Thrust vectoring nozzle propeller and unmanned ship

Abstract

The utility model relates to the technical field of ship equipment, and particularly discloses a thrust vectoring nozzle thruster and an unmanned ship, the thrust vectoring nozzle thruster comprises a thruster body, and a thrust vectoring nozzle sleeves a tail nozzle of the thruster body; the thrust vectoring nozzle is connected with the tail nozzle through a rotating shaft, a preset distance is reserved between the inner wall of the thrust vectoring nozzle and the outer wall of the tail nozzle, and the thrust vectoring nozzle is driven to rotate so that a deflection included angle can be formed between the central axis of the thrust vectoring nozzle and the central axis of the tail nozzle. Deflection of tail jet flow is achieved through rotation of the thrust vectoring nozzle, steering of the unmanned ship can be achieved, jet flow to the side of the ship body is avoided, and therefore it is guaranteed that measurement equipment on the side of the unmanned ship has high measurement precision.

Description

Technical Field

[0001] The present application relates to the technical field of ship equipment, and in particular to a vector nozzle propulsion device and an unmanned ship. Background Art

[0002] Unmanned boat is the abbreviation of unmanned surface vehicle, which refers to a surface robot that can perform a certain type of specified task and is designed with functions and performance based on the purpose of the task. At present, in the existing technology, unmanned boats use a dual propulsion differential method to make unmanned boats turn on the water surface. Specifically, during the navigation and turning process, one side of the propeller pushes in the opposite direction. The problem is that the bubbles generated by the reverse water flow will impact the measurement equipment carried by the unmanned boat, thereby affecting the measurement accuracy. Utility Model Content

[0003] The purpose of the present application is to provide a vector nozzle propulsion device and an unmanned ship, which realize the deflection of the tail jet through the rotation of the vector nozzle, can realize the steering of the unmanned ship, avoid the jet to the side of the hull, and ensure that the measurement equipment on the side of the unmanned ship has a higher measurement accuracy.

[0004] The embodiment of the present application is implemented as follows:

[0005] In the first aspect, an embodiment of the present application provides a vector nozzle thruster, comprising a thruster body, wherein a vector nozzle is mounted on the tail nozzle of the thruster body; the vector nozzle and the tail nozzle are connected to each other via a rotating shaft, an inner wall of the vector nozzle and an outer wall of the tail nozzle are spaced apart by a preset distance, and the vector nozzle is driven to rotate so that a central axis of the vector nozzle and a central axis of the tail nozzle generate a deflection angle.

[0006] As an optional embodiment, the vector nozzle has a connecting tube mounted on the tail nozzle, the rotating axis is perpendicular to the horizontal plane, and the connecting tube has arc-shaped notches on both sides along the extension direction of the rotating axis, and the opening of the arc-shaped notch faces the forward direction of the propeller body.

[0007] As an optional implementation, a flow guiding shrinking tube is provided at one end of the connecting tube away from the notch portion, and the inner diameter of the flow guiding shrinking tube is smaller than the inner diameter of the connecting tube.

[0008] As an optional embodiment, it also includes a driving module, which includes a fixed seat fixedly connected to the hull and a driving motor arranged on the fixed seat. A steering seat is provided on the vector nozzle, and the driving end of the driving motor is connected to the steering seat to drive the vector nozzle to rotate around the rotating axis.

[0009] As an optional embodiment, the thruster body includes a middle section connecting tube connected to one end of the tail nozzle away from the vector nozzle, a thruster motor is arranged inside the middle section connecting tube, a guide turbine is arranged at the driving end of the thruster motor, and the thruster motor drives the water flow to pass through the tail nozzle and the vector nozzle in sequence through the guide turbine.

[0010] As an optional embodiment, a conical fairing is provided in the middle connecting tube, the central axis of the conical fairing coincides with the central axis of the guide turbine, and the cone tip of the conical fairing faces the forward direction of the propeller body.

[0011] As an optional implementation, a water inlet mesh cover is provided at one end of the middle section connecting tube away from the tail nozzle.

[0012] As an optional embodiment, the water inlet mesh cover includes a mounting frame and a plurality of arc-shaped guide strips spaced apart on the mounting frame, and an arrangement direction of the plurality of arc-shaped guide strips is perpendicular to a forward direction of the propeller body.

[0013] As an optional implementation, when the deflection angle between the central axis of the vector nozzle and the central axis of the tail nozzle is zero, the central axis of the vector nozzle coincides with the central axis of the tail nozzle.

[0014] In the second aspect, an embodiment of the present application also discloses an unmanned ship, including a hull and the above-mentioned vector nozzle thruster, wherein there are two vector nozzle thrusters and both are arranged at the tail of the hull, and the two vector nozzle thrusters are located on both sides of the movement direction of the hull.

[0015] In a preferred embodiment of the present application, a vector nozzle thruster provided above comprises a thruster body, a vector nozzle is sleeved on the tail nozzle of the thruster body; the vector nozzle is connected to the tail nozzle through a rotating shaft perpendicular to the horizontal plane, the inner wall of the vector nozzle and the outer wall of the tail nozzle are preset at a distance, and the vector nozzle is driven to rotate so that the central axis of the vector nozzle and the central axis of the tail nozzle produce a deflection angle. The vector nozzle has a connecting tube sleeved on the tail nozzle, and the connecting tube has arc-shaped notch portions on both sides along the extension direction of the rotating shaft, and the opening of the arc-shaped notch portion faces the forward direction of the thruster body. A flow-guiding and contracting tube is provided at one end of the connecting tube away from the notch portion, and the inner diameter of the flow-guiding and contracting tube is smaller than the inner diameter of the tail nozzle.

[0016] The beneficial effects of the embodiments of the present application include:

[0017] The vector nozzle thruster provided in the embodiment of the present application includes a thruster body, and the tail nozzle of the thruster body is sleeved with a vector nozzle; the vector nozzle of the embodiment of the present application is connected to the tail nozzle by a rotation axis perpendicular to the horizontal plane, so the vector nozzle can rotate around the axis. In addition, the inner wall of the vector nozzle and the outer wall of the tail nozzle are preset at a distance, and the vector nozzle is driven to rotate so that the central axis of the vector nozzle and the central axis of the tail nozzle produce a deflection angle. The embodiment of the present application can deflect the flow direction of the liquid driven by the thruster body through the deflection of the vector nozzle, thereby realizing the change of the thruster driving direction. Compared with the surface steering method of the prior art dual propulsion differential, the embodiment of the present application can achieve steering through the deflection of the vector nozzle.

[0018] The embodiment of the present application also discloses an unmanned ship, including a hull and the above-mentioned vector nozzle thruster, wherein there are two vector nozzle thrusters and both are arranged at the tail of the hull, and the two vector nozzle thrusters are located on both sides of the movement direction of the hull. Among them, a measuring device is arranged on one or both sides of the hull along the forward direction. The embodiment of the present application realizes steering by deflecting the vector nozzle, which can avoid spraying to the side of the hull, thereby ensuring that the measuring device on the side of the unmanned ship has a higher measurement accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 This is one of the structural schematic diagrams of the vector nozzle thruster of the embodiment of the present application;

[0021] Figure 2 This is the second structural schematic diagram of the vector nozzle thruster of the embodiment of the present application;

[0022] Figure 3 This is the third structural schematic diagram of the vector nozzle thruster of the embodiment of the present application;

[0023] Figure 4 This is the fourth structural schematic diagram of the vector nozzle thruster of the embodiment of the present application;

[0024] Figure 5 This is a schematic diagram of the structure of the unmanned boat according to an embodiment of the present application.

[0025] icon:

[0026] 100-thruster body; 101-tail nozzle; 102-vector nozzle; 103-rotating shaft; 104-connecting tube; 105-arc-shaped notch; 106-flow guide contraction tube; 107-fixing seat; 108-driving motor; 109-steering seat; 110-middle section connecting tube; 111-thruster motor; 112-flow guide turbine; 113-conical fairing; 114-water inlet net cover; 115-arc-shaped guide strip; 116-unmanned boat. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0028] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0029] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0030] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0031] Unmanned boat 116 is the abbreviation of unmanned surface vehicle, which refers to a surface robot that can perform a certain type of specified task and is designed with functions and performance based on the purpose of the task. At present, in the prior art, unmanned boat 116 uses a dual propulsion differential method to make unmanned boat 116 turn on the water surface. Specifically, during the navigation and turning process, one side of the propeller pushes in the opposite direction, and the problem is that the bubbles generated by the reverse water flow will impact the measurement equipment carried by the unmanned boat 116, thereby affecting the measurement accuracy.

[0032] In order to solve the above technical problems, an embodiment of the present application provides a vector nozzle thruster and an unmanned boat 116.

[0033] Reference Figure 1 , Figure 2 as well as Figure 3 As shown, an embodiment of the present application provides a vector nozzle thruster, including a thruster body 100, a vector nozzle 102 is sleeved on the tail nozzle 101 of the thruster body 100; the vector nozzle 102 is connected to the tail nozzle 101 through a rotating shaft 103 perpendicular to the horizontal plane, and the inner wall of the vector nozzle 102 and the outer wall of the tail nozzle 101 are preset at a distance, and the vector nozzle 102 is driven to rotate so that the central axis of the vector nozzle 102 and the central axis of the tail nozzle 101 produce a deflection angle.

[0034] It should be noted that the vector nozzle thruster provided in the embodiment of the present application is provided with a rotating shaft 103 on the tail nozzle 101, and the rotating shaft 103 is used to rotatably connect the vector nozzle 102 and the tail nozzle 101. Among them, part of the vector nozzle 102 is sleeved on the tail nozzle 101, but because the inner diameter of the vector nozzle 102 is larger than the outer diameter of the tail nozzle 101, when the vector nozzle 102 is sleeved on the tail nozzle 101, the inner wall of the vector nozzle 102 does not fit and contact with the outer wall of the tail nozzle 101, so that the vector nozzle 102 has space for deflection movement.

[0035] The rotating shaft 103 may be a rivet or a connecting piece such as a screw connecting the vector nozzle 102 and the tail nozzle 101. A person skilled in the art may also configure the rotating shaft 103 to be a connecting shaft that directly passes through the vector nozzle 102 and the tail nozzle 101 as needed.

[0036] The vector nozzle 102 and the tail nozzle 101 may be cylindrical structures.

[0037] In addition, it should be noted that the vector nozzle 102 also has a portion away from the liquid outlet of the tail nozzle 101. Through this portion, the liquid sprayed from the tail nozzle 101 can be guided so that the propulsion direction of the propeller body 100 can be adjusted.

[0038] When the deflection angle between the central axis of the vector nozzle 102 and the central axis of the tail nozzle 101 is zero, the central axis of the vector nozzle 102 coincides with the central axis of the tail nozzle 101 .

[0039] In this state, the water flow generated by the thruster body 100 first passes through the tail nozzle 101 and then enters the vector nozzle 102. Since the central axis of the vector nozzle 102 coincides with the central axis of the tail nozzle 101, the thruster body 100 can be propelled in a straight line.

[0040] The vector nozzle thruster provided in the embodiment of the present application includes a thruster body 100, and a vector nozzle 102 is sleeved on the tail nozzle 101 of the thruster body 100; the vector nozzle 102 of the embodiment of the present application is connected to the tail nozzle 101 by a rotating shaft 103 perpendicular to the horizontal plane, so that the vector nozzle 102 can rotate around the axis. In addition, the inner wall of the vector nozzle 102 and the outer wall of the tail nozzle 101 are preset at a distance, and the vector nozzle 102 is driven to rotate so that the central axis of the vector nozzle 102 and the central axis of the tail nozzle 101 produce a deflection angle. The embodiment of the present application can deflect the flow direction of the liquid driven by the thruster body 100 through the deflection of the vector nozzle 102, thereby realizing the change of the thruster driving direction. Compared with the surface steering method of the prior art dual propulsion differential, the embodiment of the present application can achieve steering through the deflection of the vector nozzle 102.

[0041] Reference Figure 2 , Figure 3 as well as Figure 4 As shown, as an optional embodiment, the vector nozzle 102 has a connecting tube 104 mounted on the tail nozzle 101, and the connecting tube 104 has arc-shaped notch portions 105 on both sides along the extension direction of the rotating shaft 103, and the arc-shaped notch portions 105 open toward the forward direction of the propeller body 100.

[0042] Specifically, the vector nozzle 102 of the embodiment of the present application has a connecting tube 104. The connecting tube 104 is rotatably connected to the tail nozzle 101 and can be rotated on the tail nozzle 101. It should be noted that the connecting tube 104 can be a cylindrical structure, and arc-shaped notches 105 are provided on both sides of the connecting tube 104, so that the deflection angle of the vector nozzle 102 can be further expanded, so that the propeller body 100 can have a larger steering angle, which is convenient for steering control of the hull, and makes the control of the unmanned ship 116 more flexible.

[0043] Reference Figure 2 as well as Figure 3 As shown, as an optional implementation, a flow guiding shrinkage tube 106 is provided at one end of the connecting tube 104 away from the arc-shaped notch 105 , and the inner diameter of the flow guiding shrinkage tube 106 is smaller than the inner diameter of the connecting tube 104 .

[0044] Specifically, in the embodiment of the present application, a flow-guiding and contracting tube 106 is disposed at the end of the connecting tube 104 away from the tail nozzle 101 . The embodiment of the present application can enhance the impulse of the propeller body 100 in propelling the water flow by disposing the flow-guiding and contracting tube 106 .

[0045] Since the inner diameter of the guide constriction tube 106 is smaller than the inner diameter of the tail nozzle 101, when the water flows through the tail nozzle 101 and reaches the guide constriction tube 106, the water flow cross section is reduced, so the flow velocity will increase, thereby increasing the thrust of the propeller.

[0046] Reference Figure 3 as well as Figure 4 As shown, as an optional embodiment, it also includes a driving module, the driving module includes a fixed seat 107 fixedly connected to the hull and a driving motor 108 arranged on the fixed seat 107, a steering seat 109 is arranged on the vector nozzle 102, and the driving end of the driving motor 108 is connected to the steering seat 109 to drive the vector nozzle 102 to rotate around the rotating axis 103.

[0047] Furthermore, the embodiment of the present application can realize the driving of the rotation of the vector nozzle 102 through the setting of the driving module. The embodiment of the present application is provided with a steering seat 109 on the vector nozzle 102, and the steering seat 109 is located on the rotation axis 103 line of the rotation axis 103, and the driving shaft of the driving motor 108 coincides with the rotation axis 103 line.

[0048] The embodiment of the present application drives the steering seat 109 to rotate by the driving motor 108, thereby realizing electric control of the deflection of the vector nozzle 102, thereby facilitating automatic control steering of the UAV.

[0049] Reference Figure 2 as well as Figure 4 As shown, the propeller body 100 includes a middle section connecting tube 110 connected to the end of the tail nozzle 101 away from the vector nozzle 102, a propeller motor 111 is arranged inside the middle section connecting tube 110, and a guide turbine 112 is arranged at the driving end of the propeller motor 111. The propeller motor 111 drives the water flow to pass through the tail nozzle 101 and the vector nozzle 102 in sequence through the guide turbine 112.

[0050] It should be noted that the specific models of the drive motor 108 and the guide turbine 112 can be selected by those skilled in the art according to their needs, and there is no special limitation on this.

[0051] Reference Figure 2 as well as Figure 4As shown, as an optional embodiment, a conical fairing 113 is provided in the middle connecting tube 110, the central axis of the conical fairing 113 coincides with the central axis of the guide turbine 112, and the cone tip of the conical fairing 113 faces the forward direction of the propeller body 100.

[0052] Furthermore, the embodiment of the present application enables the propeller to guide the water flow when moving forward through the provision of the conical fairing 113, thereby reducing the resistance of the front end of the propeller in the water.

[0053] Reference Figure 2 as well as Figure 4 As shown, in addition, in the embodiment of the present application, a water inlet mesh cover 114 is provided at one end of the middle connecting tube 110 away from the tail nozzle 101 .

[0054] The embodiment of the present application can protect the front end of the propeller by disposing the water inlet mesh cover 114, and prevent foreign matter from entering the middle connecting tube 110 of the propeller body 100, thereby avoiding damage to the guide turbine 112.

[0055] The water inlet mesh cover 114 includes a mounting frame and a plurality of arc-shaped guide strips 115 spaced apart on the mounting frame. The arrangement direction of the plurality of arc-shaped guide strips 115 is perpendicular to the forward direction of the propeller body 100 .

[0056] Reference Figure 5 As shown, the embodiment of the present application also discloses an unmanned ship 116, including a hull and the above-mentioned vector nozzle thruster, there are two vector nozzle thrusters and both are arranged at the tail of the hull, and the two vector nozzle thrusters are located on both sides of the movement direction of the hull.

[0057] Among them, measuring equipment is arranged on one or both sides of the hull along the forward direction. The embodiment of the present application realizes steering by deflecting the vector nozzle 102, which can avoid spraying to the side of the hull, thereby ensuring that the measuring equipment on the side of the unmanned boat 116 has higher measurement accuracy.

[0058] In a preferred embodiment of the present application, a vector nozzle thruster provided above comprises a thruster body 100, a vector nozzle 102 is sleeved on a tail nozzle 101 of the thruster body 100; the vector nozzle 102 is connected to the tail nozzle 101 through a rotating shaft 103 perpendicular to the horizontal plane, the inner wall of the vector nozzle 102 and the outer wall of the tail nozzle 101 are preset at a distance, and the vector nozzle 102 is driven to rotate so that the central axis of the vector nozzle 102 and the central axis of the tail nozzle 101 generate a deflection angle. The vector nozzle 102 has a connecting tube 104 sleeved on the tail nozzle 101, and the connecting tube 104 has arc-shaped notch portions 105 on both sides along the extension direction of the rotating shaft 103, and the opening of the arc-shaped notch portion 105 faces the forward direction of the thruster body 100. A flow-guiding and contracting tube 106 is arranged at one end of the connecting tube 104 away from the notch portion, and the inner diameter of the flow-guiding and contracting tube 106 is smaller than the inner diameter of the tail nozzle 101.

[0059] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A vector nozzle thruster, characterized in that: It includes a thruster body, and a vector nozzle is sleeved on the tail nozzle of the thruster body; the vector nozzle and the tail nozzle are connected through a rotating shaft, the inner wall of the vector nozzle and the outer wall of the tail nozzle are preset at a distance, and the vector nozzle is driven to rotate so that the central axis of the vector nozzle and the central axis of the tail nozzle produce a deflection angle.

2. The vector nozzle thruster according to claim 1, characterized in that: The vector nozzle has a connecting tube sleeved on the tail nozzle, and the connecting tube has arc-shaped notch portions on both sides along the extending direction of the rotating shaft, and the opening of the arc-shaped notch portions faces the forward direction of the propeller body.

3. The vector nozzle thruster according to claim 2, characterized in that: A flow guiding shrinking tube is arranged at one end of the connecting tube away from the arc-shaped notch portion, and the inner diameter of the flow guiding shrinking tube is smaller than the inner diameter of the connecting tube.

4. The vector nozzle thruster according to claim 1, characterized in that: It also includes a driving module, which includes a fixing seat fixedly connected to the hull and a driving motor arranged on the fixing seat. A steering seat is arranged on the vector nozzle, and the driving end of the driving motor is connected to the steering seat to drive the vector nozzle to rotate around a rotation axis perpendicular to the horizontal plane.

5. The vector nozzle thruster according to claim 1, characterized in that: The thruster body includes a middle section connecting tube connected to one end of the tail nozzle away from the vector nozzle, a thruster motor is arranged inside the middle section connecting tube, a guide turbine is arranged at the driving end of the thruster motor, and the thruster motor drives water flow through the tail nozzle and the vector nozzle in sequence through the guide turbine.

6. The vector nozzle thruster according to claim 5, characterized in that: A conical fairing is arranged in the middle connecting tube, the central axis of the conical fairing coincides with the central axis of the guide turbine, and the cone tip of the conical fairing faces the forward direction of the propeller body.

7. The vector nozzle thruster according to claim 5, characterized in that: A water inlet mesh cover is arranged at one end of the middle section connecting tube away from the tail nozzle.

8. The vector nozzle thruster according to claim 7, characterized in that: The water inlet screen comprises a mounting frame and a plurality of arc-shaped guide strips arranged at intervals on the mounting frame, and the arrangement direction of the plurality of arc-shaped guide strips is perpendicular to the forward direction of the propeller body.

9. The vector nozzle thruster according to claim 1, characterized in that: When the deflection angle between the central axis of the vector nozzle and the central axis of the tail nozzle is zero, the central axis of the vector nozzle coincides with the central axis of the tail nozzle.

10. An unmanned ship, characterized in that: It comprises a hull and a vector nozzle thruster as described in any one of claims 1 to 9, wherein there are two vector nozzle thrusters and both are arranged at the tail of the hull, and the two vector nozzle thrusters are located on both sides of the movement direction of the hull.

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