and the arc vertical plate (15);
the water jet propeller inner bag includes: the water-saving propeller comprises a propeller inner container (10), a water inlet pipe (11), a water spraying pipe (12), a first ball head bracket (6) and a second ball head bracket (9); the propeller housing includes: the water outlet shell (13) and the water inlet shell (14) are of hemispherical shell structures; the water outlet shell (13) is fixedly connected with the arc-shaped vertical plate (15); the water inlet shell (14) is fixedly connected with the water outlet shell (13);
the vertical plate (1) is vertical to the bottom plate (4) and is fixedly connected with the bottom plate (4); the upper surface of the arc-shaped vertical plate (15) is arc-shaped, and the arc-shaped vertical plate (15) is vertical to the bottom plate (4) and is fixedly connected with the bottom plate (4); the vertical plate (1) is parallel to the arc-shaped vertical plate (15);
a stud (16) is arranged between the vertical plate (1) and the bottom plate (4), and the stud (16) is fixedly connected with the vertical plate (1) and the bottom plate (4) respectively;
the propeller inner container (10) is of a spherical structure with an internal cavity; the water inlet pipe (11) and the water spraying pipe (12) are both fixedly connected with the propeller liner (10) and are both communicated with the inner cavity of the propeller liner (10);
the first ball head support (6) and the second ball head support (9) are fixedly connected with the inner container (10) of the propeller, and the first ball head support (6) and the second ball head support (9) are perpendicular to each other;
the first ball head support (6) and the second ball head support (9) are driven to rotate through the servo hydraulic oil cylinder assembly;
the servo hydraulic oil cylinder assembly comprises: a first hydraulic oil cylinder (3) and a second hydraulic oil cylinder (7); the first hydraulic oil cylinder (3) is connected with the first ball head bracket (6) through a first ball pair; the second hydraulic oil cylinder (7) is connected with the second ball head bracket (9) through a second ball pair; the first ball pair and the second ball pair have the same structure;
the first hydraulic oil cylinder (3) and the second hydraulic oil cylinder (7) are respectively installed on the vertical plate (1) through a first hinge seat (2) and a second hinge seat (17); the first hinge seat (2) and the second hinge seat (17) are fixedly arranged on the vertical plate (1); the first hydraulic oil cylinder (3) is hinged to the first hinged base (2), and the second hydraulic oil cylinder (7) is hinged to the second hinged base (17).
2. The vector waterjet according to claim 1, wherein the second spherical pair comprises: an oil cylinder piston rod (18), a piston rod ball head (19) and a second ball head mounting seat (8); the oil cylinder piston rod (18) is fixedly connected with the piston rod ball head (19);
the second ball head mounting seat (8) is connected with the second ball head support (9) through a bolt, hemispherical cavities are formed in the second ball head mounting seat (8) and the second ball head support (9), and the two hemispherical cavities can be symmetrically spliced to form a spherical mounting cavity;
the piston rod ball head (19) comprises a ball head, the ball head is arranged in the spherical mounting cavity, and the piston rod ball head (19) is in contact with the surfaces of the second ball head mounting seat (8) and the second ball head support (9).
3. The vector water-jet propeller as recited in claim 1 or 2, characterized in that the propeller inner container (10) is sleeved in the propeller shell and is in contact with the inner surfaces of the water inlet shell (14) and the water outlet shell (13); set up inlet opening, apopore, first support mounting hole and second support mounting hole on the propeller shell, inlet opening, apopore, first support mounting hole and second support mounting hole do respectively inlet tube (11), spray pipe (12), first bulb support (6) and second bulb support (9) provide installation space.
4. The vector water-jet propeller of claim 1, wherein the servo hydraulic oil cylinder assembly is connected with the controller through a circuit system, and the servo hydraulic oil cylinder assembly controls the expansion amount of a piston rod of the servo hydraulic oil cylinder through a servo electromagnetic valve.
5. The vector water jet propulsion method of the vector water jet according to any of the claims 1 to 4, characterized by the steps of:
step S1: connecting the circuit and the oil way, and performing circuit voltage stability detection and oil cleanliness and safety inspection in the oil way;
step S2: the controller sends control quantity to the servo electromagnetic valve to control the extension and contraction of a piston rod of the servo hydraulic oil cylinder assembly;
step S3: adjusting the water spraying angle of the water spraying pipe (12) and the angle of the reverse propelling force;
in the step S3, the water spray angle of the water spray pipe (12) is adjusted by:
the expansion of the first hydraulic oil cylinder (3) is controlled to drive the first ball head support (6) to rotate, the first ball head support (6) drives the inner container (10) of the propeller to deflect left and right in the horizontal direction, and the deflection angle of the water spray pipe (12) in the horizontal direction is adjusted;
the expansion and contraction of the second hydraulic cylinder (7) are controlled to drive the second ball head support (9) to rotate, the second ball head support (9) drives the inner container (10) of the propeller to do pitching motion in the vertical direction, and the deflection angle of the water spraying pipe (12) in the vertical direction is adjusted;
the first hydraulic oil cylinder (3) and the second hydraulic oil cylinder (7) are controlled to synchronously perform telescopic motion, the inner container (10) of the propeller performs pitching motion and left-right deflection motion, and the motion of two rotational degrees of freedom of the inner container (10) of the propeller is synthesized into full-vector deflection motion, so that the water spray pipe (12) has tail water spray jet flow in each vector direction.
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| CN201911227290.2A CN111114729B (en) | 2019-12-04 | 2019-12-04 | Vector water-jet propeller and vector water-jet propulsion method |
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| CN112090991A (en) * | 2020-09-10 | 2020-12-18 | 惠安县螺阳林飞燕汽车维修中心 | Car panel beating sunken deformation prosthetic devices |
| CN112145868A (en) * | 2020-09-10 | 2020-12-29 | 深圳市博铭维智能科技有限公司 | Vector propulsion pipeline robot |
| CN112389143B (en) * | 2020-11-27 | 2023-05-05 | 哈尔滨北方防务装备股份有限公司 | Hydraulic control water propulsion system for double-section tracked vehicle |
| CN114313199B (en) * | 2021-11-29 | 2023-07-25 | 武汉船用机械有限责任公司 | Steering device of water-jet propeller |
| CN114228932A (en) * | 2021-12-07 | 2022-03-25 | 江苏科技大学 | Intelligent control system and method for ship attitude |
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| GB1386480A (en) * | 1972-07-08 | 1975-03-05 | British Aircraft Corp Ltd | Guided missiles |
| CN2428402Y (en) * | 1999-12-30 | 2001-05-02 | 王建军 | Universal vector spraying tube |
| CN105564617B (en) * | 2016-02-22 | 2017-07-14 | 山东大学（威海） | Parallel connection type vector propulsion mechanism and the underwater robot with the mechanism |
| CN106594732B (en) * | 2016-12-19 | 2018-12-11 | 江苏炬烽热能科技有限公司 | A kind of thrust vectoring type multi fuel low NO |
| CN109353474A (en) * | 2018-08-31 | 2019-02-19 | 杭州电子科技大学 | A kind of vector propeller and cableless underwater robot |
| CN109184947A (en) * | 2018-10-11 | 2019-01-11 | 西北工业大学 | A kind of Integral rotary convergence vector spray |
| CN110171259B (en) * | 2019-04-29 | 2020-11-10 | 北京理工大学 | Full-vector nozzle structure and vector water jet propulsion control method |
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