CN110775237A - Small underwater bionic flapping wing driving device - Google Patents
Small underwater bionic flapping wing driving device Download PDFInfo
- Publication number
- CN110775237A CN110775237A CN201911151961.1A CN201911151961A CN110775237A CN 110775237 A CN110775237 A CN 110775237A CN 201911151961 A CN201911151961 A CN 201911151961A CN 110775237 A CN110775237 A CN 110775237A
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- sealing
- driving
- head cap
- driving shaft
- cap
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/30—Mounting of propulsion plant or unit, e.g. for anti-vibration purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H23/00—Transmitting power from propulsion power plant to propulsive elements
- B63H23/32—Other parts
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a small underwater bionic flapping wing driving device, which consists of a driving shaft, a sealing head cap, a sealing shell, a tail sealing cap, an absolute encoder and a driving motor, wherein the driving shaft is connected with the sealing head cap; the driving motor is fixed in the sealing shell through a motor support and is fixedly connected with the driving shaft, and the driving shaft extends out of the circular hole of the sealing head cap and is connected with the driven flapping wing. The rotary sealing element, the baffle and the retainer ring are positioned in a sealing head cap at the front end of the driving shaft; the bearing and bearing shield are mounted within the seal head cap along the drive shaft axis such that the drive shaft is not axially movable. The absolute encoder and the check ring are installed on the sealing head cap, and the absolute encoder lead is led out from the gap of the absolute encoder check ring. The sealing head cap is fixedly connected with the sealing shell, the cable is connected with the driving plate, and the tail sealing cap is fixedly connected with the sealing shell. The driving device has simple structure and light weight, can obtain a high-efficiency propulsion mode by controlling the torsion angle, the flapping speed and the flapping position of the bionic flapping wing, and realizes underwater maneuvering.
Description
Technical Field
The invention relates to the technical field of underwater bionic flapping wing driving, in particular to a flapping wing driving device with controllable angle and speed for an underwater small bionic aircraft.
Background
In recent years, unmanned underwater vehicles have rapidly developed, and various types of underwater vehicles have been widely used in the fields of marine environment detection, dam exploration and other exploration of marine deposits and protection of marine resources. The research and development of the underwater vehicle, particularly the small underwater vehicle, can submerge to a small depth under most conditions, and can be widely applied to pipeline detection, underwater photography, safe search and rescue, entertainment teaching and underwater archaeology work.
Land resources are increasingly scarce, and ocean development becomes the key point of current social research. Currently, unmanned underwater robots (unmanned underwater vehicles) are mostly used as main power devices for underwater exploration, and are mainly divided into autonomous underwater vehicles (autonomous underwater vehicles) and streamer underwater robots (streamer underwater vehicles). Due to the fact that the towing cable underwater robot is limited by the distance of the towing cable and needs manual operation, long-time and long-distance detection is inconvenient; the autonomous underwater vehicle has strong automatic working capacity, but has short endurance time and detection distance limited by the position of a mother ship.
In order to improve the underwater detection duration, an underwater glider (underserver glider) is an autonomous underwater robot capable of remotely detecting underwater hydrological information for a long time, but the traditional underwater glider has a single movement mode and poor maneuverability.
Bionic propulsion is a novel propulsion mode with high propulsion efficiency and maneuverability, and is mainly divided into body/tail fin driving and central fin/pair fin driving. Wherein, the central pair fin represents the bat ray has the appearance similar to a glider, and a gliding-flapping integrated high-efficiency propulsion mode is obtained by analyzing aiming at the biological research. A high-efficiency propulsion mode can be obtained by controlling the torsion angle, flapping speed and flapping position of the bionic flapping wings; and the left bionic flapping wing and the right bionic flapping wing can be controlled to do different actions, so that underwater maneuvering is realized, and the underwater robot has higher practical value for carrying out high-efficiency detection underwater.
Disclosure of Invention
In order to avoid the defects in the prior art, the invention provides a small underwater bionic flapping wing driving device which is simple in structure and light in weight, and can obtain a high-efficiency propulsion mode by controlling the torsion angle, the flapping speed and the flapping position of the bionic flapping wing; and the underwater maneuvering can be realized by controlling the left bionic flapping wing and the right bionic flapping wing to do different actions.
The invention solves the technical problem by adopting the technical scheme that the flapping wing air conditioner comprises a driving shaft, a sealing head cap, a sealing shell, a tail sealing cap, a cable, a deep groove ball bearing, a rotary sealing element baffle, a retainer ring, an angular contact bearing baffle, an absolute encoder, an encoder retainer ring, a motor support, a driving motor, a driving plate and a radial sealing element, wherein the sealing shell is a hollow cylinder, two end parts of the sealing shell are provided with mounting screw holes and flanges, the driving motor is positioned in the sealing shell and fixedly connected with the sealing head cap through a bolt through the motor support, one end of the driving shaft is fixedly connected with an output shaft of the driving motor, and the other end of the driving shaft; the rotary sealing element, the rotary sealing element baffle plate and the retainer ring are positioned at the front part of the driving shaft and are axially installed in the sealing head cap, and the angular contact bearing baffle plate are installed in the sealing head cap along the axis of the driving shaft, so that the driving shaft cannot axially move; the absolute encoder and the encoder retainer ring are arranged in the sealing head cap along the driving shaft, the absolute encoder lead is led out from the gap of the encoder retainer ring, and the leads of the absolute encoder and the driving motor are connected with the driving plate;
the sealing head cap is fixedly connected with the sealing shell through a bolt, the tail sealing cap and the cable are fixed into a whole assembly through vulcanized rubber, the cable is connected with the drive plate, and the O-shaped ring groove of the tail sealing cap is fixedly connected with the sealing shell through matching after being provided with the radial sealing element.
The drive shaft is cylindric step axle, and there are external screw thread and ream plane convenient to detach and fixed different kinds of flapping wings and drive shaft cooperation drive shaft tip.
Advantageous effects
The invention provides a small underwater bionic flapping wing driving device which consists of a driving shaft, a sealing head cap, a sealing shell, a tail sealing cap, a cable, an absolute encoder, a driving motor, a plurality of bearings and sealing parts, wherein the sealing head cap is arranged on the tail of the driving shaft; the driving motor is fixed in the sealed shell through the motor support, the driving motor is fixedly connected with one end of the driving shaft, and the other end of the driving shaft extends out of the central circular hole of the sealing head cap to be connected with the flapping wing which needs to be driven. The rotary sealing element, the sealing element baffle plate and the retainer ring are positioned at the front end of the driving shaft and are arranged in the sealing head cap along the axial direction; the bearing and the bearing baffle are mounted in the seal head cap along the drive shaft axis such that the drive shaft is not axially movable; the absolute encoder and the check ring are arranged on the sealing head cap along the driving shaft, and the absolute encoder lead is led out from the gap of the absolute encoder check ring; the sealing head cap is fixedly connected with the sealing shell through a bolt. The cable is connected with the driving plate, and the O-shaped ring groove of the tail sealing cap is installed with a radial sealing element and then is installed in the sealing shell in a matching way; the tail sealing cap is fixedly connected with the sealing shell through a bolt. The driving device has simple structure and light weight, and can obtain a high-efficiency propulsion mode by controlling the torsion angle, flapping speed and flapping position of the bionic flapping wing; and the left bionic flapping wing and the right bionic flapping wing can be controlled to do different actions, and underwater maneuvering is realized.
Drawings
The small underwater bionic flapping wing driving device is further described in detail with reference to the accompanying drawings and the implementation mode.
FIG. 1 is a schematic view of an underwater bionic flapping wing driving device.
FIG. 2 is a sectional view of the underwater bionic flapping wing driving device.
FIG. 3 is an axial view of the underwater bionic flapping wing driving device.
FIG. 4 is a schematic view of a sealing head cap of the underwater bionic flapping wing driving device.
FIG. 5 is a schematic view of a driving shaft of the underwater bionic flapping wing driving device.
FIG. 6 is a schematic view of a motor support of the underwater bionic flapping wing driving device.
FIG. 7 is a schematic diagram of an absolute encoder retainer ring of the underwater bionic flapping wing driving device.
In the drawings
1. Drive shaft 2, sealing head cap 3, sealing shell 4, tail sealing cap 5, cable 6, deep groove ball bearing 7, rotary sealing element 8, rotary sealing element baffle 9, retainer ring 10, angular contact bearing 11, angular contact bearing baffle 12, absolute encoder 13, encoder retainer ring 14, motor support 15, drive motor 16, drive plate 17, radial sealing element
Detailed Description
The embodiment is a small underwater bionic flapping wing driving device.
Referring to fig. 1 to 7, the underwater bionic flapping wing driving device of the embodiment is composed of a driving shaft 1, a sealing head cap 2, a sealing shell 3, a tail sealing cap 4, a cable 5, a deep groove ball bearing 6, a rotary sealing element 7, a rotary sealing element baffle 8, a retainer ring 9, an angular contact bearing 10, an angular contact bearing baffle 11, an absolute encoder 12, an encoder retainer ring 13, a motor bracket 14, a driving motor 15, a driving plate 16 and a radial sealing element 17; wherein, the sealing shell 3 is a hollow cylinder, and two ends are provided with mounting screw holes and flanges; the driving motor 15 is installed in the sealed shell 3 and fixedly connected with the sealing head cap 2 through a motor bracket 14 through bolts. One end of the driving shaft 1 is fixedly connected with an output shaft of the driving motor 15, and the other end of the driving shaft 1 extends out of a central circular hole of the sealing head cap 2 to be connected with the driven flapping wing. The rotary sealing element 7, the rotary sealing element baffle plate 8 and the retainer ring 9 are positioned at the front part of the driving shaft 1 and are axially arranged in the sealing head cap 2; the angular contact bearing 10 and the angular contact bearing retainer 11 are mounted in the seal head cap 2 along the drive shaft 1 axis such that the drive shaft 1 is not axially movable. The absolute encoder 12 and the encoder retainer ring 13 are arranged in the sealing head cap 2 along the driving shaft 1, the wires of the absolute encoder 12 are led out from the gap of the encoder retainer ring 13, and the wires of the absolute encoder 12 and the driving motor 15 are connected with the driving plate 16.
The sealing head cap 2 is fixedly connected with the sealing shell 3 through a bolt, the tail sealing cap 4 and the cable 5 are fixed into a whole assembly through vulcanized rubber, the cable 5 is connected with the drive plate 16, and the O-shaped ring groove of the tail sealing cap 4 is fixedly connected with the sealing shell 3 through matching after being provided with the radial sealing element 17. The driving shaft 1 is a cylindrical step shaft, and the end part of the driving shaft 1 is provided with an external thread and a counter sinking plane, so that the driving shaft can be conveniently detached and fixed on different types of flapping wings.
Installation and use process
The underwater bionic flapping wing driving device is applied to an underwater bionic aircraft, and in order to ensure the sealing performance of the driving device in the underwater motion process, the rotary sealing element 7, the rotary sealing element baffle 8 and the retainer ring 9 are required to be arranged in the sealing head cap 2 from the front end of the driving shaft 1 along the axial direction. Meanwhile, the concentricity of the driving shaft 1 in the rotating process is ensured, and the deep groove ball bearing 6 needs to be installed from the front end of the driving shaft 1 installed on the sealing head cap 2, so that the driving shaft 1 can achieve the performances of sealing water tightness and stable operation in the rotating process. The drive shaft 1 can now move in one direction along the axis towards the inside of the sealing head cap 2. In order to prevent the drive motor 15 from being damaged by the pressure of the deep water pressure acting on the drive shaft 1, the angular contact bearing 10 and the angular contact bearing barrier 11 are installed into the seal head cap 2 from the rear end portion along the axis of the drive shaft 1, so that the deep water pressure is transmitted to the angular contact bearing 10 and the angular contact bearing barrier 11, so that the drive shaft 1 is not axially movable. To obtain the motion attitude of the flapping wing in real time, the rotating position of the driving shaft 1 needs to be monitored, an absolute encoder 12 and an encoder retainer ring 13 are installed into the sealing head cap 2 along the rear end of the driving shaft 1, and a lead of the absolute encoder 12 is led out from a gap of the encoder retainer ring 13. The driving motor 15 with the brake and the motor support 14 are fixed through a plurality of bolts, and the concentricity is ensured by the matching of the boss of the driving motor 15 and the groove of the motor support 14. The motor bracket 14 and the sealing head cap 2 are fixed through bolts, and a motor shaft of the driving motor 15 is ensured to be tightly matched with the driving shaft 1. After the whole assembly of the sealing head cap 2 is installed, wires of the absolute encoder 12 and the driving motor 15 in the assembly are connected with the driving plate 16, the sealing head cap 2 and the driving plate 16 are installed in the sealing shell 3, and the sealing head cap 2 and the sealing shell 3 are fixed through bolts. For providing control signal and drive energy for the device, with afterbody sealing cap 4 and cable 5 fixed as integral unit through vulcanized rubber, after cable 5 is connected with drive plate 16, the O type circle groove installation radial seal 17 of afterbody sealing cap 4 links firmly with sealed casing 3 through the cooperation after, accomplishes the drive arrangement installation.
In this embodiment, with flapping wing installation to drive shaft 1 on, there are external screw thread and ream plane on the drive shaft 1, convenient to detach and fixed different kind flapping wing. The sealed shell 3 is fixed in a test system and placed in water, a control signal is sent to the drive plate 16 through the cable 5, the drive motor is controlled to drive the flapping wing system to swing according to a certain rotation speed and rotation frequency, and the flapping wing system continuously generates propulsive force in the mode, so that an aircraft provided with the drive device has a bionic propulsion mode. The driving motor 15 of the system is provided with a brake, the attitude of the flapping wings can be fixed in a power-off locking mode, and the absolute encoder 12 cannot lose the position information of the driving shaft 1 due to power failure, so that the energy of the aircraft is saved, the system stability is improved, the aircraft does not need to consume extra energy when the gliding function is realized, and the endurance time is improved. In the movement process, the rotation stability of the driving shaft 1 is ensured by the corrosion-resistant deep groove ball bearing 6.
Claims (2)
1. A small underwater bionic flapping wing driving device is characterized by comprising a driving shaft, a sealing head cap, a sealing shell, a tail sealing cap, a cable, a deep groove ball bearing, a rotary sealing element baffle, a retainer ring, an angular contact bearing baffle, an absolute encoder, an encoder retainer ring, a motor support, a driving motor, a driving plate and a radial sealing element, wherein the sealing shell is a hollow cylinder, mounting screw holes and flanges are formed in two end parts of the sealing shell, the driving motor is positioned in the sealing shell and fixedly connected with the sealing head cap through a bolt through the motor support, one end of the driving shaft is fixedly connected with an output shaft of the driving motor, and the other end of the driving shaft extends out of a central circular hole; the rotary sealing element, the rotary sealing element baffle plate and the retainer ring are positioned at the front part of the driving shaft and are axially installed in the sealing head cap, and the angular contact bearing baffle plate are installed in the sealing head cap along the axis of the driving shaft, so that the driving shaft cannot axially move; the absolute encoder and the encoder retainer ring are arranged in the sealing head cap along the driving shaft, the absolute encoder lead is led out from the gap of the encoder retainer ring, and the leads of the absolute encoder and the driving motor are connected with the driving plate;
the sealing head cap is fixedly connected with the sealing shell through a bolt, the tail sealing cap and the cable are fixed into a whole assembly through vulcanized rubber, the cable is connected with the drive plate, and the O-shaped ring groove of the tail sealing cap is fixedly connected with the sealing shell through matching after being provided with the radial sealing element.
2. The underwater bionic flapping wing driving device of claim 1, wherein the driving shaft is a cylindrical step shaft, and the end part of the driving shaft is provided with external threads and a countersink plane, so that different types of flapping wings can be conveniently detached and fixed to be matched with the driving shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911151961.1A CN110775237A (en) | 2019-11-22 | 2019-11-22 | Small underwater bionic flapping wing driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911151961.1A CN110775237A (en) | 2019-11-22 | 2019-11-22 | Small underwater bionic flapping wing driving device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110775237A true CN110775237A (en) | 2020-02-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911151961.1A Pending CN110775237A (en) | 2019-11-22 | 2019-11-22 | Small underwater bionic flapping wing driving device |
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| CN (1) | CN110775237A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113624443A (en) * | 2021-07-21 | 2021-11-09 | 西北工业大学 | Launching tube opening sealing device for underwater launching and mounting 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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| CN110027691A (en) * | 2019-05-15 | 2019-07-19 | 彭爽 | A kind of bionic mechanical fish |
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2019
- 2019-11-22 CN CN201911151961.1A patent/CN110775237A/en active Pending
Patent Citations (5)
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| CN110125973A (en) * | 2018-02-02 | 2019-08-16 | 中国科学院沈阳自动化研究所 | A kind of underwater electric joint structure with position and speed feedback |
| DE202018103614U1 (en) * | 2018-04-20 | 2018-07-04 | Zhejiang Moovi Technology Co., Ltd. | Underwater engine with hidden charging interface |
| CN109533249A (en) * | 2018-11-24 | 2019-03-29 | 天津大学 | A kind of biomimetic type submarine navigation device flapping wing propulsion device |
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| CN110027691A (en) * | 2019-05-15 | 2019-07-19 | 彭爽 | A kind of bionic mechanical fish |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113624443A (en) * | 2021-07-21 | 2021-11-09 | 西北工业大学 | Launching tube opening sealing device for underwater launching and mounting method |
| CN113624443B (en) * | 2021-07-21 | 2024-05-10 | 西北工业大学 | Transmitting cylinder opening sealing device for underwater transmission and mounting 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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Application publication date: 20200211 |