WO2012168224A2

WO2012168224A2 - Contraction motor and paddle blade with such a contraction motor

Info

Publication number: WO2012168224A2
Application number: PCT/EP2012/060576
Authority: WO
Inventors: Bernhard KÖHLER; Philip G. SCHWARZ
Original assignee: Motonautic Ug
Priority date: 2011-06-06
Filing date: 2012-06-05
Publication date: 2012-12-13
Also published as: WO2012168224A3; DE102011103404A1; DE102011103404B4

Abstract

The invention relates to a contraction motor (33) comprising a plurality of electromagnets (110) arranged in series, wherein, preferably, an elastic element (113) for restoring or maintaining a defined distance between adjacent electromagnets is arranged between in each case two electromagnets, and the electromagnets are guided in a receptacle (114), which limits the distance between the electromagnets in the rest state and therefore the maximum expansion of the contraction motor. In addition, the invention relates to a paddle blade with such a contraction motor.

Description

CONTRACTION MOTOR AND IMPACT FLIP WITH SUCH A

CONTRACTION MOTOR

The present invention relates to a contraction motor by means of which tensile forces can be transmitted. Such

Contraction motors can be used in robotics, in the

Medical technology and in many other areas are used. For example, the use in a flapping fin for moving a body in a fluid is conceivable.

In particular, the invention thus also relates to a

Flapping fin with such a contraction motor and in the

Special a pommel, which as drive for a

Watercraft serves. However, the present invention can also be used in swimming or diving fins. In this case, the present invention relates in particular impact fins, with at least one reciprocable fin which is pivotable about an axis transversely perpendicular to the longitudinal extent of the body and to its direction of movement (its stroke).

Such a pommel is for example from the

DE 10 2004 004 236 A1.

To optimize the efficiency of such impact fins, in addition to the extension, the stability, the elasticity, the curvature and the curvature of the fin moving in the fluid and their angle of attack to a resultant of the flow of the fin is relevant. The initially mentioned state of

However, technology does not allow for changes in the flow during movement of the body in the fluid to react and thus does not lead to an optimal

Efficiency. A flapping fin that makes this possible is known, for example, from WO 03/062048 A, but has a complex positioning motor. So is the integration of

Actuators often problematic because they can be transmitted to a high power to be large and heavy. Against this background, the object of the present invention is to provide a contraction motor, which is able to transmit high forces in a compact design.

This is inventively achieved by a contraction motor with the features of claim 1. advantageous

Further developments of the present invention can be found in the subclaims.

Such a contraction motor has several in series

arranged electromagnets, wherein each adjacent electromagnets are axially spaced from each other and the electromagnets are guided by a recording, the distance between the electromagnets to each other in the idle state in which the electromagnets do not attract each other or the maximum extent of the contraction motor in its longitudinal or

Axial direction limited. Such a contraction motor is relatively low maintenance and allows for more compact

Design the transmission of high forces. In addition, the contraction of the contraction motor can be precisely controlled and regulated. When used in a flapping fin (see later) and activation, the electromagnets generate a tensile force by mutual attraction, i. H. the engine pulls on the respective end of the at least tensile forces transmitting element. As a result, the definition of the ends in the longitudinal direction of the elements can be changed in the case of a flapping fin.

It is preferred between each two adjacent

Electromagnet an elastic element for restoring or maintaining a defined distance between

arranged adjacent magnets. The elastic elements may be in the form of spacer rings or spacers and hold the cores of the electromagnets at a defined distance from one another. The elastic elements may be, for example, elastic or

resilient discs act between the electromagnets are used. But there are also springs or other elements conceivable.

The receptacle can be formed from non-stretchable trains, fibers, ropes, wires, strips of material, etc. Also, it may be formed from a non-stretchable stocking or hose. Likewise, however, a rigid housing is possible. A rigid housing would, however, the mobility across the row, as will be mentioned later, prevent.

By each solenoid of the row or chain is controlled separately, it is possible to selectively set the stroke or a defined shortening of the whole chain

to reach. Thus, the contraction motor can be contracted or shortened stepwise or in whole sections or as a whole. The contraction force is determined by the size, d. H. determines the number of windings of the electromagnets and their power supply, while the contraction distance of the distance of the iron cores to each other, d. H. the air gap and the number of electromagnets or the number of their distances from each other is determined.

Also, in such a motor, it is conceivable to arrange a plurality of electromagnets arranged in series in V-shape, which generate a tensile force similar to a human muscle (eg of the calf muscle (Triceps surae) by contracting at the tip of the "V ^w .

It is also conceivable to arrange several rows of electromagnets similar to a human muscle (eg the biceps) parallel to one another. In a parallel

Combination, a large contraction force is achieved as the electromagnet chains or their contraction force adds. In order to achieve a large contraction length, several chains are added while maintaining the same contraction force, which are connected in series. Moreover, to reduce the gap between adjacent electromagnets and at the same time increase the generated stroke, it may be advantageous for the facing end of the cores of adjacent electromagnets to have one

curved surface (concave or convex), z. B. hemispherical shape.

It is also conceivable to make the mutually facing ends on the one hand spherical-concave and the other spherical-convex, so that they interlock and so the surface of the attracting cores is increased, whereby in a compact design, a larger gap between adjacent cores can be ensured. This is also preferred in order to be able to realize a mobility of the row of electromagnets relative to one another. With two spherically convex ends of the iron cores, movement of the iron cores is relative

but also ensures each other, so the turn

wave-like, zigzag or may be formed at only two V-shaped.

Such a contraction motor is advantageously used in a flapping fin. The generation of a flow through a flapping fin is influenced in particular by the following parameters.

Stroke and movement of the fin in the fluid the lifting speed of the fin in the fluid the acceleration / deceleration of the stroke of the fin in the fluid the angle of attack measured between the extension of the fin surface from the axis and in the direction away from the body to the resultant of the flow the fin extension (shape of the Fin) the curvature of the fin the camber of the fin

The more of these parameters continuously connected to the

Ambient conditions, in particular the flow of the fin can be adjusted, the higher the efficiency.

These parameters may include, but are not limited to,

pneumatic, hydraulic or motor z. B. with an electric stepper motor, a linear electric motor or a contraction motor, as will be described later, can be adjusted. In the following, the setting of the angle of attack will be discussed in particular and primarily. However, it is also according to the invention and without the adjustment of the angle conceivable to change only the fin extension and / or the fin stability or curvature. The

Variability of elongation and rigidity

Curvature of the fin thus make sidelined

Invention aspects, which can be realized without the adjustability of the angle of attack and the pivotability of the fin about an axis.

The resultant of the inflow of the fin results on the one hand from the movement of the body through the fluid (with a flow component of the fluid itself) and

on the other hand by the movement of the fin by the fluid on the other. Upon a change in the speed of movement of the fin and / or the body and / or a change in the flow conditions in the fluid itself, consequently, the resultant of the flow changes. To the efficiency of

To improve the impact fin further, the present invention is therefore based on the idea to continuously adjust the angle of attack of the fin to the flow of the fin or (depending on the flow) (forced) to regulate. Accordingly, the present invention proposes a flapping fin having a contraction motor as described above for moving a body in a fluid. The body may be a watercraft or another

but also a human body. Also, the invention is transferable to bodies moving in air as fluid. In addition, the present invention can also be used in reverse mode, d. H. it is passively used to generate energy in a flowing fluid. In other words, the fin is set in motion by the flowing fluid and the movement is converted into electrical energy. The

Flapping fin according to the present invention

at least one transverse to the longitudinal extension of the body movable back and forth fin. The reciprocating motion of the fin is also referred to below as lifting movement. The

Flipper surface can be primarily vertically similar to the

Caudal fin of many fish or horizontally oriented in the manner of the fluke of a whale. Also, a plurality of fins, which are preferably movable in opposite directions in this case, are conceivable, which are arranged side by side and / or one behind the other. The fin is pivotable about an axis transverse to the longitudinal extent or direction of movement of the body and to the direction of movement (to the stroke) of the fin. It does not have to be an existing axis. Rather, it can also be imaginary. For example, the fin can be pivoted by a hinge with a pivot axis. But it is also an elastic connection conceivable in which the pivoting takes place about an imaginary axis. The axis is essentially parallel to the fin surface

oriented. For domed and / or curved fin surfaces, this means that the axis also extends vertically in a vertical orientation, while it also extends horizontally in a horizontal orientation. In order to optimize the efficiency of the impact fin, according to the invention the angle of attack of the fin is the resultant of the flows acting on the fin during the movement of the fin by pivoting the fin about the axis continuously variable. In this case, the resultant of the flows acting on the fin results on the one hand by the lifting movement of the fin through the fluid, which results in a directed flow opposed to the lifting movement and on the other hand, a flow which is primarily determined by the movement of the body by the fluid. This creates one of the direction of movement

opposite directional flow. In addition, flows in the fluid itself can be added. Thus, the angle of attack of the fin can be optimally adapted to the movement of the body by the fluid and the movement of the fin itself, whereby an increase in efficiency can be achieved.

The variability can z. B. be achieved in that a deflection is provided which moves together with the pivoting of the fin about the axis, d. H. for this purpose communicates with the fin. The deflection can be formed, for example, by a pulley, pulley, toothed pulley and the like. Furthermore, one is around the

Ümlenkung running at least tensile forces transmitted element provided. This may be, for example, a limp element, for. B. a rope, a chain or the like. By a movement of the element running around the deflection and a non-positive and / or positive engagement of the element with the deflection, the fin can be pivoted about the axis to change the angle of attack. In this case, relatively light and uncomplicated components can be used, on the one hand reduce the moving mass and on the other hand create a low-maintenance system.

In order to change the angle of attack on the one hand and determine on the other hand, the ends of the element are in their

Adjustable longitudinally fixable to the fin for

Pivoting change in the angle of attack. Becomes

For example, drawn at one end, the length of the element shortens from the definition to the tangent to the Ural lowering while the opposite part (tower) of the element extends in length from the definition of the end to the tangent of the deflection. This can be up

easiest and uncomplicated way to pivot the fin around the axis.

In a further alternative embodiment, it is also conceivable to provide two elements transmitting at least tensile forces, each of which is connected to the fin at a first end thereof and changeably fixed in its longitudinal direction at the other second end thereof in order to move the fin to change the angle of attack pivot. The connection of the first ends preferably takes place on the fin surface at a distance from the pivot axis. By the second ends in their longitudinal direction changeable

can set the length of the item from the

Fixed to the fin are changed, similar to what has already been explained above in relation to the change in length between deflection and determination.

In this but also in the aforementioned embodiment, the above-mentioned contraction motor is used for motor-changing the definition of the ends.

Moreover, it is preferred, in particular when using the impact fin as a drive for a watercraft, that the fin or the pivot axis of the fin moves along its lifting movement parallel to the stern of the watercraft. To realize this, it is preferably one

Provide parallelogram, the at least two

parallel trains or struts and one

Cross strut, which is pivotally connected at their ends, each with a train connection or strut, and to attach the fin pivotally mounted on the cross member. The struts can be supported by limp tensioned elements, such. As ropes, or by bars, rods, etc. may be formed. In this embodiment, when using the above mentioned two at least tensile forces transmitting elements be advantageous that they extend from their end connected to the fin initially in the direction of one end of the cross member, there or deflected at an intermediate position and extending parallel to the corresponding strut below.

In order to move the fin in its direction of travel, it may be preferable to provide a drive rod for moving the fin transverse to the movement of the body in the fluid. This may be pivotally connected to the crossbar when using a parallelogram guide, wherein it is preferred that the pivot axis of the fin and the articulated connection of the drive rod coincide with the crossbar. It may also be advantageous when using a

Parallelogrammführung the drive rod provided so that it extends parallel to the parallel struts. The drive rod can manually, hydraulically, pneumatically or motor, z. B. with a stepper motor, linear motor or the later-described contraction motor can be driven.

In addition, it is to further optimize the

Efficiency preferred to make the extension of the fin changeable. Under the extension of the fin is the

Slimness of the fin surface to understand. It is defined as the ratio of the square of the height of the fin surface to the fin surface. Ie. in a vertically arranged fin, the dimension of the fin in the vertical direction in

Square to the fin surface. For a horizontally arranged surface, the dimension of the fin surface in

Horizontal direction in the square to the fin surface. As a result, the extension of the fin to optimize the efficiency of the ambient conditions, preferably the flow of the fin are optimally adapted. This aspect is independent of the pivotability of the fin and

Adjustment of the angle of attack can be implemented as an independent aspect. This can be advantageously realized by the fin comprising at least two groups of strips which are pivotable apart to fan out the fin. The remaining part of the fin blade is preferably elastic, z. B. formed by a kind of flexible skin.

Advantageously, each of these strips or each group can be assigned a tension fiber. For a small one

Stretch, the strips are pushed together, while they are fanned out for a larger stretch. These strips are pivoted apart via a drive element and / or collapsible to change the extension. The provision, d. H. the collapse or fanning can also be achieved by the drive element or by a spring-like reset device, for example. The driver may be

For example, to act a traction element in the manner of a Bowden cable. But there are also motor AnSteuerelemente conceivable.

In addition, it is to further improve the

Efficiency advantageous to make the stiffness of the fin and / or their curvature changeable. This aspect is independent of the pivotability of the fin and

Adjustment of the angle of attack can be implemented as an independent aspect.

For this purpose, according to one embodiment, the fin may include a plurality of stiffening strips that lie in the fin surface. Furthermore, at least one tensionable tension element is provided, which engages in the region of the ends of the strips on this. In this case, in particular, the end of the fin remote from the body is the end in the region of which the pulling element engages. A tension of the tension element can be used in conjunction with the strips to adjust the rigidity of the fin. The stronger the tension element is stretched, the stiffer the fin and vice versa. For this are the Bars to make compression stiff. If, in addition or alternatively, the curvature can be changed, the strips are elastically flexible. The tension on the tension member may also be translated by a contraction motor as previously explained.

As mentioned above, the fin is reciprocated in the present invention. This is done at the respective ends of the trajectory

Reversal. At this point, it is necessary for the fin to automatically turn around the pivot axis. For this purpose, it is preferred that the fin decouples during the reversal of motion in order to ensure free pivoting of the fin during the reversal of motion. The fin beats passive without propulsion in the opposite

Angle of attack. This can for example be realized in that the connection between the above-mentioned deflection and the fin is temporarily released until the fin is turned over. Also, in the above-mentioned embodiments, it is conceivable to release the ends of the element or elements transmitting at least tensile forces, so that the fin can move freely about the axis.

Of course, other mechanisms are conceivable to a decoupling of the fin of the device for

Adjusting the angle of attack to realize.

Alternatively, however, it is also conceivable to make the fin substantially freely pivotable about the axis and on

opposite sides relative to the pivot axis stops (Umschlagbegrenzungen) provide continuously

can be changed to optimally adjust the angle of attack also during the movement of the fin in the fluid

Adapt flow conditions. In this case, am

Turning point the fin automatically and free of one

Make a stop against the opposite stop and thus fold over from + oc to -cc. It may be advantageous, unlike previously described, the deflection not to joint pivoting with the fin to connect, but instead a relative movement between the

To allow deflection and the fin about the axis, wherein the stops may be formed for example by pins which are parallel to the axis of the deflection, z. As a disc, extend and the envelope limit

form opposite sides. By rotation of the deflection, the stops are adjusted and thus changed the angle of attack of the fin, each corresponding to the

Lifting movement in the fluid rests against one of the stops.

When using a parallelogram, it would also be possible to arrange the attacks on the cross member and to make it displaceable in the longitudinal direction of the cross member. In this case, it would be conceivable that the two at least

Tensile forces transmitting elements instead of the fin itself with a stop, the envelope limit for the fin are connected. It can be dispensed with a decoupling of the fin and they can freely turn over. Nevertheless, but remains guaranteed the angle of attack forced

to change and adapt to the prevailing flow.

Advantageously, the entire mechanics of the impact fin in a kind of mast, z. B. with flat oval cross section, d. H. a housing housed.

In addition, advantageously, a controller

provided that at least one of the parameters, the

Flows determined by means of sensors and based on this parameter continuously controls the angle of attack, the extension and / or the stiffness or curvature of the fin. For example, the controller may record the velocity of the body in the fluid as well as the speed of movement of the fin in the fluid and continuously adjust the angle of attack and / or stretch and / or stiffness and / or curvature from these parameters. As mentioned above, the impact fin of the present invention is not only for

Drives of watercraft conceivable, but also suitable as a swimming or diving fin. For this purpose, it may be preferable to a fastening device for

To provide attachment of the pommel on a foot of a human. In order to realize the variability of the angle of attack according to the invention, the fin must extend perpendicularly to the sole of the foot during attachment to the foot. The fastening device can be designed in the manner of a shoe, as it is already known from swimming or diving fins.

Furthermore, it is also conceivable to connect the fin articulated to the fastening device and on opposite sides of the fin, as mentioned above, at least tensile forces transmitting pliable elements, eg. As cables in the form of a Bowden cable to provide, which at an edge of

Fastening device which runs substantially parallel to the sole of the foot and from there to a mechanical

Adjustment device are guided. The adjusting device can, for. B. on a belt or on the thigh of the

Floaters or divers are attached. This is preferably the one described above

Contraction motor.

Again, it is conceivable the fin extension and the

Fin stiffness, as mentioned above, adjustable too

shape.

Other advantages and features of the present invention that can be implemented alone or in combination with one or more of the above features, insofar as they do not conflict with each other, are as follows

Description of preferred embodiments of the invention seen. This description is made with reference to the accompanying drawings, in which

Figure 1 is a schematic view of a fin drive with a pawl according to a first embodiment in which the contraction motor of the present invention can be used;

Figure 2 is a schematic view of a fin drive with a poppet according to a second embodiment in which the contraction motor of the present invention may be used;

Figure 3 is a schematic view of a variable extension fin;

Figure 4 shows a poppet with variable stiffness and curvature;

Figure 5 is a schematic view of a swimming and

Diving fin with a pawl a) with a rigid connection, b) with an elastic connection, c) with an articulated connection and resilient return and d) with adjustable Bowden cables in which the contraction motor of the present invention can be used;

Figure 6 shows a contraction motor of the present invention;

Figure 7 shows schematically three possible arrangements of the electromagnets in series of the contraction motor shown in Figure 5; and

Figure 8 shows a schematic view of a fin drive with a pawl according to a third embodiment in which the contraction motor of the present invention can be used. In the drawings, like reference numerals are used for the same or similar elements and on a

repeated description omitted. However, it will be understood that the description of the elements of one embodiment also applies to the elements of another embodiment.

Figure 1 shows a fin drive for a watercraft, z. B. a ship 1 according to a first embodiment. In the area of the stern 2 of the vessel is the

Fin drive 10 installed, which is explained with reference to a vertical fin 10. For a horizontal fin 10, however, the design would be identical, as in Figure 1, which in this case, however, would represent a side view instead of the supervision shown.

The flipper is formed by a fin 10. This is about a parallelogram 20 parallel to the rear 2 of the ship 1 in the direction h back and forth movable. The parallelogram guide 20 is composed of two

Parallel struts 21. The parallel struts 21 may be tensioned limp elements z. B.

Wire ropes but also act on rigid struts. The

Struts 21 are each hingedly attached to the ship 1 with one end 22. The respective opposite end 23 is pivotally connected to a transverse strut. The cross strut 24 is identical in length to the distance between the articulated

Connection of the end 22 of the struts arranged so that the parallel struts 21 together with the cross member 24 form the parallelogram. To drive the fin 10, the cross member 24 is also moved in the direction h back and forth. The fin 10 is hinged to the cross member 24 about an axis 25. It is thus held pivotable about the axis 25. In the illustrated embodiment, the axis 25 extends in the vertical direction and parallel to the hinged connections 22 and 23. In order to move the cross brace 24 and the fin 10 in the direction h back and forth, a drive rod 26 is further provided, one end 27 is hingedly attached to the ship 1, while the other end preferably coincides with the axis 25 hinged to the Cross strut 24 is connected. The drive rod 26 can be rotated by motor but also pneumatically or hydraulically or optionally manually around the bearing 27. As engines come

Stepper motors, linear motors or the contraction motors described later in question. The drive unit is not shown in the drawing for the sake of simplicity.

To the angle of attack α of the fin 10 continuously

adjustable to design, are in the illustrated

Embodiment provided two semi-rigid tensile forces transmitting elements 30. These are connected at one end 31 to the fin 10 or the fin surface. The other end extends from the fin or the connection with it to a respective end of the cross member 24 is z. B. in the region of the joint 23 and then runs parallel to the parallel struts 21 to the stern of the ship 2. There, the opposite end 32 of the elements 30 in the longitudinal direction of the elements 30 is set variable. This can be realized by connecting the ends 32 respectively to a previously described and later-described contraction motor so as to draw at each end 32, thereby changing their attachment in the longitudinal direction of the elements 30.

However, as an alternative to the contraction motors is also a manual adjustment, a pneumatic, hydraulic or other motorized adjustment via step and / or

Linear motors conceivable.

Preferably, however, a control is provided which the

Fixing the ends 32 according to the flow of the

Fin 10 regulates and optimally adjusts. For this purpose, the control, not shown, preferably determines the resultant of the flow of the fin 10. This is, inter alia from the flow induced by the movement of the ship 1 in the fluid (flow u) and the lifting movement of the fin 10 in the direction h (flow uh) together. Ie. through the

Movement of the ship 1 in the fluid, especially in the water, a flow opposite to the flow direction is generated on the fin 10. At the same time there is an inflow of the fin 10 against its movement in the fluid. At least from these currents, the resultant is composed. The angle of the position of the fin to the resultant is called the angle of attack α. In this case, a straight line from the axis 25 to the tip of the fin 10 in relation to

Resulting set.

In order to protect the mechanism accordingly, a kind of housing (mast) 40 is further provided, the drive rod 20, the parallel struts 21 and at least a portion of

limp elements 30 protectively surrounds it like

in particular from the section a-a in Figure 1 can be seen.

The following will briefly explain the operation of the

Folding fin in Figure 1 received. For this purpose, in Figure 1 in addition to a central position (solid lines) and in the direction h upwardly deflected position (dashed line) shown.

To drive the drive rod 26 is rotated about the joint 27, whereby the cross member 24 moves with the fin 10 in the direction h back and forth. By continuously recording the speed of movement of the ship 1 in Figure 1 to the left and the movement of the fin 10 in the direction h

a controller determines the resultant from the flows u and uh and determines on the basis of these parameters an optimal angle of attack α for the fin 10. This

Angle of attack α is finally adjusted by the contraction motors 33 at the ends 32 of the

limp elements 30 is pulled and / or these are released. If z. B. from the middle position in the dashed line 1, or its end 32 is pulled, in which at least some of the coils of the contraction motor, as will be explained later, are energized to a tensile force on the end 32 of the limp Transfer elements 30. As a result, the fin 10 is pivoted in Figure 1 about the axis 25 down to the angle α

adjust accordingly. Simultaneously with this process, the coils of the contraction motor 33, which is connected to the end 32 of the other non-rigid element 30, not under tension, so that the upper pliable element 30, the fin 10 is not in the movement about the axis 25 down or stops clockwise.

To pivot the fin 10 about the axis 25 counterclockwise, d. H. 1, the above process is reversed.

When the fin 10 reaches an upper reversal point in direction h, the direction of movement reverses accordingly. At this point, it must be ensured that the prevailing angle of attack reverses, ie from

changes. Here a decoupling of the limp elements 30 is required. This is done in the illustrated embodiment by the coils of the two contraction motors change state, so that the fin 10 can flip freely and as soon as the desired opposite angle of attack is achieved by the corresponding pliable element 30 and held at the end 32 contraction motor is held ,

By continuously adjusting the angle of attack, it is possible with simple means to imitate the natural movement of the tail fin of a fish or whale, the angle of attack optimally to the prevailing

Flow conditions or the flow of the fin 10 is adjustable. This can be a very efficient system uncomplicated, compact and inexpensive construction can be achieved.

However, the same can be achieved with the embodiment according to the second embodiment in FIG. Here, the parallelogram guide 20 has been omitted for the sake of simplicity. However, the illustrated embodiment can be combined with the parallelogram guide 20 from FIG. 1 without further ado. Due to the lack of

Parallelogrammführung moves the axis 25 about which the fin 10 is pivotable, but not parallel to the stern 2 of the ship, but on a circular path about the axis 27 of the articulated connection of the drive rod 26 on the ship. 1

In contrast to the embodiment in Figure 1, a deflection 40 is further provided in the form of a toothed disc, which is rotatably mounted on the drive rod 26 about the axis 25 in the illustrated embodiment. The fin 10 is arranged rotatable relative to the deflection 40 about the axis 25. In addition, it can be seen from the enlargement in FIG. 2 that two stops 34 or an envelope limit for the fin 10 are connected to the deflection 40 on opposite sides of the axis 25 relative to the fin 10. The

Stops are doing, for example, by pins 34th

formed parallel to the axis 25 of the

Slice surface up and / or down. in the

Operation is the fin surface with reference to Figure 2 in a movement of the fin up to the lower stop, while it can turn freely at the reversal point and rests in the downward movement of the upper stop in Figure 2. Furthermore, a tensile forces transmitting,

slippery element 30 is provided in the form of an open toothed belt 39, which rotates about the deflection 40. The ends 32 of the toothed belt 30 are also each with a

Contraction motor 33 connected. However, other possibilities are conceivable, the ends 32 in the longitudinal direction of the Set elements 30 changeable, as explained above with respect to the figure 1.

It is also conceivable to use a closed toothed belt instead of an open toothed belt and to use instead of the contraction motor a drive pulley 41 around which the toothed belt 30 rotates and which can be driven by motor, manually, hydraulically or pneumatically.

In order to regulate or control the angle of attack α by means of a control, as explained with reference to FIG. 1, either by means of the contraction motors 33, respectively, is drawn at the ends 32 of the element 30. Between the element 30 and the deflection 40 there is a positive and / or

frictional engagement, so that a train at one end 32 leads to a rotation of the disc 40 about the axis 25 counterclockwise or clockwise. As a result, the respective stop 34 against which the fin rests is also against or in the

Turned clockwise, this rotation of one

Pivoting the fin 10 is accompanied by the axis 25, so that the angle of attack α can be adjusted accordingly. When using a drive pulley 41 instead of the motors 33 and a closed belt 30 is a rotation of the

Drive pulley 41 transmitted from the belt to the deflection 40 and thereby also allows pivoting of the fin 10 via changing the stops 34. It will

preferably a stepper motor for the rotation of

Drive pulley 41 used. In order not to make the moving mass too large, it is preferred to place the disc 41 with its axis of rotation on the joint 27 of the drive rod 26. However, it is also conceivable the disk 41 with its motor at any point along the

Drive rod 26 to place, whereby the belt length is shortened.

In addition to the optimal angle of attack also have the rigidity and curvature or curvature of the fin 10 and the extension the fin 10 a significant impact on the efficiency. Against this background, it is also preferable to make the bending and / or curvature or stiffness of the fin 10 and their extension adjustable. This will be explained below with reference to FIGS. 3 and 4.

FIG. 3 shows schematically a fin 10 in one

Side view and along the line b-b and c-c in Querbzw. Longitudinal section.

Preferably, the fin 10 is made of an elastic

flexible casing 50, z. As a foil or a cloth constructed. For stiffening the shell 50 are several in

Longitudinal stiffening strips 51

provided extending between the ends of the fins 50 in the longitudinal direction. Preferably, in the region of the ends of the strips 51, tensile elements 52 are respectively arranged on opposite sides in the transverse direction of the fin 10, which extend along the strips to the opposite end.

In order to increase the rigidity of the fin 10, tension is preferably applied to both tension elements 52 arranged on opposite sides of the strips 51. As a result of the fact that the strips 51 are designed to be resistant to compression, the train increases the rigidity of the fin 10 or reduces the amount of bending of the strips 51.

On the other hand, can be through the design by

Applying only one of the tension elements 52 with train induces a bending of the strips 51 as in cross-section c-c of the fin in the one direction as well as in the other direction.

It is of course also possible to buckle the fin in their height direction differently and / or to

stiffen by the tension elements 52 of the respective strips 51 are applied differently. Instead of a plurality of tension elements 52, however, it is also conceivable to connect the ends of the strips 51 together via an element and this element on opposite sides of the strips 51 with the tension elements, for. B. wires to connect, so that all strips are bent and / or stiffened at the same time.

Alternatively or additionally, it is conceivable the strips 51 in groups, z. B. above and below in the vertical direction in a common joint 54 to the vessel 1 facing the end of the fin 10 to install. As a result, the strips 51 of the upper and lower groups can be pushed apart from each other or together and / or pulled apart. This can also be realized by a tension element 52. By this configuration, it is possible to change the extension of the fin 10 accordingly. Are the strips 51

for example, collapsed, as in Figure 4 above

shown, there is an extension

while at further spaced ridges 51, as shown in Figure 4 below, an extension

results. Since the fin surface does not change, the lower state results in a higher stretch than in the upper state.

Preferably, as explained above with respect to the angle of attack α, a control is provided which determines both the rigidity or the curvature and / or curvature of the fin 10 and its extension as a function of the angle

Flow of the fin 10, d. H. in dependency of

Resulting R controls. As a result, a further increase in efficiency can be realized.

Another alternative embodiment is shown in FIG

represented, wherein the impact fin is arranged in accordance with the fluke of a whale. The fin 10 is rigidly connected to a drive rod or fin attachment rod 26. The drive rod is articulated at a hinge point 70 with a transmission member 71 of a Drive unit 72, here connected to a hydraulic piston. This drive member 71 is by the piston 72 in the reciprocating motion back and forth or up and down to move the fin 10 in the direction h in the fluid, here water, back and forth. Further, on the side facing away from the fin 10 of the joint 70, a pin 75 of the drive rod 26 is received in a slot 73 of a control member. In the

illustrated embodiment, the control member 74 is part of a servo drive 76. Within the slot 73 of the pin 75 is free to move and the fin so limited by the ends of the slot 73 around the hinge axis 70th

swiveling.

In a lifting movement in Figure 8 upward, the fin is rotated by a force in Figure 8 down around the axis 70 and strikes with the pin 75 of its drive rod 26 against the upper end of the slot 73. By the control member 74 in the same direction h can be moved back and forth, the upper end of the slot 73 can be adjusted to realize an adjustment of the angle of attack α. Upon movement of the fin 10 downwardly in the stroke, a force is exerted on the fin 10 upwardly and pivoted about the hinge 70, so that the pin 25 comes into contact with the lower end of the slot 73 and the angle of attack

limited. Again, by a shift of the

Control member 74 are set via the servo drive 76 of the angle during the stroke movement.

At the motion reversal is no active decoupling

required, since the fin 10 with its pin 75 in

Slot 73 at the reversal point can swing freely from an angle + a at an angle -a.

It is understood that the drive unit 27 can be chosen arbitrarily and is not limited to a piston system. Also, conventional internal combustion engines can be used here, the drive rod via a connecting rod 26 to move back and forth. The same applies to the servo drive, the z. B. can be configured pneumatically, hydraulically or electrically. Again, however, the control member 74 could be adjusted by a contraction motor, a linear motor, a stepper motor or manually.

In addition to the use as a fin drive for watercraft, the present invention is also in swimming and / or

Diving fins can be used. This will be below

Reference to Figure 5 explained in more detail.

In Figure 5a is the simplest configuration

shown. The swimming or diving fin shown there has a fastening device 60 for attachment to the foot of a person. This is similar to conventional diving fins formed with an upper shoe 61 and a sole 62, so that a user with the foot in the

Upper shoe 61 can slip, which is preferably formed of a soft elastic material and manages with or without closure elements. The fin 10 is rigidly attached to the sole 62 and extends substantially at right angles to the sole 62 or in the attached state at right angles to the sole of the foot. The angle of attack α can be in this variant by the extensor muscles as well

Adjust flexor muscles 63 and 64, respectively, of the human lower leg by pivoting the human foot around the ankle of the ankle 65, resulting in pivoting of the fin 10 about the ankle 65. As a result, the angle of attack α can be optimally adjusted.

As an alternative to the rigid connection, as shown in FIG. 5b, it is also conceivable to fasten the fin 10 to the sole 62 via an elastic element 66, for example a leaf spring or elastic rods. Preferably, the leaf spring or the elastic rod is exchangeable, so that different spring constants and thus elasticities can be achieved.

According to a further embodiment, it is also conceivable to attach the fin 10 articulated to the sole 20 via a joint 67 and, for example, via spiral springs

Restoring force in the starting position in Figure 5c

generate, wherein the coil springs are interchangeable, so that also here different spring constants can be realized.

In addition, the adjustment of the angle of attack α via flexible tensile forces transmitting elements 30 is conceivable. As shown in FIG. 5 d, here too the fin 10 is attached to the sole 62 via an articulated connection 67. Two pliable elements 30 are connected at opposite sides 10 with one end 31 at the fin. From there extends the pliable element

30 at a distance from the axis 67 to the shoe sole 62 and from there to an adjusting element 69 via which the end 32 in the longitudinal direction of the element 30 can be set changeable. For example, it may be one in stages

lockable knob 69 act. For example, the pliable elements 30 in the form of an open toothed belt

31 which rotates about the knob 69 and with this form-fitting and / or frictionally engaged, while the ends of the open belt 31 are connected to the fin 10. By a rotation of the knob 69 can thus adjust the angle of attack of the fin 10 accordingly manually. For this purpose, the knob 69 on the belt or in the region of the thigh by a corresponding

Fastening device to be fixed. For this can

For example, be used a belt. Alternatively, it is also conceivable to use small contraction motors that perform an automatic control. Such a contraction motor, as can also be used in the embodiments described above, but which can also be implemented independently and independently of the use with a phaler, will be explained below with reference to Figures 6 and 7.

The contraction motor 100 includes a plurality of electromagnets 110 having an iron core 111 and an iron core 111

Surrounding coil 112. The electromagnets 110 are arranged in a row with a defined distance from one another, wherein an air gap between adjacent iron cores 111 remains.

Between adjacent electromagnets spacer rings 113 are arranged made of elastic material, which hold the electromagnets at a defined distance from each other. Although this is the preferred embodiment, it is also conceivable to dispense with the elastic element and the

Electromagnets at rest by a counterforce, e.g. Zug by a same contraction motor 33 at the end 32 of the other flexible member 30 due to the rest position in which the electromagnet in a

defined distance from each other are arranged. Say the contraction motors are alternately applied and pull the other in their contraction in

its rest position.

The electromagnet chain is housed in a shallow or inextensible sheath tube 114 (receptacle) which limits the maximum extent of the contraction motor. If none of the electromagnets 110 is energized and are each adjacent electromagnet 110 in the

defined distance from each other held by the spacer rings 113, this is the state of maximum expansion.

As an alternative to the illustrated tube 114, it is also conceivable to use a plurality of fibers, ropes, wires or strips of material of non-stretchable material with the electromagnets on the To connect opposite ends of the series and thereby limit the maximum extent. Preferably, however, a flexible material is used, so that a bendable in all directions chain of electromagnets

is created. Alternatively, it is of course also conceivable to use a rigid housing as a receptacle.

One end of the chain becomes, as schematically with 115

characterized, while the opposite end 116 for tensile force transmission z. B. with one end 32 of a pliable element 30 of the impact fins, as explained above, is connected.

In order that the gap between adjacent iron cores 111 remains uniform and yet ensure flexibility of the chain in all directions, it is preferable that the adjacent ends of the iron cores 111 be complementary to

shape. Here it has proved to be particularly advantageous to combine a spherical convex shape 117 with a spherical concave shape 118. But there are also two spherical convex shapes that face each other, conceivable.

The spacer rings 113 are preferably made of an elastic material z. B. an elastic plastic. But there are other elements, such. As springs, conceivable.

Preferably, the electromagnets 110 can be controlled separately or supplied with current. This can be the way the

Contraction can be determined by the number of driven electromagnet 110 is controlled. Thus, the contraction motor can be gradual or in whole

Contract sections or as a whole.

In this case, when two electromagnets 110 each other

tighten, the elastic member 113 compresses and generates a tensile force at the end 116, the z. B. on the end 32 of limp element 30 can be transmitted. The

Pulling force Z is indicated by the arrow in FIG.

The contraction distance is dictated by the size and number of gaps between adjacent electromagnets.

The contraction force results from size, number of windings, current and voltage, d. H. the type of electromagnet used.

In order to achieve a large contraction force, several electromagnet chains (contraction motors) can be connected in parallel, as shown in FIGS. 7a to c.

It should be understood that the present invention is not limited to the exemplary embodiments and the embodiments may be combined as desired, unless the individual features contradict each other.

Claims

A contraction motor (33) comprising a plurality of electromagnets (110) arranged in series, adjacent ones

Electromagnets are spaced from each other and the electromagnets are guided by a receptacle (114) which limits the distance between the electromagnets at rest.

2. Contraction motor according to claim 1, wherein between each two adjacent electromagnets, an elastic element (113) for maintaining a defined

Distance between the adjacent electromagnet is arranged.

3. Contraction motor according to claim 2, wherein the elastic elements (114) in the form of spacer rings or

Spacer disks are formed around the adjacent ones

Keep electromagnets at the defined distance from each other.

4. Contraction motor according to one of the preceding claims, wherein the receptacle (114) is formed from non-stretchable trains, fibers, ropes, wires, strips of material or a non-stretchable stocking or hose.

5. Contraction motor according to one of the preceding claims, wherein the receptacle (114) is formed by a rigid housing.

6. Contraction motor according to one of the preceding claims, wherein the electromagnets (110) of the series are separately controllable.

7. Contraction motor according to one of the preceding claims, wherein a plurality of series-arranged electromagnets V-shaped are arranged and generate a pulling force when contraction at the top of the "V".

8. Contraction motor according to one of claims 1 to 6, wherein a plurality of electromagnets arranged in series are arranged parallel to each other.

9. Contraction motor according to one of the preceding claims, wherein the mutually facing ends adjacent

Electromagnets are designed with a curved surface.

10. contraction motor according to claim 9, wherein the mutually facing ends are designed on the one hand spherical-concave and on the other hand spherical-convex, so that they intermesh.

11. impact fin for moving a body (1) in a fluid, comprising

at least one fin (10) which can be moved back and forth transversely to the longitudinal extension of the body (1), which is preferably pivotable about an axis (25) transversely to the longitudinal extension of the body (1) and to its direction of movement, wherein

angle of attack

the fin (10) to the resultant (R) of the flows acting on the fin, while the movement of the fin (10) by pivoting the fin (10) about the axis (25) is continuously variable,

a deflection (40) and an element (30) running around the deflection and transmitting at least tensile forces, wherein the fin (10) is pivotable via a movement of the element (30) to change the angle of attack (oc), the ends (32) of Elements (30) are variable in their longitudinal direction fixed to the fin (10) for changing the

Angle of attack (a) to pivot; and

a contraction motor (33) according to any one of claims 1 to 10 for motorically altering the definition of the ends (32), the motor, when activated by mutual attraction, generating a tensile force over the determination of the Ends (31) of the at least tensile forces transmitting elements (30) is variable.

12. impact fin for moving a body (1) in a fluid, comprising

Angle of attack (et) of the fin (10) to the resultant (R) of the flows acting on the fin, while the movement of the fin (10) is continuously variable by pivoting the fin (10) about the axis (25),

two at least tensile forces transmitting elements (30) each connected at a first end (3) with the fin or a stop for the fin and at the other second of their ends (32) are variable in their longitudinal direction fixed to the fin (10) to

Change of the angle of attack (a) to pivot; and

a contraction motor (33) according to any one of claims 1 to 10 for motorically altering the definition of the ends (32), wherein the motor, when activated by mutual attraction generates a tensile force on the fixing the ends (31) of the at least tensile forces transmitting elements (30 ) is changeable.

13. The impact fin of claim 11 or 12, further comprising a parallelogram guide (20) having at least two

parallel struts (21) and a transverse strut (24) at its ends (23) hingedly connected to a respective strut (21), wherein the fin (10) is pivotally mounted on the transverse strut (24).

14. The impact fin of any of claims 11-13, further comprising a drive rod (26) for moving the fin (10) transversely of movement of the body (1) in the fluid (medium).

15. Fractal fin according to one of claims 11-14, wherein the extension (Λ) of the fin (10) is variable.

16. flapping fin according to claim 15, wherein the fin (10) of at least two groups comprising a plurality of expandable individual strips (51) is constructed, via a

Can be fanned out and / or pushed together to control the extension (Λ).

17. impact fin according to any one of claims 11-16, wherein the rigidity and / or curvature of the fin (10) is variable.

18. The impact fin according to claim 17, wherein the fin contains a plurality of stiffening strips (51) and engages in the region of the ends of the strips (51) at least one tensionable tension element (52), via whose tension the rigidity and / or curvature of the fin (10 ) is adjustable.

19. The impact fin according to any one of claims 11-18, wherein the fin (10) is decoupled at a reversal of motion to a free pivoting of the fin (10) in the

To ensure movement reversal.

20. An impact fin according to any one of claims 11 to 18, wherein the fin (10) about the axis (25) is freely pivotable and the pivot angle is limited by on opposite sides of the fin relative to the axis (25) arranged stops, the change of the angle of attack are changeable.