CN105799894A - Guide rod swinging type cycloidal propeller with amplifying mechanism - Google Patents
Guide rod swinging type cycloidal propeller with amplifying mechanism Download PDFInfo
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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
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Abstract
本发明公开了一种带放大机构的摆动导杆式摆线推进器,包括电机、回转箱、叶片和至少一个舵机,所述电机通过主轴和连接轴驱动所述回转箱回转,所述叶片的上端具有一个叶片轴,所述叶片轴通过轴承与所述回转箱连接,所述回转箱内设有导杆滑块机构,所述导杆滑块机构包括星形连杆、滑块轴和导杆,所述星形连杆包括中心轴和若干支杆,所述支杆、滑块轴、导杆的数量分别与所述叶片的数量一致,对应的,所述滑块轴固定于所述支杆的端部,所述导杆上设有可供所述滑块轴滑移的滑轨,所述导杆的一端与所述叶片轴固定;该摆线推进器还包括由所述舵机驱动的星形连杆平移机构。本发明可实现摆线推进器的叶片的摆动规律,同时可实现偏心率在较大范围内的无极变化,可实现推进力在360°范围内推进方向和大小的无极变化,具有优异的操纵性能。
The invention discloses a swing guide rod type cycloid propeller with an amplifying mechanism, which includes a motor, a rotary box, blades and at least one steering gear, the motor drives the rotary box to rotate through a main shaft and a connecting shaft, and the blades There is a blade shaft at the upper end of the blade shaft, the blade shaft is connected with the rotary box through a bearing, and a guide rod slider mechanism is arranged inside the rotary box, and the guide rod slider mechanism includes a star connecting rod, a slider shaft and Guide rod, the star-shaped connecting rod includes a central shaft and several struts, the number of the struts, slider shafts, and guide rods is respectively consistent with the number of the blades, and correspondingly, the slider shaft is fixed on the The end of the pole, the guide rod is provided with a slide rail that can slide the slider shaft, and one end of the guide rod is fixed to the blade shaft; the cycloidal propeller also includes a Steering gear driven star link translation mechanism. The invention can realize the swing law of the blades of the cycloidal propeller, and at the same time can realize the stepless change of the eccentricity in a relatively large range, can realize the stepless change of the propulsion direction and size of the propulsion force within the range of 360°, and has excellent maneuverability .
Description
技术领域technical field
本发明属于特种船舶推进器制造技术领域,具体涉及一种带放大机构的摆动导杆式摆线推进器。The invention belongs to the technical field of propeller manufacturing for special ships, and in particular relates to a swing guide rod type cycloid propeller with an amplifying mechanism.
背景技术Background technique
摆线推进器(CycloidalPropeller),它由一组从船体垂直伸向水中的定型直叶片组成,叶片绕船体的中心轴线作圆周运动,并按一定规律绕自身的轴线摆动。其运动规律为叶片弦线的垂直线始终相交于控制点N,通过改变控制点N的位置,即可改变叶片的摆动规律,可实现360°范围内推进方向和大小的无极变化。因此其具有优异的操纵性能,可大大提高船舶的灵活性。Cycloidal propeller (Cycloidal Propeller), which consists of a set of shaped straight blades extending vertically from the hull into the water, the blades move in a circle around the central axis of the hull, and swing around their own axis according to a certain rule. The law of motion is that the vertical line of the chord line of the blade always intersects with the control point N. By changing the position of the control point N, the swing law of the blade can be changed, and the infinite change of the propulsion direction and size within 360° can be realized. Therefore, it has excellent maneuverability and can greatly improve the flexibility of the ship.
摆线推进器有很多种实现机构,大致可分为偏心率不可调和偏心率可调两类。偏心率不可调的摆线推进器的控制点的位移大小无法改变,因此操纵性能较差。偏心率可调的摆线推进器的偏心率可在一定范围内无极变化,可通过改变偏心率大小或推进器转速来改变推力大小,从而获得优异的操纵性能。以往所设计的摆线推进器,为实现偏心率可调,其结构往往较为复杂,降低了可靠性。结构相对简单的摆线推进器偏心率不可调,无法充分发挥其操纵性能。因此,设计一种偏心率可调并可靠的新型摆线推进器具有重要意义。There are many kinds of realization mechanisms for cycloidal thrusters, which can be roughly divided into two types: non-adjustable eccentricity and adjustable eccentricity. The displacement of the control point of the cycloid propeller with non-adjustable eccentricity cannot be changed, so the maneuverability is poor. The eccentricity of the cycloid propeller with adjustable eccentricity can be changed steplessly within a certain range, and the thrust can be changed by changing the eccentricity or the speed of the propeller, so as to obtain excellent maneuverability. In order to realize the adjustable eccentricity of the cycloidal propeller designed in the past, its structure is often more complicated, which reduces the reliability. The eccentricity of the cycloid propeller with relatively simple structure cannot be adjusted, so its maneuverability cannot be fully utilized. Therefore, it is of great significance to design a novel cycloid thruster with adjustable eccentricity and reliability.
发明内容Contents of the invention
本发明要解决的问题是提供一种偏心率可调、效率高、可靠的摆动导杆式摆线推进器。The problem to be solved by the present invention is to provide a swing guide rod type cycloid propeller with adjustable eccentricity, high efficiency and reliability.
为了解决上述技术问题,本发明采用如下技术方案:带放大机构的摆动导杆式摆线推进器,包括电机、回转箱、叶片和至少一个舵机,所述电机通过主轴和连接轴驱动所述回转箱回转,所述叶片的上端具有一个叶片轴,所述叶片轴通过轴承与所述回转箱连接,所述回转箱内设有导杆滑块机构,所述导杆滑块机构包括星形连杆、滑块轴和导杆,所述星形连杆包括中心轴和若干支杆,所述支杆、滑块轴、导杆的数量分别与所述叶片的数量一致,对应的,所述滑块轴固定于所述支杆的端部,所述导杆上设有可供所述滑块轴滑移的滑轨,所述导杆的一端与所述叶片轴固定;该摆线推进器还包括由所述舵机驱动的星形连杆平移机构。In order to solve the above-mentioned technical problems, the present invention adopts the following technical solution: a swing guide rod type cycloid propeller with an amplifying mechanism, including a motor, a rotary box, blades and at least one steering gear, and the motor drives the motor through a main shaft and a connecting shaft. The rotary box rotates, and the upper end of the blade has a blade shaft, and the blade shaft is connected with the rotary box through a bearing, and a guide rod slider mechanism is arranged inside the rotary box, and the guide rod slider mechanism includes a star-shaped Connecting rods, slider shafts and guide rods, the star-shaped connecting rods include a central shaft and several struts, the numbers of the struts, slider shafts, and guide rods are respectively consistent with the number of the blades, correspondingly, the The slider shaft is fixed on the end of the pole, the guide rod is provided with a slide rail for the slider shaft to slide, and one end of the guide rod is fixed to the blade shaft; the cycloid The propeller also includes a star link translation mechanism driven by the steering gear.
所述星形连杆平移机构包括控制杆,所述主轴具有一个中心孔,所述控制杆的上端由所述舵机直接推动,所述控制杆的中部穿过所述主轴的中心孔,所述控制杆的下端与所述星形连杆的中心轴连接。The star link translation mechanism includes a control rod, the main shaft has a central hole, the upper end of the control rod is directly pushed by the steering gear, and the middle part of the control rod passes through the central hole of the main shaft, so The lower end of the control rod is connected with the central axis of the star connecting rod.
所述主轴的中心孔内设有与所述控制杆的中部相匹配的向心关节轴承。A centripetal joint bearing matching the middle of the control rod is arranged in the central hole of the main shaft.
所述星形连杆的中心轴设有一个凹槽,该凹槽内设有与所述控制杆的下端相匹配的杆端关节轴承。The central axis of the star-shaped connecting rod is provided with a groove, and a rod-end joint bearing matching the lower end of the control rod is arranged in the groove.
所述导杆滑块机构通过一个同步机构与所述回转箱连接。The guide rod slider mechanism is connected with the rotary box through a synchronous mechanism.
所述同步机构包括回转箱导轨和十字滑块,所述十字滑块的顶面和底面分别设有凹槽和凸台,所述十字滑块的凹槽和凸台相互垂直,所述回转箱导轨固定于所述回转箱的底板上,所述十字滑块的凸台与所述回转箱导轨相匹配,所述中心轴的底面设有凸台,所述中心轴的凸台与所述十字滑块的凹槽相匹配。The synchronous mechanism includes a rotary box guide rail and a cross slider. The top surface and the bottom surface of the cross slider are respectively provided with grooves and bosses. The grooves and bosses of the cross slider are perpendicular to each other. The rotary box The guide rail is fixed on the bottom plate of the rotary box, the boss of the cross slider matches the guide rail of the rotary box, the bottom surface of the central shaft is provided with a boss, and the boss of the central shaft is matched with the cross The grooves of the sliders match.
所述回转箱导轨位于所述回转箱的直径线上。The rotary box guide rail is located on the diameter line of the rotary box.
所述回转箱导轨的有效长度大于所述叶片回转半径与单根支杆有效长度之差。The effective length of the guide rail of the rotary box is greater than the difference between the radius of rotation of the blade and the effective length of a single pole.
所述舵机有两个,两个舵机设于两个相互垂直的方向上。There are two steering gears, and the two steering gears are arranged in two mutually perpendicular directions.
所述滑轨为条形的通孔。The slide rail is a bar-shaped through hole.
本发明提供了一种带放大机构的摆动导杆式摆线推进器,其可完美实现摆线推进器的叶片的摆动规律,同时可实现偏心率在较大范围内的无极变化,可实现推进力在360°范围内推进方向和大小的无极变化,具有优异的操纵性能。同时,其结构简单、可靠,可满足工程实际应用要求。The invention provides a swing guide rod type cycloid propeller with an amplification mechanism, which can perfectly realize the swing law of the blades of the cycloid propeller, and at the same time realize the stepless change of the eccentricity in a large range, and realize the propulsion The force can change steplessly in direction and size within 360° range, which has excellent maneuverability. At the same time, its structure is simple and reliable, which can meet the requirements of practical engineering applications.
附图说明Description of drawings
下面结合附图对本发明的具体实施方式作进一步说明:The specific embodiment of the present invention will be further described below in conjunction with accompanying drawing:
图1为本发明摆动导杆式摆线推进器一个实施例的结构示意图;Fig. 1 is the structural representation of an embodiment of the swing guide rod type cycloid propeller of the present invention;
图2为图1实施例中回转箱的内部结构示意图;Fig. 2 is a schematic diagram of the internal structure of the revolving box in the embodiment of Fig. 1;
图3为摆动导杆实现机构工作原理图;Fig. 3 is a working principle diagram of the mechanism realizing the swing guide rod;
图4为偏心距放大实现机构与同步回转实现机构工作原理图。Fig. 4 is a working principle diagram of the eccentricity enlargement realization mechanism and the synchronous rotation realization mechanism.
具体实施方式detailed description
如图1和图2所示,带放大机构的摆动导杆式摆线推进器,包括电机1、回转箱2、叶片6和至少一个舵机3,所述电机通过依次连接的主动齿轮、从动齿轮、主轴4和连接轴5驱动所述回转箱2回转,所述叶片6的上端具有一个叶片轴61,所述叶片轴61通过轴承与所述回转箱2连接,回转箱2带动叶片6回转。As shown in Figure 1 and Figure 2, the swing guide rod type cycloid propeller with amplifying mechanism includes a motor 1, a rotary box 2, a blade 6 and at least one steering gear 3, and the motor is connected sequentially through driving gears, from The moving gear, the main shaft 4 and the connecting shaft 5 drive the rotary box 2 to rotate, and the upper end of the blade 6 has a blade shaft 61, and the blade shaft 61 is connected with the rotary box 2 through a bearing, and the rotary box 2 drives the blade 6 turn around.
如图2所示,所述回转箱内设有导杆滑块机构,所述导杆滑块机构包括星形连杆21、滑块轴22和导杆23,所述星形连杆包括中心轴211和若干支杆212,所述支杆212、滑块轴22、导杆23的数量分别与所述叶片6的数量一致,对应的,所述滑块轴固定于所述支杆的端部,所述导杆上设有可供所述滑块轴滑移的条形的通孔,所述导杆的一端与所述叶片轴固定;该摆线推进器还包括由所述舵机驱动的星形连杆平移机构。所述舵机有两个,两个舵机设于两个相互垂直的方向上。两个舵机可分别控制控制杆在两个相互垂直的方向上的位移大小。星形连杆通过滑块轴带动导杆和固连在导杆上的叶片摆动。As shown in Figure 2, a guide rod slider mechanism is provided in the revolving box, and the guide rod slider mechanism includes a star connecting rod 21, a slider shaft 22 and a guide rod 23, and the star connecting rod includes a central Shaft 211 and several struts 212, the number of the struts 212, slider shafts 22, and guide rods 23 are respectively consistent with the number of the blades 6, correspondingly, the slider shafts are fixed on the ends of the struts part, the guide rod is provided with a strip-shaped through hole for the slider shaft to slide, and one end of the guide rod is fixed to the blade shaft; the cycloidal propeller also includes the steering gear Driven star linkage translation mechanism. There are two steering gears, and the two steering gears are arranged in two mutually perpendicular directions. The two steering gears can respectively control the displacement of the control rod in two mutually perpendicular directions. The star connecting rod drives the guide rod and the blade fixedly connected on the guide rod to swing through the slider shaft.
所述星形连杆平移机构包括控制杆7,所述主轴4具有一个中心孔,所述控制杆的上端由所述舵机直接推动,所述控制杆的中部穿过所述主轴的中心孔,所述主轴的中心孔内设有与所述控制杆的中部相匹配的向心关节轴承8,向心关节轴承8作为控制杆的支点。所述控制杆的下端与所述星形连杆的中心轴211连接。所述星形连杆的中心轴设有一个凹槽,该凹槽内设有与所述控制杆的下端相匹配的杆端关节轴承9。通过控制杆带动星形连杆平移使导杆摆动,从而控制叶片的按规律摆动,实现推进方向和大小的变化。The star link translation mechanism includes a control rod 7, the main shaft 4 has a central hole, the upper end of the control rod is directly pushed by the steering gear, and the middle part of the control rod passes through the central hole of the main shaft , the central hole of the main shaft is provided with a centripetal joint bearing 8 matching the middle part of the control rod, and the centripetal joint bearing 8 is used as a fulcrum of the control rod. The lower end of the control rod is connected with the central axis 211 of the star connecting rod. The central axis of the star-shaped connecting rod is provided with a groove, and a rod-end joint bearing 9 matching the lower end of the control rod is arranged in the groove. The control rod drives the star-shaped connecting rod to translate to make the guide rod swing, so as to control the regular swing of the blades and realize the change of the propulsion direction and size.
所述导杆滑块机构通过一个同步机构与所述回转箱连接。所述同步机构包括回转箱导轨24和十字滑块25,所述十字滑块25的顶面和底面分别设有凹槽和凸台,所述十字滑块的凹槽和凸台相互垂直,所述回转箱导轨24固定于所述回转箱的底板27上,所述十字滑块25的凸台与所述回转箱导轨24相匹配,所述中心轴211的底面设有凸台26,所述中心轴的凸台26与所述十字滑块25的凹槽相匹配。所述回转箱导轨24位于所述回转箱的直径线上。所述回转箱导轨24的有效长度大于所述叶片回转半径与单根支杆有效长度之差,所述回转箱导轨的有效长度是十字滑块在回转箱导轨上能够滑移并远离回转箱中心的最大距离,所述叶片回转半径为叶片轴61的中心到回转盘2的中心的距离,单根支杆有效长度是指星形连杆中心到滑块轴中心的距离。The guide rod slider mechanism is connected with the rotary box through a synchronous mechanism. The synchronous mechanism includes a rotary box guide rail 24 and a cross slide 25, the top surface and the bottom surface of the cross slide 25 are respectively provided with a groove and a boss, and the grooves and the boss of the cross slide are perpendicular to each other, so The rotary box guide rail 24 is fixed on the bottom plate 27 of the rotary box, the boss of the cross slider 25 is matched with the rotary box guide rail 24, and the bottom surface of the central shaft 211 is provided with a boss 26. The boss 26 of the central shaft matches the groove of the Oldham 25 . The rotary box guide rail 24 is located on the diameter line of the rotary box. The effective length of the rotary box guide rail 24 is greater than the difference between the radius of gyration of the blade and the effective length of a single pole, and the effective length of the rotary box guide rail is such that the cross slider can slide on the rotary box guide rail and stay away from the center The blade radius of gyration is the distance from the center of the blade shaft 61 to the center of the rotary disk 2, and the effective length of a single rod refers to the distance from the center of the star connecting rod to the center of the slider shaft.
电机通过螺栓固定于上罩盖上,上罩盖通过螺栓固定在固定安装板上,固定安装板安装在船舶底部。电机输出轴通过键与主动齿轮连接,主动齿轮下部采用轴端挡圈进行轴端固定,并用螺钉使轴端挡圈紧固。主动齿轮与从动齿轮啮合,从动齿轮通过螺钉固定于主轴上,主轴通过角接触球轴承安装于主轴安装块上,主轴安装块通过螺钉固定在固定安装板上,主轴安装块与主轴间用唇形密封圈密封。主轴通过螺钉与连接轴固定连接,连接轴通过螺钉与回转箱盖板固定连接,回转箱盖板通过螺钉与回转箱固定连接,回转箱通过螺钉与回转箱底板固定连接。叶片上安装座通过螺钉与回转箱盖板固定连接,叶片下安装座通过螺钉与回转箱底板固定连接,叶片轴分别通过角接触轴承连接,角接触轴承分别通过叶片上安装座盖板、轴套和小圆螺母进行轴端固定。叶片下安装座与叶片轴间用唇形密封圈密封。The motor is fixed on the upper cover by bolts, the upper cover is fixed on the fixed mounting plate by bolts, and the fixed mounting plate is installed on the bottom of the ship. The output shaft of the motor is connected with the driving gear through a key, and the shaft end is fixed with a shaft end retaining ring at the lower part of the driving gear, and the shaft end retaining ring is fastened with screws. The driving gear meshes with the driven gear, the driven gear is fixed on the main shaft by screws, the main shaft is installed on the main shaft mounting block through angular contact ball bearings, and the main shaft mounting block is fixed on the fixed mounting plate by screws. Lip seal seal. The main shaft is fixedly connected to the connecting shaft by screws, the connecting shaft is fixedly connected to the cover plate of the rotary box by screws, the cover plate of the rotary box is fixedly connected to the rotary box by screws, and the rotary box is fixedly connected to the bottom plate of the rotary box by screws. The upper mounting seat of the blade is fixedly connected with the cover plate of the rotary box by screws, the lower mounting seat of the blade is fixedly connected with the bottom plate of the rotary box by screws, the shafts of the blades are respectively connected by angular contact bearings, and the angular contact bearings are respectively passed by the cover plate of the upper mounting seat of the blade and the shaft sleeve Fix the shaft end with a small round nut. A lip seal ring is used to seal between the lower mounting seat of the blade and the blade shaft.
两舵机分别垂直固定于上罩盖上,两舵机分别与控制杆上端铰接,控制杆中部与向心关节轴承内圈配合,向心关节轴承外圈固定于主轴上,向心关节轴承轴端通过杠杆固定块固定。控制杆下端与杆端关节轴承内圈配合,杆端关节轴承外圈固定在轴承安装块上,轴承安装块与星形连杆铰接,在星形连杆中心上端安装防脱盖板防止轴承安装块脱出,防脱盖板通过螺钉固定于星形连杆上。The two steering gears are vertically fixed on the upper cover respectively. The two steering gears are respectively hinged to the upper end of the control rod. The middle part of the control rod is matched with the inner ring of the radial joint bearing. The outer ring of the radial joint bearing is fixed on the main shaft. The end is fixed by a lever fixing block. The lower end of the control rod cooperates with the inner ring of the rod end joint bearing, the outer ring of the rod end joint bearing is fixed on the bearing mounting block, the bearing mounting block is hinged with the star connecting rod, and an anti-off cover is installed at the upper end of the star connecting rod center to prevent the bearing from being installed The block comes out, and the anti-off cover plate is fixed on the star connecting rod by screws.
两个舵机通过控制杆反向控制星形连杆中心在相互垂直的的两个方向上的位移。通过十字滑块机构可实现星形连杆和回转箱的同步回转。星形连杆端部与滑块轴铰接,滑块轴与导杆形成滑动连接,滑块轴两端通过垫圈和螺钉轴端固定。导杆通过键与叶片轴固定连接,导杆在叶片轴上的轴端通过轴肩和轴套固定。星形连杆通过摆动导杆机构中的滑块轴和导杆带动叶片轴按摆线规律摆动。本发明整体结构简单,可靠,可完美实现叶片按摆线规律摆动,并可使偏心率在较大范围内无极变化,可获得优异的操纵性能。The two steering gears reversely control the displacement of the center of the star-shaped connecting rod in two directions perpendicular to each other through the control rod. The synchronous rotation of the star connecting rod and the rotary box can be realized through the cross slider mechanism. The end of the star-shaped connecting rod is hinged with the slider shaft, the slider shaft and the guide rod form a sliding connection, and the two ends of the slider shaft are fixed by washers and screw shaft ends. The guide rod is fixedly connected with the blade shaft through a key, and the shaft end of the guide rod on the blade shaft is fixed by a shaft shoulder and a shaft sleeve. The star connecting rod drives the blade shaft to swing according to the cycloidal law through the slider shaft and the guide rod in the swing guide rod mechanism. The overall structure of the invention is simple and reliable, and can perfectly realize the swing of the blades according to the cycloid law, and can make the eccentricity change steplessly in a large range, and can obtain excellent maneuverability.
六个叶片的摆线推进器的工作原理如图3所示,假设O点为摆线推进器的中心轴线,A、B、C、D、E、F点分别是叶片轴,且叶片弦线的垂直线相交于控制点P。当叶片绕O点逆时针旋转角度α°时,可假设叶片轴相对静止,控制点P绕中心O顺时针旋转角度α°。The working principle of the cycloidal propeller with six blades is shown in Figure 3, assuming that point O is the central axis of the cycloidal propeller, points A, B, C, D, E, and F are the blade axes respectively, and the blade chord line The vertical line intersects at the control point P. When the blade rotates counterclockwise around the point O by an angle of α°, it can be assumed that the blade shaft is relatively stationary, and the control point P rotates clockwise by an angle of α° around the center O.
应用摆动导杆机构,将控制点P处设计为滑块,叶片弦线垂直线PA、PB、PC、PD、PE、PF设计为导杆,并与叶片轴A、B、C、D、E、F连接,滑块P可绕中心轴O点旋转,并通过导杆带动摆线推进器叶片摆动,即可实现摆线推进器工作原理。此时,PO的距离为偏心距,通过改变滑块P的位置即可实现偏心距的无级变化,如图3所示。Using the swing guide rod mechanism, the control point P is designed as a slider, and the vertical lines PA, PB, PC, PD, PE, PF of the blade chord line are designed as guide rods, and are connected with the blade axes A, B, C, D, E , F connection, the slider P can rotate around the central axis O point, and drive the cycloid propeller blades to swing through the guide rod, so as to realize the working principle of the cycloid propeller. At this time, the distance of PO is the eccentricity, and the stepless change of the eccentricity can be realized by changing the position of the slider P, as shown in Figure 3.
若简单应用摆动导杆机构,为实现偏心率0~1范围内连续可调,那么导杆的结构尺寸需等于直径,控制点位移可调距离需为半径范围内。为减小导杆长度和控制点位移距离,在摆动导杆机构的基础上,设计星形连杆WGHIJKL与6个滑块G、H、I、J、K、L铰链连接实现偏心距放大作用。当星形连杆中心移动到W点时,星形连杆的中心W点与推进器中心O点间的距离OW为星形连杆实际偏移距离,如图2所示。此时,导杆的延伸线相交于点P,其为叶片的实际控制点,并且P点在OW的延长线上,其与中心O的距离OP大于OW。因此,通过星形连杆机构可实现偏心距的放大,从而缩小导杆的结构尺寸和中心控制点所需的实际偏移距离。If the swing guide rod mechanism is simply applied, in order to realize the continuous adjustment of the eccentricity within the range of 0 to 1, the structural size of the guide rod must be equal to the diameter, and the adjustable distance of the control point displacement must be within the radius range. In order to reduce the length of the guide rod and the displacement distance of the control point, on the basis of the swing guide rod mechanism, the star-shaped connecting rod WGHIJKL is designed to be hingedly connected with 6 sliders G, H, I, J, K, and L to realize the eccentricity amplification effect . When the center of the star link moves to point W, the distance OW between the center point W of the star link and the point O of the propeller center is the actual offset distance of the star link, as shown in Figure 2. At this time, the extension line of the guide rod intersects at point P, which is the actual control point of the blade, and point P is on the extension line of OW, and its distance OP from the center O is greater than OW. Therefore, the enlargement of the eccentricity can be realized through the star linkage mechanism, thereby reducing the structural size of the guide rod and the actual offset distance required by the central control point.
为确保上述偏心距放大机构能够准确控制叶片摆动,必须保证星形连杆与回转箱同步旋转,即保证图4中星形连杆部分的WG与回转箱部分的OA始终平行。此外,需确保星形连杆可在以中心O为中心在一定范围内移动。In order to ensure that the above-mentioned eccentricity amplification mechanism can accurately control the swing of the blades, it is necessary to ensure that the star-shaped connecting rod and the rotary box rotate synchronously, that is, to ensure that the WG of the star-shaped connecting rod part in Figure 4 is always parallel to the OA of the rotary box part. In addition, it is necessary to ensure that the star-shaped connecting rod can move within a certain range centered on the center O.
为此,采用十字滑块机构保证星形连杆与回转箱同步旋转,如图4所示(O为回转箱中心,P为控制点,A、B、C、D、E、F点为叶片轴,PA、PB、PC、PD、PE、PF为导杆,W点为星形连杆的中心,G、H、I、J、K、L为滑块,Q为十字滑块,MN为回转箱上的导轨,WG为星形连杆上的导轨)。通过十字滑块Q的上滑块与星形连杆上的导轨WG形成移动副,下滑块与回转箱上的滑轨MN形成移动副,从而保证星形连杆能在水平面X轴、Y轴两个方向一定距离范围内移动,并保证星形连杆与回转箱始终保持平行,即实现星形连杆与回转箱同步旋转。To this end, the cross slider mechanism is used to ensure the synchronous rotation of the star-shaped connecting rod and the rotary box, as shown in Figure 4 (O is the center of the rotary box, P is the control point, and points A, B, C, D, E, and F are the blades. Axis, PA, PB, PC, PD, PE, PF are guide rods, W point is the center of star connecting rod, G, H, I, J, K, L are sliders, Q is cross slider, MN is The guide rail on the rotary box, WG is the guide rail on the star connecting rod). The upper slider of the cross slider Q forms a moving pair with the guide rail WG on the star-shaped connecting rod, and the lower slider and the slide rail MN on the rotary box form a moving pair, so as to ensure that the star-shaped connecting rod can move in the horizontal plane X-axis, Y The shaft moves within a certain distance in both directions, and ensures that the star-shaped connecting rod and the rotary box are always kept parallel, that is, the synchronous rotation of the star-shaped connecting rod and the rotary box is realized.
在上述实现机构中,通过控制星形连杆中心W的位置即可实现对摆线推进器的偏心率大小和方向的连续可调,从而使叶片按规律摆动。In the above realization mechanism, the eccentricity and direction of the cycloid propeller can be continuously adjusted by controlling the position of the center W of the star-shaped connecting rod, so that the blades can swing regularly.
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