CN115743488B - Wave self-adaptive ship propulsion device and use method - Google Patents
Wave self-adaptive ship propulsion device and use method Download PDFInfo
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- CN115743488B CN115743488B CN202211500102.0A CN202211500102A CN115743488B CN 115743488 B CN115743488 B CN 115743488B CN 202211500102 A CN202211500102 A CN 202211500102A CN 115743488 B CN115743488 B CN 115743488B
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- 238000000034 method Methods 0.000 title claims abstract description 8
- 230000007246 mechanism Effects 0.000 claims abstract description 54
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 18
- 230000005540 biological transmission Effects 0.000 claims description 32
- 229910000831 Steel Inorganic materials 0.000 claims description 23
- 239000010959 steel Substances 0.000 claims description 23
- 238000004804 winding Methods 0.000 claims description 13
- 230000005570 vertical transmission Effects 0.000 claims description 12
- 239000007788 liquid Substances 0.000 claims description 10
- 230000005571 horizontal transmission Effects 0.000 claims description 8
- 238000012544 monitoring process Methods 0.000 claims description 5
- 238000007654 immersion Methods 0.000 abstract description 9
- 230000009471 action Effects 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Abstract
The application relates to a wave self-adaptive ship propulsion device and a use method thereof, wherein the device comprises a lifting platform mechanism, a rudder propeller propulsion mechanism and a monitor, wherein the lifting platform mechanism comprises a base, a platform body arranged on the base and a winch for adjusting the height of the platform body; the rudder propeller propulsion mechanism is arranged on the platform body and can realize the propulsion and rudder turning functions of the ship; the monitor can monitor the depth of immersion and the actual position of the platform body. According to the application, aiming at the actual use requirement of the middle and small-sized ships sailing in the wave, the vertical height of the platform body is adjusted in real time according to the actual depth of the propeller immersed in the water, when the ship body is lifted or the bow is buried (the bow is downward) under the wave action, the propeller can be ensured not to be exposed out of the water surface and kept at the optimal working depth, so that the control force of the propulsion device on the ship is always enough and effective, and the heading operation efficiency and safety of the ship are ensured.
Description
Technical Field
The application relates to the technical field of marine equipment, in particular to a wave self-adaptive ship propulsion device and a using method thereof.
Background
The ship sails on the sea, is inevitably influenced by waves, and the ship body can generate movements such as pitching, heave and the like. For small and medium-sized ships, especially unmanned ships, as the self water displacement is small and the draft is shallow, if the up-down heave and longitudinal pitching amplitude of the ship body are too large, the propelling screw propeller of the small and medium-sized ships may be partially or completely exposed out of the water, in this state, the screw propeller cannot generate enough thrust, even no thrust acts on the ship body, so that the ship is in an intermittent uncontrolled state, the given course, navigational speed and track cannot be maintained, and even safety risks are generated; in addition, intermittent water outlet and water inlet of the propulsion propeller can cause severe fluctuation of loads of the transmission mechanism and the ship main engine, fatigue damage and main engine damage are generated, and the safety of equipment is greatly threatened.
Disclosure of Invention
The application aims at the defects in the prior art, and provides a wave self-adaptive ship propulsion device and a use method thereof, so that the problems encountered in sailing operation of small and medium-sized ships in waves are solved, the screw propeller is ensured not to be exposed out of the water surface and kept at the optimal operation depth, and the control force of the propulsion device on the ship is always enough and effective, so that the heading operation efficiency and the safety of the ship are ensured.
The technical scheme adopted by the application is as follows:
a wave-adaptive marine propulsion device comprising:
the lifting platform mechanism comprises a base fixed on the ship body, a platform body arranged on the base and a winch for adjusting the height of the platform body; the winch drives the platform body to lift through the fixed pulley and the steel cable;
the rudder propeller propulsion mechanism is arranged on the platform body and can realize the propulsion and rudder turning functions of the ship; the device comprises a driving assembly, a transmission assembly and a propelling assembly, wherein the driving assembly is fixed on a platform body, the transmission assembly penetrates through the platform body, and two ends of the transmission assembly are respectively connected with the driving assembly and the propelling assembly;
and the monitor is used for monitoring the immersion depth of the propulsion assembly and the actual position of the platform body.
As a further improvement of the above technical scheme:
the winch comprises a winch driver and a cable winding and unwinding mechanism, wherein the cable winding and unwinding mechanism is connected with one end of a steel cable, the other end of the steel cable is fixedly connected with the platform body, and the winch driver drives the cable winding and unwinding mechanism to rotate through a winch driving shaft so as to drive the steel cable to wind and unwind, so that the platform body is lifted.
The monitor includes:
the wave height instrument sensor is used for monitoring the liquid level height and is arranged at the side wall of the transmission assembly;
and the multi-turn absolute value encoder is used for measuring the actual position of the platform body and is arranged on the cable winding and unwinding mechanism.
The device is also provided with a platform control unit, the platform control unit comprises a signal collector and a winch controller, the signal collector is respectively connected with the wave height instrument sensor and the multi-circle absolute value encoder, and the winch controller is connected with the winch driver.
The side wall of the base is provided with a sliding rail, and the platform body moves up and down along the sliding rail when lifting.
One end of the platform body, which is far away from the rudder propeller propelling mechanism, is provided with a platform balancing weight.
The transmission assembly comprises a shaft tube and a vertical transmission shaft arranged in the shaft tube;
the propulsion assembly comprises a propeller and a right-angle transmission shell; the screw passes through horizontal transmission shaft and vertical transmission shaft transmission connection, and horizontal transmission shaft penetrates in the right angle transmission shell, and the vertical transmission shaft lower extreme penetrates in the right angle transmission shell, right angle transmission shell and central siphon fixed connection.
The driving assembly comprises a steering driver and a propeller driver, wherein the steering driver drives the shaft tube to rotate to realize steering driving, and the propeller driver drives the vertical transmission shaft and the horizontal transmission shaft to rotate to realize propeller rotation driving, and the two rotation degrees of freedom independently operate.
The steering driver drives the shaft tube to integrally rotate through a steering mechanism;
the steering mechanism adopts a gear or worm and gear transmission mode to realize steering control.
The use method of the wave self-adaptive ship propulsion device comprises the steps that in a normal state, a platform body is kept at the highest position of a base, and at the moment, a propeller in a rudder propeller propulsion mechanism is at a designed height; when the ship body is affected by waves and the submerging depth of the propeller is smaller than the lower limit of the operation depth, the winch is controlled to release the steel cable, the platform body slides downwards along the sliding rail to drive the rudder propeller propelling mechanism to descend, and the operation depth is kept at the optimal operation depth; when the submerging depth exceeds the upper limit of the working depth, the winch is controlled to recover the steel cable, the platform body slides upwards along the sliding rail to drive the rudder propeller propelling mechanism to lift, and the propeller returns to the designed height.
The beneficial effects of the application are as follows:
the application can prevent the ship from being influenced by wave fluctuation motion in navigation, dynamically adjust the space height of the propulsion propeller in real time, ensure that the submergence depth of the propulsion propeller in water always meets the operation requirement, and prevent the output thrust from being reduced due to the water outlet of the propeller, thereby ensuring effective control of the ship.
The application also has the following advantages:
(1) According to the application, aiming at the actual use requirement of the middle and small-sized ships sailing in the wave, the rudder propeller propulsion mechanism is arranged on the lifting platform mechanism, the vertical height of the platform body is adjusted in real time according to the actual depth of the propeller immersed in the water, when the ship body is lifted or buried (the bow is downward) under the wave action, the propeller can be ensured not to be exposed out of the water surface, the optimal operation depth is maintained, and the control force of the propulsion device on the ship is always sufficient and effective, so that the heading operation efficiency and the safety of the ship are ensured.
(2) According to the application, the lifting platform mechanism adjusts the height position of the platform body through the winch, monitors the actual position of the platform body on the base through the multi-turn absolute value encoder, and can drive the rudder propeller propelling mechanism to move up and down integrally while the platform body is lifted.
(3) The application provides a platform control unit, a signal collector receives a liquid level height signal monitored by a wave height sensor and the actual position of a platform body monitored by a multi-turn absolute value encoder, a winch controller calculates the depth of a propeller immersed in water according to the liquid level height signal, a winch is driven to retract a steel cable by combining the position of the platform body, and a rudder propeller propelling mechanism is driven to adjust the height by adjusting the height of the platform body, so that the propeller is ensured to be at the optimal operation depth.
Drawings
Fig. 1 is a front view of the present application.
FIG. 2 is a system diagram of a platform control unit according to the present application.
Fig. 3 is a front view of a rudder propeller device in an embodiment.
Fig. 4 is a front view of a rudder propeller device according to another embodiment.
Fig. 5 is a schematic view illustrating the operation of the present application when the hull is lifted by waves.
Fig. 6 is a schematic diagram illustrating the operation of the present application when the stern is tilted up.
Wherein: 100. a hull; 200. calm the water surface; 301. a winch driver; 302. a winch drive shaft; 303. a cable winding and unwinding mechanism; 304. a multi-turn absolute value encoder, 305, base; 306. a slide rail; 307. a platform balancing weight; 308. a platform body; 309. a wire rope; 310. a fixed pulley; 311. a platform control unit; 311-1, a signal collector; 311-2, winch controller; 401. a propeller driver; 402. a steering mechanism; 403. a steering driver; 404. a shaft tube; 405. a wave height meter sensor; 406. a propeller; 407. the depth of immersion of the propeller; 408. a right angle drive housing; 409. a vertical transmission shaft; 410. a horizontal drive shaft; 500. the wave level.
Detailed Description
The following describes specific embodiments of the present application with reference to the drawings.
As shown in fig. 1, the wave-adaptive ship propulsion device of the present embodiment includes a lifting platform mechanism, a rudder propeller propulsion mechanism, and a monitor.
The lifting platform mechanism comprises a base 305 fixed on the ship body 100, a platform body 308 arranged on the base 305, and a winch for adjusting the height of the platform body 308; the winch drives the platform body 308 to lift through the fixed pulley 310 and the steel cable 309.
The side wall of the base 305 is provided with a slide rail 306, and the platform body 308 moves up and down along the slide rail 306 when lifting. The end of the platform body 308 remote from the rudder propeller propulsion mechanism is provided with a platform balancing weight 307.
The fixed pulley 310 is fixed above the base 305, the steel cable 309 is fixed on the platform body 308 through the fixed pulley 310, and when the winch releases the steel cable 309, the platform body 308 moves downwards along the sliding rail 306 under the action of gravity; when the winch retrieves the wire rope 309, the platform body 308 is pulled by the wire rope 309 and lifted up along the slide rail 306.
Further, the winch comprises a winch driver 301 and a cable winding and unwinding mechanism 303, the cable winding and unwinding mechanism 303 is connected with one end of a steel cable 309, the other end of the steel cable 309 is fixedly connected with a platform body 308, the winch driver 301 drives the cable winding and unwinding mechanism 303 to rotate through a winch driving shaft 302, and the steel cable 309 is driven to be wound and unwound, so that the platform body 308 is lifted.
The winch driver 301 adopts a driving mode of an electric motor or a hydraulic motor.
The rudder propeller propulsion mechanism is arranged on the platform body 308, adopts a full-rotation mode, and outputs propulsion force and steering torque simultaneously, namely, the rudder propeller propulsion mechanism has the dual functions of propeller rotation driving and rudder turning driving, and can realize the propulsion and rudder turning functions of ships. The rudder propeller propulsion mechanism comprises a driving component, a transmission component and a propulsion component, wherein the driving component is fixed on the platform body 308, the transmission component penetrates through the platform body 308, and two ends of the transmission component are respectively connected with the driving component and the propulsion component.
The monitor is used to monitor the submergence depth of the propulsion assembly, and the actual position of the platform body 308.
Further, the monitor includes a wave height meter sensor 405 and a multi-turn absolute value encoder 304; the wave height meter sensor 405 is used for monitoring the liquid level height and is arranged at the side wall of the transmission assembly; the multi-turn absolute value encoder 304 is used for measuring the actual position of the platform body 308, and is disposed on the cable winding and unwinding mechanism 303.
The propulsion device is provided with a platform control unit 311, the platform control unit 311 being mounted on the hull 100 in the vicinity of the winch. As shown in fig. 2, the platform control unit 311 comprises a signal collector 311-1 and a winch controller 311-2, wherein the signal collector 311-1 is connected with the winch controller 311-2, the signal collector 311-1 is respectively connected with a wave height meter sensor 405 and a multi-turn absolute value encoder 304, and the winch controller 311-2 is connected with the winch driver 301.
The platform control unit 311 contains the following processing logic:
the signal collector 311-1 receives the measurement signal of the wave height meter sensor 405, and the winch controller 311-2 estimates the submergence depth of the propeller 406;
the signal collector 311-1 receives the measurement signals of the multi-turn absolute value encoder 304, and the winch controller 311-2 calculates the actual position of the platform body 308 on the base 305;
the winch controller 311-2 compares the relation between the actual immersion depth of the propeller 406 and the upper and lower limits of the operation depth, and when the actual immersion depth is within the interval of the upper and lower limits of the operation depth, the winch does not control the motion, and the platform body 308 keeps the current position;
when the actual submergence depth of the propeller 406 exceeds the upper limit of the working depth, the winch is reeled in the cable to lift the platform body 308 to the highest position of the base 305;
when the actual immersion depth of the propeller 406 is smaller than the lower working depth limit, which means that the propeller 406 is too close to the water surface, there is a thrust loss and even a risk of exposing the water surface, the winch controller 311-2 compares the difference between the actual immersion depth and the lower working depth limit, and controls the winch driver 301 and the winch payout to make the actual immersion depth close to or equal to the optimum working depth.
The signal collector 311-1 receives the liquid level height signal detected by the wave height sensor 405 and the actual position of the platform body 308 detected by the multi-turn absolute value encoder 304, the winch controller 311-2 calculates the depth of the propeller 406 immersed in water according to the liquid level height signal, and drives the winch to retract the steel cable 309 by combining the actual position of the platform body 308 on the base 305, and the rudder propeller propelling mechanism is driven to adjust the height by adjusting the height of the platform body 308, so that the propeller 406 is ensured to be at the optimal operation depth.
The drive assembly includes a shaft tube 404, a vertical drive shaft 409 disposed within the shaft tube 404, and a wave height sensor 405 mounted on a sidewall of the shaft tube 404. The propulsion assembly includes a propeller 406 and a right angle drive housing 408; the propeller 406 is in driving connection with a vertical driving shaft 409 through a horizontal driving shaft 410, the horizontal driving shaft 410 penetrates into a right-angle driving housing 408, the lower end of the vertical driving shaft 409 penetrates into the right-angle driving housing 408, and the right-angle driving housing 408 is fixedly connected with the shaft tube 404.
The driving assembly comprises a steering driver 403 and a propeller driver 401, wherein the steering driver 403 drives the shaft tube 404 to rotate and simultaneously drives the lower propulsion assembly to integrally rotate so as to realize a steering driving function; the propeller driver 401 drives the vertical transmission shaft 409 and the horizontal transmission shaft 410 to rotate so as to realize the rotation driving of the propeller 406, realize the propulsion function of the hull 100, and independently operate in two rotation degrees of freedom.
The steering driver 403 and the propeller driver 401 are driven by an electric motor or a hydraulic motor.
In an embodiment, as shown in fig. 3, the propeller 406 is a propeller driver 401 that performs rotation control through primary right angle transmission (L-type transmission), that is, the connection between the vertical transmission shaft 409 and the horizontal transmission shaft 410 is provided with bevel gears, and the transmission is performed through the bevel gears, so as to further perform rotation control on the propeller 406.
In an embodiment, as shown in fig. 4, the propeller 406 is a propeller driver 401 that realizes rotation control through two-stage right-angle transmission (Z-type transmission), that is, the connection between the vertical transmission shaft 409 and the horizontal transmission shaft 410 is provided with bevel gears, and the transmission is realized through the bevel gears, and the propeller driver 401 drives the vertical transmission shaft 409 to rotate in a bevel gear transmission manner, so as to further realize rotation control on the propeller 406.
The steering driver 403 drives the shaft tube 404 and the right angle transmission housing 408 to integrally rotate through the steering mechanism 402, and the steering mechanism 402 adopts a gear or worm gear transmission mode to realize steering control.
The using method of the wave-adaptive ship propulsion device comprises the following steps:
specifically, in a normal state, i.e. calm the water surface 200, the platform body 308 is kept at the highest position of the base 305, and at this time, the propeller 406 in the rudder propeller mechanism is at a designed height, i.e. a state of ensuring that the propeller immersion depth 407 is at an optimal working depth; when the hull 100 is affected by waves to form a wave liquid level 500, and the submerging depth of the propeller 406 is smaller than the lower limit of the working depth, the winch is controlled to release the steel cable 309, the platform body 308 slides down the sliding rail 306 to drive the rudder propeller propelling mechanism to descend, and the optimal working depth is maintained; when the submergence depth exceeds the upper limit of the working depth, the winch is controlled to recover the steel cable 309, the platform body 308 slides upwards along the sliding rail 306, the rudder propeller propulsion mechanism is driven to lift, and the propeller 406 returns to the designed height.
As shown in fig. 5 and 6, the wave adaptive propulsion device can ensure that the submerged depth of the propeller 406 is always maintained within the optimal range when the hull 100 is subject to the wave, either heave or stern heave, and the submerged depth 407 of the propeller exceeds the upper operational depth limit, or is less than the lower operational depth limit.
The above description is intended to illustrate the application and not to limit it, the scope of which is defined by the claims, and any modifications can be made within the scope of the application.
Claims (6)
1. The utility model provides a wave self-adaptation ship propulsion device which characterized in that: comprising the following steps:
the lifting platform mechanism comprises a base (305) fixed on the ship body (100), a platform body (308) arranged on the base (305) and a winch for adjusting the height of the platform body (308); the winch drives the platform body (308) to lift through the fixed pulley (310) and the steel cable (309);
the rudder propeller propulsion mechanism is arranged on the platform body (308) and can realize the propulsion and rudder turning functions of the ship; the device comprises a driving assembly, a transmission assembly and a propelling assembly, wherein the driving assembly is fixed on a platform body (308), the transmission assembly penetrates through the platform body (308), and two ends of the transmission assembly are respectively connected with the driving assembly and the propelling assembly;
the transmission assembly comprises a shaft tube (404) and a vertical transmission shaft (409) arranged in the shaft tube (404);
the propulsion assembly includes a propeller (406) and a right angle drive housing (408); the propeller (406) is in transmission connection with the vertical transmission shaft (409) through the horizontal transmission shaft (410), and the right-angle transmission shell (408) is fixedly connected with the shaft tube (404);
the winch comprises a winch driver (301) and a cable winding and unwinding mechanism (303), wherein the cable winding and unwinding mechanism (303) is connected with one end of a steel cable (309), the other end of the steel cable (309) is fixedly connected with a platform body (308), the winch driver (301) drives the cable winding and unwinding mechanism (303) to rotate through a winch driving shaft (302), and the steel cable (309) is driven to be wound and unwound, so that the platform body (308) is lifted;
a monitor for monitoring a submergence depth of a propulsion assembly, and an actual position of a platform body (308), the monitor comprising:
the wave height meter sensor (405) is used for monitoring the liquid level height and is arranged on the side wall of the shaft tube (404);
the multi-turn absolute value encoder (304) is used for measuring the actual position of the platform body (308) and is arranged on the cable winding and unwinding mechanism (303);
the device is also provided with a platform control unit (311), wherein the platform control unit (311) comprises a signal collector (311-1) and a winch controller (311-2), the signal collector (311-1) is respectively connected with a wave height meter sensor (405) and a multi-circle absolute value encoder (304), and the winch controller (311-2) is connected with a winch driver (301);
the signal collector (311-1) receives the liquid level height signal monitored by the wave height sensor (405) and the actual position of the platform body (308) monitored by the multi-turn absolute value encoder (304), the winch controller (311-2) calculates the depth of the propeller (406) immersed in water according to the liquid level height signal, and the winch is driven to retract the steel cable (309) by combining the actual position of the platform body (308) on the base (305), and the rudder propeller propelling mechanism is driven to adjust the height by adjusting the height of the platform body (308), so that the optimal operation depth of the propeller (406) is ensured.
2. The wave-adapted marine propulsion means of claim 1, wherein: the side wall of the base (305) is provided with a sliding rail (306), and the platform body (308) moves up and down along the sliding rail (306) when lifting.
3. The wave-adapted marine propulsion means of claim 1, wherein: one end of the platform body (308) far away from the rudder propeller propelling mechanism is provided with a platform balancing weight (307).
4. The wave-adapted marine propulsion means of claim 1, wherein: the driving assembly comprises a steering driver (403) and a propeller driver (401), wherein the steering driver (403) drives the shaft tube (404) to rotate to realize steering driving, the propeller driver (401) drives the vertical transmission shaft (409) and the horizontal transmission shaft (410) to rotate to realize rotating driving of the propeller (406), and the two rotating degrees of freedom respectively and independently run.
5. The wave-adapted marine propulsion means of claim 4, wherein: the steering driver (403) drives the shaft tube (404) to integrally rotate through the steering mechanism (402);
the steering mechanism (402) adopts a gear or worm and gear transmission mode to realize steering control.
6. Method of use of a wave-adapted marine propulsion means according to any of the claims 1-5, characterized in that: specifically, under normal conditions, the platform body (308) is maintained at the highest position of the base (305), and at this time, the propeller (406) in the rudder propeller mechanism is at the designed height; when the ship body (100) is affected by waves, and the submerging depth of the propeller (406) is smaller than the lower limit of the working depth, the winch is controlled to release the steel cable (309), the platform body (308) slides downwards along the sliding rail (306), and the rudder propeller propulsion mechanism is driven to descend and kept at the optimal working depth; when the submerging depth exceeds the upper limit of the working depth, the winch is controlled to recover the steel cable (309), the platform body (308) slides upwards along the sliding rail (306) to drive the rudder propeller propelling mechanism to lift, and the propeller (406) returns to the designed height.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211500102.0A CN115743488B (en) | 2022-11-28 | 2022-11-28 | Wave self-adaptive ship propulsion device and use method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211500102.0A CN115743488B (en) | 2022-11-28 | 2022-11-28 | Wave self-adaptive ship propulsion device and use method |
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| CN115743488A CN115743488A (en) | 2023-03-07 |
| CN115743488B true CN115743488B (en) | 2023-11-03 |
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| CN117002713A (en) * | 2023-06-19 | 2023-11-07 | 山东大学 | Special wave-based self-adaptive propulsion device for underwater vehicle |
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| CN217227887U (en) * | 2022-02-23 | 2022-08-19 | 无锡东方长风船用推进器有限公司 | Liftable rudder propeller propulsion device |
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2022
- 2022-11-28 CN CN202211500102.0A patent/CN115743488B/en active Active
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|---|---|---|---|---|
| CN2808736Y (en) * | 2005-02-21 | 2006-08-23 | 许惠民 | Whole rotary lifting type steering oar device |
| CN101195410A (en) * | 2007-12-27 | 2008-06-11 | 许惠民 | Integral full turning lift type steering oar device |
| KR20120119335A (en) * | 2011-04-21 | 2012-10-31 | 삼성중공업 주식회사 | A vessel with retractable thruster |
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| KR101879724B1 (en) * | 2017-06-05 | 2018-07-18 | 창원대학교 산학협력단 | Thrust keeping device for a small boat |
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|---|---|
| CN115743488A (en) | 2023-03-07 |
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