JP2883005B2 - Marine water jet propulsion system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The invention according to this application relates to a water jet propulsion boat having four or more four-axes, a main engine rotation speed of a water jet propulsion machine, an angle of a reverser (reverse injection device), and a deflector (horizontal direction). The present invention relates to a water jet propulsion device in which the angle of a jet angle deflecting device is operated with a joystick and a turning dial so that even a single person can easily perform necessary maneuvering at the time of leaving and landing of a ship.

[0002]

2. Description of the Related Art
A water jet propulsion boat having a two-axis configuration is known, but the thrust (reverser angle and main engine speed) and deflector angle of each water jet propulsion are controlled individually for each machine or the same for each machine. In many cases, common control is performed so that the amount becomes the same in the direction. This is, for example, 4
When applied to a four-axis machine configuration, it is very difficult to operate each machine individually because of the large number of operation elements, and complicated common ship maneuvering such as taking off and landing is impossible with simple common control.

On the other hand, Japanese Patent Application Laid-Open No. 1-285486 discloses that two propulsion units capable of arbitrarily setting the direction and intensity of propulsion are installed on the left and right sides of the stern, and an omnidirectional controller such as a joystick is provided. And a changeover switch and a steering handle, and a marine vessel steering device has been proposed which controls the direction and strength of the propulsion force of each propulsion device according to the position and turning amount of the operation unit of the omnidirectional controller. I have. In this control device, the omnidirectional controller and the changeover switch are operated to operate the boat at the time of leaving and landing on the shore, that is, to make the hull move right sideways, diagonally, or turn on the spot. But,
When any of these operations is to be performed, it is necessary to perform mode switching, which results in loss of continuity of operation and lack of speed of maneuvering. Not suitable for

[0004] In the steering apparatus described in Japanese Patent Application Laid-Open No. 6-24388, it is possible to steer a boat without performing such mode switching. However, it is necessary to simultaneously operate two forward and backward levers in addition to a steering wheel, so that a one-man control is required. There is a drawback that it is difficult to maneuver at the time of leaving and landing on the shore.

Each of the above-mentioned prior arts is applied to a water jet propulsion device having two aircraft and two axes, and naturally has a limitation in a maneuvering force (for example, wind resistance capacity based on the magnitude of a lateral thrust or the like), and a large ship leaves and docks. Is not adaptable to maneuvering.

[0006] The invention according to the present application provides a watercraft having a multi-machine, multi-axis (for example, four-machine, four-axis) structure that can appropriately set the maneuvering force and is also suitable for complicated maneuvering with many maneuvering elements such as berthing and berthing. It is an object to provide a jet propulsion device.

[0007]

In order to achieve the above object, the invention according to this application has a reverser mechanism for a water jet propulsion device having one joystick and one turning dial, and a plurality of water jet propulsion devices arranged on each side. And a water jet propulsion ship equipped with a deflector mechanism and a control device for controlling the rotation speed of the main engine, a plurality of sideboards of each of the plurality of sideboards are defined as a main propulsion machine, and the other pair of sideboards are defined as a booster machine,
The main propulsion unit is provided with a reverser mechanism and a deflector mechanism,
The booster is provided with at least a reversing mechanism, and the control device determines the thrust of each main propulsion device by the tilt angle of the joystick, and the forward and backward ports output thrust in the same direction with respect to the forward and backward components of the tilt angle. For the left-right component, control is performed so that the left and right aircraft output thrust in the opposite direction, and the deflector angle of each main propulsion unit is determined by the left-right component of the turning angle of the turning dial and the tilt angle of the joystick, and The deflectors of the main propulsion units on both sides move in the same direction with respect to the rotation angle of the turning dial, and control so as to move in the opposite direction with respect to the tilt angle of the joystick. It is determined by the forward and backward components of the turning angle of the turning dial and the tilt angle of the joystick and the front and rear of the tilt angle of the joystick. A marine water jet propulsion device that controls so that the port and starboard machines output thrust in the same direction for the direction component, and the port and starboard machines output thrust in the opposite direction for the rotation angle of the turning dial. .

[0008]

The number of water jet propulsion units (main propulsion units and booster units) can be appropriately set according to the required ship maneuvering power. For example, the main propulsion unit may be two pairs of ports, and if a large turning force is required, the booster unit may be two pairs of ports. By simply operating the joystick and the turning dial on the water jet propulsion system, it is possible to perform all the maneuvers at the time of berthing and landing, which have the most maneuvering elements. In addition, by disposing the booster machine near the side of the ship, a large turning moment can be obtained, so that the ship maneuvering force can be enhanced. Since the operation of the joystick or the turning dial and the direction in which the ship actually moves can be matched, the sense of the ship operator is matched, and the maneuverability is improved.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows a ship equipped with a four-jet four-jet water jet propulsion system. FIG. 1 (a) is a schematic plan view thereof, and FIG. 1 (b) is a stern end provided with the four water jet propulsion systems. It is an expansion perspective view.

As shown in FIG. 1 (a), a remote control having one joystick 1 and one turning dial 2 having an omnidirectionality so that it can be easily operated by one person (one-man control) when the ship leaves and docks. Control devices (including controllers)
3 are installed. The steering device 3 is usually installed on both wings outside the wheelhouse for convenience of maneuvering at the time of berthing. The turning dial 2 is a concept including a steering wheel type. As will be described later, the operation of the joystick 1 and the turning dial 2 controls the rotation speed of each main unit 4 and the reversing mechanism or deflector mechanism of the main propulsion unit and the reversing mechanism of the booster unit. Four water jet propulsors 5 to 8 installed at the stern end
A main engine 4 for operating the water jet propulsion device is connected to each of them, thereby forming a water jet propulsion device with four engines and four axes.

As shown in FIG. 1 (b), two of the four water jet propulsion units have a reversing mechanism R
Main propulsion unit 5 having a deflector mechanism D for steering
The other two units are configured as booster units 7 and 8 having only a reversing mechanism R (however, even if a deflector mechanism is provided but not used, only the reversing mechanism is used). Two of the four aircraft are paired with each other at the port side symmetrical position, and preferably, a pair of the port side booster machines 7,
Reference numeral 8 denotes a pair of main propulsion units 5 and 6 on the outside (toward the side of the ship).
Is located inside (closer to the hull center line). This is because, from the viewpoint of obtaining a large turning moment by the booster, it is preferable to arrange the booster as close to the side as possible. Therefore, in the embodiment, the booster aircraft may be referred to as an outer machine and the main propulsion aircraft may be referred to as an inner machine. The main propulsion unit and the booster unit need not always be set to the same capacity, but at least the main propulsion unit on each side and the booster unit on each side should be set to the same capacity from the viewpoint of avoiding complicated control. Good to keep.

FIG. 1 shows an example of four-equipment and four-axis equipment, but when it is necessary to enhance the capacity of the main propulsion unit as shown in FIG.
Two or more pairs of the main propulsion units 5 and 6 may be installed. Also,
When it is necessary to strengthen the booster units, the booster units 7 and 8 may be provided in two or more pairs, or the main propulsion unit and the booster units may be provided in two or more pairs.

As shown in FIG. 4B, the reverser mechanism R is
Upper flap 1 interlocked via a link mechanism L operated by the expansion / contraction operation of an actuator (drive cylinder) 9
0, a lower flap 11 and a reverse bucket 12. For example, when the ship is moving forward, the reverse bucket 12 is in the horizontal position as shown in FIG.
Are in the parallel position and the largest discharge opening 14 is formed between the two (this state is the fully forwarded reverser angle),
A jet thrust (shown by a dotted line) discharged from the nozzle 18 is jetted straight rearward to obtain a forward thrust. In reverse, the upper and lower flaps 1 as shown in FIG.
Numerals 0 and 11 are in the closed position, and the reverse bucket 12 is rotated downward to a position where the lower opening 15 is fully opened (this state is a full reverse angle), and the jet flows into the upper and lower flaps 1.
After being bent downward at 0 and 11, the reverse bucket 1
2, the liquid is discharged diagonally forward to obtain a reverse thrust. FIG. 1 (b) also shows a reverse state.

On the other hand, the deflector mechanism D is also called a horizontal injection angle deflecting device. As shown in FIG. 5B, the deflector 13 is pivotally supported by the upper and lower pins 17 on the pump casing 16 side. The same function as the steering device is exerted by horizontally turning (this turning angle is called a deflector angle) by another actuator (not shown) as a fulcrum. If there is no need to enhance the lateral thrust, turning force, etc. based on the deflector function of the main propulsion unit, the booster unit does not have this deflector mechanism, and as shown in FIG. However, the deflector 13 is fixed to the pump casing 16 side. Note that the actuator is not shown in FIG. 1 (b) to avoid complicating the drawing.

As shown in FIG. 3, a so-called combinator control system is adopted in which the thrust of the main propulsion unit and the booster unit is controlled by a combination of the reversing angle and the rotation speed of the main unit. FIG. 3 shows the rotation speed RPM of the main engine on the vertical axis.
FIG. 9 is a diagram showing the relationship between the two by taking the reversal angle and the thrust on the horizontal axis. The upper side of the vertical axis indicates the forward side, the lower side indicates the reverse side, and 0 indicates the neutral state. This neutral position corresponds to a state where the reverser mechanism R is at the position shown in FIG. The right side of the horizontal axis indicates the thrust in the forward direction, and the left side indicates the thrust in the reverse direction. As can be seen from this figure, the combinator control means that when a small thrust command is issued, the magnitude of the thrust is adjusted by reducing the rotation speed of the main engine to idle speed and changing the reversing angle. This is a control method in which the thrust is adjusted by increasing or decreasing the number of revolutions of the main engine while being fixed to the state of full forward or full reverse.

In this control method, as described above, the thrust of the main propulsion device on each side controlled by the combination of the main engine speed and the reverser angle is determined by the tilt angle of the joystick.
As determined by the following formula, the forward and backward components of the tilt angle (J _L ) are controlled so that the thrust in the same direction is produced by both the left and right port aircraft, and the left and right components are controlled to produce the thrust in the opposite direction with respect to the lateral component (J _S ). It is supposed to be.

[0017]

(Equation 1)

Similarly, the thrust of the booster on each side, which is similarly controlled by the combination of the number of rotations and the reversing angle, is determined by the rotation angle (K) of the turning dial and the longitudinal component (J _L ) of the tilt angle of the joystick. As determined by the following formula, the thrust of the joystick is controlled so that the thrust in the same direction is generated by both the port and port machines for the tilt angle, and the rotation angle of the turning dial is controlled by the port and port machines to generate the thrust in the opposite direction. ing.

[0019]

(Equation 2)

Further, the deflector angle of the main propulsion unit is determined by the rotation angle (K) of the turning dial and the left-right component (J _S ) of the tilt angle of the joystick with respect to the rotation angle of the turning dial as defined by the following equation. The deflectors of the main propulsion units on the left and right sides are controlled to move in the same direction, and to move in the opposite direction with respect to the tilt angle of the joystick.

[0021]

(Equation 3)

However, in this case, when the forward / backward component of the tilt angle of the joystick is on the reverse side, the sign of the constant E is exchanged. This is a process for matching the direction of the turning moment generated by the booster unit with the direction of the moment generated by the main propulsion unit when the turning dial is turned.
When the front-back component of the joystick tilt angle is near zero, the constant E is forcibly set to zero. This is a process to keep the deflector from moving if only the turning dial is turned, because the main propulsion device remains at zero thrust.

In the maneuvering device having the above-described control contents, an example of maneuvering as shown in FIGS. 4 to 10 can be realized by operating one joystick and one turning dial by the operator. In these figures, the arrow at the end of the stern indicates the direction (the direction of thrust is opposite) and the size of the jet, and the thick arrow shown on the hull indicates the movement of the ship.

FIG. 4 shows a neutral state. As shown in FIG. 3A, the joystick 1 is in the neutral position (tilt angle = 0), and the rotation angle of the turning dial 2 is in the zero position. At this time, the main propulsion unit and the booster unit are in a state where the forward and backward thrust are balanced and the ship does not move forward or backward. FIG. 2B shows the state of the reverser mechanism R which realizes this neutral state, in which a part of the jet flows out of the opening 14 between the upper flap 10 and the lower flap 11, and the other jet flows in the reverse bucket. Spouting diagonally forward along 12. All four main propulsion units and booster units are in this state. In this case, the main engine speed is Nip = Nis = idle rotation and Nop = Nos = idle rotation. The subscripts i are for the inside machine, o are for the outside machine, and p
Indicates port aircraft, and s indicates starboard aircraft (the same applies hereinafter).

FIG. 5 shows a forward movement state (the ship moves in the direction of the thick arrow). As shown in FIG. 1A, the joystick 1 is tilted straight forward, and the rotation angle of the turning dial 2 is zero. In a state where the inner main propulsion units 5 and 6 and the outer booster units 7 and 8 are both generating forward thrust, at this time, the upper and lower flaps 10 and 11 are in the horizontal position as shown in FIG. All of the jets are forward thrust. The main engine speed in this example is Nip = Nis and Nop = Nos. As described above, when the tilt angle of the joystick is small (idle rotation range), only the reverser operates, and as the tilt angle increases, the reverser is fixed to the full forward position (see FIG. 3).

FIG. 6 shows the reverse state (the ship moves in the direction of the thick arrow). As shown in FIG. 1A, the joystick 1 is tilted straight backward, and the rotation angle of the turning dial 2 is zero. Both the inner main propulsion unit and the outer booster unit have upper and lower flaps 10 and 11 positioned diagonally in a straight line as shown in FIG. 2B, the opening therebetween is closed, and the entire jet flows out along the reverse bucket 12. And only reverse thrust is generated. The main engine speed is Nip = Nis and Nop = Nos. When the tilt angle of the joystick is small (idle rotation range), only the reverser operates, and when the tilt angle increases, the reverser is fixed to the full backward movement (see FIG. 3).

FIG. 7A shows a forward left turning state (the ship moves in the direction of the thick arrow). The joystick 1 is tilted straight forward, and the turning dial 2 is rotated to the left by a predetermined angle. The main engine speed in this example is Nip = Nis, Nop <Nos.
It is. When the turning angle of the turning dial is small, all four take the forward position, but when the turning angle is large,
Only the port outer machine 7 operates in the reverse direction. This is because, as described above, the port side booster units 7 and 8 produce thrust in the same direction for the forward and backward components of the joystick tilt angle, and the port side booster units 7 and 8 for the rotation of the turning dial.
Is controlled to produce a thrust in the reverse direction. The deflector moves in the same direction with the main propulsion units on both sides in the same direction in proportion to the rotation angle of the turning dial, and the jet is jetted obliquely to the left. Eventually, the ship moves forward in the direction of the thick arrow and turns left.

FIG. 7B shows a backward left turning state (the ship moves in the direction of the thick arrow). The joystick 1 is tilted backward, and the turning dial 2 is rotated leftward by a predetermined angle. The main engine speed in this example is Nip = Nis, Nop> Nos. With respect to the reversers, when the turning angle of the turning dial 2 is small, all four take the reverse position. When the rotation angle increases, only the starboard outer machine 8 operates in the forward direction. Regarding the deflector, when the joystick 1 is moved backward, when the deflector is operated by the turning dial 2, the deflector moves in the opposite direction to the above-described forward left turning in FIG. 7 (a).

FIG. 8 shows an in-turn state (the ship moves in the direction of the thick arrow). The joystick 1 is in the neutral position, and the turning dial 2 is rotated 90 ° to the left. In this example, the main engine rotation speed is Nip = Nis = idle rotation, and Nop ≧ Nos. In addition, since loss occurs when the water flow is bent backward by the reverser mechanism R, when the rotation amount of the reverser mechanism R is small, the main engine rotation speed may be the same in the forward and backward movements. In order to produce the same thrust, the main engine speed on the reverse side must be set higher.

The reversers are such that the inner machines 5 and 6 are in the neutral position on both sides, the port outer machine 7 is in reverse, and the starboard outer machine 8 is in forward position. When the joystick 1 is in the vicinity of the neutral position, the deflector maintains the neutral position (deflector angle = 0) regardless of the operation of the turning dial 2. Eventually, the turning thrust generated by the booster machines 7 and 8 on each side generates a turning moment to turn the ship leftward on the spot.

FIG. 9 (a) shows a port sideward traveling state (the ship moves in the direction of the thick arrow). The joystick 1 is tilted about half to the left and the turning dial 2 has a rotation angle of zero. In this example, the main engine speed is Nip ≧ Nis, Nop = Nos = idle speed. As for the reverser, the outer machine is in the neutral position on both sides, the port inner machine is in reverse, and the starboard inner machine is in forward position. When the deflector tilts the joystick to the left, the port inner machine turns left and the starboard inner machine turns right. When the joystick is tilted by about half, the deflector is set to the maximum angle.

FIG. 9 (b) shows the azimuth compensation state during port side transit (FIG. 9).
(a) When the ship turns around in the state of (a), correction is made to move the ship to the side. The joystick 1 is fully tilted to the left, and the turning dial 2 is turned to the left by a predetermined angle. In this example, the main engine speed is Nip ≧ Nis, Nop = N
os. For the reverser, the outer machine depends on the direction in which the turning dial is turned. That is, in this ship maneuvering example, the port outer machine takes the reverse position, the starboard outer machine takes the forward position, the port inner machine moves backward, and the starboard inner machine takes the forward position. The deflector is set to a constant so that when the joystick is fully tilted sideways, the deflector does not move while maintaining the maximum angle regardless of the turning of the turning dial.

FIG. 10 (a) shows a state of forward skew to the left (the ship moves in the direction of the thick arrow). The joystick 1 is tilted obliquely forward and left, and the turning dial 2 is in the neutral (zero) position. The main engine speed is Nip <Nis, Nop = Nos. The reversers and deflectors are the same as those shown in FIG. 9 (a), but the forward thrust of the starboard inner machine is larger because the left-right component on the forward side of the joystick is larger than the front-rear direction.
As can be seen from this boat maneuvering example, the direction in which the joystick is tilted coincides with the movement of the boat, so that it matches the sensation of the boat operator, making boat handling extremely easy.

FIG. 10 (b) shows a backward skew state (the ship moves in the direction of the thick arrow). The joystick 1 is tilted obliquely backward and left, and the turning dial 2 is in the neutral (zero) position.
The main engine rotation speed is Nip> Nis and Nop = Nos. The reverser and the deflector are the same as those shown in FIG. 9 (a), but the backward thrust of the port inner machine is larger because the left-right component on the reverse side of the joystick is larger than the front-rear direction.

In FIGS. 10 (a) and 10 (b), the turning dial 2 is neutral (
(Zero) position, but in actual ship maneuvering, azimuth adjustment by the turning dial 2 is necessary as in the case of the transverse traveling in FIG. 9 (b).

In the above embodiment, in order to obtain a larger turning moment, a pair of booster units on the left and right sides are arranged as far as possible from the center line of the hull, that is, outside the pair of main propulsion units. Although described with an example, this arrangement may be reversed. Further, the capacity of the booster machine may be the same as or smaller than that of the main propulsion machine, and may be determined according to the size of the ship and the demand for the maneuvering ability. In order to enhance the capability of the main propulsion unit by operating the deflector, the booster unit may be provided with a deflector mechanism.

[0037]

The water jet propulsion device, which is the most suitable for one-man control, can operate all the water jet propulsion devices at the time of departure and arrival at the shore, which has the largest number of boat maneuvering elements, simply by operating the joystick and turning dial. realizable.

In addition, since the operation of the joystick or the turning dial and the direction in which the ship actually moves can be configured to match the sense of the ship operator, the ship is extremely easy to handle. As a result, quick and accurate maneuvering becomes possible,
The time required for taking off and landing is greatly reduced.

Since a plurality of water jet propulsion devices are provided, it is easy to increase the maneuvering power accordingly, and a water jet propulsion device most suitable for maneuvering a large ship can be obtained. Since the maneuvering ability can be freely set by appropriately setting the capacity of not only the main propulsion unit but also the booster unit, it can be applied to a large ship.
By arranging the booster machine near the side of the boat, a large turning moment can be obtained, and the maneuvering force required for turning the ship can be enhanced.

[Brief description of the drawings]

FIG. 1 (a) is a schematic plan view of a four-jet, four-axis water jet propulsion ship according to an embodiment of the present invention, and FIG. 1 (b) is a stern end in which four water jet propulsion ships are arranged. FIG. 4 is an enlarged perspective view of FIG.

FIG. 2 is a schematic plan view of the stern end showing an example of equipment when a main propulsion unit of the water jet propulsion unit is reinforced.

FIG. 3 is an explanatory diagram of combinator control.

FIG. 4 shows the neutral state of the ship, (a) is a plan view of the ship schematically showing the position of the joystick and the turning dial, and the direction and size of the jet, and (b) is the reverser mechanism in this neutral state. It is a sectional side view which shows the state of a jet.

FIG. 5 is a plan view of the ship showing the forward state of the ship, (a) schematically showing the position of the joystick and the turning dial, and the direction and size of the jet, and (b) the reverser mechanism in this forward state. It is a sectional side view which shows the state of a jet.

FIG. 6 is a plan view of the ship in which the position of the joystick and the turning dial and the direction and size of the jet are schematically shown, and FIG. 6 (b) is a plan view of the ship in reverse. It is a sectional side view which shows the state of a jet.

FIGS. 7 (a) and 7 (b) show the positions of the joystick and the turning dial when the ship is turning forward or turning left, respectively.
It is the top view of the ship which displayed the direction and magnitude | size of the jet, and the movement of the ship typically.

FIG. 8 is a plan view of the ship schematically showing the positions of the joystick and the turning dial, the direction and size of the jet, and the movement of the ship when the ship turns in place.

FIGS. 9 (a) and 9 (b) are schematic views of the position of the joystick and the turning dial, and the direction and size of the jet when the ship is transiting to port or when compensating for direction during port transit, respectively. It is a top view.

FIGS. 10 (a) and 10 (b) schematically show the position of the joystick and turning dial, the direction and size of the jet, and the movement of the ship when the ship is sloping forward or leftward, respectively. It is a top view of a ship.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Joystick 2 ... Turning dial 3 ... Steering device 4 ... Main engine 5 ... Port main propulsion machine (port inner machine) 6 ... Starboard main propulsion machine (starboard inner machine) 7 ... Port booster machine (port outer machine) 8 ... Starboard booster Machine (starboard outer machine) R: Reverser mechanism D: Deflector mechanism

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int. Cl. ⁶ , DB name) B63H 11/107 B63H 25/02 B63H 25/46

Claims (1)

(57) [Claims] 1. A water jet having one joystick and one turning dial, and having a reversing mechanism and a deflector mechanism of a water jet propulsion machine arranged on each side and a control device for controlling a main engine speed. In the propulsion ship, one or more pairs of ports on both sides are regarded as a main propulsion unit, and the other pair of ports are identified as a booster unit. The main propulsion unit is provided with a reversing mechanism and a deflector mechanism. At least a reversing mechanism is provided, the control device determines the thrust of each main propulsion device by the tilt angle of the joystick, and the forward and backward components of the forward and backward components of the tilt angle output thrust in the same direction, and For the left-right component, control is performed so that the left and right aircraft output thrust in the opposite direction.Furthermore, the deflector angle of each main propulsion unit is adjusted to the rotation angle of the turning dial. The deflectors of the main propulsion units on both sides move in the same direction with respect to the rotation angle of the turning dial, and move in the opposite direction with respect to the rotation angle of the joystick. On the other hand, the thrust of each booster machine is determined by the forward and backward components of the rotation angle of the turning dial and the tilt angle of the joystick, and the forward and backward ports output the thrust in the same direction for the forward and backward components of the tilt angle of the joystick. A water jet propulsion device for a marine vessel, which controls the left and right port machines to produce thrusts in opposite directions with respect to the rotation angle of the turning dial.