Multi-blade cycloid propeller adopting control shaft plane position decoupling mechanism

Abstract

The invention discloses a multi-blade cycloid propeller adopting a control shaft plane position decoupling mechanism. The multi-blade cycloid propeller comprises a base, a gear set mechanism, a lineardriving mechanism and a guide rod sliding block mechanism. At least three blades which are symmetrically arranged by taking the main shaft as the center are arranged below the base; the guide rod sliding block mechanism comprises guide rods connected with the blades, sliding blocks sliding along the guide rods are arranged on the guide rods in a sleeving mode, the sliding blocks are sequentiallyhinged in the height direction, and a control shaft eccentrically arranged relative to the main shaft is formed by connecting lines of the gravity centers of the sliding blocks. The fixed end of the linear driving mechanism is provided with a hinge point rotating around the spindle, and the movable end is hinged to a slider in the guide rod slider mechanism at the position of the control shaft andused for adjusting the radial position of the control shaft relative to the spindle. The gear set mechanism is connected with the linear driving mechanism and used for adjusting the circumferential position of the control shaft relative to the main shaft. The position of the control shaft of the cycloid propeller can be changed at will, and the motion mechanism of the cycloid propeller is accurately achieved.

Description

technical field [0001] The invention relates to the technical field of thruster devices, in particular to a multi-blade cycloidal thruster which adopts a decoupling mechanism for control shaft plane positions. Background technique [0002] Underwater robots with marine survey, seabed reconnaissance, underwater salvage and near-water auxiliary operations have become important tools for people to explore and develop the ocean. In order to adapt to different underwater environments, underwater robots should at least have the ability to hover, move forward, retreat, ascend, dive and turn. At present, propellers are widely used for underwater robots, but propellers generally have problems such as low propulsion efficiency and insufficient maneuverability at low speeds. Compared with the propeller, since the cycloidal propeller can generate the propulsion force that can be adjusted in any direction within the range of 360° in the plane, the underwater robot using the cycloidal pr...

AI Technical Summary

Problems solved by technology

[0003] However, at present, the internal structure of the cycloidal propeller includes six-link type, crank slider type and steering gear type. The six-link type needs to determine the length of each connecting rod. It is necessary to configure a steering gear for each blade to control the swing, and these schemes can only approximate the motion law of the cycloid propeller, which affects the propulsion performance of the propeller to a certain extent

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