JPH11321785A - Oscillating propulsion device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a quiet oscillating propulsion device providing a driving force without generating noise due to a rotation of a propeller, etc., and a noise due to a vibration. SOLUTION: As oscillating propulsion device is provided with an oscillating fin 3 having an elasticity oscillatably and turnably mounted on a mounting frame 1 through an oscillating shaft 2 with a rigidity becoming lower as it leaves from the oscillating shaft 2; and a motive power mechanism 5 which reciprocally oscillates the oscillating fin 3 against the mounting frame 1 around the oscillating shaft 2. The oscillating fin 3 is reciprocally oscillated making the oscillating shaft 2 as a center to provide a driving force.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rocking type propulsion device for propelling an underwater vehicle or a ship.

[0002]

2. Description of the Related Art In general, as a propulsion device applied to an underwater vehicle or a ship, a system in which a propeller is rotated in water by an engine or a motor to obtain a propulsion force is employed.

[0003]

However, when underwater exploration is carried out using sound, there is a problem that the noise due to the rotation of the propeller and the noise of vibration are so large that a precise investigation cannot be performed.

The present invention has been made in view of the above circumstances, and provides a quiet rocking type propulsion device capable of obtaining a propulsion force without generating noise or vibration noise due to rotation of a propeller or the like. The purpose is to do so.

[0005]

SUMMARY OF THE INVENTION The present invention is flexible in that it is rotatably pivoted to a mounting frame via a pivot shaft and the rigidity decreases as the distance from the pivot shaft increases. An oscillating propulsion device comprising an oscillating fin and a power mechanism for reciprocating the oscillating fin about the oscillating axis with respect to the mounting frame.

When the mounting frame is attached to an appropriate position of the underwater vehicle or the ship, and the swinging fin is reciprocated about the swing axis with respect to the mounting frame by a power mechanism, By the reciprocating swing of the swing fin, a propulsion force can be obtained without generating noise or vibration noise due to rotation of the propeller or the like.

Further, in the present invention, an intermediate frame for rotatably supporting the mounting frame about a first rotation axis parallel to the swing axis of the swing fin, and an intermediate frame for the intermediate frame. A first tilting mechanism that tilts the mounting frame at a required angle about a first rotation axis, and a second rotation axis orthogonal to the swing axis of the swing fins that rotates the intermediate frame body; A fixed frame body rotatably supported,
Preferably, a second tilt mechanism for tilting the intermediate frame at a required angle about the second rotation axis with respect to the fixed frame is preferably provided.

With this configuration, the mounting frame is tilted at a required angle about the first rotation axis with respect to the intermediate frame by the first tilting mechanism, or the intermediate frame is tilted by the second tilting mechanism. By tilting at a required angle about the second rotation axis with respect to the fixed frame, a propulsion force in any direction is obtained,
It is possible to appropriately adjust the traveling direction and attitude of the underwater vehicle or the ship.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a perspective view showing an example of an embodiment of a rocking type propulsion device according to the present invention. A base end portion of the swing fin 3 is pivotally attached to the mounting frame 1 via a swing shaft 2 that extends.

The oscillating fin 3 is made of a flexible material such as a spring material, a rubber material, a plastic material or the like so that its base end is thicker and gradually becomes thinner toward its distal end. The rigidity of the portion close to the pivot shaft 2 is high, and the rigidity decreases as the distance from the pivot shaft 2 increases (see FIG. 4).

A swing shaft 2 of the swing fin 3
Operation ribs 4 are horizontally protruded on both sides of the part pivotally connected by the, respectively.
A power mechanism 5 for reciprocatingly swinging the swing fins 3 around the swing shaft 2 is attached.

The power mechanism 5 shown in FIG. 1 has a pair of left and right solenoids 6 supported on the mounting frame 1 side, and is accommodated in each of the solenoids 6 so as to be able to expand and contract by electromagnetic force, and has a distal end. A portion is constituted by a pair of left and right operation rods 7 pin-connected to the respective operation ribs 4, and the operation rods 7 are alternately extended and contracted by left and right solenoids 6, thereby swinging about the oscillation shaft 2. Although the moving fins 3 can be reciprocally oscillated, the power mechanism 5 may adopt, for example, the forms shown in FIGS. 2 and 3.

A power mechanism 5 shown in FIG. 2 has an operation arm 8 integrally fixed to a base end of a swing fin 3 pivotally connected to a swing shaft 2 and extending toward the opposite end. 8, a pin 12 attached to a disk 11 rotated by a motor 10 is engaged with the elongated hole 9, and the disk 11 is rotated by the motor 10. 3 is configured to be capable of reciprocating swinging about the swinging shaft 2.

Further, the power mechanism 5 shown in FIG.
, The distal end of the operating arm 8 is connected to one end of a link 14 via a pin 15, and a halfway portion of the link 14 near the pin 15 is attached via a shaft 13 to the mounting frame 1 (FIG. 1) and the link 14
A pin 12 attached to a disk 11 rotated by a motor 10 is engaged with a long hole 9 formed in the other end of the disk 10. In this case, the disk 11 is rotated by the motor 10. Accordingly, the swing fin 3 can be reciprocated swinging about the swing shaft 2.

Next, the operation of the swing type propulsion device shown in FIG. 1 as an example will be described.

For example, as shown in the longitudinal side view of FIG. 5, the mounting frame 1 is fixed to the tail end of the underwater vehicle 16 equipped with a power supply device 17 and a control device 18 of the power mechanism 5 therein. When the oscillating fin 3 pivotally attached to the mounting frame 1 via the oscillating shaft 2 is reciprocally oscillated by the power mechanism 5, the propulsion of the underwater vehicle 16 without generating noise or vibration noise due to rotation of a propeller or the like. Power is gained.

Here, the operation of the swing fin 3 will be described in detail with reference to FIGS. 6 to 8. As shown in FIG. 6, the propulsion force F acting on the underwater vehicle 16 is centered on the swing fin 3. By swinging from the swinging position A, which has been swung by an angle α from O, toward the center position O, a swinging fin 3 is generated as a component force of the resistance force R by swinging from the swinging position A. When starting, it is preferable that the rocking is performed at a high speed and the rocking is performed slowly as the distance to the center position O is approached.

This is because, in order to obtain a large propulsive force F in the initial stage, it is better to make maximum use of the added mass of water. Is to maximize the acceleration.

The propulsion force F is obtained by adding the above-mentioned acceleration force and the resistance force due to the shape of the swinging fin 3. Here, for the sake of simplicity, the swinging fin F is driven at a constant speed. Consider the case where 3 is rocked.

In FIG. 7, the unit width dx of the swing fin 3 is shown.
The resistance dR of

(Equation 1) The total resistance R is

(Equation 2) And the driving force F is

## EQU3 ## Since F = Rsin α, and the angle α approaches 0 with time, the propulsion force F naturally approaches 0 as well.
As described above, when the swing fin 3 starts to swing from the swing position A, the swing fin 3 is strongly swung at a high speed, and is slowly swung as it approaches the center position O, so that the propulsion force F is efficiently increased.
Is obtained.

Further, as shown in FIG. 4, the rigidity of the oscillating fin 3 is increased by increasing the stiffness of the portion close to the oscillating shaft 2 and decreasing the stiffness as the distance from the oscillating shaft 2 increases. 8 (a) and 8 (b), when the swinging fin 3 swings, the tip end side sways flexibly, so that a larger propulsion force can be obtained.
As shown in (d), when the swing fin 3 swings beyond the center position O, the swing fin 3 bends so as to reduce the resistance in the propulsion direction, so that the efficiency is increased from the angle of + α to the angle of -α. The swinging fins 3 can be well swung, and by adjusting the rigidity of the swinging fins 3 in this way, a considerable propulsive force can be expected even if the swinging fins 3 are swung at a substantially constant speed.

FIG. 9 is a perspective view showing another embodiment of the present invention. In this embodiment, the left and right side surfaces are held so as to hold the power mechanism 5 (see FIG. 1) of the swinging fin 3 therein. The mounting frame 1, which has been closed, is attached to the front end of an intermediate frame 20 having a vertical U-shape through a first rotation shaft 19 parallel to the swing shaft 2 of the swing fin 3. Pivotally mounted on the mounting frame 1
Operation ribs 21 are provided on both sides of a portion pivotally connected by the first rotation shaft 19, and each of the operation ribs 2
A first tilting mechanism 22 that tilts the mounting frame 1 at a required angle about the first rotation shaft 19 is attached to the tip of the first tilting shaft 19.

Here, the first tilting mechanism 22 shown in FIG.
As in the case of the power mechanism 5 (see FIG. 1) described above, a pair of left and right solenoids 22a supported on the side of the intermediate frame 20 and the respective solenoids 22a can be expanded and contracted by electromagnetic force. A pair of left and right operation rods 2 that are housed and whose ends are pin-connected to the respective operation ribs 21
2b, and the left and right solenoids 22a
By alternately expanding and contracting the operation rods 22b, the mounting frame 1 can be tilted about the first rotation shaft 19.

Furthermore, the intermediate frame 20 is provided with a swinging fin 3
The operation ribs are provided on both sides of a portion of the intermediate frame body that is pivotally connected by the second rotation shaft 23. 26 is protruded, and a second rotating shaft 2 is provided at the tip of each operation rib 26.
A second tilting mechanism 25 for tilting the intermediate frame body 20 to a required angle about the center 3 is attached.

Here, the second tilting mechanism 25 shown in FIG.
Is similar to the first tilting mechanism 22 described above, and includes a pair of left and right solenoids 24 supported on the fixed frame 24 side.
a, and each of the solenoids 24a is housed so as to be able to expand and contract by electromagnetic force, and the distal end of each of the operation ribs 26
And a pair of left and right operation rods 24b pin-connected to each other, and by alternately expanding and contracting the operation rods 24b with the left and right solenoids 24a, the intermediate frame 20 around the second rotation shaft 23 is formed. It can be tilted.

The fixed frame 24 shown in FIG. 9 is fixed to, for example, the tail end of the underwater vehicle 16 as shown in the plan view of FIG. A power supply device 17 and a control device 18 are provided inside the underwater vehicle 16 in the same manner as in the above embodiment.

Thus, according to the present embodiment, the swing fin 3
Is reciprocated symmetrically on both sides on the center line of the underwater vehicle 16, a propulsive force acts on the underwater vehicle 16 in the direction of the center line, and the underwater vehicle 16 moves straight. Become.

When the first tilting mechanism 22 is actuated to tilt the mounting frame 1 by a required angle about the first rotation shaft 19 in the right or left direction, the center line of the mounting frame 1 becomes water. The rocking fins 3 are inclined laterally with respect to the center line of the
Will perform a symmetrical reciprocating swing on a line having an angle in the horizontal direction with respect to the center line of the underwater vehicle 16, and the underwater vehicle 16 will bend in either left or right While moving forward.

Further, when the second tilting mechanism 25 is operated to tilt the intermediate frame 20 in any one of the upper and lower directions around the second rotation shaft 23, the center line of the mounting frame 1 moves underwater. Body 1
6, the rocking fins 3 oscillate reciprocally symmetrically on a line having an angle in the vertical direction with respect to the center line of the underwater vehicle 16. The running body 16 does not go straight, but moves forward while changing the depth.

As described above, in the present embodiment, in addition to the propulsion force, it is possible to steer the right and left of the underwater vehicle 16 and to change the depth, and the posture of the underwater vehicle 16 is appropriately adjusted. Can be adjusted.

In this embodiment, the first rotating shaft 1
9 and the swing shaft 2, and the power mechanism 5 of the swing fin 3.
By controlling the stroke of the underwater vehicle 16 (see FIG. 1) so that the swing fins 3 are symmetrical on a line B (see FIG. 10) that is laterally angled with respect to the center line of the underwater vehicle 16. It is also possible to cause the underwater vehicle 16 to steer by reciprocating rocking.

Incidentally, the swing type propulsion device of the present invention is not limited to the above-mentioned embodiment, and it is needless to say that various changes can be made without departing from the gist of the present invention.

[0034]

According to the swing type propulsion device of the present invention described above, various excellent effects as described below can be obtained.

(I) According to the first aspect of the present invention, a propulsive force can be obtained quietly by the reciprocating swing of the swing fin without generating noise or vibration noise due to rotation of a propeller or the like. Therefore, for example, when underwater exploration is performed using sound, a precise investigation can be performed.

(II) According to the second aspect of the present invention, the mounting frame is tilted to the required angle about the first rotation axis with respect to the intermediate frame by the first tilting mechanism. By tilting the intermediate frame at a required angle about the second rotation axis with respect to the fixed frame by the second tilting mechanism, it is possible to obtain a propulsive force in any direction, It is possible to appropriately adjust the traveling direction and the attitude of the middle sailing body, the ship, and the like.

[Brief description of the drawings]

FIG. 1 is a perspective view illustrating an example of an embodiment of the present invention.

FIG. 2 is a perspective view showing another example of a power mechanism for swinging a swing fin.

FIG. 3 is a perspective view showing still another example of a power mechanism that swings a swing fin.

FIG. 4 is a graph showing the rigidity of a swinging fin.

FIG. 5 is a vertical sectional side view showing an example in which the rocking propulsion device of FIG. 1 is applied to an underwater vehicle.

FIG. 6 is an explanatory diagram of a propulsion force generated by a swing fin.

FIG. 7 is an explanatory diagram of a propulsion force generated by a swing fin.

FIGS. 8 (a), (b), (c) and (d) are explanatory views showing the operating state of the swing fin in a stepwise manner.

FIG. 9 is a perspective view showing another embodiment of the present invention.

10 is a plan view showing an example in which the rocking propulsion device of FIG. 9 is applied to an underwater vehicle.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Attachment frame 2 Oscillating shaft 3 Oscillating fin 5 Power mechanism 19 First rotating shaft 20 Intermediate frame 22 First tilting mechanism 23 Second rotating shaft 24 Fixed frame 25 Second tilting mechanism

Claims (2)

[Claims] A swinging fin which is rotatably pivotally attached to a mounting frame via a swinging shaft and whose rigidity decreases with increasing distance from the swinging shaft; And a power mechanism for reciprocatingly swinging the fin with respect to the mounting frame about a swing axis. 2. An intermediate frame body that supports the mounting frame body so as to be rotatable about a first rotation axis parallel to the swing axis of the swing fin,
A first tilting mechanism that tilts the mounting frame at a required angle about the first rotation axis with respect to the intermediate frame, and a second tilting mechanism that tilts the intermediate frame with a swing axis of a swing fin. A fixed frame that is rotatably supported about a rotation axis; and a second tilting mechanism that tilts the intermediate frame with respect to the fixed frame at a required angle about a second rotation axis. The rocking type propulsion device according to claim 1, wherein: