CN109204744A - A kind of bionic coatings underwater glider - Google Patents
A kind of bionic coatings underwater glider Download PDFInfo
- Publication number
- CN109204744A CN109204744A CN201710533041.0A CN201710533041A CN109204744A CN 109204744 A CN109204744 A CN 109204744A CN 201710533041 A CN201710533041 A CN 201710533041A CN 109204744 A CN109204744 A CN 109204744A
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- CN
- China
- Prior art keywords
- driving device
- underwater glider
- bionic coatings
- trunk
- cavity portion
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Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/20—Steering equipment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
Abstract
This application discloses a kind of bionic coatings underwater gliders, including sequentially connected head, trunk and tail portion；The head has streamlined structure comprising: the point being connected to outside, affixed cavity portion and the end cap for closing the cavity portion with point；It is equipped with Buoyance adjustment system at point in the cavity portion and is equipped with centre of gravity adjustment system at trunk；It is symmetrically arranged with hang gliding on the cavity portion outer wall and middle part is equipped with the hang gliding drive system being connected with sliding closure in it；The trunk includes: the propulsion system affixed with the cavity portion, and the propulsion system drives the trunk to swing to realize and promote the underwater movement of underwater glider；The tail portion includes tail fin bracket and tail fin, and tail fin bracket one end is connected with the trunk and its other end is equipped with the tail fin.
Description
Technical field
The present disclosure relates generally to underwater glider technical fields, and in particular to bionic coatings underwater glider.
Background technique
Underwater glider is a kind of autonomous underwater vehicle (AUV) of specific type, its working principle is that: by machine
Variable buoyancy system changes to control the buoyancy of itself, and converts forward push away for positive buoyancy and negative buoyancy force by hang gliding
Power, so that aerodone be driven to advance.It obtains propulsive force using net buoyancy and attitude angle adjustment, and energy consumption is minimum, is only adjusting
A small amount of energy is consumed when whole net buoyancy and attitude angle, and has the characteristics that high-efficient, endurance is big.
But in view of lacking propeller or propeller equal power device in its structure, thus with its efficient feature it is associated be it
Relatively-stationary forms of motion and posture, can only do zigzag and the navigation of spiral rotary track under water, and fuselage posture cannot be located
In horizontality, an angle of attack gliding can only be kept, body rotation radius is big, there is obvious lack when executing diversity observation mission
It falls into, and its flight tracking control and positioning accuracy are low, the speed of a ship or plane is slow, on the biggish sea of stormy waves it is possible that the feelings drifted with the tide
Condition.
On above-mentioned technical foundation, then there is combination drive underwater glider (HAUV), by increasing tail portion
Propeller propulsion system, although underwater glider can be made to have emergency thrust and strong maneuverability, in a certain range to increase
Air Canada's row positioning accuracy and mobility.But relative to traditional underwater glider, tail undercarriage will increase hybrid propulsion water
The resistance of lower aerodone, this some resistance can reduce the voyage under gliding state, moreover, propeller turbine propulsion device noise is big
The problem of also do not solve.
In addition, replacing tail undercarriage to reduce to realize using fishtail type flapping wing mechanism there is also a kind of in the prior art
The underwater glider of resistance.But, also there is corresponding limitation, although solving the problems such as gliding resistance of combination drive,
But in the motion of automobile, tail swing amplitude is unadjustable, and control flexibility is bad；When track needs to change, tail structure
It is participating in that auxiliary propulsion cannot be played the role of when direction deflects, a fixed bias angle can only be locked in, can not be simulated true
Posture when movement, it is more difficult to realize the divertical motion of low-angle.
Summary of the invention
In view of drawbacks described above in the prior art or deficiency, it is intended to provide one kind compared to existing technologies, both had
Underwater glider low energy consumption, cruise duration is long, and motion process is quiet, and concealment is high, and depth of implements is deep, the long advantage of voyage, together
When have the bionic movement propulsion system for simulating the control somatic movement of underwater fish, it is flexible that progress can be waited if necessary
Move and enhance the bionic coatings underwater glider of its mobility.
In a first aspect, a kind of bionic coatings underwater glider, including sequentially connected head, trunk and tail portion；It is described
Head has streamlined structure comprising: with the point that is connected to of outside, the affixed cavity portion and for closing with point
State the end cap of cavity portion；It is equipped with Buoyance adjustment system at point in the cavity portion and is equipped with center of gravity at trunk
Adjustment system；It is symmetrically arranged with hang gliding on the cavity portion outer wall and middle part is equipped with the hang gliding drive being connected with sliding closure in it
Dynamic system；The trunk includes: the propulsion system affixed with the cavity portion, and the propulsion system drives the trunk pendulum
It is dynamic to promote the underwater movement of underwater glider to realize；The tail portion includes tail fin bracket and tail fin, the tail fin bracket one
End is connected with the trunk and its other end is equipped with the tail fin.
According to technical solution provided by the embodiments of the present application, the end cap is equipped with dorsal fin.
According to technical solution provided by the embodiments of the present application, the Buoyance adjustment system includes: inner cylinder interconnected,
Controllable pump and outer oil sac, the inner cylinder and controllable pump are set in cavity portion and the outer oil sac is arranged in point.
According to technical solution provided by the embodiments of the present application, the controllable pump is plunger pump or peristaltic pump.
According to technical solution provided by the embodiments of the present application, the centre of gravity adjustment system includes: actuating motor, and executes electricity
The connected screw rod of machine and with screw rod linear guide disposed in parallel, the linear guide is equipped on sliding block and the screw rod
With the feed screw nut affixed with sliding block is connected to, clump weight is provided on the feed screw nut.
According to technical solution provided by the embodiments of the present application, the clump weight is lithium battery group.
According to technical solution provided by the embodiments of the present application, the hang gliding drive system includes: to be set in cavity portion
Steering engine, the gear set with steering engine mating matched connecting shaft and connects with gear set with the affixed hang gliding of the connecting shaft
Connect frame.
According to technical solution provided by the embodiments of the present application, the propulsion system includes multiple propulsion lists being sequentially connected
Member, each propulsion unit successively include driving device, driving device inner support and driving device support arm from inside to outside；Institute
The one end for stating driving device support arm is connected on the output shaft of the driving device and rotates with the output shaft, the driving
The other end of device support arm is pivotally connected on the driving device inner support, the driving device support arm
Middle part be fixedly connected with the driving device inner support of the propulsion unit at its rear.
According to technical solution provided by the embodiments of the present application, the output shaft of the driving device is longitudinally arranged, same
In propulsion unit, the both ends of the driving device support arm are rotated coaxially；Between different propulsion units, the driving device
The rotary shaft of support arm is parallel to each other.
According to technical solution provided by the embodiments of the present application, skeleton is connected on the support arm of each propulsion unit.
According to technical solution provided by the embodiments of the present application, all skeleton sizes are from the side close to trunk to close to tail
The side in portion is successively decreased, and makes propulsion system shape that streamlined structure be presented.
According to technical solution provided by the embodiments of the present application, the vertical cross-section of the skeleton is U-shaped.
According to technical solution provided by the embodiments of the present application, opening direction and the driving device support arm phase of the skeleton
Together.
Improvement based on the above-mentioned technical proposal can utilize buoyancy regulating system in the technical solution of the application, make bionical
Underwater glider is promoted to realize floating dive, while in water using centre of gravity adjustment system call interception bionic coatings underwater gliders
Pitch angle posture, upper and lower surface can generate pressure difference and then generate the spy of lift when also being moved in water using the hang gliding of turn
Property, so that bionic coatings underwater glider is just can be carried out the movement of long-time stable without extra power, therefore the application pass through it is imitative
Raw that underwater glider is promoted to have underwater glider low energy consumption, cruise duration is long, and motion process is quiet, and concealment is high, and operation is deep
Degree is deep, the long advantage of voyage.
In addition, improvement based on the above-mentioned technical proposal, the propulsion system of trunk can be utilized in the technical solution of the application
The function of system simulation swordfish torso exercise completely generates thrust power by the swing of tail portion to carry out the motion control of tail portion,
So that bionic coatings underwater glider can either flexibly change the direction of propulsive force, additionally it is possible to have tempo turn and no-radius
The ability of turning.
In conclusion underwater glider is integrated into the head of bionic coatings system by the application, a kind of bionic coatings are obtained
Underwater glider had both had underwater glider low energy consumption, and cruise duration is long, and motion process is quiet, and concealment is high, depth of implements
Deep, the long advantage of voyage is provided simultaneously with the bionic movement propulsion system for simulating underwater fish control somatic movement, can be real
Existing no-radius turning, the movement such as smooth steering of high speed, enriches the functionality of underwater operation platform, has it in complex environment
The ability of lower work.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other
Feature, objects and advantages will become more apparent upon:
Fig. 1 is a kind of surface structure schematic diagram of bionic coatings underwater glider of the application；
Fig. 2 is a kind of decomposition texture schematic diagram of bionic coatings underwater glider of the application；
Fig. 3 is that (parts numbers are not complete, with reference to it for a kind of decomposition texture schematic diagram of bionic coatings underwater glider of the application
His attached drawing)；
Fig. 4 is the decomposition texture schematic diagram of centre of gravity adjustment system in Fig. 3；
Fig. 5 is a kind of decomposition texture schematic diagram of bionic coatings underwater glider of the application；
Fig. 6 is a kind of decomposition texture schematic diagram (exoskeletal) of bionic coatings underwater glider of the application.
Figure label:
1, head；11, point；12, cavity portion；13, end cap；14, dorsal fin；2, trunk；21, propulsion unit；211,
Driving device；212, driving device inner support；213, driving device support arm；3, tail portion；31, tail fin bracket；32, tail fin；4,
Buoyance adjustment system；41, inner cylinder；42, controllable pump；43, outer oil sac；5, centre of gravity adjustment system；51, actuating motor；52, silk
Bar；53, linear guide；54, clump weight；6, hang gliding drive system；61, steering engine；62, connecting shaft；63, hang gliding connection frame；
7, skeleton.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to
Convenient for description, part relevant to invention is illustrated only in attached drawing.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Referring to Fig. 1, the bionic coatings underwater glider, including sequentially connected head 1, trunk 2 and tail portion 3.
The head 1 has streamlined structure, comprising: the point 11 being connected to outside, the affixed chamber with point 11
Body portion 12 and end cap 13 for closing the cavity portion 12.
Point 11, outer surface are streamlined structure, may make bionic coatings underwater glider provided in this embodiment
The water flow that can be rived in front of point when moving about under water, reduces the resistance being subject to when its travelling, promotes this bionic coatings water
The travelling speed and flexibility of lower aerodone；The point 11 is equipped with through-hole, therefore it can be connected to external operating environment.
The part of the point 11 and 12 Joint of cavity portion is changeover portion, and the upper and lower part of changeover portion is arc
Face, the two sides of changeover portion are the flat horizontal surface being arranged symmetrically.Based on this design, the resistance of its advance can be further reduced.
The cavity portion 12 is the critical component on the head 1, is also streamlined structure；Thereon end opening and its in
A variety of carrying modules and multiple functions system can be accommodated, such as: Buoyance adjustment system 4, centre of gravity adjustment system 5 and hang gliding
Drive system 6 etc., specifically:
Fig. 2 and Fig. 3 are please referred to, is equipped with Buoyance adjustment system 4 at point 11 in the cavity portion 12.Any excellent
In the embodiment of choosing, the Buoyance adjustment system 4 includes: inner cylinder 41 interconnected, controllable pump 42 and outer oil sac 43, described
Inner cylinder 41 and controllable pump 42 are set in cavity portion 12 and the outer oil sac 43 is arranged in point 11.
The inner cylinder 41, controllable pump 42 and outer oil sac 43 are placed in point 11 in view of outer oil sac 43 by piping connection
Interior, controllable pump 42 carries medium (such as: oil or water) between inner cylinder 41 and outer oil sac 43, to change the body of outer oil sac 43
Product achievees the effect that adjust the present embodiment entirety net buoyancy.
When this bionic coatings underwater glider needs dive to control, medium is sucked inner cylinder by control starting controllable pump 42
In 41, the overall buoyancy of total is reduced, enables its dive.
When this bionic coatings underwater glider needs to float control, medium is drained into outer oil sac by control starting controllable pump 41
In 43, the overall buoyancy of total is improved, it is enable to float.
In any preferred embodiment, the controllable pump 42 is plunger pump or peristaltic pump.
Fig. 3 and Fig. 4 are please referred to, is equipped with centre of gravity adjustment system 5 at trunk 2 in the cavity portion 12.Any excellent
In the embodiment of choosing, the centre of gravity adjustment system 5 includes: actuating motor 51, the screw rod 52 that is connected with actuating motor 51 and with institute
The linear guide 53 disposed in parallel of screw rod 52 is stated, the linear guide 53 is equipped on sliding block and the screw rod 52 to match and is connected to and slides
Block affixed feed screw nut is provided with clump weight 54 on the feed screw nut.
In actual use, need two bearings fixing seat, motor fixing seat and linear guide are fixed on bottom in cavity portion
Portion, is then connected with bearing, actuating motor and sliding block on it respectively, and two bearings fixing seat is connected with by revolute pair respectively
Screw rod.The actuating motor is connected by shaft coupling and screw rod, is matched on the screw rod and is connected to feed screw nut and the feed screw nut
It is fixedly connected with a slide block, therefore sliding block is able to carry out linear motion in linear guide.
With clump weight is connected on the feed screw nut, the rotation of the actuating motor passes through the cooperation of screw rod and feed screw nut
It is transmitted on clump weight, with the rotation of actuating motor output shaft, the position of clump weight is also being moved, to realize to this
The adjustment of bionic coatings center of gravity of underwater glider.In any preferred embodiment, the clump weight is lithium battery group.
Fig. 3 and Fig. 5 are please referred to, hang gliding is symmetrically arranged on 12 outer wall of cavity portion and its interior middle part is equipped with and sliding closure
The hang gliding drive system 6 being connected.In any preferred embodiment, the hang gliding drive system 6 includes: to be set to chamber
Steering engine 61 in body portion 12, with steering engine 61 be coupled gear set, with gear set matched connecting shaft 62 and with the connecting shaft
62 affixed hang gliding connection frames 63.
The steering engine 61 is matched by gear set and connecting shaft 62, the connecting shaft 62 and mechanical sealing linkage ring it is affixed and
Mechanical sealing static ring is fixedly connected with cavity portion side wall by static seal, and mechanical seal is turned by bearing and cavity portion side wall
Dynamic secondary connection；Hang gliding connection frame 63 is connected on the connecting shaft free end.The structure of above-mentioned mechanical seal can glide
Guarantee the whole leakproofness of cavity portion 12 when the wing moves, avoids that 1 leak of head is caused to be failed because of rotary motion.
When needing hang gliding to move, the rotation of steering engine 61 is transmitted in connecting shaft 62 by gear set, and then can be incited somebody to action
The rotation of steering engine 61 is transmitted on hang gliding connection frame 63, to realize the control that steering engine 61 rotates hang gliding.
The end cap 13 is connected therebetween by static seal for closing the cavity portion, cavity portion is obtained
With sealing.In any preferred embodiment, the end cap 13 is equipped with dorsal fin 14, and it is imitative to be able to maintain this for the design of dorsal fin 14
The raw balance for promoting underwater glider avoids turning on one's side, further promotes it so that it is kept upright in moving process
Reliability in the course of work.
The trunk 2 includes: the propulsion system affixed with the cavity portion 12, and the propulsion system drives the trunk
Portion 2 is swung to realize and promote the underwater movement of underwater glider.
In any preferred embodiment, connected between the trunk 2 and cavity portion 12 by disk skeleton.
Please refer to Fig. 1 and Fig. 6, in any preferred embodiment, the propulsion system include it is multiple be sequentially connected push away
Into unit 21, each propulsion unit 21 successively includes driving device 211, driving device inner support 212 and drives from inside to outside
Dynamic device support arm 213；One end of the driving device support arm 213 is connected on the output shaft of the driving device 211 simultaneously
It is rotated with the output shaft, the other end of the driving device support arm 213 is pivotally connected to the driving dress
It sets on inner support 212, the driving device inner support of the propulsion unit at the middle part and its rear of the driving device support arm 213
211 are fixedly connected.
The main body including U-shaped of driving device inner support 212, the both ends of main body are symmetrically equipped with the first mounting plate.Driving
The two sides of the structure of device 211 are respectively equipped with the second mounting plate, and fixation connects correspondingly for the first mounting plate and the second mounting plate
It is connected together, the main body of driving device inner support 212 covers side opposite with output shaft in driving device 211.
Driving device support arm 213 includes two pieces of transverse slats and one piece of riser, and two pieces of transverse slats are symmetrically installed on the two of riser
End, one of transverse slat are connected with the output shaft of driving device 211, and another piece of transverse slat is connected with driving device inner support 212
It connects.
In the structure of above-mentioned propulsion unit 21, propped up between driving device support arm and driving device and outside driving device
It is attached between frame and other propulsion units by driving device inner support, peace that is stronger reliable and being convenient for connector
Dress: driving device inner support also forms certain protective effect to driving device.Driving device support arm forms one to side
The U-shaped structure being rotated by 90 °, riser are connect with the propulsion unit at its rear, keep the structure of entire propulsion system very compact.
This propulsion system is cascaded by three joint units.The maximum rotation angle of single joint is positive minus 90 degree.
If joint cascade number is N (N >=2), then with respect to first, the n-th joint accessible maximum angle in joint is poor for positive and negative 90*
(N-1).In addition, each joint can be controlled by bionic coatings algorithm.Controllable parameter includes that each joint carries out period fortune
Dynamic amplitude, period, speed, the dynamic bias angle in poor, each joint of angular phase between each joint and quiescent biasing angle.
In the propulsion system of the present embodiment, formed at the output shaft for three driving devices that three propulsion units 21 are included
Three joints are compared with the trunk of true fish body, and simulation degree is high, before can be realized by the cooperation cooperative motion in three joints
Into, retreat, turn left, turn right and the movement such as original place autobiography.
In the present embodiment, driving device 211 uses waterproof steering engine, removes outside steering engine described in the present embodiment, the application's
All controllable motor units such as servo motor, stepper motor, direct current generator also can be used in driving device, need to carry out at waterproof
Reason.
In any preferred embodiment, the output shaft of the driving device 211 is longitudinally arranged, in the same propulsion unit
In, the both ends of the driving device support arm 213 rotate coaxially；Between different propulsion units, propped up outside the driving device
The rotary shaft of frame 213 is parallel to each other.
In any preferred embodiment, skeleton 7 is connected on the support arm of each propulsion unit 21.Any preferred reality
It applies in example, all 7 sizes of skeleton make the propulsion system shape be in from the side close to trunk 2 to leaning on the side of caudad 3 to successively decrease
Existing streamlined structure, based on this design, it is all streamlined structure that trunk 2 is matched with head 1, can further be reduced
The resistance being subject in the travelling of this bionic coatings underwater glider promotes its move about speed and flexibility.
Preferably, the vertical cross-section of the skeleton 7 is U-shaped；To avoid skeleton 7 from generating shadow to the rotary course of driving device
It rings, the skeleton 7 is equipped with symmetrical notch, and the movement of propulsion unit is interfered to avoid it.
Further, the opening direction of the skeleton 7 is identical as driving device support arm 213.
The tail portion 3 includes tail fin bracket 31 and tail fin 32, and described 31 one end of tail fin bracket is connected with the trunk 2
And its other end is equipped with the tail fin 32.
In the present embodiment, tail fin 32 can be rubber material, and shape is the shape of the approximate swallow-tail form with arc notch,
But the application for tail fin 32 shape without limitation, can arbitrarily change tail under the premise of not changing the structure of tail portion 3
The shape of fin 32, for studying influence of 32 shape of tail fin to bionic machine fish propulsive efficiency.
In conclusion underwater glider is integrated into the head of bionic coatings system by the present embodiment, so that the present embodiment was both
Has underwater glider low energy consumption, cruise duration is long, and motion process is quiet, and concealment is high, and depth of implements is deep, and voyage is grown excellent
Gesture is provided simultaneously with the bionic movement propulsion system for simulating underwater fish control somatic movement, can realize that no-radius is turned,
Movement, the motion processes such as the smooth steering of high speed decompose as follows:
1, when the dive of bionic coatings underwater glider:
Centre of gravity adjustment system call interception robot pitch angle, makes its head under, tail portion upper, meanwhile, Buoyance adjustment system
Medium is drawn back in inner cylinder, the overall buoyancy of total is reduced, bionic coatings underwater glider starts dive.
During its dive, the upper and lower surface of hang gliding generates pressure difference, provides lift, bionic coatings underwater glider
Toward forward under the action of lift.
2, when bionic coatings underwater glider floats:
Centre of gravity adjustment system call interception robot pitch angle, makes its tail portion under, head upper, meanwhile, Buoyance adjustment system
Medium is drained into outer oil sac, the overall buoyancy of total is promoted, bionic coatings underwater glider starts to float.
During floating on it, the upper and lower surface of hang gliding generates pressure difference, provides lift, bionic coatings underwater glider
Toward forward under the action of lift.
In above-mentioned two motion process, three driving devices that three propulsion units in bionic coatings system are included
Three joints are formed at output shaft, are compared with the trunk of true fish body, and simulation degree is high, is cooperated and is transported by the cooperation in three joints
It is dynamic to can be realized the movement such as advance, retrogressing, left-hand rotation, right-hand rotation and original place autobiography.
In the application, the quantity of propulsion unit is not limited to described in embodiment three, can be by increasing propulsion unit
Quantity improve the variability of the propulsive force and system motion form, shape of propulsion system；It can also be promoted by reducing
The quantity of unit adapts to the movement under simple environment.Multiple propulsion units are sequentially connected, the propulsion unit of rearmost part relative to
The rotation angle of the propulsion unit of forefront is the superposition value of the rotation angle in each joint, and the high fortune of flexibility ratio may be implemented
It is dynamic, more really simulate swing posture when fish swimming.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.Those skilled in the art
Member is it should be appreciated that invention scope involved in the application, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from the inventive concept, it is carried out by above-mentioned technical characteristic or its equivalent feature
Any combination and the other technical solutions formed.Such as features described above has similar function with (but being not limited to) disclosed herein
Can technical characteristic replaced mutually and the technical solution that is formed.
Claims (14)
1. a kind of bionic coatings underwater glider, it is characterised in that: including sequentially connected head, trunk and tail portion；
The head has streamlined structure comprising: the point being connected to outside, the cavity portion and use affixed with point
In the end cap for closing the cavity portion；Buoyance adjustment system is equipped in the cavity portion at point and at trunk
Equipped with centre of gravity adjustment system；It is symmetrically arranged with hang gliding on the cavity portion outer wall and middle part is equipped with and is connected with sliding closure in it
Hang gliding drive system；
The trunk includes: the propulsion system affixed with the cavity portion, and the propulsion system drives the trunk to swing
The underwater movement of underwater glider is promoted to realize；
The tail portion includes tail fin bracket and tail fin, and tail fin bracket one end is connected with the trunk and its other end is pacified
Equipped with the tail fin.
2. a kind of bionic coatings underwater glider according to claim 1, it is characterised in that: the end cap is equipped with back
Fin.
3. a kind of bionic coatings underwater glider according to claim 1 or 2, it is characterised in that: the Buoyance adjustment system
System includes: inner cylinder interconnected, controllable pump and outer oil sac, and the inner cylinder and controllable pump are set in cavity portion and institute
Outer oil sac is stated to be arranged in point.
4. a kind of bionic coatings underwater glider according to claim 3, it is characterised in that: the controllable pump is plunger pump
Or peristaltic pump.
5. a kind of bionic coatings underwater glider according to claim 1 or 2, it is characterised in that: the centre of gravity adjustment system
System includes: actuating motor, the screw rod that is connected with actuating motor and with screw rod linear guide disposed in parallel, the straight line leads
Rail is equipped on sliding block and the screw rod with the feed screw nut affixed with sliding block is connected to, and is provided with counterweight on the feed screw nut
Block.
6. a kind of bionic coatings underwater glider according to claim 5, it is characterised in that: the clump weight is lithium battery
Group.
7. a kind of bionic coatings underwater glider according to claim 1 or 2, it is characterised in that: the hang gliding driving
System includes: the steering engine being set in cavity portion, with steering engine mating gear set, with gear set matched connecting shaft and with institute
State the affixed hang gliding connection frame of connecting shaft.
8. a kind of bionic coatings underwater glider according to claim 1 or 2, it is characterised in that: the propulsion system packet
Multiple propulsion units being sequentially connected are included, each propulsion unit is from inside to outside successively including in driving device, driving device
Bracket and driving device support arm；One end of the driving device support arm be connected on the output shaft of the driving device and with
The output shaft rotation, the other end of the driving device support arm are pivotally connected to branch in the driving device
On frame, the middle part of the driving device support arm is fixedly connected with the driving device inner support of the propulsion unit at its rear.
9. a kind of bionic coatings underwater glider according to claim 8, it is characterised in that: the driving device is waterproof
Steering engine.
10. a kind of bionic coatings underwater glider according to claim 8, it is characterised in that: the driving device it is defeated
Shaft is longitudinally arranged, and in the same propulsion unit, the both ends of the driving device support arm are rotated coaxially；In different propulsions
Between unit, the rotary shaft of the driving device support arm is parallel to each other.
11. a kind of bionic coatings underwater glider according to claim 9 or 10, it is characterised in that: each propulsion unit
Support arm on be connected with skeleton.
12. a kind of bionic coatings underwater glider according to claim 11, it is characterised in that: all skeleton sizes are leaned on certainly
The side of nearly trunk makes propulsion system shape that streamlined structure be presented to leaning on caudal side to successively decrease.
13. a kind of bionic coatings underwater glider according to claim 12, it is characterised in that: the vertical of the skeleton is cut
Face is U-shaped.
14. a kind of bionic coatings underwater glider according to claim 13, it is characterised in that: the opening court of the skeleton
To identical as driving device support arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710533041.0A CN109204744A (en) | 2017-07-03 | 2017-07-03 | A kind of bionic coatings underwater glider |
Applications Claiming Priority (1)
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| CN110775229A (en) * | 2019-12-03 | 2020-02-11 | 上海海洋大学 | Multifunctional bionic tuna and control method thereof |
| CN111086615A (en) * | 2019-12-16 | 2020-05-01 | 哈尔滨工程大学 | Three-dimensional space maneuvering bionic robot fish and buoyancy adjusting device |
| CN111516838A (en) * | 2020-04-24 | 2020-08-11 | 天津大学 | Seal-imitating underwater glider |
| CN111746783A (en) * | 2020-07-01 | 2020-10-09 | 西湖大学 | A flank structure and navigation ware for navigation ware |
| CN112319753A (en) * | 2020-11-16 | 2021-02-05 | 华南理工大学 | Deep-diving bionic wire-pulling machine fish |
| CN113371139A (en) * | 2021-06-28 | 2021-09-10 | 中国船舶工业集团公司第七0八研究所 | Fuel supply ship |
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| CN113371139A (en) * | 2021-06-28 | 2021-09-10 | 中国船舶工业集团公司第七0八研究所 | Fuel supply ship |
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