CN214084690U

CN214084690U - Zero navigational speed stabilizing device of ship based on inertial force control

Info

Publication number: CN214084690U
Application number: CN202022213278.0U
Authority: CN
Inventors: 钱婷
Original assignee: Wuhan Yingge Middle School No 1 Branch
Current assignee: Wuhan Yingge Middle School No 1 Branch
Priority date: 2020-10-07
Filing date: 2020-10-07
Publication date: 2021-08-31
Anticipated expiration: 2030-10-07

Abstract

The utility model discloses a zero navigational speed anti-sway device of boats and ships based on inertial force control. The swing type hydraulic swing device is composed of a cross beam support (1), a left driving oil cylinder (2), a right driving oil cylinder (3), a swing hammer rod (4), a swing hammer (5) and a hydraulic system. The hydraulic system is provided with a hydraulic oil tank (9) and an electric hydraulic pump (11) for providing power. The left driving oil cylinder (2) and the right driving oil cylinder (3) are used for driving the pendulum bob (5) to swing back and forth by taking the ship transverse rocking shaft as the center. When the ship swings leftwards or rightwards under the influence of sea waves and other factors, the system drives the pendulum bob (5) to swing towards the opposite direction of the rolling of the ship through the left and right driving oil cylinders, so that the ship obtains the anti-rolling moment resisting the rolling moment. The anti-rolling device controls the magnitude of the inertia force on the pendulum bob (5) by controlling the swinging direction and speed of the pendulum bob (5) and converts the inertia force into the anti-rolling moment of the ship so as to realize the active anti-rolling of the ship at zero navigational speed.

Description

Zero navigational speed stabilizing device of ship based on inertial force control

Technical Field

The utility model relates to a boats and ships motion control field specifically is a zero navigational speed anti-sway device of boats and ships based on inertial force control.

Background

The conventional fin converts a part of the power of the ship into a roll reducing moment for reducing the ship's roll through the fin surface, so the conventional fin cannot provide the roll reducing moment at zero cruising speed. Zero-speed fins have emerged through the development of anti-roll technology that can achieve anti-roll of a vessel when the vessel is stopped or at a very low speed. The conventional zero-speed fin stabilizer mainly depends on repeated up-and-down swinging of a fin surface during zero speed, so that a stabilizing moment is generated on the fin. Therefore, although the existing zero-speed fin stabilizer has certain stabilization performance when the ship has zero speed, the stabilization performance has certain limitation because the fin stabilizer only depends on the up-and-down repeated swing of the fin stabilizer to generate stabilization moment, a certain incoming flow speed is still needed to achieve better stabilization performance when the rolling amplitude and period of the ship are larger, and the fin stabilizer extends out of the ship body to destroy the structure of the ship body and bring inconvenience to maintenance and operation.

Chinese patent publication No. CN102343971A discloses an anti-rolling and energy recovery device with an automatic control structure for ships, which comprises a support, a pituitary body suspended on the support, a transmission member, and an energy recovery structure. When the ship swings, the pituitary swings in the direction opposite to the swinging direction of the ship body under the action of gravity and inertia to reduce the swinging of the ship and recover the energy of the pendulum movement. The device has no driving device, the motion of the pendulum bob is passive, and the pendulum bob swings along with the ship due to inertia and gravity after the ship rolls to a certain angle. The device has a very limited roll reduction effect on the ship's roll because the device is a passive roll reduction. Minimizing or eliminating the sway of the hull altogether requires designing the active roll reduction device to generate a roll reduction moment that counteracts the hull sway.

Chinese patent publication No. CN2208622Y discloses a device for reducing the rolling of ships and harnessing wind and wave energy, which is provided with a pendulum and hydraulic means for recovering the energy, also the motion of the pendulum is passive. The device stores a part of energy of ship rolling caused by sea waves and the like to reduce the ship body rolling action, but the device cannot generate rolling moment by itself, so that the rolling action on the ship is limited.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a zero navigational speed anti-sway device of boats and ships based on inertial force control, the device do not rely on incoming velocity and equipment not to stretch out to the hull outside, realize reducing or eliminating the roll of boats and ships when arbitrary navigational speed.

In order to achieve the above object, the present invention adopts the following technical solutions: the utility model discloses a zero navigational speed of boats and ships anti-sway device based on inertial force control, a zero navigational speed of boats and ships anti-sway device based on inertial force control include crossbeam support, left drive hydro-cylinder, right drive hydro-cylinder, pendulum rod, pendulum, oscillating bearing, left drive hydro-cylinder connecting seat, pivot, right drive hydro-cylinder connecting seat and hydraulic system, characterized by the both ends of crossbeam support are passed through welded fastening and are fixed in order to realize this zero navigational speed of boats and ships anti-sway device's based on inertial force control installation on the hull of boats and ships. When the device does not work, the left driving oil cylinder and the right driving oil cylinder stop extending and contracting and fix the pendulum bob. When the ship is disturbed by sea waves to generate rolling motion, the pendulum bob is driven to swing left and right by controlling the stretching of the left driving oil cylinder and the right driving oil cylinder and taking the swing bearing as a center. The pendulum bob is a mass block with larger mass, the pendulum bob simultaneously generates inertia force while the left driving oil cylinder and the right driving oil cylinder apply force to the pendulum bob rod and applies the inertia force to the left driving oil cylinder and the right driving oil cylinder through the pendulum bob rod, and the left driving oil cylinder and the right driving oil cylinder transmit the inertia force of the pendulum bob to the ship body through the cross beam support, so that the ship body obtains anti-rolling moment opposite to rolling moment caused by waves, and anti-rolling of the ship is realized.

Modern ships are all provided with ballast water tanks, and in order to meet the requirements of navigation working conditions, the ships need to ballast a certain amount of seawater for navigation. After the ship zero-speed rolling reduction device based on the inertial force control is installed, a certain amount of ship ballast water can be reduced, so that the arrangement of the ship zero-speed rolling reduction device based on the inertial force control does not influence the loading capacity of the ship. On a typical vessel, such as a cargo ship or a container, the compartments are separated by transverse spaces, and a portion of the transverse spaces may be used to provide the inertial force control based zero-speed roll reduction system of the vessel.

The ship zero-speed stabilizing device based on the inertial force control drives the pendulum bob by adopting a hydraulic system and converts the inertial force of the pendulum bob into stabilizing moment of a ship, so that the stabilizing device can realize stabilizing of the ship at zero speed without being limited by the ship speed. Meanwhile, the swing reducing device actively drives the pendulum bob to swing through a hydraulic system so as to obtain a swing reducing moment, and the swing reducing device belongs to active swing reduction and can improve the swing reducing performance of the ship to the maximum extent. The existing zero-navigational-speed fin stabilizer realizes stabilization by swinging the fin arranged outside a ship body back and forth to paddle water, although a certain stabilizing moment can be obtained, the stabilizing performance of the ship at zero navigational speed has certain limitation, and the fin is arranged outside the ship body to bring inconvenience to maintenance and ship berthing wharfs. The ship zero-navigational-speed stabilizing device based on the inertial force control is not limited by the navigational speed of a ship, no part is arranged outside the ship body, the ship berthing wharf is not influenced, the problem of ship body sealing is avoided, the maintenance is convenient, and the active stabilizing of the ship can be realized.

Drawings

FIG. 1 is a schematic diagram of pendulum centering of a zero-speed ship roll stabilizer based on inertial force control.

FIG. 2 is a schematic diagram of pendulum bob left-swinging of a ship zero-speed rolling reduction device based on inertial force control.

FIG. 3 is a pendulum bob right-swing illustration of a ship zero-speed roll reducing device based on inertial force control.

FIG. 4 is a schematic diagram of ship stress when a pendulum bob of a ship zero-speed stabilizing device swings left based on inertial force control.

FIG. 5 is a schematic diagram of ship stress when a pendulum bob of a ship zero-speed rolling reduction device is swung to the right based on inertial force control.

Fig. 6 is a hydraulic system diagram of a ship zero-speed rolling reduction device based on inertial force control.

In the figure: the hydraulic control system comprises a cross beam support 1, a left driving oil cylinder 2, a right driving oil cylinder 3, a pendulum rod 4, a pendulum 5, a swing bearing 6, a left driving oil cylinder connecting seat 7, a shaft pin 8, a hydraulic oil tank 9, a filter 10, an electric hydraulic pump 11, a check valve 12, a safety valve 13, an energy accumulator group 14, a flow regulating valve 15, a reversing valve 16 and a right driving oil cylinder connecting seat 17.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the accompanying drawings in the embodiments of the present invention are combined below to clearly and completely describe the technical solutions in the embodiments of the present invention. It is obvious that the described embodiments are only some of the embodiments of the present invention, and not all of them. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Fig. 1 shows the utility model discloses a pendulum is schematic diagram placed in middle of zero navigational speed anti-roll device of boats and ships based on inertial force control. As shown in figure 1, the whole ship zero-navigational-speed stabilizing device based on inertial force control mainly comprises a cross beam support 1, a left driving oil cylinder 2, a right driving oil cylinder 3, a pendulum rod 4, a pendulum 5, a swing bearing 6, a left driving oil cylinder connecting seat 7, a shaft pin 8, a right driving oil cylinder connecting seat 17 and a hydraulic system. Two ends of the beam support 1 are fixed on a ship body of a ship through welding so as to realize the installation and fixation of the ship zero-navigational-speed stabilizing device based on the inertial force control. The pendulum rod 4 is movably connected with the cross beam support 1 through a swing bearing 6, and the tail end of the pendulum rod 4 is fixedly connected with a pendulum 5. One end of the left driving oil cylinder 2 is movably connected with the cross beam bracket 1 through a left oil cylinder connecting seat 7, and the other end of the left driving oil cylinder is movably connected with the pendulum rod 4 through a shaft pin 8; one end of the right driving oil cylinder 3 is movably connected with the cross beam support 1 through a right oil cylinder connecting seat 17, and the other end of the right driving oil cylinder is movably connected with the pendulum rod 4 through a shaft pin 8. The extension and contraction of the left and

right drive cylinders

2 and 3 push the pendulum 5 to swing left and right about the swing bearing 6. The ship zero-speed stabilizing device based on the inertial force control drives the pendulum bob 5 to swing in the opposite direction of the ship rolling direction by taking the swing bearing 6 as the center through the left driving oil cylinder 2 and the right driving oil cylinder 3, and the stabilizing of the ship is realized by controlling the swinging direction and the swinging speed of the pendulum bob 5. When the device does not work, the left driving oil cylinder 2 and the right driving oil cylinder 3 stop extending and contracting and fix the pendulum bob 5. When the ship is disturbed by sea waves to generate rolling motion, the hydraulic system drives the pendulum bob 5 to swing left and right by controlling the stretching of the left driving oil cylinder 2 and the right driving oil cylinder 3 by taking the swing bearing 6 as a center. The pendulum bob 5 is a mass block with a large mass, when the left driving oil cylinder 2 and the right driving oil cylinder 3 apply force to the pendulum bob 4, the pendulum bob 5 also generates an inertia force and applies the inertia force to the left driving oil cylinder 2 and the right driving oil cylinder 3 through the pendulum bob 4, and the left driving oil cylinder 2 and the right driving oil cylinder 3 transmit the inertia force of the pendulum bob 5 to the ship body through the cross beam bracket 1, so that the ship body obtains a roll reducing moment opposite to a roll reducing moment caused by waves, and the roll reducing of the ship is realized.

Fig. 2 shows the utility model discloses a zero navigational speed anti-roll device yaw intention of boats and ships based on inertial force control. As shown in fig. 2, when the ship rolls to the starboard side of the ship, the pendulum rod 4 is pushed by the left and

right drive cylinders

2 and 3 at the same time, and the end of the pendulum rod 4 drives the pendulum 5 to swing to the port side. The left driving oil cylinder 2 and the right driving oil cylinder 3 apply thrust towards the port side of the ship to the pendulum rod 4 and simultaneously receive reaction force of reverse reaction, the reaction force mainly comprises inertia force of the pendulum 5 and the pendulum rod 4, and the reaction force received by the left driving oil cylinder 2 and the right driving oil cylinder 3 is transmitted to the ship body through the cross beam support 1 and forms ship anti-rolling moment.

Fig. 3 shows the utility model discloses a zero navigational speed of boats and ships anti-sway device right side intention of putting based on inertial force control. As shown in fig. 2, when the ship rolls to the port of the ship, the pendulum rod 4 is pushed to the starboard by the left and

right drive cylinders

2 and 3, and the end of the pendulum rod 4 drives the pendulum 5 to swing to the starboard. The left driving oil cylinder 2 and the right driving oil cylinder 3 apply thrust towards the starboard of the ship to the pendulum rod 4 and simultaneously receive reaction force of reverse reaction, the reaction force mainly comprises inertia force of the pendulum 5 and the pendulum rod 4, and the reaction force received by the left driving oil cylinder 2 and the right driving oil cylinder 3 is transmitted to the ship body through the cross beam bracket 1 and forms ship anti-rolling moment.

Fig. 4 shows the utility model discloses a boats and ships atress schematic diagram when zero navigational speed anti-roll device pendulum left-hand swing of boats and ships based on inertial force control. As shown in fig. 4, the rolling forces F1 and F1 caused by sea waves on the ship make the ship roll to the starboard, at this time, the left drive cylinder 2 and the right drive cylinder 3 apply a thrust F2 to the pendulum rod 4, the pendulum rod 4 drives the pendulum 5 to swing to the ship port under the action of the thrust F2, and the pendulum 5 generates an inertia force F3 in the direction opposite to the moving direction of the pendulum 5 when being driven by the pendulum rod 4. The inertial force F3 is applied to the left and

right drive cylinders

2 and 3 through the pendulum rod 4, thereby generating a reaction force F4 of F2, and F4 is transmitted to the hull through the cross beam bracket 1 so that the ship receives a roll-reducing force F5. The roll force F5 and roll force F1 are opposite in direction, and the magnitude of the roll force F5 depends on the magnitude of the force F2 applied to the bob 4 by the left and

right drive cylinders

2 and 3. Meanwhile, the magnitude of F2 is related to the oscillating angular acceleration of pendulum 5 and the mass of pendulum 5, and satisfies the formula F2= m (d ω)/(dt), where m is the mass of pendulum 5 and ω is the oscillating angular velocity of pendulum 5. The hydraulic system adjusts the power output of the left driving oil cylinder 2 and the right driving oil cylinder 3 by adjusting the oil inlet flow of the left driving oil cylinder 2 and the right driving oil cylinder 3, and accordingly the swing angle acceleration of the pendulum bob 5 is controlled, and the control of the anti-rolling force F5 is achieved. The hydraulic system can adjust the magnitude of the rolling reduction force F5 according to different rolling amplitudes and periods of the ship. When the pendulum bob 5 moves to the leftmost end, the left driving oil cylinder 2 and the right driving oil cylinder 3 stop doing work and keep the position of the pendulum bob 5, at the moment, the pendulum bob 5 is positioned on the port of the ship, and the gravity F6 borne by the pendulum bob 5 is transmitted through the pendulum bob rod 4, the left driving oil cylinder 2, the right driving oil cylinder 3 and the cross beam bracket 1 and converted into the ship rolling reduction force F5.

Fig. 5 shows the utility model discloses a boats and ships atress schematic diagram when zero navigational speed anti-roll device pendulum bob right pendulum based on inertial force control. As shown in fig. 4, the rolling forces F1, F1 caused by sea waves on the ship make the ship roll to the port, and the left and

right drive cylinders

2, 3 apply a thrust F2 to the pendulum rod 4. Pendulum rod 4 drives pendulum 5 to swing towards the starboard of the ship under the action of thrust F2, and pendulum 5 generates an inertia force F3 in the direction opposite to the moving direction of pendulum 5 when being driven by pendulum rod 4. The inertial force F3 is applied to the left and

right drive cylinders

2 and 3 through the pendulum rod 4, and thereby the reaction force F4 of F2 is generated. F4 is transmitted to the hull through the beam bracket 1 so that the vessel is subjected to a roll damping force F5. Therefore when the vessel is rolling port side, the left and

right drive cylinders

2 and 3 will push the pendulum bob 5 to swing toward vessel starboard side to generate roll reduction force F5. When the pendulum bob 5 moves to the rightmost end, the left driving oil cylinder 2 and the right driving oil cylinder 3 stop doing work and keep the position of the pendulum bob 5, and the gravity F6 borne by the pendulum bob 5 positioned on the starboard of the ship at the moment is converted into the ship rolling reduction force F5 through the transmission of the pendulum bob rod 4, the left driving oil cylinder 2, the right driving oil cylinder 3 and the cross beam bracket 1.

Fig. 6 shows the hydraulic system diagram of the zero-speed ship stabilizer based on inertial force control. As shown in fig. 1, the hydraulic system is composed of a left driving cylinder 2, a right driving cylinder 3, a hydraulic oil tank 9, a filter 10, an electric hydraulic pump 11, a check valve 12, a safety valve 13, an accumulator group 14, a flow regulating valve 15 and a reversing valve 16. The oil pipe comes out from the bottom of the hydraulic oil tank 9, passes through the filter 10 and then is connected to the electric hydraulic pump 11, and the oil pipe comes out from the other end of the electric hydraulic pump 11 and then is connected to the safety valve 13 and the accumulator group 14 through the check valve 12. The accumulator group 14 is connected to an inlet end of a flow control valve 15 through a pipe, and an outlet end of the flow control valve 15 is connected to an oil inlet end of a selector valve 16 through a pipe. The return end of the reversing valve 16 is connected together with the return end of the safety valve 13 via a line to the hydraulic tank 9 for return. The output end of the reversing valve 16 is respectively connected to the oil supply ends of the left driving oil cylinder 2 and the right driving oil cylinder 3 through pipelines. When the system is operated, the electric hydraulic pump 11 is started to build the system pressure, and the filter 10 filters foreign matters in the pipeline. After the oil pressure is built, the system stores energy in the energy storage group 14, and the safety valve 13 is used for stabilizing the system pressure. After the system pressure is normal, the reversing valve 16 is operated to drive the left driving oil cylinder 2 and the right driving oil cylinder 3, at the moment, hydraulic oil enters oil cavities of the left driving oil cylinder 2 and the right driving oil cylinder 3 through the flow regulating valve 15 and the reversing valve 16 respectively and pushes pistons in the oil cylinders to move, and the pistons of the left driving oil cylinder 2 and the right driving oil cylinder 3 push the pendulum rod 4 and drive the pendulum 5 to swing. The system realizes the left pendulum and right pendulum control of the pendulum bob 5 by operating the reversing valve 16, and controls the execution speed of the left driving oil cylinder 2 and the right driving oil cylinder 3 by adjusting the flow regulating valve 15 and controls the acceleration of the pendulum bob 5 swinging. As the acceleration at which the bob 5 swings increases, the ship obtains a larger roll-reducing force as can be seen from the formula F2= m (d ω)/(dt).

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art, and such changes are within the protection of the present invention.

Claims

1. A ship zero-navigational-speed stabilizing device based on inertial force control comprises a cross beam support (1), a left driving oil cylinder (2), a right driving oil cylinder (3), a pendulum rod (4), a pendulum (5) and a hydraulic system, and is characterized in that one end of the pendulum rod (4) is movably connected with the cross beam support (1) through a swing bearing (6), and the other end of the pendulum rod (4) is fixedly connected with the pendulum (5); one end of the left driving oil cylinder (2) is movably connected with the cross beam bracket (1) through a left driving oil cylinder connecting seat (7), and the other end of the left driving oil cylinder is movably connected with the pendulum rod (4) through a shaft pin (8); one end of the right driving oil cylinder (3) is movably connected with the cross beam bracket (1) through a right driving oil cylinder connecting seat (17), and the other end of the right driving oil cylinder is movably connected with the pendulum rod (4) through a shaft pin (8); the extension and contraction of the left driving oil cylinder (2) and the right driving oil cylinder (3) push the pendulum rod (4) and drive the pendulum (5) to swing left and right by taking the swing bearing (6) as the center; the ship zero-navigational-speed stabilizing device based on the inertial force control drives the pendulum bob (5) to swing towards the opposite direction of the ship rolling direction by taking the swing bearing (6) as the center through the left driving oil cylinder (2) and the right driving oil cylinder (3), and the ship stabilizing is realized by controlling the swinging direction and the swinging speed of the pendulum bob (5).

2. The inertial force control-based zero-speed rolling reduction device for the ship according to claim 1, wherein: the beam support (1) is fixed on the hull of the ship through welding to realize the installation and fixation of the device.

3. The inertial force control-based zero-speed rolling reduction device for the ship according to claim 1, wherein: the installation position of the swing bearing (6) is on a transverse rocking shaft of the ship.