CN110203360A - Silk driving flexible variable swing device and submarine navigation device - Google Patents
Silk driving flexible variable swing device and submarine navigation device Download PDFInfo
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- CN110203360A CN110203360A CN201910541254.7A CN201910541254A CN110203360A CN 110203360 A CN110203360 A CN 110203360A CN 201910541254 A CN201910541254 A CN 201910541254A CN 110203360 A CN110203360 A CN 110203360A
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- variable swing
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- 239000011159 matrix material Substances 0.000 claims abstract description 63
- 239000000945 filler Substances 0.000 claims description 7
- 239000000463 material Substances 0.000 claims description 6
- 239000002245 particle Substances 0.000 claims description 6
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 3
- 239000002131 composite material Substances 0.000 claims description 3
- 239000006260 foam Substances 0.000 claims description 3
- 239000000741 silica gel Substances 0.000 claims description 3
- 229910002027 silica gel Inorganic materials 0.000 claims description 3
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical group [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 claims 1
- 239000010931 gold Substances 0.000 claims 1
- 229910052737 gold Inorganic materials 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 abstract description 10
- 238000004804 winding Methods 0.000 abstract description 7
- 239000013535 sea water Substances 0.000 abstract description 6
- 238000005260 corrosion Methods 0.000 abstract description 5
- 230000007797 corrosion Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 6
- 238000004064 recycling Methods 0.000 description 4
- 238000004088 simulation Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 239000007769 metal material Substances 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000008187 granular material Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000003734 kidney Anatomy 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- YHXISWVBGDMDLQ-UHFFFAOYSA-N moclobemide Chemical compound C1=CC(Cl)=CC=C1C(=O)NCCN1CCOCC1 YHXISWVBGDMDLQ-UHFFFAOYSA-N 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T70/00—Maritime or waterways transport
- Y02T70/10—Measures concerning design or construction of watercraft hulls
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Toys (AREA)
Abstract
The present invention proposes a kind of driving flexible variable swing device and submarine navigation device, belongs to variable geometry technical field.Silk driving flexible variable swing device includes wing-body, and at least two be spaced apart driving silk in the wing-body, the wing-body includes at least one matrix and urosome, the driving silk passes through described matrix and is connected to the urosome, is in series with elastic component from described matrix to the urosome.The submarine navigation device includes silk driving flexible variable swing device.The present invention is very convenient by the deformation of folding and unfolding driving silk realization wing and the control to angle of sweep and aspect ratio size；Simultaneously avoid conventional motion pair in the seawater Accelerated corrosion Caton the phenomenon that, reliability is higher；The influence with a slim and graceful figure for effectively reducing transmission system to resistance of adjustable wing device, has the advantages that ship resistance is small, and winding driving silk can make wing shrink, and recycles convenient for aircraft；The variation range of biggish angle of sweep and aspect ratio may be implemented in modularized design.
Description
Technical field
The invention belongs to variable geometry technical field more particularly to a kind of driving flexible variable swing device and underwater navigations
Device.
Background technique
Currently, can be realized the underwater sensor carrying equipment of the unmanned observation in ocean mainly has AUV, ROV and AUG, and
Submarine navigation device has significant advantage by the outstanding advantage of its low energy consumption, long timing, long voyage in terms of oceanographic observation.But sea
Foreign environment is complicated and changeable, so that submarine navigation device is difficult to realize high-precision and navigates by water and observe, especially relies on the water of buoyancy-driven
Lower aircraft, under the interference such as high current, temperature, salinity, gliding speed, angle of submarine navigation device etc. all can be by different degrees of
Influence, introduce unstable parameter to sensing data.
In order to improve the adaptive capacity to environment of submarine navigation device winged, adjustable wing submarine navigation device gradually causes the pass of scholar
Note.By taking submarine navigation device as an example, 2009, Japanese scholars Arima was devised with the adjustable wing water for changing wing angle of attack ability
Lower aircraft model ALEX demonstrates the advantage of variable geometry by motion simulation and basin test.The Isa of USM university is established
Possess the submarine navigation device kinetic model of variable geometry, and carries out motion simulation.Northwestern Polytechnical University is mixed to adjustable wing
It closes driving submarine navigation device and has carried out modeling and simulation, demonstrate it with stronger cornering ability, i.e. Maneuverability is higher.
Zhejiang University has carried out modeling and simulation to adjustable wing (becoming the angle of attack and angle of sweep) submarine navigation device, and demonstrating it has compared with Gao Hang
Row mobility.The comprehensive planar five-bar mechanism of University Of Tianjin and double parallel quadrangular mechanism devise submarine navigation device and become wing mechanism.
But existing variable swing device relies primarily on link mechanism or electric-machine directly-driven is realized, and in practical applications
Meeting increases underwater boat so that the volume of wing is too fat to move, structure is complicated, while also extremely easily corroding motion hinge in the seawater
The ship resistance of row device.In view of the wing of submarine navigation device is mostly tabular, the width-thickness ratio of the wing with aerofoil profile is also larger, therefore
The present invention is to overcome many drawbacks of conventional variable swing device, and silk transmission and modular construction are introduced variable swing device, design
A kind of driving flexible variable swing device and the submarine navigation device using such variable swing device.
Summary of the invention
The present invention for the above technical issues, propose a kind of structure it is simple, suitable for the flat space of wing, be easy to drive
Flexible variable swing device and submarine navigation device are driven with the silk of control, there is high reliablity, at low cost, angle of sweep and aspect ratio to become
Change range it is big, it is applied widely and convenient for recycling the advantages of.
In order to achieve the above object, the technical solution adopted by the present invention are as follows:
As one aspect of the present invention, a kind of driving flexible variable swing device, including wing-body, Yi Jizhi are proposed
Few two driving silks being spaced apart in the wing-body, the wing-body include at least one matrix and urosome, described
Driving silk passes through described matrix and is connected to the urosome, is in series with elastic component from described matrix to the urosome.
Preferably, described matrix be it is multiple, multiple described matrix intervals are arranged on the driving silk, and adjacent is described
The elastic component is connected between matrix.
Preferably, the elastic component is spring, the spring pocket is set on the driving silk.
Preferably, including at least from described matrix to connection unit, the connection unit is in series with the urosome
One prismatic pair and at least one revolute pair.
Preferably, the connection unit includes the first connecting rod and raised second connecting rod with sliding slot, institute
It states protrusion and is arranged in the sliding slot and can and/or rotation mobile relative to the sliding slot.
Preferably, the material of the driving silk is metal or composite material.
Preferably, being filled with flexible particle filler in the wing-body, it is covered with covering outside the wing-body,
The covering be it is U-shaped, open end is connect with the matrix farthest apart from the urosome.
Preferably, the material of the covering is silica gel or rubber, the flexible particle filler is rubber bodies, sponge
Or foam.
Preferably, the driving silk is driven by motor, the motor is located remotely from one end of the urosome.
As another aspect of the present invention, a kind of submarine navigation device, including body are proposed, further include that silk as described above drives
Dynamic flexible variable swing device, the silk driving flexible variable swing device are connected to the two sides of the body.
Compared with prior art, the advantages and positive effects of the present invention are:
This variable swing device connects wing-body by using driving silk, and the silk of winding driving to some extent may make machine
Wing ontology stretches contraction distortion, to change the angle of sweep of wing and the size of aspect ratio, release driving silk is acted in elastic component
Lower wing is resilient, and the present invention only needs to control the degree of driving silk winding, so that it may realize wing setting and aspect ratio not
Have the advantages that easy to control with the variation of size so that wing setting and aspect ratio variation are controllable；By the side for driving silk
Formula, which is realized, becomes the wing, avoids conventional motion pair Accelerated corrosion and then the phenomenon that Caton in the seawater, the present invention have high reliablity,
Simple, the at low cost advantage of structure；
The present invention rationally carries out transmission layout using the small space of flat wing, and the structure of wing is very simple, body
Product is slim and graceful, facilitates processing and fabricating and can be effectively reduced influence of the transmission system to resistance, has the advantages that ship resistance is small, receives
Volume driving silk can make wing-body shrink, and have the advantages that convenient for recycling；
The present invention can design different number matrix according to different wing concrete conditions using modularized design, thus real
The variation range at existing biggish angle of sweep and aspect ratio, has the advantages that variation range is big, applied widely.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the structural schematic diagram that silk provided by the present invention drives flexible variable swing device；
Fig. 2 is the top view that silk provided by the present invention drives flexible variable swing device；
Fig. 3 is that silk provided by the present invention drives flexible variable swing device in the structural schematic diagram for becoming wing state；
Fig. 4 is the structural schematic diagram that silk provided by the present invention drives connection unit in flexible variable swing device；
Fig. 5 is that silk provided by the present invention drives flexible variable swing device geometric parameter of adjacent base when becoming wing state to show
It is intended to；
Fig. 6 is the structural schematic diagram of submarine navigation device provided by the present invention；
In above each figure: 01, silk drives flexible variable swing device；1, wing-body；11, matrix；12, urosome；2, it drives
Silk；3, spring；4, connection unit；41, first connecting rod；411, sliding slot；42, second connecting rod；421, raised；43, compression ring；5, soft
Property granule filler；6, covering；7, motor；8, submarine navigation device；81, body.
Specific embodiment
In the following, the present invention is specifically described by illustrative embodiment.It should be appreciated, however, that not into one
In the case where step narration, element, structure and features in an embodiment can also be advantageously incorporated into other embodiments
In.
In the description of the present invention, it is to be understood that, term " center ", "upper", "lower", "front", "rear", " left side ",
The orientation or positional relationship of the instructions such as " right side ", "vertical", "horizontal", "top", "bottom", "inner", "outside" is based on the figure
Orientation or positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device of indication or suggestion meaning or
Element must have a particular orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
Term " first ", " second " be used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance or
Implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or imply
Ground includes one or more of the features.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be to be connected directly, the connection inside two elements can also be can be indirectly connected through an intermediary.For this field
For those of ordinary skill, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
It can be changed the variation that swing device is realized wing structure by link mechanism or electric-machine directly-driven mostly in the prior art, often
It will cause the problem of wing volume is too fat to move, structure is complicated, and the hinge in link mechanism is also easier to corrode.Base of the present invention
In this technical problem, it is contemplated that the wing of submarine navigation device is mostly tabular, and the width-thickness ratio of the wing with aerofoil profile is also larger, therefore will
Silk transmission and modular construction introduce variable swing device, the following technical schemes are provided: at least two driving silks respectively by matrix
It is stringed together with urosome, silk is driven by different degrees of pulling, wing can be changed to fan-shaped, to realize the change of wing setting
Change, meanwhile, matrix and urosome are connected by spring, to realize the reset of wing shapes.The present invention drives silk to realize by folding and unfolding
The deformation of wing and control to angle of sweep and aspect ratio size, it is very convenient；Avoid conventional motion pair in the seawater simultaneously
The phenomenon that Accelerated corrosion Caton, reliability is higher；The adjustable wing device transmission system with a slim and graceful figure that effectively reduces is to the shadow of resistance
It rings, has the advantages that ship resistance is small, winding driving silk can make wing shrink, and recycle convenient for aircraft；Using matrix as
Module can design different number matrix according to different wing concrete conditions, realize the variation of biggish angle of sweep and aspect ratio
Range.
Above-mentioned technical proposal in order to better understand, with reference to the accompanying drawing and specific embodiment is to above-mentioned technical side
Case is described in detail.
It is wrapped as one aspect of the present invention referring to a kind of driving flexible variable swing device 01 shown in Fig. 1-2, is proposed
Wing-body 1 and driving silk 2 are included, driving silk 2 includes at least 2, is distributed on wing-body 1, and wing-body 1 includes extremely
A few matrix 11 and urosome 12, driving silk 2 pass through matrix 11 and are connected to urosome 12, have from matrix 11 to urosome 12 is in sequential series
Elastic component, elastic component are preferably spring 3.Diagram is the displaying carried out by taking 6 matrixes as an example, and matrix 11 can regard mould one by one as
Block, using such modular design, the adaptability that module number can be carried out according to wing concrete condition is arranged, so this hair
The bright quantity for being not intended to limit matrix 11；In addition, it is necessary to which difference may be implemented in explanation, the matrix 11 or urosome 12 of different-thickness
Sweep angle range, so each matrix 11 can also be arranged to different thickness to meet design requirement, the present invention is also unlimited
The thickness for making each matrix 11 must be consistent.
For this variable swing device when being installed on submarine navigation device, the matrix 11 farthest apart from urosome 12 is close to underwater navigation
Device connection, the silk 2 of winding driving to some extent, spring 3 compress, and wing is fan-shaped, as shown in figure 3, when needing to restore airfoil
When shape, release driving silk 2, under the effect of spring 3, wing is resilient.By the control wound to driving silk 2, machine may be implemented
The variation at wing angle of sweep and aspect ratio, control is very convenient, and realizes the change wing by way of driving silk 2, avoids tradition
Kinematic pair Accelerated corrosion and then the phenomenon that Caton in the seawater, has the advantages that high reliablity, structure are simple, at low cost；This hair
Bright rationally to carry out transmission layout using the small space of flat wing, the structure of wing is very simple, and volume is slim and graceful, convenient to add
Work makes and can be effectively reduced influence of the transmission system to resistance, has the advantages that ship resistance is small, and winding drives silk 2 can be with
So that wing-body 1 is shunk, have the advantages that convenient for recycling；In addition, the present invention uses modularized design, had according to different wings
Body situation can design different number matrix 11, to realize the variation range of biggish angle of sweep and aspect ratio, have variation
Big, the applied widely advantage of range.
Wing variation of different shapes may be implemented by the control to driving 2 length of silk, wherein about driving filament length degree
Calculation it is as follows: as shown in figure 5, for convenience of description, defining two driving silks is respectively to drive silk 2_1 and driving silk 2_2,
Two adjacent matrixes are respectively matrix 11_Mi and matrix 11_Mi+1, when matrix 11_Mi+1 (i is positive integer) is relative to matrix
The rotation that angle is θ occurs for 11_Mi, the spindle central point of matrix 11_Mi+1 at point a, the vertical line of point a to matrix 11_Mi away from
From for Oa, then the length of the driving silk 2_1 between matrix 11_Mi+1 and matrix 11_Mi at this time are as follows:
At this point, the length of the driving silk 2_2 between matrix 11_Mi+1 and matrix 11_Mi are as follows:
The driving silk length gauge between 2 length of silk and above-mentioned adjacent two matrix is driven between urosome 12 and adjacent matrix 11
Calculation mode is identical.The length of each section of driving silk 2 is added to the length of driving silk 2 corresponding when can obtain matrix rotation angle, θ,
To realize wing variation of different shapes by controlling different driving filament length degree.
Specifically, the material for driving silk 2 is metal or composite material, and one end of driving silk 2 connects motor 7, another
End sequentially passes through each matrix 11, finally connect with urosome 12, offers through-hole on matrix 11, passes through for driving silk 2.Every two
Spring 3 is all connected between a adjacent matrix 11, and between last adjacent matrix 11 and urosome 12, it is preferable that spring 3
It covers on driving silk 2, structure is simple, eliminates and designs connection structure for spring 3, and the diameter of spring 3 is greater than on matrix 11
The diameter of through-hole, it is ensured that the normal work of spring 3.
Further, the influence that will receive the various power such as water flow, surrounding objects when variable swing device is in underwater, is only leaned on
The elastic force of spring 3 realizes the connection between matrix 11, between matrix 11 and urosome 12, and it is in the horizontal direction to will cause adjustable wing
Deformation further includes rigid connection list in this variable swing device to guarantee the intensity and connection reliability of wing-body 1
Member 4, connection unit 4 is connected between every two adjacent matrix 11 and between adjacent matrix 11 and urosome 12；In order to
The deformation of wing-body 1 is enough adapted to, connection unit 4 includes at least one prismatic pair and at least one revolute pair.
Specifically, shown in Figure 4, connection unit 4 includes first connecting rod 41 and second connecting rod 42, is set on first connecting rod 41
It is equipped with sliding slot 411, sliding slot 411 can be designed to the kidney slot of diagram, protrusion 421 is provided on second connecting rod 42, protrusion 421 can
It slides and rotates in sliding slot 411.The effects of connection unit 4 is in addition to playing connection, proof strength can also play positioning limit
Position effect, for example, can be according to design claimed below: when protrusion 421 is located at 411 Far Left of sliding slot, wing-body 1 be nature
The rectangle of state, when protrusion 421 is located at 411 rightmost of sliding slot, driving silk 2 can not be tightened again, even if motor 7 rotates, wing
Ontology 1 will not change again.That is, two limit shapes of wing-body 1 can be limited with the length of sliding slot 411
State.
Specifically, the separation of first connecting rod 41 and second connecting rod 42 in order to prevent, protrusion 421 are arranged in sliding slot 411, can
To prevent the disengaging of the two by connecting compression ring 43 in the upper end of protrusion 421.Compression ring 43 can be and raised 421 interference
Assembly.
Shown in Figure 2, by taking the connection of one pair of them matrix 11 as an example, first connecting rod 41 connects far from one end of sliding slot 411
It is connected on the matrix 11 on the left side, second connecting rod 42 is connected on the matrix 11 on the right far from one end of protrusion 422.Connection unit 4
It is connect by way of welding or screw with matrix 11 and connection unit 4 with urosome 12.
Specifically, it is filled with flexible particle filler 5 in wing-body 1, covering 6, covering 6 are covered with outside wing-body 1
To be U-shaped, U-shaped covering 6 sequentially passes through urosome 12, each matrix 11, and open end is connect with the matrix 11 farthest apart from urosome 12.
The material of covering 6 is that perhaps rubber flexible particle filler 5 can be rubber bodies, sponge or foam to silica gel, can also be other
Elastic material.
It is shown in Figure 6 as another aspect of the present invention, propose that a kind of submarine navigation device 8, submarine navigation device 8 use
Above-mentioned silk drives flexible variable swing device 01, and silk driving flexible variable swing device 01 is connected to the two sides of body 81.
The variation of wing setting and aspect ratio may be implemented by the control wound to driving silk 2 in the present invention, controls non-
It is often convenient, and the change wing is realized by way of driving silk 2, avoid conventional motion pair Accelerated corrosion and then Caton in the seawater
The phenomenon that, have the advantages that high reliablity, structure are simple, at low cost；The present invention rationally utilizes the small space of flat wing
Transmission layout is carried out, the structure of wing is very simple, and volume is slim and graceful, facilitates processing and fabricating and can be effectively reduced transmission system pair
The influence of resistance has the advantages that ship resistance is small, and winding driving silk 2 can make wing-body shrink, and has convenient for recycling
The advantages of；In addition, the present invention can design different number matrix according to different wing concrete conditions using modularized design, from
And realize the variation range of biggish angle of sweep and aspect ratio, have the advantages that variation range is big, applied widely.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of driving flexible variable swing device, which is characterized in that including wing-body and at least two be spaced apart in
The driving silk of the wing-body, the wing-body include at least one matrix and urosome, and the driving silk passes through the base
Body is connected to the urosome, is in series with elastic component from described matrix to the urosome.
2. silk according to claim 1 drives flexible variable swing device, which is characterized in that described matrix be it is multiple, it is multiple
Described matrix interval is arranged on the driving silk, and the elastic component is connected between adjacent described matrix.
3. silk according to claim 1 drives flexible variable swing device, which is characterized in that the elastic component is spring, institute
Spring pocket is stated on the driving silk.
4. silk according to claim 1 drives flexible variable swing device, which is characterized in that from described matrix to the urosome
Between be in series with connection unit, the connection unit includes at least one prismatic pair and at least one revolute pair.
5. silk according to claim 4 drives flexible variable swing device, which is characterized in that the connection unit includes having
The first connecting rod of sliding slot and raised second connecting rod, the protrusion are arranged in the sliding slot and can the relatively described sliding slots
Mobile and/or rotation.
6. silk according to claim 1 drives flexible variable swing device, which is characterized in that the material of the driving silk is gold
Category or composite material.
7. silk according to claim 1 drives flexible variable swing device, which is characterized in that be filled in the wing-body
Flexible particle filler, is covered with covering outside the wing-body, the covering be it is U-shaped, open end with apart from the urosome
Farthest matrix connection.
8. silk according to claim 7 drives flexible variable swing device, which is characterized in that the material of the covering is silica gel
Perhaps the rubber flexible particle filler is rubber bodies, sponge or foam.
9. silk according to claim 1 drives flexible variable swing device, which is characterized in that the driving silk is driven by motor
Dynamic, the motor is located remotely from one end of the urosome.
10. a kind of submarine navigation device, including body, it is characterised in that: further include as claim 1-9 described in any item are driven
Dynamic flexible variable swing device, the silk driving flexible variable swing device are connected to the two sides of the body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910541254.7A CN110203360B (en) | 2019-06-21 | 2019-06-21 | Wire-driven flexible variable wing device and underwater vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910541254.7A CN110203360B (en) | 2019-06-21 | 2019-06-21 | Wire-driven flexible variable wing device and underwater vehicle |
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| CN110203360A true CN110203360A (en) | 2019-09-06 |
| CN110203360B CN110203360B (en) | 2024-07-09 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110979607A (en) * | 2019-12-04 | 2020-04-10 | 天津大学 | Flexible wire driving module type variable wing device |
| CN111268075A (en) * | 2020-03-09 | 2020-06-12 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Scalable wing device for underwater glider |
| CN112572718A (en) * | 2020-11-25 | 2021-03-30 | 哈尔滨工程大学 | Bionic flexible fin hydrodynamic performance measurement experimental device and method |
| CN114162296A (en) * | 2021-11-25 | 2022-03-11 | 北京机电工程研究所 | Underwater vehicle propelling and control integrated device, underwater vehicle and navigation control method thereof |
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