CN102556311B - Deformable bionic power conversion impeller by means of fin undulation and hydraulic volumetric difference - Google Patents
Deformable bionic power conversion impeller by means of fin undulation and hydraulic volumetric difference Download PDFInfo
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- CN102556311B CN102556311B CN201210039675.8A CN201210039675A CN102556311B CN 102556311 B CN102556311 B CN 102556311B CN 201210039675 A CN201210039675 A CN 201210039675A CN 102556311 B CN102556311 B CN 102556311B
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- oil cylinder
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Abstract
A deformable bionic power conversion impeller by means of fin undulation and hydraulic volumetric difference comprises two completely identical fish-shaped oil cylinder assembly bodies, two completely identical framework assembly bodies, a hull, a flexible tail fin and two completely identical foldable telescopic oil cylinders for power conversion. Oil cylinders of the fish-shaped oil cylinder assembly bodies and the oil cylinders for power conversion are respectively in bilateral symmetry and are fixedly connected to two sides of the hull respectively through screws so that two completely communicated from heads to tails and completely independent sealing oil cavities are formed, the two sealing oil cavities are vertically restrained by the framework assembly bodies which are connected by retrofitting chains, liquid is filled into the oil cavities, and the two oil cylinders for power conversion are alternately squeezed and stretched with any power capable of generating alternate reciprocation of two straight lines and meeting the load requirements. The power conversion impeller is capable of generating impelling force by simulating undulation of the tail fin of an underwater creature, and load and undulation amplitude of the impeller can be controlled by changing magnitude and speed of power output. Turning can be controlled by changing mutual positions of acting neutral points of the power.
Description
Technical field
The present invention is mainly concerned with the design field of bionical submersible propellers, refers in particular to a kind of hydraulic volume difference deformation bionical fluctuation fin power converter.
Background technology
At present, some scientific research institutions launch about aquatic organism both at home and abroad, as the research of the long flexible fin surge movement of fishes such as " sharks ", and develop the experimental set-up of this surge movement of simulation, carry out the underwater propulsion test of such device, confirmed that surge movement has obvious low disturbance characteristic.But these experimental set-ups exist some defects, though as being simulation compliant motion, a lot of place have employed rigid mechanism, complex structure in fact, controls loaded down with trivial details, and manufacture difficulty and productive costs are all very large, are difficult to walk out laboratory and enter practical application.
Summary of the invention
The problem to be solved in the present invention is just: the technical matters existed for prior art, the invention provides a kind of simple and compact for structure, principle simple, under two the reciprocating external force of alternating rectilinear, can under Simulated Water bio-flexible tail fin surge movement, come control wave dynamic frequency and fluctuating range by the length of the speed and distance that change external force motion, and just can be realized the poor deformation of the hydraulic volume bionical fluctuation fin power converter of turning by the relative position of change alternating movement external force.
In order to solve the problems of the technologies described above, the solution that the present invention proposes is: a kind of hydraulic volume difference deformation bionical fluctuation fin power conversion pusher, it is characterized in that: it comprises two groups of identical fish body oil cylinder assemblies, two groups of identical skeleton assemblies, hull, flexible caudal fin, and the oil cylinder of the folding type telescopic of two identical switching kinetics, described two groups of fish body oil cylinder assemblies are symmetrical, head is fixedly connected with outside hull, afterbody is fixedly connected with flexible caudal fin, described two groups of skeleton assemblies are symmetrical up and down, link outside head and hull, afterbody links with flexible caudal fin, described fish body oil cylinder assembly is joined end to end by the oil cylinder of more than one single-unit folding type telescopic and forms, described skeleton assembly is linked by more than one single-unit skeleton and forms, the single-unit skeleton of described two groups of skeleton assemblies is fixedly connected with the oil cylinder of the single-unit folding type telescopic of two groups of fish body oil cylinder assemblies, the oil cylinder of the folding type telescopic of described two switching kinetics is symmetrical to be fixedly connected with inside hull, the oil cylinder of the folding type telescopic of described two switching kinetics comprises the oil cylinder of the folding type telescopic of switching kinetics, sealing plug cock, the oil cylinder of the folding type telescopic of described two switching kinetics and two groups of fish body oil cylinder assemblies by with being fixedly connected with of hull, form the completely through completely independently seal oil chamber again of two head and the tail.
Compared with prior art, the invention has the advantages that: (1) the present invention have developed a kind of can the device of the surge movement of bio-flexible tail fin under Simulated Water, this device can be converted into propelling thrust or the manipulation moment of the surge movement of flexible caudal fin under water with the Power output of sailing device on water, this apparatus structure is compact, control simple, good seal performance, has very strong transplantability.(2) the present invention can produce two straight line alternate reciprocating motion any, and the power of loading demand can be met, can be converted to propelling thrust or the manipulation moment of the surge movement of flexible caudal fin by this device, have the advantages that noiselessness, fast response time, action are flexible.(3) the present invention by changing size and the speed of Power output, just can realize the load and the fluctuating range that control whole device.(4) the present invention is by the position toward each other, front and back of change two Power output acting neutrals, just can realize controlling the turning of this device in water, (5) as long as this device is by the position each other of the acting neutral of change two straight line alternate reciprocating motion power, just Servo Control can be realized.
Accompanying drawing explanation
Fig. 1 is the structural representation of hydraulic volume of the present invention difference deformation bionical fluctuation fin power conversion pusher;
Fig. 2 is the overall blast assembling schematic diagram of apparatus of the present invention;
Fig. 3 is the assembling explosive decomposition schematic diagram of the fish body oil cylinder assembly in apparatus of the present invention;
Fig. 4 is the fish body oil cylinder assembly schematic diagram in apparatus of the present invention;
Fig. 5 is the assembling explosive decomposition schematic diagram of the skeleton assembly in apparatus of the present invention;
Fig. 6 is the skeleton assembly schematic diagram in apparatus of the present invention;
Fig. 7 is the full generalized section of folding type telescopic oil cylinder of the switching kinetics in apparatus of the present invention;
Fig. 8 is the full generalized section of the single-unit folding type telescopic oil cylinder in apparatus of the present invention;
Marginal data:
1, the oil cylinder of the folding type telescopic of hull 2, switching kinetics
3, plug cock 4, fish body oil cylinder assembly
5, skeleton assembly 6, flexible caudal fin
7, the oil cylinder of oil cylinder 8, the second single-unit folding type telescopic of the first single-unit folding type telescopic
9, the oil cylinder 10 of the 3rd single-unit folding type telescopic, the oil cylinder of the 4th single-unit folding type telescopic
11, oil cylinder 12, the first single-unit skeleton of minor details folding type telescopic
13, the second single-unit skeleton 14, the 3rd single-unit skeleton
15, the 4th single-unit skeleton 16, minor details single-unit skeleton
17, bearing pin
Detailed description of the invention
Below with reference to accompanying drawing and instantiation, the present invention is described in further details.
As shown in Figure 2, hydraulic volume difference deformation of the present invention bionical fluctuation fin power conversion pusher, it comprises two groups of identical fish body oil cylinder assemblies 4, two groups of identical skeleton assemblies 5, hull 1, flexible caudal fin 6, and the oil cylinder 2 of the folding type telescopic of two identical switching kinetics, described two groups of fish body oil cylinder assemblies 4 are symmetrical, head is connected with being screwed outside hull 1, afterbody is screwed with flexible caudal fin 6 and is connected, described two groups of skeleton assemblies about 5 are symmetrical, linked by bearing pin 17 outside head and hull 1, afterbody is linked by bearing pin 17 with flexible caudal fin 6, the oil cylinder 2 of the folding type telescopic of described two switching kinetics is symmetrical to be connected with being screwed inside hull 1, described fish body oil cylinder assembly 4 is see Fig. 3, by the oil cylinder 7 of the first single-unit folding type telescopic, the oil cylinder 8 of the second single-unit folding type telescopic, the oil cylinder 9 of the 3rd single-unit folding type telescopic, the oil cylinder 10 of the 4th single-unit folding type telescopic, and the oil cylinder 11 of minor details folding type telescopic joins end to end and is screwed Connecting groups adult fish body oil cylinder assembly 4 see Fig. 4, described skeleton assembly 5 is see Fig. 5, by the first single-unit skeleton 12, second single-unit skeleton 13, 3rd single-unit skeleton 14, 4th single-unit skeleton 15 and minor details single-unit skeleton 16 form skeleton assembly 5 see Fig. 6 by bearing pin 17 link, first single-unit skeleton 12 of described two groups of skeleton assemblies 5 to be screwed with the fixed connection place of the oil cylinder 8 of the second single-unit folding type telescopic at the oil cylinder 7 of the first single-unit folding type telescopic of two groups of fish body oil cylinder assemblies and to be connected, second single-unit skeleton 13 of described two groups of skeleton assemblies 5 to be screwed with the fixed connection place of the oil cylinder 9 of the 3rd single-unit folding type telescopic at the oil cylinder 8 of the second single-unit folding type telescopic of two groups of fish body oil cylinder assemblies and to be connected, 3rd single-unit skeleton 14 of described two groups of skeleton assemblies 5 to be screwed with the fixed connection place of the oil cylinder 10 of the 4th single-unit folding type telescopic at the oil cylinder 9 of the 3rd single-unit folding type telescopic of two groups of fish body oil cylinder assemblies and to be connected, 4th single-unit skeleton 15 of described two groups of skeleton assemblies 5 to be screwed with the fixed connection place of the oil cylinder 11 of minor details folding type telescopic at the oil cylinder 10 of the 4th single-unit folding type telescopic of two groups of fish body oil cylinder assemblies and to be connected, the minor details single-unit skeleton 16 of described two groups of skeleton assemblies 5 to be screwed with the fixed connection place of flexible caudal fin 6 at the oil cylinder 11 of the minor details folding type telescopic of two groups of fish body oil cylinder assemblies and to be connected, finally be assembled into the structure of hydraulic volume difference deformation of the present invention bionical fluctuation fin power conversion pusher as shown in Figure 1, the top of the oil cylinder 2 of the folding type telescopic of described two switching kinetics has oil hole, the oil cylinder 2 of the folding type telescopic of described two switching kinetics and two groups of fish body oil cylinder assemblies 4 by with being fixedly connected with of hull, form the completely through completely independently seal oil chamber again of two head and the tail, the liquid such as oils or water of appropriate good flowing properties is dosed in two seal oil chambers, ensure that the oil cylinder of the folding type telescopic of switching kinetics can stretch and use sealing plug cock 3 sealed oil-filling hole under compressible intermediateness, the structure of having assembled is see Fig. 1.
Fish body oil cylinder assembly 4 according to actual requirement hydraulic volume of the present invention difference deformation bionical fluctuation fin power conversion pusher can be by n=1,2,3,, the oil cylinder of each single-unit folding type telescopic assembles, and the oil cylinder of single-unit folding type telescopic also can change the size of its cross-sectional area according to different velocities of wave motion and amplitude.
The folding type telescopic oil cylinder of switching kinetics see the oil cylinder of Fig. 7 and single-unit folding type telescopic see Fig. 8, the materials such as available rubber add grid type muscle line, both ends of the surface add the flange end cap cast of good rigidly or other molding modes make the cylinder body of folding type telescopic, become can stretch, oil cylinder that bending but each cross-sectional area of the telescopic folded part of cylinder body only has the folding type telescopic of small elastic deformation.
Principle of work: when there being the power of two straight line alternate reciprocating motion to do Power output to the oil cylinder 2 of two switching kinetics, the oil cylinder 2 of the switching kinetics on the left of the power in left side extrudes forward, the power on right side stretch backward the oil cylinder 2 of switching kinetics on right side time, the oil cylinder of each single-unit folding type telescopic of left side fish body oil cylinder assembly produces because in-oil cylinder oil mass increases and stretches, the oil cylinder of each single-unit folding type telescopic of right side fish body oil cylinder assembly produces compression because in-oil cylinder oil mass reduces, but under the constraint that each skeleton links, two groups of fish body oil cylinder assemblies 4 drive self and flexible caudal fin 6 to produce the action of flexural oscillations to the right, and the power working as right side extrudes forward the oil cylinder 2 of right side switching kinetics, the power in left side stretch backward the oil cylinder 2 of switching kinetics in left side time, the oil cylinder of each single-unit folding type telescopic of right side fish body oil cylinder assembly produces because in-oil cylinder oil mass increases and stretches, when the oil cylinder of each single-unit folding type telescopic of left side fish body oil cylinder assembly produces compression because in-oil cylinder oil mass reduces, under the constraint that each skeleton links, two groups of fish body oil cylinder assemblies 4 drive self and flexible caudal fin 6 to produce the action of flexural oscillations to the left, power swings back and forth about alternately back and forth exporting and will making this device, thus form imitation aquatic organism tail fin surge movement generation propelling thrust.
The size of this device fluctuating range, depend on the distance length that power does work, the distance of acting, the cylinder internal volume change of two groups of fish body oil cylinder groups is many, and distortion is large, device amplitude of fluctuation is also just large, and the speed of this device oscillation frequency just depends on the speed that power does work, the speed of acting is fast, and this device oscillation frequency is just fast, the speed of acting is slow, and this device oscillation frequency is just slow.
As long as the Servo Control of this device changes the position toward each other, front and back of the acting neutral of two straight line alternate reciprocating motion power, just can realize, namely when the neutral of left side power moves forward, the neutral of right side power retreats, when there is no Power output, volume on the left of this device in fish body oil cylinder assembly 4 cylinder is greater than the volume on right side, this device position case of bending to the right, under this kind of state, to the oil cylinder 2 of two switching kinetics with the Power output of identical work distance, this device will center curve in the bent state swing, realization bends to right, otherwise operation realizes turning left.
Claims (5)
1. a hydraulic volume difference deformation bionical fluctuation fin power conversion pusher, it is characterized in that: it comprises two groups of identical fish body oil cylinders assembly (4), two groups of identical skeleton assemblies (5), hull (1), flexible caudal fin (6), and the oil cylinder of the folding type telescopic of two identical switching kinetics (2), described two groups of fish body oil cylinders assembly (4) are symmetrical, head is screwed with hull (1) outside and is connected, afterbody is screwed with flexible caudal fin (6) and is connected, described two groups of skeleton assemblies (5) are symmetrical up and down, head is linked by bearing pin (17) with hull (1) outside, afterbody is linked by bearing pin (17) with flexible caudal fin (6), symmetrical being screwed with hull (1) inner side of the oil cylinder (2) of the folding type telescopic of described two switching kinetics is connected, described fish body oil cylinder assembly (4) is by the oil cylinder (7) of the first single-unit folding type telescopic, the oil cylinder (8) of the second single-unit folding type telescopic, the oil cylinder (9) of the 3rd single-unit folding type telescopic, the oil cylinder (10) of the 4th single-unit folding type telescopic, and the oil cylinder of minor details folding type telescopic (11) joins end to end to be screwed and connects to form, described skeleton assembly (5) is by the first single-unit skeleton (12), second single-unit skeleton (13), 3rd single-unit skeleton (14), 4th single-unit skeleton (15) and minor details single-unit skeleton (16) are formed by bearing pin (17) link, first single-unit skeleton (12) of described two groups of skeleton assemblies (5) to be screwed with the fixed connection place of the oil cylinder (8) of the second single-unit folding type telescopic at the oil cylinder (7) of the first single-unit folding type telescopic of two groups of fish body oil cylinder assemblies and to be connected, second single-unit skeleton (13) of described two groups of skeleton assemblies (5) to be screwed with the fixed connection place of the oil cylinder (9) of the 3rd single-unit folding type telescopic at the oil cylinder (8) of the second single-unit folding type telescopic of two groups of fish body oil cylinder assemblies and to be connected, 3rd single-unit skeleton (14) of described two groups of skeleton assemblies (5) to be screwed with the fixed connection place of the oil cylinder (10) of the 4th single-unit folding type telescopic at the oil cylinder (9) of the 3rd single-unit folding type telescopic of two groups of fish body oil cylinder assemblies and to be connected, 4th single-unit skeleton (15) of described two groups of skeleton assemblies (5) to be screwed with the fixed connection place of the oil cylinder (11) of minor details folding type telescopic at the oil cylinder (10) of the 4th single-unit folding type telescopic of two groups of fish body oil cylinder assemblies and to be connected, the minor details single-unit skeleton (16) of described two groups of skeleton assemblies (5) to be screwed with the fixed connection place of flexible caudal fin (6) at the oil cylinder (11) of the minor details folding type telescopic of two groups of fish body oil cylinder assemblies and to be connected, the top of the oil cylinder (2) of the folding type telescopic of described two switching kinetics has oil hole, the oil cylinder (2) of the folding type telescopic of described two switching kinetics and two groups of fish body oil cylinders assembly (4) by with being fixedly connected with of hull, form the completely through completely independently seal oil chamber again of two head and the tail, oils or the water of appropriate good flowing properties is dosed in two seal oil chambers, ensure that the oil cylinder of the folding type telescopic of switching kinetics can stretch and use sealing plug cock (3) sealed oil-filling hole under compressible intermediateness, finally be assembled into the structure of hydraulic volume difference deformation bionical fluctuation fin power conversion pusher.
2. hydraulic volume difference deformation according to claim 1 bionical fluctuation fin power conversion pusher, it is characterized in that: the oil cylinder (2) of the folding type telescopic of described switching kinetics and the oil cylinder (7,8,9,10,11) of single-unit folding type telescopic, grid type muscle line is added with elastomeric material, the cylinder body of folding type telescopic is made in the flange end cap cast that both ends of the surface add good rigidly, become can stretch, oil cylinder that bending but each cross-sectional area of the telescopic folded part of cylinder body only has the folding type telescopic of small elastic deformation.
3. hydraulic volume difference deformation according to claim 1 bionical fluctuation fin power conversion pusher, it is characterized in that: this power conversion pusher can produce two straight line alternate reciprocating motion any, and the power of loading demand can be met, can be converted to propelling thrust or the manipulation moment of the surge movement of flexible caudal fin by this device.
4. hydraulic volume difference deformation according to claim 1 bionical fluctuation fin power conversion pusher, it is characterized in that: this power conversion pusher by changing the size of Power output and the speed of frequency, just can realize the load and the fluctuating range that control power conversion pusher.
5. hydraulic volume difference deformation according to claim 1 bionical fluctuation fin power conversion pusher, it is characterized in that: as long as this power conversion pusher is by the position each other of the acting neutral of change two straight line alternate reciprocating motion power, just can realize Servo Control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210039675.8A CN102556311B (en) | 2012-02-21 | 2012-02-21 | Deformable bionic power conversion impeller by means of fin undulation and hydraulic volumetric difference |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210039675.8A CN102556311B (en) | 2012-02-21 | 2012-02-21 | Deformable bionic power conversion impeller by means of fin undulation and hydraulic volumetric difference |
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| CN102556311A CN102556311A (en) | 2012-07-11 |
| CN102556311B true CN102556311B (en) | 2015-02-18 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102975837B (en) * | 2012-12-12 | 2014-12-10 | 深圳市中科莲花净水科技有限公司 | Line-driven multi-joint underwater vector propulsion device and bionic body thereof |
| CN104554682B (en) * | 2015-01-28 | 2017-02-22 | 中国科学技术大学 | Area-controllable underwater bionic propelling device |
| CN106927000B (en) * | 2017-03-06 | 2019-02-26 | 浙江大学 | Transformation compound bending module, S type advance around module and soft robot |
| CN108583827A (en) * | 2018-04-18 | 2018-09-28 | 佛山伊贝尔科技有限公司 | A kind of soft robot equipped with micro-air compressor |
| CN111959730B (en) * | 2020-07-09 | 2021-12-31 | 浙江大学 | Bionic fishtail propelling mechanism |
| CN111959726B (en) * | 2020-08-12 | 2022-05-20 | 青岛海洋科学与技术国家实验室发展中心 | Flexible tail fin hybrid drive underwater glider |
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| CN1283571A (en) * | 2000-08-08 | 2001-02-14 | 刘毅 | Oscillation-type drive paddle with swing joint structure |
| CN1586990A (en) * | 2004-08-12 | 2005-03-02 | 上海交通大学 | Flexible propelling mechanism of artificial machine fish |
| CN101033000A (en) * | 2007-04-28 | 2007-09-12 | 哈尔滨工程大学 | Multi-joint fluctuation-propulsion fish-shape robot |
| JP2008044545A (en) * | 2006-08-18 | 2008-02-28 | Mhi Solution Technologies Co Ltd | Fish-shaped robot |
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2012
- 2012-02-21 CN CN201210039675.8A patent/CN102556311B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1283571A (en) * | 2000-08-08 | 2001-02-14 | 刘毅 | Oscillation-type drive paddle with swing joint structure |
| CN1586990A (en) * | 2004-08-12 | 2005-03-02 | 上海交通大学 | Flexible propelling mechanism of artificial machine fish |
| JP2008044545A (en) * | 2006-08-18 | 2008-02-28 | Mhi Solution Technologies Co Ltd | Fish-shaped robot |
| CN101033000A (en) * | 2007-04-28 | 2007-09-12 | 哈尔滨工程大学 | Multi-joint fluctuation-propulsion fish-shape robot |
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