CN109533249B - A bionic underwater vehicle flapping propulsion device - Google Patents

Abstract

The invention discloses a flapping propulsion device of a bionic underwater vehicle, which is installed on the underwater vehicle and comprises a drive motor assembly, a transmission gear set, a ball screw, a steering gear, a rotating shaft and an adaptive underactuated flexible wing. A skeleton, a single-slider double-rocker mechanism and a fixed seat, the drive motor assembly, the ball screw and the fixed seat are respectively connected with the main body of the underwater vehicle, and the drive motor assembly is composed of a motor, a reducer and an encoder, so The ball screw is composed of a screw, a screw nut and a screw fixing seat, the output shaft of the reducer is connected with the driving gear of the transmission gear group; the driven wheel of the transmission gear group is connected with the screw of the ball screw, so The motor drives the lead screw to rotate through the transmission gear set. The overall structure of the device is provided with two parts, the front wing and the rear wing. The whole device has two degrees of freedom, which can realize the actions of underwater vehicle propulsion, turning, floating and diving.

Description

A bionic underwater vehicle flapping propulsion device

technical field

The invention relates to a propulsion device of an underwater vehicle, more particularly, to a flapping-wing propulsion device of a bionic underwater vehicle.

Background technique

In recent years, with the continuous deepening of human exploration of the ocean, underwater vehicles have played an increasingly important role. This makes us have higher requirements for the performance of underwater vehicles in all aspects. At present, most underwater vehicles use the propeller propulsion method. Due to the problems of low propulsion efficiency, high noise and insufficient flexibility at low speed, the traditional propulsion method is more and more difficult to meet the diverse tasks of underwater vehicles. Require. The flapping motion of sea turtles, manta rays and other marine creatures has undergone countless years of evolution, and has the advantages of high propulsion efficiency, strong stability, good maneuverability and maneuverability, and is especially suitable for propulsion in the marine environment. Therefore, it is of great significance to improve the propulsion performance of underwater vehicles by in-depth study of the flapping propulsion mechanism of marine organisms and designing a suitable flapping mechanism.

At present, there are roughly two types of underwater bionic flapping-wing propulsion mechanisms. The first is to use the form of fin ray and skin, and use the motor to control the rotation of the fin ray. Since the fin ray of its unilateral wing is generally not less than three, it requires the use of multiple sets of motors, which increases the control of the wing. The development of the system is difficult, and the adaptability to the environment is not strong; the second is a driving method that uses a combination of mechanisms such as cranks and rockers. This kind of flapping mechanism is relatively simple to control and analyze, but it is not very good. By imitating the actual flapping motion of marine life, the motion efficiency has not been greatly improved. Therefore, developing and researching a flapping-wing propulsion device with simple structure and strong adaptability has become one of the important research directions for the development of underwater vehicles.

SUMMARY OF THE INVENTION

The purpose of the present invention is to overcome the deficiencies in the prior art, to provide a bionic underwater vehicle flapping propulsion device, the flapping propulsion device takes the movement of the pectoral fin of the manta ray as the bionic object, and imitates the pectoral fin of the manta ray during the movement process. The pectoral fins close to the body part and the pectoral fins far away from the body part have different movement laws and different propulsion forces. The overall structure of the propulsion device consists of two parts: the front wing and the rear wing. The whole device has two degrees of freedom, which can realize the actions of underwater vehicle propulsion, turning, floating and diving.

The purpose of this invention is to realize through the following technical solutions:

A bionic underwater vehicle flapping wing propulsion device, which is installed on the underwater vehicle, includes a drive motor assembly, a transmission gear set, a ball screw, a steering gear, a rotating shaft, an adaptive underactuated flexible wing frame, a single-slider A block double rocker mechanism and a fixed seat, the drive motor assembly, the ball screw and the fixed seat are respectively connected with the main body of the underwater vehicle, the drive motor assembly is composed of a motor, a reducer and an encoder, the ball screw It is composed of a lead screw, a lead screw nut and a lead screw fixing seat. The output shaft of the reducer is connected with the driving gear of the transmission gear set; the driven wheel of the transmission gear set is connected with the lead screw of the ball screw, and the motor is driven by The gear set drives the screw to rotate;

The single-slider double-rocker mechanism is composed of a slider, a moving shaft, a first link, a second link, a third link, a fixed shaft, a first rocker, a second rocker and a third rocker connected to each other. ;

The second rocker is also connected with a steering gear, a first bearing seat and a second bearing seat, and the rotating shaft is composed of a first rotating shaft, a second rotating shaft and a third rotating shaft; the first rotating shaft passes through the bearing Installed on the first bearing seat and the second bearing seat, the second rotating shaft is fixed on the tail of the first rotating shaft, the third rotating shaft is installed on the third bearing seat through the bearing, and the third bearing seat is fixed on the third rocker ;

The adaptive underactuated flexible wing skeleton includes a first flexible wing skeleton, a second flexible wing skeleton, a third flexible wing skeleton, a fourth flexible wing skeleton, a fifth flexible wing skeleton, and a sixth flexible wing skeleton. Wing frame, each flexible wing frame is composed of wing frame, hinge fixing seat and spring steel sheet.

Further, the slider and the moving shaft are fixedly connected, one end of the first connecting rod and the second connecting rod are connected with the moving shaft through a bearing, the other end of the first connecting rod is connected with one end of the second rocking rod, and the first connecting rod is connected with the moving shaft. The other end of the second link is connected to one end of the first rocker, the other end of the first rocker and the middle end of the second rocker are connected to the fixed shaft through a bearing, and the fixed shaft is mounted on the fixed seat; the third connection One end of the rod is connected with the middle end of the first rocker, the other end of the third link and the other end of the second rocker are respectively connected with one end and the middle end of the third rocker, forming a closed loop; the slider and the moving shaft are fixed The second rocker and the third rocker are driven up and down by the linear motion of the nut on the lead screw nut of the ball screw.

Further, one end of the first rotating shaft is connected with the steering gear output shaft, the other end of the first rotating shaft is connected with the second rotating shaft, and the first flexible wing frame and the second flexible wing frame are installed on the first The middle position of the rotation axis, the third flexible wing frame and the fourth flexible wing frame are installed at the two ends of the second rotation shaft; the fifth flexible wing frame and the sixth flexible wing frame are installed at the two ends of the third rotation shaft. end position.

Further, the first link, the second link, the third link and the first rocker are straight rods, the second rocker and the third rocker are curved rods, and the bending angle is greater than zero and less than one. Any angle of one hundred and eighty degrees.

Compared with the prior art, the beneficial effects brought by the technical solution of the present invention are:

1. The present invention adopts a two-degree-of-freedom actuator, and the overall device has two degrees of freedom of flapping motion and rotational motion; the flapping motion of the flapping wing is independently controlled by the drive motor assembly, and the rotational motion is independently controlled by the steering gear, so that the flapping wing mechanism is independently controlled. The development difficulty of the control program is reduced, the overall size is small, and the movement is flexible.

2. The execution part of the flapping motion of the present invention adopts a double rocker structure, and the wing is divided into two parts: the front wing and the rear wing. During the movement, the flapping amplitude of the front wing part close to the fuselage Smaller, the rear wing portion farther away from the fuselage flaps more. The segmented wing design makes the wing movement more in line with the actual movement law of the pectoral fin of the manta ray, reducing the resistance of flapping movement and improving the propulsion.

3. The driving part of the flapping motion of the present invention adopts a slider structure, and its overall space size is small, and the set of driving devices such as the driving motor assembly, the transmission gear set, and the ball screw can be placed on the body of the underwater vehicle. Outside, a set of integral flapping device units are formed, which are suitable for underwater vehicles of different sizes and shapes. At the same time, according to the actual situation, the driving device can be placed in the fuselage to reduce the overall installation size of the flapping part of the underwater vehicle.

4. The wing skeleton of the present invention adopts an adaptive under-actuated flexible wing skeleton, which can make the wing self-adaptively rotate to different angles in different directions according to the difference in the speed, amplitude and direction of the flapping flapping motion, reducing the The resistance of the flapping wing during movement increases propulsion.

5. The propulsion device of the present invention has the advantages of simple production and processing, convenient motion control, high reliability and low noise, and has important significance and wide application prospects in many fields such as underwater vehicle propulsion.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the device of the present invention;

Fig. 2 is the schematic diagram of flapping part structure in Fig. 1;

FIG. 3 is a partial structural diagram of the adaptive underactuated flexible wing frame of the flapping propulsion device shown in FIG. 1 .

Reference numerals: 1. Drive motor assembly, 2. Transmission gear set, 3. Ball screw, 4. Slider, 5. Single-slider double rocker mechanism, 6. Steering gear, 7, First bearing seat, 8 , the first flexible wing frame, 9, the first rotation axis, 10, the second flexible wing frame, 11, the second bearing seat, 12, the third flexible wing frame, 13, the second rotation axis, 14, the first Four flexible wing frame, 15, fifth flexible wing frame, 16, third rotating shaft, 17, third bearing seat, 18, sixth flexible wing frame, 19, moving shaft, 20, first link, 21, the second link, 22, the fixed shaft, 23, the fixed seat, 24, the first rocker, 25, the third link, 26, the second rocker, 27, the third rocker, 28, the first fixed Wing frame, 29, first flexible hinge fixing seat, 30, first spring steel sheet, 31, second spring steel sheet, 32, second flexible hinge fixing seat, 33, second fixed wing frame, 34, first Three fixed wing skeleton

Detailed ways

In order to further understand the content, characteristics and effects of the present invention, the following embodiments are exemplified and described in detail with the accompanying drawings as follows:

As shown in Figures 1 to 3, the embodiment of the present invention is a manta ray underwater flapping wing propulsion device, which is a two-degree-of-freedom flapping wing driving device. The driving motor assembly 1, the ball screw 3 and the fixing seat 23 are respectively Installed on the main body of the underwater vehicle. The output shaft of the drive motor assembly 1 is connected with the driving gear of the transmission gear set 2 , and the lead screw of the ball screw 3 is connected with the driven gear of the transmission gear set 2 . The slider 4 and the moving shaft 19 are fixed together and connected with the nut of the ball screw 3 . One end of the first link 20 and the second link 21 are connected with the moving shaft 19 through a bearing, the other end of the first link 20 is connected with the second rocker 26, and the other end of the second link 21 is connected with the first rocker 24 is connected, the other end of the first rocker 24 and the middle end of the second rocker 26 are connected with the fixed shaft 22 through a bearing, and the fixed shaft 22 is mounted on the fixed seat 23 . One end of the third link 25 is connected to the middle end of the first rocker 24, the other end of the third link 25 and the other end of the second rocker 26 are respectively connected to one end and the middle end of the third rocker 27, forming a closed loop .

The steering gear 6, the first bearing seat 7 and the second bearing seat 11 are fixed on the second rocker 26, the first rotating shaft 9 is mounted on the first bearing seat 7 and the second bearing seat 11 through bearings, and the first rotating shaft One end of 9 is connected to the output shaft of the steering gear 6 , and the other end of the first rotating shaft 9 is connected to the second rotating shaft 13 . The first flexible wing frame 8 and the second flexible wing frame 10 are installed at the middle position of the first rotating shaft 9 , and the third flexible wing frame 12 and the fourth flexible wing frame 14 are installed at both ends of the second rotating shaft 13 . The third bearing seat 17 is fixed on the third rocker 27 , and the third rotating shaft 16 is mounted on the third bearing seat 17 through a bearing. The fifth flexible wing frame 15 and the sixth flexible wing frame 18 are installed at both ends of the third rotating shaft 16 .

FIG. 3 is a detailed view of the second flexible wing frame 10 , and the structure of the other flexible wing frame is similar to that of the second flexible wing frame 10 . The second flexible wing frame 10 is composed of a first fixed wing frame 28 , a second fixed wing frame 33 , a third fixed wing frame 34 , a first flexible hinge fixing seat 29 , a second flexible hinge fixing seat 32 , a first The spring steel sheet 30 and the second spring steel sheet 31 are composed. The first fixed wing frame 28 is fixed on the first rotating shaft 9, the first flexible hinge fixing seat 29 is connected with the first fixed wing frame 28, the second flexible hinge fixing seat 32 is connected with the second fixed wing frame 33, The first spring steel sheet 30 and the second spring steel sheet 31 are symmetrically mounted on the first flexible hinge fixing seat 29 and the second flexible hinge fixing seat 32 . The rest of the flexible hinges are arranged in the same way.

The movement process of the whole mechanism is as follows: the motor drives the lead screw to rotate through the transmission gear set, the ball screw converts the rotary motion of the motor into the linear motion of the nut, and the nut drives the slider of the single-slider double-rocker mechanism 5 to perform linear motion. The slider drives the second rocker to flap up and down through the first link to realize the flapping motion of the front wing; the slider drives the third rocker to flap up and down through the second link and the third link to realize the rear end machine flapping motion of the wings. The steering gear drives the rotating shaft to rotate to realize the reciprocating rotational motion of the flexible wing frame. The movement direction, maximum amplitude and movement frequency of the flapping mechanism and rotating mechanism of the entire flapping mechanism can be controlled by controlling the rotation direction, rotation angle and speed of the motor and the steering gear. To achieve approximation to the actual motion law of the pectoral fin of the bionic object manta ray.

The present invention is not limited to the embodiments described above. The above description of the specific embodiments is intended to describe and illustrate the technical solutions of the present invention, and the above-mentioned specific embodiments are only illustrative and not restrictive. Without departing from the spirit of the present invention and the protection scope of the claims, those of ordinary skill in the art can also make many specific transformations under the inspiration of the present invention, which all fall within the protection scope of the present invention.

Claims (3)

1. a bionic type underwater vehicle flapping wing propulsion device, is installed in the underwater vehicle, it is characterized in that, comprise drive motor assembly, transmission gear set, ball screw, steering gear, rotating shaft, self-adaptive under-driven flexibility A wing frame, a single-slider double-rocker mechanism and a fixed seat, the drive motor assembly, the ball screw and the fixed seat are respectively connected with the main body of the underwater vehicle, and the drive motor assembly is composed of a motor, a reducer and an encoder , the ball screw is composed of a screw, a screw nut and a screw fixing seat, the output shaft of the reducer is connected with the driving gear of the transmission gear group; the driven wheel of the transmission gear group is connected with the screw of the ball screw , the motor drives the lead screw to rotate through the transmission gear set; The single-slider double-rocker mechanism is composed of a slider, a moving shaft, a first link, a second link, a third link, a fixed shaft, a first rocker, a second rocker, and a third rocker; The slider and the moving shaft are fixedly connected, one end of the first connecting rod and the second connecting rod are connected with the moving shaft through a bearing, the other end of the first connecting rod is connected with one end of the second rocking rod, and the second connecting rod is connected with the moving shaft. The other end of the first rocker is connected to one end of the first rocker, the other end of the first rocker and the middle end of the second rocker are connected to the fixed shaft through a bearing, and the fixed shaft is installed on the fixed seat; one end of the third connecting rod It is connected with the middle end of the first rocker, the other end of the third link 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 slider and the moving shaft are fixed on the ball wire The screw nut of the rod drives the second rocker and the third rocker to flap up and down through the linear motion of the nut; The second rocker is also connected with a steering gear, a first bearing seat and a second bearing seat, and the rotating shaft is composed of a first rotating shaft, a second rotating shaft and a third rotating shaft; the first rotating shaft passes through the bearing Installed on the first bearing seat and the second bearing seat, the second rotating shaft is fixed on the tail of the first rotating shaft, the third rotating shaft is installed on the third bearing seat through the bearing, and the third bearing seat is fixed on the third rocker ; The adaptive underactuated flexible wing skeleton includes a first flexible wing skeleton, a second flexible wing skeleton, a third flexible wing skeleton, a fourth flexible wing skeleton, a fifth flexible wing skeleton, and a sixth flexible wing skeleton. Wing frame, each flexible wing frame is composed of wing frame, hinge fixing seat and spring steel sheet. 2. a kind of bionic type underwater vehicle flapping propulsion device according to claim 1 is characterized in that, one end of described first rotating shaft is connected with steering gear output shaft, and the other end of first rotating shaft is connected with second rotating shaft. The shafts are connected, the first flexible wing frame and the second flexible wing frame are installed at the middle position of the first rotating shaft, and the third flexible wing frame and the fourth flexible wing frame are installed at both ends of the second rotating shaft; The fifth flexible wing frame and the sixth flexible wing frame are installed at both ends of the third rotating shaft. 3. a kind of bionic type underwater vehicle flapping propulsion device according to claim 1 is characterized in that, described first connecting rod, second connecting rod, third connecting rod and first rocker are straight rods , the second rocker and the third rocker are bent rods, and the bending angle is any angle greater than zero and less than one hundred and eighty degrees.

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