CN112231832B - Optimized design method of side-push cover sealing system matched with ship body - Google Patents

Optimized design method of side-push cover sealing system matched with ship body Download PDF

Info

Publication number
CN112231832B
CN112231832B CN202011094844.9A CN202011094844A CN112231832B CN 112231832 B CN112231832 B CN 112231832B CN 202011094844 A CN202011094844 A CN 202011094844A CN 112231832 B CN112231832 B CN 112231832B
Authority
CN
China
Prior art keywords
coordinate system
angle
local coordinate
rotating arm
establishing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202011094844.9A
Other languages
Chinese (zh)
Other versions
CN112231832A (en
Inventor
郑建
王平
胡举喜
田忠殿
郑安宾
吴均云
柯周军
赵津
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
704th Research Institute of CSIC
Original Assignee
704th Research Institute of CSIC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 704th Research Institute of CSIC filed Critical 704th Research Institute of CSIC
Priority to CN202011094844.9A priority Critical patent/CN112231832B/en
Publication of CN112231832A publication Critical patent/CN112231832A/en
Application granted granted Critical
Publication of CN112231832B publication Critical patent/CN112231832B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/15—Vehicle, aircraft or watercraft design
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • G06F30/28—Design optimisation, verification or simulation using fluid dynamics, e.g. using Navier-Stokes equations or computational fluid dynamics [CFD]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2113/00—Details relating to the application field
    • G06F2113/08—Fluids
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
    • G06F2119/14—Force analysis or force optimisation, e.g. static or dynamic forces
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T70/00—Maritime or waterways transport
    • Y02T70/10—Measures concerning design or construction of watercraft hulls
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation

Abstract

The invention relates to an optimal design method of a side-push cover sealing system matched with a ship body, which comprises a kinematic optimal design method and a load calculation design method of a transmission mechanism, and comprises the following specific steps of: 1. the kinematic optimization design of a transmission mechanism comprises the following steps: establishing a local coordinate system and a global coordinate system, and the second step: establishing a linkage O 2 ABO 3 ABC-containing kinematic equation, third step: establishing a linkage O 2 DFO 1 Kinematic equation, fourth step: establishing a linkage O 3 EGO 4 The method comprises the following steps of (1) designing a kinematic equation, II) designing a load calculation method of a transmission mechanism, and firstly: integral stress analysis, and a second step: analyzing the stress of the link mechanism, and solving to obtain the acting force F of the oil cylinder PC (ii) a Internal force F of rod DF 、F FD 、F A 、F B 、F GE 、F EG And its direction angle. By adopting the design method, a proper mechanism form can be quickly obtained by optimizing according to the conditions of the side-push pipe tunnel diameter, the occupied space of the side-push device, the line type of the ship body and the like.

Description

Optimized design method of side-push cover sealing system matched with ship body
Technical Field
The invention relates to a ship power propulsion system, in particular to a design method of a side-push cover sealing system in a ship side-push device.
Background
In the case of a ship equipped with a side thrust device, the flow noise, bubbles, and resistance generated by the side thrust holes during navigation affect the navigation environment of the parent ship to a different extent. For a scientific investigation ship, flow noise and bubbles influence the measurement precision of acoustic equipment; for transport ships, the resistance will increase the oil consumption. The most effective and direct solution is to install a side-push sealing cover system at the side-push hole, so as to realize the sealing of the side-push hole during normal navigation, thereby reducing the flow noise, bubbles and resistance generated by water flow at the position.
At present, the side-push capping system in the domestic and foreign markets has a plurality of defects, mainly comprising:
1. the side-push sealing cover system sealing cover plate adopts a flat plate form, pits with different degrees still exist in the side-push hole after the side-push sealing cover system sealing cover plate is closed, and the noise reduction and resistance reduction effects are greatly reduced;
2. the lateral thrust cover sealing system is too modular, so that the equipment has larger transverse width and is only suitable for new shipbuilding with wider bow lines. For a new ship with a narrow bow line and a reformed ship with fully arranged equipment in a cabin, the lateral thrust pipe tunnel transverse hull has compact structural space or the available lateral thrust cabin arrangement space is narrow, and a lateral thrust sealing cover system matched with the lateral thrust pipe tunnel transverse hull cannot be installed.
The main reason for the above disadvantages is that an optimal design method matched with the ship body is lacked, and the product performance is further influenced.
Disclosure of Invention
The invention aims to adopt an optimal design method of a side-push cover system matched with a ship body to realize the matching design of the side-push cover system and the ship body and improve the noise-reducing and drag-reducing effects of the side-push cover system and the ship body; for new shipbuilding, the method can directly complete the design of the rotation center arrangement, the cover plate and the transmission mechanism according to the diameter of the side push pipe tunnel, the line type of the ship body and the parameters of the side push device; for the reconstruction or subsequent installation of an old ship, the method can complete rotation center arrangement, cover plate design and transmission mechanism design matched with the side-push pipe tunnel according to the parameters such as the diameter of the side-push pipe tunnel, the occupied space of the side-push propeller, the line type of a ship body and the like; this optimization method can help to improve the pertinence and the matching performance of the side-push cover sealing system.
In order to realize the purpose, the technical scheme of the invention is as follows: a side-push cover sealing system optimization design method matched with a ship body comprises a transmission mechanism kinematics optimization design and load calculation design method, and specifically comprises the following steps:
1. kinematic optimization design of transmission mechanism
The first step is as follows: establishing a local coordinate system and a global coordinate system
With O 2 Is central, O 2 O 3 Establishing a local coordinate system X for coordinate axes 2 O 2 Y 2 (ii) a With O 2 Is central, O 1 O 2 Establishing a local coordinate system X for coordinate axes 1 O 2 Y 1 (ii) a With O 3 Is central, O 3 O 4 Establishing a local coordinate system X for coordinate axes 3 O 3 Y 3 (ii) a With O 2 Taking the axis of the tube-tunnel cylinder as a coordinate axis and establishing a global coordinate system XOY; the kinematic reference coordinate system of the transmission mechanism is as follows:
1) Based on a local coordinate system X 2 O 2 Y 2 Establishing a linkage O 2 ABO 3 Kinematic equations with ABC;
2) Based on a local coordinate system X 1 O 2 Y 1 Establishing a linkage O 2 DFO 1 A kinematic equation;
3) Based on a local coordinate system X 3 O 3 Y 3 Establishing a linkage O 3 EGO 4 A kinematic equation;
4) Based on a local coordinate system X 2 O 2 Y 2 Establishing a local coordinate system X 1 O 2 Y 1 、X 3 O 3 Y 3 Relative to a local coordinate system X 2 O 2 Y 2 An equation;
5) Then, based on the global coordinate system XOY, a local coordinate system X is established 2 O 2 Y 2 Completing kinematic mathematical modeling of the three-pair four-bar mechanism relative to an XOY equation of a global coordinate system;
the second step is that: establishing a linkage O 2 ABO 3 Kinematic equation with ABC
In a local coordinate system X 2 O 2 Y 2 Lower, link mechanism O 2 ABO 3 In a positional relationship of
Figure BDA0002723408100000021
Figure BDA0002723408100000022
The above equation can be solved to phi 3 、φ 2 Phi (phi) and phi (phi) 1 Corresponding relation of (A), O 2 、A、B、O 3 The C position coordinates can be expressed as
Figure BDA0002723408100000023
Figure BDA0002723408100000024
Figure BDA0002723408100000025
Figure BDA0002723408100000026
Figure BDA0002723408100000027
The distance between the end C of the oil cylinder rod and the hinged support point P is
Figure BDA0002723408100000028
Wherein: l 1 Is a rotating arm L O2A Length,. L 2 Is a connecting arm L AB Length,. L 3 Is a rotating arm L BO3 Length,. L 4 Is the center distance L O3O2 The length of the first and second support members is,
Figure BDA0002723408100000029
is a rotating arm L O2A And the center of rotation O 2 O 3 Is the included angle is formed by the angle of inclination,
Figure BDA00027234081000000210
is a connecting arm L AB And the center of rotation O 2 O 3 The included angle of the parallel lines is the same,
Figure BDA00027234081000000211
is a rotating arm L O3B And the center of rotation O 2 O 3 The included angle of (c);
the third step: establishing a linkage O 2 DFO 1 Equation of kinematics
In a local coordinate system X 1 O 2 Y 1 Lower, link mechanism O 2 DFO 1 In a positional relationship of
s 1 cosβ 1 +s 2 cosβ 2 ＝s 4 cosπ+s 3 cosβ 3 1-(9)
s 1 sinβ 1 +s 2 sinβ 2 ＝s 4 sinπ+s 3 sinβ 3 1-(10)
The above equation can be solved to obtain beta 3 、β 2 And beta 1 Corresponding relationship of (A), (B), O 2 、D、F、O 1 The position coordinates can be expressed as
Figure BDA0002723408100000031
Figure BDA0002723408100000032
Figure BDA0002723408100000033
Figure BDA0002723408100000034
Wherein s is 1 Is a rotating arm L O2D Length, s 2 Is a connecting arm L DF Length, s 3 Is a rotating arm L FO1 Length, s 4 Is the center distance L O1O2 ；β 1 Is a rotating arm L O2A And the center of rotation O 1 O 2 Angle of (b) of 2 Is a connecting arm L DF And the center of rotation O 1 O 2 Angle of parallel lines, beta 3 Is a rotating arm L O1F And the center of rotation O 1 O 2 The included angle of (A);
will be a local coordinate system X 1 O 2 Y 1 Go to local coordinate system X 2 O 2 Y 2 Corresponding to a local coordinate system X 1 O 2 Y 1 Around O 2 Rotation of the shaft in the counterclockwise direction alpha 12 New coordinates of its position as
Figure BDA0002723408100000035
Figure BDA0002723408100000036
Figure BDA0002723408100000037
Figure BDA0002723408100000038
Figure BDA0002723408100000039
The fourth step: establishing a linkage O 3 EGO 4 Equation of kinematics
In a local coordinate system X 3 O 3 Y 3 Lower, link mechanism O 3 EGO 4 In a positional relationship of
c 1 cosγ 1 +c 2 cosγ 2 ＝c 4 cos0+c 3 cosγ 3 1-(20)
c 1 sinγ 1 +c 2 sinγ 2 ＝c 4 sin0+c 3 sinγ 3 1-(21)
The above equation can be solved to obtain gamma 3 、γ 2 And gamma 1 Corresponding relation of (A), O 3 、E、G、O 4 The position coordinates can be expressed as
Figure BDA0002723408100000041
Figure BDA0002723408100000042
Figure BDA0002723408100000043
Figure BDA0002723408100000044
Wherein, c 1 Is a rotating arm L O3E Length, c 2 Is a connecting arm L EG Length, c 3 Is a rotating arm L GO4 Length, c 4 Is the center distance L O4O3 ，γ 1 Is a rotating arm L O3B And the center of rotation O 3 O 4 Angle of (a) 2 Is a connecting arm L EG And the center of rotation O 3 O 4 Angle of parallel lines, gamma 3 Is a rotating arm L O4G And the center of rotation O 3 O 4 The included angle of (c);
will be a local coordinate system X 3 O 3 Y 3 Go to local coordinate system X 2 O 2 Y 2 Corresponding to a local coordinate system X 3 O 3 Y 3 Around O 3 Rotation of the shaft in the counterclockwise direction alpha 32 Angle and press
Figure BDA0002723408100000045
Translation with new coordinates of
Figure BDA0002723408100000046
Figure BDA0002723408100000047
Figure BDA0002723408100000048
Figure BDA0002723408100000049
Figure BDA00027234081000000410
The fifth step: XOY position calculation based on global coordinate system
Local coordinate system X 2 O 2 Y 2 Conversion to the global coordinate system XOY, corresponding to all coordinates of the linkage around O 2 Rotate counterclockwise by alpha 20 Angle, rotation matrix of
Figure BDA00027234081000000411
All positions of the link mechanism are in a local coordinate system X 2 O 2 Y 2 The coordinates of the lower part are expressed as
Figure BDA00027234081000000412
The coordinates converted into the global coordinate system XOY are represented as
Figure BDA0002723408100000051
Then
Figure BDA0002723408100000052
2. Transmission mechanism load calculation method design
The first step is as follows: analysis of bulk forces
The whole transmission mechanism is taken as a research object, and the external force applied to the transmission mechanism is the torque T transmitted by the four rotating shafts 1 、T 2 、T 3 、T 4 And the driving force F given by the cylinder PC The torque and the driving force are in stress balance, and the working condition is the worst when the side thruster works in an opening state and is taken as the calculation working condition;
the second step is that: link mechanism stress analysis
The mechanism is subjected to stress analysis by adopting a virtual displacement principle, and when the link mechanism keeps an open state, the acting force F of the oil cylinder PC Under the action of C, C generates a virtual displacement delta C A produces a virtual displacement delta A B producing a virtual shift delta B ；
The virtual work under the action of the oil cylinder has the expression of
Figure BDA0002723408100000053
In the formula:
T′ 2 、T′ 3 are respectively a rotating arm AO 3 、BO 2 The applied torque;
δ φ3 is a displacement delta C The corresponding angle is set to be the same as the angle,
Figure BDA0002723408100000054
δ φ2 is a displacement of delta B The corresponding angle is set to be the same as the angle,
Figure BDA0002723408100000055
θ PC acting force F for cylinder PC And a virtual displacement delta C Angle of inclination, theta PC ＝γ A +γ B -γ C -θ C ，
According to the geometrical relationship of the link mechanism, the virtual displacement relationship can be obtained
δ A cosθ A ＝δ B cosθ B 2-(2)
δ A cos(θ A +γ A )＝δ C cosθ C 2-(3)
δ B cos(γ B -θ B )＝δ C cos(γ A +γ B -θ C ) 2-(4)
For bars GO 1 Establishing a moment balance equation,
F EG sinε 1 L GO1 ＝T 1 2-(5)
for the rod FO 4 And a moment balance equation is established to establish the moment balance equation,
F DF sinε 8 L FO4 ＝T 4 2-(6)
moment T' 3 Is calculated by the formula
T 3 ′＝T 3 +F FD L DO3 cosε 7 2-(7)
Moment T' 2 Is calculated by the formula
T′ 2 ＝T 2 +F GE L EO2 cosε 2 2-(8)
For rod BO 3 Establishing a moment balance equation,
F B sinε 3 L BO3 ＝F GE sinε 2 L EO3 +T 2 2-(9)
for the rod piece ABC, a force balance and moment balance equation is established,
F PC cosε 9 ＝F B cosε 4 +F A cosε 6 2-(10)
F PC sinε 9 ＝F B sinε 4 -F A sinε 6 2-(11)
F B sinε 4 L AB ＝F PC cosε 9 L CM -F PC sinε 9 L AM 2-(12)
F A sinε 6 L AB ＝F PC cosε 9 L CM +F PC sinε 9 L BM 2-(13)
wherein, theta A For node A by a virtual shift delta A Angle θ with AB B For node B virtual shift delta B Angle with AB, theta C is virtual displacement delta of node C C Angle of γ to AC A Is < CAB, gamma B Is < CBA, epsilon 1 Is F EG And a rotating arm L O1G Angle of inclination epsilon 2 Is F GE And a rotating arm L O2E Angle of inclination epsilon 3 Is F B And a rotating arm L O2B Angle of inclination epsilon 4 Is F B And a connecting arm L AB Angle of inclination epsilon 5 Is F A And a rotating arm L O3A Angle of inclination epsilon 6 Is F A And a connecting arm L AB Angle of inclination epsilon 7 Is F FD And a rotating arm L O3D Angle of inclination epsilon 8 Is F DF And a rotating arm L O4F Angle of inclination epsilon 9 Is F PC And a connecting arm L AB The included angle of the parallel lines;
the above equations are combined to obtain: oil cylinder acting force F PC (ii) a Internal force F of rod DF 、F FD 、F A 、F B 、F GE 、F EG And its direction angle.
The beneficial effects of the invention are:
by adopting the design method, a proper mechanism form can be obtained quickly according to the optimization of the conditions of the side-push pipe tunnel diameter, the occupied space of the side-push device, the line type of the ship body and the like, the installation and function requirements of a side-push sealing cover system of a new ship can be met, and the additional installation and function requirements of a modified ship on the side-push sealing cover system can be matched.
Drawings
FIG. 1 is a diagrammatic view of a transmission;
FIG. 2 is a force analysis diagram of the transmission;
fig. 3 is an imaginary displacement diagram of the link transmission mechanism.
Detailed Description
The invention is further described with reference to the following figures and examples.
The invention relates to an optimal design method of a side-push cover sealing system matched with a ship body, which mainly comprises the following steps of optimal design of transmission mechanism kinematics and design of a load calculation method:
1. kinematic optimization design of transmission mechanism
The first step is as follows: local coordinate system and global coordinate system establishment
FIG. 1 is a schematic view of a transmission mechanism, O 1 、O 2 、O 3 、O 4 Are respectively a rotation center, and the required rotation angles are respectively theta 1 、θ 2 、θ 3 、θ 4 (ii) a The position P is an oil cylinder hinge pivot mounting position, and the position C is an oil cylinder rod end joint bearing mounting point; under the action of the driving oil cylinder, the center O of the rotating shaft 1 Rotation of theta 1 Center of rotation axis O 2 Rotation of theta 2 Center of rotation axis O 3 Rotation theta 3 Center of rotation axis O 4 Rotation of theta 4 . With O 2 Is central, O 2 O 3 Establishing a local coordinate system X for coordinate axes 2 O 2 Y 2 (ii) a With O 2 Is central, O 1 O 2 Establishing a local coordinate system X for coordinate axes 1 O 2 Y 1 (ii) a With O 3 Is central, O 3 O 4 Establishing a local coordinate system X for the coordinate axes 3 O 3 Y 3 (ii) a With O 2 And establishing a global coordinate system XOY by taking the axis of the tube-tunnel cylinder as a coordinate axis. The kinematic reference coordinate system of the transmission mechanism is as follows:
1) Based on a local coordinate system X 2 O 2 Y 2 Establishing a linkage O 2 ABO 3 (including ABC) kinematic equations;
2) Based on a local coordinate system X 1 O 2 Y 1 Establishing a linkage O 2 DFO 1 A kinematic equation;
3) Based on a local coordinate system X 3 O 3 Y 3 Establishing a linkage O 3 EGO 4 A kinematic equation;
4) Based on a local coordinate system X 2 O 2 Y 2 Establishing a local coordinate system X 1 O 2 Y 1 、X 3 O 3 Y 3 Relative to a local coordinate system X 2 O 2 Y 2 An equation;
5) Then, based on the global coordinate system XOY, a local coordinate system X is established 2 O 2 Y 2 And (5) finishing the kinematic mathematical modeling of the three-pair four-bar mechanism relative to the global coordinate system XOY equation.
The second step is that: link mechanism O 2 ABO 3 Equation of kinematics (including ABC)
In a local coordinate system X 2 O 2 Y 2 Lower, link mechanism O 2 ABO 3 In a positional relationship of
Figure BDA0002723408100000071
Figure BDA0002723408100000072
The above equation can be solved to phi 3 、φ 2 Phi and phi 1 Corresponding relation of (A), O 2 、A、B、O 3 The C position coordinates can be expressed as
Figure BDA0002723408100000073
Figure BDA0002723408100000074
Figure BDA0002723408100000075
Figure BDA0002723408100000076
Figure BDA0002723408100000077
The distance between the end C of the oil cylinder rod and the hinged support point P is
Figure BDA0002723408100000078
Wherein: l. the 1 Is a rotating arm L O2A Length,. L 2 Is a connecting arm L AB Length,. L 3 Is a rotating arm L BO3 Length, l 4 Is the center distance L O3O2 The length of the first and second support members,
Figure BDA0002723408100000079
is a rotating arm L O2A And the center of rotation O 2 O 3 Is the included angle is formed by the angle of inclination,
Figure BDA00027234081000000710
is a connecting arm L AB And the center of rotation O 2 O 3 The included angle of the parallel lines is the same,
Figure BDA0002723408100000081
is a rotating arm L O3B And the center of rotation O 2 O 3 The included angle of (c).
The third step: link mechanism O 2 DFO 1 Equation of kinematics
In a local coordinate system X 1 O 2 Y 1 Lower, link mechanism O 2 DFO 1 In a positional relationship of
s 1 cosβ 1 +s 2 cosβ 2 ＝s 4 cosπ+s 3 cosβ 3 1-(9)
s 1 sinβ 1 +s 2 sinβ 2 ＝s 4 sinπ+s 3 sinβ 3 1-(10)
The above equation can be solved to obtain beta 3 、β 2 And beta 1 Corresponding relationship of (A), (B), O 2 、D、F、O 1 The position coordinates can be expressed as
Figure BDA0002723408100000082
Figure BDA0002723408100000083
Figure BDA0002723408100000084
Figure BDA0002723408100000085
Wherein s is 1 Is a rotating arm L O2D Length, s 2 Is a connecting arm L DF Length, s 3 Is a rotating arm L FO1 Length, s 4 Is the center distance L O1O2 ；β 1 Is a rotating arm L O2A And the center of rotation O 1 O 2 Angle of (b) of 2 Is a connecting arm L DF And the center of rotation O 1 O 2 Angle of parallel lines, beta 3 Is a rotating arm L O1F And the center of rotation O 1 O 2 The included angle of (a).
Local coordinate system X 1 O 2 Y 1 Go to local coordinate system X 2 O 2 Y 2 Corresponding to a local coordinate system X 1 O 2 Y 1 Around O 2 Counterclockwise rotation of the shaft alpha 12 Angle, new coordinates of its position
Figure BDA0002723408100000086
Figure BDA0002723408100000087
Figure BDA0002723408100000088
Figure BDA0002723408100000089
Figure BDA00027234081000000810
The fourth step: link mechanism O 3 EGO 4 Equation of kinematics
In a local coordinate system X 3 O 3 Y 3 Lower, link mechanism O 3 EGO 4 In a positional relationship of
c 1 cosγ 1 +c 2 cosγ 2 ＝c 4 cos0+c 3 cosγ 3 1-(20)
c 1 sinγ 1 +c 2 sinγ 2 ＝c 4 sin0+c 3 sinγ 3 1-(21)
The above equation can be solved to obtain gamma 3 、γ 2 And gamma 1 Corresponding relationship of (A), (B), O 3 、E、G、O 4 The position coordinates can be expressed as
Figure BDA0002723408100000091
Figure BDA0002723408100000092
Figure BDA0002723408100000093
Figure BDA0002723408100000094
Wherein, c 1 Is a rotating arm L O3E Length, c 2 Is a connecting arm L EG Length, c 3 Is a rotating arm L GO4 Length, c 4 Is the center distance L O4O3 ，γ 1 Is a rotating arm L O3B And the center of rotation O 3 O 4 Angle of (a) of (b), gamma 2 Is a connecting arm L EG And the center of rotation O 3 O 4 Angle of parallel lines, gamma 3 Is a rotating arm L O4G And the center of rotation O 3 O 4 The included angle of (a).
Will be a local coordinate system X 3 O 3 Y 3 Go to local coordinate system X 2 O 2 Y 2 Corresponding to a local coordinate system X 3 O 3 Y 3 Around O 3 Counterclockwise rotation of the shaft alpha 32 Angle and press
Figure BDA0002723408100000095
Translation, new coordinates are
Figure BDA0002723408100000096
Figure BDA0002723408100000097
Figure BDA0002723408100000098
Figure BDA0002723408100000099
Figure BDA00027234081000000910
The fifth step: computing based on the XOY position of a global coordinate system
Local coordinate system X 2 O 2 Y 2 Conversion to the global coordinate system XOY, corresponding to all coordinates of the linkage around O 2 Rotate counterclockwise by alpha 20 The rotation matrix is
Figure BDA0002723408100000101
All positions of the link mechanism are in a local coordinate system X 2 O 2 Y 2 The coordinates of the lower part are expressed as
Figure BDA0002723408100000102
The coordinates converted into the global coordinate system XOY are represented as
Figure BDA0002723408100000103
Then
Figure BDA0002723408100000104
2. Transmission mechanism load calculation method design
The first step is as follows: analysis of overall force
The whole transmission mechanism is taken as a research object, and the external force applied to the transmission mechanism is the torque T transmitted by the four rotating shafts 1 、T 2 、T 3 、T 4 And the driving force F given by the cylinder PC The torque and the driving force reach the stress balance, as shown in fig. 2. Under the starting state, when the side pushing device works, the working condition is the worst, and the working condition is taken as a calculation working condition.
The second step is that: link mechanism stress analysis
Adopt the virtual displacement principle to carry out the stress analysis to the mechanism, the link machineWhen the mechanism is kept in an open state, the force F is applied to the oil cylinder PC Under the action of C, C generates a virtual displacement delta C A produces a virtual displacement delta A B producing a virtual shift delta B As shown in fig. 3.
The virtual work expression under the action of the oil cylinder is
Figure BDA0002723408100000105
In the formula:
T′ 2 、T′ 3 are respectively a rotating arm AO 3 、BO 2 The applied torque;
δ φ3 is a displacement delta C The corresponding angle is set to be the same as the angle,
Figure BDA0002723408100000106
δ φ2 is a displacement of delta B The corresponding angle is set to be the same as the angle,
Figure BDA0002723408100000107
θ PC acting force F for cylinder PC And a virtual displacement delta C Angle of inclination, theta PC ＝γ A +γ B -γ C -θ C 。
According to the geometrical relationship of the link mechanism, the virtual displacement relationship can be obtained
δ A cosθ A ＝δ B cosθ B 2-(2)
δ A cos(θ A +γ A )＝δ C cosθ C 2-(3)
δ B cos(γ B -θ B )＝δ C cos(γ A +γ B -θ C ) 2-(4)
For bars GO 1 And a moment balance equation is established to establish the moment balance equation,
F EG sinε 1 L GO1 ＝T 1 2-(5)
for the rod FO 4 To establish a moment balanceThe equation of the balance is shown in the specification,
F DF sinε 8 L FO4 ＝T 4 2-(6)
moment T' 3 Is calculated by the formula
T 3 ′＝T 3 +F FD L DO3 cosε 7 2-(7)
Moment T' 2 Is calculated by the formula
T 2 ′＝T 2 +F GE L EO2 cosε 2 2-(8)
For rod BO 3 Establishing a moment balance equation,
F B sinε 3 L BO3 ＝F GE sinε 2 L EO3 +T 2 2-(9)
for the rod body ABC, establishing a force balance and moment balance equation,
F PC cosε 9 ＝F B cosε 4 +F A cosε 6 2-(10)
F PC sinε 9 ＝F B sinε 4 -F A sinε 6 2-(11)
F B sinε 4 L AB ＝F PC cosε 9 L CM -F PC sinε 9 L AM 2-(12)
F A sinε 6 L AB ＝F PC cosε 9 L CM +F PC sinε 9 L BM 2-(13)
wherein, theta A For node A by a virtual shift delta A Angle θ to AB B For node B virtual shift delta B Angle with AB, theta C is virtual displacement delta of node C C Angle of γ with AC A Is < CAB, gamma B Is < CBA, epsilon 1 Is F EG And a rotating arm L O1G Angle of inclination epsilon 2 Is F GE And a rotating arm L O2E Angle of inclination epsilon 3 Is F B And a rotating arm L O2B Angle of inclination epsilon 4 Is F B And a connecting arm L AB Angle of inclination epsilon 5 Is F A And a rotating arm L O3A Angle of inclination epsilon 6 Is F A And a connecting arm L AB Angle of inclination epsilon 7 Is F FD And a rotating arm L O3D Angle of inclination epsilon 8 Is F DF And a rotating arm L O4F Angle of inclination epsilon 9 Is F PC And a connecting arm L AB The angle of the parallel lines.
By combining the above equations, we can solve: oil cylinder acting force F PC (ii) a Internal force F of rod DF 、F FD 、F A 、F B 、F GE 、F EG And its direction angle.
The embodiment of the design method adopting the invention is as follows:
1. according to the kinematic optimization design method of the transmission mechanism, a calculation program is written based on Matlab software. With L O2A ＝l 1 、L AB ＝l 2 、L BO3 ＝l 3 、L O3O2 ＝l 4 、L AM ＝a、L CM ＝b、(x p ，y p) 、φ 1 、L O2D ＝s 1 、L DF ＝s 2 、L FO1 ＝s 3 、L O1O2 ＝s 4 、α 12 、L O3E ＝c 1 、L EG ＝c 2 、L GO4 ＝c 3 、L O4O3 ＝c 4 、α 32 、α 20 Obtaining a group of corner theta satisfying the cover sealing plate by trial and error for design input 1 ＝64.5、θ 2 ＝63.75、θ 3 ＝62.5、θ 4 Design input parameters of =61.3, see table 1.
TABLE 1 optimal parameters of the drive
Figure BDA0002723408100000111
Figure BDA0002723408100000121
2. According to load input and transmission geometryParameters (see table 2), the oil cylinder acting force F can be obtained by adopting the load calculation method of the transmission mechanism of the invention PC Inner force F of rod member DF 、F FD 、F A 、F B 、F GE 、F EG And the angle of orientation thereof, see table 3.
TABLE 2 load calculation parameter table of transmission mechanism
Parameter(s) Value of Parameter(s) Value of
ε 1 63.62° L GO1 307mm
ε 2 64.16° L EO2 310mm
ε 3 +ε 4 66.39° L BO2 390mm
ε 5 -ε 6 65.11° L AB 370mm
ε 7 66.71° L BM 100mm
ε 8 67.83° L CM 150mm
ε 9 3.30° L AM 270mm
T 1 1513Nm L AO3 395mm
T 2 1964Nm L DO3 310mm
T 3 1068Nm L FO4 316mm
T 4 2951Nm L EG 372mm
L DF 325mm
TABLE 3 drive train load calculation results
Parameter(s) Value of Parameter(s) Value of
F EG 5501N ε 3 36.60°
F GE 5501N ε 4 29.80°
F B 11799N ε 5 129.20°
F A 7527N ε 6 64.09°
F FD 10084N θ C 45.49°
F DF 10084N θ PC -19.73°

Claims (1)

1. A side-push cover sealing system optimal design method matched with a ship body comprises a transmission mechanism kinematics optimal design and load calculation design method, and is characterized by comprising the following specific steps:
1. kinematic optimization design of transmission mechanism
The first step is as follows: establishing a local coordinate system and a global coordinate system
With O 2 Is central, O 2 O 3 Establishing a local coordinate system X for coordinate axes 2 O 2 Y 2 (ii) a With O 2 Is central, O 1 O 2 Establishing a local coordinate system X for coordinate axes 1 O 2 Y 1 (ii) a With O 3 Is central, O 3 O 4 Establishing a local coordinate system X for coordinate axes 3 O 3 Y 3 (ii) a With O 2 Taking the axis of the tube-tunnel cylinder as a coordinate axis and establishing a global coordinate system XOY; the kinematic reference coordinate system of the transmission mechanism is as follows:
1) Base (C)In a local coordinate system X 2 O 2 Y 2 Establishing a linkage O 2 ABO 3 Equations for kinematics with ABC;
2) Based on a local coordinate system X 1 O 2 Y 1 Establishing a linkage O 2 DFO 1 A kinematic equation;
3) Based on a local coordinate system X 3 O 3 Y 3 Establishing a linkage O 3 EGO 4 A kinematic equation;
4) Based on a local coordinate system X 2 O 2 Y 2 Establishing a local coordinate system X 1 O 2 Y 1 、X 3 O 3 Y 3 Relative to a local coordinate system X 2 O 2 Y 2 An equation;
5) Then, based on the global coordinate system XOY, a local coordinate system X is established 2 O 2 Y 2 Completing kinematic mathematical modeling of the three-pair four-bar linkage mechanism relative to an XOY equation of a global coordinate system;
the second step is that: establishing a linkage O 2 ABO 3 Kinematic equation with ABC
In a local coordinate system X 2 O 2 Y 2 Lower, link mechanism O 2 ABO 3 In a positional relationship of
Figure FDA0002723408090000011
Figure FDA0002723408090000012
The above equation can be solved to phi 3 、φ 2 Phi (phi) and phi (phi) 1 Corresponding relationship of (A), (B), O 2 、A、B、O 3 The C position coordinates can be expressed as
Figure FDA0002723408090000013
Figure FDA0002723408090000014
Figure FDA0002723408090000015
Figure FDA0002723408090000016
Figure FDA0002723408090000017
The distance between the end C of the oil cylinder rod and the hinged support point P is
Figure FDA0002723408090000018
Wherein: l. the 1 Is a rotating arm L O2A Length,. L 2 Is a connecting arm L AB Length, l 3 Is a rotating arm L BO3 Length,. L 4 Is the center distance L O3O2 The length of the first and second support members,
Figure FDA0002723408090000021
is a rotating arm L O2A And the center of rotation O 2 O 3 Is/are as follows the included angle is formed by the angle of inclination,
Figure FDA0002723408090000022
is a connecting arm L AB And the center of rotation O 2 O 3 The included angle of the parallel lines is the same,
Figure FDA0002723408090000023
is a rotating arm L O3B And the center of rotation O 2 O 3 The included angle of (A);
the third step: establishing a linkage O 2 DFO 1 Equation of kinematics
In a local coordinate system X 1 O 2 Y 1 Lower, link mechanism O 2 DFO 1 In a positional relationship of
s 1 cosβ 1 +s 2 cosβ 2 ＝s 4 cosπ+s 3 cosβ 3 1-(9)
s 1 sinβ 1 +s 2 sinβ 2 ＝s 4 sinπ+s 3 sinβ 3 1-(10)
The above equation can be solved to obtain beta 3 、β 2 And beta 1 Corresponding relationship of (A), (B), O 2 、D、F、O 1 The position coordinates can be expressed as
Figure FDA0002723408090000024
Figure FDA0002723408090000025
Figure FDA0002723408090000026
Figure FDA0002723408090000027
Wherein s is 1 Is a rotating arm L O2D Length, s 2 Is a connecting arm L DF Length, s 3 Is a rotating arm L FO1 Length, s 4 Is the center distance L O1O2 ；β 1 Is a rotating arm L O2A And the center of rotation O 1 O 2 Angle of (b) of 2 Is a connecting arm L DF And the center of rotation O 1 O 2 Of parallel linesAngle of inclusion, beta 3 Is a rotating arm L O1F And the center of rotation O 1 O 2 The included angle of (A);
local coordinate system X 1 O 2 Y 1 Go to local coordinate system X 2 O 2 Y 2 Corresponding to a local coordinate system X 1 O 2 Y 1 Around O 2 Counterclockwise rotation of the shaft alpha 12 New coordinates of its position are
Figure FDA0002723408090000028
Figure FDA0002723408090000029
Figure FDA00027234080900000210
Figure FDA00027234080900000211
Figure FDA0002723408090000031
The fourth step: link mechanism O 3 EGO 4 Equation of kinematics
In a local coordinate system X 3 O 3 Y 3 Lower, link mechanism O 3 EGO 4 In a positional relationship of
c 1 cosγ 1 +c 2 cosγ 2 ＝c 4 cos0+c 3 cosγ 3 1-(20)
c 1 sinγ 1 +c 2 sinγ 2 ＝c 4 sin0+c 3 sinγ 3 1-(21)
The above equation can be solved to obtain gamma 3 、γ 2 And gamma 1 Corresponding relation of (A), O 3 、E、G、O 4 The position coordinates can be expressed as
Figure FDA0002723408090000032
Figure FDA0002723408090000033
Figure FDA0002723408090000034
Figure FDA0002723408090000035
Wherein, c 1 Is a rotating arm L O3E Length, c 2 Is a connecting arm L EG Length, c 3 Is a rotating arm L GO4 Length, c 4 Is the center distance L O4O3 ，γ 1 Is a rotating arm L O3B And the center of rotation O 3 O 4 Angle of (a) 2 Is a connecting arm L EG And the center of rotation O 3 O 4 Angle of parallel lines, gamma 3 Is a rotating arm L O4G And the center of rotation O 3 O 4 The included angle of (A);
will be a local coordinate system X 3 O 3 Y 3 Go to local coordinate system X 2 O 2 Y 2 Corresponding to a local coordinate system X 3 O 3 Y 3 Around O 3 Counterclockwise rotation of the shaft alpha 32 Angle and press
Figure FDA0002723408090000036
Translation, new coordinates are
Figure FDA0002723408090000037
Figure FDA0002723408090000038
Figure FDA0002723408090000039
Figure FDA00027234080900000310
Figure FDA00027234080900000311
The fifth step: XOY position calculation based on global coordinate system
Local coordinate system X 2 O 2 Y 2 Conversion to the global coordinate system XOY, corresponding to all coordinates of the linkage around O 2 Rotate counterclockwise by alpha 20 Angle, rotation matrix of
Figure FDA0002723408090000041
All positions of the link mechanism are in a local coordinate system X 2 O 2 Y 2 The coordinates of the lower part are expressed as
Figure FDA0002723408090000042
The coordinates converted into the global coordinate system XOY are represented as
Figure FDA0002723408090000043
Then the
Figure FDA0002723408090000044
2. Transmission mechanism load calculation method design
The first step is as follows: analysis of overall force
The whole transmission mechanism is taken as a research object, and the external force applied to the transmission mechanism is the torque T transmitted by the four rotating shafts 1 、T 2 、T 3 、T 4 And the driving force F given by the cylinder PC The torque and the driving force are in stress balance, and the working condition is the worst when the side thruster works in an opening state and is taken as the calculation working condition;
the second step is that: link mechanism stress analysis
The mechanism is subjected to stress analysis by adopting a virtual displacement principle, and when the link mechanism keeps an open state, the acting force F of the oil cylinder PC Under the action of C, C generates a virtual displacement delta C A produces a virtual displacement delta A B producing a virtual shift delta B ；
The virtual work expression under the action of the oil cylinder is
Figure FDA0002723408090000045
In the formula:
T′ 2 、T′ 3 are respectively a rotating arm AO 3 、BO 2 The applied torque;
δ φ3 is a displacement of delta C The corresponding angle is set to be the same as the angle,
Figure FDA0002723408090000046
δ φ2 is a displacement of delta B The corresponding angle is set to be the same as the angle,
Figure FDA0002723408090000047
θ PC acting on the cylinder F PC And the virtual shift delta C Angle of inclination, theta PC ＝γ A +γ B -γ C -θ C ，
According to the geometrical relationship of the link mechanism, the virtual displacement relationship can be obtained
δ A cosθ A ＝δ B cosθ B 2-(2)
δ A cos(θ A +γ A )＝δ C cosθ C 2-(3)
δ B cos(γ B -θ B )＝δ C cos(γ A +γ B -θ C ) 2-(4)
For bars GO 1 Establishing a moment balance equation,
F EG sinε 1 L GO1 ＝T 1 2-(5)
for the rod FO 4 And a moment balance equation is established to establish the moment balance equation,
F DF sinε 8 L FO4 ＝T 4 2-(6)
moment T' 3 Is calculated by the formula
T′ 3 ＝T 3 +F FD L DO3 cosε 7 2-(7)
Moment T' 2 Is calculated by the formula
T′ 2 ＝T 2 +F GE L EO2 cosε 2 2-(8)
For rod BO 3 And a moment balance equation is established to establish the moment balance equation,
F B sinε 3 L BO3 ＝F GE sinε 2 L EO3 +T 2 2-(9)
for the rod piece ABC, a force balance and moment balance equation is established,
F PC cosε 9 ＝F B cosε 4 +F A cosε 6 2-(10)
F PC sinε 9 ＝F B sinε 4 -F A sinε 6 2-(11)
F B sinε 4 L AB ＝F PC cosε 9 L CM -F PC sinε 9 L AM 2-(12)
F A sinε 6 L AB ＝F PC cosε 9 L CM +F PC sinε 9 L BM 2-(13)
wherein, theta A For node A by a virtual shift delta A Angle θ to AB B For node B virtual shift delta B Angle with AB, theta C is virtual displacement delta of node C C Angle of γ with AC A Is < CAB, gamma B Is ═ CBA, epsilon 1 Is F EG And a rotating arm L O1G Angle of inclination epsilon 2 Is F GE And a rotating arm L O2E Angle of inclination epsilon 3 Is F B And a rotating arm L O2B Angle of inclination epsilon 4 Is F B And a connecting arm L AB Angle of inclination epsilon 5 Is F A And a rotating arm L O3A Angle of inclination epsilon 6 Is F A And a connecting arm L AB Angle of inclination epsilon 7 Is F FD And a rotating arm L O3D Angle of inclination epsilon 8 Is F DF And a rotating arm L O4F Angle of inclination epsilon 9 Is F PC And a connecting arm L AB The included angle of the parallel lines;
the above equations are combined to obtain: oil cylinder acting force F PC (ii) a Internal force F of rod DF 、F FD 、F A 、F B 、F GE 、F EG And its direction angle.
CN202011094844.9A 2020-10-14 2020-10-14 Optimized design method of side-push cover sealing system matched with ship body Active CN112231832B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011094844.9A CN112231832B (en) 2020-10-14 2020-10-14 Optimized design method of side-push cover sealing system matched with ship body

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011094844.9A CN112231832B (en) 2020-10-14 2020-10-14 Optimized design method of side-push cover sealing system matched with ship body

Publications (2)

Publication Number Publication Date
CN112231832A CN112231832A (en) 2021-01-15
CN112231832B true CN112231832B (en) 2023-02-03

Family

ID=74111899

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011094844.9A Active CN112231832B (en) 2020-10-14 2020-10-14 Optimized design method of side-push cover sealing system matched with ship body

Country Status (1)

Country Link
CN (1) CN112231832B (en)

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106314821B (en) * 2015-06-29 2020-04-14 中国商用飞机有限责任公司 Method and device for transferring the support position of a large part of an aircraft
CN107491083B (en) * 2017-09-11 2020-10-09 北京航空航天大学 Four-rotor-wing autonomous landing method based on saturation self-adaptive sliding mode control
CN111488654A (en) * 2019-01-10 2020-08-04 中国矿业大学(北京) Robot kinematics solving method based on global coordinate system recursive regression mode
CN110162921B (en) * 2019-05-31 2023-02-28 东北大学 Optimization design method for stationary blade joint adjusting mechanism of aircraft engine
CN110516404B (en) * 2019-09-09 2021-04-02 华南农业大学 Finite element analysis and coordinate conversion method for connecting rod of paddy field grader

Also Published As

Publication number Publication date
CN112231832A (en) 2021-01-15

Similar Documents

Publication Publication Date Title
US4979700A (en) Rotary actuator for leading edge flap of aircraft
Zheng et al. Kinematic analysis of a hybrid serial-parallel manipulator
JP6595341B2 (en) Articulated arm
US8820189B2 (en) Articulated robot wrist
CN103538709A (en) Parallel vector propulsion mechanism of autonomous underwater vehicle
CN103507946A (en) Device for mechanical connection of a control surface to a fixed structural element of an aircraft and aircraft wing element equipped with said device
CN109249428A (en) The end cartesian space rigidity modeling method of rope driving coordinated type mechanical arm
CN112231832B (en) Optimized design method of side-push cover sealing system matched with ship body
CN101327839A (en) Straight wing cycloid thruster with stepping motor as controlling mechanism
CN103318404A (en) Guided missile aileron control mechanism
US20080098942A1 (en) Steering system and an associated vessel
CN110837676A (en) Rudder system vibration characteristic prediction method based on multi-body system transfer matrix method
CN202131870U (en) Double-shaft hinge and high-speed wind tunnel experiment capsule provided with same
Uchiyama Structures and characteristics of parallel manipulators
Lu et al. Dynamics analysis of a novel 5-DoF parallel manipulator with couple-constrained wrench
Verma et al. FEA Designing of Propeller Shaft and Stress Analysis
CN116025372A (en) Independent action device of double-support arm swinging oil cylinder and pitching oil cylinder for roller axis translation in transverse-axis heading machine and use method
CN210971433U (en) Adjustable actuating mechanism of side-push cover sealing system
Huan et al. Research on key technology to underwater robotic arm
CN211336395U (en) Underwater equipment vector propeller
CN105836081A (en) Parallel type underwater vectored thruster
Zhang et al. Numerical investigation on transverse maneuverability of a vectored underwater vehicle without appendage
CA2808254C (en) A wing control system
AU2010215660B2 (en) Boat drive comprising auxiliary drives
CN113459089B (en) Dynamics coupling effect evaluation method for underwater unmanned ship-double-mechanical-arm operation system

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant