阅读说明：本技术 一种转动圆盘式摆线桨偏心机构 (Rotating disc type cycloidal propeller eccentric mechanism ) 是由 孙哲 刘振辉 孙原 王文全 张桂勇 宗智 姜宜辰 于 2021-08-26 设计创作，主要内容包括：本发明提供一种转动圆盘式摆线桨偏心机构,包括：动力系统和摆线桨机构,摆线桨机构包括偏心圆盘、偏心连接盘、连杆、桨叶连接轴和桨叶,偏心连接盘及连杆数量与桨叶数量保持一致,偏心连接盘的一端通过连杆与其对应的桨叶相连,偏心圆盘内部开有圆心不在偏心圆盘轴线上的圆孔,偏心圆盘与各偏心连接盘相连,动力系统用于为所述偏心圆盘提供动力,桨叶的两端还分别与桨叶驱动盘相连,与桨叶驱动盘相连后形成自转运动的自身旋转轴,桨叶在摆线桨转轴的带动下做公转转动,桨叶在偏心连接盘的作用下做自转转动。本发明整套机构运转灵活,能够快速实现偏心角调节,进而实现瞬时变换的矢量推力。采用的偏心机构运动规律简单明确,摆线桨推力稳定。(The invention provides a rotating disc type cycloidal propeller eccentric mechanism, which comprises: the cycloidal propeller mechanism comprises an eccentric disc, eccentric connecting discs, connecting rods, a propeller connecting shaft and propellers, the number of the eccentric connecting discs and the number of the connecting rods are consistent with that of the propellers, one end of each eccentric connecting disc is connected with the corresponding propeller through the corresponding connecting rod, a round hole with the circle center not on the axis of the eccentric disc is formed in each eccentric disc, each eccentric disc is connected with each eccentric connecting disc, a power system is used for providing power for each eccentric disc, two ends of each propeller are connected with a propeller driving disc respectively and form a self rotating shaft of autorotation motion after being connected with the propeller driving discs, each propeller rotates in a revolution mode under the driving of a cycloidal propeller rotating shaft, and each propeller rotates in a rotation mode under the action of the eccentric connecting discs. The whole mechanism of the invention has flexible operation, and can quickly realize the adjustment of the eccentric angle, thereby realizing the vector thrust of instantaneous transformation. The adopted eccentric mechanism has simple and clear motion law and stable cycloidal propeller thrust.)

1. The utility model provides a rotation disc type cycloid oar eccentric mechanism, its characterized in that, includes driving system and cycloid oar mechanism, cycloid oar mechanism includes eccentric disc, eccentric connection pad, connecting rod, paddle connecting axle and paddle, eccentric connection pad and connecting rod quantity keep unanimous with paddle quantity, the one end of eccentric connection pad is passed through the connecting rod and is linked to each other with the paddle that corresponds, the inside round hole that has the centre of a circle not on eccentric disc axis of opening of eccentric disc, eccentric disc links to each other with each eccentric connection pad, driving system is used for eccentric disc provides power, the both ends of paddle still link to each other with the paddle driving-disc respectively, form the rotation axis of rotation motion after linking to each other with the paddle driving-disc, the paddle is the revolution rotation under the drive of cycloid oar pivot, the paddle is the rotation under the effect of eccentric connection pad.

2. The rotating disc type cycloidal propeller eccentric mechanism according to claim 1, wherein two bolt holes are arranged on the eccentric connecting disc, the connecting rod is provided with 3 holes, two of the bolt holes are matched with the bolt holes of the eccentric connecting disc, the inner side surface of the other opening of the connecting rod is in interference fit with the outer side surface of the sliding bearing V, the surface of the blade connecting shaft is in clearance fit with the inner side surface of the sliding bearing V, one side surface of the connecting rod is abutted against the positioning shaft shoulder of the blade connecting shaft, and the other side surface of the connecting rod is provided with a preset clearance with a nut on the blade connecting shaft.

3. The rotating disc type cycloidal propeller eccentric mechanism according to claim 2, characterized in that the extended lines of the straight lines passing through the centers of the two bolt holes on different eccentric connecting discs intersect at a point after projection, namely the center of the eccentric disc, namely the eccentric point, and the centers of the 3 holes on the connecting rod are on the same straight line.

4. The rotating disc type cycloidal propeller eccentric mechanism according to claim 1, characterized in that the inner side of the eccentric connecting disc and the outer side of the sliding bearing IV form clearance fit, and the inner side of the sliding bearing IV and the outer side of the eccentric disc form interference fit.

5. The rotating disc type cycloidal propeller eccentric mechanism according to claim 1, wherein the power system comprises a steering engine, a cycloidal propeller rotating shaft, an eccentric transmission gear I and an eccentric transmission gear II, the output end of the steering engine is connected with the eccentric transmission gear I, the eccentric transmission gear I is meshed with the eccentric transmission gear II, the steering engine is connected with a support through a steering engine support, and the cycloidal propeller rotating shaft penetrates through the support and then is connected with an eccentric disc.

6. The rotating disc type cycloidal propeller eccentric mechanism according to claim 5, wherein an eccentric positioning gasket is arranged between the eccentric disc and the eccentric transmission gear II, the radius of the eccentric positioning gasket is larger than the distance from the circle center of the eccentric circular hole to the boundary of the eccentric disc, the eccentric transmission gear II, the eccentric positioning gasket and the eccentric disc are connected through bolts, the circle centers of the bolt holes are on the same circumference, and the circle centers are located on the axis of the rotating shaft of the cycloidal propeller.

Technical Field

The invention relates to the field of propellers, in particular to a rotary disc type cycloidal propeller eccentric mechanism.

Background

The cycloidal propeller is a thrust device with blades extending in the same axial direction of a rotating shaft and parallel to the rotating shaft, and generally comprises more than two blades, and the blades do periodic pitching motion around the rotating shaft of the cycloidal propeller while revolving around the rotating shaft of the cycloidal propeller. In a hovering state, the motion trail of the paddle is a circumference, and in a forward state, the motion trail of the paddle is a cycloid, so that the paddle is named as a cycloid paddle. The thrust device can provide adjustable omnidirectional vector thrust instantly, and has the characteristics of high efficiency, fast vector thrust change and the like. The design of the cycloidal propeller control mechanism, particularly the eccentric mechanism, is the most important ring in the design of the cycloidal propeller.

Chinese patent CN85103046A filed by the li renguo discloses a cycloidal propeller with a cam as a control mechanism. The main control mechanism of this patent is a cam plate on which the vanes are mounted. The vanes revolve around the cam plate under the drive of the vane plate. Two guide wheels are also arranged on the vane disc and move in a curved cam groove of the cam disc, so that the cycloid paddle blade can move according to a preset motion law. The cycloidal propeller control mechanism in this patent is simple, but because the cam groove curve is fixed, it is difficult to achieve instantaneously changing vector thrust.

Chinese patent CN101327839A, filed by schoolyi et al, discloses a straight wing cycloid propeller with a stepping motor as a control mechanism. In the invention, the revolution of the blades drives the rotation box to rotate through the main motor, and the blade connecting shaft is sleeved with the conducting ring; a blade control motor is arranged in the rotary box, and the lower part of the rotary box is provided with a blade extending out; and each blade control motor independently controls the swinging of the blade to realize the periodic pitching motion of the blade. The invention has the advantages that the pitch motion of the blades is accurately controlled by using a stepping motor instead of a mechanical mechanism, the power loss is small, the response speed is high, but the invention has the defects that a special blade attack angle control algorithm needs to be written, the control system is complex in structure, in addition, when the number of the blades is increased, the number of the required stepping motors is increased, and the problems of increased mechanism weight, reduced economy and the like are caused.

Chinese patents CN102582830A, CN101863306A, CN102267560B, and CN 353525, both of which are filed by huyu et al, and chinese patent CN108438209A, filed by zenjama et al, respectively disclose a cycloidal propeller thruster, an omnidirectional vector thrust cycloidal propeller, a cycloidal propeller eccentric circle control mechanism, and a cycloidal propeller eccentric circle control mechanism. The advantage of this type of eccentric toroidal cycloidal propellers is that a periodic variation of the blade angle of attack is achieved with as simple a mechanical mechanism as possible. However, the disadvantage of this type of eccentric circular cycloidal propellers is that: extension lines of all control pull rods of the blades do not intersect at one point, so that pitching motion laws of different blades are not completely the same, and stable thrust cannot be generated by the cycloidal propeller.

In short, for the existing cycloidal propeller control mechanism, the problems that the mechanism response is slow, the vector thrust which is changed instantly is difficult to realize, the mechanism system is complex, and the thrust is unstable due to unclear law of motion exist.

Disclosure of Invention

The rotating disc type cycloidal propeller eccentric mechanism is provided for overcoming the defects of slow response, complex mechanism system, unclear motion law and the like of the eccentric mechanism in the prior art. The technical means adopted by the invention are as follows:

a rotating disc type cycloidal propeller eccentric mechanism comprising: the cycloidal propeller mechanism comprises an eccentric disc, eccentric connecting discs, connecting rods, a paddle connecting shaft and paddles, wherein the number of the eccentric connecting discs and the number of the connecting rods are consistent with the number of the paddles, one end of each eccentric connecting disc is connected with the corresponding paddle through the connecting rod, a round hole with a circle center not on the axis of the eccentric disc is formed in each eccentric disc, each eccentric disc is connected with each eccentric connecting disc, the power system is used for providing power for each eccentric disc, two ends of each paddle are connected with a paddle driving disc respectively and form a self rotating shaft of autorotation motion after being connected with the paddle driving discs, each paddle is driven by a cycloidal propeller rotating shaft to revolve and rotate, and each paddle rotates under the action of the eccentric connecting discs.

Further, be equipped with two bolt holes on the eccentric connection pad, the connecting rod is equipped with 3 holes, and wherein two bolt holes and the bolt hole matching of eccentric connection pad, the medial surface of another trompil of connecting rod and slide bearing V's lateral surface form interference fit, and the surface of paddle connecting axle and slide bearing V's medial surface form clearance fit, and connecting rod one side surface is leaned on closely with the location shaft shoulder of paddle connecting axle, and the nut on the other side surface and the paddle connecting axle leaves preset clearance.

Furthermore, the extension lines of straight lines passing through the centers of two bolt holes on different eccentric connecting discs are projected and then intersect at one point, namely the center of the eccentric disc, namely the eccentric point, and the centers of 3 holes on the connecting rod are on the same straight line.

Furthermore, the inner side surface of the eccentric connecting disc and the outer side surface of the sliding bearing IV form clearance fit, and the inner side surface of the sliding bearing IV and the outer side surface of the eccentric disc form interference fit.

Furthermore, the power system comprises a steering engine, a cycloidal propeller rotating shaft, an eccentric transmission gear I and an eccentric transmission gear II, the output end of the steering engine is connected with the eccentric transmission gear I, the eccentric transmission gear I is meshed with the eccentric transmission gear II, the steering engine is connected with the support through a steering engine support, and the cycloidal propeller rotating shaft penetrates through the support and then is connected with the eccentric disc.

Furthermore, an eccentric positioning gasket is arranged between the eccentric disk and the eccentric transmission gear II, the radius of the eccentric positioning gasket is larger than the distance from the circle center of the eccentric circular hole to the boundary of the eccentric disk, the eccentric transmission gear II, the eccentric positioning gasket and the eccentric disk are connected through bolts, the circle centers of the bolt holes are on the same circumference, and the circle centers are located on the axis of the rotating shaft of the cycloidal propeller.

The invention has the following advantages:

the invention provides a rotating disc type cycloidal propeller eccentric mechanism, which is characterized in that an eccentric transmission gear is driven by a steering engine to further drive an eccentric disc to rotate, and the size of an eccentric angle is adjusted. The whole mechanism is flexible in operation, and can quickly realize eccentric angle adjustment, so that instantaneously-transformed vector thrust is realized.

The whole set of mechanism mainly comprises a steering engine, a transmission gear, an eccentric disc, an eccentric connecting disc, a sliding bearing and a connecting rod. The connecting mode between the components is simple, the transmission is reliable, the number of special-shaped components adopted by the whole mechanism is small, the layout is compact and reasonable, and the mechanism has the characteristics of simple and reliable structure and convenience in maintenance.

The invention provides a rotating disc type cycloidal propeller eccentric mechanism, which adopts a mode that a steering engine drives an eccentric disc to rotate to adjust the size of an eccentric angle, and the eccentric effect is transferred to a paddle blade through an eccentric connecting disc. The circle center of the circular hole of the eccentric connecting disc in clearance fit with the sliding bearing sleeved on the outer side of the eccentric disc is superposed with the eccentric point, so that the central axes of the connecting rods for controlling the blades to do periodic pitching motion are intersected at one point, namely the eccentric point. The eccentric mechanism has the same principle as a common four-bar eccentric mechanism. Therefore, the motion law of the eccentric mechanism adopted by the invention is simple and clear, and the thrust of the cycloidal propeller is stable.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a front view of an eccentric mechanism of a cycloidal propeller in an embodiment of the invention.

Fig. 2 is a top view of an eccentric mechanism of a cycloidal propeller according to an embodiment of the present invention.

Fig. 3 is a schematic diagram of the matching of the eccentric mechanism of the cycloidal propeller in the embodiment of the invention.

Fig. 4 is a schematic diagram of the eccentric transmission gear and the rotating shaft of the cycloidal propeller in the embodiment of the invention.

FIG. 5 is a schematic diagram of the eccentric disk and the eccentric connecting disk in the embodiment of the invention.

FIG. 6 is a schematic view of an eccentric transmission gear I according to an embodiment of the present invention.

FIG. 7 is a schematic view of an eccentric transmission gear II according to an embodiment of the present invention.

FIG. 8 is a schematic view of an embodiment of an eccentric locating shim according to the present invention.

FIG. 9 is a schematic view of an eccentric disk in an embodiment of the present invention.

FIG. 10 is a schematic view of an eccentric connecting disc according to an embodiment of the present invention.

FIG. 11 is a schematic view of a connecting rod according to an embodiment of the present invention.

FIG. 12 is a schematic view of a blade connecting shaft in an embodiment of the present invention

In the figure: 1. the novel steering gear comprises a cycloidal propeller rotating shaft, 2 steering gears, 3 steering gear supports, 4 supports, 5 eccentric transmission gears I, 6 eccentric transmission gears II, 7 eccentric positioning gaskets, 8 eccentric connecting discs, 9 connecting rods, 10 blade connecting shafts, 11 blades, 12 eccentric discs, 13 sliding bearings I, 14 sliding bearings II, 15 sliding bearings III, 16 sliding bearings IV and 17 sliding bearings V.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1 to 4, an embodiment of the present invention discloses a rotating disc type cycloidal propeller eccentric mechanism, including: the power system and the cycloidal propeller mechanism specifically comprise a cycloidal propeller rotating shaft, a support, a steering engine, an eccentric transmission gear, an eccentric positioning gasket, an eccentric disc, a sliding bearing, an eccentric connecting disc, a connecting rod, a paddle connecting shaft and paddles. The number of the eccentric connecting discs 8 and the connecting rods 9 is consistent with that of the blades 11 as shown in fig. 10, one end of each eccentric connecting disc 8 is connected with the corresponding blade 11 through the connecting rod 9 as shown in fig. 11, a round hole with the center not on the axis of the eccentric disc 12 is formed in the eccentric disc 12 as shown in fig. 9, the eccentric disc 12 is connected with each eccentric connecting disc 8, specifically, the outer side face of each eccentric disc is in interference fit with the inner side face of the sliding bearing iv 16, and the sliding bearing iv 16 is in clearance fit with the eccentric connecting disc sleeved on the sliding bearing iv 16. The power system is used for providing power for the eccentric disc 12, two ends of each blade 11 are respectively connected with the blade driving discs and form a self rotating shaft in autorotation motion after being connected with the blade driving discs, the blades 11 are driven by the cycloidal blade rotating shaft 1 to revolve and rotate, and the blades 11 are driven by the eccentric connecting discs 1 to rotate in autorotation.

The power system comprises a steering engine 2, a cycloidal propeller rotating shaft 1, an eccentric transmission gear I5 and an eccentric transmission gear II 6, wherein the eccentric transmission gear I5 is shown in figure 6, the eccentric transmission gear II 6 is shown in figure 7, the steering engine 2 is a power source for eccentric motion of the cycloidal propeller, the steering engine is connected with the eccentric transmission gear I5 through a steering engine disc by bolts, the eccentric transmission gear I5 is meshed with the eccentric transmission gear II 6, a hole used for connecting the steering engine disc is formed in the eccentric transmission gear I5, the steering engine 2 is connected with a support 4 through bolts through a steering engine support 3, and the steering engine 2 is fixed on the steering engine support 3 through bolts. The cycloidal-propeller rotating shaft 1 penetrates through the support 4 and then is connected with the eccentric disc 12, specifically, the support 4 and a sliding bearing I13 connected with the support form interference fit, the sliding bearing I13 is sleeved on the cycloidal-propeller rotating shaft 1, an eccentric transmission gear II 6 connected with the eccentric disc 12 and a sliding bearing II 14 form interference fit, and the sliding bearing II 14 is sleeved on the cycloidal-propeller rotating shaft 1. An eccentric locating gasket 7 shown in figure 8 is arranged between the eccentric disk 12 and the eccentric transmission gear II 6, and the radius of the eccentric locating gasket 7 is larger than the distance from the circle center of the eccentric circular hole to the boundary of the eccentric disk 12. The middle part of the eccentric positioning gasket 7 is provided with a round hole, and the diameter of the round hole is larger than that of the rotating shaft 1 of the cycloidal propeller. The circular hole in the eccentric disc 12 forms interference fit with a sliding bearing III 15 connected with the circular hole, and the sliding bearing III 15 is sleeved on the rotating shaft of the cycloidal propeller. The sliding bearings sleeved on the cycloidal propeller rotating shaft 1 are in clearance fit with the cycloidal propeller rotating shaft 1, and the eccentric transmission gear, the eccentric positioning gasket 7 and the eccentric disc 12 are provided with threaded holes at the same positions relative to the cycloidal propeller rotating shaft 1 and are connected through bolts, so that the motion generated by the steering engine 2 is transmitted to the eccentric disc 12. The center of the paddle driving disk is provided with a round hole, and the tail end of the rotating shaft of the cycloidal propeller penetrates through the round hole and then is connected with the paddle driving disk through a flange plate by bolts.

In the revolution process of the cycloidal propeller, different eccentric connecting discs 8 can move relatively, so that gaps are reserved among the eccentric connecting discs 8, and the axial positioning of the eccentric connecting discs 8 is realized through a blade connecting shaft 10 which is connected with blades 11 and is shown in figure 12. The eccentric connecting disc 8 enables the blade 11 to do periodic pitching motion due to the limiting effect of the eccentric disc 12 during the rotation of the blade 11.

The eccentric connecting disc 8 is provided with two bolt holes, the connecting rod 9 is provided with 3 holes, the two bolt holes are matched with the bolt holes of the eccentric connecting disc 8, and the eccentric connecting disc 8 and the connecting rod 9 are connected together through bolts respectively inserted into the two holes. The inner side surface of the other opening of the connecting rod 9 and the outer side surface of the sliding bearing V17 form interference fit, the surface of the blade connecting shaft 10 and the inner side surface of the sliding bearing V17 form clearance fit, the surface of one side of the connecting rod 9 is abutted against the positioning shaft shoulder of the blade connecting shaft 10, and a preset clearance is reserved between the surface of the other side of the connecting rod and a nut on the blade connecting shaft 10. The other end of the connecting rod 9 is provided with a through hole, and the surface of the through hole is in interference fit with the outer side surface of the sliding bearing. The sliding bearing inner side surface and the paddle connecting shaft 10 form clearance fit, and the paddle connecting shaft 10 can rotate freely. The other end of the blade connecting shaft 10 is connected to the end of the blade to control the deflection of the blade. The inner side surface of the eccentric connecting disc 8 and the outer side surface of the sliding bearing IV 16 form clearance fit, and the inner side surface of the sliding bearing IV 16 and the outer side surface of the eccentric disc 12 form interference fit.

The extension lines of the straight lines passing through the centers of the two bolt holes on different eccentric connecting discs 8 are projected and then intersect at one point, namely the center of the eccentric disc, namely the eccentric point, and the centers of the 3 holes on the connecting rod are on the same straight line.

The specific working process of the embodiment is as follows:

the motion of the blade of the whole mechanism during working can be divided into two parts, namely, the blade 11 revolves around the rotating shaft 1 of the cycloidal propeller under the driving of the rotating shaft 1 of the cycloidal propeller (as shown in fig. 5, the revolution is that the rotating shaft 1 of the cycloidal propeller drives the blade 11 to rotate anticlockwise). Each blade 11 rotates around its own rotation axis under the action of the eccentric disc 12, and the blades 11 do periodic pitching motion in the process of rotating for one circle. When the eccentric mechanism works, under the action of the steering engine, the eccentric transmission gear transmits rotation to the eccentric disc 12, so that the eccentric disc 12 rotates around the rotating shaft 1 of the cycloidal propeller, and the attack angles of the blades at different positions are changed. As shown in fig. 5, at this time, the eccentric point, that is, the center of the circle of the eccentric disc 12, is located right below the rotating shaft of the cycloidal propeller, the pitch angles of the propellers located right above and right below the rotating shaft 1 of the cycloidal propeller are large, the pitch angles of the blades located on the left and right sides of the rotating shaft 1 of the cycloidal propeller are small, and the main thrust direction of the cycloidal propeller is vertically upward. After the eccentric transmission gear is driven by the control steering gear 2 to rotate the eccentric disc 12 by 90 degrees anticlockwise from the state shown in the figure 5, the eccentric point is positioned right and left of the rotating shaft 1 of the cycloidal propeller at the moment, the attack angles of the blades positioned on the left side and the right side of the rotating shaft 1 of the cycloidal propeller are larger, the attack angles of the blades positioned on the upper side and the lower side of the rotating shaft of the cycloidal propeller are smaller, and the main thrust direction of the cycloidal propeller is horizontal to the left. Taking the example that the eccentric point shown in fig. 5 is located right below the rotating shaft of the cycloidal propeller, due to the limitation of the motion law of the mechanism, the incidence angles of the blades located on the left and right sides of the rotating shaft of the cycloidal propeller are slightly different and the virtual camber effect exists in the motion, the superposition of the two effects causes the mechanism to generate a smaller lateral force pointing to the left side of the rotating shaft of the cycloidal propeller, and the resultant force direction generated by the whole mechanism is the upper left side. When the thrust direction of the cycloidal propeller is adjusted, the steering engine drives the eccentric disc to rotate around the rotating shaft of the cycloidal propeller, the attack angles of blades at different positions are changed, the thrust direction of the cycloidal propeller is further changed, and when the eccentric disc rotates around the rotating shaft of the cycloidal propeller for one circle under the driving of the steering engine, the thrust direction of the cycloidal propeller is also changed by 360 degrees. Therefore, the rotating disc type cycloidal propeller eccentric mechanism can realize instantaneously changing vector thrust.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.