CN112977783B - Eccentric control mechanism of cycloid propeller - Google Patents

Eccentric control mechanism of cycloid propeller Download PDF

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Publication number
CN112977783B
CN112977783B CN202110369670.0A CN202110369670A CN112977783B CN 112977783 B CN112977783 B CN 112977783B CN 202110369670 A CN202110369670 A CN 202110369670A CN 112977783 B CN112977783 B CN 112977783B
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China
Prior art keywords
gear
shaft
bevel gear
fixedly connected
guide device
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Expired - Fee Related
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CN202110369670.0A
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Chinese (zh)
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CN112977783A (en
Inventor
张志君
朱宝康
朱明昊
邹节志
刘集善
侯振华
许堂虹
王皋
李天歌
张士强
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Jilin University
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Jilin University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H23/00—Transmitting power from propulsion power plant to propulsive elements
    • B63H23/02—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H23/00—Transmitting power from propulsion power plant to propulsive elements
    • B63H23/30—Transmitting power from propulsion power plant to propulsive elements characterised by use of clutches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/06—Steering by rudders
    • B63H25/08—Steering gear
    • B63H25/10—Steering gear with mechanical transmission
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/06—Steering by rudders
    • B63H25/08—Steering gear
    • B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H23/00—Transmitting power from propulsion power plant to propulsive elements
    • B63H23/02—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing
    • B63H2023/0258—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing comprising gearings with variable gear ratio, other than reversing drives or trolling drives
    • B63H2023/0266—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing comprising gearings with variable gear ratio, other than reversing drives or trolling drives comprising gearings with automatically variable gear ratio, other than continuously variable transmissions or trolling drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H23/00—Transmitting power from propulsion power plant to propulsive elements
    • B63H23/02—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing
    • B63H2023/0283—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing using gears having orbital motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H23/00—Transmitting power from propulsion power plant to propulsive elements
    • B63H23/02—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing
    • B63H2023/0291—Trolling gears, i.e. mechanical power transmissions comprising controlled slip clutches, e.g. for low speed propulsion

Abstract

The invention relates to an eccentric control mechanism of a cycloid propeller, belonging to the technical field of mechanical propulsion devices of ships.A servo motor is controlled to rotate, power is transmitted to a planetary gear set through a speed reducer and a bidirectional transmission device, when different clutches in the bidirectional transmission device work, the same-direction same-speed rotation or reverse different-speed rotation of an inner gear of the planetary gear set can be realized, when the inner gear and a sun gear rotate in the same direction and at the same speed, a planetary gear only revolves to drive a chute guide device to rotate around the axis of the propeller, and the change of the eccentric direction of an eccentric control point of the propeller is realized; when the inner gear and the sun gear rotate reversely at different speeds, the planet gear only rotates to drive the eccentric point to move along the upper groove of the sliding groove guide device, and the eccentric distance of the eccentric control point of the propeller is changed. The invention can realize fast and flexible steering, speed changing and other operations for ships and other ocean engineering equipment equipped with cycloidal propellers.

Description

Eccentric control mechanism of cycloid propeller
Technical Field
The invention belongs to the technical field of mechanical propulsion devices of ships, and particularly relates to an eccentric control mechanism of a cycloid propeller.
Background
Thrusters based on the cycloid principle were first applied in the field of aviation and were further developed and applied in the propulsion and control of ships. Currently, cycloidal propellers have become the primary choice for marine vessels and marine engineering equipment. Compare in traditional screw and water jet propulsion, the maneuverability of boats and ships has greatly been improved to the cycloid propeller, and the direction that its thrust produced no longer is unanimous with the rotation axis but perpendicular to propeller rotation axis, in navigation, only need control to be located the inside eccentric control point of propeller gyration case, can be in order to realize the thrust and to revolve the ascending change in axle arbitrary direction to make the boats and ships of equipping the cycloid propeller possess characteristics such as highly nimble jerk, back stop. The device capable of accurately, conveniently and quickly controlling the eccentric control point can further improve the advantage of the cycloid propeller on flexible operation, and has wide application prospect.
Disclosure of Invention
The invention aims to realize accurate, convenient and quick change of the position of the eccentric control point of the cycloid propeller and further improve the flexibility of ship control.
The invention is composed of a power input device, a speed reducing device, a bidirectional transmission device, a planetary gear set and a chute guide device.
The power input device consists of a servo motor 101, a power input shaft S1, a power input bevel gear 102, a power output bevel gear 103 and a power output shaft S2, wherein the servo motor 101 is fixed at the top end of the shell of the rotating box of the cycloid propeller, and the power output shaft S2 and the rotating box of the propeller keep high coaxiality; the power input shaft S1 is fixedly connected with the power input bevel gear 102 from the output of the servo motor 101, the power input bevel gear 102 is meshed with the power output bevel gear 103, and the power output bevel gear 103 is fixedly connected with the power output shaft S2.
The speed reducing device is composed of a small gear I201, a large gear I202, an intermediate shaft S3, a small gear II 203 and a large gear II 204, wherein the small gear I201 is meshed with the large gear I202, the small gear II 203 is meshed with the large gear II 204, the small gear I201 is positioned right below a power output bevel gear 103 and fixedly connected to a power output shaft S2, the large gear 202I and the small gear 203 II are fixedly connected to the intermediate shaft S3, a gear pair 203 and a gear pair 204 are positioned below the gear pair 201 and the gear pair 202, the large gear II 204 is fixedly connected to an inner long shaft S4, the number of teeth of the small gear I201 is the same as that of the small gear II 203, and the number of teeth of the large gear I202 is the same as that of the large gear II 204.
The bidirectional transmission device comprises an inner long shaft S4, a gear III 301, a gear IV 302, a bevel gear I401, a bevel gear II 402, a bevel gear III 403, a bevel gear IV 404, a bevel gear shaft I S5, a bevel gear shaft II S6, a bevel gear shaft III S7, a bevel gear shaft IV S8, a clutch I C1, a clutch II C2, a hollow shaft I S9, a hollow shaft II S10, a gear V601 and a gear VI 602, wherein the gear III 301 is meshed with the gear IV 302, the gear III 301 is positioned below the large gear II 204 and fixedly connected to an inner long shaft S4, the inner long shaft S4 keeps high coaxiality with a power output shaft S2, the gear IV 302 is fixedly connected to the bevel gear shaft S5, the bevel gear I401 is positioned right below the gear IV 302 and is meshed with the bevel gear II 402 and the bevel gear III 403, the bevel gear IV 404 is positioned right below the bevel gear I401 and is connected with the bevel gear II 402, the bevel gear II 402, Bevel gears III 403 are meshed; the bevel gear I401 is fixedly connected with a bevel gear shaft I S5, the bevel gear II 402 is fixedly connected with a bevel gear shaft II S6, the bevel gear III 403 is fixedly connected with a bevel gear shaft III S7, and the bevel gear IV 404 is fixedly connected with a bevel gear shaft IV S8, wherein the bevel gear shaft I S5 and the bevel gear shaft IV S8 keep high coaxiality, and the bevel gear shaft II S6 and the bevel gear shaft III S7 keep high coaxiality; the inner friction plate of the clutch I C1 is fixedly connected with the inner long shaft S4, the outer friction plate is fixedly connected with the hollow shaft I S9, the inner long shaft S4 penetrates through the hollow shaft I S9, and the two shafts keep high coaxiality; the inner friction plate of the clutch II C2 is fixedly connected with the bevel gear shaft IV S8, and the outer friction plate is fixedly connected with the hollow shaft II S10; the gear V601 is meshed with the gear VI 602, the gear V601 is positioned right below the clutch I C1 and is fixedly connected with the hollow shaft I S9, and the gear VI 602 is positioned right below the clutch II C2 and is fixedly connected with the hollow shaft II S10.
The planetary gear set consists of an inner gear 603, a sun gear 605, a planet gear 604 and a planet shaft S11, wherein the planet gear 604 is meshed with the inner gear 603 and the sun gear 605, the planet gear 604 is positioned between the sun gear 605 and the inner gear 603, and the sun gear 605 and the inner gear 603 keep higher coaxiality; the sun gear is fixedly connected to the inner long shaft S4, the inner gear 603 is fixedly connected with the hollow shaft I S9, the planet gear 604 is fixedly connected with the planet shaft S11, and is matched with a round hole in the top of the straight guide groove 701 through a bearing and supported on the sliding groove guide device.
The chute guide device comprises a rear straight guide device 701A, a front straight guide device 701B, an upper semicircular guide device 702A, a lower semicircular guide device 702B, a double right-angle guide rod 703, a screw I704A, a screw II 704B, a screw III 705A, a screw IV 705B, a screw V705C and a screw VI 705D, stepped grooves are formed in the bottoms of the front straight guide groove device 701A and the rear straight guide groove device 701B, threaded holes are formed in the side faces of the front straight guide groove device 701A and the rear straight guide groove device 701B, the threaded holes of the front straight guide device 701B are through holes, the two guide devices are fixed together through the screws 704A and the screws 704B to form the straight guide device 701, the straight guide device 701 is connected with an inner long shaft S4 through a bearing and located right below the planetary gear set, the bottom end of the inner long shaft S4 is stepped and supports the straight guide device 701, a circular hole is formed in the top end of the straight guide device 701, and the planetary shaft S11 is matched with the hole through the bearing; the top parts of the upper semicircular guiding device 702A and the lower semicircular guiding device 702B are provided with semicircular grooves, the upper semicircular guiding device 702A is penetrated by the semicircular grooves, the top parts of the upper semicircular guiding device 702A and the lower semicircular guiding device 702B are provided with threaded holes, wherein the threaded holes of the upper semicircular guiding device 702A and the lower semicircular guiding device 702B are through holes, the two guiding devices are fixed together into the semicircular guiding device 702 through screws III-VI705A, 705B, 705C and 705D, wherein the left end of the lower semicircular guiding device 702B extends backwards out of a straight guide rod, and the tail end of the rear part of the guide rod protrudes upwards to form a circular sliding block and extends into the groove of the straight guiding device 701; the double right-angle guide rod 703 is positioned between the planet wheel 604 and the semicircular guide device 702, one end of the double right-angle guide rod is fixedly connected at the larger eccentric position of the planet wheel 604, and the other end of the double right-angle guide rod is provided with a circular slide block which extends into a groove of the semicircular guide device 702; the grooves of the straight guide device 701 and the semicircular guide device 702 are stepped, the groove diameter of the lower end of the straight guide device 701 is smaller than that of the upper end of the straight guide device 701, the groove diameter of the lower end of the semicircular guide device 702 is larger than that of the upper end of the semicircular guide device 702, and the outward extending guide rod of the lower semicircular guide device 702B and the slide block of the double right-angle guide rod 703 are also stepped and matched with the respective guide grooves.
The working process of the invention is as follows:
when the ship needs to change the sailing speed, an operator sends an instruction to the servo motor 101, the servo motor 101 starts to rotate, the power is transmitted to the inner long shaft S4 after passing through the power input device and the speed reducing device, at the moment, the clutch II C2 is meshed, the clutch I C1 does not work, the sun gear 605 and the inner long shaft S4 rotate at the same speed, the power is sequentially transmitted to the hollow shaft S10, the gear VI 602, the gear V601, the hollow shaft S9 and the inner gear 603 through the clutch II C2 after passing through the gear III 301, the gear IV 302, the bevel gear shaft I S5, the bevel gears I-IV 401, 402, 403, 404 and the bevel gear shaft S8 at the same time, the reverse different-speed movement of the sun gear 605 is realized, and the planet gear 604 only rotates and does not revolve; when the planet wheel 604 rotates, the double right-angle guide rods 603 drive the semicircular guide device to move along the grooves of the straight guide device 701, the position of the eccentric control point of the cycloid propeller is below the guide rod sliding block extending outside the semicircular guide device, the change of the eccentric distance of the cycloid eccentric control point is realized, and the change direction is determined by the steering of the servo motor.
When the ship needs to change the sailing direction, an operator sends an instruction to the servo motor 101, the servo motor 101 starts to rotate, power is transmitted to the inner long shaft S4 through the power input device and the speed reducing device, at the moment, the clutch I C1 is engaged, the clutch II C2 does not work, at the moment, the power transmission route only passes through the inner long shaft S4, the sun gear 605 and the inner long shaft S4 rotate at the same speed, the power is simultaneously transmitted to the hollow shaft S9 through the clutch I C1, the inner gear 603 and the sun gear 605 move at the same speed in the same direction, and at the moment, the planet gear 604 only revolves and does not rotate; when the planet wheel 604 revolves, the planet shaft S11 drives the straight guide device 701 to rotate around the inner long shaft S4, so that the direction of the sliding block in the groove of the straight guide device 701 is changed, the change of the eccentric direction of the cycloid eccentric control point is realized, and the change direction is determined by the rotation direction of the servo motor.
Drawings
FIG. 1 is a schematic front view of an eccentric control mechanism of a cycloid propeller
FIG. 2 is an isometric view of a chute guide
FIG. 3 is a bottom view of the chute guide
FIG. 4 is a front view of the chute guide
FIG. 5 is a bottom view of the straight guide
FIG. 6 is a side view of the straight guide
FIG. 7 is an isometric view of a semicircular guide
FIG. 8 is a schematic view of a double right angle guide bar installation
Wherein: 101. servo motor S1, power input shaft 102, power input bevel gear 103, power output bevel gear S2, power output shaft 201, pinion I202, bull gear I S3, intermediate shaft 203, pinion II 204, bull gear II S4, inner long shaft 301, gear III 302, gear IV S5, bevel gear shaft I401, bevel gear I402, bevel gear II 403, bevel gear III 404, bevel gear IV S6, bevel gear shaft II S7, bevel gear shaft III S8, bevel gear shaft IV C1, clutch I C2., clutch II 601, gear V602, gear VI S9, hollow shaft I S10, hollow shaft II 603, internal gear 604, planetary gear 605, sun gear S11, planetary shaft 701, straight guider 701A, straight guider 701B, straight guider 702A, half circular guider 702B, half circular guider 703, double right-angle guide bar 704A, screw 705I 704B, screw II A, screw 705A, III B. Screw IV 705c, screw V705 d, screw VI
Detailed Description
The invention is described below with reference to the accompanying drawings.
As shown in fig. 1 to 2, the present invention comprises a power input device, a speed reduction device, a bidirectional control device, a planetary gear set and a chute guide device, wherein the power input device comprises a servo motor 101, a power input shaft S1, a power input bevel gear 102, a power output bevel gear 103 and a power output shaft S2, the servo motor 101 is fixed at the top end of the housing of the rotating box of the cycloid propeller, and the power output shaft S2 and the rotating box of the propeller keep high coaxiality; the power input shaft S1 is fixedly connected with the power input bevel gear 102 from the output of the servo motor 101, the power input bevel gear 102 is meshed with the power output bevel gear 103, and the power output bevel gear 103 is fixedly connected with the power output shaft S2.
The speed reducing device is composed of a small gear I201, a large gear I202, an intermediate shaft S3, a small gear II 203 and a large gear II 204, wherein the small gear I201 is meshed with the large gear I202, the small gear II 203 is meshed with the large gear II 204, the small gear I201 is positioned right below a power output bevel gear 103 and fixedly connected to a power output shaft S2, the large gear 202I and the small gear 203 II are fixedly connected to the intermediate shaft S3, a gear pair 203 and a gear pair 204 are positioned below the gear pair 201 and 202, the large gear II 204 is fixedly connected to an inner long shaft S4, the number of teeth of the small gear I203 and the small gear II 203 are the same, and the number of teeth of the large gear I202 and the large gear II 204 are the same.
The bidirectional transmission device comprises an inner long shaft S4, a gear III 301, a gear IV 302, a bevel gear I401, a bevel gear II 402, a bevel gear III 403, a bevel gear IV 404, a bevel gear shaft I S5, a bevel gear shaft II S6, a bevel gear shaft III S7, a bevel gear shaft IV S8, a clutch I C1, a clutch II C2, a hollow shaft I S9, a hollow shaft II S10, a gear V601 and a gear VI 602, wherein the gear III 301 is meshed with the gear IV 302, the gear III 301 is positioned below the large gear II 204 and fixedly connected to an inner long shaft S4, the inner long shaft S4 keeps high coaxiality with a power output shaft S2, the gear IV 302 is fixedly connected to the bevel gear shaft S5, the bevel gear I401 is positioned right below the gear IV 302 and is meshed with the bevel gear II 402 and the bevel gear III 403, the bevel gear IV 404 is positioned right below the bevel gear I401 and is connected with the bevel gear II 402, the bevel gear II 402, Bevel gears III 403 are meshed; the bevel gear I401 is fixedly connected with a bevel gear shaft I S5, the bevel gear II 402 is fixedly connected with a bevel gear shaft II S6, the bevel gear III 403 is fixedly connected with a bevel gear shaft III S7, and the bevel gear IV 404 is fixedly connected with a bevel gear shaft IV S8, wherein the bevel gear shaft I S5 and the bevel gear shaft IV S8 keep high coaxiality, and the bevel gear shaft II S6 and the bevel gear shaft III S7 keep high coaxiality; the inner friction plate of the clutch I C1 is fixedly connected with the inner long shaft S4, the outer friction plate is fixedly connected with the hollow shaft I S9, the inner long shaft S4 penetrates through the hollow shaft I S9, and the two shafts keep high coaxiality; the inner friction plate of the clutch II C2 is fixedly connected with the bevel gear shaft IV S8, and the outer friction plate is fixedly connected with the hollow shaft II S10; the gear V601 is meshed with the gear VI 602, the gear V601 is positioned right below the clutch I C1 and is fixedly connected with the hollow shaft I S9, and the gear VI 602 is positioned right below the clutch II C2 and is fixedly connected with the hollow shaft II S10.
The planetary gear set consists of an inner gear 603, a sun gear 605, a planet gear 604 and a planet shaft S11, wherein the planet gear 604 is meshed with the inner gear 603 and the sun gear 605, the planet gear 604 is positioned between the sun gear 605 and the inner gear 603, and the sun gear 605 and the inner gear 603 keep higher coaxiality; the sun gear is fixedly connected to the inner long shaft S4, the inner gear 603 is fixedly connected with the hollow shaft I S9, the planet gear 604 is fixedly connected with the planet shaft S11, and is matched with a round hole in the top of the straight guide groove 701 through a bearing and supported on the sliding groove guide device.
As shown in fig. 1 to 8, the chute guide device is composed of a rear straight guide device 701A, a front straight guide device 701B, an upper semicircle guide device 702A, a lower semicircle guide device 702B, a double right-angle guide rod 703, a screw I704A, a screw II 704B, a screw III 705A, a screw IV 705B, a screw V705C and a screw VI 705D, stepped grooves are arranged at the bottoms of the front and rear straight guide groove devices 701A, 701B, threaded holes are arranged at the side surfaces, wherein the threaded hole of the front straight guide 701B is a through hole, the two guides are fixed together by screws 704A and 704B to form the straight guide 701, connected with the inner long shaft S4 by a bearing, positioned right below the planetary gear set, the bottom end of the inner long shaft S4 is stepped to support the straight guide device 701, the top end of the straight guide device 701 is provided with a circular hole, and the planet shaft S11 is matched with the circular hole through a bearing; the top parts of the upper semicircular guiding device 702A and the lower semicircular guiding device 702B are provided with semicircular grooves, the upper semicircular guiding device 702A is penetrated by the semicircular grooves, the top parts of the upper semicircular guiding device 702A and the lower semicircular guiding device 702B are provided with threaded holes, wherein the threaded holes of the upper semicircular guiding device 702A and the lower semicircular guiding device 702B are through holes, the two guiding devices are fixed together into the semicircular guiding device 702 through screws III-VI705A, 705B, 705C and 705D, wherein the left end of the lower semicircular guiding device 702B extends backwards out of a straight guide rod, and the tail end of the rear part of the guide rod upwards protrudes a circular sliding block and extends into the groove of the straight guiding device 701; the double right-angle guide rod 703 is positioned between the planet wheel 604 and the semicircular guide device 702, one end of the double right-angle guide rod is fixedly connected at the larger eccentric position of the planet wheel 604, and the other end of the double right-angle guide rod is provided with a circular slide block which extends into a groove of the semicircular guide device 702; the grooves of the straight guide device 701 and the semicircular guide device 702 are stepped, the groove diameter of the lower end of the straight guide device 701 is smaller than that of the upper end of the straight guide device 701, the groove diameter of the lower end of the semicircular guide device 702 is larger than that of the upper end of the semicircular guide device 702, and the outward extending guide rod of the lower semicircular guide device 702B and the slide block of the double right-angle guide rod 703 are also stepped and matched with the respective guide grooves.
Since the slot and the slider are stepped, the semi-circular guide 702 can be suspended from the straight guide 701 and the planet 604 by means of the double right-angled guide 703 and its own overhanging guide.
As shown in fig. 1 to 2, when the ship needs to change the sailing speed, an operator gives an instruction to the servo motor 101, the servo motor 101 starts to rotate, the power is transmitted to the inner long shaft S4 through the power input device and the speed reduction device, at this time, the clutch II C2 is engaged, the clutch I C1 does not work, the sun gear 605 rotates at the same speed as the inner long shaft S4, the power simultaneously passes through the gear III 301, the gear IV 302, the bevel gear shaft I S5, the bevel gears I-IV 401, 402, 403, 404 and the bevel gear shaft S8, and then the power is sequentially transmitted to the hollow shaft S10, the gear VI 602, the gear V601, the hollow shaft S9 and the internal gear 603 through the clutch II C2, so that the internal gear 603 and the sun gear 605 move at different speeds in opposite directions, and at this time, the planetary gear 604 only rotates and does not revolve; when the planet wheel 604 rotates, the double right-angle guide rods 603 drive the semicircular guide device to move along the grooves of the straight guide device 701, the position of the eccentric control point of the cycloid propeller is below the guide rod sliding block extending outside the semicircular guide device, so that the change of the eccentric distance of the cycloid eccentric control point is realized, and the change direction is determined by the steering of the servo motor; when the ship needs to change the sailing direction, an operator sends an instruction to the servo motor 101, the servo motor 101 starts to rotate, power is transmitted to the inner long shaft S4 through the power input device and the speed reducing device, at the moment, the clutch I C1 is engaged, the clutch II C2 does not work, at the moment, the power transmission route only passes through the inner long shaft S4, the sun gear 605 and the inner long shaft S4 rotate at the same speed, the power is simultaneously transmitted to the hollow shaft S9 through the clutch I C1, the inner gear 603 and the sun gear 605 move at the same speed in the same direction, and at the moment, the planet gear 604 only revolves and does not rotate; when the planet wheel 604 revolves, the planet shaft S11 drives the straight guide device 701 to rotate around the inner long shaft S4, so that the direction of the sliding block in the groove of the straight guide device 701 is changed, the change of the eccentric direction of the cycloid eccentric control point is realized, and the change direction is determined by the rotation direction of the servo motor.

Claims (3)

1. An eccentric control mechanism of a cycloid propeller is characterized by comprising a power input device, a speed reducer, a bidirectional control device, a planetary gear set and a chute guide device, wherein the power input device comprises a servo motor (101), a power input shaft (S1), a power input bevel gear (102), a power output bevel gear (103) and a power output shaft (S2), the servo motor (101) is fixed at the top end of a shell of a revolving box of the cycloid propeller, and the power output shaft (S2) and the revolving box of the propeller keep high coaxiality; the power input shaft (S1) is fixedly connected with the power input bevel gear (102) through the output of the servo motor (101), the power input bevel gear (102) is meshed with the power output bevel gear (103), and the power output bevel gear (103) is fixedly connected with the power output shaft (S2); the speed reducing device comprises a pinion I (201), a gearwheel I (202), an intermediate shaft (S3), a pinion II (203) and a gearwheel II (204), wherein the pinion I (201) is meshed with the gearwheel I (202), the pinion II (203) is meshed with the gearwheel II (204), the pinion I (201) is positioned under a power output bevel gear (103) and fixedly connected to a power output shaft (S2), the gearwheel I (202) and the pinion II (203) are fixedly connected to the intermediate shaft (S3), the pinion I (201) is meshed with the gearwheel I (202), the pinion II (203) is meshed with the gearwheel II (204), the pinion II (203) is positioned under the gearwheel I (202), the gearwheel II (204) is positioned under the pinion I (201), the gearwheel II (204) is fixedly connected to an inner long shaft (S4), the number of teeth of the pinion I (201) and the number of teeth of the pinion II (203) are the same, the gear wheel I (202) and the gear wheel II (204) have the same tooth number; the bidirectional control device is composed of an inner long shaft (S4), a gear III (301), a gear IV (302), a bevel gear I (401), a bevel gear II (402), a bevel gear III (403), a bevel gear IV (404), a bevel gear shaft I (S5), a bevel gear shaft II (S6), a bevel gear shaft III (S7), a bevel gear shaft IV (S8), a clutch I (C1), a clutch II (C2), a hollow shaft I (S9), a hollow shaft II (S10), a gear V (601) and a gear VI (602), wherein the gear III (301) is meshed with the gear IV (302), the gear III (301) is positioned under the gear II (204) and fixedly connected to the inner long shaft (S4), the inner long shaft (S4) and a power output shaft (S2) keep high coaxiality, the gear IV (302) is fixedly connected to the bevel gear I (S5), the bevel gear I (401) is positioned under the gear IV (302) and fixedly connected with the bevel gear II (402), The bevel gear III (403) is meshed, and the bevel gear IV (404) is positioned right below the bevel gear I (401) and meshed with the bevel gear II (402) and the bevel gear III (403); the bevel gear I (401) is fixedly connected with a bevel gear shaft I (S5), the bevel gear II (402) is fixedly connected with a bevel gear shaft II (S6), the bevel gear III (403) is fixedly connected with a bevel gear shaft III (S7), and the bevel gear IV (404) is fixedly connected with a bevel gear shaft IV (S8), wherein the bevel gear shaft I (S5) and the bevel gear shaft IV (S8) keep high coaxiality, and the bevel gear shaft II (S6) and the bevel gear shaft III (S7) keep high coaxiality; the inner friction plate of the clutch I (C1) is fixedly connected with an inner long shaft (S4), the outer friction plate is fixedly connected with a hollow shaft I (S9), the inner long shaft (S4) penetrates through the hollow shaft I (S9) and the two shafts keep high coaxiality; the inner friction plate of the clutch II (C2) is fixedly connected with the bevel gear shaft IV (S8), and the outer friction plate is fixedly connected with the hollow shaft II (S10); the gear V (601) is meshed with the gear VI (602), the gear V (601) is positioned right below the clutch I (C1) and is fixedly connected with the hollow shaft I (S9), and the gear VI (602) is positioned right below the clutch II (C2) and is fixedly connected with the hollow shaft II (S10).
2. The cycloid propeller eccentric control mechanism of claim 1, wherein: the planetary gear set consists of an internal gear (603), a sun gear (605), a planetary gear (604) and a planetary shaft (S11), wherein the planetary gear (604) is meshed with the internal gear (603) and the sun gear (605), the planetary gear (604) is positioned between the sun gear (605) and the internal gear (603), and the sun gear (605) and the internal gear (603) keep higher coaxiality; the sun gear is fixedly connected to the inner long shaft (S4), the inner gear is fixedly connected with the hollow shaft (S9), the planet gear is fixedly connected with the planet shaft (S11), and is matched with a round hole in the top of the straight guide device (701) through a bearing and supported on the sliding groove guide device; the chute guide device comprises a rear straight guide device (701A), a front straight guide device (701B), an upper semicircle guide device (702A), a lower semicircle guide device (702B), a double right-angle guide rod (703), a screw I (704A), a screw II (704B), a screw III (705A), a screw IV (705B), a screw V (705C) and a screw VI (705D), stepped grooves are arranged at the bottoms of the front and rear straight guide devices (701B) and (701A), threaded holes are arranged on the side surfaces, the threaded hole of the front straight guide device (701B) is a through hole, the two guide devices are fixed together through the screw I (704A) and the screw II (704B) to form the straight guide device (701), are connected with an inner long shaft (S4) through a bearing and are positioned right below the planetary gear set, the bottom end of the inner long shaft (S4) is stepped, and plays a supporting role for the straight guide device (701), the top end of the straight guide device (701) is provided with a circular hole, and a planet shaft (S11) is matched with the circular hole through a gear; the top parts of the upper semicircular guiding device (702A) and the lower semicircular guiding device (702B) are provided with semicircular grooves, the upper semicircular guiding device is penetrated through by the semicircular grooves, the top parts of the upper semicircular guiding device (702A) and the lower semicircular guiding device (702B) are provided with threaded holes, the threaded hole of the upper semicircular guiding device (702A) is a through hole, the two guiding devices are fixed together into the semicircular guiding device (702) through screws III-VI (705A), (705B), (705C) and (705D), wherein the left end of the lower semicircular guiding device (702B) extends backwards to form a straight guide rod, and the tail end of the rear part of the guide rod upwards protrudes a circular sliding block to be deep into the groove of the straight guiding device (701); the double right-angle guide rod (703) is positioned between the planet wheel (604) and the semicircular guide device (702), one end of the double right-angle guide rod is fixedly connected to the larger eccentric position of the planet wheel (604), and the other end of the double right-angle guide rod is provided with a circular slide block which extends into a groove of the semicircular guide device (702); the grooves of the straight guide device (701) and the semicircular guide device (702) are stepped, the groove diameter of the lower end of the straight guide device (701) is smaller than that of the upper end, the groove diameter of the lower end of the semicircular guide device (702) is larger than that of the upper end, and the sliding blocks of the outer extending guide rod and the double right-angle guide rod (703) of the lower semicircular guide device (702B) are also stepped and matched with the respective guide grooves.
3. The cycloid propeller eccentric control mechanism of claim 1, wherein: different transmission routes are obtained by means of matching of the clutches, the rotation conditions of the planetary gear sets under different requirements are realized, a proper gear transmission ratio is designed, when an inner gear (603) and a sun gear (605) in the planetary gear set rotate at the same speed and in the same direction, the planet gear (604) only revolves and does not rotate, the chute guide device rotates along with the inner gear and the sun gear, and the eccentric direction of an eccentric control point is changed; when an inner gear (603) and a sun gear (605) in the planetary gear set rotate reversely at different speeds, the planet gear (604) only rotates without revolution, a sliding block in the sliding groove guide device moves along the sliding groove, the eccentric direction of an eccentric control point is unchanged, and the eccentric distance is changed.
CN202110369670.0A 2021-03-26 2021-03-26 Eccentric control mechanism of cycloid propeller Expired - Fee Related CN112977783B (en)

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