CN114590383A

CN114590383A - Shaftless propulsion system integrated on aircraft shell and control method thereof

Info

Publication number: CN114590383A
Application number: CN202210170111.1A
Authority: CN
Inventors: 靳栓宝; 魏应三; 胡鹏飞; 刘承江; 孙方旭; 熊又星; 孙文; 田呈环
Original assignee: Naval University of Engineering PLA
Current assignee: Naval University of Engineering PLA
Priority date: 2022-02-24
Filing date: 2022-02-24
Publication date: 2022-06-07
Anticipated expiration: 2042-02-24
Also published as: CN114590383B

Abstract

The invention relates to the technical field of aircraft propulsion, in particular to a shaftless propulsion system integrated on a shell of an aircraft and a control method thereof. The aircraft cabin comprises a shaftless auxiliary propeller arranged in a cabin body at the bottom of an aircraft, a retraction device, a first hydraulic system, a second hydraulic system and a control unit, wherein a cabin door body used for sealing the cabin body is arranged at the bottom of the cabin body, the control signal output end of the control unit is respectively electrically connected with the control signal input ends of the first hydraulic system and the second hydraulic system, the output end of the first hydraulic system is connected with the retraction device, the output end of the second hydraulic system is connected with the cabin door body, and the control unit is used for controlling the shaftless auxiliary propeller to be transferred or withdrawn from the cabin body in a rotating mode and controlling the cabin door body to close or open the cabin body. The system can realize the automatic retraction of the shaftless auxiliary propeller, and reduce the navigation resistance of the aircraft.

Description

Shaftless propulsion system integrated on aircraft shell and control method thereof

Technical Field

The invention relates to the technical field of aircraft propulsion, in particular to a shaftless propulsion system integrated on a shell of an aircraft and a control method thereof.

Background

The greatest advantages of shaftless auxiliary thrusters (i.e. shaftless auxiliary thrusters) are their minimal noise and low space requirements, which significantly improve the maneuverability of large aircraft when used as auxiliary propulsion systems on board the aircraft, and in particular provide more precise control when entering and exiting ports.

The existing shaftless auxiliary propeller is arranged outside an aircraft, when the aircraft navigates open water, the shaftless auxiliary propeller can influence the line type of a ship body, so that the resistance is increased, larger vibration noise can be caused, the propelling efficiency is low, and the fuel consumption and the carbon dioxide emission are increased.

Therefore, in order to reduce the navigation resistance, improve the economy and reduce the navigation noise, the shaftless propulsion system can realize the automatic retraction function of the shaftless auxiliary propeller.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a shaftless propulsion system integrated with a shell of an aircraft, which can realize automatic retraction of a shaftless auxiliary propeller.

The invention provides a shaftless propulsion system integrated with a shell of an aircraft, which has the technical scheme that: the aircraft cabin comprises a shaftless auxiliary propeller, a retraction device, a first hydraulic system, a second hydraulic system and a control unit, wherein the shaftless auxiliary propeller, the retraction device, the first hydraulic system, the second hydraulic system and the control unit are arranged in a cabin body at the bottom of an aircraft, a cabin door body used for sealing the cabin body is arranged at the bottom of the cabin body, the control signal output end of the control unit is respectively and electrically connected with the control signal input ends of the first hydraulic system and the second hydraulic system, the output end of the first hydraulic system is connected with the retraction device, the output end of the second hydraulic system is connected with the cabin door body, and the control unit is used for controlling the shaftless auxiliary propeller to be transferred or withdrawn from the cabin body in a rotating mode and controlling the cabin door body to seal or open the cabin body.

Preferably, the retraction device comprises a retraction arm body and retraction arm driving shaft assemblies symmetrically arranged on two sides of the retraction arm body, the first hydraulic system comprises retraction arm driving hydraulic cylinders symmetrically arranged on two sides of the retraction arm body, the end part of a piston rod of each retraction arm driving hydraulic cylinder is hinged to one end of each retraction arm driving shaft assembly, the other end of each retraction arm driving shaft assembly is laterally and fixedly connected with the retraction arm body, the bottom of the retraction arm body is fixedly connected with the shaftless auxiliary propeller, and the retraction arm body can enable the shaftless auxiliary propeller to be transferred or retracted from the cabin body in a rotating mode under the driving of the retraction arm driving hydraulic cylinders.

Preferably, the retractable arm driving shaft assembly comprises a retractable arm driving shaft, a retractable arm driving shaft bearing seat, a retractable arm driving shaft bearing and a retractable arm driving shaft connecting rod, the retractable arm driving shaft bearing is arranged on the retractable arm driving shaft and is fixedly connected with the inner wall of the cabin body through the retractable arm driving shaft bearing seat, one end of the retractable arm driving shaft connecting rod is hinged to the end portion of a piston rod of the retractable arm driving hydraulic cylinder, the other end of the retractable arm driving shaft is fixedly connected with one end of the retractable arm driving shaft, the other end of the retractable arm driving shaft is laterally fixedly connected with the retractable arm body, and the retractable arm driving shaft is used for rotating around the axis of the retractable arm driving hydraulic cylinder under the driving of the retractable arm driving hydraulic cylinder.

Preferably, the retractable arm body comprises a shaftless auxiliary propeller connecting shaft, a shaftless auxiliary propeller connecting flange, a retractable arm rib plate and a retractable arm linear plate, the two sides of the shaftless auxiliary propeller connecting shaft are connected with a retractable arm driving shaft assembly, the shaftless auxiliary propeller connecting shaft is connected with the shaftless auxiliary propeller through the shaftless auxiliary propeller connecting flange arranged at the bottom, one end of the retractable arm rib plate is fixedly connected with the outer wall of the shaftless auxiliary propeller connecting shaft, and the other end of the retractable arm rib plate is vertically connected with the retractable arm linear plate;

the retractable arm linear template has a first state of rotating to the bottom of the cabin body when the shaftless auxiliary propeller is retracted into the cabin body and a second state of rotating back into the cabin body when the shaftless auxiliary propeller is lowered from the cabin body;

the retractable arm linear plate is provided with a plate surface structure which is linearly matched with the bottom surface of the stern part of the aircraft in a first state.

Preferably, the retraction device comprises a retraction arm locking pin component, the retraction arm locking pin component is perpendicular to a retraction arm rib plate and is fixedly arranged on the inner wall of the cabin body, a retraction arm stop plate fixedly connected with the retraction arm rib plate and the retraction arm linear plate is arranged at the top of the retraction arm rib plate, the retraction arm stop plate is perpendicular to the retraction arm rib plate and the retraction arm locking pin component, and a retraction arm limit block capable of being in limit fit with the retraction arm stop plate in the second state is arranged on the inner wall of the cabin body above the retraction arm stop plate.

Preferably, the second hydraulic system comprises a cabin door driving hydraulic cylinder, the cabin door body is provided with a pair of cabin door connecting rods, the cabin door driving hydraulic cylinder is hinged with the cabin door connecting rods through a cabin door driving shaft assembly, the cabin door body can rotate around a cabin door rotating shaft assembly under the driving of the cabin door driving hydraulic cylinder, the cabin door body is provided with a flow guide hole, the cabin door driving shaft assembly comprises a cabin door driving shaft, a cabin door driving shaft locking nut, a cabin door driving hydraulic cylinder joint bearing and a cabin door driving hydraulic cylinder mounting lug plate, the cabin door driving hydraulic cylinder mounting lug plate is arranged on the cabin door driving hydraulic cylinder joint bearing in an interference fit manner and is hinged with the end part of a cabin door driving hydraulic cylinder piston rod, the cabin door driving hydraulic cylinder joint bearing is arranged on the cabin door driving shaft, the cabin door driving shaft is arranged on the pair of cabin door connecting rods in a penetrating manner and is fixed through the cabin door driving shaft locking nut, the cabin body is internally and fixedly provided with a first limiting block which can be in limiting fit with the cabin door connecting rod in an opening state of the cabin door body and a second limiting block which is in limiting fit with the cabin door connecting rod in a closing state of the cabin door body, and the first limiting block and the second limiting block are respectively positioned at two sides of the cabin door connecting rod.

Preferably, the cabin door body comprises a cabin door linear plate, a pair of cabin door connecting rods and a cabin door locking bolt lug plate, the pair of cabin door connecting rods are arranged at one end, close to the cabin door rotating shaft assembly, of the cabin door linear plate, the cabin door locking bolt lug plate is arranged at one end, far away from the cabin door rotating shaft assembly, of the cabin door linear plate, a bolt hole is formed in the cabin door locking bolt lug plate, a cabin door locking bolt assembly used for being matched with the bolt hole in a locking mode is fixedly arranged on the inner wall of the cabin body in the closed state of the cabin door body, and the cabin door linear plate is provided with a plate surface structure capable of being matched with the bottom surface of the stern part of an aircraft in a linear mode in the closed state of the cabin door body.

Preferably, a plurality of square flow guide holes are distributed in the cabin door body in an array mode, an inclined wall surface is arranged on the inner wall, perpendicular to the navigation direction of the aircraft, of each flow guide hole, a first included angle is formed between each inclined wall surface and the inner wall of the cabin door body, the first included angle is a rotation angle of the cabin door body from a closed state to a completely opened state, cabin door reinforcing ribs are arranged on the inner side of the cabin door body, a plurality of flexible rim propeller supporting pads are arranged on the inner wall of the cabin door body in a protruding mode, and the rim propeller supporting pads can be in elastic contact with shaftless auxiliary propellers stored in the cabin body in the closed state of the cabin door body.

Preferably, the cabin door locking bolt assembly comprises a cabin door locking base, a cabin door locking bolt hydraulic cylinder, a cabin door locking state travel switch and a cabin door unlocking state travel switch, the tail end of the cabin door locking bolt is coaxially connected with a piston rod of the cabin door locking bolt hydraulic cylinder, the cabin door locking bolt can lock a cabin door locking bolt lug plate on the cabin door locking base through a bolt hole under the driving of the cabin door locking bolt hydraulic cylinder, an annular weakening groove is arranged on the position, corresponding to the cabin door locking base, on the cabin door locking bolt, the cabin door locking state travel switch is arranged on one side, away from the cabin door locking bolt, of the cabin door locking base, the cabin door unlocking state travel switch is arranged at the bottom of the cabin door locking bolt hydraulic cylinder, and a cabin door locking bolt end surface monitoring point corresponding to the cabin door locking state travel switch is arranged on the front end surface of the cabin door locking bolt, the hatch door locking bolt end is equipped with downwardly extending and the hatch door locking bolt otic placode monitoring point that corresponds with hatch door unblock state travel switch, hatch door locking base has two lock plates of parallel arrangement, two correspond position department with hatch door locking bolt on the lock plate and be equipped with the bolt hole, hatch door locking bolt otic placode can inlay between two lock plates and through hatch door locking bolt locking, weakening groove on the hatch door locking bolt is twice, hatch door locking bolt is under the locking state, twice weaken the groove and lie in two bolt holes on the lock plate respectively, work as when hatch door locking bolt can't normally extract, but radial drive hatch door locking bolt otic placode of hatch door drive pneumatic cylinder makes hatch door locking bolt is in weakening groove department fracture under the effect of hatch door locking base.

The invention provides a control method of a shaftless propulsion system integrated with a vehicle shell, which has the technical scheme that:

when the shaftless auxiliary propeller is required to work, the control unit sequentially executes the following actions, including: the cabin door body is unlocked, the cabin door body is driven to be opened through a second hydraulic system, the shaftless auxiliary propeller is unlocked, the first hydraulic system drives the retraction device to transfer the shaftless auxiliary propeller from the cabin body in a rotating mode, the shaftless auxiliary propeller is locked, the cabin door body is driven to be closed through the second hydraulic system, and the cabin door body is locked;

when the shaftless auxiliary propeller does not work, the control unit executes the following actions in sequence, including: the cabin door body is unlocked, the cabin door body is driven to be opened through the second hydraulic system, the shaftless auxiliary propeller is unlocked, the shaftless auxiliary propeller is retracted to the cabin body in a rotating mode through the first hydraulic system driving retracting and releasing device, the shaftless auxiliary propeller is locked, the cabin door body is driven to be closed through the second hydraulic system, and the cabin door body is locked.

The invention has the beneficial effects that:

1. a cabin body structure is arranged at the bottom of the aircraft, and a hydraulic system, a control unit, a retraction device and a cabin door structure are arranged in the aircraft. Under the control of the control unit, the hydraulic cylinder is matched with the double connecting rods to drive the rotary cabin door. Under the control of the control unit, the hydraulic cylinder drives the retraction arm to realize the lowering and retraction of the shaftless auxiliary propeller. The system can realize the automatic releasing and withdrawing functions of the shaftless auxiliary propeller, and has high integration level and high automation degree. Meanwhile, the cabin body can be sealed when the cabin door is closed, devices in the cabin body are protected, and the design of the flow guide holes in the cabin door can reduce navigation resistance when the cabin door is opened.

2. The hatch door linear plate has a plate surface structure which is linearly matched with the bottom surface of the stern of the aircraft in a closed state of the hatch door, and can complement the bottom streamline of the aircraft in the closed state of the hatch door, thereby reducing the navigation resistance.

3. The diversion holes are arranged on the cabin door in an array mode, seawater inflow resistance in the opening process of the cabin door is reduced, the cylinder diameter size of the cabin door driving hydraulic cylinder is effectively reduced, and the compactness of the rim propeller retracting mechanism is improved. The inner wall of the flow guide hole, which is perpendicular to the navigation direction of the aircraft, is provided with an inclined wall surface, a first included angle is formed between the inclined wall surface and the inner wall of the cabin door, and the first included angle is a rotating angle of the cabin door from a closed operation state to a completely opened state. The structure can ensure that the flow guide hole has the maximum over flow under the opening state of the cabin door, thereby reducing the navigation resistance.

4. The inner wall protrusion of hatch door is provided with the flexible rim propeller supporting pad of a plurality of, and this flexible rim propeller supporting pad can with accomodate the shaftless auxiliary propulsion ware elastic contact to the cabin internal to buffer protection is carried out shaftless auxiliary propulsion ware, has reduced the vibration and the noise of navigation ware open water navigation, and the hatch door inner wall sets up the strengthening rib, has improved hatch door structural strength.

5. The cabin door locking bolt assembly is provided with the cabin door locking base, the cabin door locking bolt is provided with the weakening groove matched with the cabin door locking base, when the cabin door locking bolt cannot be normally pulled out, the cabin door locking bolt lug plate can be radially driven by the cabin door driving hydraulic cylinder, so that the cabin door locking bolt is broken at the weakening groove under the action of the cabin door locking base, the cabin door which is abnormally caused by the cabin door locking bolt is prevented from being closed/opened, and the normal running of a navigation device under an emergency state is ensured.

6. The retractable arm driving hydraulic cylinders and the retractable arm driving shaft assemblies which are symmetrically arranged on the two sides of the retractable arm body can drive the shaftless auxiliary propeller to transfer or retract from the cabin body in a rotating mode, so that the navigation resistance is reduced, the economy is improved, the navigation noise is reduced, and the YBX (namely the concealment) of the ship is improved. Meanwhile, the shaftless auxiliary propeller is driven to move downwards/be retracted in a rotary driving mode, and compared with linear retraction, the shaftless auxiliary propeller has the advantages of small occupied space and compact structure and is favorable for being arranged in a narrow cabin.

7. The retractable arm line type plate capable of being switched between the first state and the second state along with retraction of the shaftless auxiliary propeller is arranged on the retractable arm body, the retractable arm line type plate is provided with a plate surface structure matched with the bottom line type of the stern of the ship under the first state, interference of narrow space on the rotation retraction of the shaftless auxiliary propeller is avoided, and the hydrodynamic streamline of the stern of the ship can be supplemented through the retractable arm line type plate when the ship is sailed open, so that the resistance is reduced, the propulsion efficiency is improved, and the fuel consumption and the carbon dioxide emission are reduced.

8. The retractable arm locking bolt assembly is arranged in the cabin body, the retractable arm rib plate is provided with a first bolt hole which can be matched with the retractable arm locking bolt assembly in a locking mode in a first state and a second bolt hole which can be matched with the retractable arm locking bolt assembly in a locking mode in a second state, locking of the shaftless auxiliary propeller in the first state and the second state is achieved, and stability of the shaftless auxiliary propeller state is guaranteed.

9. The connecting shaft of the shaftless auxiliary propeller is a hollow structural member, and can provide a cable laying space for the shaftless auxiliary propeller inside, thereby being beneficial to the arrangement of cables and preventing the interference with surrounding environment members.

10. The retractable arm locking pin assembly is provided with a retractable arm locking base, the retractable arm locking pin is provided with a weakening groove matched with the retractable arm locking base, when the retractable arm locking pin cannot be normally pulled out, the retractable arm rib plate is radially driven by a hydraulic cylinder driven by the retractable arm, so that the retractable arm locking pin is broken at the weakening groove under the action of the retractable arm locking base, the condition that a shaftless auxiliary propeller cannot be retracted or below due to the abnormal retractable arm locking pin is prevented, and the normal running of a ship in an emergency state is ensured.

Drawings

FIG. 1 is a schematic view of the structure of the present invention;

FIG. 2 is a schematic view of the assembly of the hatch body of the invention in a cabin;

FIG. 3 is a schematic view of the hatch drive shaft assembly of the present invention;

FIG. 4 is a schematic structural view of the hatch door of the present invention;

FIG. 5 is a schematic view of the door latch assembly of the present invention in an unlocked state;

FIG. 6 is a schematic view of the locking position of the door locking latch of the present invention;

FIG. 7 is a schematic view of a first angular configuration of the retractable device of the present invention;

FIG. 8 is a schematic view of a second angular structure of the retractable device of the present invention;

FIG. 9 is a schematic structural view of the retractable arm body of the present invention;

FIG. 10 is a schematic view of the retraction arm locking latch assembly in an unlocked state in accordance with the present invention;

FIG. 11 is a schematic view of the retraction arm locking latch of the present invention broken at the weakened slot;

FIG. 12 is a schematic view of a lowering control flow of the shaftless auxiliary thruster;

FIG. 13 is an exploded view of the lowering action of the shaftless auxiliary thruster;

FIG. 14 is a schematic view of a retraction control flow for a shaftless auxiliary thruster;

FIG. 15 is an exploded view of the retraction action of the shaftless auxiliary pusher;

fig. 16 is a schematic view illustrating a hatch door unlocking process.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, refer to an orientation or positional relationship illustrated in the drawings for convenience in describing the present application and to simplify description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

A shaftless propulsion system integrated on a shell of an aircraft comprises a cabin body, a cabin door assembly, a shaftless auxiliary propeller, a retraction device, a hydraulic system, an electric control cabinet and the like. The structure composition mode of the retraction device is as follows: the cabin body is a prying mechanism which is arranged outside the cabin and is used as a shaftless auxiliary propeller and a retraction device thereof, namely all cabin outer parts are installed and integrated in the cabin body, and the cabin body is directly connected with the ship body. The cabin door assembly and the retraction device are respectively connected with the cabin body to form two core motion mechanisms of the retraction device. The cabin door assembly finishes the retracting action by driving the hydraulic cylinder, protects the propeller and makes up the hydrodynamic streamline. The retraction device is connected with the shaftless auxiliary propeller, and the retraction of the propeller is completed by the driving of the double hydraulic cylinders, so that a movement mechanism of the shaftless auxiliary propeller is formed. The hydraulic valve group of the hydraulic system is arranged in the cabin and is respectively connected with the cabin door assembly and the retraction device through hydraulic pipelines, so that the extension and retraction of the driving hydraulic cylinder and the locking bolt hydraulic cylinder of the cabin door assembly and the retraction device are controlled, and the retraction function and the locking function of the cabin door assembly and the retraction device are realized. The electric control cabinet is arranged in the cabin and is respectively connected with the cabin door assembly, the retracting device and the hydraulic valve group through cables, so that the retracting function, the locking function, the state monitoring function and the like of the cabin door assembly and the retracting device are realized.

Example one

Fig. 1 shows a schematic structural diagram of an shaftless propulsion system integrated into an aircraft hull according to a preferred embodiment of the present application, and for convenience of illustration, only the parts related to the present embodiment are shown, which are detailed as follows:

a shaftless propulsion system integrated with a hull of an aircraft comprises a shaftless auxiliary propeller 13, a retraction device, a first hydraulic system, a second hydraulic system and a control unit, wherein the shaftless auxiliary propeller 13, the retraction device, the first hydraulic system, the second hydraulic system and the control unit are arranged in a cabin body 1 at the bottom of the aircraft, a cabin door body 5 used for closing the cabin body 1 is arranged at the bottom of the cabin body 1, a control signal output end of the control unit is electrically connected with control signal input ends of the first hydraulic system and the second hydraulic system respectively, an output end of the first hydraulic system is connected with the retraction device, an output end of the second hydraulic system is connected with the cabin door body 5, and the control unit is used for controlling the shaftless auxiliary propeller 13 to be put down or withdrawn from the cabin body 1 in a rotating mode and controlling the cabin door body 5 to close or open the cabin body 1.

As shown in fig. 2, the second hydraulic system includes a door driving hydraulic cylinder 3, the door body 5 is provided with a pair of door connecting rods 51, the door driving hydraulic cylinder 3 is hinged to the door connecting rods 51 through a door driving shaft assembly 4, the door body 5 can rotate around a door rotating shaft assembly 6 under the driving of the door driving hydraulic cylinder 3, and the door body 5 is provided with a diversion hole 55. The cabin door driving hydraulic cylinder rotating shaft assembly 2 is connected with the cabin body 1 and the cabin door driving hydraulic cylinder 2. The revolving shaft assembly 2 of the hatch driving hydraulic cylinder comprises: a hatch driving hydraulic cylinder rotary pin 21, a hatch base lug plate 22 and the like; the hatch door driving hydraulic cylinder rotary pin 21 is a rotary shaft of the hatch door driving hydraulic cylinder 3, and the two hatch door base lug plates 22 are connected to the cabin body 1 through welding; the hatch door driving hydraulic cylinder 2 provides driving force for opening and closing the hatch door, and a piston rod of the hatch door driving hydraulic cylinder 3 is connected with the hatch door driving shaft assembly 4.

As shown in fig. 3, the hatch drive shaft assembly 4 includes: a hatch driving shaft 41, a hatch driving shaft locking nut 42, a hatch driving hydraulic cylinder joint bearing 43 and a hatch driving shaft butt flange 44. The hatch driving shaft 41 is connected with the hatch body 5 through two hatch driving shaft locking nuts 42, the hatch driving hydraulic cylinder knuckle bearing 43 is in interference fit with the hatch driving hydraulic cylinder mounting lug plate 31, the hatch driving hydraulic cylinder 3 can rotate around the hatch driving shaft 41, and the two hatch driving shafts 41 are in locking connection with the hatch driving shaft butting flange 44 through screws.

The hatch drive shaft 41 is designed with two half shafts, and mainly bears the load of the hatch drive hydraulic cylinder. The structure improves the assembly manufacturability of the rim propeller retracting and releasing mechanism, and is beneficial to improving the compactness of the rim propeller retracting and releasing mechanism. And a hatch driving shaft locking nut 42 for locking the hatch driving shaft with the hatch body. The structure can improve the assembly manufacturability of the rim thruster retraction mechanism and is beneficial to improving the compactness of the rim thruster retraction mechanism. The hatch drive hydraulic cylinder knuckle bearing 43, connecting the hatch drive hydraulic cylinder 3 and the hatch drive shaft 41, facilitates the lifting of the lateral forces of the hatch drive hydraulic cylinder. The hatch drive shaft abuts the flange 44 to provide a connection interface for the two hatch drive shafts 41.

As shown in fig. 4, the hatch body 5 includes: a hatch connecting rod 51, a hatch reinforcing rib 52, a rim propeller supporting pad 53, a hatch linear plate 54, a diversion hole 55 and a hatch locking bolt lug plate 56. The cabin door connecting rod 51 adopts a double-connecting-rod structure, provides an installation interface for a cabin door driving shaft assembly, provides an installation interface for a cabin door rotary motion fulcrum, and is a main bearing part of the cabin door body 5. The cabin door is provided with the double connecting rods, so that the cabin door can move more stably. The door line-shaped plate 54 is provided with door reinforcing ribs 52 which are arranged in a criss-cross framework. The strength of the cabin door body 5 can be improved, the strength of the cabin door body 5 bearing the resistance of water flow is ensured, and the protection function of the cabin door body 5 on the rim propeller is realized. The door stiffener 52 is in this embodiment arranged around the door edge. In the inner space formed by the cabin door reinforcing ribs 52, a rim propeller supporting pad 53 is arranged and is made of a composite high polymer material. When the rim thruster is retracted, the rim thruster support pads 53 provide elastic support for the rim thruster, thereby reducing the vibration and noise of the open water navigation of the aircraft. The hatch board 54 is of a line type structure of the stern of the ship body. When the aircraft sails open to the water, the cabin door linear plate can complement the hydrodynamic streamline of the stern of the ship body, so that the resistance is reduced, the propulsion efficiency is improved, and the fuel consumption and the carbon dioxide emission are reduced. The cabin door linear plate 54 is provided with square flow guide holes 55 in an array manner, the inner walls of the flow guide holes 55 perpendicular to the navigation direction of the aircraft are provided with inclined wall surfaces, a first included angle is formed between the inclined wall surfaces and the inner wall of the cabin door body 5, and the first included angle is a rotation angle of the cabin door body 5 from a closed operation state to a completely opened state. The structure reduces the seawater inflow resistance in the process of opening the cabin door, effectively reduces the cylinder diameter size of the cabin door driving hydraulic cylinder, and improves the compactness of the rim propeller retracting mechanism. And the cabin door locking bolt ear plates 56 are arranged at the far end of the cabin door, and bolt holes 561 of the cabin door locking bolts are arranged on two sides of the cabin door body 5. The hatch door locking bolt ear plate 56 is arranged at the far end of the hatch door, the locking force arm is large, and the requirement on the strength of the hatch door locking bolt is favorably reduced. And the locking device is arranged on two sides of the cabin door, so that the locking stability is stronger.

As shown in fig. 5 and 6, the door locking state travel switch 71 and the door unlocking state travel switch 75 respectively sense a door locking bolt end surface monitoring point 733 and a door locking bolt otic placode monitoring point 732 to monitor the door locking state.

The cabin door locking bolt assembly 7 comprises a cabin door locking base 72, a cabin door locking bolt 73 and a cabin door locking bolt hydraulic cylinder 74, the tail end of the cabin door locking bolt 73 is coaxially connected with a piston rod of the cabin door locking bolt hydraulic cylinder 74, the cabin door locking bolt 73 can lock the cabin door locking bolt lug plate 56 on the cabin door locking base 72 through a bolt hole under the driving of the cabin door locking bolt hydraulic cylinder 74, and an annular weakening groove 731 is formed in the position, corresponding to the cabin door locking base 72, on the cabin door locking bolt 73.

The cabin door locking bolt assembly 7 further comprises a cabin door locking state travel switch 71 and a cabin door unlocking state travel switch 75, the cabin door locking state travel switch 71 is arranged on one side, far away from the cabin door locking bolt 73, of the cabin door locking base 72, the cabin door unlocking state travel switch 75 is arranged at the bottom of the cabin door locking bolt hydraulic cylinder 74, a cabin door locking bolt end face monitoring point 733 corresponding to the cabin door locking state travel switch 71 is arranged on the front end face of the cabin door locking bolt 73, and a cabin door locking bolt otic placode monitoring point 732 extending downwards and corresponding to the cabin door unlocking state travel switch 75 is arranged at the tail end of the cabin door locking bolt 73.

The hatch door locking base 72 is installed on the cabin body 1 through screws, and is provided with two locking plates 721 arranged in parallel, bolt holes are formed in the positions, corresponding to the hatch door locking bolt 73, of the two locking plates 721, the hatch door locking bolt ear plates 56 can be embedded between the two locking plates 721 and locked through the hatch door locking bolt 73, the weakening grooves 731 in the hatch door locking bolt 73 are two, and the hatch door locking bolt 73 is in a locking state, and the two weakening grooves 731 are respectively located in the two bolt holes in the locking plates 721.

When the door lock bolt 73 cannot be normally pulled out, the door driving hydraulic cylinder 3 can radially drive the door lock bolt ear plate 56, so that the door lock bolt 73 is broken at the weakened groove 731 under the action of the door lock base 72.

As shown in fig. 7 and 8, the retraction device includes a retraction arm body 11 and retraction arm driving shaft assemblies 10 symmetrically disposed at two sides of the retraction arm body 11, the first hydraulic system includes retraction arm driving hydraulic cylinders 9 symmetrically disposed at two sides of the retraction arm body 11, and the retraction arm driving hydraulic cylinders 9 are connected to the cabin 1 through the retraction arm driving hydraulic cylinder rotating shaft assemblies 8. Receive and release arm drive hydraulic cylinder revolving shaft subassembly 8 includes: a retracting arm driving hydraulic cylinder rotating pin 81 and a retracting arm base lug plate 82. The retractable arm driving hydraulic cylinder rotating pin 81 is a rotating shaft of the retractable arm driving hydraulic cylinder 9, and the retractable arm base lug plate 82 is connected to the cabin body 1 through welding. The end part of a piston rod of the retractable arm driving hydraulic cylinder 9 is hinged with one end of a retractable arm driving shaft assembly 10, the other end of the retractable arm driving shaft assembly 10 is laterally and fixedly connected with a retractable arm body 11, the bottom of the retractable arm body 11 is fixedly connected with a shaftless auxiliary propeller 13, and the retractable arm body 11 can enable the shaftless auxiliary propeller 13 to be placed or retracted from the cabin body 1 in a rotating mode under the driving of the retractable arm driving hydraulic cylinder 9. The retractable arm drive shaft assembly 10 includes: a retractable arm drive shaft 101, a retractable arm drive shaft bearing seat 102, a retractable arm drive shaft bearing 103 (in the present embodiment, a retractable arm drive shaft water lubrication bearing is adopted), and a retractable arm drive shaft connecting rod 104. The retractable arm driving shaft 101 is connected with the retractable arm body 11 through screws, the retractable arm water lubricating bearing 103 is connected with the retractable arm driving shaft 101 through clearance fit, the retractable arm water lubricating bearing is connected with the retractable arm driving shaft bearing seat 102 through interference fit, the retractable arm driving shaft bearing seat 102 is fastened with the cabin body 1 through screws, and rotation and support of the retractable arm driving shaft 101 can be realized; the retractable arm driving shaft connecting rod 104 and the retractable arm driving shaft 101 are axially fixed through a locking nut, and the retractable arm driving hydraulic cylinder 9 is connected with the retractable arm driving shaft connecting rod 104 through a pin shaft; the retractable arm body 11 and the shaftless auxiliary propeller are fastened through bolts, and the retractable arm body 11 contains a line-shaped plate which can complement the stern linetype of the ship so that the stern linetype can keep the original hydrodynamic performance; the stowing arm locking latch assembly 12 is mounted to the nacelle 1 by screws.

As shown in fig. 9, the arm body 11 includes: the retractable arm comprises a retractable arm linear plate 111, a retractable arm stop block 112, a retractable arm rib plate 113, a shaftless auxiliary propeller connecting shaft 114 and a shaftless auxiliary propeller connecting flange 115. The retractable arm linear plate 111 is connected with a retractable arm rib plate 113, the retractable arm stop block 112 is connected with the retractable arm rib plate 113, and the side surface connected with the retractable arm rib plate 113 is adjacent to the surface connected with the retractable arm driving shaft 101. The retracting arm stop plate 112 is perpendicular to the retracting arm rib plate 113 and the retracting arm linear plate 111, and a reinforcing rib is arranged between the retracting arm stop plate 112 and the retracting arm rib plate 113. The inner wall of the cabin 1 is provided with a retractable arm stopper 14 above the retractable arm stopper 112, and the retractable arm stopper 14 can be in limit fit with the retractable arm stopper 112 in the second state. The shaftless auxiliary propeller connecting shaft 114 is connected with the arm rib plate 113, the shaftless auxiliary propeller connecting flange 115 is connected with the shaftless auxiliary propeller connecting shaft 114, and the shaftless auxiliary propeller connecting flange 115 is connected with the shaftless auxiliary propeller 13 through bolts. The shaftless auxiliary thruster connection shaft 114 provides a mounting interface for the retraction arm drive shaft 101. The retracting arm rib plate 113 is provided with a first latch hole 1131 for locking and matching with the retracting arm locking latch assembly 12 in the first state and a second latch hole 1132 for locking and matching with the retracting arm locking latch assembly 12 in the second state.

The shaftless auxiliary propeller connecting shaft 114 is a square hollow shaft, and the square plane side wall of the connecting shaft can provide a flange mounting interface for a bearing mandrel and also can provide a stop position for the movement of the arm retracting assembly. The inner space of the square hollow shaft is also used for providing a cable laying space.

When a piston rod of the retractable arm driving hydraulic cylinder 9 extends out, the retractable arm driving shaft assembly 10 drives the retractable arm body 11 to rotate downwards in a vertical plane, so that the shaftless auxiliary propeller horizontally stored in the cabin body 1 rotates to the vertical direction from the bottom of the cabin body, and the shaft-less auxiliary propeller is lowered. In the lowering process, the linear plate 111 of the retractable arm synchronously rotates back to the cabin body along with the connecting shaft 114 of the shaftless auxiliary propeller.

When the piston rod of the retraction arm driving hydraulic cylinder 9 retracts, the retraction arm driving shaft assembly 10 drives the retraction arm body 11 to rotate upwards in a vertical plane, so that the shaftless auxiliary propeller positioned outside the cabin body rotates back into the cabin body and is accommodated in the cabin body 1 in the horizontal direction, and the shaftless auxiliary propeller is recovered. In the recovery process, the line-type plate 111 of the retractable arm synchronously rotates along with the connecting shaft 114 of the shaftless auxiliary propeller, when the shaftless auxiliary propeller is recovered into the cabin, the line-type plate 111 of the retractable arm is positioned at the reserved gap at the bottom of the cabin for the rotation of the shaftless auxiliary propeller, the ship linearity is supplemented, and the line type of the stern part is enabled to keep the original hydrodynamic performance.

As shown in fig. 10 and 11, the retraction arm locking state travel switch 121 and the retraction arm unlocking state travel switch 125 respectively monitor the retraction arm locking state by sensing a retraction arm locking bolt end surface monitoring point 1231 and a retraction arm locking bolt ear plate monitoring point 1233.

The retracting arm locking bolt assembly 12 comprises a retracting arm locking base 112, a retracting arm locking bolt 123 and a retracting arm locking bolt hydraulic cylinder 124, the tail end of the retracting arm locking bolt 123 is coaxially connected with a piston rod of the retracting arm locking bolt hydraulic cylinder 124, the retracting arm locking bolt 123 can lock the retracting arm rib plate 113 on the retracting arm locking base 112 through a first bolt hole 1131 or a second bolt hole 1132 under the driving of the retracting arm locking bolt hydraulic cylinder 124, and an annular weakening groove 1232 is arranged at the position, corresponding to the retracting arm locking base 112, of the retracting arm locking bolt 123;

when the retraction arm locking bolt 123 cannot be normally pulled out, the retraction arm driving hydraulic cylinder 9 can radially drive the retraction arm rib plate 113, so that the retraction arm locking bolt 123 is broken at the weakening groove 1232 under the action of the retraction arm locking base 112.

The arm retraction locking bolt assembly 12 further comprises an arm retraction locking state travel switch 121 and an arm retraction unlocking state travel switch 125, the arm retraction locking state travel switch 121 is arranged on one side of the arm retraction locking base 112, which is far away from the arm retraction locking bolt 123, the arm retraction unlocking state travel switch 125 is arranged at the bottom of the arm retraction locking bolt hydraulic cylinder 124, a retraction arm locking bolt end face monitoring point 1231 corresponding to the arm retraction locking state travel switch 121 is arranged on the front end face of the arm retraction locking bolt 123, and an arm retraction locking bolt ear plate monitoring point 1233 extending downwards and corresponding to the arm retraction unlocking state travel switch 125 is arranged at the tail end of the arm retraction locking bolt 123.

Receive and release arm locking base 112 and pass through the fix with screw on the internal wall of cabin 1, receive and release arm locking base 112 has two lock plates 1121 of parallel arrangement, be equipped with the bolt hole with receiving and releasing arm locking bolt 123 corresponding position department on two lock plates 1121, receive and release arm gusset 113 can imbed between two lock plates 1121 and through receiving and releasing arm locking bolt 123 locking, receive and release weakening groove 1232 on the arm locking bolt 123 for two, receive and release arm locking bolt 123 under the locking state, two weakening grooves 1232 are located two bolt holes on the lock plate 1121 respectively.

As shown in fig. 12, in the remote mode, the shaft-less auxiliary propeller may be released by one key, and the releasing control flow of the shaft-less auxiliary propeller sequentially includes:

the cabin door body is unlocked, the cabin door body is driven to be opened through the second hydraulic system, the shaftless auxiliary propeller is unlocked, the shaftless auxiliary propeller is lowered from the cabin body in a rotating mode through the first hydraulic system driving retracting device, the shaftless auxiliary propeller is locked, the cabin door body is driven to be closed through the second hydraulic system, and the cabin door body is locked.

Interlocking protection exists among all actions, and when the judgment condition that the previous action is finished is not triggered, the next action is not executed. If the intermediate step has a fault, the one-key mode is stopped, and the emergency cabin opening instruction and the emergency propeller releasing instruction can be used for gradually operating the propeller to be released.

As shown in fig. 13, the shaftless auxiliary thruster release action can be divided into three actions of hatch opening, thruster release and hatch closing.

Hatch opening action: the cabin door locking bolt assembly 7 is unlocked, the cabin door driving hydraulic cylinder 3 extends out, and the cabin door driving shaft assembly 4 is pushed to move, so that the cabin door body 5 is opened;

propeller pay-out action: the retraction arm locking bolt assembly 12 is unlocked, the retraction arm driving hydraulic cylinder 9 extends out, the retraction arm driving shaft assembly 10 and the retraction arm body 11 are pushed to rotate, the rim propeller is discharged to the stop limiting block, and finally the retraction arm locking bolt assembly 12 is locked and fixed.

The closing action of the cabin door: the cabin door driving hydraulic cylinder 3 retracts, the cabin door driving shaft assembly 4 is pulled to move, the cabin door body 5 is closed, and finally the cabin door locking bolt assembly 7 is locked and fixed.

As shown in fig. 14, in the remote mode, the operation of retracting the shaftless auxiliary thruster by one key may be performed, and the retracting control flow of the shaftless auxiliary thruster sequentially includes:

the cabin door body is unlocked, the cabin door body is driven to be opened through the second hydraulic system, the shaftless auxiliary propeller is unlocked, the shaftless auxiliary propeller is retracted to the cabin body in a rotating mode through the first hydraulic system driving retracting and releasing device, the shaftless auxiliary propeller is locked, the cabin door body is driven to be closed through the second hydraulic system, and the cabin door body is locked.

As shown in fig. 15, the retraction of the shaftless auxiliary thruster 13 can be divided into three actions, namely, hatch opening, thruster retraction and hatch closing.

retraction action of the propeller: unlocking the retracting arm locking bolt assembly 12, retracting the retracting arm driving hydraulic cylinder 9, pulling the retracting arm driving shaft assembly 10 and the retracting arm body 11 to rotate, retracting the rim propeller to the stop limiting block, and finally locking and fixing the retracting arm locking bolt assembly 12;

As shown in fig. 16, the hatch unlocking procedure is as follows:

whether the cabin door is unlocked or not is judged by observing whether the cabin door locking state travel switch and the cabin door unlocking state travel switch are triggered or not.

If the cabin door locking state travel switch is triggered and the cabin door unlocking switch is not triggered, the cabin door is in a locking state;

if the cabin door locking state travel switch is not triggered and the cabin door unlocking switch is triggered, the cabin door is in an unlocking state;

if the cabin door locking state travel switch is triggered and the cabin door unlocking switch is triggered, the cabin door locking bolt travel switch gives a fault alarm;

and if the cabin door locking state travel switch is not triggered and the cabin door unlocking switch is not triggered, the cabin door locking bolt travel switch gives a fault alarm.

If the cabin door is in a locked state, the relay of the electromagnetic reversing valve is electrified, and the electromagnetic reversing valve reverses;

and if the cabin door is in the unlocking state, the unlocking state of the cabin door is finished, and the instruction is finished.

If the pressure sensor of the rod cavity of the hydraulic cylinder detects that the pressure is normally increased, the electromagnetic directional valve works normally;

if the pressure value measured by the pressure sensor of the rod cavity of the hydraulic cylinder does not rise normally, the fault alarm of the electromagnetic directional valve corresponding to the hydraulic cylinder is carried out, the directional valve beside the manual adjusting machine is required to be adjusted for direction change at the moment, and whether the pressure measured by the pressure sensor of the rod cavity of the hydraulic cylinder rises normally or not is judged again.

If the pressure sensor of the rod cavity of the hydraulic cylinder detects that the pressure is normally increased, the reversing valve works normally; if the pressure value measured by the pressure sensor of the rod cavity of the hydraulic cylinder is not normally increased, the specific analysis of the hydraulic pipeline needs to be checked and the fault reason needs to be determined.

And after the reversing valve works normally, judging whether the travel switch of the cabin door in the unlocking state is triggered. If the cabin door unlocking state travel switch is in a trigger state, the cabin door is unlocked completely, and the cabin door unlocking instruction is finished; if the travel switch of the cabin door unlocking state is not triggered, the hydraulic pipeline needs to be checked for specific analysis and the fault reason needs to be determined.

Example two

The scheme provides a feasible scheme of a hydraulic system, which comprises the following specific steps:

the hydraulic system comprises a hydraulic fitting-out assembly, a hydraulic execution assembly and a hydraulic control assembly. The invention controls the pressure and flow of the rod cavity and the rodless cavity of the hydraulic cylinder, thereby controlling the movement speed and the output force and realizing the extension and retraction control of the hydraulic cylinder. The hydraulic cylinder is used as an execution element to drive the retraction mechanism to complete retraction and extension actions of the propeller, retraction and extension actions of the cabin door, latch locking and unlocking actions of the propeller and latch locking and unlocking actions of the cabin door.

The hydraulic fitting-out assembly comprises a stainless steel pipe, a hydraulic hose, a cabin penetrating block, a pipe joint, a pipe clamp and the like, is mainly used for conveying hydraulic oil and transferring hydraulic energy, connects a hydraulic power source, a control valve group, an oil cylinder and the like according to a hydraulic principle diagram, and achieves the effect that a hydraulic pipeline is routed in a cabin and extends to the deploying and retracting device through the cabin penetrating block.

The hydraulic execution assembly comprises 4 retractable arm driving

hydraulic cylinders

9, 4 cabin door driving

hydraulic cylinders

3, 2 retractable arm locking bolt

hydraulic cylinders

124 and 4 cabin door locking bolt hydraulic cylinders 74, and the total number of the cylinders is 14. And pressure sensors are arranged on inlet and outlet pipelines of all the hydraulic cylinders for pressure detection. The main function of the device is that the driving mechanism finishes the releasing and withdrawing of the propeller, the retracting and releasing action of the cabin door and the bolt locking of the propeller and the cabin door.

The hydraulic control assembly is arranged in the pressure-resistant shell, wherein the hydraulic valve adopts the arrangement form of a superposition valve and mainly comprises: the hydraulic control system comprises an electromagnetic directional valve, a pressure reducing valve, a hydraulic control one-way valve, a one-way throttle valve, an overflow valve, a balance valve, a pressure sensor, a hydraulic valve block, a pressure measuring joint and the like. The movement speed and the output force of the oil cylinder can be controlled through the hydraulic control assembly, and the extending and retracting actions of the oil cylinder are realized.

The hydraulic system designs functions such as emergency operation, oil cylinder action control, speed control, oil cylinder position control and the like aiming at the hydraulic control assembly, and the specific implementation measures are shown in the following table.

And (3) oil cylinder position keeping design: in the using process of the retracting and releasing device, the retracting and releasing arm and the cabin door are required to be kept unchanged even under the action of external load after each action is executed. In order to realize the function, a hydraulic lock (a two-way superposed hydraulic control one-way valve) is designed in an oil cylinder control loop, when an electromagnetic directional valve for controlling the retraction arm and the cabin door driving oil cylinder is positioned at a middle position, the hydraulic lock can isolate the oil cylinder from an external oil circuit, and the position of a piston rod of the hydraulic cylinder can be kept constant (not influenced by external load) through oil pressure. Meanwhile, the superposed one-way throttle valves are arranged between the hydraulic lock and the oil cylinder, so that the action speeds of the oil cylinder and a driving mechanism (a cabin door and a retractable arm) of the oil cylinder can be adjusted according to requirements.

And (3) designing overpressure protection: in order to prevent dangerous faults of the hydraulic system, such as oil leakage, pipe explosion, hydraulic element damage and the like caused by overhigh pressure in the operation process of the hydraulic system of the winding and unwinding device, the hydraulic system is provided with a safety valve at an oil inlet of a valve bank, 1 pressure reducing valve is arranged in front of a control oil way of each oil cylinder, and meanwhile, the safety valve is arranged in an oil inlet and outlet pipeline of each oil cylinder to prevent dangers caused by overpressure of the hydraulic system.

The operation of the key valve piece is designed redundantly: the solenoid directional valve that controls the extension and retraction of the cylinder in the hydraulic system is a critical valve component, and if the solenoid directional valve fails, the whole retraction device can be caused to fail. Therefore, the reversing solenoid valves of all the oil cylinders adopt solenoid valves with operating handles, and when the electric control fails, the solenoid reversing valves can be controlled to act through the operating handles, so that the reliability of the system is improved.

The hydraulic cylinder, the valve group and the pipeline are designed in an isolation way: the hydraulic cylinder and part of pipelines in the hydraulic system are arranged outside the pressure-resistant shell and soaked in seawater for a long time, and if the hydraulic cylinder is damaged or the pipelines leak to cause seawater to enter the hydraulic system, oil emulsification and other problems of the hydraulic system can be caused. Meanwhile, stop valves are arranged in the oil inlet pipeline and the oil return pipeline of the hydraulic valve bank, so that later maintenance of the hydraulic control valve bank is facilitated.

Designing an emergency interface of a manual pump: a manual pump interface is designed in a hydraulic system pipeline, and when a hydraulic power source fails, the retraction device can be driven through an external manual pump in an emergency mode.

Monitoring and designing operation parameters: the hydraulic system is provided with pressure sensors in the inlet and outlet pipelines of each oil cylinder, the oil inlet and the oil return port of the valve group, and the pressure sensors are used for monitoring the pressure of key parts in the operation process of the hydraulic system, so that operators can conveniently master the state of the equipment and troubleshoot faults. Meanwhile, the filter is provided with a pressure difference alarm switch, and when the filter is blocked, a blocking alarm signal can be sent out in time to remind personnel of replacing the filter element in time.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims

1. A shaftless propulsion system integrated into an aircraft hull, characterized by: the aircraft is characterized by comprising a shaftless auxiliary propeller (13), a retracting device, a first hydraulic system, a second hydraulic system and a control unit, wherein the shaftless auxiliary propeller is arranged in a cabin body (1) at the bottom of the aircraft, a cabin door body (5) used for sealing the cabin body (1) is arranged at the bottom of the cabin body (1), the control signal output end of the control unit is electrically connected with the control signal input ends of the first hydraulic system and the second hydraulic system respectively, the output end of the first hydraulic system is connected with the retracting device, the output end of the second hydraulic system is connected with the cabin door body (5), and the control unit is used for controlling the shaftless auxiliary propeller (13) to be placed or withdrawn from the cabin body (1) in a rotating mode and controlling the cabin door body (5) to seal or open the cabin body (1).

2. The shaftless propulsion system integrated in an aircraft hull according to claim 1, wherein: the retractable arm device comprises a retractable arm body (11) and retractable arm driving shaft assemblies (10) which are symmetrically arranged on two sides of the retractable arm body (11), a first hydraulic system comprises retractable arm driving hydraulic cylinders (9) which are symmetrically arranged on two sides of the retractable arm body (11), the end part of a piston rod of each retractable arm driving hydraulic cylinder (9) is hinged to one end of each retractable arm driving shaft assembly (10), the other end of each retractable arm driving shaft assembly (10) is laterally and fixedly connected with the retractable arm body (11), the bottom of the retractable arm body (11) is fixedly connected with a shaftless auxiliary propeller (13), and the retractable arm body (11) can enable the shaftless auxiliary propeller (13) to be transferred or retracted from the cabin body (1) in a rotating mode under the driving of the retractable arm driving hydraulic cylinders (9).

3. The shaftless propulsion system integrated in an aircraft hull according to claim 2, wherein: the retractable arm driving shaft assembly (10) comprises a retractable arm driving shaft (101), a retractable arm driving shaft bearing seat (102), a retractable arm driving shaft bearing (103) and a retractable arm driving shaft connecting rod (104), wherein the retractable arm driving shaft bearing (103) is arranged on the retractable arm driving shaft (101) and fixedly connected with the inner wall of the cabin body (1) through the retractable arm driving shaft bearing seat (102), one end of the retractable arm driving shaft connecting rod (104) is hinged with the end part of a piston rod of a retractable arm driving hydraulic cylinder (9), the other end of the retractable arm driving shaft (101) is fixedly connected with one end of the retractable arm driving shaft (101), the other end of the retractable arm driving shaft (101) is laterally fixedly connected with a retractable arm body (11), and the retractable arm driving shaft (101) is used for rotating around the axis of the retractable arm driving hydraulic cylinder (9).

4. The shaftless propulsion system integrated in an aircraft hull according to claim 2, wherein: the retractable arm comprises a retractable arm body (11) and a retractable arm driving shaft assembly (10), wherein the retractable arm body comprises a shaftless auxiliary propeller connecting shaft (114), a shaftless auxiliary propeller connecting flange (115), a retractable arm rib plate (113) and a retractable arm line-shaped plate (111), the two sides of the shaftless auxiliary propeller connecting shaft (114) are connected with the retractable arm driving shaft assembly (10), the shaftless auxiliary propeller connecting shaft (114) is connected with a shaftless auxiliary propeller (13) through the shaftless auxiliary propeller connecting flange (115) arranged at the bottom, one end of the retractable arm rib plate (113) is fixedly connected with the outer wall of the shaftless auxiliary propeller connecting shaft (114), and the other end of the retractable arm rib plate (113) is vertically connected with the retractable arm line-shaped plate (111);

the retractable arm linear plate (111) has a first state of rotating to the bottom of the cabin body (1) when the shaftless auxiliary propeller (13) retracts to the cabin body (1) and a second state of rotating back to the cabin body (1) when the shaftless auxiliary propeller (13) is lowered from the cabin body (1);

the retractable arm linear plate (111) is provided with a plate surface structure which is linearly matched with the bottom surface of the stern part of the aircraft in a first state.

5. The shaftless propulsion system integrated in an aircraft hull according to claim 4, wherein: the retractable device comprises a retractable arm locking bolt (123) component (12), the retractable arm locking bolt (123) component (12) is perpendicular to a retractable arm rib plate (113) and is fixedly arranged on the inner wall of a cabin body (1), a first bolt hole (1131) used for being matched with the retractable arm locking bolt (123) component (12) in a locking mode in a first state and a second bolt hole (1132) used for being matched with the retractable arm locking bolt (123) component (12) in a locking mode in a second state are arranged on the retractable arm rib plate (113), a retractable arm stop plate (112) fixedly connected with the retractable arm rib plate (113) and a retractable arm line type plate (111) is arranged at the top of the retractable arm rib plate (113), the retractable arm stop plate (112) is perpendicular to the retractable arm rib plate (113) and the retractable arm line type plate (111), and a retractable arm stop block (112) capable of being matched with the retractable arm stop plate (112) in a limiting mode in a second state is arranged on the inner wall of the cabin body (1) above the retractable arm stop plate (112) (14).

6. The shaftless propulsion system integrated in an aircraft hull according to claim 1, wherein: the second hydraulic system comprises a cabin door driving hydraulic cylinder (3), the cabin door body (5) is provided with a pair of cabin door connecting rods (51), the cabin door driving hydraulic cylinder (3) is hinged with the cabin door connecting rods (51) through a cabin door driving shaft assembly (4), the cabin door body (5) can rotate around a cabin door rotating shaft assembly (6) under the driving of the cabin door driving hydraulic cylinder (3), a flow guide hole (55) is formed in the cabin door body (5), the cabin door driving shaft assembly (4) comprises a cabin door driving shaft (41), a cabin door driving shaft locking nut (42), a cabin door driving hydraulic cylinder joint bearing (43) and a cabin door driving hydraulic cylinder mounting lug plate (31), the cabin door driving hydraulic cylinder mounting lug plate (31) is arranged on the cabin door driving hydraulic cylinder joint bearing (43) in an interference fit manner and is hinged with the end part of a piston rod of the cabin door driving hydraulic cylinder (3), the cabin door driving hydraulic cylinder knuckle bearing (43) is arranged on a cabin door driving shaft (41), the cabin door driving shaft (41) penetrates through a pair of cabin door connecting rods (51) and is fixed through a cabin door driving shaft locking nut (42), a first limiting block (101) which can be in limiting fit with the cabin door connecting rods (51) in an opening state of a cabin door body (5) and a second limiting block (102) which can be in limiting fit with the cabin door connecting rods (51) in a closing state of the cabin door body (5) are fixedly arranged in the cabin body (1), and the first limiting block (101) and the second limiting block (102) are respectively positioned on two sides of the cabin door connecting rods (51).

7. The shaftless propulsion system integrated in an aircraft hull according to claim 6, wherein: the aircraft cabin door comprises a cabin door body (5) and is characterized in that the cabin door body (5) comprises a cabin door line-shaped plate (54), a pair of cabin door connecting rods (51) and a cabin door locking bolt lug plate (56), the pair of cabin door connecting rods (51) are arranged at one end, close to a cabin door rotating shaft assembly (6), of the cabin door line-shaped plate (54), the cabin door locking bolt lug plate (56) is arranged at one end, far away from the cabin door rotating shaft assembly (6), of the cabin door line-shaped plate (54), a bolt hole (561) is formed in the cabin door locking bolt lug plate (56), a cabin door locking bolt assembly (7) matched with the bolt hole (561) in a locking mode is fixedly arranged on the inner wall of the cabin body (1), and the cabin door line-shaped plate (54) has a plate surface structure capable of being matched with the bottom surface line type of a stern of an aircraft under the closing state of the cabin door body (5).

8. The shaftless propulsion system integrated in an aircraft hull according to claim 1, wherein: the aircraft cabin door comprises a cabin door body (5) and is characterized in that a plurality of square flow guide holes (55) are distributed on the cabin door body (5) in an array mode, an inclined wall surface is arranged on the inner wall, perpendicular to the navigation direction of an aircraft, of each flow guide hole (55), a first included angle is formed between each inclined wall surface and the inner wall of the cabin door body (5), the first included angle is a rotation angle of the cabin door body (5) from a closed state to a completely opened state, cabin door reinforcing ribs (52) are arranged on the inner side of the cabin door body (5), a plurality of flexible rim propeller supporting pads (53) are arranged on the inner wall of the cabin door body (5) in a protruding mode, and the rim propeller supporting pads (53) can be in elastic contact with shaftless auxiliary propellers (13) stored in a cabin body (1) in the closed state of the cabin door body (5).

9. The shaftless propulsion system integrated with an aircraft hull according to claim 7, wherein: the cabin door locking bolt component (7) comprises a cabin door locking base (72), a cabin door locking bolt (73), a cabin door locking bolt hydraulic cylinder (74), a cabin door locking state travel switch (71) and a cabin door unlocking state travel switch (75), the tail end of the cabin door locking bolt (73) is coaxially connected with a piston rod of the cabin door locking bolt hydraulic cylinder (74), the cabin door locking bolt (73) can lock the cabin door locking bolt otic placode (56) on the cabin door locking base (72) through a bolt hole under the driving of the cabin door locking bolt hydraulic cylinder (74), an annular weakening groove (731) is arranged on the position, corresponding to the cabin door locking base (72), on the cabin door locking bolt (73), the cabin door locking state travel switch (71) is arranged on one side, far away from the cabin door locking bolt (73), of the cabin door locking base (72), the cabin door unlocking state travel switch (75) is arranged at the bottom of a cabin door locking bolt hydraulic cylinder (74), a cabin door locking bolt end face monitoring point (733) corresponding to the cabin door locking state travel switch (71) is arranged on the front end face of the cabin door locking bolt (73), a cabin door locking bolt lug plate monitoring point (732) which extends downwards and corresponds to the cabin door unlocking state travel switch (75) is arranged at the tail end of the cabin door locking bolt (73), the cabin door locking base (72) is provided with two locking plates (721) which are arranged in parallel, bolt holes are arranged at positions, corresponding to the cabin door locking bolt (73), of the two locking plates (721), the cabin door locking bolt lug plate (56) can be embedded between the two locking plates (721) and locked through the cabin door locking bolt (73), and weakening grooves (731) on the cabin door locking bolt (73) are two, when the cabin door locking bolt (73) is in a locking state, the two weakening grooves (731) are respectively positioned in the two bolt holes in the locking plate (721), and when the cabin door locking bolt (73) cannot be normally pulled out, the cabin door driving hydraulic cylinder (3) can radially drive the cabin door locking bolt lug plate (56), so that the cabin door locking bolt (73) is broken at the weakening grooves (731) under the action of the cabin door locking base (72).

10. A method of controlling an integrated shaftless propulsion system for an aircraft hull according to any of the claims 1 to 9, characterized in that: