CN108688783B - Bionic underwater glider with fluctuation fins - Google Patents

Abstract

The invention provides a bionic underwater glider with wave fins, which comprises a pressure-resistant outer cylinder, a head end cover and a tail end cover. The inflow section and the outflow section are respectively installed on the head end cover and the tail end cover. A pair of The wave fin device is installed on the opposite sides of the tail of the pressure-resistant outer cylinder. The wave fin device generates a sine wave to generate propulsion for the body. When the movement direction, amplitude and/or frequency of the sine wave is changed, the propulsion force generated by the wave fin also follows. changes to control the movement of the body. The invention solves the technical problems that the traditional underwater glider itself lacks power source and effective communication means, and has poor mobility and stability under water.

Description

A bionic underwater glider with undulating fins

technical field

The invention relates to a bionic underwater glider with wave fins.

Background technique

The ocean is the second largest strategic space after the land. It is rich in various minerals and biological resources, and it is the most realistic and potential development space at present. my country has a vast territory, with a long coastline in the southeast, reaching 18,000 kilometers, and the sea area is close to 4.7 million square kilometers. Therefore, in-depth exploration of the ocean has become an important development direction. Underwater vehicle has become an important tool for exploring and developing marine resources in the complex marine environment, and its structure and control method are the keys to ensure its autonomous, stable and efficient operation.

At present, the widely used underwater vehicles are mainly divided into two types: manned and unmanned, and unmanned submersibles are favored due to their high cost performance. Among them, in addition to remotely controlled unmanned underwater vehicle (ROV) and autonomous underwater unmanned vehicle (AUV), underwater glider stands out as a new type of unmanned underwater vehicle, which can adjust gravity and buoyancy. As the main power source, it can sail for a long time and a large distance underwater in the form of gliding, with small energy consumption and small size, which has become a hot spot for current unmanned underwater vehicles.

Although traditional underwater gliders are very energy-saving, their maneuverability and stability under water are poor due to their own lack of power source and effective means of communication. Underwater gliders that simply use the adjustment of gravity and buoyancy as the power source mainly sail with sawtooth motion and helical motion. After entering the water, they will automatically go through a preset number of such motions before they surface for communication and positioning. However, due to its poor maneuverability and the combined action of surface waves and underwater undercurrents, its underwater motion path is greatly disturbed, and the position reached after the preset motion path is far from the expected position. The accuracy of other underwater experiments is limited. In addition, there is also an underwater glider that uses propellers as auxiliary power. Although it can effectively improve maneuverability, its rotation radius is still too large, and the noise is large.

Aiming at the high requirements for the operability, maneuverability and stability of underwater vehicles in complex underwater conditions, based on the investigation of bionic underwater vehicles at home and abroad, and based on the structural principle of the wave fin thruster, a new type of wave with wave is proposed. Fin bionic squid underwater glider. The bionic concept used is derived from sea creatures such as squid, saury and manta rays. Such aquatic organisms show a unique speed and flexibility that far exceeds the performance of current artificial propulsion systems, which are exactly the characteristics sought in the wave fin propulsion system, and a large number of research projects have been carried out at home and abroad to explore different kinds of fluctuations. Fin propulsion system.

There are many kinds of wave fin structures proposed so far, and a common method is to arrange a series of motors and control the motion of each motor individually. This method effectively controls the waveform and fin movement, making the fin more maneuverable than other methods. Since the waveform can be adapted to many different situations, it is also suitable for testing the effect of fins. Another recommended method is to use a slider mechanism to connect each drive rod to the central shaft, thereby driving the movement of the entire wave fin. This approach provides a more efficient output, which in turn results in lower overall current, since only one unidirectional motor is required to drive the central shaft, eliminating the need for other motors to move. The disadvantage of this method is that it cannot accurately control the movement of the wave fin at each moment, even when the motor is not driving the fin, it will maintain a waveform.

SUMMARY OF THE INVENTION

In view of the defects in the prior art, the purpose of the present invention is to provide a bionic underwater glider with undulating fins. It solves the technical problems that the traditional underwater glider itself lacks power source and effective communication means, and has poor maneuverability and stability under water.

In order to solve the above-mentioned technical problems, the technical scheme adopted in the present invention is as follows:

A bionic underwater glider with wave fins includes a pressure-resistant outer cylinder, a head end cover and a tail end cover. The inflow section and the outflow section are respectively installed on the head end cover and the tail end cover, and a pair of wave fin devices are installed. On the opposite sides of the tail of the pressure-resistant outer cylinder, the wave fin device generates a sine wave to generate propulsion for the body. When the movement direction, amplitude and/or frequency of the sine wave is changed, the propulsion force generated by the wave fin also changes accordingly. Control body movement.

The wave fin device includes a waterproof motor assembly, which makes a group of driving rods oscillate at the same frequency, and sequentially delay the same phase from beginning to end.

The waterproof motor assembly is composed of a plurality of motors that oscillate back and forth with the same set amplitude and frequency in a row.

The wave fin devices installed opposite to each other on both sides can be controlled independently. When the moving direction and magnitude of the sinusoidal traveling waves on both sides are the same, the wave fin devices generate the same propulsion force for the body to advance or retreat; when the sinusoidal traveling waves on both sides move in the same direction When the moving direction is the same but the size is different, the wave fin device changes the yaw angle of the body movement, making it yaw to the side with the smaller propulsion force; when the sinusoidal traveling waves on both sides move in opposite directions, the wave fin device makes the body go around its interior. A little spin.

A pair of flat wing devices are installed on opposite sides of the tail of the pressure-resistant outer cylinder and are perpendicular to the wave fin devices. When the body rolls to make the flat wings close to the horizontal, it enters the gliding mode, which can perform sawtooth and spiral motion of the body. When rolling makes the wave fins close to horizontal, the body is propelled and rotated by the wave fin device, thereby correcting the path deviated by waves and currents during the gliding process.

There is a depth sensor inside the head end cover, and an outer oil bag outside. The outer oil bag is connected to the valve block inside the body through an oil pipe. The valve block is connected to the inner oil bag and the oil pump through the oil pipe. The oil pump is connected to the oil pump motor through the coupling. The oil pump is driven by the oil pump motor. By controlling the oil pump and the valve block, the outer oil bag and the inner oil bag can pump and drain oil between each other, thereby changing the drainage volume of the body, and adjusting the buoyancy of the body to make it dive or float.

The screw motor fixed on the same chuck with the oil pump motor is connected to the screw nut pair, the gear motor is fixed with the flange nut in the screw nut pair, the gear motor is connected to the driving gear pair at the same time and drives the eccentric battery slider, eccentric The battery slider sleeve slides on the sliding rod, and the screw motor drives the screw nut pair to make the flange nut move back and forth. At the same time, the gear motor and the eccentric battery slider also move on the sliding rod, so that the center of gravity of the whole body changes back and forth. , change the pitch angle of the underwater glider; the gear motor drives the gear pair to decelerate and drive the eccentric battery slider to rotate, and the center of gravity of the entire body is also deflected around the central axis, changing the roll angle of the underwater glider, while the external fluctuations Fins and flat wings are toggled with body rotation.

The tail end cover is equipped with a load-throwing fixture connected to the load-throwing block. The load-throwing block is adsorbed by the electromagnet. When the underwater glider loses contact under water and sinks too deep, the load-throwing block will fall from the air in the outflow section. So that the weight of the body is quickly reduced and floated to the surface for recovery and detection.

An antenna is installed at the tail of the body, and the GPS and communication devices are protruded from the hole in the outflow section in the antenna and are located at the end of the body. When the underwater glider emerges from the water, the eccentric battery slider is moved forward to achieve a bow tilt, so that the antenna can be tilted forward. Fully exposed to the water surface to achieve the best communication state, and then locate and send and receive commands to the underwater glider.

Compared with the prior art, the present invention has the following beneficial effects:

1. Improve the maneuverability and stability of the underwater glider, with a variety of movement modes;

2. You can switch between glider mode and wave fin mode to more accurately follow the path to the designated position;

3. The power source with low noise and small disturbance is added;

4. The turning radius of the underwater spiral motion is reduced.

Description of drawings

Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings:

1 is a schematic structural diagram of an underwater glider provided by the present invention;

Fig. 2 is the sectional view of Fig. 1;

3 is a schematic diagram of the sine wave motion generated by the wave fin device;

Figure 4 is a schematic diagram of the wave fin device generating the same propulsion force for the body to advance or retreat;

Figure 5 is a schematic diagram of the wave fin device changing the yaw angle of the body movement to make it yaw to one side;

Fig. 6 is a schematic diagram of a wave fin device rotating the body around a point in its interior;

FIG. 7 is a schematic diagram of the glider transition from the gliding mode to the wave fin propulsion mode.

Detailed ways

The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the inventive concept. These all belong to the protection scope of the present invention.

As shown in FIG. 1, the bionic underwater glider with wave fins provided by the present invention, the body is composed of a pressure-resistant outer cylinder 2, a head end cover 21, and a tail end cover 11, and the inflow section 1 and the outflow section 8 are respectively installed in Cover both ends. The wave fin device is connected by the waterproof motor assembly 4 to the drive rod 5 to clamp the flexible film 6, a pair of wave fin devices is connected to the clamp 9 by the motor beam 3, and the other pair of flat wings 10 is perpendicular to the wave fin by the clamp 9. Install and clamp together at the tail of pressure outer cylinder 2.

As shown in FIG. 2 , there is a depth sensor 23 in the inner head cover 21 of the body, and an outer oil bag 22 is installed outside and is connected to the valve block 19 in the body through an oil pipe. The valve block 19 is installed on the chuck and is connected to the inner oil bag 20 through the oil pipe. And the oil pump 18, and the oil pump 18 is connected with the oil pump motor 24 by the coupling, and the screw nut pair 16 is connected with the screw motor 17 mounted on the same chuck. The gear motor 25 is fixed together with the flange nut in the screw nut pair 16 , it is connected to the driving gear pair 26 at the same time and drives the eccentric battery slider 15 , which slides on the sliding rod 14 . The tail end cover 11 at the rear of the body is provided with a load-throwing fixing device 13 which is connected to the load-throwing block 12, and the tail end of the device is connected with the antenna 7 and protrudes from the hole 8 of the de-flow section.

The pressure-resistant outer cylinder 2, the head end cover 21, and the tail end cover 11 make the underwater glider body form a sealed pressure-resistant structure. The inflow section 1 and the outflow section 8 make the head and tail of the body streamlined, reducing the resistance to underwater movement. . The oil pump 18 inside the underwater glider body is driven by the oil pump motor 24. By controlling the oil pump 18 and the valve block 19, the outer oil bag 22 and the inner oil bag 20 can pump and drain oil between each other, thereby changing the drainage volume of the body and realizing adjustment. The buoyancy of an underwater glider enables the dive or the ascent. The screw motor 17 is fixed on the chuck of the oil pump motor, which drives the screw nut pair 16 to make the flange nut move forward and backward, and the gear motor 25 and the eccentric battery slider 15 fixed to it also move on the sliding rod 14. , and then make the center of gravity of the whole body change back and forth, and change the pitch angle of the underwater glider. The gear motor 25 drives the gear pair 26 to decelerate and drives the eccentric battery slider 15 to rotate, and the center of gravity of the entire body is therefore deflected around the central axis, changing the roll angle of the underwater glider, and the external wave fins and flat wings are random. Body rotation toggle. The load-throwing fixing device 13 at the rear of the body is adsorbed by the electromagnet to the load-throwing block 12. When the underwater glider loses contact and sinks to an ultra-deep depth, the load-throwing block 12 will fall from the hole of the flow-removal section 8, so that the body The weight rapidly decreased and floated to the surface for recovery inspection. Both the GPS and the communication device protrude from the 8 holes in the outflow section in the antenna 7 and are located at the rear of the body. When the underwater glider emerges from the water, the eccentric battery slider 15 can be moved forward to achieve a bow tilt, so that the antenna 7 can be tilted forward. Fully exposed to the water surface to achieve the best communication state, and then locate and send and receive commands to the underwater glider.

As shown in Figure 3, the wave fin device is generated by the central mode generator to generate a sine wave to each oscillator to control the servo motor. Each motor will swing back and forth with the same amplitude and frequency set, so that several motors are arranged in a row. A waterproof motor assembly with undulating fins 4. The waterproof motor assembly 4 makes a group of driving rods 5 oscillate at the same frequency, and the same phase is sequentially delayed from the beginning to the end. When changing the set amplitude and frequency, the propulsion generated by the wave fins will also change, similar to the wave fin propulsion of squid, manta rays and other marine creatures.

Since the wave fin devices installed opposite to each other on both sides can be independently controlled, when the moving direction and magnitude of the sinusoidal traveling waves on both sides are the same, the wave fin device can generate a propulsive force in the same direction for the body to advance or retreat, as shown in Figure 4 When the sinusoidal traveling waves on both sides move in the same direction but different in size, the wave fin device can change the yaw angle of the body motion, making it yaw to the side with less propulsion, as shown in Figure 5; In particular, when the sinusoidal traveling waves on both sides move in opposite directions, the wave fin device can even make the body rotate around a point inside it, as shown in Figure 6.

As shown in FIG. 7 , the pair of wave fin devices and the other pair of flat wings 10 are vertically mounted on the outer tail of the pressure-resistant outer cylinder 2. When the underwater glider rolls to make the flat wings 10 close to the horizontal, it will enter the gliding mode. The sawtooth and helical motions of traditional underwater gliders can be performed. When the rolling fins are close to horizontal, the underwater gliders can be propelled and rotated by the wave fins device, thereby correcting the path deviated by waves and currents during the gliding process.

Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above-mentioned specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essential content of the present invention. The embodiments of the present application and features in the embodiments may be combined with each other arbitrarily, provided that there is no conflict.

Claims (8)

1. A bionic underwater glider with wave fins is characterized by comprising a pressure-resistant outer cylinder, a head end cover and a tail end cover, wherein a flow inlet section and a flow outlet section are respectively arranged on the head end cover and the tail end cover;

the pair of flat wing devices are arranged on two opposite sides of the tail of the pressure-resistant outer cylinder and are mutually vertical to the wave fin device, when the body rolls to enable the flat wings to approach the horizontal level, the flat wings enter a gliding mode, sawtooth and spiral motion of the body can be carried out, and when the body rolls to enable the wave fins to approach the horizontal level, the body is propelled and rotated by the wave fin device, and then a path deviated due to waves and water flow in the gliding process is corrected.

2. The bionic underwater glider with the wave fin as claimed in claim 1, wherein the wave fin device comprises a waterproof motor assembly, the waterproof motor assembly enables a group of driving rods to swing at the same frequency, the driving rods sequentially delay the same phase from beginning to end, and the driving rods clamp the flexible film to form a sine traveling wave of periodic motion.

3. The bionic underwater glider with the wave fin as claimed in claim 2, wherein the waterproof motor assembly is composed of a plurality of motors oscillating back and forth in a row at the same set amplitude and frequency.

4. The bionic underwater glider with the wave fin according to claim 1, wherein the wave fin devices oppositely arranged on two sides can be independently controlled respectively, and when the sine traveling waves on the two sides have the same motion direction and magnitude, the wave fin devices generate the same propelling force to the body to enable the body to move forwards or backwards; when the motion directions of the sinusoidal traveling waves at the two sides are the same and the sizes are different, the fluctuation fin device changes the yawing angle of the motion of the machine body so as to enable the machine body to yaw towards the side with small propelling force; when the motion directions of the sinusoidal traveling waves at the two sides are opposite, the wave fin device enables the machine body to rotate around one point inside the machine body.

5. The bionic underwater glider with the wave fin as claimed in claim 1, wherein a depth sensor is arranged in the head end cover, an outer oil bag is arranged outside, the outer oil bag is connected to a valve block inside the glider body through an oil pipe, the valve block is connected to the inner oil bag and an oil pump through the oil pipe, the oil pump is connected with an oil pump motor through a coupling, the oil pump is driven by the oil pump motor to work, the outer oil bag and the inner oil bag are pumped and discharged oil with each other through controlling the oil pump and the valve block, further, the water discharge volume of the glider body is changed, and the purpose of adjusting the buoyancy of the glider body to enable the glider body to dive.

6. The bionic underwater glider with the wave fin as claimed in claim 5, wherein the screw motor fixed on the same chuck with the oil pump motor is connected with a screw nut pair, the gear motor is fixed with a flange nut in the screw nut pair, the gear motor is simultaneously connected with a driving gear pair and drives an eccentric battery slider, the eccentric battery slider is sleeved on a slide rod to slide, the screw motor drives the screw nut pair to enable the flange nut to move back and forth, and simultaneously the gear motor and the eccentric battery slider also move along with the slide rod, so that the gravity center of the whole glider body is changed back and forth, and the longitudinal rocking angle of the underwater glider is changed; the gear motor drives the gear pair to work to realize speed reduction and drive the eccentric battery sliding block to rotate, the gravity center of the whole machine body deflects around the central axis, the transverse rocking angle of the underwater glider is changed, and the external wave fin and the plate trigger wing are switched along with the rotation of the machine body.

7. The bionic underwater glider with the wave fin as claimed in claim 1, wherein the tail end cover is provided with the load rejection fixing device connected with the load rejection block, the load rejection block is adsorbed by the electromagnet, and when the underwater glider loses contact and sinks to an excessive depth underwater, the load rejection block falls from the air of the flow removal section, so that the weight of the glider body is rapidly reduced and floats to the water surface for recovery and detection.

8. The bionic underwater glider with the wave fin as claimed in claim 1, wherein an antenna is arranged at the tail of the glider body, the GPS and the communication device are all arranged at the tail of the glider body and extend out of the hole of the flow-removing section in the antenna, when the underwater glider floats out of the water surface, the eccentric battery slider moves towards the front to realize forward inclination, the antenna is completely exposed out of the water surface to achieve the optimal communication state, and then the underwater glider is positioned and instructed.

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