CN109533249B - Bionic flapping wing propulsion device of underwater vehicle - Google Patents
Bionic flapping wing propulsion device of underwater vehicle Download PDFInfo
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- CN109533249B CN109533249B CN201811411536.7A CN201811411536A CN109533249B CN 109533249 B CN109533249 B CN 109533249B CN 201811411536 A CN201811411536 A CN 201811411536A CN 109533249 B CN109533249 B CN 109533249B
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- rocker
- rotating shaft
- flexible wing
- wing framework
- connecting rod
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H23/00—Transmitting power from propulsion power plant to propulsive elements
- B63H23/02—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
- B63H25/08—Steering gear
- B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
- B63H25/34—Transmitting of movement of engine to rudder, e.g. using quadrants, brakes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H23/00—Transmitting power from propulsion power plant to propulsive elements
- B63H23/02—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing
- B63H2023/0291—Trolling gears, i.e. mechanical power transmissions comprising controlled slip clutches, e.g. for low speed propulsion
Abstract
The invention discloses a bionic type flapping wing propulsion device of an underwater vehicle, which is arranged on the underwater vehicle and comprises a driving motor assembly, a transmission gear set, a ball screw, a steering engine, a rotating shaft, a self-adaptive under-actuated flexible wing framework, a single-slider double-rocker mechanism and a fixed seat, wherein the driving motor assembly, the ball screw and the fixed seat are respectively connected with a main body of the underwater vehicle; and a driven wheel of the transmission gear set is connected with a lead screw of the ball screw, and the motor drives the lead screw to rotate through the transmission gear set. The integral structure of the device is provided with a front end wing and a rear end wing. The whole device has two degrees of freedom, and can realize the actions of propelling, turning, floating, submerging and the like of the underwater vehicle.
Description
Technical Field
The invention relates to a propelling device of an underwater vehicle, in particular to a bionic flapping wing propelling device of the underwater vehicle.
Background
In recent years, underwater vehicles have played an increasingly important role as the human exploration for the ocean has continued. This makes the underwater vehicle more demanding in terms of performance. At present, most underwater vehicles adopt a propeller propulsion mode, and due to the problems of low propulsion efficiency, high noise, insufficient flexibility and the like under the low-speed condition, the traditional propulsion mode is more and more difficult to meet the requirement of task diversification of the underwater vehicles. The flapping-wing motion mode of marine organisms such as the sea turtle and the bat ray has the advantages of high propulsion efficiency, strong stability, good maneuverability and the like after the evolution of countless years, and is particularly suitable for the propulsion in the marine environment. Therefore, through deep research on the flapping wing propulsion mechanism of marine organisms, a proper flapping wing mechanism is designed, which has important significance for improving the propulsion performance of the underwater vehicle.
At present, roughly two types of underwater bionic flapping wing propulsion mechanisms exist. The first is to adopt a form of a fin and a skin, the rotating motion of the fin is controlled by a motor, and as the number of the fins of the unilateral wing is generally not less than three, a plurality of groups of motors are required, so that the development difficulty of a wing control system is increased, and the adaptability to the environment is not strong; the second is a driving mode that mechanisms such as a crank rocker and the like are combined together, the control and the mechanism analysis of the flapping wing mechanism are simpler, but the actual flapping wing motion of marine organisms cannot be well simulated, and the motion efficiency is not greatly improved. Therefore, developing and researching a flapping wing propulsion device with simple structure and strong adaptability becomes one of the important research directions for the development of the current underwater vehicle.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a bionic type flapping wing propulsion device of an underwater vehicle, which takes the motion of a bat pectoral fin as a bionic object and imitates the characteristics that the motion laws of the pectoral fin close to a body part and the motion laws of the pectoral fin far away from the body part are different and the generated propulsion force is different in the motion process of the bat pectoral fin, and the whole structure of the propulsion device is provided with a front-end wing and a rear-end wing. The whole device has two degrees of freedom, and can realize the actions of propelling, turning, floating, submerging and the like of the underwater vehicle.
The purpose of the invention is realized by the following technical scheme:
a bionic flapping wing propulsion device of an underwater vehicle is installed on the underwater vehicle and comprises a driving motor assembly, a transmission gear set, a ball screw, a steering engine, a rotating shaft, a self-adaptive under-actuated flexible wing framework, a single-slider double-rocker mechanism and a fixed seat, wherein the driving motor assembly, the ball screw and the fixed seat are respectively connected with a main body of the underwater vehicle; a driven wheel of the transmission gear set is connected with a lead screw of the ball screw, and the motor drives the lead screw to rotate through the transmission gear set;
the single-slider double-rocker mechanism is formed by mutually connecting a slider, a moving shaft, a first connecting rod, a second connecting rod, a third connecting rod, a fixed shaft, a first rocker, a second rocker and a third rocker;
the second rocker is also connected with a steering engine, a first bearing seat and a second bearing seat, and the rotating shaft consists of a first rotating shaft, a second rotating shaft and a third rotating shaft; the first rotating shaft is arranged on the first bearing seat and the second bearing seat through bearings, the second rotating shaft is fixed at the tail part of the first rotating shaft, the third rotating shaft is arranged on the third bearing seat through bearings, and the third bearing seat is fixed on the third rocker;
the self-adaptive under-actuated flexible wing framework comprises a first flexible wing framework, a second flexible wing framework, a third flexible wing framework, a fourth flexible wing framework, a fifth flexible wing framework and a sixth flexible wing framework, and each flexible wing framework is composed of a wing framework, a hinge fixing seat and a spring steel sheet.
Furthermore, the sliding block is fixedly connected with the moving shaft, one ends of the first connecting rod and the second connecting rod are connected with the moving shaft through bearings, the other end of the first connecting rod is connected with one end of the second rocker, the other end of the second connecting rod is connected with one end of the first rocker, the other end of the first rocker and the middle end of the second rocker are connected with the fixed shaft through bearings, and the fixed shaft is arranged on the fixed seat; one end of the third connecting rod is connected with the middle end of the first rocker, and the other end of the third connecting rod and the other end of the second rocker are respectively connected with one end and the middle end of the third rocker to form a closed loop; the sliding block and the moving shaft are fixed on a screw nut of the ball screw, and the second rocker and the third rocker are driven to flap up and down through linear motion of the nut.
Furthermore, one end of the first rotating shaft is connected with an output shaft of the steering engine, the other end of the first rotating shaft is connected with the second rotating shaft, the first flexible wing framework and the second flexible wing framework are installed in the middle of the first rotating shaft, and the third flexible wing framework and the fourth flexible wing framework are installed at two ends of the second rotating shaft; and the fifth flexible wing framework and the sixth flexible wing framework are arranged at two ends of a third rotating shaft.
Furthermore, the first connecting rod, the second connecting rod, the third connecting rod and the first rocking rod are straight rods, the second rocking rod and the third rocking rod are bent rods, and the bending angle of the bent rods is any angle larger than zero and smaller than one hundred eighty degrees.
Compared with the prior art, the technical scheme of the invention has the following beneficial effects:
1. the invention adopts a two-degree-of-freedom actuating mechanism, and the whole device has two degrees of freedom of flapping motion and rotating motion; flapping motion of the flapping wings is independently controlled by the driving motor component, and rotation motion is independently controlled by the steering engine, so that the development difficulty of a control program of the flapping wing mechanism is reduced, the overall size is small, and the motion is flexible.
2. The flapping motion executing part adopts a double-rocker structure, the wings are divided into a front-end wing part and a rear-end wing part, and in the motion process, the flapping amplitude of the front-end wing part close to the fuselage is smaller, and the flapping amplitude of the rear-end wing part far away from the fuselage is larger. The sectional wing design ensures that the movement of the wing more conforms to the actual movement rule of the pectoral fin of the bat ray, reduces the movement resistance of the flapping wing and improves the propulsive force.
3. The flapping-motion driving part adopts a sliding block structure, the overall space size is small, a set of driving device comprising a driving motor assembly, a transmission gear set and a ball screw can be placed outside the body of the underwater vehicle to form an integral flapping wing device unit, and the flapping-motion driving device is suitable for underwater vehicles with different sizes and shapes. Meanwhile, the driving device can be placed in the aircraft body according to actual conditions, and the overall installation size of the flapping wing part of the underwater vehicle is reduced.
4. The wing framework adopts the self-adaptive underactuated flexible wing framework, so that the wings can rotate in different directions by different angles in a self-adaptive manner according to different flapping motion speeds, amplitudes and flapping directions of the flapping wings, the resistance of the flapping wings in the motion process is reduced, and the propelling force is increased.
5. The propulsion device has the advantages of simple production and processing, convenient motion control, high reliability, low noise and the like, and has important significance and wide application prospect in a plurality of fields such as underwater vehicle propulsion and the like.
Drawings
FIG. 1 is a schematic view of the general structure of the apparatus of the present invention;
FIG. 2 is a schematic view of the structure of the flapping portion of FIG. 1;
fig. 3 is a partial structure diagram of an adaptive under-actuated flexible wing frame of the flapping wing propulsion unit shown in fig. 1.
Reference numerals: 1. a driving motor component, 2, a transmission gear set, 3, a ball screw, 4, a sliding block, 5, a single-sliding-block double-rocker mechanism, 6, a steering engine, 7, a first bearing seat, 8, a first flexible wing framework, 9, a first rotating shaft, 10, a second flexible wing framework, 11, a second bearing seat, 12, a third flexible wing framework, 13, a second rotating shaft, 14, a fourth flexible wing framework, 15, a fifth flexible wing framework, 16, a third rotating shaft, 17, a third bearing seat, 18, a sixth flexible wing framework, 19, a moving shaft, 20, a first connecting rod, 21, a second connecting rod, 22, a fixed shaft, 23, a fixed seat, 24, a first rocker, 25, a third connecting rod, 26, a second rocker, 27, a third rocker, 28, a first fixed wing framework, 29, a first flexible hinge steel sheet, 30, a first spring, 31, a second spring, 32. second flexible hinge fixing seat 33, second fixed wing framework 34 and third fixed wing framework
Detailed Description
In order to further understand the contents, features and effects of the present invention, the following embodiments are illustrated and described in detail with reference to the accompanying drawings:
as shown in the attached drawings 1 to 3, the embodiment of the invention is an artificial bat ray underwater flapping wing propulsion device, which is a two-degree-of-freedom flapping wing driving device, and a driving motor assembly 1, a ball screw 3 and a fixed seat 23 are respectively arranged on an underwater vehicle main body. An output shaft of the driving motor assembly 1 is connected with a driving gear of the transmission gear set 2, and a lead screw of the ball screw 3 is connected with a driven gear of the transmission gear set 2. The slider 4 and the moving shaft 19 are fixed to each other and connected to a nut of the ball screw 3. One end of the first connecting rod 20 and one end of the second connecting rod 21 are connected with the moving shaft 19 through bearings, the other end of the first connecting rod 20 is connected with the second rocking rod 26, the other end of the second connecting rod 21 is connected with the first rocking rod 24, the other end of the first rocking rod 24 and the middle end of the second rocking rod 26 are connected with the fixed shaft 22 through bearings, and the fixed shaft 22 is installed on the fixed seat 23. One end of the third connecting rod 25 is connected with the middle end of the first rocking bar 24, and the other end of the third connecting rod 25 and the other end of the second rocking bar 26 are respectively connected with one end and the middle end of the third rocking bar 27 to form a closed loop.
Fig. 3 is a detailed view of the second flexible wing skeleton 10, and the remaining flexible wing skeleton structure is similar to the second flexible wing skeleton 10 structure. The second flexible wing framework 10 is composed of a first fixed wing framework 28, a second fixed wing framework 33, a third fixed wing framework 34, a first flexible hinge fixing seat 29, a second flexible hinge fixing seat 32, a first spring steel sheet 30 and a second spring steel sheet 31. The first fixed wing framework 28 is fixed on the first rotating shaft 9, the first flexible hinge fixing seat 29 is connected with the first fixed wing framework 28, the second flexible hinge fixing seat 32 is connected with the second fixed wing framework 33, and the first spring steel sheet 30 and the second spring steel sheet 31 are symmetrically arranged on the first flexible hinge fixing seat 29 and the second flexible hinge fixing seat 32. The remaining flexible hinge arrangements are consistent therewith.
The motion process of the whole mechanism is as follows: the motor drives the screw rod to rotate through the transmission gear set, the ball screw converts the rotating motion of the motor into the linear motion of the nut, and the nut drives the sliding block of the single-sliding-block double-rocker mechanism 5 to perform the linear motion. The sliding block drives the second rocker to flap up and down through the first connecting rod, so that flap motion of the front-end wing is realized; the sliding block drives the third rocker to flap up and down through the second connecting rod and the third connecting rod, so that flap motion of the rear-end wing is realized. The steering engine drives the rotating shaft to rotate, and reciprocating rotation motion of the flexible wing framework is achieved. The moving direction, the maximum amplitude and the moving frequency of the flapping mechanism and the rotating mechanism of the whole flapping-wing mechanism can be controlled by controlling the rotating direction, the rotating angle and the speed of the motor and the steering engine, and the actual moving rule similar to the bionic object bat ray pectoral fin can be realized by controlling the adjustment of the motor and the steering engine motion equation.
The present invention is not limited to the above-described embodiments. The foregoing description of the specific embodiments is intended to describe and illustrate the technical solutions of the present invention, and the above specific embodiments are merely illustrative and not restrictive. Those skilled in the art can make many changes and modifications to the invention without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (3)
1. A bionic flapping wing propulsion device of an underwater vehicle is installed on the underwater vehicle and is characterized by comprising a driving motor assembly, a transmission gear set, a ball screw, a steering engine, a rotating shaft, a self-adaptive under-actuated flexible wing framework, a single-slider double-rocker mechanism and a fixed seat, wherein the driving motor assembly, the ball screw and the fixed seat are respectively connected with a main body of the underwater vehicle; a driven wheel of the transmission gear set is connected with a lead screw of the ball screw, and the motor drives the lead screw to rotate through the transmission gear set;
the single-slider double-rocker mechanism consists of a slider, a moving shaft, a first connecting rod, a second connecting rod, a third connecting rod, a fixed shaft, a first rocker, a second rocker and a third rocker; the sliding block is fixedly connected with the moving shaft, one ends of the first connecting rod and the second connecting rod are connected with the moving shaft through bearings, the other end of the first connecting rod is connected with one end of the second rocker, the other end of the second connecting rod is connected with one end of the first rocker, the other end of the first rocker and the middle end of the second rocker are connected with the fixed shaft through bearings, and the fixed shaft is arranged on the fixed seat; one end of the third connecting rod is connected with the middle end of the first rocker, and the other end of the third connecting rod and the other end of the second rocker are respectively connected with one end and the middle end of the third rocker to form a closed loop; the sliding block and the moving shaft are fixed on a screw nut of the ball screw, and the second rocker and the third rocker are driven to flap up and down through linear motion of the nut;
the second rocker is also connected with a steering engine, a first bearing seat and a second bearing seat, and the rotating shaft consists of a first rotating shaft, a second rotating shaft and a third rotating shaft; the first rotating shaft is arranged on the first bearing seat and the second bearing seat through bearings, the second rotating shaft is fixed at the tail part of the first rotating shaft, the third rotating shaft is arranged on the third bearing seat through bearings, and the third bearing seat is fixed on the third rocker;
the self-adaptive under-actuated flexible wing framework comprises a first flexible wing framework, a second flexible wing framework, a third flexible wing framework, a fourth flexible wing framework, a fifth flexible wing framework and a sixth flexible wing framework, and each flexible wing framework is composed of a wing framework, a hinge fixing seat and a spring steel sheet.
2. The bionic type underwater vehicle flapping wing propulsion device of claim 1, wherein one end of the first rotating shaft is connected with an output shaft of a steering engine, the other end of the first rotating shaft is connected with the second rotating shaft, the first flexible wing framework and the second flexible wing framework are arranged in the middle of the first rotating shaft, and the third flexible wing framework and the fourth flexible wing framework are arranged at two ends of the second rotating shaft; and the fifth flexible wing framework and the sixth flexible wing framework are arranged at two ends of a third rotating shaft.
3. The device of claim 1, wherein the first link, the second link, the third link and the first rocker are straight rods, the second rocker and the third rocker are bent rods, and the bending angle of the bent rods is any angle greater than zero and less than one hundred eighty degrees.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811411536.7A CN109533249B (en) | 2018-11-24 | 2018-11-24 | Bionic flapping wing propulsion device of underwater vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811411536.7A CN109533249B (en) | 2018-11-24 | 2018-11-24 | Bionic flapping wing propulsion device of underwater vehicle |
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| CN109533249A CN109533249A (en) | 2019-03-29 |
| CN109533249B true CN109533249B (en) | 2020-08-18 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110015391B (en) * | 2019-05-08 | 2023-11-17 | 大连理工大学 | Device and system for underwater robot fish in ray mode |
| CN110203360A (en) * | 2019-06-21 | 2019-09-06 | 青岛海洋科学与技术国家实验室发展中心 | Silk driving flexible variable swing device and submarine navigation device |
| CN110395372A (en) * | 2019-07-26 | 2019-11-01 | 青岛海洋科学与技术国家实验室发展中心 | Fin ray, wing and submarine navigation device |
| CN110775237A (en) * | 2019-11-22 | 2020-02-11 | 西北工业大学 | Small underwater bionic flapping wing driving device |
| CN110979607A (en) * | 2019-12-04 | 2020-04-10 | 天津大学 | Flexible wire driving module type variable wing device |
| CN110979606B (en) * | 2019-12-04 | 2021-10-01 | 天津大学 | Folding and unfolding type flapping wing mechanism of underwater vehicle |
| CN113341693B (en) * | 2021-06-08 | 2022-07-26 | 西北工业大学 | Course control method based on asymmetric phase difference and amplitude of flapping wings |
| CN114789785B (en) * | 2022-03-29 | 2024-04-16 | 西湖大学 | Aircraft |
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| DE102011103404B4 (en) * | 2011-06-06 | 2015-04-30 | Motonautic UG (haftungsbeschränkt) | Blow fin drive |
| CN103144755B (en) * | 2013-02-08 | 2015-07-01 | 北京航空航天大学 | Bionic cow-nosed ray oscillating pectoral fin driven by wires of large-deformation flexible mechanism |
| CN103213664A (en) * | 2013-04-22 | 2013-07-24 | 北京航空航天大学 | Dual-drive bionic pectoral fin framework |
| CN103612755B (en) * | 2013-11-20 | 2015-08-05 | 中国民航大学 | A kind of binodal main wing Bionic ornithopter |
| DE202014001817U1 (en) * | 2014-02-26 | 2014-04-07 | Helmut Stoffels | Fins drive on any floats |
| CN104943839B (en) * | 2015-07-16 | 2017-04-19 | 北京航空航天大学 | Modular bionic underwater robot based on full-flexible pectoral fins |
| CN105460189B (en) * | 2015-11-27 | 2017-09-29 | 天津大学 | A kind of flapping wing drive device under water |
| CN105416568A (en) * | 2015-12-09 | 2016-03-23 | 上海游族智能科技有限公司 | Self-adaptive gusty-wind-resistant bent wing |
| CN106672185B (en) * | 2016-08-11 | 2018-07-03 | 西北工业大学 | A kind of small-scale underwater vehicle device Computation of Flexible Flapping-Wing driving device |
| CN107472529B (en) * | 2017-09-12 | 2020-06-12 | 南通大学 | Flapping wing aircraft with twisted inner wings |
| CN107804446B (en) * | 2017-09-26 | 2019-04-19 | 西北工业大学 | Three Degree Of Freedom for submarine navigation device imitates Weis-Fogh mechanism and its kinematics control method |
| CN207985157U (en) * | 2018-01-19 | 2018-10-19 | 天津大学 | A kind of flexible change rear underwater glider wing |
| CN108622356B (en) * | 2018-04-09 | 2019-06-21 | 西北工业大学 | A kind of aquatic bionic Computation of Flexible Flapping-Wing propulsion device |
| CN108860595B (en) * | 2018-04-12 | 2021-06-15 | 南京航空航天大学 | Flapping wing pigeon-like aircraft with passive torsion |
| CN108945430B (en) * | 2018-07-16 | 2022-04-12 | 武汉科技大学 | Bionic flapping-folding-active torsion hybrid-driven flapping wing aircraft |
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