CN103434627A - Automatic control mechanism of rocker sliding block type cycloid paddle - Google Patents

Abstract

The invention discloses an automatic control mechanism of a rocker-slider type cycloidal paddle. The automatic control mechanism of a rocker-slider type cycloidal paddle realizes the separate control of the phase angle and the deflection angle, and can realize any deflection angle at any time , providing a good experimental platform for further research on cycloidal propeller such as aerodynamic characteristics, optimal angle of attack curve, and angular acceleration boundary. The flexible control of the deflection angle of the cycloidal propeller blade is realized, and it is a very good experimental platform for studying the aerodynamic characteristics of the cycloidal propeller.

Description

An automatic control mechanism of rocker-slider type cycloid paddle

technical field

The invention relates to a cycloidal paddle control mechanism, in particular to an automatic control mechanism of a rocker slider type cycloidal paddle.

Background technique

Cycloidal propeller, also known as straight-wing propeller, is a propulsion device that can provide instantaneously variable omnidirectional vector thrust. It has the characteristics of high efficiency and fast change of vector thrust.

Chinese patent CN85103046A discloses a cycloid paddle with a cam as a control mechanism. The control mechanism in the cycloidal propeller consists of a cam chassis, and the blades are installed on the blisk; the blisk drives the blade to revolve around the cam disk. At the same time, two guide wheels are installed on the blade disc, and the guide wheels move inside the cam of the cam disc, so that the angle of attack of the cycloidal propeller blade can be changed according to the motion law designed in advance by the cam. The control mechanism of the cycloidal propeller is relatively simple. But the guide wheel groove curve of the cam is fixed, it is difficult to realize instantaneously variable vector thrust. Simultaneously, the cam disc structure is huge and heavy, and is only applicable to propellers of small and medium-sized transport ships, and is not suitable for aircraft.

U.S. Patent No. 60/939,888 proposes a cycloidal propeller rotating swash plate control mechanism, which controls the inclination angle of the chassis through the steering gear, and then transmits it through a series of link mechanisms, so as to realize the control of the pitch angle of the blade . The control mechanism has extremely fast response and light weight, and has been successfully applied to micro-aircraft with cycloidal propellers. However, the mechanical loss of the control mechanism is relatively large due to the large number of connections between the components.

The cycloidal propeller control mechanism in the prior art has a relatively complicated structure, serious mechanical loss, and inflexible changes in the deflection angle. The existing deflection angle optimization conclusions are difficult to realize in terms of control because the deflection angle changes irregularly, and the relevant information such as the angular acceleration boundary of the cycloidal propeller blade cannot be supported by experimental data.

Contents of the invention

In order to avoid the deficiencies of the prior art and overcome the problems that the cycloidal propeller control mechanism has a complex structure, serious mechanical losses, and the deflection angle of the cycloidal propeller blades cannot be freely controlled, the present invention proposes a rocker slider type cycloidal propeller automatic control mechanism . The rocker slider type cycloidal propeller automatic control mechanism realizes the separate control of phase angle and deflection angle, and can realize any deflection angle at any time, which provides further research on cycloidal propellers such as aerodynamic characteristics and optimal attack angle change Curve, angular acceleration boundary research provides a good experimental platform.

The technical solution adopted by the present invention to solve the technical problems is: comprising a main shaft part, a housing part, a slider part, a blade, a rotor slider connecting rod, an angle piece, a spacer, a servo motor, an encoder, a support, the mechanism The housing is in the middle of a rectangular parallelepiped. One end of the housing is connected with a bracket to fix the motor and an encoder. The encoder is located at the end of the bracket to keep a distance from the driving motor. The driving motor is fixed on the side of the bracket, and the torque is transmitted to the cardan shaft in the housing by reducing the speed through the gear. section; the main shaft is sequentially connected with the main shaft sleeve, the axial carbon tube, the angle piece connector, the blade support wall, the blade connector, and the shaft end sleeve; the main shaft sleeve is fixedly connected with the cardan shaft joint, and the axial carbon tube Fixed in the main shaft sleeve, the angle piece connector and the blade support arm are fixed on the shaft carbon tube; the slider part includes the inner ring of the slider, the slider arm and the spacer, and the slider is connected by three-point contact. On the linear guide rail in the casing, the two large rings on the upper part of the slider are sleeved on the two thicker linear guide rails through bearings, and the lower ring structure is sleeved on the other thinner linear guide rail, and the slip ring slides in the horizontal direction; The inner ring of the slider is connected with the slider through the bearing, and the inner ring fixes the pull rod and transmits the lateral displacement; the slider drives the lateral displacement of the inner ring to obtain the deflection angle of the blade, and the circumferential rotation of the inner ring obtains the phase angle of the blade; the encoder outputs the spindle at any time Rotation speed and phase angle; the control mechanism is connected with six servo motors, three of which are connected to the slider through connecting rods; The connecting rod drives the slider to translate, and pulls the blade control rod to make the blade pitch, so as to realize the control of the blade deflection angle; the main shaft drive motor drives the main shaft to rotate, the blade deflection angle is controlled by the servo motor, and the phase angle is controlled by the main shaft drive motor to realize the phase angle and The separate control of the deflection angle can obtain any deflection angle at any phase angle.

Beneficial effect

A rocker slider type cycloidal paddle automatic control mechanism proposed by the present invention, the rocker slider type cycloid paddle automatic control mechanism realizes the separate control of phase angle and deflection angle, and can realize any deflection angle at any time , which provides a good experimental platform for further research on cycloidal propeller such as aerodynamic characteristics, optimal angle of attack curve, and angular acceleration boundary. The flexible control of the deflection angle of the cycloidal propeller blade is realized, and it is a very good experimental platform for studying the aerodynamic characteristics of the cycloidal propeller.

Description of drawings

A rocker slider type cycloidal propeller automatic control mechanism of the present invention will be further described in detail below in conjunction with the drawings and implementation methods.

Figure 1 is a schematic diagram of the structure for controlling a single blade.

Fig. 2 is a schematic diagram of the core transmission mechanism.

Figure 3 is a top view of the core transmission mechanism.

Fig. 4 is a schematic diagram of the fourth slider.

Fig. 5 is a schematic diagram of the second slider.

Fig. 6 is the overall schematic view of the mechanism except the upper wall plate.

Figure 7 is a schematic diagram of the main shaft structure.

Figure 8 is a schematic diagram of the casing structure.

Figure 9 is a perspective view of the corner piece.

In the picture:

1. Digital encoder 2. Drive motor 3. Servo motor 4. Motor slider connecting rod 5. Slider inner ring 6. Second slider 7. Corner piece 8. Blade 9. Control rod 10. Beam 11. First Linear guide rail 12. Second linear guide rail 13. Third linear guide rail 14. Slider arm 15. Slider retaining ring 16. Shaft carbon tube 17. Slider arm 18. Retaining ring 19. Spacer 20. Slider Inner ring 21. The first slider 22. The third slider 23. The fourth slider 24. The fifth slider 25. The sixth slider 26. Main shaft sleeve 27. Angle piece connector 28. Blade connector 29. Shaft end sleeve 30. Front wall of the casing 31. Rear wall of the casing 32. The first side wall of the casing 33. The first servo motor connector 34. The middle wall of the casing 35. The fourth linear guide rail 36. Balance connector 37. Second servo motor connector 38. Second casing side wall plate 39. Blade support wall 40. Main shaft support ring 41. Pull rod

Detailed ways

This embodiment is an automatic control mechanism of a rocker slider type cycloidal propeller, which can control the deflection angle of the cycloidal propeller blade in real time, and provides a good experimental platform for the research on the aerodynamic characteristics of the cycloidal propeller.

The automatic control mechanism of the cycloidal propeller of the present invention consists of a main shaft part, a housing part, a slider part, a blade, a motor slider connecting rod 4, an angle piece 7, a spacer 19, a servo motor 3, a drive motor 2, an encoder 1, bracket, composition.

As shown in FIG. 1 , the housing of the mechanism is square, in the middle, and a bracket is connected to the left. The main function of the bracket is to fix the servo motor 3 and the digital encoder 1 . The digital encoder 1 is connected to the leftmost end of the support and keeps a distance from the driving motor 2 to avoid too strong electromagnetic interference. The drive motor 2 is fixed on the right end of the bracket and connected to the housing on the right. The speed is reduced by a gear with a gear ratio of ten to one and then the torque is transmitted to the main shaft in the housing. The right side of the housing is the part of the cycloidal paddle blade. The cycloidal paddle blade 8 is connected to the angle piece 7 on one side of the rotating shaft through the control rod 9, and the angle piece 7 is connected to the second slider 6 inside the housing. Both sides of the casing are the first servo motor connector 33 and the second private server motor connector 37, the connectors are stepped, each connected to three servo motors. Each servo motor is connected to a slider through a connecting rod.

As shown in Figure 2, when the mechanism moves, the universal shaft joint is driven by the large gear to rotate, and the torque is transmitted to the main shaft sleeve 26 and then to the carbon tube 16 in the shaft center, thereby driving the right blade 8 of the casing to rotate around the main shaft. Thus, the control of the phase angle of the cycloidal propeller blade is realized. The rotor of the servo motor 3 on the side wall of the casing rotates to generate a horizontal displacement. Through the motor slider connecting rod 4 connected to the inner ring of the slider, the corresponding second slider 6 is driven to translate, and the horizontal displacement is transmitted to the rightmost angle piece 7. The rotation of the corner piece 7 transfers the displacement in the horizontal direction to the vertical direction, thereby pushing and pulling the control rod 9 to make the blade 8 pitch, so as to achieve the purpose of controlling the deflection angle of the blade.

Referring to Fig. 3 and Fig. 4, the fourth slider mainly includes four parts: the main body of the slider, the support arm 17 of the slider, the retaining ring 18 of the slider, the spacer 19, and the inner ring 20 of the slider. Combining Figure 1 and Figure 2, it can be seen that the slider is sleeved on the linear guide rail in the casing through three ring structures, so as to ensure that the slider can only slide in the horizontal direction. In order to allow the slider arms to be staggered, a group of three is adopted, and the three arms of each group are connected to the guide rails from the top, bottom and sides respectively.

Referring to Fig. 5, Fig. 6, and Fig. 7, the main shaft part from left to right is the main shaft sleeve 26, the axial carbon tube 16, the main shaft support ring 40, the angle piece connector 27, the blade support wall 39, the blade connector 28, Shaft end sleeve 29. The main shaft sleeve 26 is set on the axial carbon rod 16, one end is connected with the main shaft support ring 40, and the other end is connected with the universal joint. The axial carbon tube is inside the main shaft sleeve 26 and fixed on the main shaft sleeve 26 by screws Together. The main function of the main shaft sleeve 26 and the axial carbon rod 16 is to transmit torque. The main shaft supporting ring 40 mainly plays the role of fixing the main shaft, which is annular, and the outside is connected to the casing rear wall plate 31 by a bearing with an inner diameter of 90 and an outer diameter of 115 and a thickness of 13, and the inside is connected with the main shaft sleeve 26 with two M2 screws. The upper part of the angle piece connector 27 is ring-shaped, sleeved on the axial carbon tube 16, and one end bears on the blade support wall 39, and is fixed on the axial carbon rod 16 with 6 M2 screws. The other end is connected with six angle pieces, and there are six bearings with inner 2 outer 6 thickness 6 between the angle pieces and the connector to connect. The blade supporting wall 39 is plate-shaped, the bottom is hollow, circular, and can be sleeved on the carbon rod of the axis. Connect with the shaft end sleeve 26 with screws, fix the axial position of the blade support wall 39, and ensure that the blade support wall 39 rotates with the main shaft. The shaft end sleeve 26 is mainly composed of two parts, one part wraps the axial carbon tube 16 and is connected with the carbon tube with 12 M2 screws, and the other part is connected with the blade support wall 39 and is connected with 6 M2 screws. On the one hand, the axial carbon tube 16 is protected so that it is not easy to be worn out; on the other hand, the axial displacement of the blade support wall 39 and the blade 8 is limited, so that the cycloidal paddle will not slide back and forth when rotating.

When the mechanism is in motion, the drive motor 2 rotates to drive the universal joint to rotate, and transmits the torque to the main shaft sleeve 26 and to the axial carbon tube 16 in the sleeve, thereby driving the right blade support wall of the housing to rotate, and the support wall drives its The upper blades rotate.

As shown in Figure 8, the housing part includes a front wall 30, a middle wall 34 of the casing, a rear wall 31 of the casing, a first casing side wall 32, a second casing side wall 38, four support Beam 10 , first linear guide 11 , second linear guide 12 , third linear guide 13 , fourth linear guide 35 , first servo motor connection 33 , second servo motor connection 37 . The wall panels are connected with M2 screws, the support beam 10 acts as a structural reinforcement, and the two ends are fixed on the front wall panel 30 and the rear panel 31 of the cabinet with M3 screws, and the sides are respectively connected with the upper and lower wall panels with screws. And the middle wall plate 34 is connected. Two servomotor connectors are distributed on the two casing sidewalls and connected with M3 screws. The first servomotor connector 33 and the second servomotor 37 connectors are stepped, and three servomotors are respectively connected thereto. The step shape can ensure the height difference of the three servo motors on the same side, and ensures that the connecting rods connected to the rotors of the servo motors can be staggered in space and will not collide when they move. The role of the four linear guide rails is to limit the displacement of the slider and ensure that it can only move along the horizontal direction.

Fig. 9 is an oblique view of the angle piece 7, the middle groove part is fixed on the angle piece connector 27, and the angle piece rotates around the angle piece connector to transfer the displacement in the horizontal direction to the vertical direction.

Through the software part, control the spindle motor and servo motor. After the spindle speed is given, the cycloidal propeller starts to rotate. The motion law of the servo motor is determined by the change law of the blade deflection angle that the user wants to verify. The paddle blade deflection angle is always 0 degrees. After the motion law of the servo motor is given, the corresponding change rule of the blade deflection angle is obtained. Through the wind tunnel test, the angular acceleration boundary of the cycloid propeller and the aerodynamic characteristics of the cycloid propeller under different deflection angle change curves can be obtained, which can be optimized and calculated. The best deflection angle change curve is verified.

In the embodiment, given the rotational speed of the spindle drive motor of 15000rpm, the rotational speed of the cycloidal propeller is 1500rpm. In the software system, the deflection angle parameters of the given six servo motors are respectively A1=9000*t+90deg; A2=9000* t+150deg; A3=9000*t+210deg; A4=9000*t+270deg; A5=9000*t+330deg; A6=9000*t+30deg; the distance between the connection point of the tie rod and the servo motor and the center of the servo motor is R, Then the lateral displacement of the No. 1 servo motor is R*cos (A1), that is, the transmitted lateral displacement is a sinusoidal variation, and the lateral displacement is finally transmitted to the blade through the tie rod, slider, corner piece, and control rod, and the blade is finally pitched. The displacement of the deflection is also a sinusoidal variation, so the variation law of the obtained blade deflection angle θ can be approximately regarded as a sinusoidal variation. In this way, the change of the deflection angle of the cycloidal propeller blade with a sinusoidal curve has been obtained, and the change law of the blade deflection angle has been verified through the simulation of the mechanism. When the mechanism is in motion, it can also be verified by taking high-speed continuous photos of the blade of the mechanism.

Claims (1)

1. a rocking arm slide block type cycloid propeller automatic controls, is characterized in that: comprise main shaft portion, housing parts, Slipper, blade, rotor slide block connecting rod, gusset plate, cushion block, servomotor, coder, support, described mechanism shell is cuboid and is positioned at middle, housing one end is connected with support fixed electrical machinery and coder, coder is positioned at bracket end and drive motor keeps the distance, and drive motor is fixed on the support side, by gear, reduces the rotating speed transmitting torque to the universal coupling in housing; Described main shaft portion successively with rack sleeve, axle center carbon pipe, the gusset plate attaching parts, the blade supporting walls, the blade attaching parts, the axle head sleeve connects; Rack sleeve and universal coupling are connected, and axle center carbon pipe is fixed in rack sleeve, and gusset plate attaching parts and blade supporting arm are fixed on the carbon pipe of axle center; Described Slipper comprises ring in slide block, slide block support arm, cushion block, slide block is connected on casing internal linear guide rail by 3 contacts, two of slide block top are encircled greatly by bearing carrier ring on two thicker linear guides, the loop configuration of bottom is enclosed within on another thinner linear guides, and the slip ring along continuous straight runs slides; In slide block, ring is connected with slide block by bearing, interior ring steady brace and transmission cross travel; In slide block drives, the ring cross travel makes blade obtain angle of inclination, and inner circumference makes blade obtain phase angle to rotation; Coder output main shaft any time velocity of rotation and phase angle; Described control mechanism connects six servomotors, and housing sidewall is respectively three, by connecting rod, with slide block, is connected respectively; Servomotor rotates, and produces the horizontal direction displacement, by the connecting rod band movable slider translation encircled in connection sliding block, and pulls the blade control stalk to make pitching blade, realizes the blade deflection angle is controlled; Spindle drive motor drives main shaft and rotates, and the blade deflection angle is controlled by servomotor, and phase angle is controlled by spindle drive motor, realizes the control that separates of phase angle and angle of inclination, angle of inclination arbitrarily while obtaining the arbitrary phase angle.

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