WO2015154544A1 - 吊舱式全回转泵喷射矢量推进器 - Google Patents

吊舱式全回转泵喷射矢量推进器 Download PDF

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Publication number
WO2015154544A1
WO2015154544A1 PCT/CN2015/000234 CN2015000234W WO2015154544A1 WO 2015154544 A1 WO2015154544 A1 WO 2015154544A1 CN 2015000234 W CN2015000234 W CN 2015000234W WO 2015154544 A1 WO2015154544 A1 WO 2015154544A1
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Prior art keywords
impeller
vector
steering gear
pod
pump injection
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PCT/CN2015/000234
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English (en)
French (fr)
Inventor
张云飞
成亮
邹雪松
梁亮
刘陈利
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深圳市云洲创新科技有限公司
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Application filed by 深圳市云洲创新科技有限公司 filed Critical 深圳市云洲创新科技有限公司
Priority to EP15776780.7A priority Critical patent/EP3141472B1/en
Publication of WO2015154544A1 publication Critical patent/WO2015154544A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
    • B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
    • B63H5/16—Arrangements on vessels of propulsion elements directly acting on water of propellers characterised by being mounted in recesses; with stationary water-guiding elements; Means to prevent fouling of the propeller, e.g. guards, cages or screens
    • B63H5/165—Propeller guards, line cutters or other means for protecting propellers or rudders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H11/00—Marine propulsion by water jets
    • B63H11/02—Marine propulsion by water jets the propulsive medium being ambient water
    • B63H11/04—Marine propulsion by water jets the propulsive medium being ambient water by means of pumps
    • B63H11/08—Marine propulsion by water jets the propulsive medium being ambient water by means of pumps of rotary type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/46—Steering or dynamic anchoring by jets or by rudders carrying jets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
    • B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
    • B63H5/125—Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction, e.g. podded azimuthing thrusters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
    • B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
    • B63H5/125—Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction, e.g. podded azimuthing thrusters
    • B63H2005/1254—Podded azimuthing thrusters, i.e. podded thruster units arranged inboard for rotation about vertical axis
    • B63H2005/1258—Podded azimuthing thrusters, i.e. podded thruster units arranged inboard for rotation about vertical axis with electric power transmission to propellers, i.e. with integrated electric propeller motors

Definitions

  • the present invention relates to a propeller, and more particularly to a pod-type full-slewing pump injection vector thruster.
  • Unmanned survey ships are unmanned ships.
  • the carrier also integrates the measuring equipment, and then uses the software and equipment such as navigation, communication and automatic control to receive, process and analyze the data collected by the unmanned survey ship in real time on the shore base, and automatically and remotely control the unmanned ship and Other sensors operate and control. This can well solve areas such as dangerous areas, shoals, and nearshore areas where the manned ships cannot reach or are difficult to reach in the water area measurement and investigation fields.
  • the unmanned ship is prone to the problem of insufficient suction and cavitation of the propeller and insufficient suction in the low-speed operation without pressure in the actual working process, and the problem that the underwater pump sprays the stepped water inlet easily by the water grass, and the water spray
  • the system requires a very complex reversing system, while at the same time fine-tuning the angle on the line and steering, the overall power system needs to be turned, resulting in greater resistance and energy consumption.
  • Underwater pump spray installation and maintenance is difficult, single operation, lack of flexibility, low efficiency, and unsafe.
  • the turning is controlled by the frequency modulation motor.
  • the patent scheme can ensure that the ship has sufficient thrust when turning, its structure is complicated. If it is applied to an unmanned ship, especially when it is applied to a small unmanned ship, it is still necessary to fine-tune the angle and turn when sailing. Turning the overall power system, resulting in greater resistance and energy consumption, and also does not well avoid the impact of water grass entanglement.
  • the technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a pod-type full-slewing pump with simple structure, flexible assembly and disassembly, high degree of integration, high safety performance, flexible control, and effective work efficiency. Jet vector thruster.
  • the present invention includes a controller, a boom, a motor fixedly disposed under the boom and electrically connected to the controller, and an impeller disposed on an output shaft of the motor,
  • the upper end of the boom is connected to a 360 degree steering gear, and the 360 degree steering gear is electrically connected to the controller 1.
  • the invention further includes an impeller annular cover adapted to the impeller, an annular filter cover disposed between the impeller annular cover and the motor, the annular filter cover having one end fixed to the motor and the other end being The impeller annular shrouds are connected.
  • the annular filter cover is uniformly provided with a plurality of water inlets, and the plurality of water inlets have the same length direction as the fluid injection direction.
  • a guide impeller is disposed at the injection port of the impeller annular cover. In operation, fluid is sequentially ejected from the impeller annular cover and the guide impeller.
  • a guide tube capable of X and Y axial rotation is hinged to the outside of the injection port of the impeller annular cover.
  • the pod-type all-slewing pump injection vector thruster further includes a vector steering gear I and a vector steering gear II that are drivingly coupled to the guide impeller, the vector steering gear I and the vector steering gear II making the guiding impeller Achieve adjustment of two degrees of freedom in the horizontal and vertical directions.
  • the vector steering gear I and the vector steering gear II are both 60-90 degree steering gears.
  • the vector steering gear I and the vector steering gear II are both connected to the guide impeller by wires.
  • a sealing cover is sleeved on the output shaft, and an upper end of the sealing cover is sealingly engaged with the output shaft, and a lower end of the sealing cover is sealingly engaged with an end of the motor.
  • the upper end of the boom is provided with a short shaft with three large current overcurrent slip rings, and the short shaft is drivingly connected with the 360 degree steering gear.
  • the present invention has the following advantages: since the present invention includes a controller, a boom, a motor fixedly disposed below the boom and electrically connected to the controller, and an impeller disposed on an output shaft of the motor, The upper end of the boom is connected to a 360-degree steering gear, and the 360-degree steering gear is electrically connected to the controller 1. Therefore, the present invention has a simple structure, flexible assembly and disassembly, and high degree of integration.
  • the signal controls the rotation of the 360-degree steering gear to realize the rotation control of the boom at any angle of 360 degrees, which makes the hull reversing convenient and simple, can effectively improve the working efficiency of the ship, and solves the needs of the previous water spray system. Very complicated problem with the reversing system.
  • the present invention further includes an impeller annular cover adapted to the impeller, and an annular filter cover is disposed between the impeller annular cover and the motor, one end of the annular filter cover is fixed on the motor, and the other end is fixed
  • the invention is connected with the impeller annular cover, which solves the problem that the underwater pump sprays the stepped water inlet to be afraid of water and grass, greatly improves the safety performance, and the inlet of the annular filter cover is below the water line, further solving the common problem.
  • the pod-type full-slewing pump injection vector thruster further includes a vector steering gear I and a vector steering gear II that are drivingly coupled to the guide impeller, the vector steering gear I and the vector steering gear II make The guide impeller realizes the adjustment of two degrees of freedom in the lateral direction and the longitudinal direction, and the control is flexible and diverse.
  • the overall power system steering is not required at the fine adjustment angle and the steering, so that the problem of large resistance and energy consumption is not generated.
  • Figure 1 is a schematic view of the structure of the present invention.
  • the present invention includes a controller 1 , a boom 2 , a motor 3 fixedly disposed below the boom 2 and electrically connected to the controller 1 , and a motor 3 disposed on the motor 3 .
  • the impeller 5 on the output shaft 4 is connected to the upper end of the boom 2 with a 360 degree servo 6, which is electrically connected to the controller 1.
  • the present invention also includes an impeller annular cover 7 adapted to the impeller 5, an annular filter cover 8 is disposed between the impeller annular cover 7 and the motor 3, and one end of the annular filter cover 8 is fixed to the The other end of the motor 3 is connected to the impeller ring cover 7.
  • the annular filter cover 8 is uniformly provided with a plurality of water inlets 9.
  • the longitudinal direction of the plurality of water inlets 9 is the same as the fluid ejection direction.
  • a guide impeller 10 is disposed at the injection port of the impeller annular cover 7, and in operation, fluid is sequentially ejected from the impeller annular cover 7 and the guide impeller 10.
  • the outer side of the injection port of the impeller annular cover 7 is hinged with a guide tube 11 which can rotate X and Y axially, and the guide tube 11 can make the direction of the ship travel more precise.
  • the pod-type all-slewing pump injection vector thruster further includes a vector steering gear I 12 and a vector steering gear II 13 that are drivingly coupled to the guide impeller 10, the vector steering gear I 12 and the vector steering gear II 13
  • the guide impeller 10 is adjusted to achieve two degrees of freedom in the lateral and longitudinal directions.
  • the vector steering gear I 12 and the vector steering gear II 13 are both 60-90 degree steering gears.
  • the vector steering gear I 12 and the vector steering gear II 13 are both drivingly connected to the guide impeller 10 or the guide tube 11 via a wire 14.
  • the output shaft 4 is sleeved with a sealing cover 15 .
  • the upper end of the sealing cover 15 is sealingly engaged with the output shaft 4
  • the lower end of the sealing cover 15 is sealingly fitted with the end of the motor 3 to further ensure The waterproof performance of the motor 3.
  • the upper end of the boom 2 is provided with a short shaft 16 with three high-current over-current slip rings, and the short shaft 16 is drivingly connected with the 360-degree steering gear 6.
  • the short shaft 16 Rotating and sealingly connected to the bottom of the hull 17.
  • the controller 1, the 360 degree steering gear 6, the vector steering gear I 12 and the vector steering gear II 13 are all located in the hull 17; the short shaft 16 and The bottom of the hull 17 is rotated and sealedly connected; the motor 3 is operated in a fully sealed state under water to achieve direct water cooling, while a three-way high current slip ring is used to transmit current to the motor 3.
  • Two small 60-90 degree steering gears realize stepless adjustment of the X-axis and Y-axis angles of the guiding impeller 10 by the steel wire 14, and the guiding impeller 10 is adjusted by changing the direction of the water flow, thereby realizing the direction of the propulsion force.
  • the fine-tuning when the ship is sailing in a straight line, does not require the overall power system steering at the fine-tuning angle and steering, so that there is no problem of large resistance and energy consumption, thereby further improving the ship's endurance.
  • the pod-type full-slewing pump injection vector thruster is a new type of marine propulsion device that integrates propulsion and steering gear.
  • the pod-type all-slewing pump injection vector thruster places the motor 3 outside the cabin, directly connected to the impeller 5, and can be horizontally rotated within 360° to achieve vector propulsion.
  • the invention is applied to the technical field of marine vector thrusters.

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Structures Of Non-Positive Displacement Pumps (AREA)

Abstract

一种吊舱式全回转泵喷射矢量推进器，包括控制器（1）、吊臂（2）、固定设置吊臂（2）下方且与控制器（1）电连接的电机（3）及设置在电机（3）的输出轴（4）上的叶轮（5），吊臂（2）的上端传动连接有360度舵机（6），360度舵机（6）与控制器（1）电连接。该矢量推进器应用于船舶矢量推进器的技术领域，其结构简单、拆装灵活、整体化程度高、安全性能高、控制灵活多样且能有效提高工作效率。

Description

吊舱式全回转泵喷射矢量推进器 技术领域
本发明涉及一种推进器，特别涉及吊舱式全回转泵喷射矢量推进器。
背景技术
随科学技术的不断发展，由人工直接在海川、湖泊、海岸、港湾、水库等水域取水测量的方式已经逐渐发生改变，而无人测量船则不断得到发展，无人测量船以无人船为载体，同时还集成测量设备，再利用导航、通讯和自动控制等软件和设备在岸上基地实时接收、处理和分析无人测量船所采集的数据，并以自控和遥控的方式对无人船和其他传感器进行操作和控制。这样能很好的解决了水域测量、调查领域载人船无法达到或不易到达的危险区域、浅滩、近岸等区域。
目前的无人船在实际工作过程中容易出现推进器吸空和空泡以及低速运行无压状态吸力不够的问题，以及水下泵喷阶梯状的进水口容易被水草缠绕的问题，而且喷水系统需要很复杂的倒车系统，同时航行时直线上微调角度以及转向时需要使整体动力系统转向，从而产生较大阻力和耗能。水下泵喷安装维护困难、可操作性能单一，缺乏灵活性、效率低、不安全。
目前有一公开号为202175194U的中国专利，其公开了一种矢量推进器，包括两端开口的推进器壳体，通过星形支架固定在推进器壳体之中的电机壳体，以及固定于电机壳体之中的动力电机；所述星形支架沿推进器壳体轴向方向设有若干供水流通过的通道；动力电机的一端安装有增压前主轴，增压前主轴上安装有前增压涡扇组；动力电机的另一端安装有后增压涡扇组；所述电机壳体保持密封；其还包括调频电机和空心轴，调频电机的输出轴与空心轴的一端固定，空心轴的另一端与推进器壳体和电机壳体固定，所述空心轴与电机壳体之间保持密封。在船舶或者潜艇需要转弯时，由调频电机控制实现转弯。该专利的方案虽然能保证船只在转弯时有足够的推力，但是其结构复杂，若是运用到无人船上时，特别是运用到小型无人船时，航行时直线上微调角度以及转向时仍然需要使整体动力系统转向，从而产生较大阻力和耗能，同时也不能很好避免水草缠绕的产生影响。
发明内容
本发明所要解决的技术问题是克服现有技术的不足，提供一种结构简单、拆装灵活、整体化程度高、安全性能高、控制灵活多样且能有效提高工作效率的吊舱式全回转泵喷射矢量推进器。
本发明所采用的技术方案是：本发明包括控制器、吊臂、固定设置所述吊臂下方且与所述控制器电连接的电机及设置在所述电机的输出轴上的叶轮，所述吊臂的上端传动连接有360度舵机，所述360度舵机与所述控制器1电连接。
本发明还包括与所述叶轮相适配的叶轮环形罩，所述叶轮环形罩与所述电机之间设置有环形过滤罩，所述环形过滤罩的一端固定在所述电机上，另一端与所述叶轮环形罩相连接。
所述环形过滤罩上均布有多个进水口，多个所述进水口的长度方向与流体喷射方向相同。
所述叶轮环形罩的喷射口处设置有导向叶轮，工作时，流体依次从所述叶轮环形罩和所述导向叶轮后喷射出。
所述叶轮环形罩的喷射口外侧铰接有可X、Y轴向转动的导向管。
所述吊舱式全回转泵喷射矢量推进器还包括与所述导向叶轮传动连接的矢量舵机I和矢量舵机II，所述矢量舵机I和所述矢量舵机II使得所述导向叶轮实现横向和纵向两个自由度的调节。
所述矢量舵机I和所述矢量舵机II均为60-90度舵机。
所述矢量舵机I和所述矢量舵机II均通过钢丝与所述导向叶轮传动连接。
所述输出轴上套接有密封罩，所述密封罩的上端与所述输出轴密封配合，所述密封罩的下端与所述电机的端部密封配合。
所述吊臂的上端设置有带有三路大电流过电滑环的短轴，所述短轴与所述360度舵机传动连接。
本发明的有益效果是：由于本发明包括控制器、吊臂、固定设置所述吊臂下方且与所述控制器电连接的电机及设置在所述电机的输出轴上的叶轮， 所述吊臂的上端传动连接有360度舵机，所述360度舵机与所述控制器1电连接，所以，本发明结构简单、拆装灵活、整体化程度高，所述控制器通过信号控制所述360度舵机转动，实现对所述吊臂能在360度任一角度的旋转控制，使船体倒车变得方便简单，能有效提高船舶的工作效率，解决了以往喷水系统需要很复杂的倒车系统的问题。
同时本发明还包括与所述叶轮相适配的叶轮环形罩，所述叶轮环形罩与所述电机之间设置有环形过滤罩，所述环形过滤罩的一端固定在所述电机上，另一端与所述叶轮环形罩相连接，解决了以往水下泵喷阶梯状进水口怕水草及缠绕的问题，大大提高了安全性能，而且环形过滤罩的进水口都在水线以下，进一步解决了普通泵喷射推进器的吸空和空泡以及低速运行无压状态吸力不够的问题。
另外，由于所述吊舱式全回转泵喷射矢量推进器还包括与所述导向叶轮传动连接的矢量舵机I和矢量舵机II，所述矢量舵机I和所述矢量舵机II使得所述导向叶轮实现横向和纵向两个自由度的调节，控制灵活多样，船舶在直线上航行时在微调角度以及转向时不需要整体动力系统转向，从而不会产生大阻力和耗能的问题。
附图说明
图1是本发明的结构示意图。
具体实施方式
如图1所示，在本实施例中，本发明包括控制器1、吊臂2、固定设置所述吊臂2下方且与所述控制器1电连接的电机3及设置在所述电机3的输出轴4上的叶轮5，所述吊臂2的上端传动连接有360度舵机6，所述360度舵机6与所述控制器1电连接。
本发明还包括与所述叶轮5相适配的叶轮环形罩7，所述叶轮环形罩7与所述电机3之间设置有环形过滤罩8，所述环形过滤罩8的一端固定在所述电机3上，另一端与所述叶轮环形罩7相连接。
所述环形过滤罩8上均布有多个进水口9，在本实施例中，多个所述进水口9的长度方向与流体喷射方向相同。
所述叶轮环形罩7的喷射口处设置有导向叶轮10，工作时，流体依次从所述叶轮环形罩7和所述导向叶轮10后喷射出。
所述叶轮环形罩7的喷射口外侧铰接有可X、Y轴向转动的导向管11，所述导向管11能使船舶行驶的方向更加精准。
所述吊舱式全回转泵喷射矢量推进器还包括与所述导向叶轮10传动连接的矢量舵机I 12和矢量舵机II 13，所述矢量舵机I 12和所述矢量舵机II 13使得所述导向叶轮10实现横向和纵向两个自由度的调节。
所述矢量舵机I 12和所述矢量舵机II 13均为60-90度舵机。
在本实施例中，所述矢量舵机I 12和所述矢量舵机II 13均通过钢丝14与所述导向叶轮10或所述导向管11传动连接。
所述输出轴4上套接有密封罩15，所述密封罩15的上端与所述输出轴4密封配合，所述密封罩15的下端与所述电机3的端部密封配合，进一步确保了所述电机3的防水性能。
所述吊臂2的上端设置有带有三路大电流过电滑环的短轴16，所述短轴16与所述360度舵机6传动连接，在本实施例中，所述短轴16与船体17底部转动且密封连接。
本发明在使用的时候，所述控制器1、所述360度舵机6、所述矢量舵机I 12及所述矢量舵机II 13均位于所述船体17内；所述短轴16与船体17底部转动且密封连接；所述电机3在水下全密封状态工作，实现直接水冷，同时使用三路大电流滑环为所述电机3传输电流。两个小型的60-90度舵机通过所述钢丝14实现所述导向叶轮10的X轴和Y轴角度无级调整，所述导向叶轮10通过改变水流方向进行调整，从而实现对推进力方向的微调，船舶在直线上航行时在微调角度以及转向时不需要整体动力系统转向，从而不会产生大阻力和耗能的问题，由此可以进一步提高船舶的续航能力。
吊舱式全回转泵喷射矢量推进器是一种集推进和操舵装置于一体的新型船舶推进装置。吊舱式全回转泵喷射矢量推进器将所述电机3置于船舱外部，直接与所述叶轮5相连，可以在360°内水平转动以实现矢量推进。
本发明应用于船舶矢量推进器的技术领域。
虽然本发明的实施例是以实际方案来描述的，但是并不构成对本发明含义的限制，对于本领域的技术人员，根据本说明书对其实施方案的修改及与其他方案的组合都是显而易见的。

Claims (10)

  1. 一种吊舱式全回转泵喷射矢量推进器，其特征在于：其包括控制器(1)、吊臂(2)、固定设置所述吊臂(2)下方且与所述控制器(1)电连接的电机(3)及设置在所述电机(3)的输出轴(4)上的叶轮(5)，所述吊臂(2)的上端传动连接有360度舵机(6)，所述360度舵机(6)与所述控制器(1)电连接。
  2. 根据权利要求1所述的吊舱式全回转泵喷射矢量推进器，其特征在于：所述吊舱式全回转泵喷射矢量推进器还包括与所述叶轮(5)相适配的叶轮环形罩(7)，所述叶轮环形罩(7)与所述电机(3)之间设置有环形过滤罩(8)，所述环形过滤罩(8)的一端固定在所述电机(3)上，另一端与所述叶轮环形罩(7)相连接。
  3. 根据权利要求2所述的吊舱式全回转泵喷射矢量推进器，其特征在于：所述环形过滤罩(8)上均布有多个进水口(9)，多个所述进水口(9)的长度方向与流体喷射方向相同。
  4. 根据权利要求2或3所述的吊舱式全回转泵喷射矢量推进器，其特征在于：所述叶轮环形罩(7)的喷射口处设置有导向叶轮(10)，工作时，流体依次从所述叶轮环形罩(7)和所述导向叶轮(10)后喷射出。
  5. 根据权利要求2或3所述的吊舱式全回转泵喷射矢量推进器，其特征在于：所述叶轮环形罩(7)的喷射口外侧铰接有可X、Y轴向转动的导向管(11)。
  6. 根据权利要求4所述的吊舱式全回转泵喷射矢量推进器，其特征在于：所述吊舱式全回转泵喷射矢量推进器还包括与所述导向叶轮(10)传动连接的矢量舵机I(12)和矢量舵机II(13)，所述矢量舵机I(12)和所述矢量舵机II(13)通过万向机构使所述导向叶轮(10)实现横向和纵向两个自由度的调节。
  7. 根据权利要求6所述的吊舱式全回转泵喷射矢量推进器，其特征在于：所述矢量舵机I(12)和所述矢量舵机II(13)均为60-90度舵机。
  8. 根据权利要求6或7所述的吊舱式全回转泵喷射矢量推进器，其特征在于：所述矢量舵机I(12)和所述矢量舵机II(13)均通过钢丝(14)与所述导向管(11)传动连接。
  9. 根据权利要求1所述的吊舱式全回转泵喷射矢量推进器，其特征在于：所述输出轴(4)上套接有密封罩(15)，所述密封罩(15)的上端与所述输出轴(4)密封配合，所述密封罩(15)的下端与所述电机(3)的端部密封配合。
  10. 根据权利要求1所述的吊舱式全回转泵喷射矢量推进器，其特征在于：所述吊臂(2)的上端设置有带有三路大电流过电滑环的短轴(16)，所述短轴(16)与所述360度舵机(6)传动连接。
PCT/CN2015/000234 2014-04-07 2015-04-04 吊舱式全回转泵喷射矢量推进器 WO2015154544A1 (zh)

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