CN111891312B - Manufacturing method of bionic wave fin - Google Patents

Manufacturing method of bionic wave fin Download PDF

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CN111891312B
CN111891312B CN202010657077.1A CN202010657077A CN111891312B CN 111891312 B CN111891312 B CN 111891312B CN 202010657077 A CN202010657077 A CN 202010657077A CN 111891312 B CN111891312 B CN 111891312B
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wave fin
fin
wave
arc length
fluctuation
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CN111891312A (en
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尚建忠
罗自荣
王何
殷谦
蒋涛
卢钟岳
夏明海
宋震
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National University of Defense Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B71/00—Designing vessels; Predicting their performance
    • 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
    • B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type

Abstract

The invention discloses a manufacturing method of a bionic wave fin, which comprises the steps of firstly accurately analyzing and judging the overall wave form and parameter characteristics of the wave fin according to the fact that an inner arc and an outer arc of the wave fin are space curves when the wave fin fluctuates, calculating the inner arc length and the outer arc length of the wave fin according to the wave form parameters of the wave fin, then calculating the inner diameter, the width and the fan angle of a plane fan shape corresponding to the wave fin, and finally cutting a rubber plate to obtain the fan-shaped wave fin with the shape corresponding to the plane fan shape. The manufacturing method adopts a reverse thrust method, and through more accurate calculation model analysis and accurate calculation, the length calculation is more practical, and the bionic wave fin with higher precision can be manufactured, so that the wave fin propulsion in the amphibious field is better adapted.

Description

Manufacturing method of bionic wave fin
Technical Field
The invention relates to the technical field of bionic sports equipment, in particular to a manufacturing method of a bionic wave fin.
Background
The existing underwater robot mainly adopts propeller propulsion, and the traditional propeller is difficult to meet higher requirements along with the increase of the requirements on the stability, the concealment and the high efficiency of the robot. The wave fin is a unique morphological structure possessed by the fishes through long-term evolution and evolution, has a unique operation mode, has the characteristics of extremely strong adaptability to the environment, stable motion, high efficiency, good maneuverability, difficult generation of swimming trail and good concealment. The research on the wave fin as a propeller has been a hot spot of research.
Compared with an underwater robot, the amphibious robot has a larger moving range and an application field, and the research and the development of the robot are also widely concerned and researched. The bionic wave fin is designed to be used as a unit for land and underwater propulsion simultaneously, and is more advanced compared with the traditional design that two sets of different mechanisms are adopted for respectively carrying out land and water propulsion.
The traditional bionic wave fin is only used in water, has low requirements on the form of the wave fin in flexible liquid, and often keeps an over-relaxed state. When the bionic wave fin is used for amphibious propulsion, the bionic wave fin needs to be matched with a rigid ground, so that the wave fin needs to have proper rigidity and flexibility, and the wave fin needs to be manufactured more accurately.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a manufacturing method of a bionic wave fin, which can manufacture the bionic wave fin with higher precision, so that the bionic wave fin is better suitable for wave fin propulsion in the field of amphibious.
In order to solve the technical problem, the invention adopts the following technical scheme:
a manufacturing method of a bionic wave fin comprises the following steps:
(S1) determining the wave form parameter of the wave fin according to the expected wave form of the wave fin, wherein the wave form parameter comprises the distance R from the inner arc to the swing center1Distance R from outer arc to center of oscillation2Swing angle theta, wavelength lambda and total fluctuation level length delta X;
(S2) calculating according to the fluctuation form parameters of the fluctuation fin to obtain the inner arc length L of the fluctuation fin1And outer arc length L2；
(S3) depending on the inner arc length L of the wave fin1And outer arc length L2Calculating the inner diameter R, the width d and the sector angle beta of the plane sector corresponding to the wave fin according to the following formula (1),
Figure BDA0002577143180000011
wherein R is the inner diameter of the planar sector corresponding to the wave fin, d is the width of the planar sector corresponding to the wave fin, beta is the sector angle of the planar sector corresponding to the wave fin, and L is the sector angle of the planar sector corresponding to the wave fin1Is the inner arc length of the wave fin, L2The outer arc length of the wave fin;
(S4) cutting the rubber plate according to the inner diameter R, the width d and the fan angle beta of the plane fan shape corresponding to the wave fin to obtain the fan-shaped wave fin with the shape corresponding to the plane fan shape.
The above-described method of manufacturing, preferably,
in the step (S2), the inner arc length L of the wave fin1And outer arc length L2The calculation method comprises the steps of firstly establishing a space coordinate system, placing the wave fin in the space coordinate system, enabling one end of the wave fin to coincide with a Z axis, enabling the swing center of each swing unit of the wave fin to coincide with an X axis, enabling the swing symmetry axis of each swing unit of the wave fin to be parallel to the Z axis, and obtaining the inner arc length L1And outer arc length L2The space curve equation (2) of (a) is as follows:
Figure BDA0002577143180000021
wherein X is a coordinate on an X axial direction in a space coordinate system, y is a coordinate on a y axial direction in the space coordinate system, z is a coordinate on a z axial direction in the space coordinate system, R is a distance from an inner arc or an outer arc of the wave fin to a swing center of the wave fin, theta is a swing angle of the wave fin, lambda is a wavelength of the wave fin, delta X is a total length of a fluctuation level of the wave fin, and t is a parameter in a range from 0 to delta X;
calculating to obtain the length L of the inner arc by using a curve integral calculation method or a discrete algorithm1And outer arc length L2Total arc length of (a).
In the above manufacturing method, preferably, the expected fluctuation form of the wave fin is a wave cone state driven by a plurality of swing units in different phases, and in the wave fin fluctuation driven by the swing units around the swing center, the wave fin is in a state of small inner arc and large outer arc, and the distance from each position on the inner arc or the outer arc to the swing center is not changed.
Compared with the prior art, the invention has the advantages that:
according to the manufacturing method of the bionic wave fin, the wave form and the parameter characteristic of the whole wave fin are accurately analyzed and judged according to the fact that the inner arc and the outer arc of the wave fin are space curves when the wave fin fluctuates, the inner arc length and the outer arc length of the wave fin are obtained through calculation according to the wave form parameters of the wave fin, and then the inner diameter, the width and the fan angle of a plane fan shape corresponding to the wave fin are obtained through calculation.
Drawings
Fig. 1 is a schematic structural diagram of a bionic wave fin in a wave state.
Fig. 2 is a schematic structural diagram of a planar sector corresponding to the bionic wave fin.
Fig. 3 is a schematic structural diagram in a space coordinate system of the bionic wave fin.
Illustration of the drawings:
1. a wave fin; 11. the inner arc of the wave fin; 12. the outer arc of the wave fin; 2. a plane sector; 21. a planar sector inner arc; 22. a planar fan-shaped outer arc.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples.
The manufacturing method of the bionic wave fin comprises the following steps:
(S1) determining the wave form parameter of the wave fin according to the expected wave form of the wave fin, wherein the wave form parameter comprises the distance R from the inner arc to the swing center1Distance R from outer arc to center of oscillation2Swing angle theta, wavelength lambda and total fluctuation level length delta X; referring to fig. 1, reference numeral 1 denotes the wave fin in a wave state, reference numeral 11 denotes an inner arc of the wave fin, and reference numeral 12 denotes an outer arc of the wave fin.
(S2) calculating according to the fluctuation form parameters of the fluctuation fin to obtain the inner arc length L of the fluctuation fin1And outer arc length L2。
(S3) depending on the inner arc length L of the wave fin1And outer arc length L2Calculating the inner diameter R, the width d and the sector angle beta of the plane sector corresponding to the wave fin according to the following formula (1),
Figure BDA0002577143180000031
wherein R is the inner diameter of the planar sector corresponding to the wave fin, d is the width of the planar sector corresponding to the wave fin, beta is the sector angle of the planar sector corresponding to the wave fin, and L is the sector angle of the planar sector corresponding to the wave fin1Is the inner arc length of the wave fin, L2The outer arc length of the wave fin; referring to fig. 2, reference numeral 2 denotes a plane sector, reference numeral 21 denotes an inner arc of the plane sector, and reference numeral 22 denotes an outer arc of the plane sector.
(S4) cutting the rubber plate according to the inner diameter R, the width d and the fan angle beta of the plane fan shape corresponding to the wave fin to obtain the fan-shaped wave fin with the shape corresponding to the plane fan shape.
After the fan-shaped wave fin is obtained by cutting, the cut fan-shaped wave fin is straightened and clamped on the swinging unit, so that the strain and deformation of the wave fin continuously exist, and the expected bionic wave fin can be obtained according to the accurate calculation and boundary condition constraint.
In the present embodiment, in step (S2), the inner arc length L of the wave fin1And outer arc length L2The calculation method comprises the steps of firstly establishing a space coordinate system, placing the wave fin in the space coordinate system, enabling one end of the wave fin to coincide with a Z axis, enabling the swing center of each swing unit of the wave fin to coincide with an X axis, enabling the swing symmetry axis of each swing unit of the wave fin to be parallel to the Z axis, and obtaining the inner arc length L1And outer arc length L2The space curve equation (2) of (a) is as follows:
Figure BDA0002577143180000041
wherein X is a coordinate in an X axial direction in a space coordinate system, y is a coordinate in a y axial direction in the space coordinate system, z is a coordinate in a z axial direction in the space coordinate system, R is a distance from an inner arc or an outer arc of the wave fin to a swing center of the wave fin, theta is a swing angle of the wave fin, lambda is a wavelength of the wave fin, delta X is a total length of a fluctuation level of the wave fin, and t is a parameter variable in a range from 0 to delta X;
calculating to obtain the length L of the inner arc by using a curve integral calculation method or a discrete algorithm1And outer arc length L2Total arc length of (a).
As each swing unit of the wave fin swings around the swing center to drive the wave fin to fluctuate, the wave fin is in the form of a wave cone, in order to calculate the inner arc length and the outer arc length, as shown in figure 3, the wave fin is arranged in a space coordinate system, the swing center of each swing unit is superposed with an X axis, the swing symmetry axis of each swing unit is parallel to a Z axis, one end of the wave fin is superposed with the Z axis, and the swing angle is changed from 0 degree.
The inner arc length L is calculated by using a curve integral calculation method1And outer arc length L2The total arc length is obtained by curve integration according to the formula (3)1Or outer arc length L2：
Figure BDA0002577143180000042
Wherein L is the length L of the inner arc1Or outer arc length L2The remaining parameters are the same as the corresponding parameters in equation (1) and space curve equation (2).
The inner arc length L is obtained by calculation through the discrete algorithm1And outer arc length L2The total arc length of (2) is specifically that the total fluctuation horizontal length Δ X is divided into a plurality of parts, each part of distance is Δ X, and the initial condition setting is performed according to the formula (4):
Figure BDA0002577143180000043
according to formula (5)The inner arc length L was calculated from 0 cycles per addition of Δ X1Or outer arc length L2：
Figure BDA0002577143180000051
Wherein L is the length of the inner arc L1Or outer arc length L2Total arc length of (a).
When the number of parts is enough, the calculated result tends to be stable, so that the method of obtaining the total arc length by superposition of straight line segments by adopting a discrete algorithm is easier to realize, the efficiency is higher, and the calculation accuracy is also enough.
In the present embodiment, the expected wave form of the wave fin is a wave cone form driven by a plurality of swing units in different phases, and in the wave fin driven by the swing units around the swing center, the wave fin is in a state of small inner arc and large outer arc, and the distance from each position on the inner arc or the outer arc to the swing center is not changed, so that the wave fin is in a complex space form similar to a sine line.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-described embodiments. Modifications and variations that may occur to those skilled in the art without departing from the spirit and scope of the invention are to be considered as within the scope of the invention.

Claims (2)

1. A manufacturing method of a bionic wave fin is characterized by comprising the following steps: the method comprises the following steps:
(S1) determining the wave form parameter of the wave fin according to the expected wave form of the wave fin, wherein the wave form parameter comprises the distance R from the inner arc to the swing center1Distance R from outer arc to center of oscillation2Swing angle theta, wavelength lambda and total fluctuation level length delta X;
(S2) calculating according to the fluctuation form parameters of the fluctuation fin to obtain the inner arc length L of the fluctuation fin1And outer arc length L2；
(S3) depending on the inner arc length L of the wave fin1And outer arc length L2Calculating to obtain the wave fin according to the following formula (1)The inner diameter R, the width d and the sector angle beta of the corresponding plane sector,
Figure FDA0003524331750000011
wherein R is the inner diameter of the planar sector corresponding to the wave fin, d is the width of the planar sector corresponding to the wave fin, beta is the sector angle of the planar sector corresponding to the wave fin, and L is the sector angle of the planar sector corresponding to the wave fin1The inner arc length of the wave fin, L2The outer arc length of the wave fin;
(S4) cutting a rubber plate according to the inner diameter R, the width d and the fan angle beta of the plane fan corresponding to the wave fin to obtain a fan-shaped wave fin with a shape corresponding to the plane fan;
in the step (S2), the inner arc length L of the wave fin1And outer arc length L2The calculation method comprises the steps of firstly establishing a space coordinate system, placing the wave fin in the space coordinate system, enabling one end of the wave fin to coincide with a Z axis, enabling the swing center of each swing unit of the wave fin to coincide with an X axis, enabling the swing symmetry axis of each swing unit of the wave fin to be parallel to the Z axis, and obtaining the inner arc length L1And outer arc length L2The space curve equation (2) of (a) is as follows:
Figure FDA0003524331750000012
wherein X is a coordinate in an X axial direction in a space coordinate system, y is a coordinate in a y axial direction in the space coordinate system, z is a coordinate in a z axial direction in the space coordinate system, R is a distance from an inner arc or an outer arc of the wave fin to a swing center of the wave fin, theta is a swing angle of the wave fin, lambda is a wavelength of the wave fin, delta X is a total length of a fluctuation level of the wave fin, and t is a parameter variable in a range from 0 to delta X;
calculating to obtain the length L of the inner arc by using a curve integral calculation method or a discrete algorithm1And outer arc length L2Total arc length of (c).
2. The method of manufacturing according to claim 1, wherein: the expected fluctuation form of the fluctuation fin is a fluctuation cone form driven by a plurality of swing units in different phases, the fluctuation fin is in a state of small inner arc and large outer arc in the fluctuation of the fluctuation fin driven by the swing units around the swing center, and the distance from each position on the inner arc or the outer arc to the swing center is unchanged.
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CN113232805B (en) * 2021-04-19 2022-09-09 合肥工业大学 Novel bionic robotic fish propelled by fins through fluctuation
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