CN113815820A - Wave energy endurance type manta ray type AUV - Google Patents
Wave energy endurance type manta ray type AUV Download PDFInfo
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- CN113815820A CN113815820A CN202110397938.1A CN202110397938A CN113815820A CN 113815820 A CN113815820 A CN 113815820A CN 202110397938 A CN202110397938 A CN 202110397938A CN 113815820 A CN113815820 A CN 113815820A
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- fin
- ray
- auv
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- underwater
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- 241001471424 Manta birostris Species 0.000 title abstract description 14
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 23
- 210000000006 pectoral fin Anatomy 0.000 claims abstract description 15
- 230000005540 biological transmission Effects 0.000 claims abstract description 11
- 238000006243 chemical reaction Methods 0.000 claims abstract description 10
- 230000010287 polarization Effects 0.000 claims abstract description 9
- 239000012530 fluid Substances 0.000 claims abstract description 5
- 241001331491 Myliobatis californica Species 0.000 claims description 17
- 238000010248 power generation Methods 0.000 claims description 7
- 241000251468 Actinopterygii Species 0.000 claims description 4
- 230000003592 biomimetic effect Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 2
- 239000004816 latex Substances 0.000 claims description 2
- 229920000126 latex Polymers 0.000 claims description 2
- 239000000741 silica gel Substances 0.000 claims description 2
- 229910002027 silica gel Inorganic materials 0.000 claims description 2
- 229920000049 Carbon (fiber) Polymers 0.000 claims 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims 1
- 241000211181 Manta Species 0.000 claims 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims 1
- 229910052782 aluminium Inorganic materials 0.000 claims 1
- 239000004917 carbon fiber Substances 0.000 claims 1
- 239000003638 chemical reducing agent Substances 0.000 claims 1
- 230000007797 corrosion Effects 0.000 claims 1
- 238000005260 corrosion Methods 0.000 claims 1
- 239000000835 fiber Substances 0.000 claims 1
- 230000001939 inductive effect Effects 0.000 claims 1
- 229910052744 lithium Inorganic materials 0.000 claims 1
- 239000000463 material Substances 0.000 claims 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims 1
- NFGXHKASABOEEW-LDRANXPESA-N methoprene Chemical compound COC(C)(C)CCCC(C)C\C=C\C(\C)=C\C(=O)OC(C)C NFGXHKASABOEEW-LDRANXPESA-N 0.000 claims 1
- 238000007789 sealing Methods 0.000 claims 1
- 230000000087 stabilizing effect Effects 0.000 claims 1
- 239000011664 nicotinic acid Substances 0.000 abstract description 8
- 230000005611 electricity Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 2
- 239000003973 paint Substances 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 239000002033 PVDF binder Substances 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 238000000819 phase cycle Methods 0.000 description 1
- 229920002981 polyvinylidene fluoride Polymers 0.000 description 1
- 230000009182 swimming Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/18—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing electrical output from mechanical input, e.g. generators
- H02N2/185—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing electrical output from mechanical input, e.g. generators using fluid streams
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The invention discloses a wave energy cruising type manta ray type AUV (autonomous Underwater vehicle), which is designed by taking Underwater creature as a bionic prototype, fixedly installing a water storage bin and two direct-current miniature diaphragm pumps (KPV14A-6A) in the middle of an AUV main body operation board through a water storage amount adjusting method, changing dead weight Underwater to realize dead weight adjustment of the AUV, and being matched with the fluctuation motion of pectoral fins to realize sinking and floating motion Underwater. Through adopting the fundamental principle of piezoelectric effect, wrap up the piezoelectric film outside every fin-ray, when bat type AUV utilizes pectoral fin to flutter the motion, the piezoelectric film attached to the fin-ray surface is under the effect between initiative flapping and the fluid, the surface produces the polarization phenomenon, can be through surrounding the energy transmission band on the fin-ray that moves along with it at this moment, thereby will produce by the electric charge transmission electric energy conversion device electricity generation by polarization, effectively improved bat type AUV's underwater cruising ability.
Description
Technical Field
The invention relates to the technical field of underwater bionic robots, in particular to an AUV (autonomous underwater vehicle) which simulates the appearance of a bat ray and generates power by utilizing wave energy.
Background
The blue territory covering three quarters of the surface of the touchdown ball is covered by the ocean, which not only stores more abundant food energy and mineral resources than the land, but also provides valuable channel and strategic space for the maritime transportation and military strategy of each country. The underwater robot plays a vital role in ocean development and utilization as an efficient underwater platform. The underwater propulsion technology is one of the key technologies of the underwater robot, and has been the focus of attention of domestic and foreign scientific research institutions. Due to the fact that the control complexity is large, most underwater robots are driven by propellers at present, the underwater robots have the problems of large size, poor stability, high noise, low efficiency and the like, and the problems are still obvious even under the low-speed condition. To better solve these problems, the principles of bionics can be applied to develop underwater robots for biomimetic fish. Because the motion of the bat ray has obvious advantages in the aspects of propulsion efficiency, turning maneuverability, swimming stability and the like, the lifting propulsion mode of the pectoral fin has obvious advantages, and the motion mode of the bat ray draws the attention of researchers.
The design of the existing bat ray type underwater bionic robot rarely relates to the implementation scheme that the bat ray floats upwards and downwards and hovers underwater; an implementation scheme for effectively utilizing novel environment-friendly energy and combining the configuration design of the bat ray is also lacked in the aspect of underwater cruising ability.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a configuration design for realizing floating and sinking and hovering in water by changing the dead weight, and the dead weight type manta ray type underwater bionic AUV can utilize wave energy to generate power.
The technical scheme adopted by the invention is as follows: the design of the device is that each fin ray and an energy transmission belt are arranged in parallel, the left end and the right end are provided with electric energy conversion devices, when the bat ray type AUV utilizes pectoral fin flapping motion, a piezoelectric film attached to the surface of the fin ray generates polarization phenomenon under the action between active flapping and fluid, and at the moment, electric charges generated by polarization can be transmitted to the electric energy conversion devices through the energy transmission belts surrounding the fin rays moving along with the piezoelectric film. The surface of the whole device is coated with the anticorrosive paint, so that the service life of the device is prolonged. Two layers of piezoelectric film PVDF are arranged inside the single-section wave power generation device, and an electrode is laid in the middle of the piezoelectric film. Energy converters are arranged on the inner sides of two ends of the single-section fin ray to convert piezoelectric energy into stable current. A cable and a pile leg cable are arranged at one end of the fin ray far away from the bat ray main body, and a power transmission line is arranged in the cable and can transmit electric energy to a fixed power supply end on the mounting plate. Therefore, the bionic auxiliary propulsion mechanism device which converts wave energy into mechanical energy is realized.
Compared with the prior art, the bionic manta ray type underwater AUV has the advantages that the piezoelectric film is designed and installed on the fin strip while the flexible pectoral fin of the manta ray type underwater bionic AUV is used for actively flapping and is coupled with fluid, so that power generation by using clean energy, namely wave energy is realized, and the underwater cruising ability of the robotic fish is effectively improved.
Drawings
Fig. 1 is a two-dimensional view of a configuration of a wave-energy cruising type manta ray type AUV.
Fig. 2 shows a fin design of a wave energy endurance type manta ray type AUV utilizing a wave energy power generation device.
Fig. 3 is a three-dimensional diagram of a piezoelectric film structure designed by the wave-energy endurance manta ray type AUV.
Fig. 4 is a two-dimensional view of a wave energy endurance manta ray type AUV.
In the figure: the device comprises a water suction pump (1), a motor fixing clamp (2), a motor (3), a flexible pectoral fin (4), a fin line (5), a power control panel (6), a water storage bin (7), a mounting platform (8), an electric energy conversion device (9), an energy transmission belt (10), an electric energy conversion device (11), a fin line (12), an electrode film (13), an electrode (14) and a shell (15).
Detailed Description
The present invention will be described in further detail with reference to fig. 1.
The first embodiment is as follows: as shown in fig. 1, a wave energy endurance type manta ray type AUV, the specific appearance design idea is: the whole body is in a flat shape, the thickness of the body part is higher than that of the pectoral fins, the pectoral fins are triangular-like, the front edges of the pectoral fins are convex, the rear edges of the pectoral fins are concave, the left pectoral fins and the right pectoral fins are geometrically and symmetrically formed into the shape outline, the flat outline with better stability and the torpedo-shaped outline 15 with better resistance performance are combined, and the longitudinal section is designed into an airfoil structure with different main body part airfoils and the same pectoral fin part airfoil shape in consideration of the requirement of installing modules in the main body. The design completion front view is shown in fig. 4.
The second embodiment is as follows: in the design of the pectoral fin part, the bat ray is mainly applied to drive the fin surface 4 in a form of moving the fin strip 5, and a plurality of rigid fin strips are adopted to drive the fin surface of the flexible silica gel plate to move with a certain initial phase difference, so that the specific fluctuation motion of the fin surface is realized. Five fin rays designed on the unilateral pectoral fins are arranged at equal angles according to a certain distance from front to back. Each fin ray is driven by an independent motor 3, the motor is fixed by a motor fixing clamp 2 and can independently receive instructions of a control system, the amplitude, the frequency and the phase sequence required by the pectoral fin wave motion are realized, and finally the wave motion of the bionic pectoral fin is realized.
The third concrete implementation mode: a water storage bin 7 and two direct-current miniature diaphragm water pumps (KPV14A-6A)1 are fixedly installed in the middle of an installation platform of a wave energy endurance type manta ray type AUV, one port of each miniature water pump is connected with the water storage bin through a latex tube, the other port of each miniature water pump is connected with the outside through a main body operation panel opening, two functions of external water absorption and water drainage from a water bag can be realized by controlling the independent work of the two water pumps, and the water storage capacity in the water bag is adjusted. The dead weight of the AUV can be controlled by adjusting the water storage amount, so that the underwater sinking and floating can be adjusted.
The fourth concrete implementation mode: according to the wave energy endurance type manta ray type AUV, each fin 5 and an energy transmission band 10 are arranged in parallel, the left end and the right end of each fin are provided with an electric energy conversion device 9, when the manta ray type AUV performs flapping motion by utilizing pectoral fins, an electrode film 13 attached to the surfaces of the fins generates a polarization phenomenon under the action of active flapping and fluid, and at the moment, electric charges generated by polarization can be transmitted to the electric energy conversion devices through the energy transmission bands surrounding the fins moving along with the surfaces of the fins. The surface of the whole device is coated with the anticorrosive paint, so that the service life of the device is prolonged. The wave energy power generation device comprises two piezoelectric film PVDF13 layers inside, and an electrode 14 is laid in the middle of the piezoelectric film. Energy converters are arranged on the inner sides of two ends of the single-section fin ray to convert piezoelectric energy into stable current. A cable and a pile leg cable are arranged at one end of the fin ray far away from the bat ray main body, and a power transmission line is arranged in the fin ray and can transmit electric energy to a power supply control board battery 6.
Claims (7)
1. The utility model provides a wave energy continuation of journey type bat ray formula AUV based on motor drive which characterized in that: the main part board of machine fish, main part board appearance is the streamline shape of imitative bat ray appearance has mainly included: the water pump comprises a water suction pump (1), a motor fixing clamp (2), a motor (3), a sinking and floating adjusting mechanism, a connecting unit (5), a fixed power supply (6), a water storage bin (7), a control cable, a screw hole and a speed reducer; the mounting platform (8) is formed by processing a thicker rigid aluminum plate, and is provided with screw holes in array arrangement, and the screw holes are used for mounting the motor (3), the fixed power supply (6) and the control cable and forming a circuit; a sinking and floating adjusting device is designed and installed on the installation platform (8); the flexible wave pectoral fin propulsion mechanism mainly comprises a wave energy underwater power generation device (6), a flexible pectoral fin surface, an energy transmission belt (10), an electric energy conversion device (11), a fin line (12), an electrode film (13) and 704, and silica gel sealing.
2. The fixed power supply (6) of claim 1, wherein: the power supply of the control circuit board adopts two lithium battery rechargeable batteries with the capacity of 800mAh and the power supply voltage of 7.4V, stable 5V input voltage is provided for the circuit board through an 8-ampere external switching power supply voltage stabilizing device (UBEC), and the battery capacity can ensure that the pectoral fin driving motor of the robotic fish and the control circuit board continuously work for 40 minutes.
3. The sinking-floating adjustment mechanism according to claim 1, wherein: two direct-current micro diaphragm water pumps (KPV14A-6A) (1), a latex water pipe and a water storage bin (7) are designed and installed on the installation platform (8), and a chip of the L9110SC is used as a driver of a motor to drive, so that the work of the sinking and floating adjusting mechanism is controlled, and the self-weight of the sinking and floating adjusting mechanism is adjusted to achieve the purpose of realizing autonomous sinking and floating underwater.
4. The biomimetic fin-shaped fin (12) of claim 1, wherein: in order to ensure the strength, corrosion resistance, high modulus, easy processing and other characteristics of the fin, the configuration design selects the pectoral fin material as carbon fiber, in order to enable the back fin of the bat ray to generally present a complete sine waveform, the wave energy endurance type bat ray type AUV configuration design selects 10 fin lines, and the fin lines are arranged from front to back at equal intervals, the lengths of the fin lines are different according to the change of the unfolding width of the pectoral fin, the fin lines are fixed on an output shaft disc through screws, the fin lines and the fin surfaces are fixed through fiber ropes so as to be convenient to disassemble and assemble, the follow-up of the fin surfaces at the rear edge of the fin is ensured, certain redundancy is required to be reserved on the fin surfaces between the adjacent fin lines, and the fin lines are not limited when swinging.
5. The chip of L9110SC as a driver drive for a motor as claimed in claim 3, wherein: the chip has large direct current driving capability, each channel can pass through a continuous circuit of 750 mA-800 mA, the peak current capability can reach 1.5A-2A, and the chip also has the functions of over-temperature protection and releasing inductive load reverse impact current.
6. The biomimetic fin-shaped fin (12) of claim 4, wherein: when the bat ray type AUV uses pectoral fin flapping motion, the wave energy power generation device (9) attached to the surface of the fin ray comprises an electrode film (13) under the action between active flapping and fluid, the surface generates polarization phenomenon, at the moment, electric charges generated by polarization can be transmitted to an electric energy conversion device through an energy transmission belt (10) surrounding the fin ray moving along with the polarization phenomenon, the electric energy conversion device is arranged on the inner sides of the two ends of the fin ray, piezoelectric energy is converted into stable current, and therefore power generation and utilization of wave energy are achieved.
7. The manta ray-type biomimetic AUV of claim 4, wherein: the overall partial appearance of the bat ray type AUV is a streamline imitating the appearance of a bat ray.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110397938.1A CN113815820A (en) | 2021-04-14 | 2021-04-14 | Wave energy endurance type manta ray type AUV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110397938.1A CN113815820A (en) | 2021-04-14 | 2021-04-14 | Wave energy endurance type manta ray type AUV |
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| Publication Number | Publication Date |
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| CN113815820A true CN113815820A (en) | 2021-12-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110397938.1A Withdrawn CN113815820A (en) | 2021-04-14 | 2021-04-14 | Wave energy endurance type manta ray type AUV |
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| Country | Link |
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| CN (1) | CN113815820A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114715365A (en) * | 2022-05-03 | 2022-07-08 | 西南石油大学 | Underwater suspension butterfly type internal wave monitoring and power generation integrated device and method |
| CN114889788A (en) * | 2022-06-06 | 2022-08-12 | 常州工学院 | Bionic bat ray |
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| US6082671A (en) * | 1998-04-17 | 2000-07-04 | Georgia Tech Research Corporation | Entomopter and method for using same |
| US20120329345A1 (en) * | 2011-06-27 | 2012-12-27 | John Hincks Duke | Wave-powered autonomous plankton collector |
| CN102923286A (en) * | 2012-10-30 | 2013-02-13 | 北京航空航天大学 | Intelligent material IMPC-based manta ray-simulated underwater vehicle |
| CN108298046A (en) * | 2017-12-20 | 2018-07-20 | 成都正光恒电子科技有限责任公司 | A kind of flapping wing type bionic underwater robot |
| CN110304222A (en) * | 2019-06-26 | 2019-10-08 | 河海大学常州校区 | A kind of bionical devil ray of self generation type based on IPMC driving |
| CN110329470A (en) * | 2019-07-25 | 2019-10-15 | 上海海洋大学 | Bionic flexible line based on the detection of aquafarm underwater environment drives devil ray |
| CN112093018A (en) * | 2020-09-27 | 2020-12-18 | 青岛海洋科学与技术国家实验室发展中心 | Bionic bat ray robot |
-
2021
- 2021-04-14 CN CN202110397938.1A patent/CN113815820A/en not_active Withdrawn
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6082671A (en) * | 1998-04-17 | 2000-07-04 | Georgia Tech Research Corporation | Entomopter and method for using same |
| US20120329345A1 (en) * | 2011-06-27 | 2012-12-27 | John Hincks Duke | Wave-powered autonomous plankton collector |
| CN102923286A (en) * | 2012-10-30 | 2013-02-13 | 北京航空航天大学 | Intelligent material IMPC-based manta ray-simulated underwater vehicle |
| CN108298046A (en) * | 2017-12-20 | 2018-07-20 | 成都正光恒电子科技有限责任公司 | A kind of flapping wing type bionic underwater robot |
| CN110304222A (en) * | 2019-06-26 | 2019-10-08 | 河海大学常州校区 | A kind of bionical devil ray of self generation type based on IPMC driving |
| CN110329470A (en) * | 2019-07-25 | 2019-10-15 | 上海海洋大学 | Bionic flexible line based on the detection of aquafarm underwater environment drives devil ray |
| CN112093018A (en) * | 2020-09-27 | 2020-12-18 | 青岛海洋科学与技术国家实验室发展中心 | Bionic bat ray robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114715365A (en) * | 2022-05-03 | 2022-07-08 | 西南石油大学 | Underwater suspension butterfly type internal wave monitoring and power generation integrated device and method |
| CN114715365B (en) * | 2022-05-03 | 2023-03-07 | 西南石油大学 | Underwater suspension butterfly type internal wave monitoring and power generation integrated device and method |
| CN114889788A (en) * | 2022-06-06 | 2022-08-12 | 常州工学院 | Bionic bat ray |
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Application publication date: 20211221 |