CN104554682B - Area-controllable underwater bionic propelling device - Google Patents
Area-controllable underwater bionic propelling device Download PDFInfo
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- CN104554682B CN104554682B CN201510044965.5A CN201510044965A CN104554682B CN 104554682 B CN104554682 B CN 104554682B CN 201510044965 A CN201510044965 A CN 201510044965A CN 104554682 B CN104554682 B CN 104554682B
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Abstract
The invention discloses an area-controllable underwater bionic propelling device. The device comprises a bionic propelling device body, a window opening device, a slider guide rail and a slider connection device. A plurality of windows are formed in an acting plane of the bionic propelling device body. The window opening device is movably connected with the bionic propelling device body and is used for shielding partial or complete area of all the windows in the bionic propelling device body. One end of the slider guide rail is connected with one end, connected with the bionic propelling device body, of the window opening device, wherein a slider is arranged on the slider guide rail. A slider connector at one end of the slider connection device is arranged in a guide rail body of the slider guide rail, and the other end of the slider connection device is fixedly connected to a movable rod. The area of the bionic propelling device can be changed automatically in a movement cycle during motion of a robot, so that propelling performance is improved, and an optimal propelling state is achieved.
Description
Technical field
The invention belongs to intelligent robot technology field is and in particular to one kind can control underwater bionic coatings device
Area change, thus improve the device of propulsive performance.
Background technology
Underwater environment residing for bionical submariner device is extremely complex, is in particular in：(1) underwater environment is a kind of three-dimensional ring
Border, has the obstacles such as mountains and rivers, Corallium Japonicum Kishinouye, cave and pasture and water, and the therefore mobility for aquatic bionic submariner device proposes very
High requirement；(2) in water, environment flowing is more complicated, for river, both there is fixing water (flow) direction, there is also dark simultaneously
Stream and whirlpool, for sea water, also larger stormy waves and tide.Therefore bionical submariner device needs there is higher propulsion speed
Degree and propulsive force are stranded and prominent anti-to prevent.
Under so complicated underwater environment, aquatic bionic submariner device will possess propelled at high velocity ability to complete efficiently to grow boat
Journey is cruised, high-performance cruise, prominent anti-motor-driven, stablize the multiple-tasks such as operation, the bionic coatings device of traditional fixed-area is very difficult
Reach optimal propulsive performance to require.
The change of bionic coatings device area influences whether movement needs and the propulsive performance of robot.Ordinary circumstance
Under, the area of propulsion plant is bigger, and produced power will be bigger.Bionic coatings device, in the swing in each cycle, can be given
One active force of water, and water then can give bionic coatings device counteracting force, this counteracting force is in some stages in cycle of flapping
Identical with robot direct of travel, then contrary with robot direct of travel in some stages.Traditional underwater bionic robot pushes away
It is all fixing for entering device area, and such device can only keep single area in the motion in each cycle of robot, and pushes away
Enter in the swing in each cycle of device, water is proportional to area to the counteracting force of propulsive mechanism, and it is contrary for direction of propulsion
The active force in direction makes the propulsive performance of robot relatively low it is difficult to reach optimal propulsion effect.
Content of the invention
The invention aims to solving above-mentioned problems of the prior art, enable bionic coatings device in trip
By changing area in each cycle of disorder of internal organs, adjustment water is big with reverse active force in the same direction to bionic coatings device direction of propulsion
Little, effectively improve its propulsive performance.A kind of controlled aquatic bio-propulsion device of area proposed by the present invention can be transported in robot
While dynamic, in a cycle, automatically change the area of bionic coatings device, so that being beneficial to what positive propulsive force produced
Cycle area increases, and is unfavorable for that the cycle propulsion area that positive propulsive force produces reduces, thus improving pushing away of a cycle of flapping
Enter ability.
A kind of controlled aquatic bio-propulsion device of area proposed by the present invention includes：Bionic coatings apparatus main body, windowing dress
Put, slide block guide rail and slide block connector, wherein：Multiple windows are offered in the action plane of described bionic coatings apparatus main body
Mouthful；Described windowing facility is flexibly connected with bionic coatings apparatus main body, is used for blocking and owns on described bionic coatings apparatus main body
The part or all of area of window；One end of described slide block guide rail is connected the one of described bionic coatings apparatus main body with windowing facility
End connects, and wherein, described slide block guide rail is provided with guide rail；The slide block joint of described slide block connector one end is placed in described cunning
In the guide rail of block guide rail, the other end is fixedly connected on moveable rod member.
Alternatively, described bionic coatings apparatus main body is in Biomimetic Fish Fin shape.
Alternatively, described flexible connection connects for rotating connection, left and right translation connection or upward-downward translation.
Alternatively, the shape phase of the shape of described window one end outside main body and described bionic coatings apparatus main body
Seemingly.
Alternatively, the shape of adjacent window apertures zone line is similar to the shape of described window.
Alternatively, described windowing facility is similar to the shape of described bionic coatings apparatus main body windowing part.
Alternatively, described windowing facility includes multiple branches, and the shape of each branch is similar to the shape of single window, and
The quantity of described branch is identical with the quantity of window.
Alternatively, described rod member can move in vertical direction or in horizontal direction, and then drives described windowing dress
Put and rotated.
The controlled bionic coatings device of area of the present invention improves its propulsive performance by the change of area under the period of motion.?
In a cycle, water to the counteracting force of bionic coatings device identical with robot direct of travel when, can be by bionic coatings device
Area become maximum, that is, all windowing is closed, and now has the propulsive force of maximum；And work as the anti-work to bionic coatings device for the water
When firmly contrary with robot direct of travel, the area of bionic coatings device can be changed into minimum, that is, all windowing is opened, now
The counteracting force with direction of travel can be made to be changed into minimum, thus improve the propulsive performance of bionic coatings device.
Brief description
Fig. 1 is the structural representation of area of the present invention controlled aquatic bio-propulsion device；
Fig. 2 a is that the area change form of the area controlled aquatic bio-propulsion device according to one embodiment of the invention is illustrated
Figure；
Fig. 2 b is that the area change form of the area controlled aquatic bio-propulsion device according to another embodiment of the present invention is shown
It is intended to；
Fig. 3 a is that the area change form of the area controlled aquatic bio-propulsion device according to another embodiment of the present invention is shown
It is intended to；
Fig. 3 b is that the area change form of the area controlled aquatic bio-propulsion device according to yet another embodiment of the invention is shown
It is intended to.
Specific embodiment
For making the object, technical solutions and advantages of the present invention become more apparent, below in conjunction with specific embodiment, and reference
Accompanying drawing, the present invention is described in more detail.
Fig. 1 is the structural representation of area of the present invention controlled aquatic bio-propulsion device, as shown in figure 1, described area can
Control aquatic bio-propulsion device includes：Bionic coatings apparatus main body 1, windowing facility 2, slide block guide rail 3 and slide block connector 4,
Wherein：
Described bionic coatings apparatus main body 1 is flexibly connected with windowing facility 2, such as can be according to the needs of bionic coatings device
Carry out rotating connection, left and right translation connection or upward-downward translation connection.Taking rotate and connect as a example, described windowing facility 2 can be enable
Rotate centered on enough junction points by described bionic coatings apparatus main body 1 with described windowing facility 2, at least can shelter from described
The part or all of area of all windowings of bionic coatings apparatus main body 1；
Wherein, described bionic coatings apparatus main body 1 is in fan-shaped, crescent, triangle or other Biomimetic Fish Fin shapes.Described
Multiple windows are offered on the action plane of bionic coatings apparatus main body 1, generally opens up three to five windows, described window
The shape of one end near main body 1 outside for the mouth is similar to the shape of described bionic coatings apparatus main body 1, such as, if described bionical
Propulsion plant main body 1 is sector, then described window is also sector near the shape of main body 1 lateral ends, if described bionic coatings
Apparatus main body 1 is crescent, then described window is also crescent near the shape of main body 1 lateral ends.In addition, in adjacent window apertures
Between region shape also similar to the shape of window.
Wherein, described windowing facility 2 is used to block the device opening up window on described bionic coatings apparatus main body 1, institute
The shape stating windowing facility 2 is similar to the shape of described bionic coatings apparatus main body 1 windowing part, and it includes multiple branches, often
The shape of individual branch is similar to the shape of single window, and the quantity of described branch is identical with the quantity of window, such as, each point
The area propping up and position can cover in windowing just, so when the state of described aquatic bio-propulsion device is to close window, institute
State the windowing that windowing facility 2 can shelter from described bionic coatings apparatus main body 1 just completely, and work as described aquatic bio-propulsion
When the state of device is windowing, each branch of described windowing facility 2 is just at the region between adjacent two windows, thus reality
Now open a window.
Wherein, the rotation between described bionic coatings apparatus main body 1 and windowing facility 2 is connected and can adopt multiple connection sides
Formula, such as hinged, connect etc. naturally it is also possible to adopt other connected modes, the present invention is to it by the rotatable parts such as rotary shaft
Do not repeat it should be understood that all enable windowing facility 2 with the company of bionic coatings apparatus main body 1 and windowing facility 2
Rotating centered on contact, possible, rational device connected mode each falls within protection scope of the present invention.
One end that one end of described slide block guide rail 3 is connected described bionic coatings apparatus main body 1 with windowing facility 2 connects；
Wherein, described slide block guide rail 3 is provided with guide rail, for disposing the cunning being located at described slide block connector 4 one end
Block joint, described slide block joint can move along the direction of described guide rail, and wherein, described guide rail can be such as recessed
Groove；
Wherein, the connection between described slide block guide rail 3 and windowing facility 2 may also be employed multiple connected modes, such as hinged,
By the rotatable parts such as rotary shaft connect etc. naturally it is also possible to adopt other connected modes, the present invention it is not repeated it should
Clear, the connected mode of all of possible, rational slide block guide rail 3 and windowing facility 2 each falls within the protection of the present invention
In the range of.
The slide block joint of described slide block connector 4 one end is placed in the guide rail of described slide block guide rail 3, and the other end is fixing even
Be connected on moveable rod member, be such as socketed in the rod member that can move up and down in vertical direction, such slide block connector 4 with
One end that rod member connects will drive described slide block guide rail 3 to be rotated upwardly and downwardly when described rod member moves, and then drives windowing
Device 2 rotates therewith, covers or expose the window on described bionic coatings apparatus main body 1, thus complete windowing or
Close the operation of window.Specifically, if necessary to increase and direct of travel counteracting force in the same direction, reduce, then advance in the same direction in generation
During power, close windowing, i.e. execution closes window operation so that the active area of described bionic coatings device increases, and closes window behaviour in execution
When making, described windowing facility 2 is under the drive of described slide block guide rail 3 and slide block connector 4 by described bionic coatings device master
The windowing of body 1 all covers (as shown in Figure 1) or part overlaid；And reduce the retroaction with direction of travel if necessary
During power, then open windowing, that is, execution fenestration procedure is so that the active area of described bionic coatings device reduces.When need execute
During fenestration procedure, can according to the needs of practical application, make described windowing facility 2 fully open by the control of rotational angle or
Person partially opens (as shown in Fig. 2 a or Fig. 2 b), thus changing the active area of described bionic coatings device, that is, described bionical
The area of the action plane of propulsion plant main body 1.
The two ways of fenestration procedure is executed when Fig. 2 a and Fig. 2 b shows that rod member moves up and down in vertical direction, its
In, Fig. 2 a is turn on window upwards, and Fig. 2 b is downward turn on window, and the principle of both turn on window is similar to described above,
The slide block connection differing only between slide block connector 4 and slide block guide rail 3 is different.Fig. 2 a and Fig. 2 b is windowing, closes window
When state be Fig. 1.
Execute the schematic diagram of fenestration procedure when Fig. 3 a and Fig. 3 b moves in the horizontal direction for rod member, be also area control
A kind of mode of operation, its windowing principle is identical with Fig. 1 shown device, is all by Motor execution fenestration procedure, that is, for bionical
The covering of propulsion plant main body variable area part or open and to change area, except for the difference that, Fig. 1 is to change work by rotating
With area, and Fig. 3 a and Fig. 3 b is and changes active area by translation, and wherein, Fig. 3 a is the full opening of state of window.
As shown in Figure 3 a and Figure 3 b shows, by moving horizontally windowing facility, can be made it for the action plane of bionic coatings apparatus main body
Covered, and covered area can be controlled by changing the distance moving horizontally, thus reach aquatic bionic pushing away
Enter the controlled effect of device area.
It should be noted that the rotating manner of described windowing facility 2 is not limited to the rotation side mentioned by above-described embodiment
Formula, the transmutability focusing on bionic coatings apparatus main body 1 active area of the present invention, for the concrete rotation of windowing facility 2
Mode, the present invention is not intended to be limited in any it should be understood that the rotating manner of all possible, rational windowing facility 2 each falls within this
In the protection domain of invention.
In a word, the operation principle of the controlled aquatic bio-propulsion device of described area is：Reciprocal motion by two planes
Come well-balanced change aquatic bio-propulsion device active area, and further by the change of bionic coatings device active area Lai
Change the kinetic characteristic of robot, thus enhancing the propulsive performance of robot.
To sum up, the controlled aquatic bio-propulsion device of area of the present invention can improve the long boat duration that robot moves under water
Voyage ability, simultaneously but also with the ability of high speed, high motor-driven propulsion, can greatly improve propulsive performance.
Particular embodiments described above, has carried out detailed further to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail bright, be should be understood that the specific embodiment that the foregoing is only the present invention, be not limited to the present invention, all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvement done etc., should be included in the guarantor of the present invention
Within the scope of shield.
Claims (8)
1. a kind of controlled aquatic bio-propulsion device of area is it is characterised in that this device includes：Bionic coatings apparatus main body, open
Window device, slide block guide rail and slide block connector, wherein：
Multiple windows are offered in the action plane of described bionic coatings apparatus main body；
Described windowing facility is flexibly connected with bionic coatings apparatus main body, is used for blocking and owns on described bionic coatings apparatus main body
The part or all of area of window；
One end that one end of described slide block guide rail is connected described bionic coatings apparatus main body with windowing facility connects, wherein, described
Guide rail is provided with slide block guide rail；
The slide block joint of described slide block connector one end is placed in the guide rail of described slide block guide rail, and the other end is fixedly connected on can
On the rod member of movement.
2. device according to claim 1 is it is characterised in that described bionic coatings apparatus main body is in Biomimetic Fish Fin shape.
3. device according to claim 1 is it is characterised in that described flexible connection is to rotate connection, left and right translation connection
Or upward-downward translation connects.
4. device according to claim 1 is it is characterised in that the shape of described window one end outside main body and institute
The shape stating bionic coatings apparatus main body is similar.
5. device according to claim 1 is it is characterised in that the shape of the shape of adjacent window apertures zone line and described window
Shape is similar.
6. device according to claim 1 is it is characterised in that described windowing facility is opened with described bionic coatings apparatus main body
The shape of window segment is similar.
7. device according to claim 1 is it is characterised in that described windowing facility includes multiple branches, each branch
Shape is similar to the shape of single window, and the quantity of described branch is identical with the quantity of window.
8. device according to claim 1 is it is characterised in that described rod member can in vertical direction or horizontal direction
Upper movement, and then drive described windowing facility to be rotated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510044965.5A CN104554682B (en) | 2015-01-28 | 2015-01-28 | Area-controllable underwater bionic propelling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510044965.5A CN104554682B (en) | 2015-01-28 | 2015-01-28 | Area-controllable underwater bionic propelling device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104554682A CN104554682A (en) | 2015-04-29 |
| CN104554682B true CN104554682B (en) | 2017-02-22 |
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| CN201510044965.5A Active CN104554682B (en) | 2015-01-28 | 2015-01-28 | Area-controllable underwater bionic propelling device |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000118493A (en) * | 1998-10-15 | 2000-04-25 | Hajime Honda | Fish-tail-fin like propulsion unit |
| DE202006006115U1 (en) * | 2006-04-15 | 2006-07-27 | Festo Ag & Co. | Device for power delivery |
| CN1986330A (en) * | 2006-12-20 | 2007-06-27 | 哈尔滨工程大学 | Bionic double tail sterm propeller |
| CN102556311A (en) * | 2012-02-21 | 2012-07-11 | 金东� | Deformable bionic power conversion impeller by means of fin undulation and hydraulic volumetric difference |
| CN104149954A (en) * | 2014-07-25 | 2014-11-19 | 苏州大学应用技术学院 | Intelligent ornamental bionic fish and method for controlling same |
| CN204489155U (en) * | 2015-01-28 | 2015-07-22 | 中国科学技术大学 | The aquatic bio-propulsion device that a kind of area is controlled |
-
2015
- 2015-01-28 CN CN201510044965.5A patent/CN104554682B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000118493A (en) * | 1998-10-15 | 2000-04-25 | Hajime Honda | Fish-tail-fin like propulsion unit |
| DE202006006115U1 (en) * | 2006-04-15 | 2006-07-27 | Festo Ag & Co. | Device for power delivery |
| CN1986330A (en) * | 2006-12-20 | 2007-06-27 | 哈尔滨工程大学 | Bionic double tail sterm propeller |
| CN102556311A (en) * | 2012-02-21 | 2012-07-11 | 金东� | Deformable bionic power conversion impeller by means of fin undulation and hydraulic volumetric difference |
| CN104149954A (en) * | 2014-07-25 | 2014-11-19 | 苏州大学应用技术学院 | Intelligent ornamental bionic fish and method for controlling same |
| CN204489155U (en) * | 2015-01-28 | 2015-07-22 | 中国科学技术大学 | The aquatic bio-propulsion device that a kind of area is controlled |
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| Publication number | Publication date |
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| CN104554682A (en) | 2015-04-29 |
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