CN112009656A - Underwater submerging device - Google Patents
Underwater submerging device Download PDFInfo
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- CN112009656A CN112009656A CN201910472836.4A CN201910472836A CN112009656A CN 112009656 A CN112009656 A CN 112009656A CN 201910472836 A CN201910472836 A CN 201910472836A CN 112009656 A CN112009656 A CN 112009656A
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- underwater vehicle
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- 230000003014 reinforcing effect Effects 0.000 claims description 14
- 230000004308 accommodation Effects 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 4
- 230000009189 diving Effects 0.000 abstract 1
- 230000005389 magnetism Effects 0.000 description 14
- 241000251468 Actinopterygii Species 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 4
- 239000002184 metal Substances 0.000 description 3
- 229910052751 metal Inorganic materials 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 229910000976 Electrical steel Inorganic materials 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 230000001846 repelling effect Effects 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
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Classifications
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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
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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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- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
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- Ocean & Marine Engineering (AREA)
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Abstract
The application discloses ware of diving under water includes: the fuselage part is provided with an accommodating cavity; the swinging plate is used for driving the underwater vehicle to move through swinging; one end of the lever is positioned in the accommodating cavity of the body part, the other end of the lever is connected with the swinging plate, and the part of the lever, which is different from the two ends, is rotatably connected with the body part so as to drive the swinging plate to swing; and the magnetic field generating device is positioned in the accommodating cavity of the body part and is used for generating a magnetic field to drive the lever to rotate in a reciprocating manner. The application provides an underwater vehicle generates magnetic field drive lever reciprocating rotation through magnetic field generating device, and the lever drives the swing board reciprocating swing, not only can provide great drive power and drive the low power dissipation of swing board reciprocating swing to the slurcam, has improved the work efficiency of underwater vehicle in the aspect of generating the power of navigating, still can improve the stationarity of swing board motion simultaneously, and then improves the stability of unmanned underwater vehicle when navigating.
Description
Technical Field
The invention relates to the technical field of underwater operation equipment, in particular to the field of underwater navigation equipment, and particularly relates to an underwater vehicle.
Background
The underwater vehicle is a device which is controlled remotely or automatically to navigate underwater, and is used for replacing divers or small manned submarines to carry out underwater operations such as deep sea detection, lifesaving and the like. Currently, underwater vehicles generally include a fuselage portion and a fish tail portion. The fishtail part comprises a swinging plate and a driving mechanism arranged in the inner cavity, and the driving mechanism is connected with one end of the swinging plate to drive the swinging plate to swing so as to push the underwater vehicle to move. The driving mechanism is generally a steering engine or a connecting rod transmission mechanism. When the driving mechanism is the steering engine, the steering engine needs to be sealed, so that the installation space occupied by the steering engine is large, and the size of the underwater vehicle is large. And because the volume of the underwater vehicle is generally in direct proportion to the resistance borne by the underwater vehicle, and the power density of the commonly used steering engine is small (the power density of the steering engine is the ratio of the maximum output power of the steering engine to the volume of the steering engine), in order to meet the kinetic energy required by the navigation of the underwater vehicle, the steering engine with larger output power needs to be selected, so that the driving efficiency of the steering engine is not high. When the driving mechanism is a connecting rod transmission mechanism, a driving motor is required to be configured to drive the connecting rod transmission mechanism to move, and the connecting rod transmission mechanism has a quick return characteristic, so that the swinging of the swinging plate has instability, and the motion stability of the underwater vehicle is further influenced.
Disclosure of Invention
In view of the above-mentioned deficiencies or inadequacies in the prior art, it would be desirable to provide an underwater vehicle.
The application provides an underwater vehicle, includes:
the fuselage part is provided with an accommodating cavity;
the swinging plate is used for driving the underwater vehicle to move through swinging;
one end of the lever is positioned in the accommodating cavity of the body part, the other end of the lever is connected with the swinging plate, and the part of the lever, which is different from the two ends, is rotatably connected with the body part so as to drive the swinging plate to swing;
and the magnetic field generating device is positioned in the accommodating cavity of the body part and is used for generating a magnetic field to drive the lever to rotate in a reciprocating manner.
Further, magnetic field generating device includes that first magnetism inhales piece and second magnetism and inhales the piece, and first magnetism inhales one of piece and second magnetism and inhales the piece and set up in fuselage portion, and another sets up on the lever, and first magnetism inhales between the piece and the second magnetism and inhales through the repulsion that forms attraction and mutual repulsion of mutual attraction in order to drive the reciprocal rotation of lever.
Furthermore, the first magnetic attraction piece is arranged in the accommodating cavity, the second magnetic attraction piece is arranged on the lever, the first magnetic attraction piece comprises two first electromagnets, the second magnetic attraction piece is positioned between the two first electromagnets, and two magnetic poles of the second magnetic attraction piece are arranged facing to opposite magnetic poles on the two first electromagnets respectively.
Further, the second magnetic attraction piece is a permanent magnet or a second electromagnet.
Further, the first electromagnet includes a coil, and the magnetic field generating device includes:
the two control switches are respectively connected with the coils in the two first electromagnets to control the energization or the outage of the coils;
and the controller is respectively connected with the two control switches so as to control the two control switches to alternately work in a closed state and an open state.
Furthermore, be equipped with the elastic component between the piece is inhaled to first magnetism and the second magnetism, the one end of elastic component is inhaled with first magnetism and is inhaled one of piece and the second magnetism and be connected, and the other end is used for inhaling in piece and the second magnetism and inhale another butt cooperation with first magnetism.
Furthermore, waterproof layers are arranged on the outer surfaces of the first electromagnet and the second electromagnet.
Furthermore, the lever is rotatably connected to the body part through a rotating shaft, and the distance between the first magnetic attraction piece or the second magnetic attraction piece arranged on the lever and the rotating shaft is larger than the distance between the swinging plate and the rotating shaft.
Furthermore, one end of the body part close to the swinging plate is provided with two first mounting holes which are respectively arranged corresponding to two ends of the rotating shaft, the two first mounting holes are positioned at two sides of the accommodating cavity and are communicated with the accommodating cavity, one end of each first mounting hole far away from the accommodating cavity is provided with a hole expanding section, a bearing is fixedly arranged in each hole expanding section, and two ends of the rotating shaft respectively extend into the two first mounting holes and are arranged in the bearings;
the inner side face of the fuselage portion is provided with reinforcing protruding portions located at two first mounting holes respectively, the first mounting holes penetrate through the reinforcing protruding portions in the axial direction, and the axial projection of the reinforcing protruding portions along the first mounting holes covers the projection of the hole expanding section in the axial direction along the first mounting holes.
Further, the fuselage portion includes main part section and linkage segment, and the linkage segment is located between main part section and the swing board, and the linkage segment detachably fixed connection is in the main part section near the one end of swing board, and the pivot sets up in the linkage segment.
The application provides an underwater vehicle generates magnetic field drive lever reciprocating rotation through magnetic field generating device, and the lever drives the swing board reciprocating swing, not only can provide great drive power and drive the low power dissipation of swing board reciprocating swing to the slurcam, has improved the work efficiency of underwater vehicle in the aspect of generating the power of navigating, still can improve the stationarity of swing board motion simultaneously, and then improves the stability of unmanned underwater vehicle when navigating.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
fig. 1 is a schematic structural diagram of an underwater vehicle provided in an embodiment of the present application;
FIG. 2 is a transverse half-sectional view of an underwater vehicle provided by an embodiment of the present application;
FIG. 3 is a longitudinal half-sectional view of a body segment provided in an embodiment of the present application;
FIG. 4 is a schematic view of the connection between the lever, the connecting segment and the swing plate provided in the embodiments of the present application;
fig. 5 is a schematic structural diagram of a connection segment according to an embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
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 present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Referring to fig. 1-3, an embodiment of the present application provides an underwater vehicle, including:
a fuselage portion 10, the fuselage portion 10 having an accommodation cavity 11;
the swing plate 20 is used for driving the underwater vehicle to move through swinging;
one end of the lever 30 is positioned in the accommodating cavity 11 of the fuselage portion 10, the other end of the lever 30 is connected with the swinging plate 20, and the part of the lever 30, which is different from the two ends, is rotatably connected with the fuselage portion 10 so as to drive the swinging plate 20 to swing;
and the magnetic field generating device is positioned in the accommodating cavity 11 of the fuselage portion 10 and is used for generating a magnetic field to drive the lever 30 to rotate back and forth.
In this embodiment, the fuselage portion 10 of the underwater vehicle has a housing chamber 11 for storing the magnetic field generating device, at least part of the lever 30, etc. The swing plate 20 is used for propelling the underwater vehicle to sail through a swing motion. The swinging direction of the swinging plate 20 may preferably be a horizontal direction or a vertical direction. An opening is arranged on the end surface of the fuselage portion 10 facing the swing plate 20, one end of the lever 30 extends into the accommodating cavity 11 of the fuselage portion 10 from the opening, and the other end is connected with the swing plate 20. The lever 30 is preferably fixedly connected to the swing plate 20, such as, but not limited to, integrally formed, threaded, interference fit, etc. The parts of the lever 30 different from the two ends are rotatably connected with the body part 10, and the reciprocating rotation of the lever 30 drives the swinging plate 20 to swing in a reciprocating manner. The lever 30 may be rod-shaped or plate-shaped, and the swing plate 20 may be substantially triangular or fan-shaped. The magnetic field generating device is installed in the accommodating cavity 11 of the body part 10, a part of the magnetic field generating device is arranged on the lever 30, and the lever 30 is driven to rotate back and forth by generating a magnetic field, so that the swinging plate 20 is driven to swing back and forth.
In the present embodiment, the magnetic field generated by the magnetic field generating device can provide a larger thrust to the lever 30 to drive the lever 30 to rotate back and forth, so as to drive the swing plate 20 to swing back and forth. The swing plate 20 is driven to swing through the magnetic field, so that the energy consumption of the underwater vehicle in the aspect of generating the navigation power can be reduced, and the working efficiency of the underwater vehicle in the aspect of generating the navigation power is improved. Meanwhile, the magnetic field driving does not have the quick return characteristic, the driving of the oscillating plate 20 is stable, the moving stability of the oscillating plate 20 is improved, and the stability of the unmanned underwater vehicle during navigation is further improved.
In some preferred embodiments, the magnetic field generating device includes a first magnetic attraction member 40 and a second magnetic attraction member 50, one of the first magnetic attraction member 40 and the second magnetic attraction member 50 is disposed on the fuselage portion 10, and the other is disposed on the lever 30, and the first magnetic attraction member 40 and the second magnetic attraction member 50 drive the lever 30 to rotate back and forth by forming a mutually attracting attraction force and a mutually repelling repulsion force.
In this embodiment, the magnetic field generating device includes a first magnetic attraction element 40 and a second magnetic attraction element 50, both the first magnetic attraction element 40 and the second magnetic attraction element 50 can have an S-pole and an N-pole, and a mutually attractive attraction force and a mutually repulsive repulsion force can be generated between the first magnetic attraction element 40 and the second magnetic attraction element 50. One of the first magnetic attraction piece 40 and the second magnetic attraction piece 50 is arranged on the fuselage portion 10, and the other one is arranged on the lever 30, when a suction force is generated between the first magnetic attraction piece 40 and the second magnetic attraction piece 50, the lever 30 is driven to rotate towards the direction close to the first magnetic attraction piece 40 or the second magnetic attraction piece 50 which is not arranged on the lever; when the repulsive force is generated between the first magnetic attraction element 40 and the second magnetic attraction element 50, the lever 30 is driven to rotate towards the direction away from the first magnetic attraction element 40 or the second magnetic attraction element 50 which is not arranged on the lever, namely, when the attractive force is generated between the first magnetic attraction element 40 and the second magnetic attraction element 50 and the repulsive force is generated between the first magnetic attraction element 40 and the second magnetic attraction element 50, the rotating directions of the lever 30 are opposite, and the lever 30 is driven to rotate in a reciprocating manner.
In the preferred embodiment, the magnetic field generating device not only has simple structure and low cost, but also can provide larger thrust to the lever 30, thereby improving the sailing power of the underwater vehicle.
In some preferred embodiments, the first magnetic element 40 is disposed in the receiving cavity 11, and the second magnetic element 50 is disposed on the lever 30, wherein the first magnetic element 40 includes two first electromagnets, the second magnetic element 50 is located between the two first electromagnets, and two magnetic poles of the second magnetic element 50 are disposed facing opposite magnetic poles of the two first electromagnets respectively.
In the preferred embodiment, the first magnetic attracting element 40 is disposed in the receiving cavity 11 of the fuselage portion 10, and the second magnetic attracting element 50 is disposed on the lever 30. Wherein, the second magnetic attraction piece 50 can be preferably arranged at one end of the lever 30 far away from the swinging plate 20. The first magnetic attraction member 40 includes two first electromagnets, and both the two first electromagnets can be fixedly disposed on the inner side surface of the body portion 10. The second magnetic attraction piece 50 is located between the two first electromagnets, and two opposite magnetic poles of the two first electromagnets are respectively disposed facing the two magnetic poles of the second magnetic attraction piece 50 to drive the lever 30 to rotate reciprocally. For example, the N pole of one of the first electromagnets faces the N pole of the second magnetic attraction piece 50, and the S pole of the other first electromagnet faces the S pole of the second magnetic attraction piece 50; or, the N pole of one of the first electromagnets faces the S pole of the second magnetic attraction piece 50, and the S pole of the other first electromagnet faces the N pole of the second magnetic attraction piece 50; or, the S pole of one of the first electromagnets faces the N pole of the second magnetic attraction piece 50, and the N pole of the other first electromagnet faces the S pole of the second magnetic attraction piece 50; or, the S pole of one of the first electromagnets faces the S pole of the second magnetic attraction piece 50, and the N pole of the other first electromagnet faces the N pole of the second magnetic attraction piece 50.
In the preferred embodiment, the first electromagnet can be electrically energized into a magnet and form a magnetic field. At this time, an attractive force or a repulsive force can be formed between the first electromagnet and the second magnetic attraction piece 50 to drive the lever 30 to rotate, specifically: the two first electromagnets can be alternately powered on, i.e. one of them is in a powered-on state, and the other one is in a powered-off state, so that the lever 30 can be driven to continuously rotate back and forth, and the swinging plate 20 can be driven to continuously swing. In other embodiments, alternating current may be supplied to the two first electromagnets to effect reciprocating rotation of the drive lever 30.
In some preferred embodiments, the second magnetic attracting element 50 is a permanent magnet or a second electromagnet.
In the preferred embodiment, the lever 30 is provided with a second mounting hole 31 penetrating along the thickness direction, the second magnetic member 50 is fixedly mounted in the second mounting hole 31, and two magnetic poles of the second magnetic member 50 respectively extend out of two end faces of the second mounting hole 31. When the second magnetic attraction element 50 is a second electromagnet and needs to drive the swing plate 20 to swing, the second magnetic attraction element 50 can be in a state of being powered on all the time.
The lever 30 includes two side surfaces respectively facing the two first electromagnets, and the thickness direction of the lever 30 herein is a direction between the two side surfaces.
In some preferred embodiments, the first electromagnet comprises a coil, and the magnetic field generating means comprises:
the two control switches are respectively connected with the coils in the two first electromagnets to control the energization or the outage of the coils;
and the controller is respectively connected with the two control switches so as to control the two control switches to alternately work in a closed state and an open state.
In the preferred embodiment, the first electromagnet includes a metal core, and the material of the metal core may be iron or silicon steel. The first electromagnet further comprises a coil wound on the metal core, the first electromagnet has magnetism when the coil is electrified, and the first electromagnet does not have magnetism when the coil is powered off. In the two first electromagnets, a coil of each first electromagnet is connected with a control switch in series so as to control the energization or the de-energization of the coil. The control switch may preferably be a relay or the like. The controller is respectively connected with the two control switches to control the two control switches to work in a closed state and an open state alternately, so that alternate electrification between the two first electromagnets is realized.
In some preferred embodiments, an elastic member 60 is disposed between the first magnetic attracting member 40 and the second magnetic attracting member 50, one end of the elastic member 60 is connected to one of the first magnetic attracting member 40 and the second magnetic attracting member 50, and the other end is used for abutting and matching with the other of the first magnetic attracting member 40 and the second magnetic attracting member 50.
In the preferred embodiment, when the first magnetic element 40 and the second magnetic element 50 move relatively, the elastic element 60 can prevent the two elements from being damaged due to direct hard contact therebetween. The elastic member 60 may preferably be a spring or the like.
When the first magnetic element 40 includes two first electromagnets, the two magnetic poles of the second magnetic element 50 are both provided with elastic elements 60.
In some preferred embodiments, the outer surfaces of the first electromagnet and the second electromagnet are provided with a waterproof layer.
In the preferred embodiment, since the end surface of the body section 10 close to the swing plate 20 is provided with an opening, external water can flow into the body section 10 from the opening, thereby affecting the use of the electromagnet. The waterproof layers are arranged on the outer surfaces of the first electromagnet and the second electromagnet, so that the first electromagnet and the second electromagnet can be prevented from being directly contacted with water, and normal work of the electromagnets can be further ensured. The waterproof layer can be preferably an encapsulating layer, a plastic sealing layer or the like, and the waterproof material can be preferably resin, plastic or the like.
In some preferred embodiments, the lever 30 is rotatably connected to the fuselage portion 10 through the rotating shaft 12, and the distance between the first magnetic attracting element 40 or the second magnetic attracting element 50 disposed on the lever 30 and the rotating shaft 12 is greater than the distance between the swing plate 20 and the rotating shaft 12.
In the present preferred embodiment, the rotating shaft 12 is located in the accommodating cavity 11 of the fuselage section 10 and is rotatably disposed relative to the fuselage section 10. The lever 30 is provided with a third mounting hole, and the rotating shaft 12 is fixedly mounted in the third mounting hole. The distance between the first magnetic attraction piece 40 or the second magnetic attraction piece 50 arranged on the lever 30 and the rotating shaft 12 is larger than the distance between the swing plate 20 and the rotating shaft 12, so that the power arm of the lever 30 is larger than the resistance arm, that is, the lever 30 can double the driving force of the magnetic field generation device on the lever 30 to the swing plate 20, and further increase the driving force of the magnetic field generation device on the swing plate 20. In some other embodiments, the first magnetic attracting element 40 or the second magnetic attracting element 50 disposed on the lever 30 is located at an end of the lever 30 remote from the swing plate 20.
Referring to fig. 4-5, in some preferred embodiments, one end of the body portion 10 close to the swing plate 20 is provided with two first mounting holes 13 respectively corresponding to two ends of the rotating shaft 12, the two first mounting holes 13 are located at two sides of the accommodating cavity 11 and are communicated with the accommodating cavity 11, one end of the first mounting hole 13 far away from the accommodating cavity 11 is provided with a hole expanding section 131, a bearing 14 is fixedly mounted in the hole expanding section 131, and two ends of the rotating shaft 12 respectively extend into the two first mounting holes 13 and are mounted in the bearing 14;
wherein, be equipped with the enhancement bellying 15 that is located two first mounting holes 13 department on the medial surface of fuselage portion 10 respectively, first mounting hole 13 runs through enhancement bellying 15 along the axial and sets up, and enhancement bellying 15 is in the axial projection along first mounting hole 13 and is covered reaming section 131 and along the axial projection of first mounting hole 13.
In the preferred embodiment, two first mounting holes 13 are oppositely arranged on the fuselage portion 10, one end of the first mounting hole 13, which is far away from the accommodating cavity 11, is provided with a hole expanding section 131, a bearing 14 is fixedly mounted in the hole expanding section 131, and two ends of the rotating shaft 12 respectively extend into the two first mounting holes 13 and are mounted in the bearing 14, so as to realize that the rotating shaft 12 is rotatably connected to the fuselage portion 10. Two reinforcing protrusions 15 are provided on the inner side surface of the fuselage portion 10, and the reinforcing protrusions 15 are provided to protrude from the inner side surface of the fuselage portion 10. The two reinforcing protrusions 15 are respectively disposed corresponding to the two first mounting holes 13, and the first mounting holes 13 axially penetrate through the reinforcing protrusions 15. The reinforcing boss 15 projects in the axial direction of the first mounting hole 13 to cover the expanded hole section 131 and projects in the axial direction of the first mounting hole 13, so that the boss reinforcing portion expandable hole section 131 performs strength reinforcement, and the condition that the expanded hole section 131 is damaged when the swing plate 20 swings is avoided. The reinforcing protrusion 15 may preferably be a disk shape, and the reinforcing protrusion 15 and the fuselage portion 10 are integrally formed.
In some preferred embodiments, the fuselage portion 10 includes a main body segment 16 and a connecting segment 17, the connecting segment 17 is located between the main body segment 16 and the swing plate 20, and the connecting segment 17 is detachably and fixedly connected to one end of the main body segment 16 close to the swing plate 20, and the rotating shaft 12 is disposed in the connecting segment 17.
In the present preferred embodiment, the receiving cavity 11 of the fuselage section 10 comprises a first cavity section in the main body section 16 and a second cavity section 113 in the connecting section 17. The first cavity section comprises a pressure-resistant cavity 111 and a mounting cavity 112 which are arranged in a sealing mode, the mounting cavity 112 is located between the pressure-resistant cavity 111 and the second cavity section 113, and the mounting cavity 112 is communicated with the second cavity section 113. The pressure resistant chamber 111 may be used to store controls, control switches, etc. to avoid contact with water. The mounting cavity 112 is configured to store the first magnetic attraction member 40, the second magnetic attraction member 50, and a portion of the lever 30. The shaft 12 and part of the lever 30 are located in the second cavity section 113, and the shaft 12 is rotatably connected to the connecting section 17. The connecting section 17 is detachably and fixedly connected to one end of the main body section 16 close to the swing plate 20, so that the replacement of the lever 30, the rotating shaft 12 and other parts can be facilitated. Wherein the detachably fixed connection may preferably be a bolt connection or the like.
In some preferred embodiments, the underwater vehicle is fish-shaped, including a fish body and a fish tail. The fish body part is a machine body part 10, and the fish tail part is a swinging plate 20. The outer side of the fish body is also provided with two opposite side wings 18. The top surface of the fish body is also provided with a dorsal fin 19. The side wings 18 and the dorsal fins 19 may be integrally formed with the fuselage portion 10.
It will be understood that any orientation or positional relationship indicated above with respect to the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," etc., is based on the orientation or positional relationship shown in the drawings and is for convenience in describing and simplifying the invention, and does not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and is therefore not to be considered limiting of the invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by a person skilled in the art that the scope of the invention as referred to in the present application is not limited to the embodiments with a specific combination of the above-mentioned features, but also covers other embodiments with any combination of the above-mentioned features or their equivalents without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Claims (10)
1. An underwater vehicle, comprising:
a fuselage portion having an accommodation cavity;
the swinging plate is used for driving the underwater vehicle to move through swinging;
one end of the lever is positioned in the accommodating cavity of the body part, the other end of the lever is connected with the swinging plate, and the part of the lever, which is different from the two ends, is rotatably connected with the body part so as to drive the swinging plate to swing;
the magnetic field generating device is positioned in the accommodating cavity of the fuselage part and used for generating a magnetic field to drive the lever to rotate in a reciprocating manner.
2. The underwater vehicle of claim 1, wherein the magnetic field generating device comprises a first magnetic attraction member and a second magnetic attraction member, one of the first magnetic attraction member and the second magnetic attraction member is disposed on the body portion, the other one of the first magnetic attraction member and the second magnetic attraction member is disposed on the lever, and the first magnetic attraction member and the second magnetic attraction member drive the lever to rotate back and forth by forming a mutually attractive force and a mutually repulsive force.
3. The underwater vehicle of claim 2, wherein the first magnetic attraction member is disposed in the accommodating cavity, and the second magnetic attraction member is disposed on the lever, wherein the first magnetic attraction member includes two first electromagnets, the second magnetic attraction member is located between the two first electromagnets, and two magnetic poles of the second magnetic attraction member are disposed facing opposite magnetic poles of the two first electromagnets, respectively.
4. An underwater vehicle as claimed in claim 3, wherein the second magnetically attractive element is a permanent magnet or a second electromagnet.
5. An underwater vehicle as claimed in claim 3 wherein the first electromagnet comprises a coil and the magnetic field generating means comprises:
the two control switches are respectively connected with the coils in the two first electromagnets so as to control the energization or the de-energization of the coils;
and the controller is respectively connected with the two control switches so as to control the two control switches to alternately work in a closed state and an open state.
6. The underwater vehicle of claim 2, wherein an elastic member is disposed between the first magnetic attraction member and the second magnetic attraction member, one end of the elastic member is connected to one of the first magnetic attraction member and the second magnetic attraction member, and the other end of the elastic member is adapted to be abutted against the other of the first magnetic attraction member and the second magnetic attraction member.
7. The underwater vehicle of claim 4, wherein a waterproof layer is provided on the outer surface of the first electromagnet and the second electromagnet.
8. The underwater vehicle of claim 1, wherein the lever is rotatably connected to the body portion through a rotating shaft, and a distance between the first or second magnetic attraction member provided on the lever and the rotating shaft is greater than a distance between the swinging plate and the rotating shaft.
9. The underwater vehicle of claim 8, wherein one end of the fuselage portion close to the swinging plate is provided with two first mounting holes respectively corresponding to two ends of the rotating shaft, the two first mounting holes are positioned on two sides of the accommodating cavity and are communicated with the accommodating cavity, one end of each first mounting hole far away from the accommodating cavity is provided with a hole expanding section, a bearing is fixedly mounted in each hole expanding section, and two ends of the rotating shaft respectively extend into the two first mounting holes and are mounted in the bearings;
the inner side face of the fuselage portion is provided with reinforcing protruding portions located at the two first mounting holes respectively, the first mounting holes penetrate through the reinforcing protruding portions in the axial direction, the reinforcing protruding portions are located along the axial upward projection of the first mounting holes and cover the hole expanding sections along the axial upward projection of the first mounting holes.
10. The underwater vehicle of claim 8, wherein the fuselage portion includes a main body section and a connecting section, the connecting section is located between the main body section and the swinging plate, and the connecting section is detachably and fixedly connected to an end of the main body section close to the swinging plate, and the rotating shaft is disposed in the connecting section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910472836.4A CN112009656A (en) | 2019-05-31 | 2019-05-31 | Underwater submerging device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910472836.4A CN112009656A (en) | 2019-05-31 | 2019-05-31 | Underwater submerging device |
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| CN112009656A true CN112009656A (en) | 2020-12-01 |
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| CN201910472836.4A Pending CN112009656A (en) | 2019-05-31 | 2019-05-31 | Underwater submerging device |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102267552A (en) * | 2011-07-11 | 2011-12-07 | 卢小平 | Drive and control method for bionic fish and bionic fish |
| CN104925239A (en) * | 2015-07-03 | 2015-09-23 | 国家深海基地管理中心 | Novel underwater biomimetic robot propelling plant |
| CN109720527A (en) * | 2019-01-31 | 2019-05-07 | 中国矿业大学(北京) | A kind of machine fish and its paths planning method |
| CN210852860U (en) * | 2019-05-31 | 2020-06-26 | 中电科海洋信息技术研究院有限公司 | Underwater submerging device |
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2019
- 2019-05-31 CN CN201910472836.4A patent/CN112009656A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102267552A (en) * | 2011-07-11 | 2011-12-07 | 卢小平 | Drive and control method for bionic fish and bionic fish |
| CN104925239A (en) * | 2015-07-03 | 2015-09-23 | 国家深海基地管理中心 | Novel underwater biomimetic robot propelling plant |
| CN109720527A (en) * | 2019-01-31 | 2019-05-07 | 中国矿业大学(北京) | A kind of machine fish and its paths planning method |
| CN210852860U (en) * | 2019-05-31 | 2020-06-26 | 中电科海洋信息技术研究院有限公司 | Underwater submerging device |
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