WO2019037727A1

WO2019037727A1 - Omnidirectional propeller, ship, floating platform, submersible, and submarine

Info

Publication number: WO2019037727A1
Application number: PCT/CN2018/101611
Authority: WO
Inventors: 王文华; 黄一; 王琳琳; 杜亚震; 王永杰; 刘刚; 张崎; 李红霞; 陈景杰; 李志远; 董磊磊; 甄兴伟; 杨宏启
Original assignee: 大连理工大学
Priority date: 2017-08-22
Filing date: 2018-08-21
Publication date: 2019-02-28
Also published as: CN107512380A; JP6982681B2; CN107512380B; JP2020536781A

Abstract

An omnidirectional propeller capable of providing a ship, a platform, a submersible, and a submarine with a force or moment having six degrees of freedom. The propeller comprises a propeller pod (301) fixed below a slewing mechanism (2) by a transmission mechanism. When the omnidirectional propeller is in operation, the slewing mechanism (2) horizontally rotates the propeller pod (301) to a specific angle, and the transmission mechanism pitches the propeller pod (301) to a specific angle, such that the propeller pod (301) produces a longitudinal rotating moment, a lateral rotating moment, a bow steering moment, a vertical rotating moment, a lateral steering moment, and a longitudinal steering moment. The omnidirectional propeller, in conjunction with an orientation sensing system of a ship, a platform or a submersible, adapts to the shape of a hull, the platform, or the submersible in complex marine conditions, and rotates to a specific spatial angle to produce corresponding moment, enhancing stability.

Description

An all-round propeller, ship, floating platform, submersible and submarine

Technical field

The invention relates to a propeller for use in a marine and offshore engineering platform, in particular to a propulsion device capable of generating a six-degree-of-freedom direction force (moment) for a floating body. Involving patent classification number B operations; transporting B63 ships or other watercraft; ship-related equipment B63H ship propulsion or steering gear B63H23/00 from the propulsion power equipment to the propulsion components for power transmission B63H23/02 with mechanical transmissions.

Background technique

In the field of marine and marine engineering, propellers for the dynamic positioning of ships, offshore platforms or submersibles, and submarines generally only produce forces (moments) of three degrees of freedom (longitudinal, swaying and swaying) in the horizontal plane. However, for the out-of-plane motion (heavy, roll, and pitch) with three other degrees of freedom, it is also necessary to apply the thrust of the thruster at the corresponding degree of freedom to meet the positioning accuracy requirements. When the environmental force is small, the traditional control method can indirectly control the pitch or roll motion by acting on the hull, the bottom of the offshore platform or the propeller thrust around the submersible. However, when the environmental load is too large, the traditional control method can not achieve the positioning accuracy requirements of the ship, offshore platform or submersible, submarine, and the energy consumption increases sharply.

At present, some propeller devices use double-catheter pod propellers, which can make the platform, ship or submersible, submarine generate heave or heave force, but because its vertical thrust is one of the total thrust The force component, the other component will be offset by the symmetrical arrangement, thus causing a large waste of energy. In addition, the use of two propellers for such propellers creates waste and reduces structural reliability.

Summary of the invention

The technical problem to be solved by the present invention is to provide a type of propeller that can generate six degrees of freedom directional force (moment) for a ship, a platform or a submersible or a submarine for the deficiencies of the existing propeller type. Through the cooperation between the propeller slewing mechanism and the main transmission mechanism, the ship, the platform or the submersible and the submarine can realize the flexible movement of the heave, the left and right, the front and rear, the roll, the pitch and the heading direction.

mainly includes:

a propeller pod, the propeller pod being fixed under the swing mechanism by a transmission mechanism;

In operation, the transmission component drives the propeller pod to pitch, the slewing mechanism drives the propeller pod to rotate horizontally to a specific angle, and the transmission mechanism drives the propeller pod to a specific angle, so that the propeller pod is swayed , sway, first shake, heave, roll and pitch torque.

The omnidirectional thruster cooperates with the ship/floating platform/submersible/submarine attitude sensing system to match the shape of the hull/platform under high sea conditions, and rotates to a specific spatial angle to generate a corresponding torque, enhancing the ship/platform / Submersible / submarine stability.

As a preferred embodiment, the present invention is further provided with a telescopic mechanism, that is, the slewing mechanism is fixed to the bottom of the ship, the platform or the submersible or the submarine by the telescopic mechanism. As a preferred embodiment, a hydraulic cylinder can be selected. When the propeller is in use, the telescopic mechanism/cylinder is extended, and the omnidirectional thruster is fixed at a specific depth or a predetermined working depth, which can reduce the exposure chance of the propeller pod in the non-working state, and increase the use. Lifetime, reducing the specific resistance of the hull or platform. In addition, in conjunction with the aforementioned attitude sensing system, the telescopic length of the telescopic mechanism during operation can be controlled to facilitate more accurate torque generation.

In a preferred embodiment, the slewing mechanism includes a ring gear; the ring gear may be driven by one or more drive gears to drive the propeller pod to a specified horizontal direction.

It is considered that the resistance of the propeller pod changing the horizontal direction during operation is large. As a preferred embodiment, the drive gears are plural, centrally symmetric or rotationally symmetrically arranged (gear projection is projected), in steering During the process, multiple drive gears jointly drive the ring gear to rotate, which in turn drives the propeller pod to rotate horizontally to a specific angle.

In a preferred embodiment, the transmission mechanism is a chain transmission mechanism, including a main sprocket disposed inside the slewing mechanism, capable of following the horizontal rotation of the slewing mechanism, a chain disposed in the connecting member, and two disposed in the propeller pod Side from the sprocket. During the working process, the main sprocket is driven by the chain to change the pitch angle of the propeller pod from the sprocket rotation, and the pitch angle is fixed by the electromagnetic brake device.

In a preferred embodiment, the transmission mechanism is a transmission shaft transmission mechanism, and includes a transmission shaft disposed inside the slewing mechanism and capable of following the horizontal rotation of the slewing mechanism, and is vertically disposed to drive the driven shaft of the propeller nacelle to pitch.

Further, the transmission shaft, the driven shaft and the propeller nacelle are coupled by a bevel gear and/or a worm.

As a preferred embodiment, there is also a load-bearing member, the upper end of the member is rigidly connected with the slewing mechanism, and the lower end of the load-bearing member is in contact with the propeller nacelle by an electromagnetic brake device; the lower end of the slewing mechanism and the propeller pod pass The waterproof device is watertightly connected.

A ship, a submersible or a submarine, and the omnidirectional propeller is provided around a ship, a submersible or a submarine. The omnidirectional thruster can be installed around the tail of the ship, the submersible or the submarine. It is also conceivable to arrange omnidirectional thrusters symmetrically below the side of the hull. During normal navigation, the omnidirectional thrusters on the side hulls are retracted to reduce navigational resistance; under high sea conditions or under anchoring conditions, side omnidirectional The propeller extends and works to produce the aforementioned six-direction moment to keep the vessel stable.

A floating platform is provided at the bottom of the platform with the omnidirectional thruster. The placement and arrangement of the omnidirectional thrusters have different options depending on the type of floating platform.

In a floating platform solution in which the section is symmetric or rotationally symmetric, such as a single-column platform, an omnidirectional thruster is provided at the geometric center of the bottom of the floating platform, which can be used to resist vertical heave and increase Lateral moment.

In other forms of floating platforms, in addition to the optional central position at the bottom, it is conceivable to symmetrically arrange the omnidirectional thrusters on the side walls or the bottom of the floating platform, and cooperate with the attitude sensor to increase the stability of the floating platform.

DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the prior art solutions, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the following description will be attached. The drawings are only some embodiments of the present invention, and those skilled in the art can obtain other drawings according to the drawings without any creative work.

1 is a schematic structural view of Embodiment 1 of the present invention;

2 is a schematic structural view of the omnidirectional propeller (structure 1 of the present invention) in the cabin of the present invention.

Figure 3 is a side view of the embodiment 1 of the omnidirectional propeller of the present invention

Figure 4 is a front view of the embodiment 1 of the omnidirectional propeller of the present invention

FIG. 5 is a schematic view showing the operation of the omnidirectional thruster of the present invention for generating an angular thrust (the structure of Embodiment 1)

Figure 6 is a front elevational view of the second embodiment of the omnidirectional propeller of the present invention

Figure 7 is a front elevational view of Embodiment 3 of the omnidirectional thruster of the present invention

In the picture:

1. Telescopic mechanism, 101, hydraulic cylinder, 102, hydraulic cylinder reinforcement bracket, 2, slewing mechanism, 201, slewing mechanism bracket, 202, first rotary motor, 203, second rotary motor, 204, first spur gear, 205 Second spur gear, 206, third spur gear, 207, first nacelle, 208, first bearing, 3, main transmission mechanism, 301, propeller pod, 302, main motor, 303, coupling, 304, propeller shaft, 305, propeller hub, 306, propeller blade, 307, propeller duct, 308, connecting bracket, 309, first omnidirectional motor, 310, first reducer, 311, first drive sprocket, 312, the first chain, 313, the first driven sprocket, 314, the second omnidirectional motor, 315, the second reducer, 316, the second drive sprocket, 317, the second chain, 318, the second slave Sprocket, 319, first electromagnetic brake device, 320, second electromagnetic brake device, 321, waterproof device, 322, first load-bearing member, 323, second load-bearing member, 401, first drive shaft, 402, a bevel gear set, 403, a first bearing, 404, a first driven shaft, 405, a second bevel gear set, 406, a third bevel gear set, 407, a second driven shaft, 408, a second bearing, 409, a fourth bevel gear set, 410, a second drive shaft, 501, a first drive shaft, 502, first Worm gear mechanism, 503, first bearing, 504, first driven shaft, 505, second worm gear mechanism, 506, third worm gear mechanism, 507, second driven shaft, 508, second bearing, 509, The fourth worm gear mechanism, 510, the second transmission shaft.

Detailed ways

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clearly, the technical solutions in the embodiments of the present invention are clearly and completely described below in conjunction with the drawings in the embodiments of the present invention:

Embodiment 1, in this embodiment, a structural description of the omnidirectional propeller is given, a ship with the omnidirectional propeller, a floating platform or a submersible, a submarine, and those skilled in the art can fully give according to actual conditions. The corresponding structure.

As shown in Figure 1-7,

Example 1

An all-round thruster with the following functions:

Retractable function: The hydraulic cylinder 101 drives the full swing bracket 201 to realize the lifting movement, and can be locked at any length of extension.

The full swing function: the first swing motor 202 is fixed on the full swing bracket 201, and can drive the first spur gear 204 to rotate. The second swing motor 203 is symmetrically fixed on the full swing bracket, and can drive the second spur gear 205 to rotate. The spur gear 204 and the second spur gear 205 and the third spur gear 206 (the first and second spur gears are the aforementioned drive gears, and the third spur gear is the aforementioned ring gear) simultaneously meshes to drive the third spur gear 206 to rotate. . The third spur gear 206 is embedded in the end structure of the first nacelle 207. Therefore, the third spur gear 206 drives the first nacelle 207 to rotate together. Further, the first nacelle 207 drives the propeller 305 to rotate. The azimuth is changed to achieve the full swing function.

The omnidirectional function: the main motor 302 output shaft drives the propeller shaft 304 to rotate through the coupling 303, the propeller shaft 304 drives the propeller shaft 305 to rotate, and the propeller blade 306 is fixed on the propeller shaft 305, thereby driving the propeller blade 306 to rotate. . The propeller duct 307 is fixed to the propeller nacelle 301 by a joint bracket 308 to maintain structural stability. The first omnidirectional motor 309 drives the first driving sprocket 311 through the first speed reducer 310, and drives the first driven sprocket 313 to rotate through the first chain 312. At the same time, the second omnidirectional motor 314 passes the second speed reducer. 315 drives the second driving sprocket 316, and the second driven sprocket 318 rotates by the second chain 317. The first driven sprocket 313 and the second driven sprocket 318 jointly drive the thruster pod 301 fixed thereto. Rotating around the driven sprocket axis to produce an elevation angle of any angle perpendicular to the horizontal plane, and securing the propeller pod by the first electromagnetic braking device 319 and the second electromagnetic braking device 320. At the same time, the force of the thruster nacelle 301 in the vertical direction is assumed by the first load bearing member 322 and the second load bearing member 323. Cooperates with the full-turn function to generate propeller thrust in any direction.

Example 2

An omnidirectional thruster is similar to the one described in Embodiment 1, except that it is in the form of a transmission mechanism.

As shown in FIG. 6, similarly, the first omnidirectional motor 309 and the second omnidirectional motor 314 are disposed in pairs, and the two omnidirectional motors respectively drive the first transmission shaft 401 and the second transmission shaft 410 to rotate, two The ends of the drive shaft pass through the first bevel gear set 402 and the fourth bevel gear set 409, respectively (the bevel gear set includes a horizontal bevel gear disposed on the drive shaft and disposed) and the telescopic movement direction of the propeller The first driven shaft 404 and the second driven shaft 407 disposed in parallel (generally in the vertical direction) cooperate to drive the two driven shafts to rotate.

Correspondingly, the ends of the first driven shaft 404 and the second driven shaft 407 are provided with bevel gears, and the bevel gears fixed on both sides of the propeller respectively form the second gear set 405 and the third gear Group 406, in the state of use, through the rotation of the driven shaft, finally pushes the propeller to complete the pitching motion with the bevel gear links on both sides as the axis.

A first bearing 403 and a second bearing 408 fixed to the connecting arm housing are respectively provided in the middle portions of the first driven shaft 404 and the second driven shaft 407, and the driven shafts are respectively fixed.

Example 3

Similar to Embodiment 2, the worm mechanism is used to drive the propeller to complete the pitching motion.

The first omnidirectional motor 309 and the second omnidirectional motor 314 as power sources respectively drive the first transmission shaft 501 and the second transmission shaft 510, and the ends of the first transmission shaft I501 and the second transmission shaft 510 are provided with helical teeth. Cooperating with the gears of the upper ends of the first driven shaft 504 and the second driven shaft 507, the two driven shafts are rotated.

Similarly, on both sides of the propeller, a worm with helical teeth is respectively arranged to cooperate with the gears of the lower end of the first transmission shaft 501 and the second transmission shaft 510, and is driven by the driven shaft. The worm connection on both sides is the pitching motion of the shaft.

In order to more intuitively explain the omnidirectional propeller, ship, floating platform, submersible and submarine described in the patent of the present invention, in the case of ensuring a good positioning effect of the ship, the floating platform, the submersible and the submarine, compared with the conventional Full-turn propellers can have lower energy consumption.

Now using the currently validated general potential flow boundary element theory numerical simulation to obtain the typhoon sea conditions in the South China Sea in one year (see Table 1), the traditional propeller and the omnidirectional propeller, ship, floating platform, and The maximum, minimum, extreme difference, mean value, mean squared difference, and required energy consumption values of the submersible and submarine in the three degrees of freedom in the direction of heave, heave, and pitch are shown in Table 2. As can be seen from Table 2, the omnidirectional propellers, ships, floating platforms, submersibles and submarines described in the present invention are guaranteed to ship, floating platform, submersible and compared with conventional full-slewing propellers. The submarine has a significant reduction in energy consumption in the case of a three-degree-of-freedom of turbulence, hesitation, and pitching with a small motion response. Thus, this demonstrates that the innovative omnidirectional design of the present invention can substantially reduce the energy required for the dynamic positioning process.

Table 1 JONSWAP spectrum of typhoon sea conditions in China's South China Sea (wind speed 21.87m/s)

Table 2 Comparison of the positioning effect and energy consumption of the traditional full-rotation propeller and the patent of the present invention for the positioning process

The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto, and any technical person skilled in the art within the technical scope disclosed by the present invention, the technical solution according to the present invention Equivalent substitutions or modifications of the inventive concept are intended to be included within the scope of the invention.

Claims

An omnidirectional thruster, fixed to the bottom of a hull or platform, characterized by:

a propeller pod, the propeller pod being fixed under the swing mechanism by a transmission mechanism;

In operation, the transmission mechanism drives the propeller pod to pitch, the slewing mechanism drives the propeller pod to rotate horizontally to a specific angle, and the transmission mechanism drives the propeller pod to a specific angle to cause the hull or platform to sway, Swing, first shake, heave, roll and pitch torque.
The omnidirectional thruster of claim 1 further characterized in that said slewing mechanism is fixed to the bottom of the vessel or platform by a telescopic mechanism.
The omnidirectional thruster according to claim 2, wherein said telescopic mechanism is a hydraulic cylinder.
The omnidirectional thruster according to claim 1, wherein said slewing mechanism has a ring gear; and the ring gear is provided with a plurality of drive gears for driving said ring gear to rotate.
The omnidirectional thruster of claim 4 further characterized in that said plurality of drive gears are center symmetric or rotationally symmetric.
The omnidirectional thruster according to claim 1 further characterized in that: said transmission mechanism comprises a master/slave sprocket and a chain respectively disposed in said slewing mechanism and said propeller pod;

The main sprocket is driven by the chain to change the pitch angle of the propeller pod from the sprocket rotation.
The omnidirectional thruster according to claim 1 further characterized in that said transmission mechanism comprises a transmission shaft disposed in said slewing mechanism and a driven shaft connecting said propeller pods;

The driven shaft is driven by the drive shaft to drive the propeller nacelle to pitch.
The omnidirectional thruster of claim 7 further characterized in that said drive shaft, driven shaft and propeller nacelle are coupled by a bevel gear and/or a worm.
The full-turn propeller according to claim 1, further characterized in that: two load-bearing members are respectively arranged on two sides of the nacelle, the load-bearing members are hinged from the sprocket fixed to both sides of the nacelle, and the load-bearing member and the sprocket are The contact position is provided with an electromagnetic brake device for fixing the pod at a certain pitch angle;

The lower end of the slewing mechanism is watertightly connected to the propeller pod through a waterproof device.
A vessel characterized by one or more omnidirectional thrusters according to claims 1-9 at the periphery and/or the bottom of the vessel.
A floating platform characterized in that one or more omnidirectional thrusters according to claims 1-9 are provided at the periphery and/or the bottom of the floating platform.
The floating platform of claim 11 further characterized in that said one omnidirectional thruster is one and is fixed to a central axis of the bottom of the floating platform.
A submersible characterized in that one or more omnidirectional thrusters according to claims 1-9 are provided around the submersible.
A submarine characterized in that one or more omnidirectional thrusters according to claims 1-9 are provided around the submarine.