WO2019037727A1 - Omnidirectional propeller, ship, floating platform, submersible, and submarine - Google Patents
Omnidirectional propeller, ship, floating platform, submersible, and submarine Download PDFInfo
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- WO2019037727A1 WO2019037727A1 PCT/CN2018/101611 CN2018101611W WO2019037727A1 WO 2019037727 A1 WO2019037727 A1 WO 2019037727A1 CN 2018101611 W CN2018101611 W CN 2018101611W WO 2019037727 A1 WO2019037727 A1 WO 2019037727A1
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- propeller
- omnidirectional
- pod
- platform
- submersible
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/02—Propulsive elements directly acting on water of rotary type
- B63H1/12—Propulsive elements directly acting on water of rotary type with rotation axis substantially in propulsive direction
- B63H1/14—Propellers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H20/00—Outboard propulsion units, e.g. outboard motors or Z-drives; Arrangements thereof on vessels
- B63H20/08—Means enabling movement of the position of the propulsion element, e.g. for trim, tilt or steering; Control of trim or tilt
Definitions
- 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.
- a propulsion device capable of generating a six-degree-of-freedom direction force (moment) for a floating body.
- 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.
- forces 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.
- 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.
- 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.
- 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.
- 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.
- the use of two propellers for such propellers creates waste and reduces structural reliability.
- 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.
- 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.
- propeller pod the propeller pod being fixed under the swing mechanism by a transmission mechanism
- the transmission component drives the propeller pod to pitch
- the slewing mechanism drives the propeller pod to rotate horizontally to a specific angle
- 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.
- 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.
- a hydraulic cylinder can be selected.
- 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.
- the telescopic length of the telescopic mechanism during operation can be controlled to facilitate more accurate torque generation.
- 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.
- 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.
- 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.
- 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.
- 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.
- the transmission shaft, the driven shaft and the propeller nacelle are coupled by a bevel gear and/or a worm.
- 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.
- 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.
- Embodiment 1 is a schematic structural view of Embodiment 1 of the present invention.
- FIG. 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.
- 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,
- 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.
- An all-round thruster with the following functions:
- 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.
- the second omnidirectional motor 314 passes the second speed reducer.
- the second driving sprocket 316 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.
- 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.
- An omnidirectional thruster is similar to the one described in Embodiment 1, except that it is in the form of a transmission mechanism.
- 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 cooperate to drive the two driven shafts to rotate.
- 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.
- 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.
- 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.
- 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.
- the innovative omnidirectional design of the present invention can substantially reduce the energy required for the dynamic positioning process.
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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
本发明涉及一种船舶及海洋工程平台使用的推进器,特别涉及一种可以为浮体产生六自由度方向力(矩)的推进装置。涉及专利分类号B作业;运输B63船舶或其他水上船只;与船有关的设备B63H船舶的推进装置或操舵装置B63H23/00从推进动力设备至推进部件的动力传递B63H23/02用机械传动装置的。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.
在船舶与海洋工程领域,用于船舶、海洋平台或潜水器、潜艇动力定位的推进器一般只可以产生水平面内的三个自由度(纵荡、横荡及首摇)的力(矩)。然而,对于有其他三个自由度的面外运动时(垂荡、横摇及纵摇),也需要在对应的自由度施加推进器的推力作用来满足定位精度的要求。在环境力较小时,传统的控制方法可以通过作用于船体、海洋平台底部或潜水器、潜艇周围的推进器推力来间接对纵摇或横摇运动进行控制。然而,当环境载荷过大时,传统的控制方法已无法使船舶、海洋平台或潜水器、潜艇达到定位精度要求,且能耗急剧增加。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.
目前,有的推进器装置采用双导管吊舱推进器,这种推进器虽可以使平台、船舶或潜水器、潜艇产生垂荡或升沉的力,然而由于其垂向推力是总推力的一个分力,另一个分力将会被对称布置抵消掉,因此,造成了较大的能源浪费。另外,这种推进器需要两个螺旋桨会造成浪费,并降低了结构的可靠性。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.
发明内容Summary of the invention
本发明要解决的技术问题是:针对现有推进器类型的不足,提供一种可以为船舶、平台或潜水器、潜艇产生六自由度方向力(矩)的推进器类型。通过推进器回转机构和主传动机构之间的配合,船舶、平台或潜水器、潜艇能够实现升沉、左右、前后、横摇、纵摇及首摇方向的灵活运动。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.
主要包括:mainly includes:
推进器吊舱、该推进器吊舱通过传动机构固定于回转机构下方;a propeller pod, the propeller pod being fixed under the swing mechanism by a transmission mechanism;
工作时,所述的传动组件带动推进器吊舱俯仰、所述回转机构带动推进器吊舱水平旋转至特定角度,传动机构带动推进器吊舱俯仰至特定角度,使得推进器吊舱产生纵荡、横荡、首摇、垂荡、横摇及纵摇力矩。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.
所述的全向推进器配合船舶/浮式平台/潜水器/潜艇姿态感知系统,可以在高海况下配合船身/平台的外形特征,旋转至特定的空间角度产生相应力矩,增强船舶/平台/潜水器/潜艇的稳性。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.
作为优选的实施方式,本发明还设有伸缩机构,即所述的回转机构通过伸缩机构固定于船舶、平台底部或潜水器、潜艇上。作为优选的实施方式,可选择液压缸。在推进器使用时,伸缩机构/液压缸伸出,将所述的全向推进器固定在特定深度或者说预定的工作深度,可以减少推进器吊舱在非工作状态下的暴露机会,增加使用寿命,减少船体或平台的特定阻力。另外,配合前述的姿态感知系统,可以控制伸缩机构在工作过程中的伸缩长度,以便于产生更为精确的力矩。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.
作为优选的实施方式,所述的回转机构包括齿圈;齿圈可以有一个或者多个驱动齿轮驱动,进而带动推进器吊舱旋转至指定的水平方向。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.
考虑到,推进器吊舱在运行过程中改变水平方向的阻力较大,作为优选的实施方式,所述的驱动齿轮为多个,呈中心对称或者旋转对称设置(齿轮系正投影),在转向过程中,多个驱动齿轮共同驱动齿圈旋转,进而带动推进器吊舱水平旋转至特定角度。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.
作为优选的实施方式,所述的传动机构为链传动机构,包括设置在回转机构内部,能够跟随回转机构水平旋转的主链轮、设置在连接件中的链条,以及设置在推进器吊舱两侧的从链轮。工作过程中,主链轮通过链条带动从链轮转动改变所述的推进器吊舱的俯仰角度,并通过电磁制动装置将此俯仰角度进行固定。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.
作为优选的实施方式,所述的传动机构为传动轴传动机构,包括设置在回转机构内部,能够跟随回转机构水平旋转的传动轴,竖直设置,带动推进器吊舱俯仰的从动轴。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.
更进一步的,所述的传动轴、从动轴和推进器吊舱之间通过锥形齿轮和/或蜗杆配合。Further, the transmission shaft, the driven shaft and the propeller nacelle are coupled by a bevel gear and/or a worm.
作为优选的实施方式,还具有承重构件,该构件的上端与所述的回转机构刚性连接,承重构件下端通过电磁制动装置与推进器吊舱面接触连接;回转机构下端与推进器吊舱通过防水装置水密连接。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.
一种船舶、潜水器或潜艇,船舶、潜水器或潜艇周边设有所述的全向推进器。全向推进器可选择安装在船舶尾部、潜水器或潜艇周围。也可考虑在船身 侧舷的下方位置对称设置全向推进器,正常航行过程中,侧舷的全向推进器收起,减少航行阻力;高海况下或者锚定状态下,侧舷全向推进器伸出并工作,产生前述的六方向力矩,保持船舶稳定。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.
一种浮式平台,平台的底部设有所述的全向推进器。全向推进器的安放位置和布置形式,根据浮式平台的种类不同,具有对应的选择。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.
在截面呈对称中心或者旋转对称的浮式平台方案中,比如单柱型平台中,在浮式平台的底部的几何中心位置设置一全向推进器,可用于抵抗竖直方向的垂荡以及增加横向的力矩。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.
在其它形式浮式平台中,除了可选择在底部中央位置设置外,可考虑在浮式平台侧壁或者底部的周边对称设置全向推进器,配合姿态传感器,增加浮式平台的稳定性。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.
为了更清楚的说明本实用新型的实施例或现有技术的技术方案,下面将对实施例或现有技术描述中所需要使用的附图做一简单地介绍,显而易见地,下面描述中的附图仅仅是本实用新型的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。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.
图1为本发明实施例1的结构示意图1 is a schematic structural view of Embodiment 1 of the present invention;
图2为本发明全方位推进器(实施例1结构)收入船舱内的结构示意图2 is a schematic structural view of the omnidirectional propeller (structure 1 of the present invention) in the cabin of the present invention.
图3为本发明全方位推进器实施例1侧视图Figure 3 is a side view of the embodiment 1 of the omnidirectional propeller of the present invention
图4为本发明全方位推进器实施例1正视图Figure 4 is a front view of the embodiment 1 of the omnidirectional propeller of the present invention
图5为本发明全方位推进器产生某角度推力(实施例1结构)的工作示意图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)
图6为本发明全方位推进器实施例2的正视图Figure 6 is a front elevational view of the second embodiment of the omnidirectional propeller of the present invention
图7为本发明全方位推进器实施例3的正视图Figure 7 is a front elevational view of Embodiment 3 of the omnidirectional thruster of the present invention
图中:In the picture:
1、伸缩机构,101、液压缸,102、液压缸加强支架,2、回转机构,201、回转机构支架,202、第一回转电机,203、第二回转电机,204、第一直齿轮,205、第二直齿轮,206、第三直齿轮,207、第一吊舱,208、第一轴承,3、主传动机构,301、推进器吊舱,302、主电机,303、联轴器,304、螺旋桨轴,305、螺旋桨桨毂,306、螺旋桨桨叶,307、螺旋桨导管,308、连接支架,309、第一整向电机,310、第一减速器,311、第一主动链轮,312、第一链条,313、 第一从动链轮,314、第二整向电机,315、第二减速器,316、第二主动链轮,317、第二链条,318、第二从动链轮,319、第一电磁制动装置,320、第二电磁制动装置,321、防水装置,322、第一承重构件,323、第二承重构件,401、第一传动轴,402、第一锥形齿轮组,403、第一轴承,404、第一从动轴,405、第二锥形齿轮组,406、第三锥形齿轮组,407、第二从动轴,408、第二轴承,409、第四锥形齿轮组,410、第二传动轴,501、第一传动轴,502、第一蜗轮蜗杆机构,503、第一轴承,504、第一从动轴,505、第二蜗轮蜗杆机构,506、第三蜗轮蜗杆机构,507、第二从动轴,508、第二轴承,509、第四蜗轮蜗杆机构,510、第二传动轴。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.
为使本实用新型的实施例的目的、技术方案和优点更加清楚,下面结合本实用新型实施例中的附图,对本实用新型实施例中的技术方案进行清楚完整的描述: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:
实施例1,在本实施例中给出了全方位推进器的结构描述,带有该全向推进器的船舶、浮式平台或潜水器、潜艇,本领域技术人员完全可根据实际情况给出相应的结构。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.
如图1-图7所示,As shown in Figure 1-7,
实施例1Example 1
一种全方位推进器,具备如下功能:An all-round thruster with the following functions:
可伸缩功能:液压缸101带动全回转支架201实现升降运动,并可以在任意伸长长度锁定。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.
全回转功能:第一回转电机202固定于全回转支架201上,可带动第一直齿轮204转动,第二回转电机203对称固定于全回转支架上,可带动第二直齿轮205转动,第一直齿轮204和第二直齿轮205与第三直齿轮206(第一、第二直齿轮即为前述的驱动齿轮,第三直齿轮即为前述齿圈)同时啮合,带动第三直齿轮206转动。其中,第三直齿轮206内嵌于第一吊舱207端部结构中,因此第三直齿轮206带动第一吊舱207机构共同旋转,进一步地,第一吊舱207带动螺旋桨305旋转使其方位角改变,实现全回转功能。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.
全方向功能:主电机302输出轴通过联轴器303带动螺旋桨轴304旋转,螺旋桨轴304带动螺旋桨桨毂305旋转,螺旋桨桨叶306固装在螺旋桨桨毂305上,进而带动螺旋桨桨叶306旋转。螺旋桨导管307通过连接支架308固定于 推进器吊舱301上,保持结构稳定性。第一整向电机309通过第一减速器310带动第一主动链轮311,通过第一链条312带动第一从动链轮313旋转,与此同时,第二整向电机314通过第二减速器315带动第二主动链轮316,通过第二链条317带动第二从动链轮318旋转,第一从动链轮313和第二从动链轮318共同带动与其刚性固定的推进器吊舱301,绕从动链轮轴线旋转,从而产生垂直于水平面的任意角度的俯仰角,并通过第一电磁制动装置319和第二电磁制动装置320固定推进器吊舱。同时通过第一承重构件322和第二承重构件323承担推进器吊舱301竖直方向的力。与全回转功能配合,进而可产生任意方向的螺旋桨推力。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.
实施例2Example 2
一种全方位推进器,与实施例1记载的方案类似,不同之处在于传动机构形式。An omnidirectional thruster is similar to the one described in Embodiment 1, except that it is in the form of a transmission mechanism.
如图6所示,同样的,包括成对设置的第一整向电机309和第二整向电机314,所述两整向电机分别驱动第一传动轴401和第二传动轴410旋转,两所述传动轴的端部分别通过第一锥形齿轮组402和第四锥形齿轮组409(锥形齿轮组包括设置在传动轴上的水平锥形齿轮和设置在)与推进器伸缩运动方向平行(一般为竖直方向)设置的第一从动轴404和第二从动轴407配合,带动两所述从动轴旋转。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.
相应的,所述的第一从动轴404和第二从动轴407的端部设有锥形齿轮,与固定于推进器两侧的锥形齿轮分别形成第二齿轮组405和第三齿轮组406,使用状态下,通过从动轴的旋转,最终带动推进器完成以其两侧锥形齿轮连线为轴的俯仰运动。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.
在第一从动轴404和第二从动轴407的中段分别设有与连接臂外壳固定的第一轴承403和第二轴承408,分别固定从动轴。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.
实施例3Example 3
与实施例2类似,采用蜗杆机构带动推进器完成俯仰动作。Similar to Embodiment 2, the worm mechanism is used to drive the propeller to complete the pitching motion.
作为动力源的第一整向电机309和第二整向电机314分别带动第一传动轴501和第二传动轴510,第一传动轴I501和第二传动轴510的端部设有螺旋齿,与第一从动轴504和第二从动轴507上端部的齿轮配合,带动两从动轴旋转。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.
同样的,在推进器两侧,分别设有带有螺旋齿的蜗杆,与两所述的第一传动轴501和第二传动轴510下端的齿轮配合,在从动轴的带动下,完成以其两侧 蜗杆连线为轴的俯仰运动。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.
为了更加直观地说明本发明专利所述的全方位推进器、船舶、浮式平台、潜水器及潜艇在保证船舶、浮式平台、潜水器及潜艇良好的定位效果的情况下,相比传统的全回转推进器可以有更低的能耗。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.
现采用目前已经验证的通用势流边界元理论数值模拟得到中国南海一年一遇台风海况(见表1)下,传统推进器和本发明所述的全方位推进器、船舶、浮式平台、潜水器及潜艇在纵荡、垂荡、纵摇三个自由度方向的运动最大值、最小值、极差值、平均值、均方差值,以及所需要的能耗值,展示如表2.从表2中可以看出,与传统全回转推进器相比,本发明专利所述的全方位推进器、船舶、浮式平台、潜水器及潜艇在保证船舶、浮式平台、潜水器及潜艇在纵荡、垂荡、纵摇三个自由度有较小的运动响应的情况下,能耗有明显的降低。因此,这表明本发明的创新全方向设计能够大幅降低动力定位过程所需的能耗。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.
表1中国南海一年一遇台风海况JONSWAP谱(风速21.87m/s)Table 1 JONSWAP spectrum of typhoon sea conditions in China's South China Sea (wind speed 21.87m/s)
表2传统全回转推进器与本发明专利用于定位过程的定位效果和能耗对比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
以上所述,仅为本发明较佳的具体实施方式,但本发明的保护范围并不局限于此,任何熟悉本技术领域的技术人员在本发明揭露的技术范围内,根据本 发明的技术方案及其发明构思加以等同替换或改变,都应涵盖在本发明的保护范围之内。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 (14)
- 一种全向推进器,固定于船体或平台底部,其特征在于包括:An omnidirectional thruster, fixed to the bottom of a hull or platform, characterized by:推进器吊舱、该推进器吊舱通过传动机构固定于回转机构下方;a propeller pod, the propeller pod being fixed under the swing mechanism by a transmission mechanism;工作时,所述的传动机构带动推进器吊舱俯仰、所述回转机构带动推进器吊舱水平旋转至特定角度,传动机构带动推进器吊舱俯仰至特定角度,使船体或平台产生纵荡、横荡、首摇、垂荡、横摇及纵摇力矩。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.
- 根据权利要求1所述的全向推进器,其特征还在于:所述的回转机构通过伸缩机构固定于船舶或平台底部。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.
- 根据权利要求2所述的全向推进器,其特征还在于:所述的伸缩机构为液压缸。The omnidirectional thruster according to claim 2, wherein said telescopic mechanism is a hydraulic cylinder.
- 根据权利要求1所述的全向推进器,其特征还在于:所述的回转机构具有一齿圈;齿圈设有多个驱动所述齿圈转动的驱动齿轮。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.
- 根据权利要求4所述的全向推进器,其特征还在于:所述的多个驱动齿轮中心对称或旋转对称。The omnidirectional thruster of claim 4 further characterized in that said plurality of drive gears are center symmetric or rotationally symmetric.
- 根据权利要求1所述的全向推进器,其特征还在于:所述的传动机构包括分别设置在所述回转机构内和所述推进器吊舱内的主/从链轮和链条;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;主链轮通过链条带动从链轮转动改变所述的推进器吊舱的俯仰角度。The main sprocket is driven by the chain to change the pitch angle of the propeller pod from the sprocket rotation.
- 根据权利要求1所述的全向推进器,其特征还在于:所述传动机构包括设置在所述回转机构内的传动轴和连接推进器吊舱的从动轴;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;通过传动轴驱动所述从动轴,带动推进器吊舱俯仰。The driven shaft is driven by the drive shaft to drive the propeller nacelle to pitch.
- 根据权利要求7所述的全向推进器,其特征还在于:所述传动轴、从动轴和推进器吊舱之间通过锥形齿轮和/或蜗杆配合。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.
- 根据权利要求1所述的全回转推进器,其特征还在于:吊舱两侧分别有两个承重构件,该承重构件与固定于吊舱两侧的从链轮铰接,承重构件与从链轮接触位置设置有电磁制动装置,固定吊舱于某一俯仰角度;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;所述回转机构下端与推进器吊舱通过防水装置水密连接。The lower end of the slewing mechanism is watertightly connected to the propeller pod through a waterproof device.
- 一种船舶,其特征在于船舶周边和/或底部设有一个或多个如权利要求 1-9所述的全向推进器。A vessel characterized by one or more omnidirectional thrusters according to claims 1-9 at the periphery and/or the bottom of the vessel.
- 一种浮式平台,其特征在于浮式平台的周边和/或底部设有一个或多个如权利要求1-9所述的全向推进器。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.
- 权利要求11述的浮式平台,其特征还在于:所述的全向推进器为一个,固定在浮式平台底部中轴线处。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.
- 一种潜水器,其特征在于潜水器的周围设有一个或多个如权利要求1-9述的全向推进器。A submersible characterized in that one or more omnidirectional thrusters according to claims 1-9 are provided around the submersible.
- 一种潜艇,其特征在于潜艇的周围设有一个或多个如权利要求1-9述的全向推进器。A submarine characterized in that one or more omnidirectional thrusters according to claims 1-9 are provided around the submarine.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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JP2020511293A JP6982681B2 (en) | 2017-08-22 | 2018-08-21 | Azimuth thrusters, ships, floating platforms, diving equipment and submarines |
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CN201710724028.3A CN107512380B (en) | 2017-08-22 | 2017-08-22 | A kind of all-around propeller, ship and floating platform |
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CN107512380B (en) * | 2017-08-22 | 2019-07-16 | 大连理工大学 | A kind of all-around propeller, ship and floating platform |
CN109941414A (en) * | 2019-05-14 | 2019-06-28 | 李僖年 | A kind of unpowered axis electromagnetic cylinder formula screw propeller |
CN113511312B (en) * | 2021-04-23 | 2022-05-10 | 中船黄埔文冲船舶有限公司 | Method for mounting bow auxiliary pushing device of ship |
CN113581435B (en) * | 2021-07-27 | 2022-05-17 | 中国船舶科学研究中心 | Nacelle power instrument attitude adjusting mechanism |
CN113697077B (en) * | 2021-09-06 | 2022-06-07 | 中国海洋大学 | Propulsion device for an aircraft, aircraft and control method for an aircraft |
CN113697070B (en) * | 2021-09-23 | 2023-07-21 | 南通中远海运船务工程有限公司 | Full-rotation type underwater propeller |
CN113788131B (en) * | 2021-10-14 | 2022-09-27 | 中国人民解放军海军工程大学 | Advanced auxiliary propulsion system of underwater vehicle |
WO2024098334A1 (en) * | 2022-11-10 | 2024-05-16 | 广东逸动科技有限公司 | Thruster, water area movable device and stabilization control method therefor, and storage medium |
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Also Published As
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CN107512380A (en) | 2017-12-26 |
JP6982681B2 (en) | 2021-12-17 |
CN107512380B (en) | 2019-07-16 |
JP2020536781A (en) | 2020-12-17 |
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