CN101863306B - Omnidirectional vectored thrust cycloidal propeller - Google Patents
Omnidirectional vectored thrust cycloidal propeller Download PDFInfo
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- CN101863306B CN101863306B CN2010101268461A CN201010126846A CN101863306B CN 101863306 B CN101863306 B CN 101863306B CN 2010101268461 A CN2010101268461 A CN 2010101268461A CN 201010126846 A CN201010126846 A CN 201010126846A CN 101863306 B CN101863306 B CN 101863306B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/02—Propulsive elements directly acting on water of rotary type
- B63H1/04—Propulsive elements directly acting on water of rotary type with rotation axis substantially at right angles to propulsive direction
- B63H1/06—Propulsive elements directly acting on water of rotary type with rotation axis substantially at right angles to propulsive direction with adjustable vanes or blades
- B63H1/08—Propulsive elements directly acting on water of rotary type with rotation axis substantially at right angles to propulsive direction with adjustable vanes or blades with cyclic adjustment
- B63H1/10—Propulsive elements directly acting on water of rotary type with rotation axis substantially at right angles to propulsive direction with adjustable vanes or blades with cyclic adjustment of Voith Schneider type, i.e. with blades extending axially from a disc-shaped rotary body
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Abstract
The invention discloses an omnidirectional vectored thrust cycloidal propeller, which comprises a propeller, a cycloidal oar and a cycloidal oar eccentric circle positioning mechanism, wherein the cycloidal oar comprises cycloidal oar blades in the same number as propeller blades, control pull rods, an operating rock arm and a cycloidal oar blade spherical hinge; each cycloidal oar blade is hinged with a propeller blade at rear grazing point of the front edge of the propeller blade; the airfoil surface of each cycloidal oar blade is vertical to that of a propeller blade; an eccentric circular ring of the cycloidal oar eccentric circle positioning mechanism is sleeved on a propeller shaft; the connecting rod of the spherical head of each spherical hinge is connected with the eccentric circular ring respectively; each control pull rod is connected with a cycloidal oar blade; the operating rock arm is positioned in a spanwise symmetrical surface of the cycloidal oar blades; the cycloidal oar blade spherical hinge at one end of the operating rock arm is connected with one end of the control pull rods; and the other end of the operating rock arm is fixedly connected to a cycloidal oar blade tubular beam. The omnidirectional vectored thrust cycloidal propeller of the invention combines the advantages of the cycloidal oar and the conventional propeller and has an omnidirectional vectored thrust while improving aerodynamic efficiency of the conventional propeller.
Description
Technical field
The invention belongs to the propelling unit field, specifically is a kind of omnidirectional vectored thrust cycloidal propeller.
Background technology
The cycloid oar is also claimed voith schneider propeller, is a kind of propelling unit that variable omnidirectional vectored thrust of moment can be provided, and it has the efficient height, vectored thrust changes characteristics such as fast.
A kind of cycloid oar that adopts cam as control mechanism is disclosed among the Chinese patent CN85103046A by the Li Renguo application.The purpose of this invention is to avoid the use of conventional sliding-block linkage, manages to reduce the system complex degree, improves mechanical efficiency.Control mechanism in this patent is made up of a face cam, and blade installation is on fan disk.Fan disk drives blade and revolves round the sun around face cam.Simultaneously on the fan disk two guide wheels are installed, guide wheel is at the cam internal motion of face cam, thereby the angle of attack of cycloidal oar blade can be changed according to the characteristics of motion that cam designs in advance.Cycloid oar control mechanism in this patent is simple relatively, but the guided wheel slot curve of cam is fixed the very difficult variable vectored thrust of moment that realizes.The face cam structure is huge, heavy simultaneously, therefore is not suitable for aircraft.
A kind of autogyro that the cycloid oar is installed is disclosed among the Chinese patent CN85103603A by the Sha Xianqi application.The intention of this patent is that the cycloid oar is installed on the airframe back, by an engine drive, on the fuselage thrust that two driving engines provide aircraft to fly forward is installed simultaneously.The purpose of this invention is that the axis that makes the cycloid oar is consistent with the direction that aircraft flies forward, avoids problem on the lifting airscrew, the problem includes: the critical Mach number problem, thereby greatly improves the flying speed of aircraft.It is a lot of that the advantage of this invention is that the speed that might make VTOL aircraft improves than existing helicopter, but that shortcoming is the supporting construction of cycloid oar is very huge, complicated, will pay very big weight and resistance cost for this reason.Because the moment of torsion of cycloid oar changes in time, therefore be difficult to realize the stabilized flight of aircraft, the enforcement difficulty of this scheme is very high.
By Heinz A.Gerhardt, Redondo Beach discloses a kind of aircraft that adopts the cycloid oar in the US Pat 5,265,827 of people such as Calif application.In this patent, aircraft will rely at least two cycloid oars to realize the VTOL flight of aircraft, and the axis of cycloid oar is vertical with the aircraft bilateral symmetry plane; At airplane tail group tail-rotor is installed; The axis of tail-rotor is positioned at the aircraft symmetrical plane, and is vertical with the aircraft axis, when the lift vector of cycloid oar is differential; Can control the yaw angle and the roll angle of aircraft, and tail-rotor can be controlled the pitch angle of aircraft.Each cycloidal oar blade is by two stent support, and attack angle of blade is controlled through the device of doing of forms such as electromagnetism or hydraulic pressure, makees device then by computer controlled.The cycloid oar of describing in this patent needs very long rotating shaft, needs complicated blade support structure and control mechanism, therefore can bring the cost of weight and resistance.The moment of torsion of cycloid oar fluctuates in time, so the trim at aircraft pitch angle is bigger with the control difficulty.
By Thomas G.Stephens, the US Pat 7,370 of people such as Grand Prairie application, what 828B2 told about is the aircraft of a kind of cycloid oar rotation axis and airframe parallel axes.In this invention, airframe in the form of a ring, cycloidal oar blade is moved in the fuselage annulus, the angle of attack of cycloidal oar blade is controlled by the diameter eccentric garden ring close with the fuselage circle diameter.In order to offset the non-permanent moment of torsion of cycloid oar, two cycloid oars that hand of rotation is opposite are adopted in this invention.Cycloidal oar blade strut and the rotating shaft of cycloid oar have been cancelled in this invention, and cycloid oar axis is roughly the same with the aircraft flight direction simultaneously, therefore might improve the flying speed of aircraft.But ring-type fuselage and eccentric garden ring structure size are much larger than the cycloid oar of routine, and therefore still there is the heavy and big defective of resistance of structure in this invention.
What told about by the US Pat 6,007,021 of Mikhail Tsepenyuk application is the aircraft that adopts the cycloid oar.In this invention, the cycloid oar is by motor-driven, and cycloid oar axis is parallel with the aircraft symmetrical plane, and the rotating shaft of cycloid oar can be along the axis rotation perpendicular to the aircraft symmetrical plane, so the lift vector of cycloid oar can tilt front and back flight before and after the realization aircraft.Simultaneously, cycloidal oar blade is installed on the annulus, and attack angle of blade is by the diameter cam ring control close with circle diameter.Cycloidal oar blade can be installed in one heart, but on the different annulus of radius, thereby which floor has been divided into.Periphery at the cycloid oar is equipped with fairing, makes cycloid oar profile streamline more.The structure of this invention is very complicated, and not fully taking into account the cycloid oar that is applied to aircraft needs huge rotor disk area, therefore is difficult to realize.Possibly there is aerodynamic interference between the multilayer cycloidal oar blade, there is adverse effect in cycloid oar pneumatic efficiency.
The Yun of Seoul, South Korea university, C.Y., Park, I.K., Hwang, I.S. and Kim, the article that S.J. delivered about cycloid oar control mechanism in 2005 in this article, has proposed a kind of eccentric garden of cycloid oar loop mapping mechanism that adopts double steering engine.This mechanism adopts steering wheel and the direct location eccentricity of belt pulley garden ring, and is simple and reliable, is one of the eccentric garden of the successful cycloid oar of comparison loop mapping mechanism.Details are seen Yun, C.Y., Park; I.K., Hwang, I.S.and Kim; S.J. " Thrust Control Mechanism of VTOL UAV Cyclocopter with CycloidalBlades System ", Journal of Intelligent Material Systems and Structures, Vol.16; No.11-12, pp.937-943, December 2005.
In a word, the technical scheme that proposes around the cycloid oar at present only stays in conventional cycloid oar mentality of designing, and the cycloid oar of setting forth in the technical scheme needs special each blade of stent support, perhaps needs huge blade to support annulus and eccentric garden ring.These blade support structures can not produce thrust or lift, have but brought very big structural weight and aerodynamic drag for the cycloid oar; The moment of torsion of cycloid oar is time dependent non-permanent moment of torsion simultaneously, is difficult to trim.These factors are that the cycloid oar is used on VTOL aircraft and brought very big difficulty.Therefore conventional cycloid oar is more suitable for being used for dirigible, naval vessel or aspect controller, and is not suitable for the main lift source of VTOL aircraft.
The another one shortcoming of cycloid oar is the omnidirectional vectored thrust that can only provide perpendicular in the rotating shaft plane, and the vectored thrust of axis direction can not be provided.
Though traditional screw propeller possesses lighter structural weight and very high pneumatic efficiency relatively, the shortcoming of screw propeller is that thrust direction is single, does not possess variable omnidirectional vectored thrust of moment.
Summary of the invention
Big for overcoming the perhaps weight of structure, the aerodynamic drag that exist in the prior art, perhaps the thrust direction mono-is not enough, the present invention proposes a kind of omnidirectional vectored thrust cycloidal propeller.
The present invention is combined into cycloidal propeller with cycloid oar and screw propeller, and the advantage of cycloid oar and conventional screw propeller is combined, and possesses the omnidirectional vectored thrust in the three dimensional space when conventional screw propeller pneumatic efficiency is increased.
The present invention includes screw propeller, cycloid oar and cycloid oar eccentric detent mechanism, screw propeller comprises propeller blade, prop shaft and propeller hub, and blade tip place sweepback 45 degree of propeller blade.The cycloid oar comprises and cycloidal oar blade, control pull rod, operating rock arm and the cycloidal oar blade sphere hinge of propeller blade with quantity.The chord length of cycloidal oar blade is generally 1.5～2.5 times of propeller blade, and the aspect ratio of cycloidal oar blade is 2～3, and the exhibition of cycloidal oar blade has the groove of crossing of propeller blade to the leading edge direction of cycloidal oar blade from cycloidal oar blade trailing edge place on the plane of symmetry.Each cycloidal oar blade is hinged at leading-edge sweep starting point place and each propeller blade of each propeller blade respectively, and the aerofoil of each cycloidal oar blade is vertical each other with the aerofoil of propeller blade.One eccentric annulus is arranged in propeller hub, and this eccentric ring set is contained on the prop shaft, and can produce relative motion between the two.The center of circle of the eccentric annulus of cycloid oar eccentric detent mechanism and the eccentric throw between the prop shaft center of circle are 0～0.707 times of operating rock arm length.The pipe link of each spherical hinge bulb is connected with the sphere strand mounting hole at the annulus end face outer rim place of eccentric annulus respectively, and the ball-head cover of spherical strand bulb is contained in the spherical hinge of pull bar of control pull rod.The other end of each control pull rod is connected with the cycloidal oar blade that is positioned at propeller blade blade tip place respectively; Operating rock arm is positioned at the cycloidal oar blade exhibition to the plane of symmetry, and the spherical hinge of the cycloidal oar blade of operating rock arm one end is connected with an end of control pull rod; The operating rock arm other end is fixed on the cycloidal oar blade Guan Liang.
The Guan Liang that has the inner structure with cycloidal oar blade to be connected in the described cycloidal oar blade; Cross the groove place at the middle part of cycloidal oar blade, cycloidal oar blade Guan Liang matches with bearing, and the outer shroud of bearing is embedded in the hole of cycloidal oar blade hinge-point.
The hinge that is installed on the Guan Liang is positioned at the groove of crossing on the cycloidal oar blade; It is identical with propeller blade blade tip place profile thickness to cross well width; Cycloidal oar blade is hinged through cycloidal oar blade hinge and propeller blade;
Described cycloidal oar blade hinge comprises radial bearing and attachment lug, and radial bearing is sleeved on the cycloidal oar blade Guan Liang, is connected through attachment lug and propeller blade.
See that from the aerodynamics angle cycloidal propeller has higher pneumatic efficiency and trivector thrust.When not needing vectored thrust, the string of a musical instrument of cycloidal oar blade is parallel with its linear velocity direction around the rotating shaft revolution, can be used as the blade tip end plate of propeller blade, reduces the loss of inducing of propeller blade, improves pneumatic efficiency; Need be the time perpendicular to the vectored thrust in the plane of screw propeller rotating shaft; Cycloidal oar blade will be under the control of eccentric garden ring; Do periodically pitching rotation around the cycloidal oar blade hinge-point, the provider to variable vectored thrust of size moment, solve conventional propeller thrust direction mono-problem; The screw propeller part of cycloidal propeller can produce along the thrust of screw propeller shaft axis direction, thereby has possessed the vectored thrust in the three dimensional space.
See that from the angle of structure efficiency the structure efficiency of cycloidal propeller is higher than conventional cycloid oar.The thought that the present invention adopts weight of structure to use when making propeller blade as the cycloidal oar blade supporting construction, can also produce pulling force, avoids adopting special cycloidal oar blade supporting construction.In addition, only as blade tip end plate and control surface, area and aspect ratio are all little, help bearing the centnifugal force that brings because of rotation for cycloidal oar blade, improve structure efficiency.
Description of drawings
Accompanying drawing 1 is the structural representation of cycloidal propeller;
Accompanying drawing 2 is eccentric garden ring 5 assembly relation scheme drawings with control pull rod 3;
Accompanying drawing 3 is eccentric garden ring 5 assembly relation scheme drawings with control pull rod 3;
Accompanying drawing 5 is cycloidal oar blade front views
Accompanying drawing 6 is cycloidal oar blade lateral plans
Accompanying drawing 7 is that cycloidal oar blade A is to view
Accompanying drawing 8 is screw propeller section constructions of cycloidal propeller
Accompanying drawing 9 is propeller hub cutaway views of the screw propeller part of cycloidal propeller
Accompanying drawing 11 is cycloidal propeller blade tip cutaway drawings
Accompanying drawing 12 is screw propeller part lateral plans of cycloidal propeller
Accompanying drawing 13 is propeller blade cutaway views of cycloidal propeller
Accompanying drawing 14 is control pull rod scheme drawings
Accompanying drawing 15 is eccentric garden ring and ball pivot assembly
Accompanying drawing 16 is eccentric garden ring side view cutaway drawings
Accompanying drawing 17 is the global hinge scheme of installations in eccentric garden
Accompanying drawing 18 is eccentric garden ring link scheme drawings with eccentric garden control mechanism
Accompanying drawing 19. is scheme drawings that eccentric garden ring does not have the state of deflection
Accompanying drawing 20. is scheme drawings that eccentric garden ring deflection rear blade is in 90 degree orientation
Accompanying drawing 21. is that eccentric garden ring deflection rear blade is in upper left scheme drawing
Accompanying drawing 23 is scheme drawings that eccentric garden ring deflection rear blade is in the lower left;
Accompanying drawing 24 is eccentric garden ring deflection rear blade scheme drawings in 270 degree orientation;
Accompanying drawing 25. is that eccentric garden ring deflection rear blade is at bottom-right scheme drawing
Accompanying drawing 26. is eccentric garden ring deflection rear blade scheme drawings in 0 degree orientation
Accompanying drawing 27. is that eccentric garden ring deflection rear blade is at top-right scheme drawing
Accompanying drawing 28. is scheme drawings of embodiment 2
Accompanying drawing 29. is scheme drawings of embodiment 2 cycloidal oar blade
Accompanying drawing 30. is scheme drawings of embodiment 3
Accompanying drawing 31. is scheme drawings of embodiment 3 cycloidal oar blade
1. cycloidal oar blade 2. propeller blades 3. control pull rod 4. propeller hubs 5. eccentric gardens are encircled
6. screw propeller rotating shaft 7. cycloidal oar blade hinges 8. cycloidal oar blade sphere is twisted 9. cycloidal oar blade ribs
10. manage beam 11. cycloidal oar blade coverings 12. operating rock arms 13. control pull rod rod members
14. the eccentric garden of the spherical hinge bulb of the spherical hinge of pull bar 15. 16. nylined bearings 17. loop mapping mechanism
18. spherical hinge mounting hole 19. control pull rod position-limited troughs 20. back-up rings 21. back-up ring captive nuts 22. foam cores
The specific embodiment
Embodiment one
Present embodiment is a kind of cycloidal propeller that is used for aircraft, comprises screw propeller and cycloid oar.Screw propeller comprises propeller blade 2, screw propeller rotating shaft 6 and propeller hub 4; The cycloid oar comprises cycloidal oar blade 1, control pull rod 3, operating rock arm 12, spherical hinge 8 and eccentric garden loop mapping mechanism 17.
The single-beam formula structure that propeller blade 2 adopts carbon fiber composite material to make, the aerofoil profile of employing is that relative thickness is bigger, lifting resistance characteristic is the Clark-Y aerofoil profile preferably.The aspect ratio of propeller blade 2 is 8, and chord length is 10cm.Propeller hub 4 hollows, diameter are 32cm.The diameter of screw propeller rotating shaft 6 is 8cm.Propeller blade 2 inside are equipped with control pull rod 3 (shown in Fig. 6 cross section A-A).The leading edge of propeller blade 2 is at blade tip place sweepback 45 degree, and cycloidal oar blade hinge 7 is positioned at the leading-edge sweep starting point place of propeller blade 2.Screw propeller rotating shaft 6 is connected with the engine power output shaft.
Like Fig. 4～shown in Figure 5.Cycloidal oar blade 1 adopts the rectangle aerofoil of NACA0012 symmetrical airfoil; In the cycloidal oar blade surface coverage carbon fiber composite material covering 11 is arranged; The chord length of cycloidal oar blade 1 is 16cm, and chord length is 1.6 times of chord length of propeller blade 2, and the span is 32cm, and aspect ratio is 2.On the plane of symmetry, have the groove of crossing of propeller blade 2 in the exhibition of cycloidal oar blade 1 to the leading edge direction of cycloidal oar blade 1 from cycloidal oar blade 1 trailing edge place, make the pipe beam 10 at this place and be installed in hinge on the pipe beam 10 to be positioned at this and to cross groove, shown in Fig. 6 cross section A-A; This crosses the maximum ga(u)ge of the width of groove with propeller blade 2 aerofoil profiles.The cycloidal oar blade rib 9 of evenly arranging 8 and being parallel to each other is arranged in the cycloidal oar blade 1, and come the pipe beam hole that there is perforation at second to the 7th rib middle part; Circular cycloidal oar blade pipe beam 10 passes the pipe beam hole of each cycloidal oar blade rib 9, and two ends are separately fixed at the inside face of first rib and the 8th rib.Operating rock arm 12 is positioned at cycloidal oar blade 1 exhibition to the plane of symmetry, and the spherical hinge of the cycloidal oar blade of operating rock arm 12 1 ends 8 is connected with an end of control pull rod 3; Operating rock arm 12 other ends are fixed on the cycloidal oar blade pipe beam 10.
Shown in figure 11.Cycloidal oar blade hinge 7 is made up of radial bearing and attachment lug.Radial bearing is sleeved on the cycloidal oar blade pipe beam 10, and is connected through attachment lug and propeller blade 2, makes cycloidal oar blade 1 do relative luffing around the axis of cycloidal oar blade pipe beam 10, shown in Figure 10 partial view D.
Shown in figure 14, control pull rod 3 is the aluminum alloy rod member, is made up of the spherical hinge 14 of control pull rod rod member 13 and pull bar.The two ends end face of control pull rod rod member 13 has internal thread hole.Spherical linkage 14 adopts the nylon plastic(s) manufacturing, for circular, and externally threaded pipe link is arranged on the outer toroid of spherical linkage 14.The internal thread hole at pipe link on the spherical linkage 14 and control pull rod rod member 13 two ends is connected.The same footpath of spherical strand 8 of pull bar spherical hinge 14 endoporus and cycloidal oar blade and spherical hinge bulb 15.
Shown in figure 15, eccentric garden ring 5 usefulness aluminum alloys are processed.The be uniformly distributed along the circumference sphere strand mounting hole 18 of four negative threads of the end face inner edge place of eccentric garden ring 5.On the circular bulb of spherical hinge bulb 15 an externally threaded pipe link is arranged, the external diameter of pipe link encircles the internal diameter of the spherical strand of 5 end faces mounting hole 18 with eccentric garden.There is the control pull rod position-limited trough 19 of protrusion at the outer rim place of a spherical strand mounting hole 18 therein, is used to block wherein control pull rod rod member 13, and eccentric garden ring 5 is rotated with cycloidal propeller.
Shown in figure 18, eccentric garden loop mapping mechanism 17 is a thin circular cylinder shape, and its structure adopts Seoul, South Korea Yun of university, the eccentric garden of the cycloid oar of the double steering engine that C.Y etc. propose loop mapping mechanism.The radially installing and locating flange of protrusion is arranged on eccentric garden loop mapping mechanism 17 1 end termination circumference; On eccentric garden loop mapping mechanism 17 other end circumference, the concave station terrace is arranged, be used to lay nylined bearing 16, eccentric garden ring 5 is sleeved on the nylined bearing 16, can rotate with respect to eccentric garden loop mapping institution freedom; And on eccentric garden loop mapping mechanism 17 these end end faces, the annular bearing back-up ring is arranged.The center of circle of eccentric garden ring 5 and the eccentric throw between prop shaft 6 centers of circle are 0～0.707 times of operating rock arm 12 length.When the eccentric throw of eccentric garden ring 5 during with phase change, the thrust size and Orientation of cycloid oar also changes, thereby realizes the vectored thrust of the interior any direction of 360 degree scopes.
Like Fig. 1, Fig. 2, Fig. 3 and shown in Figure 9.Four propeller blades 2 are installed on the propeller hub 4.Be hinged with cycloidal oar blade 1 respectively at leading-edge sweep starting point place, the blade tip place of propeller blade 2, and cycloidal oar blade 1 is vertical each other with the aerofoil at propeller blade 2 blade tip places.One eccentric garden ring 5 is arranged in propeller hub 4, on the annulus end face of this off-centre garden ring 5, be evenly distributed with four spherical hinge mounting holes 18, the pipe link of spherical hinge bulb 15 is connected with spherical strand mounting hole 18.Spherical strand bulb 15 cooperates with the spherical hinge 14 of pull bar.Eccentric garden ring 5 is enclosed within the screw propeller rotating shaft 6, and under the control of eccentric garden loop mapping mechanism 17, prop shaft 6 moves relatively.One end of four control pull rod 3 encircles the sphere hinge bulb 15 of 5 end faces and is connected with being positioned at eccentric garden respectively, the other end respectively with cycloidal oar blade 1 plane of symmetry on cycloidal oar blade spherically twist 8 and be connected.
Under the effect of servo steering wheel or pilot stick, eccentric garden ring control mechanism 17 will change the position, thereby make the center of circle appearance skew of the home position of eccentric garden ring 5 with respect to prop shaft 6, and will be shown in figure 20.The center of circle of eccentric garden ring 5 with the distance between the center of circle of prop shaft 6 eccentric throw; When eccentric throw was 0, the length of control pull rod 3 made the string of a musical instrument of cycloidal oar blade 1 overlap all the time with the kinematic velocity direction of cycloidal oar blade 1, and cycloidal oar blade 1 angle of attack is 0; Do not produce lift; This moment, the effect of cycloidal oar blade 1 was the loss of inducing that reduces propeller blade 2, improved propulsion coefficient, and is shown in figure 19.
When eccentric throw is not 0, cycloidal oar blade 1 will be done periodically luffing under the control of control pull rod 13, thereby produce vectored thrust, and the control aspect.Suppose that eccentric garden ring 5 under servo steering wheel or aviator's manipulation, be displaced to the lower right in the prop shaft center of circle, and cycloidal propeller pressed anticlockwise motion.Shown in figure 20, when cycloidal oar blade 1 moves to 90 degree orientation, under the pulling of control pull rod 3, cycloidal oar blade 1 will come back, and produce positive incidence with linear velocity direction (dotted line direction among the figure), directly over lift is; Shown in figure 21, when cycloidal oar blade 1 moved to the upper left side, under the pulling of control pull rod 3, still relative its linear velocity direction of cycloidal oar blade 1 had positive incidence, and the lift direction is the upper left side; Shown in figure 22, when cycloidal oar blade 1 moved to 180 degree orientation, the string of a musical instrument of cycloidal oar blade 1 was parallel with the linear velocity direction, did not produce lift.Shown in figure 23, when cycloidal oar blade 1 moved to the lower left, cycloidal oar blade 1 was under the promotion of control pull rod 3, and its linear velocity direction produces positive incidence relatively, and the lift direction is the upper right side; Shown in figure 24, when cycloidal oar blade 1 moved to 270 degree orientation, control pull rod 3 promoted cycloidal oar blade 1, made its relative linear velocity direction produce positive incidence, directly over the lift direction is; Shown in figure 25, when cycloidal oar blade 1 moved to the lower right, control pull rod 3 promoted cycloidal oar blade 1, made it produce positive incidence, and the lift direction is the upper left side; Shown in figure 26, when cycloidal oar blade 1 moved to 0 degree orientation, control pull rod 3 made the string of a musical instrument of cycloidal oar blade 1 parallel with its linear velocity direction, and cycloidal oar blade 1 does not produce lift; Shown in figure 27, when cycloidal oar blade 1 moved to the upper right side, control pull rod 3 pulling cycloidal oar blade 1 made its new line, and the lift direction is the upper right side.Can find out that around the analysis of the lift that produces in one week of circumference cycloidal oar blade 1 is when 0 degree and 180 degree orientation through a blade, lift is 0, when other orientation, and the lift component directly over always producing.Therefore encircle 5 during when eccentric garden, along with the rotation of cycloidal propeller, directly over the resultant direction of cycloidal oar blade 1 will be to bottom offset.Because the eccentric throw direction of eccentric garden ring 5 can be at any direction of 360 degree, so the resultant direction of cycloidal oar blade 1 also can be any direction of 360 degree scopes, thereby the vectored thrust of any direction in the 360 degree scopes is provided.If regulate the eccentric throw of eccentric garden ring 5, can also regulate the size of making a concerted effort.
The maximum angle of attack of cycloidal oar blade should not surpass 45 degree, and the maxim of eccentric garden eccentric throw is 0.707 times of operating rock arm 12 length, to avoid cycloidal oar blade 1 stall and mechanism vibrations, clamping stagnation.
Embodiment two
Present embodiment is a kind of cycloidal propeller that is used for aircraft, comprises screw propeller and cycloid oar.Screw propeller comprises propeller blade 2, screw propeller rotating shaft 6 and propeller hub 4; The cycloid oar comprises cycloidal oar blade 1, control pull rod 3, operating rock arm 12, spherical hinge 8 and eccentric garden loop mapping mechanism 17.Present embodiment has 3 propeller blades and cycloidal oar blade.
The single-beam formula structure that propeller blade 2 adopts carbon fiber composite material to make, the aerofoil profile of employing are screw propeller HS1-404 aerofoil profiles commonly used.The aspect ratio of propeller blade 2 is 7, and chord length is 5cm.Propeller hub 4 hollows, diameter are 16cm.The diameter of screw propeller rotating shaft 6 is 4cm.Propeller blade 2 inside are equipped with control pull rod 3 (shown in Fig. 6 cross section A-A).The leading edge of propeller blade 2 is at blade tip place sweepback 45 degree, and cycloidal oar blade hinge 7 is positioned at the leading-edge sweep starting point place of propeller blade 2.Screw propeller rotating shaft 6 is connected with the engine power output shaft.
Shown in figure 29.Cycloidal oar blade 1 adopts the trapezoidal aerofoil of NACA0016 symmetrical airfoil; In the cycloidal oar blade surface coverage carbon fiber composite material covering 11 is arranged; The taper ratio of cycloidal oar blade 1 is 1.25, and the root chord length is 2 times of chord length of propeller blade 2, and the span is 22.5cm, and aspect ratio is 2.5.On the plane of symmetry, have the groove of crossing of propeller blade 2 in the exhibition of cycloidal oar blade 1 to the leading edge direction of cycloidal oar blade 1 from cycloidal oar blade 1 trailing edge place, make the pipe beam 10 at this place and be installed in hinge on the pipe beam 10 to be positioned at this and to cross groove, shown in Fig. 6 cross section A-A; This crosses the maximum ga(u)ge of the width of groove with propeller blade 2 aerofoil profiles.Foam core 22 is arranged in the cycloidal oar blade 1; Root of blade and taper are furnished with cycloidal oar blade rib 9; Circular cycloidal oar blade pipe beam 10 passes foam core 22, and through adhesives and foam core 22 bondings, two ends are separately fixed at the inside face of cycloidal oar blade 1 two ends taper rib 9.Operating rock arm 12 is positioned at cycloidal oar blade 1 exhibition to the plane of symmetry, and the spherical hinge of the cycloidal oar blade of operating rock arm 12 1 ends 8 is connected with an end of control pull rod 3; Operating rock arm 12 other ends are fixed on the cycloidal oar blade pipe beam 10.
Shown in figure 11.Cycloidal oar blade hinge 7 is made up of radial bearing and attachment lug.Radial bearing is sleeved on the cycloidal oar blade pipe beam 10, and is connected through attachment lug and propeller blade 2, makes cycloidal oar blade 1 do relative luffing around the axis of cycloidal oar blade pipe beam 10, shown in Figure 10 partial view D.
Shown in figure 14, control pull rod 3 is the aluminum alloy rod member, is made up of the spherical hinge 14 of control pull rod rod member 13 and pull bar.The two ends end face of control pull rod rod member 13 has internal thread hole.Spherical linkage 14 adopts the nylon plastic(s) manufacturing, for circular, and externally threaded pipe link is arranged on the outer toroid of spherical linkage 14.The internal thread hole at pipe link on the spherical linkage 14 and control pull rod rod member 13 two ends is connected.The same footpath of spherical strand 8 of pull bar spherical hinge 14 endoporus and cycloidal oar blade and spherical hinge bulb 15.
Shown in figure 15, eccentric garden ring 5 usefulness aluminum alloys are processed.The be uniformly distributed along the circumference sphere strand mounting hole 18 of four negative threads of the end face inner edge place of eccentric garden ring 5.On the circular bulb of spherical hinge bulb 15 an externally threaded pipe link is arranged, the external diameter of pipe link encircles the internal diameter of the spherical strand of 5 end faces mounting hole 18 with eccentric garden.There is the control pull rod position-limited trough 19 of protrusion at the outer rim place of a spherical strand mounting hole 18 therein, is used to block wherein control pull rod rod member 13, and eccentric garden ring 5 is rotated with cycloidal propeller.
Shown in figure 18, eccentric garden loop mapping mechanism 17 is a thin circular cylinder shape, and its structure adopts Seoul, South Korea Yun of university, the eccentric garden of the cycloid oar of the double steering engine that C.Y etc. propose loop mapping mechanism.The radially installing and locating flange of protrusion is arranged on eccentric garden loop mapping mechanism 17 1 end termination circumference; On eccentric garden loop mapping mechanism 17 other end circumference, the concave station terrace is arranged, be used to lay nylined bearing 16, eccentric garden ring 5 is sleeved on the nylined bearing 16, can rotate with respect to eccentric garden loop mapping institution freedom; And on eccentric garden loop mapping mechanism 17 these end end faces, the annular bearing back-up ring is arranged.The center of circle of eccentric garden ring 5 and the eccentric throw between prop shaft 6 centers of circle are 0～0.707 times of operating rock arm 12 length.When the eccentric throw of eccentric garden ring 5 during with phase change, the thrust size and Orientation of cycloid oar also changes, thereby realizes the vectored thrust of the interior any direction of 360 degree scopes.
Like Figure 28, Fig. 2, Fig. 3 and shown in Figure 9.Four propeller blades 2 are installed on the propeller hub 4.Be hinged with cycloidal oar blade 1 respectively at leading-edge sweep starting point place, the blade tip place of propeller blade 2, and cycloidal oar blade 1 is vertical each other with the aerofoil at propeller blade 2 blade tip places.One eccentric garden ring 5 is arranged in propeller hub 4, on the annulus end face of this off-centre garden ring 5, be evenly distributed with four spherical hinge mounting holes 18, the pipe link of spherical hinge bulb 15 is connected with spherical strand mounting hole 18.Spherical strand bulb 15 cooperates with the spherical hinge 14 of pull bar.Eccentric garden ring 5 is enclosed within the screw propeller rotating shaft 6, and under the control of eccentric garden loop mapping mechanism 17, prop shaft 6 moves relatively.One end of four control pull rod 3 encircles the sphere hinge bulb 15 of 5 end faces and is connected with being positioned at eccentric garden respectively, the other end respectively with cycloidal oar blade 1 plane of symmetry on cycloidal oar blade spherically twist 8 and be connected.The maxim of eccentric garden eccentric throw is 0.5 times of operating rock arm 12 length in the present embodiment.
Embodiment three
Present embodiment is a kind of cycloidal propeller that is used for aircraft, comprises screw propeller and cycloid oar.Screw propeller comprises propeller blade 2, screw propeller rotating shaft 6 and propeller hub 4; The cycloid oar comprises cycloidal oar blade 1, control pull rod 3, operating rock arm 12, spherical hinge 8 and eccentric garden loop mapping mechanism 17.Present embodiment has 6 propeller blades and cycloidal oar blade.
The single-beam formula structure that propeller blade 2 adopts carbon fiber composite material to make, the E197 aerofoil profile that the aerofoil profile of employing is.The aspect ratio of propeller blade 2 is 7.5, and chord length is 20cm.Propeller hub 4 hollows, diameter are 60cm.The diameter of screw propeller rotating shaft 6 is 20cm.Propeller blade 2 inside are equipped with control pull rod 3 (shown in Fig. 6 cross section A-A).The leading edge of propeller blade 2 is at blade tip place sweepback 45 degree, and cycloidal oar blade hinge 7 is positioned at the leading-edge sweep starting point place of propeller blade 2.Screw propeller rotating shaft 6 is connected with the engine power output shaft.
Shown in figure 31.Cycloidal oar blade 1 adopts the trapezoidal aerofoil of NACA0012 symmetrical airfoil; In the cycloidal oar blade surface coverage carbon fiber composite material covering 11 is arranged; The taper ratio of cycloidal oar blade 1 is 1.5, and the root chord length is 2.4 times of chord length of propeller blade 2, and the span is 80cm, and aspect ratio is 2.2.In the exhibition of cycloidal oar blade 1 on the plane of symmetry; Have the groove of crossing of propeller blade 2 to the leading edge direction of cycloidal oar blade 1 from cycloidal oar blade 1 trailing edge place; Make the pipe beam 10 at this place and be installed in the hinge of pipe on the beam 10 to be positioned at this and to cross groove, shown in Fig. 6 cross section A-A; This crosses the maximum ga(u)ge of the width of groove with propeller blade 2 aerofoil profiles.Cellular sandwich 22 is arranged in the cycloidal oar blade 1; Root of blade and taper are furnished with cycloidal oar blade rib 9; Circular cycloidal oar blade pipe beam 10 passes cellular sandwich 23, and through adhesives and cellular sandwich 23 bondings, two ends are separately fixed at the inside face of cycloidal oar blade 1 two ends taper rib 9.Operating rock arm 12 is positioned at cycloidal oar blade 1 exhibition to the plane of symmetry, and the spherical hinge of the cycloidal oar blade of operating rock arm 12 1 ends 8 is connected with an end of control pull rod 3; Operating rock arm 12 other ends are fixed on the cycloidal oar blade pipe beam 10.
Shown in figure 11.Cycloidal oar blade hinge 7 is made up of radial bearing and attachment lug.Radial bearing is sleeved on the cycloidal oar blade pipe beam 10, and is connected through attachment lug and propeller blade 2, makes cycloidal oar blade 1 do relative luffing around the axis of cycloidal oar blade pipe beam 10, shown in Figure 10 partial view D.
Shown in figure 14, control pull rod 3 is the aluminum alloy rod member, is made up of the spherical hinge 14 of control pull rod rod member 13 and pull bar.The two ends end face of control pull rod rod member 13 has internal thread hole.Spherical linkage 14 adopts the nylon plastic(s) manufacturing, for circular, and externally threaded pipe link is arranged on the outer toroid of spherical linkage 14.The internal thread hole at pipe link on the spherical linkage 14 and control pull rod rod member 13 two ends is connected.The same footpath of spherical strand 8 of pull bar spherical hinge 14 endoporus and cycloidal oar blade and spherical hinge bulb 15.
Shown in figure 15, eccentric garden ring 5 usefulness aluminum alloys are processed.The be uniformly distributed along the circumference sphere strand mounting hole 18 of four negative threads of the end face inner edge place of eccentric garden ring 5.On the circular bulb of spherical hinge bulb 15 an externally threaded pipe link is arranged, the external diameter of pipe link encircles the internal diameter of the spherical strand of 5 end faces mounting hole 18 with eccentric garden.There is the control pull rod position-limited trough 19 of protrusion at the outer rim place of a spherical strand mounting hole 18 therein, is used to block wherein control pull rod rod member 13, and eccentric garden ring 5 is rotated with cycloidal propeller.
Shown in figure 18, eccentric garden loop mapping mechanism 17 is a thin circular cylinder shape, and its structure adopts Seoul, South Korea Yun of university, the eccentric garden of the cycloid oar of the double steering engine that C.Y etc. propose loop mapping mechanism.The radially installing and locating flange of protrusion is arranged on eccentric garden loop mapping mechanism 17 1 end termination circumference; On eccentric garden loop mapping mechanism 17 other end circumference, the concave station terrace is arranged, be used to lay nylined bearing 16, eccentric garden ring 5 is sleeved on the nylined bearing 16, can rotate with respect to eccentric garden loop mapping institution freedom; And on eccentric garden loop mapping mechanism 17 these end end faces, the annular bearing back-up ring is arranged.The center of circle of eccentric garden ring 5 and the eccentric throw between prop shaft 6 centers of circle are 0～0.707 times of operating rock arm 12 length.When the eccentric throw of eccentric garden ring 5 during with phase change, the thrust size and Orientation of cycloid oar also changes, thereby realizes the vectored thrust of the interior any direction of 360 degree scopes.
Like Figure 30, Fig. 2, Fig. 3 and shown in Figure 9.Four propeller blades 2 are installed on the propeller hub 4.Be hinged with cycloidal oar blade 1 respectively at leading-edge sweep starting point place, the blade tip place of propeller blade 2, and cycloidal oar blade 1 is vertical each other with the aerofoil at propeller blade 2 blade tip places.One eccentric garden ring 5 is arranged in propeller hub 4, on the annulus end face of this off-centre garden ring 5, be evenly distributed with four spherical hinge mounting holes 18, the pipe link of spherical hinge bulb 15 is connected with spherical strand mounting hole 18.Spherical strand bulb 15 cooperates with the spherical hinge 14 of pull bar.Eccentric garden ring 5 is enclosed within the screw propeller rotating shaft 6, and under the control of eccentric garden loop mapping mechanism 17, prop shaft 6 moves relatively.One end of four control pull rod 3 encircles the sphere hinge bulb 15 of 5 end faces and is connected with being positioned at eccentric garden respectively, the other end respectively with cycloidal oar blade 1 plane of symmetry on cycloidal oar blade spherically twist 8 and be connected.The maxim of eccentric garden eccentric throw is 0.6 times of operating rock arm 12 length in the present embodiment.
Claims (4)
1. an omnidirectional vectored thrust cycloidal propeller comprises screw propeller, cycloid oar and cycloid oar eccentric detent mechanism, and screw propeller comprises propeller blade (2), prop shaft (6) and propeller hub (4), and blade tip place sweepback 45 degree of propeller blade (2); It is characterized in that: described cycloid oar comprises and cycloidal oar blade (1), control pull rod (3), operating rock arm (12) and the cycloidal oar blade spherical hinge (8) of propeller blade (2) with quantity; The chord length of cycloidal oar blade (1) is generally 1.5～2.5 times of propeller blade (2); The aspect ratio of cycloidal oar blade (1) is 2～3; The exhibition of cycloidal oar blade (1) has the groove of crossing of propeller blade (2) to the leading edge direction of cycloidal oar blade (1) from cycloidal oar blade (1) trailing edge place on the plane of symmetry; Each cycloidal oar blade (1) is hinged at leading-edge sweep starting point place and each propeller blade (2) of each propeller blade (2) respectively, and the aerofoil of each cycloidal oar blade (1) is vertical each other with the aerofoil of propeller blade (2); One eccentric annulus (5) is arranged in propeller hub (4), and this off-centre annulus (5) is sleeved on the prop shaft (6), and can produce relative motion between the two; The center of circle of the eccentric annulus of cycloid oar eccentric detent mechanism (5) and the eccentric throw between prop shaft (6) center of circle are 0～0.707 times of operating rock arm (12) length; The pipe link of each spherical hinge bulb (15) is connected with the sphere strand mounting hole (18) at the annulus end face outer rim place of eccentric annulus (5) respectively, and the ball-head cover of spherical strand bulb (15) is contained in the spherical hinge of pull bar (14) of control pull rod (3); The other end of each control pull rod (3) is connected with the cycloidal oar blade (1) that is positioned at propeller blade (2) blade tip place respectively; Operating rock arm (12) is positioned at cycloidal oar blade (1) exhibition to the plane of symmetry, and the spherical hinge of the cycloidal oar blade of operating rock arm (12) one ends (8) is connected with an end of control pull rod (3); Operating rock arm (12) other end is fixed on the cycloidal oar blade Guan Liang (10).
2. a kind of according to claim 1 omnidirectional vectored thrust cycloidal propeller is characterized in that, the Guan Liang (10) that has the inner structure with cycloidal oar blade (1) to be connected in the described cycloidal oar blade (1); The groove place is crossed at middle part in cycloidal oar blade (1), and cycloidal oar blade Guan Liang (10) matches with bearing, and the outer shroud of bearing is embedded in the hole of cycloidal oar blade hinge-point (7).
3. like the said a kind of omnidirectional vectored thrust cycloidal propeller of claim 2, it is characterized in that the hinge that is installed on the Guan Liang (10) is positioned at the groove of crossing on the cycloidal oar blade (1); It is identical with propeller blade (2) blade tip place profile thickness to cross well width; Cycloidal oar blade (1) is hinged through cycloidal oar blade hinge (7) and propeller blade (2);
4. like the said a kind of omnidirectional vectored thrust cycloidal propeller of claim 3; It is characterized in that; Described cycloidal oar blade hinge (7) comprises radial bearing and attachment lug, and radial bearing is sleeved on the cycloidal oar blade Guan Liang (10), is connected through attachment lug and propeller blade (2).
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102556335B (en) * | 2012-01-30 | 2013-12-25 | 西北工业大学 | Flying-wing layout aircraft provided with cycloidal propellers |
| CN102658861B (en) * | 2012-06-05 | 2015-03-25 | 李敏华 | Semi-submerged propeller |
| CN103448908A (en) * | 2013-08-25 | 2013-12-18 | 西北工业大学 | Hybrid power airship adopting inflated wings and cycloidal propellers |
| CN103552679A (en) * | 2013-11-18 | 2014-02-05 | 北京理工大学 | Small four-axle autonomous underwater robot based on vector thrust |
| EP2944556B1 (en) * | 2014-05-12 | 2018-07-11 | GE Energy Power Conversion Technology Ltd | Cycloidal marine-propulsion system |
| CN103991543B (en) * | 2014-05-30 | 2015-12-23 | 佛山市神风航空科技有限公司 | A kind of rotary flapping wing aircraft with spring |
| US11198507B2 (en) * | 2016-04-03 | 2021-12-14 | Optivector Ltd | Cycloidal rotor or propeller with performance and flows optimization |
| CN108657397A (en) * | 2018-05-11 | 2018-10-16 | 西北工业大学 | A kind of single rotor duct underwater unmanned vehicle and its application method |
| CN109835502B (en) * | 2019-02-20 | 2022-09-16 | 西北工业大学 | Panoramic-shooting-based cycloidal propeller detection control device and method |
| CN110466725A (en) * | 2019-08-21 | 2019-11-19 | 西北工业大学 | A kind of adjustable slide bar type cycloidal paddle propeller of maximum angle of attack |
| CN111470039B (en) * | 2020-05-04 | 2022-09-13 | 西北工业大学 | Rotor control system suitable for heavy-duty rotary wing aircraft with stepped hub |
| CN113022828B (en) * | 2021-04-12 | 2022-03-04 | 白城师范学院 | Propeller of self-adjusting applicable underwater robot |
| CN113250997B (en) * | 2021-06-08 | 2022-11-18 | 浙江三新科技有限公司 | Fan blade |
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| CN201712785U (en) * | 2010-03-18 | 2011-01-19 | 西北工业大学 | Cycloidal propeller |
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| GB599990A (en) * | 1945-09-27 | 1948-03-25 | Cierva Autogiro Co Ltd | Improvements in helicopters |
| RU2075423C1 (en) * | 1994-04-05 | 1997-03-20 | Михаил Андреевич Мамыкин | Device for control of resultant aerodynamic force of propeller |
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