CN113788131B - Advanced auxiliary propulsion system of underwater vehicle - Google Patents
Advanced auxiliary propulsion system of underwater vehicle Download PDFInfo
- Publication number
- CN113788131B CN113788131B CN202111195469.1A CN202111195469A CN113788131B CN 113788131 B CN113788131 B CN 113788131B CN 202111195469 A CN202111195469 A CN 202111195469A CN 113788131 B CN113788131 B CN 113788131B
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- Prior art keywords
- motor
- cabin door
- underwater vehicle
- mechanical arm
- auxiliary propulsion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/08—Propulsion
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Power-Operated Mechanisms For Wings (AREA)
Abstract
The invention discloses an advanced auxiliary propulsion system of an underwater vehicle, which comprises a plurality of sets of auxiliary propulsion devices, wherein each set of auxiliary propulsion device comprises an integrated motor propulsion unit, a rotary telescopic mechanism, a hydraulic driving mechanism and a cabin door switch assembly; when the device does not work, the device is recycled into the pressure-resistant shell of the aircraft, the appearance of the underwater aircraft is not influenced, and the propelling performance of the main propelling device during working is not influenced. The high-grade auxiliary propulsion system is not related to the main power device of the underwater vehicle, and when the main power device fails or does not work, the high-grade auxiliary propulsion system can extend out of the boat to operate independently, so that the overall redundancy is increased, and the vitality and the reliability of the underwater vehicle are improved.
Description
Technical Field
The invention belongs to the technical field of underwater vehicles, and particularly relates to an advanced auxiliary propulsion system of an underwater vehicle.
Background
In terms of reliability and viability, single-shaft propelled underwater vehicles are generally provided with emergency power devices. In addition to emergency power units associated with the main propulsion shaft system, there is a need for emergency propulsion units not associated with the propulsion shaft system to ensure that the aircraft can be driven at lower speeds in the event of failure of the main power unit. The device not only has the emergency propulsion function, but also can greatly improve the maneuverability of the underwater vehicle at low speed, realize low-noise navigation and greatly improve the vitality, the low-speed maneuverability and the invisibility of the underwater vehicle.
Therefore, an auxiliary propulsion system combined with the design of an underwater vehicle needs to be designed, so that the underwater vehicle can sail at a low sailing speed when a main power device fails, an emergency propulsion function is achieved, and the autonomous low-speed translation, in-situ rotation, floating and diving and other maneuvering operations and low-noise sailing of the underwater vehicle can be realized, so that the vitality, the maneuverability and the invisibility of the underwater vehicle in China are greatly improved.
Disclosure of Invention
The invention aims to overcome the defects of the technology and provide the advanced auxiliary propulsion system of the underwater vehicle, which can propel the underwater vehicle to sail at low speed under the condition that a main power device fails.
In order to achieve the purpose, the advanced auxiliary propulsion system of the underwater vehicle comprises a plurality of sets of auxiliary propulsion devices, wherein each set of auxiliary propulsion device comprises an integrated motor propulsion unit, a rotary telescopic mechanism, a hydraulic driving mechanism and a cabin door switch assembly;
the rotary telescopic mechanism comprises a propelling unit mechanical arm, a driving motor and a guide plate; one end of a mechanical arm of the propelling unit is hinged on a hydraulic cylinder A of the hydraulic driving mechanism, the other end of the mechanical arm of the propelling unit is hinged on a driving motor, and a guide plate is hinged on the other end of the mechanical arm of the propelling unit;
the cabin door switch assembly comprises a cabin door and a cabin door mechanical arm, one end of the cabin door mechanical arm is hinged to the hydraulic cylinder B of the hydraulic driving mechanism, and the other end of the cabin door mechanical arm is hinged to the cabin door.
Further, the integrated motor propulsion unit comprises a motor and a propeller; the motor consists of a motor rotor and a motor stator, and the propeller comprises a blade and a guide pipe; the motor stator is integrated in the guide pipe, the motor rotor is connected with the guide pipe through a bearing, and the blade tip wheel rim of the paddle is installed on the motor rotor.
Furthermore, the propeller also comprises an intermediate shaft, the intermediate shaft axially penetrates through the guide pipe and is coaxially arranged, the blade tail of the blade is fixed on the outer edge surface of the intermediate shaft, and the motor rotor is arranged on the blade tip flange of the blade; the intermediate shaft and the guide pipe are supported by guide vanes, and the guide vanes are positioned above or below the blades.
Furthermore, the rotary telescopic mechanism further comprises a transmission mechanism, a rotating shaft of the driving motor is connected with a rotating shaft of the transmission mechanism, and a mating flange of the transmission mechanism is connected with a flange of the integrated motor propulsion unit.
Further, the axis of the driving motor is perpendicular to the axis of the integrated motor propulsion unit and on the same plane.
Further, the deflector is hinged to the other end of the propulsion unit mechanical arm by a deflector lug.
Further, the other end of the hatch mechanical arm is hinged with the hatch through a hatch lug.
Furthermore, each set of auxiliary propulsion device also comprises a locking assembly, wherein the locking assembly comprises two sets of locking units, one set of locking units is used for locking the rotary telescopic mechanism, and the other set of locking units is used for locking the cabin door; each group of locking units comprises a pin shaft and a nut, one end of the pin shaft of one group of locking units is inserted into the pin hole of the cabin door lug, one end of the pin shaft of the other group of locking units is inserted into the pin hole of the guide plate lug, and the other end of the pin shaft is locked by the nut and clamped on the external limiting rod to realize locking.
Furthermore, each set of auxiliary propulsion device also comprises a position sensor assembly, and the position sensor assembly comprises a position B sensor arranged on the B hydraulic cylinder, a position A sensor arranged on the A hydraulic cylinder and an angle sensor arranged on the driving motor.
Compared with the prior art, the invention has the following advantages:
(1) the advanced auxiliary propulsion system is recycled into the pressure-resistant shell of the aircraft when not working, so that the appearance of the underwater aircraft is not influenced, and the propulsion performance of the main propulsion device when working is not influenced.
(2) The invention is not related to the main power device of the underwater vehicle, when the main power device fails or does not work, the advanced auxiliary propulsion system can extend out of the boat to operate independently, thereby increasing the overall redundancy and improving the vitality and the reliability of the underwater vehicle.
(3) The multiple sets of advanced auxiliary propulsion devices work simultaneously to realize maneuvering operations such as retreating, translation, upward floating, submerging, in-situ rotation and the like of the underwater vehicle, and improve the maneuverability of the underwater vehicle.
(4) The advanced auxiliary propulsion system can realize low-speed silent navigation and improve the stealth of the underwater vehicle.
(5) The invention can be modified and implemented on the existing structure of the underwater vehicle, only needs to partially change the structures of the front ballast water tank and the rear ballast water tank, does not influence other systems and structures of the underwater vehicle, and has the advantages of ingenious design, compact structure and strong realizability.
Drawings
FIG. 1 is a schematic diagram of the general arrangement of the advanced auxiliary propulsion system of the underwater vehicle of the present invention;
FIG. 2 is a schematic view of the auxiliary propulsion device of FIG. 1;
FIG. 3 is a schematic view of the motor integrated propulsion unit of FIG. 2;
FIG. 4 is a schematic view of the rotary telescoping mechanism and drive mechanism of FIG. 2;
FIG. 5 is a schematic view of the hatch opening and closing assembly and the locking assembly of FIG. 2;
FIG. 6 is a schematic view of the hatch of FIG. 2 in an open state;
FIG. 7 is a schematic illustration of an out-feed process of the integrated motor propulsion unit of FIG. 2;
FIG. 8 is a schematic view of the integrated motor propulsion device of FIG. 2 in an operational state.
Wherein: 1-auxiliary propulsion unit, 2-integrated motor propulsion unit, 3-rotary telescoping mechanism, 4-hydraulic drive mechanism, 5-hatch switch assembly, 6-locking assembly, 7-position sensor assembly, 8-motor rotor, 9-motor stator, 10-blade, 11-conduit, 12-deflector lug, 13-mating flange, 14-flange, 15-angle sensor, 16-hatch lug, 17-pin, 18-middle shaft, 19-guide blade, 20-mechanical arm, 21-transmission mechanism, 22-drive motor, 23-deflector, 24-A hydraulic cylinder, 25-B hydraulic cylinder, 26-hatch, 27-hatch mechanical arm, 28-locking unit, 29-nut, 30-position a sensor, 31-position B sensor.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments.
An advanced auxiliary propulsion system for an underwater vehicle, as shown in fig. 1, comprises several sets of auxiliary propulsion devices 1. As shown in fig. 2, each set of auxiliary propulsion device 1 includes an integrated motor propulsion unit 2, a rotary telescoping mechanism 3, a hydraulic drive mechanism 4, a hatch opening and closing assembly 5, a locking assembly 6, and a position sensor assembly 7.
As shown in fig. 3, the integrated motor propulsion unit 2 includes a motor and a propeller; the motor is composed of a motor rotor 8 and a motor stator 9, and the propeller comprises a blade 10 and a guide pipe 11. The motor stator 9 is integrated in the conduit 11, the motor rotor 8 is connected to the conduit 11 by means of bearings, and the blade tip rim of the blade 10 is mounted on the motor rotor 8. The propeller may also include an intermediate shaft 18, the intermediate shaft 18 passing axially through the conduit 11 and being coaxially arranged, the blade tail of the blade 10 being fixed to the outer edge face of the intermediate shaft 18, the electric motor rotor 8 being mounted on the blade tip rim of the blade 10 such that the blade 10 and the electric motor rotor 8 rotate about the intermediate shaft 18. In addition, the intermediate shaft 18 and the duct 11 are supported by a guide vane 19, and the guide vane 19 is located above or below the blade 10 (in the direction shown in fig. 4) and performs a flow rectification function.
The number and shape of the blades of the blade 10 and the shape of the duct 11 are determined by the actual hydrodynamic and strength design conditions, the presence or absence of the intermediate shaft 18 and the guide vane 19 is determined by the actual conditions, and if the intermediate shaft 18 and the guide vane 19 are required, the number and shape of the blades of the guide vane 19 are determined by the actual hydrodynamic and strength design conditions.
As shown in fig. 2, 4 and 5, the rotary telescoping mechanism 3 is used to stow the integrated motor propulsion unit 2. The rotary telescopic mechanism 3 comprises a propelling unit mechanical arm 20, a transmission mechanism 21, a driving motor 22 and a guide plate 23; one end of a propulsion unit mechanical arm 20 is hinged to a hydraulic cylinder A24 of the hydraulic driving mechanism 4, the other end of the propulsion unit mechanical arm 20 is hinged to a driving motor 22, a guide plate 23 is hinged to the other end of the propulsion unit mechanical arm 20 through a guide plate lug 12, and the propulsion unit mechanical arm 20 is driven by the hydraulic cylinder A24 to achieve retraction and extension of the integrated motor propulsion unit 2 and the guide plate 23.
The rotating shaft of the driving motor 22 is connected with the rotating shaft of the transmission mechanism 21 so as to drive the transmission mechanism 21 to rotate, and the connection mode can be key connection or gear matching transmission and the like; sealing a dynamic and static interface between the shell of the transmission mechanism 21 and the shell of the driving motor 22 by adopting dynamic sealing; the mating flange 13 of the transmission mechanism 21 is connected to the flange 14 of the integrated motor propulsion unit 2 by bolts, so as to drive the integrated motor propulsion unit 2 to rotate.
The axis of the driving motor 22 is perpendicular to the axis of the integrated motor propulsion unit 2 and is on the same plane, the integrated motor propulsion unit 2 is driven by the driving motor 22 and the transmission mechanism 21 to rotate around the axis of the driving motor 22, and the rotation angle range is at least +/-180 degrees, so that the integrated motor propulsion unit 2 can generate thrust in any direction in a plane perpendicular to the driving motor 22; the integrated motor propulsion unit 2 can work in the range that the included angle between the axis of the driving motor 22 and the baseline of the hull is 45-135 degrees.
The hatch opening and closing assembly 5 comprises a hatch 26 and a hatch mechanical arm 27, one end of the hatch mechanical arm 27 is hinged on the B hydraulic cylinder 25 of the hydraulic driving mechanism 4, and the other end of the hatch mechanical arm 27 is hinged with the hatch 26 through a hatch lug 16. The hatch mechanical arm 27 is driven by the B hydraulic cylinder 25 to open and close the hatch 26.
The locking assembly 6 comprises two sets of locking units 28, one set of locking units 28 being used for locking the rotary telescopic mechanism 3 and the other set of locking units 28 being used for locking the door 26. Each group of locking units 28 comprises a pin shaft 17 and a nut 29, one end of the pin shaft 17 of one group of locking units 28 is inserted into the pin hole of the cabin door lug 16, one end of the pin shaft 17 of the other group of locking units 28 is inserted into the pin hole of the guide plate lug 12, and the nut 29 locks the other end of the pin shaft 17 and is clamped on an external limiting rod to realize locking. When the rotating telescopic mechanism 3 and/or the cabin door 26 move, the nut of the locking unit is loosened to unlock, and when the rotating telescopic mechanism 3 and/or the cabin door 26 move to a specified position, the nut of the locking unit is locked and fixed again.
As shown in fig. 6, 7 and 8, when the auxiliary propulsion device is connected to the control system to prepare for work, the hatch 26 is firstly opened under the drive of the B hydraulic cylinder 25 and the hatch mechanical arm 27; then, the integrated motor propulsion unit 2 extends out of the boat under the action of the hydraulic cylinder A24 and the propulsion unit mechanical arm 20, and the guide plate 23 and the integrated motor propulsion unit 2 move synchronously; when the integrated motor propulsion unit 2 moves to a designated position, the guide plate 23 is locked by the locking unit 28, and the integrated motor propulsion unit 2 is fixed at the same time; finally, the hatch 26 is returned to the closed position by the drive of the B hydraulic cylinder 25 and the hatch robot 27, and locked by the locking unit.
In addition, a position B sensor 31 is installed on the B hydraulic cylinder 25, and the position of the cabin door 26 is measured by the position B sensor 31; a hydraulic cylinder 24 is provided with a position A sensor 30, the position of the integrated motor propulsion unit 2 is measured by the position A sensor 30, the driving motor 22 is provided with an angle sensor 15, and the rotating angle of the integrated motor propulsion unit 2 around the axis of the driving motor 22 is measured by the angle sensor 15.
The number of the auxiliary propulsion devices 1 is determined by the displacement of the underwater vehicle, the speed requirement, the arrangement of the underwater vehicle and other factors, and four sets of the auxiliary propulsion devices are taken as an example for convenience of description. When the underwater vehicle propulsion unit works, the integrated motor propulsion unit 2 of the auxiliary propulsion device 1 is driven by the hydraulic driving mechanism 4 to extend out of the non-pressure-resistant shell of the underwater vehicle through the rotary telescopic mechanism 3, and the integrated motor propulsion unit 2 can rotate around the axis vertical to a working surface and can generate thrust in all directions; when the underwater vehicle does not work, all the sets of auxiliary propulsion devices 1 are recovered in the non-pressure-resistant shell of the underwater vehicle, and the appearance of the underwater vehicle is not influenced.
The advanced auxiliary propulsion system of the underwater vehicle has an emergency propulsion function, can meet the requirement of low-speed (within 5 sections) navigation of the underwater vehicle when the advanced auxiliary propulsion system works independently, increases the redundancy of the propulsion system, and improves the vitality and the reliability of the underwater vehicle; and the maneuvering operation of the underwater vehicle such as low-speed translation, upward floating, submergence, in-situ rotation and the like can be realized by generating thrust in all directions during independent work, so that the maneuverability of the underwater vehicle at low speed is obviously improved.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (5)
1. An advanced auxiliary propulsion system for an underwater vehicle, characterized by: the device comprises a plurality of sets of auxiliary propulsion devices (1), wherein each set of auxiliary propulsion device (1) comprises an integrated motor propulsion unit (2), a rotary telescopic mechanism (3), a hydraulic driving mechanism (4) and a cabin door switch assembly (5);
the rotary telescopic mechanism (3) comprises a propulsion unit mechanical arm (20), a driving motor (22) and a guide plate (23); one end of a mechanical arm (20) of the propelling unit is hinged on a hydraulic cylinder A (24) of the hydraulic driving mechanism (4), the other end of the mechanical arm (20) of the propelling unit is hinged on a driving motor (22), and a guide plate (23) is hinged on the other end of the mechanical arm (20) of the propelling unit;
the cabin door switch assembly (5) comprises a cabin door (26) and a cabin door mechanical arm (27), one end of the cabin door mechanical arm (27) is hinged to a hydraulic cylinder B (25) of the hydraulic driving mechanism (4), and the other end of the cabin door mechanical arm (27) is hinged to the cabin door (26);
the integrated motor propulsion unit (2) comprises a motor and a propeller; the motor consists of a motor rotor (8) and a motor stator (9), and the propeller comprises a blade (10) and a guide pipe (11); the motor stator (9) is integrated in the guide pipe (11), the motor rotor (8) is connected with the guide pipe (11) through a bearing, and the blade tip wheel rim of the blade (10) is installed on the motor rotor (8); the propeller also comprises an intermediate shaft (18), the intermediate shaft (18) axially penetrates through the guide pipe (11) and is coaxially arranged, and the blade tail of the blade (10) is fixed on the outer edge surface of the intermediate shaft (18); the middle shaft (18) and the guide pipe (11) are supported by guide vanes (19), and the guide vanes (19) are positioned above or below the blades (10);
the rotary telescopic mechanism (3) further comprises a transmission mechanism (21), a rotating shaft of a driving motor (22) is connected with a rotating shaft of the transmission mechanism (21), and a mating flange (13) of the transmission mechanism (21) is connected with a flange (14) of the integrated motor propulsion unit (2); the axis of the driving motor (22) is vertical to the axis of the integrated motor propulsion unit (2) and is on the same surface.
2. The underwater vehicle advanced auxiliary propulsion system according to claim 1, further comprising: the deflector (23) is hinged to the other end of the propulsion unit mechanical arm (20) by a deflector lug (12).
3. The underwater vehicle advanced auxiliary propulsion system according to claim 1, further comprising: the other end of the cabin door mechanical arm (27) is hinged with a cabin door (26) through a cabin door lug (16).
4. The underwater vehicle advanced auxiliary propulsion system according to claim 1, further comprising: each set of auxiliary propulsion device (1) further comprises a locking assembly (6), each locking assembly (6) comprises two sets of locking units (28), one set of locking units (28) is used for locking the rotary telescopic mechanism (3), and the other set of locking units (28) is used for locking the cabin door (26); each group of locking units (28) comprises a pin shaft (17) and a nut (29), one end of the pin shaft (17) of one group of locking units (28) is inserted into the pin hole of the cabin door lug (16), one end of the pin shaft (17) of the other group of locking units (28) is inserted into the pin hole of the guide plate lug (12), and the other end of the pin shaft (17) is locked by the nut (29) and the nut (29) is clamped on an external limiting rod to realize locking.
5. The underwater vehicle advanced auxiliary propulsion system according to claim 1, further comprising: each set of auxiliary propulsion device (1) further comprises a position sensor assembly (7), and the position sensor assembly (7) comprises a position B sensor (31) arranged on the B hydraulic cylinder (25), a position A sensor (30) arranged on the A hydraulic cylinder (24) and an angle sensor (15) arranged on the driving motor (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111195469.1A CN113788131B (en) | 2021-10-14 | 2021-10-14 | Advanced auxiliary propulsion system of underwater vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111195469.1A CN113788131B (en) | 2021-10-14 | 2021-10-14 | Advanced auxiliary propulsion system of underwater vehicle |
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| Publication Number | Publication Date |
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| CN113788131A CN113788131A (en) | 2021-12-14 |
| CN113788131B true CN113788131B (en) | 2022-09-27 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114604405B (en) * | 2022-02-24 | 2023-06-20 | 中国人民解放军海军工程大学 | Winding and unwinding devices of shaftless auxiliary propeller |
| CN114590383B (en) * | 2022-02-24 | 2023-02-03 | 中国人民解放军海军工程大学 | Shaftless propulsion system integrated on aircraft shell and control method thereof |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IT1218335B (en) * | 1983-06-23 | 1990-04-12 | Salvatore Proto | RETRACTABLE AUXILIARY AND EMERGENCY PROPULSION DEVICE FOR VESSELS |
| EP1422136A3 (en) * | 2002-11-25 | 2008-01-23 | Javier Escacena Perez | Retractable system for stowing away the propulsion components for a vessel |
| CN101934857B (en) * | 2010-08-13 | 2012-07-25 | 中国舰船研究设计中心 | Auxiliary propulsion system of underwater vehicle |
| WO2017085356A1 (en) * | 2015-11-20 | 2017-05-26 | Rolls-Royce Oy Ab | A retractable thruster, a swimming vessel and a method for retracting and ejecting a propeller of the retractable thruster |
| US9738364B2 (en) * | 2016-01-15 | 2017-08-22 | Kenneth Abney | Hull-mountable retractable thruster apparatus and method |
| CN205770088U (en) * | 2016-05-25 | 2016-12-07 | 南京高精船用设备有限公司 | Boats and ships cartridge type is stretched all-direction propeller |
| CN107554739B (en) * | 2017-08-22 | 2019-03-05 | 大连理工大学 | A kind of two-way all-direction propeller, ship and floating platform |
| CN107512380B (en) * | 2017-08-22 | 2019-07-16 | 大连理工大学 | A kind of all-around propeller, ship and floating platform |
| CN110657941B (en) * | 2019-08-27 | 2021-02-09 | 中国人民解放军海军工程大学 | Hydrodynamic performance testing device for shaftless pump jet propeller |
| CN112498643B (en) * | 2020-12-15 | 2021-09-28 | 上海瀚星船舶科技有限公司 | Marine retractable air hub propulsion device |
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