CN110329471B - Design method of bionic pectoral fin motion device - Google Patents
Design method of bionic pectoral fin motion device Download PDFInfo
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- CN110329471B CN110329471B CN201910614270.4A CN201910614270A CN110329471B CN 110329471 B CN110329471 B CN 110329471B CN 201910614270 A CN201910614270 A CN 201910614270A CN 110329471 B CN110329471 B CN 110329471B
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- main beam
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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
- B63H1/32—Flaps, pistons, or the like, reciprocating in propulsive direction
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Abstract
The invention provides a design method of a bionic pectoral fin motion device, which is used for finishing the swinging and twisting motion of a bionic pectoral fin through the design of a main motor, an auxiliary motor, a main beam, a crankshaft, a fixed support and an assembly method according to the design requirement of the bionic pectoral fin motion device.
Description
Technical Field
The invention relates to the technical field of underwater bionic technology, in particular to a bionic pectoral fin motion device.
Background
The bionic pectoral fin propulsion is a propulsion mode for simulating a motion mode of a pectoral fin of a marine organism manta ray, has the advantages of high propulsion efficiency, strong low-speed maneuverability, small water body disturbance and the like, is strived to simulate by most colleges and universities in recent years, and becomes an important development direction of an underwater bionic propulsion technology. Analysis on the motion characteristics of the pectoral fin of the bat ray shows that the motion of the pectoral fin is coupled motion with two degrees of freedom, namely: when the pectoral fin moves, the vertical flapping and the fluctuation along the body length direction exist at the same time, and the amplitude of the fluctuation is gradually reduced from the wing tip to the wing root of the pectoral fin. Aiming at the design of the motion device with the bionic motion mode, three implementation schemes are mainly adopted by domestic and overseas colleges and universities and enterprise units: one is to drive the flexible thin-skin pectoral fin to flap up and down with single degree of freedom through a main beam, the fluctuation is realized passively depending on the interaction of the flexible thin wall and the water flow, the mechanism of the proposal is simple, but the passive movement of the thin wall can not be controlled accurately, the swimming performance of the prototype is greatly influenced by the water flow environment and pectoral fin material, and the environmental adaptability is poor; one is to divide the pectoral fin into several sections along the length direction, similar to inserting several fin rays in the pectoral fin, realizing flapping and fluctuation coupling by designing the time difference of single-degree-of-freedom up-and-down flapping and flapping of front and back fin rays of a single fin ray, the proposal needs to design the driving mechanism and the servo system of each fin ray, and the mechanism design and the cooperative control system of the motion of a plurality of fin rays are complicated; one is to design a rope type integral tensioning mechanism and a torsion mechanism, the upward and downward flapping of the pectoral fins is realized by the reciprocating stretching of two ends of the rope, the stretching mechanism is driven to be twisted by a motor fixed on the tensioning mechanism, and the upward and downward flapping and torsion coupling motion of the bionic pectoral fins is realized.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a design method of a bionic pectoral fin motion device, and can solve the technical problems that the flapping angle and the torsion angle of the bionic pectoral fin in the device obtained by the conventional design method are accurately controlled, and the mechanism is simple and cannot be obtained at the same time.
The invention provides a design method of a bionic pectoral fin motion device, which comprises the following steps:
determining the types and sizes of the main motor and the auxiliary motor according to the design requirements of the bionic pectoral fin motion device, the motion mode of the pectoral fin, the swing angle, the torsion angle, the motion frequency, the maximum swing driving torque, the maximum torsion driving torque, the motor size, the mass constraint and the requirements on shock absorption and noise reduction;
designing a ring frame: designing n ring frames along the spanwise direction of the bionic pectoral fin according to the three-dimensional model of the bionic pectoral fin, wherein the ring frame design comprises the design of a fixed ring frame and the design of n-1 torsion ring frames, the appearance of the ring frames is the same as that of the bionic pectoral fin at the position of the ring frames, and a frame structure supported by a thin plate is arranged inside the ring frames;
designing a main beam: according to the design requirements of the bionic pectoral fin and the section characteristics along the spanwise direction, the diameter and the length of the main beam are designed, and a connecting structure of the main beam and the main motor and a connecting structure of the main beam and the ring frame are designed;
designing a crankshaft: the crankshaft is a structure formed by combining a cylindrical straight rod and a fixing frame, the center of the straight rod is not on the same straight line, and the number of sections, the diameter of each section and the fixing frame of the crankshaft are designed according to the design requirement of the bionic pectoral fin.
Designing a fixed support: the fixed support is designed according to the relative position of the main beam and the crankshaft needing to be fixed, the diameters of the main beam and the crankshaft and the connection mode of the main beam and the crankshaft and the fixed support.
Assembling the bionic pectoral fin motion device: one end of a main beam is connected with a main motor, the main beam is fixedly connected with a fixed ring frame positioned at the root of the bionic pectoral fin and connected with a torsion ring frame through a bearing, one end of a crankshaft is connected with an auxiliary motor, the auxiliary motor is fixed in the fixed ring frame, the crankshaft is connected with the torsion ring frame through a sliding groove, and the main beam is connected with the crankshaft through a fixed support.
Further, the design of the fixing frame is as follows: the fixing frame is a flat plate, holes are formed in appropriate positions of the upper surface and the lower surface of the flat plate, crankshafts at the front end and the rear end are fixed respectively, the distance between the centers of the holes is determined according to the distance between the center line of the crankshaft and the center line of the main beam, the thickness, the shape and the material of the fixing frame are designed on the premise that the strength requirement of crankshaft torsion is met, and the lighter the weight is, the better the fixing frame is.
Furthermore, the number of the sections of the crankshaft is determined according to the number of the torsion ring frames and the maximum torsion angle required to be finished by the torsion ring frames, the diameter of each section of the straight rod of the crankshaft is determined according to the maximum external force load of the position of the corresponding ring frame during motion of the pectoral fins, the yield strength of the selected material, the internal space of the ring frame and the distance between the central line of the straight rod and the central line of the main beam, and the diameter is required to be as small as possible under the condition that the requirements are met so as to reduce the weight of the structure.
Further, the design of the fixed ring frame is as follows: the shape of the fixed ring frame is determined by the shape of the bionic pectoral fin, the connecting structure of the auxiliary motor is designed in the fixed ring frame according to the shape of the auxiliary motor, the width of the fixed ring frame meets the dimension requirement of the fixed support of the auxiliary motor, and the ring frame does not bend and deform under the condition of bearing the maximum external force load in the motion process of the pectoral fin.
Further, the design of the torsion ring frame is as follows: the number of the torsion ring frames is determined by the size of the bionic pectoral fin and the motion effect required by the requirement, the shape of the torsion ring frame is determined by the shape of the bionic pectoral fin where the torsion ring frame is located, the width of the torsion ring frame is required to meet the requirements of fixed installation of a rolling bearing and the strength of the ring frame, and the width is as small as possible under the condition of meeting the requirements of the torsion ring frame and the ring frame, a sliding groove is arranged in the torsion ring frame, the width of the sliding groove is more than or equal to the diameter of a crankshaft at the position, and the length of the sliding groove is greater than the sum of the diameter of the circumference of the crankshaft rotating around the auxiliary motor and the.
According to another aspect of the present invention, there is provided a bionic pectoral fin motion device, comprising a main motor, an auxiliary motor, a main beam, a crankshaft and a ring frame, wherein the main beam is a cylindrical straight rod, the crankshaft is a structure in which the centers of the straight rods formed by combining the cylindrical straight rod and a fixing frame are not on the same straight line, the fixing frame fixes the front and rear two sections of straight rods, so as to ensure that the ring frame connected with the crankshaft realizes different torsion angles under the driving of the crankshaft, the main beam and the crankshaft are connected through a fixing support, the ring frame comprises a torsion ring frame and a fixed ring frame, the fixed ring frame is a first ring frame at the root of the bionic pectoral fin, the fixed ring frame is fixedly connected with the main beam, the torsion ring frame is the rest ring frames, the torsion ring frame is connected with the main beam through a bearing, and is connected with the crankshaft through a sliding slot inside the torsion ring frame, the main motor is connected with one end of, the main driving beam, the ring frame connected with the main driving beam, the auxiliary motor and the crankshaft are driven to flap up and down, the auxiliary motor is connected with one end of the crankshaft to drive the crankshaft to rotate, and the crankshaft slides in the torsion ring frame and drives the torsion ring frame to rotate around the main beam.
Furthermore, the central line of the motor output shaft of the main motor is parallel to the spanwise section of the bionic pectoral fin, and the performance and the size parameters of the main motor are designed according to the design requirements of the bionic pectoral fin.
Furthermore, the central line of the output shaft of the motor of the auxiliary motor is vertical to the central line of the output shaft of the main motor, and the performance and the size parameters of the auxiliary motor are designed according to the design requirements of the bionic pectoral fin.
Preferably, the auxiliary motor is mounted on the fixed ring frame.
Preferably, the main motor and the auxiliary motor are rotating motors.
Furthermore, the length of the main beam is determined by the length of the bionic pectoral fin, the diameter of the main beam is required to meet the requirements that the main beam is installed in the ring frame and the distance between the center line of the main beam and the center line of the crankshaft is required to meet the requirement that the selected main beam material does not generate bending deformation under the condition of bearing the maximum external force load of the swinging of the pectoral fin.
Preferably, the main beam can be a cylindrical straight rod with equal diameter or a cylindrical straight rod with variable diameter.
Furthermore, the diameter of the crankshaft needs to meet the requirements that the crankshaft is not bent and deformed when the selected straight rod material bears the maximum external force load of pectoral fin torsion, the crankshaft needs to be installed in the ring frame and the distance between the crankshaft center line and the main beam center line needs to be met, and the maximum and minimum distances between the different straight rod center lines on the crankshaft and the main beam center line are determined according to the maximum torsion angle of the torsion ring frame correspondingly connected with the crankshaft.
Furthermore, the fixing frame is a flat plate, holes are formed in suitable positions of the upper surface and the lower surface of the flat plate, the crankshafts at the front end and the rear end are respectively fixed, the distance between the centers of the holes is determined by the distance between the center line of the crankshaft at the position and the center line of the main beam, the thickness and the shape of the fixing frame and the material selection of the fixing frame meet the strength requirement of crankshaft torsion as a design premise, and the lighter the weight is, the better the weight is.
Furthermore, the fixed support is formed by combining two symmetrical parts, each part is two connected semicircular grooves, the diameter of each semicircular groove is determined by the outer diameter of the bearing at the current position, and the distance between the two circular grooves is determined by the distance between the main beam and the crankshaft at the current position.
Furthermore, the width of the sliding groove is larger than or equal to the diameter of the crankshaft, and the length of the sliding groove is larger than the sum of the diameter of the circumference of the crankshaft rotating around the auxiliary motor and the diameter of the crankshaft.
Furthermore, the shape of the fixed ring frame is determined by the shape of the bionic pectoral fin, an auxiliary motor connecting structure is designed in the fixed ring frame, the width of the fixed ring frame should meet the size requirement of the auxiliary motor fixed support, and the ring frame should not bend and deform under the condition of bearing the maximum external force load in the motion process of the pectoral fin.
Furthermore, the number of the torsion ring frames is determined by the size of the bionic pectoral fin and the motion effect required by the requirement, the shape of the torsion ring frame is determined by the shape of the bionic pectoral fin where the torsion ring frame is located, the width of the torsion ring frame should meet the requirements of the fixed installation of the rolling bearing and the strength of the ring frame, and the width is as small as possible under the condition of meeting the requirements of the size and the shape of the bionic pectoral fin.
By applying the technical scheme of the invention, the beneficial effects are as follows:
(1) the main motor drives the main beam to realize the up-and-down flapping of the bionic pectoral fins, the auxiliary motor drives the crankshaft to realize the motion form of the bionic pectoral fins rotating around the main beam, the two-degree-of-freedom coupling of flapping and twisting of the bionic pectoral fins is realized, the distance between the straight rod of the crankshaft and the main beam and the sliding of the crankshaft on the twisting ring frame are designed to realize the purpose of realizing different twisting angles of different twisting ring frames, the flapping amplitude and the twisting angle amplitude of the pectoral fins can realize free design, and the mechanism is simple;
(2) the main beam and the crankshaft are connected through the fixed support, so that the relative positions of the main beam and the crankshaft are ensured to be stable while the movement of the main beam and the crankshaft is not hindered, and the movement precision of the bionic pectoral fin is favorably ensured;
(3) according to the invention, through the design of the sliding groove on the twisting ring frame, the twisting ring frame can rotate around the main beam along with the crankshaft while moving up and down along with the main beam, the two movements are not interfered with each other, the matching of any angle can be realized, and the influence of the bionic pectoral fin dimension is avoided.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 shows a schematic representation of a bionic pectoral fin motion device in one embodiment;
FIG. 2 illustrates a main beam structure in one embodiment;
FIG. 3 shows a crankshaft structure in one embodiment;
FIG. 4 illustrates a retaining ring frame structure in one embodiment;
FIG. 5 illustrates a torsion ring frame structure in one embodiment;
FIG. 6 illustrates a block diagram of a mounting bracket in one embodiment;
FIG. 7 shows a mount block diagram;
fig. 8 shows a flow chart of a bionic pectoral fin motion device design method.
Wherein: 1-main motor, 2-auxiliary motor, 3-fixed ring frame, 4-torsion ring frame, 5-fixed support, 6-crankshaft, 7-sliding groove, 8-main beam, 9-bearing
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
The invention provides a design method of a bionic pectoral fin motion device, which comprises the following steps:
determining the types and sizes of a main motor 1 and an auxiliary motor 2 according to the design requirements of a bionic pectoral fin motion device, including pectoral fin motion modes, swing angles, torsion angles, motion frequencies, swing driving maximum torque, torsion driving maximum torque, motor size and mass constraints and shock absorption and noise reduction requirements, wherein the design requirements of the main motor 1 mainly include pectoral fin motion modes, swing angles, motion frequencies, swing driving maximum torque, motor size and mass constraints and shock absorption and noise reduction requirements, and the design requirements of the auxiliary motor 2 mainly include pectoral fin motion modes, torsion angles, motion frequencies, torsion driving maximum torque, motor size and mass constraints and shock absorption and noise reduction requirements;
designing a ring frame: the design of the ring frame comprises the design of a fixed ring frame 3 and the design of a torsional ring frame 4, n ring frames are designed along the unfolding direction of the bionic pectoral fin according to a three-dimensional model of the bionic pectoral fin, the design can be carried out at equal intervals or unequal intervals, the unequal interval design needs to carry out linear segmentation along the unfolding length of the pectoral fin according to the maximum torsion angle of the pectoral fin, the position for placing the ring frame and the torsion angle of the ring frame corresponding to the unfolding position are obtained, the appearance of the ring frame is the same as that of the bionic pectoral fin at the position of the ring frame, and a frame structure supported by a thin plate is arranged inside the ring; the appearance of the fixed ring frame 3 is determined by the appearance of the bionic pectoral fin, an auxiliary motor connecting structure is designed in the fixed ring frame 3, the width of the fixed ring frame 3 meets the size requirement of the fixed support of the auxiliary motor 2, and the thickness of the fixed ring frame 3 does not bend and deform under the condition of bearing the maximum external force load in the motion process of the pectoral fin.
The number of the torsion ring frames 4 is determined by the size of the bionic pectoral fin and the motion effect obtained by the requirement, in order to ensure the smooth transition of the deformation of the bionic pectoral fin, the more the torsion ring frames 4 are, the better the number is, but the more the torsion ring frames 4 are, the heavier the weight of the structure is, generally, 4-6 torsion ring frames are selected, the shape of the torsion ring frames 4 is determined by the shape of the bionic pectoral fin where the torsion ring frames 4 are, the width of the torsion ring frames 4 should meet the strength requirements of the bearing 9 for fixed installation and the torsion ring frames 4, namely, the torsion ring frames 4 do not generate bending deformation under the maximum external force load in the motion process of the pectoral fin, and the width is as small as possible under the conditions of meeting the size and the requirement.
Design of the main beam 8: according to the design requirements of the bionic pectoral fin and the section characteristics along the spanwise direction, the diameter and the length of the main beam 8 are designed, and a connecting structure of the main beam 8 and the main motor 1 and a connecting structure of the main beam 8 and the ring frame are designed; the main beam 8 is a cylindrical straight rod, the length of the main beam 8 is determined by the length of the bionic pectoral fin, the diameter of the main beam 8 is determined according to the fact that the main beam 8 does not bend and deform under the condition that the selected main beam 8 material bears the maximum external force load of pectoral fin swing, and meanwhile the requirements of installation of the main beam 8 in a ring frame and the distance between the center line of the main beam 8 and the center line of the crankshaft 6 need to be met.
Preferably, in one embodiment, the main beam 8 may be a cylindrical straight rod with a constant diameter or a cylindrical straight rod with a variable diameter, which is suitable for the case that the thicknesses of the ring frames are not consistent, the case that the weight of the main beam 8 is reduced, and the other cases that the design requirements are met.
The crankshaft 6 is designed: the crankshaft 6 is formed by combining a cylindrical straight rod and a fixing frame, the number of sections of the crankshaft 6 is determined according to the number of the torsion ring frames 4 and the maximum torsion angle required to be finished by the torsion ring frames 4, the diameter of each section of the straight rod of the crankshaft 6 is determined according to the maximum external force load of the position corresponding to the ring frame when the pectoral fins move, the yield strength of a selected material, the internal space of the torsion ring frame and the distance between the central line of the straight rod and the central line of a main beam, under the condition of meeting the requirements, the diameter is as small as possible to reduce the structural weight, the fixing frame fixes the front section of the straight rod of the crankshaft 6 and the rear section of the straight rod of the crankshaft 6, the front section of the straight rod and the rear section of the straight rod are respectively fixed at two ends of the fixing frame, the purpose of ensuring that the ring frames connected with the crankshaft realize different, the distance between the holes for connection on the fixing frame is determined by the distance between the crankshaft and the main beam.
The diameters of the sections of the crankshaft 6 need to meet the requirements that the selected straight rod material can not generate bending deformation when bearing the maximum external force load of the bionic pectoral fin in torsion, and the crankshaft 6 is installed in the torsion ring frame 4 and the distance between the central line of the crankshaft 6 and the central line of the main beam 8 needs to be met. The maximum and minimum distances from the center line of different straight rods on the crankshaft 6 to the center line of the main beam are determined according to the maximum torsion angle of the torsion ring frame 4 correspondingly connected with the same.
The fixed support 5 is designed as follows: the fixing support 5 is designed according to the relative position of the main beam 8 and the crankshaft 6 which need to be fixed, the diameters of the main beam 8 and the crankshaft 6 and the connection mode of the main beam 8, the crankshaft 6 and the fixing support 5, the fixing support 5 is formed by combining two symmetrical parts, each part is two connected semicircular grooves, the diameter of each semicircular groove is determined by the outer diameter of the bearing 9 at the current position, and the distance between the two circular grooves is determined by the distance between the main beam 8 and the crankshaft 6 at the current position.
Assembling the bionic pectoral fin motion device: one end of a main beam 8 is connected with a main motor 1, the main beam 8 is fixedly connected with a fixed ring frame 3 positioned at the root of a bionic pectoral fin, the fixed ring frame 4 is connected with a torsion ring frame 4 through a bearing 9, one end of a crankshaft 6 is connected with an auxiliary motor 2, the auxiliary motor 2 is fixed in the fixed ring frame 3, the crankshaft 6 is connected with the torsion ring frame 4 through a sliding groove 7, and the main beam 8 is connected with the crankshaft 6 through a fixed support 5.
In one specific embodiment, the design requirements for the bionic pectoral fin motion device are as follows: the bionic pectoral fin simultaneously performs periodic up-and-down swinging around the root and periodic torsional movement around the fixed shaft in the spanwise direction, the movement frequency of the bionic pectoral fin is not more than 0.6Hz, the range of the swinging angle is +/-40 degrees, the range of the torsional angle is +/-45 degrees, a direct-drive and speed reducer combined mode is adopted for a torsional angle motor, the swinging driving torque of the bionic pectoral fin is not lower than 40N.m, the torsional driving torque of the bionic pectoral fin is not lower than 7N.m, and the bionic pectoral fin is designed according to the requirements.
According to another aspect of the present invention, the present invention provides a bionic pectoral fin motion device, comprising a main motor 1, an auxiliary motor 2, a main beam 8, a crankshaft 6 and a ring frame, wherein the main beam 8 is a cylindrical straight rod, the crankshaft 6 is a structure formed by combining the cylindrical straight rod and a fixing frame, the center of the straight rod is not on a straight line, the fixing frame fixes the front and rear two sections of straight rods, the purpose is to ensure that the ring frame connected with the crankshaft realizes different torsion angles under the driving of the crankshaft, the ring frame comprises a torsion ring frame 4 and a fixed ring frame 3, the fixed ring frame 3 is a first ring frame close to the bionic pectoral fin, the fixed ring frame 3 is fixedly connected with the main beam 8, the torsion ring frame 4 is the rest ring frames, the torsion ring frame 4 is connected with the main beam 8 through a bearing 9 and is connected with the crankshaft 6 through a sliding groove 7 inside the torsion ring frame 4, the main motor 1 is connected with one end of the main beam 8, The auxiliary motor 2 and the crankshaft 6 flap up and down, the auxiliary motor 2 is connected with one end of the crankshaft 6 to drive the crankshaft 6 to rotate, the crankshaft 6 slides in the ring frame, and meanwhile, the ring frame is driven to rotate around the main beam 8.
The central line of the motor output shaft of the main motor 1 is parallel to the spanwise section of the bionic pectoral fin, the performance of the main motor 1 comprises the motor type, rated power, rotating speed, efficiency, following mode and size parameters, and the performance is designed according to the driving moment value range required by the bionic pectoral fin according to the specified swing motion.
The auxiliary motor 2 is arranged on the fixed ring frame 3, the central line of the motor output shaft of the auxiliary motor 2 is perpendicular to the central line of the output shaft of the main motor 1, the performances of the auxiliary motor, including the motor type, the rated power, the rotating speed, the efficiency, the following mode and the size parameters, are designed according to the driving moment value range required by the specified twisting motion of the bionic pectoral fin.
Preferably, in one embodiment, the main motor 1 and the sub motor 2 are rotating electric machines.
The length of the main beam 8 is determined by the length of the bionic pectoral fin, the diameter of the main beam is determined according to the fact that the main beam 8 does not generate bending deformation under the condition that the selected main beam 8 material bears the maximum external force load of the bionic pectoral fin swing, and meanwhile the requirements of installation of the main beam 8 in the ring frame and the front-back distance between the center line of the main beam 8 and the center line of the crankshaft 6 are met.
Preferably, in one embodiment, the main beam 8 may be a cylindrical straight rod with a constant diameter or a cylindrical straight rod with a variable diameter, which is suitable for the case that the thicknesses of the ring frames are not consistent, the case that the weight of the main beam is reduced, and the other cases that the design requirements are met.
The fixing frame is a flat plate, holes are formed in appropriate positions on the upper surface and the lower surface of the flat plate, a front crankshaft straight rod and a rear crankshaft straight rod are respectively fixed, the distance between the centers of the holes is determined according to the distance between the center line of the crankshaft 6 and the center line of the main beam 8, the thickness, the shape and the material of the fixing frame are designed on the premise that the strength requirement of the crankshaft 6 on torsion is met, and the lighter the weight is, the better the weight is.
The diameters of the sections of the crankshaft 6 need to meet the requirements that the crankshaft 6 does not bend and deform under the condition that the selected straight rod material bears the maximum external force load of torsion of the pectoral fins at the position, and the requirements that the crankshaft 6 is installed in the ring frame and the front-back distance between the central line of the crankshaft 6 and the central line of the main beam 8 need to be met. The maximum and minimum distances from the center line of different straight rods on the crankshaft 6 to the center line of the main beam 8 are determined according to the maximum torsion angle of the torsion ring frame correspondingly connected with the maximum and minimum distances.
In one embodiment, the main beam 8 and the crankshaft 6 are connected through a fixed support 5, the fixed support 5 is formed by combining two symmetrical parts, each part is two connected semicircular grooves, the diameter of each semicircular groove is determined by the outer diameter of the bearing at the current position, and the distance between the two circular grooves is determined by the distance between the main beam 8 and the crankshaft 6 at the current position.
In one embodiment, the width of the sliding groove 7 is larger than or equal to the diameter of the crankshaft 6, and the length of the sliding groove 7 is larger than the sum of the diameter of the circumference of the crankshaft rotating around the auxiliary motor 2 and the diameter of the crankshaft 6.
The appearance of the fixed ring frame 3 is determined by the appearance of the bionic pectoral fin, the connecting structure of the auxiliary motor 2 is designed in the fixed ring frame 3, the width of the fixed ring frame 3 meets the dimension requirement of the fixed support of the auxiliary motor 2, and the thickness of the fixed ring frame meets the requirement that the ring frame does not bend and deform under the condition of bearing the maximum external force load in the motion process of the pectoral fin.
The number of the torsion ring frames 4 is determined by the size of the bionic pectoral fin and the motion effect obtained by the requirement, in order to ensure the smooth transition of the deformation of the bionic pectoral fin, the more the torsion ring frames 4 are, the better the number is, but the more the torsion ring frames 4 are, the heavier the weight is, 4-6 torsion ring frames are generally selected, the shape of the torsion ring frame 4 is determined by the shape of the bionic pectoral fin where the torsion ring frame 4 is located, the width of the torsion ring frame 4 should meet the strength requirements of the bearing 7 for fixed installation and the torsion ring frame 4, namely, the torsion ring frame 4 does not generate bending deformation under the maximum external force load in the motion process of the pectoral fin, and the width is as small as possible under the conditions of meeting the size and the requirement of.
In a specific embodiment, a method for designing a bionic pectoral fin motion device is shown in fig. 8, and comprises the following steps:
1. determining the main motor 1 and the auxiliary motor 2: according to the design requirement of a bionic pectoral fin motion device, the maximum output torque of a main motor 1 is 50N.m, the size is 90mm, the length is 120mm, the weight is not more than 8kg, the main motor 1 adopts a direct-drive and reducer combined mode, and the motion of the main motor 1 is a position following mode; the maximum output torque of the auxiliary motor 2 is 10N.m, the size is 50mm in diameter, the length is 60mm, the weight is not more than 4kg, the auxiliary motor 2 adopts a direct-drive and speed reducer combined mode, and the auxiliary motor 2 moves in a position following mode. According to the bionic pectoral fin motion design result, the distance between the outer end face of the output shaft of the main motor 1 and the center line of the output shaft of the auxiliary motor is 30 mm.
2. Designing a ring frame: and 7 ring frames are designed along the spanwise direction of the bionic pectoral fin, one ring frame is a fixed ring frame 3 at the root, the rest ring frames are torsion ring frames 4, and the ring frames are arranged at equal intervals. The ring frame is internally provided with a frame structure supported by a thin plate, the thickness of the thin plate is designed according to structural strength check, and the thickness of the thin plate is 2.5mm in the embodiment; as shown in fig. 4, a connection structure of the auxiliary motor 2 is designed inside the fixed ring frame 3, the length of the fixed ring frame 3 is 40mm corresponding to the chord length of the root of the pectoral fin, the width is equal to the width of the mounting support of the auxiliary motor 2 and is 10mm, and the length of the torsion ring frame 4 is the chord length of the bionic pectoral fin at the corresponding position. Taking the outer end face of the fixed ring frame 3 as a starting point, obtaining the distance between adjacent ring frames as 60mm according to the length of the bionic pectoral fins and the number of the ring frames, determining the distance between the center of each torsion ring frame 4 and the outer end face of the fixed ring frame 3 as 105mm, 165mm, 225mm, 285mm, 345mm and 405mm respectively, designing a sliding groove 7 in the torsion ring frame 4, wherein the width of the sliding groove 7 is more than or equal to the diameter of the crankshaft 6, and the length of the sliding groove 7 is more than the sum of the diameter of the circumference of the crankshaft 6 rotating around the auxiliary motor 2 and the diameter of the crankshaft 6.
3. Design of the main beam 8: according to bionical pectoral fin ring frame quantity, design girder 8 for the cylinder section combination of 6 sections variable diameters, according to bionical pectoral fin motion in-process hydrodynamic force external load loading, check through girder 8 intensity, confirm respectively from root to tip cylinder section diameter: 16mm, 15mm, 14mm, 12.5mm, 10mm, 6 mm. The length of each section is 110mm, 70mm and 70mm respectively.
The end with the largest diameter of the main beam 8 is fixedly connected with the output shaft of the main motor by a flange plate. The main beam 8 is in rolling connection with the fixed ring frame 3 and the torsion ring frame 4 through 7 groups of rolling bearings 9, the inner diameter of each rolling bearing 9 is the diameter of the main beam 8 at the corresponding connection position, and the rolling bearings 9 and the ring frames are positioned left and right along the length direction of the main beam by positioning pins.
4. The crankshaft 6 is designed: according to the requirements of the position, the maximum torsion angle and the rotating radius of the crankshaft of the torsion ring frame 4, the crankshaft 6 is designed to be a combination of 9 sections of variable-diameter cylinders and 8 fixing frames, and the front cylinder and the rear cylinder are connected through the fixing frames according to the requirement of the distance between each section of cylinder and the main beam. The strength of each section of the cylinder is checked according to the maximum hydrodynamic external force load borne by the crankshaft 6, and the diameter and the length of the cylinder along the expansion direction of the bionic pectoral fin are determined as follows: diameter 8 mm/length 11mm, diameter 10 mm/length 40mm, diameter 10 mm/length 107mm, diameter 6 mm/length 108mm, diameter 4 mm/length 14 mm. The sizes of the corresponding fixing frames are respectively as follows: the height of the glass is 2mm, the width of the glass is 20mm, the width of the glass is 16mm, the height of the glass is 4mm, the length of the glass is 20mm, the width of the glass is 16mm, the height of the glass is 4mm, the width of the glass is 20mm, the width of the glass is 16mm, the length of the glass is 20 mm.
One end of the crankshaft 6 with the largest end surface diameter is inserted into a groove of an output shaft of the auxiliary motor 2 and is fixed through a positioning pin. The crankshaft 6 sequentially passes through the 6 torsion ring frames 4 and is in sliding connection with the torsion ring frames 4 through the sliding grooves 7. The sliding groove 7 is a slot formed at a designated position in the torsion ring frame 4, and the crankshaft 6 can slide in the sliding groove 7 to drive the torsion ring frame 4 to twist. The torsion angle 0 degree of the torsion ring frame 4 is taken as a balance point of the design of the sliding grooves 7, at the moment, the crankshaft 6 is positioned at the foremost end in the sliding grooves 7, and the length of each sliding groove 7 is not less than the sum of the circumferential diameter of the crankshaft when the crankshaft rotates around the central line of the output shaft of the auxiliary motor 2 and the diameter of the crankshaft 6 at the corresponding position.
5. The fixed support 5 is designed as follows: the fixed support 5 is used for locking the phase position of the main beam 8 and the crankshaft 6, and the fixed support 5 for connecting the main beam 8 and the crankshaft 6 is designed at the middle position of the adjacent torsion ring frame 4 along the spanwise direction of the pectoral fin. The fixed support 5 is a cuboid square and is formed by fixedly connecting an upper block and a lower block which are equally divided along the height direction through bolts. The length of the fixed support 5 is larger than the distance between the main beam and the crankshaft, the value of the example is 65mm, the width is 15mm, the thickness of the main body is 8mm, the fixed support 5 is connected with the crankshaft 6 and the main beam 8 through the rolling bearing 9, the joint is a semicircular groove, the inner diameter of the semicircular groove is the same as the outer diameter of the rolling bearing 9, and the inner diameter of the rolling bearing 9 is the same as the diameter of the main beam 8 and the straight rod of the crankshaft 6 at the corresponding position.
6. Assembling the bionic pectoral fin motion device: one end of a main beam 8 is connected with a main motor 1, the main beam 8 is fixedly connected with a fixed ring frame 3 positioned at the root of a bionic pectoral fin, the fixed ring frame 4 is connected with a torsion ring frame 4 through a bearing 9, one end of a crankshaft 6 is connected with an auxiliary motor 2, the auxiliary motor 2 is fixed in the fixed ring frame 3, the crankshaft 6 is connected with the torsion ring frame 4 through a sliding groove 7, and the main beam 8 is connected with the crankshaft 6 through a fixed support 5.
In a specific embodiment, a bionic pectoral fin motion device is shown in fig. 1, and comprises a main motor 1, an auxiliary motor 2, a main beam 8, a crankshaft 6 and ring frames, wherein 7 ring frames comprise 6 torsion ring frames 4 and 1 fixed ring frame 3, the fixed ring frames 3 are fixedly connected with the main beam 8, the torsion ring frames 4 are connected with the main beam 1 through a rolling bearing 9 and connected with the crankshaft 6 through a sliding groove 7; the maximum output torque of a selected main motor 1 is 50N.m, the size is 90mm in diameter, the length is 120mm, the weight is not more than 8kg, the central line of an output shaft of the main motor 1 is parallel to the spanwise section of a pectoral fin, a direct-drive and reducer combined mode is adopted for an auxiliary motor 2, the auxiliary motor motion 2 is in a position following mode, the maximum output torque of the auxiliary motor 2 is 10N.m, the size is 50mm in diameter, the length is 60mm, the weight is not more than 4kg, the auxiliary motor 2 is installed on a fixed ring frame 3, and the central line of the output shaft of the auxiliary motor 2 is perpendicular to the central line of the output shaft.
As shown in fig. 2, the main beam 8 is a combination of 6 cylindrical sections with variable diameters, and the diameters of the cylindrical sections from the root to the end are respectively: 16mm, 15mm, 14mm, 12.5mm, 10mm, 6 mm. The length of each section is 110mm, 70mm and 70mm respectively.
As shown in fig. 3, the crankshaft 6 is a variable diameter 9-segment cylinder and 8 fixing frames, as shown in fig. 7, which is an implementation of the fixing frame, in other embodiments, other shapes and fixing modes can be adopted, and the diameter and length of the cylinder along the pectoral fin span direction are respectively: diameter 8 mm/length 11mm, diameter 10mm/40 length mm, diameter 8 mm/length 11mm, diameter 10 mm/length 40mm, diameter 10 mm/length 107mm, diameter 6 mm/length 108mm, diameter 4 mm/length 14mm, the size of corresponding mount is respectively: the height of the glass is 2mm, the width of the glass is 20mm, the width of the glass is 16mm, the height of the glass is 4mm, the length of the glass is 20mm, the width of the glass is 16mm, the height of the glass is 4mm, the width of the glass is 20mm, the width of the glass is 16mm, the length of the glass is 20 mm.
The main beam 8 and the crankshaft 6 are connected by two fixed supports 5, and as shown in fig. 6, the fixed supports 5 are rectangular and are formed by fixedly connecting an upper block and a lower block which are equally divided in the height direction by bolts. The length of the square block of the fixed support 5 is larger than the distance between the main beam and the crankshaft, in the embodiment, the length of the square block is 65mm, the width of the square block is 15mm, the height of the main body of the square block is 8mm, the square block is locally thickened at the rolling bearing, the height of the locally thickened square block is larger than the maximum value of the diameters of the main beam and the crankshaft at the corresponding position,
the width of the sliding groove 7 is larger than or equal to the diameter of the crankshaft 6, and the length of the sliding groove 7 is larger than the sum of the diameter of the circumference of the crankshaft 6 rotating around the auxiliary motor 2 and the diameter of the crankshaft 6.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A design method of a bionic pectoral fin motion device is characterized by comprising the following steps: the steps are as follows,
determining the types and sizes of the main motor and the auxiliary motor according to the design requirements of the bionic pectoral fin motion device;
designing a ring frame: designing n ring frames along the spanwise direction of the bionic pectoral fin according to the three-dimensional model of the bionic pectoral fin, wherein the ring frame design comprises the design of a fixed ring frame and the design of n-1 torsion ring frames, the appearance of the ring frames is the same as that of the bionic pectoral fin at the position of the ring frames, and a frame structure supported by a thin plate is arranged inside the ring frames;
designing a main beam: according to the design requirements of the bionic pectoral fin and the section characteristics along the spanwise direction, the diameter and the length of the main beam are designed, and a connecting structure of the main beam and the main motor and a connecting structure of the main beam and the ring frame are designed;
designing a crankshaft: the crankshaft is a structure formed by combining a cylindrical straight rod and a fixing frame, wherein the center of the straight rod is not on the same straight line, and the number of sections, the diameter of each section and the fixing frame of the crankshaft are designed according to the design requirement of the bionic pectoral fin;
designing a fixed support: designing a fixed support according to the relative position of the main beam and the crankshaft which need to be fixed, the diameters of the main beam and the crankshaft and the connection mode of the main beam and the crankshaft with the fixed support;
assembling the bionic pectoral fin motion device: one end of a main beam is connected with a main motor, the main beam is fixedly connected with a fixed ring frame positioned at the root of the bionic pectoral fin and connected with a torsion ring frame through a bearing, one end of a crankshaft is connected with an auxiliary motor, the auxiliary motor is fixed in the fixed ring frame, the crankshaft is connected with the torsion ring frame through a sliding groove, and the main beam is connected with the crankshaft through a fixed support.
2. The method of claim 1, wherein the method comprises: the length of the main beam is determined by the length of the bionic pectoral fin, the diameter of the main beam is required to meet the requirements that the main beam is not bent and deformed when the selected main beam material bears the maximum external force load of pectoral fin swing, and the main beam is arranged in the ring frame and the distance between the central line of the main beam and the central line of the crankshaft is required to be met.
3. The method of claim 1, wherein the method comprises: the number of the sections of the crankshaft is determined according to the number of the torsion ring frames and the maximum torsion angle required to be finished by the torsion ring frames, the diameter of each section of the straight rod of the crankshaft is determined according to the maximum external force load of the position of the corresponding ring frame during motion of the pectoral fins, the yield strength of the selected material, the internal space of the ring frame and the distance between the central line of the straight rod and the central line of the main beam, and the diameter is required to be as small as possible under the condition that the requirements are met so as to reduce the weight.
4. The method of claim 1, wherein the method comprises: the design of mount, the mount be a flat board, punch in the suitable position on dull and stereotyped upper and lower two sides, fixed front and back both ends bent axle respectively, the distance between the hole center is confirmed from this distance that locates the bent axle central line and girder central line, the thickness, the shape and the selected material of mount use the intensity requirement that satisfies the bent axle and twist reverse as the design prerequisite, light is better more light in weight.
5. The method of claim 4, wherein the step of designing the bionic pectoral fin motion device comprises: the shape of the fixed ring frame is determined by the shape of the bionic pectoral fin, a connecting structure of the auxiliary motor is designed in the fixed ring frame according to the shape of the auxiliary motor, the width of the fixed ring frame meets the dimension requirement of the auxiliary motor for fixing and supporting, and the ring frame does not bend and deform under the condition of bearing the maximum external force load in the motion process of the pectoral fin.
6. The method of claim 4, wherein the step of designing the bionic pectoral fin motion device comprises: the number of the torsion ring frames is determined by the size of the bionic pectoral fin and the motion effect obtained by the requirement, the shape of the torsion ring frame is determined by the shape of the bionic pectoral fin where the torsion ring frame is located, the width of the torsion ring frame should meet the requirements of fixed installation of a rolling bearing and the strength of the ring frame, and the width of the torsion ring frame is as small as possible under the condition of meeting the requirements of the torsion ring frame and the bionic pectoral fin, a sliding groove is arranged in the torsion ring frame, the width of the sliding groove is more than or equal to the diameter of a crankshaft at the position, and the length of the sliding groove should be more than the sum of the diameter of the circumference of the crankshaft rotating around the.
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| CN112572740B (en) * | 2020-12-16 | 2021-11-12 | 北京机电工程研究所 | Bionic robot fish navigation state smooth switching method |
| CN113697074B (en) * | 2021-09-01 | 2022-08-16 | 北京机电工程研究所 | Pectoral fin driving mechanism system of bionic pectoral fin propulsion aircraft |
| CN114162296B (en) * | 2021-11-25 | 2022-12-06 | 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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