阅读说明：本技术 能实现三维喷射力的喷水推进方向舵机构 (Water jet propulsion rudder mechanism capable of realizing three-dimensional jet force ) 是由 刘建国 王俊 张岩 刘雪琴 戴原星 于 2021-08-05 设计创作，主要内容包括：本发明涉及一种能实现三维矢量喷射力的喷水推进方向舵机构,包含垂向舵、水平舵、驱动垂向舵的单叶式摆动液压缸及驱动水平舵的操舵液压缸组件；所述垂向舵连接单叶式摆动液压缸,在单叶式摆动液压缸的作用下绕垂向舵转轴转动,改变从喷水推进器喷射流的垂向位置；所述水平舵连接操舵液压缸组件,在操舵液压缸组件的作用下绕水平舵转轴转动,在水平方向上调整从喷水推进器喷射流的方向,从而实现喷射流产生的三维矢量力的方向调节。本发明通过喷水推进方向舵机构,使其在垂直面和水平面的转动控制,进而得到三维喷射力,可对平台产生三维矢量力及矢量力矩,实现对喷水推进平台航向、姿态的有效控制。(The invention relates to a water jet propulsion rudder mechanism capable of realizing three-dimensional vector jet force, which comprises a vertical rudder, a horizontal rudder, a single-blade type swing hydraulic cylinder for driving the vertical rudder and a steering hydraulic cylinder assembly for driving the horizontal rudder, wherein the single-blade type swing hydraulic cylinder is arranged on the horizontal rudder; the vertical rudder is connected with the single-blade type swing hydraulic cylinder and rotates around a rotating shaft of the vertical rudder under the action of the single-blade type swing hydraulic cylinder to change the vertical position of a jet flow from the water jet propeller; the horizontal rudder is connected with the steering hydraulic cylinder assembly, rotates around the horizontal rudder rotating shaft under the action of the steering hydraulic cylinder assembly, and adjusts the direction of a jet flow from the water jet propeller in the horizontal direction, so that the direction adjustment of a three-dimensional vector force generated by the jet flow is realized. The invention controls the rotation of the rudder mechanism on the vertical plane and the horizontal plane through the water jet propulsion mechanism, thereby obtaining three-dimensional jet force, generating three-dimensional vector force and vector moment on the platform and realizing the effective control of the course and the posture of the water jet propulsion platform.)

1. A water jet propulsion rudder mechanism capable of realizing three-dimensional vector jet force is characterized in that: the hydraulic steering system comprises a vertical rudder, a horizontal rudder, a single-blade type swing hydraulic cylinder for driving the vertical rudder and a steering hydraulic cylinder assembly for driving the horizontal rudder; the vertical rudder is connected with the single-blade type swing hydraulic cylinder and rotates around a rotating shaft of the vertical rudder under the action of the single-blade type swing hydraulic cylinder to change the vertical position of a jet flow from the water jet propeller; the horizontal rudder is connected with the steering hydraulic cylinder assembly, rotates around the horizontal rudder rotating shaft under the action of the steering hydraulic cylinder assembly, and adjusts the direction of a jet flow from the water jet propeller in the horizontal direction, so that the direction adjustment of a three-dimensional vector force generated by the jet flow is realized.

2. The water jet propulsion rudder mechanism capable of realizing a three-dimensional vector jet force according to claim 1, wherein: the steering hydraulic cylinder component comprises a steering hydraulic cylinder, a rotating arm, a steering straight rod and a steering crank, the steering hydraulic cylinder is connected with the steering crank through the rotating arm and the steering straight rod, the steering crank is connected with the horizontal rudder, and the horizontal rudder performs directional motion control under the action force of the steering hydraulic cylinder through the steering crank, a crank bush, the steering straight rod, a straight rod positioning pin and a straight rod bush.

3. The water jet propulsion rudder mechanism capable of realizing a three-dimensional vector jet force according to claim 2, wherein: one end of the steering straight rod penetrates through the bracket on the guide vane body and is fixedly connected with the steering crank, and the other end of the steering straight rod is fixedly connected with the rotating arm.

4. The water jet propulsion rudder mechanism capable of realizing a three-dimensional vector jet force according to claim 1, wherein: the horizontal rudder is connected with the guide vane body through a horizontal rudder pintle and a horizontal rudder pintle bushing, and the horizontal rudder can rotate around the central line of the horizontal rudder pintle.

5. The water jet propulsion rudder mechanism capable of realizing a three-dimensional vector jet force according to claim 1, wherein: the vertical rudder is hinged with the horizontal rudder through vertical rudder rotating shafts on two sides and can rotate along with the rotation of the horizontal rudder.

6. The water jet propulsion rudder mechanism capable of realizing a three-dimensional vector jet force according to claim 5, wherein: and a vertical rudder pintle lining is arranged between the vertical rudder pintle and the horizontal rudder, and the vertical rudder pintle is connected with the vertical rudder and the horizontal rudder by fastening bolts.

7. The water jet propulsion rudder mechanism capable of realizing a three-dimensional vector jet force according to claim 1, wherein: and a single-blade type swing hydraulic cylinder is arranged on one side of the vertical rudder.

8. The water jet propulsion rudder mechanism capable of realizing a three-dimensional vector jet force according to claim 1, wherein: the single-blade type swing hydraulic cylinder is connected with the horizontal rudder through a vertical rudder pintle and a vertical rudder pintle bushing and then locked with the horizontal rudder through a fastening bolt.

9. The water jet propulsion rudder mechanism capable of realizing a three-dimensional vector jetting force according to claim 8, wherein: the vertical rudder pintle is connected with the blades of the swing hydraulic cylinder into a whole through the swing hydraulic cylinder connecting flat key.

10. The water jet propulsion rudder mechanism capable of realizing a three-dimensional vector jetting force according to claim 9, wherein: under the hydraulic pressure driving action of the single-blade type swing hydraulic cylinder, the blades of the swing hydraulic cylinder rotate around the axis of the vertical rudder pin, so that the vertical rudder is driven to rotate, and the control of the direction of the vertical rudder is realized.

Technical Field

The invention relates to the technical field of ship propulsion and amphibious vehicle water propulsion, in particular to a water jet propulsion rudder mechanism capable of realizing three-dimensional jet force.

Background

According to the design theory and technology of a water jet propulsion and propulsion pump (Shanghai university of transportation publishers), the steering of a ship applying the water jet propulsion device is realized by a rudder mechanism, and the shape of the ship is generally a square box shape or a spherical ball shape. When the ship needs to steer, the whole mechanism rotates around a vertical shaft (positioning pin), and generates jet water flow through deflection on a horizontal plane to generate a lateral thrust to steer the ship. The steering equipment and the propeller are combined together for processing, and the steering equipment is the main characteristic of the water jet propulsion ship (comprising an underwater vehicle and an amphibious vehicle) on the operation equipment.

Because the water jet propulsion technology is mainly applied to high-speed surface ships, amphibious vehicles and underwater submerging devices, the technical problems that the comprehensive navigation performance is influenced by the attitude change exist in the navigation process of the underwater platforms: if the hull longitudinal inclination changes along with the increase of the navigational speed of the high-speed surface ship and further the hull resistance increases, the amphibious vehicle has the phenomenon that the vehicle body is buried at the head in the acceleration process to influence the navigation safety, and the amphibious vehicle is converted into the tail longitudinal inclination along with the increase of the navigational speed to cause the resistance to increase, and the navigation attitude control difficulty of the underwater vehicle in the three-dimensional space is increased. The conventional water jet propulsion rudder mechanism can only meet the conventional steering control requirement, cannot change the posture adjustment control, and generally needs to additionally add a cut-off plate or a surfboard (a gliding plate) as shown in fig. 1, a horizontal rudder/a vertical rudder and other hydrodynamic devices to solve the problems.

Disclosure of Invention

The invention provides a water jet propulsion rudder mechanism capable of realizing three-dimensional jet force, which can control the rotation of the rudder mechanism on a vertical plane and a horizontal plane through the water jet propulsion rudder mechanism so as to obtain the three-dimensional jet force, can generate three-dimensional vector force and vector moment on a platform, realizes the effective control of the course and the posture of a water jet propulsion platform, and can solve the problem of the comprehensive navigation performance of the traditional water jet propulsion platform without additionally arranging hydrodynamic devices such as a shutoff plate, a wave pressing plate (a gliding plate) and the like.

In order to achieve the purpose, the invention adopts the technical scheme that: a water jet propulsion rudder mechanism capable of realizing three-dimensional vector jet force comprises a vertical rudder, a horizontal rudder, a single-blade type swing hydraulic cylinder for driving the vertical rudder and a steering hydraulic cylinder assembly for driving the horizontal rudder; the vertical rudder is connected with the single-blade type swing hydraulic cylinder and rotates around a rotating shaft of the vertical rudder under the action of the single-blade type swing hydraulic cylinder to change the vertical position of a jet flow from the water jet propeller; the horizontal rudder is connected with the steering hydraulic cylinder assembly, rotates around the horizontal rudder rotating shaft under the action of the steering hydraulic cylinder assembly, and adjusts the direction of a jet flow from the water jet propeller in the horizontal direction, so that the direction adjustment of a three-dimensional vector force generated by the jet flow is realized.

Further, the steering hydraulic cylinder assembly comprises a steering hydraulic cylinder, a rotating arm, a steering straight rod and a steering crank, the steering hydraulic cylinder is connected with the steering crank through the rotating arm and the steering straight rod, the steering crank is connected with the horizontal rudder, and the horizontal rudder performs directional motion control under the action force of the steering hydraulic cylinder through the action of the steering crank, a crank bush, the steering straight rod, a straight rod positioning pin and a straight rod bush.

Furthermore, one end of the steering straight rod penetrates through the support on the guide vane body and then is fixedly connected with the steering crank, and the other end of the steering straight rod is fixedly connected with the rotating arm.

Further, the horizontal rudder is connected with the guide vane body through a horizontal rudder pintle and a horizontal rudder pintle bushing, and the horizontal rudder can rotate around the central line of the horizontal rudder pintle.

Furthermore, the vertical rudder is hinged with the horizontal rudder through vertical rudder rotating shafts on two sides and can rotate along with the rotation of the horizontal rudder.

Furthermore, a vertical rudder pintle lining is arranged between the vertical rudder pintle and the horizontal rudder, and the vertical rudder pintle is connected with the vertical rudder and the horizontal rudder through fastening bolts.

Furthermore, a single-blade type swing hydraulic cylinder is arranged on one side of the vertical rudder.

Furthermore, the single-blade type swing hydraulic cylinder is connected with the horizontal rudder through a vertical rudder pintle and a vertical rudder pintle bushing and then locked with the horizontal rudder through a fastening bolt.

Furthermore, the vertical rudder pintle is connected with the blades of the swing hydraulic cylinder into a whole through the swing hydraulic cylinder connecting flat key.

Further, under the hydraulic pressure driving action of the single-blade type swing hydraulic cylinder, the blades of the swing hydraulic cylinder rotate around the axis of the vertical rudder pintle, so that the vertical rudder is driven to rotate, and the control of the direction of the vertical rudder is realized.

The invention has the beneficial effects that:

1) the water jet propulsion rudder mechanism provided by the invention not only can change the horizontal direction of the jet flow of the water jet propeller, but also can obtain vector jet on a three-dimensional space through the vertical rudder of the control device on the horizontal rudder to realize three-dimensional jet force, so that the three-dimensional jet rudder mechanism not only has the steering function of the traditional water jet propulsion platform, but also has the advantages of being convenient to adjust the navigation attitude of the platform, improving the resistance characteristic and navigation safety and improving the comprehensive navigation capability of the platform. The platform can be used for eliminating the arrangement of traditional water power devices such as an intercepting plate or a wave pressing plate (a gliding plate), a horizontal rudder/a vertical rudder and the like, and has good comprehensive performance.

2) According to the requirement of the platform on the adjustment of the jet flow angle, the adjustment range of the angle can be increased by adjusting the stroke of the swing hydraulic cylinder, and the jet flow in a larger angle range can be realized.

Drawings

FIG. 1 is a schematic view of an amphibious vehicle with leading/trailing skid plates;

FIG. 2 is a perspective view of a water jet propulsion rudder unit assembly of the present invention capable of achieving three-dimensional jet forces;

FIG. 3 is a schematic plan view of a water jet propulsion rudder unit assembly of the present invention capable of achieving three-dimensional jet forces;

FIG. 4 is a schematic diagram of horizontal steering (horizontal rudder control, vertical rudder follow action) and vector injection of the rudder structure;

wherein: (a) the direction is horizontal right steering and spraying direction, (b) the direction is horizontal left steering and spraying direction;

FIG. 5 is a schematic diagram of vertical steering (independent control of vertical rudder, change of incoming flow direction of horizontal rudder) and vector injection of a rudder structure;

wherein: (a) the vertical direction is the turning and spraying direction, and (b) the vertical direction is the turning and spraying direction;

FIG. 6 is an enlarged view of a portion of FIG. 5 at A;

the labels in the figure are: 11. a vertical rudder 111 and a vertical rudder rotating shaft; 12. a single-blade type swing hydraulic cylinder; 21. a horizontal rudder; 211. a horizontal rudder rotating shaft; 22. a steering crank; 23. a steering straight rod; 24. a rotating arm; 25. a steering hydraulic cylinder; 31. a spout; 41. a guide blade body; 121. swinging hydraulic cylinder blades; 112. a vertical rudder pintle bushing; 113. the swing hydraulic cylinder is connected with the flat key; 114(114a and 114b), a vertical rudder pintle; 115(115a, 115b), a fastening bolt; 212. a locking bolt; 213. a horizontal rudder pintle; 214. a horizontal rudder pintle bushing; 221. a crank bushing; 231. a straight rod positioning pin; 232. straight rod bushing.

Detailed Description

The invention is further described with reference to the following figures and examples.

As shown in fig. 2 to 6, the jet propulsion steering mechanism capable of realizing a three-dimensional vector jet force according to the present invention mainly includes a vertical rudder 11, a horizontal rudder 21, a single-blade type swing hydraulic cylinder 12 for driving the vertical rudder 11, a steering crank 22 for driving the horizontal rudder 21, a steering straight rod 23, a turning arm 24, and a steering hydraulic cylinder 25. The vertical rudder 11 rotates around a vertical rudder rotating shaft 111 under the action of the single-blade type swing hydraulic cylinder 12, and changes the vertical position of the jet flow from the water jet propeller. The horizontal rudder 21 adjusts the direction of the jet flow from the waterjet propeller in the horizontal direction by the cooperation of the turning arm 24, the steering straight rod 23, and the steering crank 22 by the steering hydraulic cylinder 25. Under the combined movement of the vertical rudder 11 and the horizontal rudder 21, the direction adjustment of the three-dimensional vector force generated by the jet flow can be realized. The specific implementation mode is as follows:

as shown in fig. 4, the adjustment of the rudder 21 in the horizontal direction is achieved by driving the steering cylinder 25 in the horizontal direction. The rudder 21 is connected to the guide blade body 41 via a rudder pin 213 and a rudder pin bushing 214. The rudder 21 can rotate about the center line 211 of the rudder pin 213. The rudder 21 is subjected to directional motion control by the action of the steering crank 22, the crank bush 221, the steering straight rod 23, the straight rod positioning pin 231, and the straight rod bush 232 under the action of the steering hydraulic cylinder 25. The movement diagrams are shown in (a) and (b) of fig. 4. The vertical rudder 11 is fixed to the horizontal rudder 21, and thus rotates following the rotation of the horizontal rudder 21.

As shown in fig. 5 and 6, the vertical direction adjustment of the vertical rudder is mainly accomplished by driving a single-blade type swing hydraulic cylinder (or similar actuator) 12 mounted on the vertical rudder 11. The single-blade swing hydraulic cylinder 12 is connected with the horizontal rudder 21 through a vertical rudder pintle 114a and a vertical rudder pintle bushing 112, and is locked with the horizontal rudder 21 through a fastening bolt 115 a. Under the hydraulic driving action of the single-blade type swing hydraulic cylinder 12, the swing hydraulic cylinder blade 121 is pushed to rotate around the axis 111 of the vertical rudder pintle 114a, the blade and the vertical rudder pintle 114a are connected into a whole through the swing hydraulic cylinder connecting flat key 113, the swing hydraulic cylinder blade 121 rotates to drive the vertical rudder 11 to rotate, and therefore the control of the direction of the vertical rudder 11 is achieved. The motion diagrams are shown in (a) and (b) of fig. 5. The other side of the vertical rudder 11 can be symmetrically provided with the single-blade type swing hydraulic cylinder 12 according to actual needs. The vertical rudder pin 114b and the fastening bolt 115b and the vertical rudder pin bushing 112 may also be arranged separately according to the partial views in (a) and (b) in fig. 4.