CN114426089A - Vector propeller with adjustable propeller pitch - Google Patents
Vector propeller with adjustable propeller pitch Download PDFInfo
- Publication number
- CN114426089A CN114426089A CN202210133065.8A CN202210133065A CN114426089A CN 114426089 A CN114426089 A CN 114426089A CN 202210133065 A CN202210133065 A CN 202210133065A CN 114426089 A CN114426089 A CN 114426089A
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- input shaft
- propeller
- spherical
- blade
- connecting rod
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H3/00—Propeller-blade pitch changing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H3/00—Propeller-blade pitch changing
- B63H3/10—Propeller-blade pitch changing characterised by having pitch control conjoint with propulsion plant control
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Structures Of Non-Positive Displacement Pumps (AREA)
Abstract
The invention relates to the technical field of underwater propellers, and discloses a vector propeller with an adjustable propeller pitch, which comprises a propeller, an input shaft, a driving device, an elastic connection and a spherical four-bar mechanism, wherein the propeller comprises a propeller hub and a pitch adjusting blade, the pitch adjusting blade is rotatably arranged on the side part of the propeller hub, the input shaft and the propeller hub are coaxially arranged, the input shaft is connected with the driving device, the input shaft is connected with the propeller hub through an elastic connecting piece, and the input shaft is connected with the pitch adjusting blade through the spherical four-bar mechanism. The invention can adjust the propeller pitch of the propeller by using one driving device so as to realize the random change of the propelling direction, and has simple structure and convenient assembly.
Description
Technical Field
The invention relates to the technical field of vector propellers, in particular to a vector propeller with an adjustable propeller pitch.
Background
In order to make it possible for an underwater vehicle to obtain sufficient steering force at low speeds, control methods have emerged in which the rudder is replaced by a vector thruster instead of a conventional thruster. The underwater propeller can change the propelling direction at will, thereby improving the maneuverability of the aircraft when the aircraft runs at low speed. The existing underwater vector propeller mostly controls the propelling direction by means of electromagnetic driving, hydraulic transmission, mechanical transmission and the like, and the structure of the existing underwater vector propeller is generally designed with various space mechanisms, and then the deflecting direction of the propeller is changed by utilizing a deflecting driver (electromagnetic, hydraulic and the like). The existing vector thruster needs to be provided with a deflection driving device besides a main propulsion motor, and comprises a motor, a hydraulic system, a mechanical transmission system and the like, and the existing vector thruster is complex in structure and large in occupied space.
Disclosure of Invention
The invention aims to provide a vector thruster which can adjust the propeller pitch by using a driving device so as to realize the adjustable propeller pitch capable of changing the propelling direction at will.
In order to achieve the above object, the present invention provides a vector propeller with adjustable pitch, including a propeller, an input shaft, a driving device, an elastic connection, and a spherical four-bar linkage, wherein the propeller includes a hub and a pitch adjusting blade, the pitch adjusting blade is rotatably disposed at a side portion of the hub, the input shaft is coaxially disposed with the hub, the input shaft is connected with the driving device, the input shaft is connected with the hub through the elastic connection member, and the input shaft is connected with the pitch adjusting blade through the spherical four-bar linkage;
the driving device drives the input shaft to rotate around the axis of the input shaft, the input shaft drives the propeller hub and the controllable-pitch propeller blade to rotate around the axis of the input shaft through the elastic connecting piece, the angular speed of the input shaft rotating around the axis of the input shaft is a first angular speed, and the angular speed of the controllable-pitch propeller blade rotating around the axis of the input shaft is a second angular speed;
when the input shaft rotates at a constant speed, the first angular speed is the same as the second angular speed, and the input shaft and the distance-adjusting blades are relatively static; when the input shaft rotates in a variable speed mode, under the action of the elastic force of the elastic connecting piece, the speed change of the distance adjusting blade lags behind the speed change of the input shaft, the first angular speed is larger than or smaller than the second angular speed, the input shaft and the distance adjusting blade rotate relatively, and under the action of the spherical four-bar linkage mechanism, the distance adjusting blade rotates around the axis of the distance adjusting blade, so that the pitch of the propeller is adjusted.
As a preferable aspect of the present invention, the spherical four-bar linkage includes a first spherical link, a second spherical link, a third spherical link, and a vane shaft, one end of the first spherical link is fixedly connected to an end of the input shaft, the other end of the first spherical link is hinged to one end of the second spherical link, the other end of the second spherical link is hinged to one end of the third spherical link, the other end of the third spherical link is fixedly connected to the vane shaft, the pitch adjustment paddle is provided at an end of the vane shaft and is disposed coaxially with the vane shaft, and an axis of the input shaft, a hinge axis of the first spherical link and the second spherical link, a hinge axis of the second spherical link and the third spherical link, and an axis of the vane shaft intersect at a single point.
As a preferable aspect of the present invention, one end of the elastic connection member is fixedly connected to the inner side of the hub, and the other end of the elastic connection member is fixedly connected to the input shaft or the first spherical link.
As a preferable aspect of the present invention, the blade shaft is disposed in a radial direction of the hub.
As a preferable aspect of the present invention, the driving device further includes a controller that controls a rotation speed variation cycle of the input shaft to be adapted to a rotation cycle of the propeller.
In a preferred embodiment of the present invention, the elastic connection member is a spring.
In a preferred embodiment of the present invention, the blade shaft is provided in plurality, and the plurality of blade shafts are uniformly distributed around the axis of the hub.
The driving device is arranged in the casing, and one end of the casing, which is far away from the hub, is connected with the bracket through a universal joint.
As a preferable scheme of the present invention, one end of the casing close to the propeller is connected with a draft tube arranged around the propeller.
As a preferable aspect of the present invention, the present invention further includes a sensor for detecting a rotational position of the input shaft.
Compared with the prior art, the vector propeller with the adjustable propeller pitch has the beneficial effects that: the invention drives the input shaft to rotate around the self axis through the driving device, the input shaft drives the propeller to rotate through the elastic connecting piece, when the input shaft rotates at a constant speed, the input shaft and the distance adjusting paddle rotate synchronously, the distance adjusting paddle does not rotate around the self axis, the propeller pitch of the propeller keeps unchanged, no deflection moment is generated, the vector propeller propels in the axial direction, when the input shaft rotates at a variable speed, the speed change of the propeller lags behind the speed change of the input shaft under the elastic action of the elastic connecting piece, the input shaft and the distance adjusting paddle rotate relatively, the distance adjusting paddle rotates around the self axis under the action of the spherical four-bar linkage, the propeller pitch of the propeller changes, the deflection moment is generated, and the vector propeller propels in the lateral direction, namely, the invention can realize the axial and lateral propulsion of the vector propeller through only one driving device, and the propulsion direction of the vector propeller can be changed arbitrarily, effectively simplify the structure of propeller, the assembly of being convenient for.
Drawings
FIG. 1 is a block diagram of a variable pitch vector propulsion system according to the present invention;
FIG. 2 is a cross-sectional view of FIG. 1;
FIG. 3 is a view showing a connection structure of the input shaft and the spherical four-bar linkage of FIG. 1;
FIG. 4 is another perspective view of FIG. 3;
FIG. 5 is a schematic diagram of the connection structure of FIG. 1;
in the figure, 1, a propeller; 11. a hub; 12. adjusting the pitch of the blades; 2. an input shaft; 3. a drive device; 4. an elastic connecting member; 5. a spherical four-bar linkage; 51. a first spherical connecting rod; 52. a second spherical connecting rod; 53. a third spherical connecting rod; 54. a blade shaft; 6. a housing; 61. a support; 62. a universal joint; 63. and a flow guide pipe.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the present invention, it should be understood that the present invention adopts the orientations or positional relationships indicated by the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. based on the orientations or positional relationships shown in the drawings, only for convenience of description and simplification of description, but not for indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
As shown in fig. 1 to 5, a vector propeller with adjustable pitch according to a preferred embodiment of the present invention includes a propeller 1, an input shaft 2, a driving device 3, an elastic connection, and a spherical four-bar linkage 5 mechanism, where the propeller 1 includes a hub 11 and a pitch-adjusting blade 12, the pitch-adjusting blade 12 is rotatably disposed at a side portion of the hub 11, the input shaft 2 and the hub 11 are coaxially disposed, the input shaft 2 is connected with the driving device 3, the input shaft 2 is connected with the hub 11 through an elastic connection member 4, and the input shaft 2 is connected with the pitch-adjusting blade 12 through the spherical four-bar linkage 5 mechanism;
the driving device 3 drives the input shaft 2 to rotate around the axis of the input shaft 2, the input shaft 2 drives the propeller hub 11 and the pitch adjusting propeller blades 12 to rotate around the axis of the input shaft 2 through the elastic connecting piece 4, the angular speed of the input shaft 2 rotating around the axis of the input shaft is a first angular speed, and the angular speed of the pitch adjusting propeller blades 12 rotating around the axis of the input shaft 2 is a second angular speed;
when the input shaft 2 rotates at a constant speed, the first angular speed is the same as the second angular speed, at this time, the input shaft 2, the spherical four-bar linkage 5 mechanism and the pitch adjusting blades 12 synchronously rotate around the axis of the input shaft 2, the input shaft 2 and the pitch adjusting blades 12 are relatively static, the spherical four-bar linkage 5 mechanism does not work, the pitch adjusting blades 12 do not rotate around the axis of the spherical four-bar linkage 5 mechanism, and the pitch of the propeller 1 is not changed; when the input shaft 2 rotates at a variable speed, under the action of the elastic force of the elastic connecting piece 4, the speed change of the propeller hub 11 and the pitch adjusting blades 12 lags behind the speed change of the input shaft 2, the first angular speed is greater than or less than the second angular speed, the input shaft 2 and the pitch adjusting blades 12 rotate relatively, under the action of the spherical four-bar linkage 5 mechanism, the pitch adjusting blades 12 rotate around the axes of the input shaft 2, the torsion angle of the blades 12 changes, and therefore the propeller pitch of the propeller 1 is adjusted, and when the input shaft 2 is changed from the variable speed rotation to the uniform speed rotation, the rotation speed change of the propeller hub 11 and the pitch adjusting blades 12 lags behind for a certain time under the action of the elastic force of the elastic connecting piece 4, and finally rotates synchronously with the input shaft 2 at a uniform speed.
Illustratively, the spherical four-bar linkage 5 mechanism comprises a first spherical link 51, a second spherical link 52, a third spherical link 53 and a vane shaft 54, wherein one end of the first spherical link 51 is fixedly connected with the end of the input shaft 2, the other end of the first spherical link 51 is hinged with one end of the second spherical link 52, the other end of the second spherical link 52 is hinged with one end of the third spherical link 53, the other end of the third spherical link 53 is fixedly connected with the vane shaft 54, the pitch-adjusting paddle 12 is arranged at the end of the vane shaft 54 and is coaxially arranged with the vane shaft 54, the axis of the input shaft 2, the hinge axes of the first spherical connecting rod 51 and the second spherical connecting rod 52, the hinge axes of the second spherical connecting rod 52 and the third spherical connecting rod 53 and the axis of the vane shaft 54 are intersected at a point, and the rotation of the input shaft 2 around the own axis is transmitted through the spherical four-bar linkage 5 mechanism, so that the pitch adjusting blade 12 rotates around the own axis.
The invention drives the input shaft 2 to rotate around the self axis through the driving device 3, the input shaft 2 drives the propeller 1 to rotate through the elastic connecting piece 4, when the input shaft 2 rotates at a constant speed, the input shaft 2 and the distance adjusting blade 12 rotate synchronously, the distance adjusting blade 12 does not rotate around the self axis, the propeller pitch of the propeller 1 keeps unchanged, no deflection moment is generated, the vector propeller advances axially, when the input shaft 2 rotates at a variable speed, the speed change of the propeller 1 lags behind the speed change of the input shaft 2 under the elastic action of the elastic connecting piece 4, the input shaft 2 and the distance adjusting blade 12 rotate relatively, under the action of the spherical four-bar linkage 5, the distance adjusting blade 12 rotates around the self axis, the pitch of the propeller 1 changes, deflection moment is generated, and the vector propeller advances laterally, namely, the invention can realize the axial and lateral propulsion of the vector propeller only through one driving device 3, the vector propeller can change the propelling direction at will, effectively simplifies the structure of the propeller and is convenient for assembly.
Illustratively, the end part of the input shaft 2 extends into the propeller hub 11, one end of the elastic connecting piece 4 is fixedly connected with the inner side of the propeller hub 11, and the other end of the elastic connecting piece 4 is fixedly connected with the input shaft 2 or the first spherical connecting rod 51, so that the connecting structure is compact and the assembly is simple and convenient.
By way of example, the arrangement of the blade shafts 54 in the radial direction of the hub 11, i.e. the axes of the pitch blades 12 are also arranged in the radial direction of the hub 11, ensures that the propeller 1 can rotate smoothly about the axis of the input shaft 2.
Illustratively, the driving device 3 further comprises a controller, when the vector thruster needs to generate the moment for deflection, the controller controls the period of the change of the rotating speed of the input shaft 2 to be matched with the rotating period of the propeller 1, so as to generate the moment for deflection in a specific direction, and when the direction of deflection needs to be changed, only the phase angle of the alternating current introduced into the driving device 3 needs to be changed.
Illustratively, the elastic connection member 4 is a spring, when the input shaft 2 rotates at a constant speed, the hub 11 and the input shaft 2 are relatively stationary, no external force exists in the whole formed by the hub 11, the input shaft 2 and the spring, the length of the spring is fixed, when the input shaft 2 rotates at a variable speed, the input shaft 2 and the hub 11 rotate relatively, and under the action of the external force, the whole formed by the hub 11, the input shaft 2 and the spring has an external force, and the spring stretches and contracts to generate an elastic force.
Illustratively, the blade shafts 54 are provided in plurality, the blade shafts 54 are uniformly distributed around the axis of the hub 11, each blade shaft 54 is provided with a pitch adjustment blade 12, so that the propeller 1 rotates smoothly, in the present embodiment, two blade shafts 54 and two pitch adjustment blades 12 are provided, and the two blade shafts 54 are connected into a whole, so as to ensure the consistency of the rotation of the pitch adjustment blades 12, and only one four-bar mechanism needs to be provided, so as to simplify the internal structure of the hub 11.
Illustratively, the embodiment further comprises a casing 6 and a bracket 61 for fixing on the underwater vehicle, the casing 6 is located at one end of the hub 11, the driving device 3 is arranged in the casing 6, and one end of the casing 6, which is far away from the hub 11, is connected with the bracket 61 through a universal joint 62, i.e. the whole vector propeller can be mounted on the underwater vehicle through the bracket 61, the assembly and disassembly are simple, and the arrangement of the universal joint 62 facilitates the axial and lateral propulsion of the vector propeller.
Illustratively, one end of the casing 6 close to the propeller 1 is connected with a flow guide pipe 63 arranged around the propeller 1, and the arrangement of the flow guide pipe 63 can increase 30% -35% of thrust of the vector thruster so as to meet the navigation requirement.
Illustratively, the present embodiment further includes a sensor for detecting the rotational position of the input shaft 2, thereby determining the rotational position of the propeller 1 so that the propeller 1 is returned.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (10)
1. A pitch adjustable vector thruster, characterized by: the propeller comprises a propeller, an input shaft, a driving device, an elastic connecting piece and a spherical four-bar linkage mechanism, wherein the propeller comprises a propeller hub and a distance adjusting blade, the distance adjusting blade is rotatably arranged on the side part of the propeller hub, the input shaft and the propeller hub are coaxially arranged, the input shaft is connected with the driving device, the input shaft is connected with the propeller hub through the elastic connecting piece, and the input shaft is connected with the distance adjusting blade through the spherical four-bar linkage mechanism;
the driving device drives the input shaft to rotate around the axis of the input shaft, the input shaft drives the propeller hub and the controllable-pitch propeller blade to rotate around the axis of the input shaft through the elastic connecting piece, the angular speed of the input shaft rotating around the axis of the input shaft is a first angular speed, and the angular speed of the controllable-pitch propeller blade rotating around the axis of the input shaft is a second angular speed;
when the input shaft rotates at a constant speed, the first angular speed is the same as the second angular speed, and the input shaft and the distance-adjusting blades are relatively static; when the input shaft rotates in a variable speed mode, under the action of the elastic force of the elastic connecting piece, the speed change of the distance adjusting blade lags behind the speed change of the input shaft, the first angular speed is larger than or smaller than the second angular speed, the input shaft and the distance adjusting blade rotate relatively, and under the action of the spherical four-bar linkage mechanism, the distance adjusting blade rotates around the axis of the distance adjusting blade, so that the pitch of the propeller is adjusted.
2. The adjustable pitch vector thruster of claim 1, wherein: the spherical four-bar mechanism comprises a first spherical connecting rod, a second spherical connecting rod, a third spherical connecting rod and a blade shaft, one end of the first spherical connecting rod is fixedly connected with the end of the input shaft, the other end of the first spherical connecting rod is hinged with one end of the second spherical connecting rod, the other end of the second spherical connecting rod is hinged with one end of the third spherical connecting rod, the other end of the third spherical connecting rod is fixedly connected with the blade shaft, the distance-adjusting paddle is arranged at the end of the blade shaft and coaxially arranged with the blade shaft, and the axis of the input shaft, the first spherical connecting rod is hinged with the axis of the second spherical connecting rod, the second spherical connecting rod is hinged with the axis of the third spherical connecting rod and the axis of the blade shaft are crossed at one point.
3. The adjustable pitch vector thruster of claim 2, wherein: one end of the elastic connecting piece is fixedly connected with the inner side of the propeller hub, and the other end of the elastic connecting piece is fixedly connected with the input shaft or the first spherical connecting rod.
4. The adjustable pitch vector thruster of claim 2, wherein: the blade shafts are arranged in a radial direction of the hub.
5. The adjustable pitch vector thruster of claim 1, wherein: the driving device further comprises a controller, and the controller controls the rotating speed change period of the input shaft to be suitable for the rotating period of the propeller.
6. The adjustable pitch vector thruster of claim 1, wherein: the elastic connecting piece is a spring.
7. The adjustable pitch vector thruster of claim 2, wherein: the blade shafts are arranged in plurality and are evenly distributed around the axis of the propeller hub.
8. The adjustable pitch vector thruster of claim 1, wherein: the underwater vehicle is characterized by further comprising a casing and a support fixed on the underwater vehicle, wherein the casing is located at one end of the propeller hub, the driving device is arranged in the casing, and one end, far away from the propeller hub, of the casing is connected with the support through a universal joint.
9. The adjustable pitch vector thruster of claim 8, wherein: one end of the shell, which is close to the propeller, is connected with a guide pipe arranged around the propeller.
10. The adjustable pitch vector thruster of claim 1, wherein: a sensor for detecting a rotational position of the input shaft is also included.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210133065.8A CN114426089B (en) | 2022-02-14 | 2022-02-14 | Vector propeller with adjustable propeller pitch |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210133065.8A CN114426089B (en) | 2022-02-14 | 2022-02-14 | Vector propeller with adjustable propeller pitch |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114426089A true CN114426089A (en) | 2022-05-03 |
| CN114426089B CN114426089B (en) | 2023-03-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210133065.8A Active CN114426089B (en) | 2022-02-14 | 2022-02-14 | Vector propeller with adjustable propeller pitch |
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| CN (1) | CN114426089B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1314195A (en) * | 1970-11-21 | 1973-04-18 | Storey We | Variable pitch propellers |
| GB0809746D0 (en) * | 2008-05-29 | 2008-07-09 | Knowles Kevin | Three degree-of-freedom parallel spherical mechanism for payload orienting applications |
| US20100104438A1 (en) * | 2008-10-23 | 2010-04-29 | Snecma | Device for controlling the pitch of fan blades of a turboprop |
| CN103597249A (en) * | 2011-05-25 | 2014-02-19 | 国立大学法人大阪大学 | Trochoid drive mechanism and mobile body |
| CN105366021A (en) * | 2015-12-02 | 2016-03-02 | 山东大学（威海） | Vector propulsion plant capable of adjusting pitch and underwater vehicle having same |
| CN110834717A (en) * | 2019-11-21 | 2020-02-25 | 北京航空航天大学 | Self-adaptive propeller device |
-
2022
- 2022-02-14 CN CN202210133065.8A patent/CN114426089B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1314195A (en) * | 1970-11-21 | 1973-04-18 | Storey We | Variable pitch propellers |
| GB0809746D0 (en) * | 2008-05-29 | 2008-07-09 | Knowles Kevin | Three degree-of-freedom parallel spherical mechanism for payload orienting applications |
| US20100104438A1 (en) * | 2008-10-23 | 2010-04-29 | Snecma | Device for controlling the pitch of fan blades of a turboprop |
| CN103597249A (en) * | 2011-05-25 | 2014-02-19 | 国立大学法人大阪大学 | Trochoid drive mechanism and mobile body |
| CN105366021A (en) * | 2015-12-02 | 2016-03-02 | 山东大学（威海） | Vector propulsion plant capable of adjusting pitch and underwater vehicle having same |
| CN110834717A (en) * | 2019-11-21 | 2020-02-25 | 北京航空航天大学 | Self-adaptive propeller device |
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| Publication number | Publication date |
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| CN114426089B (en) | 2023-03-31 |
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