CN212448009U - Underwater bionic flapping wing system - Google Patents
Underwater bionic flapping wing system Download PDFInfo
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- CN212448009U CN212448009U CN202020783034.3U CN202020783034U CN212448009U CN 212448009 U CN212448009 U CN 212448009U CN 202020783034 U CN202020783034 U CN 202020783034U CN 212448009 U CN212448009 U CN 212448009U
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Abstract
The utility model provides a bionical flapping wing system under water, including driver part, flapping wing skeleton and flapping wing, the shape of flapping wing is similar with the pectoral fin of bat, and the gusset has been inlayed to the inside of flapping wing, and driver part and flapping wing skeleton connection, flapping wing skeleton and flapping wing connection, driver part drive the rotatory swing of flapping wing via the flapping wing skeleton. The utility model has the advantages that: the high-mobility controllable swimming of the advancing and turning of the bat ray of the machine can be realized by adopting a rigid and flexible combined mode; the flapping wing framework adopts a gliding wing form with gradually changed angles, so that the flapping wing framework can glide by utilizing the initial speed obtained after the movement control is closed, glide to the initial speed to 0 to obtain the initial speed again to glide, and the gliding action is carried out in a reciprocating way, and the attack angle of the flapping wing tip during water flapping is more improved.
Description
Technical Field
The utility model belongs to a bionical flapping wing system under water can imitate the bionical pectoral fin that the pectoral fin swing propulsive bat pectoral fin three-dimensional motion warp in the ocean.
Background
The swimming modes of the fishes are mainly divided into two modes, namely a Body and/or Caudal Fin (BCF) mode and a middle Fin and/or Paired Fin (MPF) mode, wherein the MPF mode has greater advantages in mobility and stability in the field of bionic robotic fish research, and among the fishes swimming in the MPF mode, the advantages of the maneuverability and the stability of the bat ray are obvious.
The bionic machine developed at present mainly has two types of flexibility and rigidity, and the flexible pectoral fin is closer to the pectoral fin of the natural bat ray, so that the propelling effect is better. The spanwise section of the manta ray as it swings is a polynomial curve, and the method of fitting the curve is generally a flexible mechanism, a rigid mechanism and special materials. The bionic underwater propeller is characterized in that the bionic underwater propeller is made of special materials and a flexible mechanism, the propelling force generated by the special materials and the flexible mechanism is small, the bionic underwater propeller is low in speed and the like, the rigid mechanism has the problems that fin rays are large in local deformation and the like, the appearance of the bionic underwater propeller is dissimilar, the propelling efficiency is reduced and the like.
Therefore, the utility model provides a rigid and flexible combined mode to simulate the wide pectoral fin of a bionic prototype, and can realize the high maneuvering controllable swimming of the robot fish in advancing and turning by controlling the swinging motion of the pectoral fin; in addition, the swimming control can be closed after the initial speed obtained after swimming, and the bionic pectoral fin is matched for gliding, so that the cruising ability is excellent.
SUMMERY OF THE UTILITY MODEL
The utility model discloses to foretell technical problem, provide a bionical flapping wing system under water.
In order to achieve the above object, the utility model provides a technical scheme:
the utility model provides a bionical flapping wing system under water, includes driver part, flapping wing skeleton and flapping wing, the shape of flapping wing is similar with the pectoral fin of bat ray, the gusset has been inlayed to the inside of flapping wing, driver part with the flapping wing skeleton is connected, the flapping wing skeleton with the flapping wing is connected, driver part via the flapping wing skeleton drives the rotatory swing of flapping wing.
As the utility model discloses a further optimization, the flapping wing is the flexible wing of gradual change formula, the hardness of the root of the wing to the wing tail and the wingtip of the flexible wing of gradual change formula is the gradual change shape.
As a further optimization of the utility model, the material of the flexible wing of gradual change type adopts the silicon rubber that density is 1-1.1, and the inside of silicon rubber flapping wing is embedded the gusset, the shao shi hardness of the flexible wing of gradual change type reduces from the root of a wing to wing tail and wing tip gradually.
As a further optimization of the present invention, the shore hardness of the flexible wings of the gradual change type is gradually changed from 80 ± 15 to 50 ± 10.
As the utility model discloses a further optimization, the gusset with the shape of the flexible wing of gradual change type suits, the gusset sets up to the gradual change type, and the width of gusset reduces gradually from the wing root to the wing tail and wingtip.
As the utility model discloses a further optimization, the width of gusset is from 32 ± 8mm gradual change to 8 ± 4 mm.
As the utility model discloses a further optimization, the flapping wing skeleton sets up to the glide wing form of angle gradual change to left stiff end is regarded as level 0 degree, the tangent line of flapping wing skeleton and the contained angle of level 0 degree are from 21 + -5 degree gradual change to 66 + -15 degrees, just the change of the curved tangent line of the leading edge of the flexible wing of gradual change type and the contained angle of horizontal direction is the same with the change of flapping wing skeleton.
As a further optimization of the present invention,
the driving part comprises an underwater pressure-resistant bin and a motor;
the underwater pressure-resistant cabin comprises a sealing end cover, a motor sealing cabin and a bearing end cover, wherein a motor driver, a cable and a sealing element of the cable are arranged on the sealing end cover, and the motor driver is connected with the motor;
the motor is located the inside of withstand voltage storehouse under water, the motor with be provided with the motor mount between the bearing end cover, the motor via flapping wing skeleton drives the rotatory swing of flapping wing.
As a further optimization of the utility model, one end of the motor connected with the flapping wing is connected with an outer output shaft and an outer connecting piece in sequence, and the outer connecting piece is connected with the flapping wing framework; the other end of the motor is connected with the motor driver, the motor driver drives the motor to rotate, and the motor drives the flapping wing framework and the flapping wing to swing in a rotating mode through the outer output shaft via the outer connecting piece.
As the utility model discloses a further optimization, the epaxial cover of outer output is equipped with the outer bearing frame, the bearing is all installed to the both sides of outer bearing frame, and the bearing cooperation of downside has bearing gland, and the bearing cooperation of upside has bearing gland, and the bearing passes through bearing gland with bearing gland axial fixity.
Compared with the prior art, the underwater bionic flapping wing system provided by the device has the following advantages:
1. the utility model provides a bionic flapping wing system, adopt the mode of rigidity flexible combination to simulate the pectoral fin of the bat widow, through the control to pectoral fin swing motion, can realize the high motor-driven controllable swimming of the machine bat advancing, turn, contrast rigidity flapping wing, its amplitude fluctuation dwindles to 1/2 of rigidity flapping wing; compared with a pure flexible flapping wing, the propelling force and the propelling speed reach more than 2 times.
2. The utility model provides a bionical flapping wing system, its flapping wing skeleton has adopted the gliding wing form of angle gradual change, if its left stiff end is regarded as level 0, its curve is by initial angle 21 degrees gradual change to 66 degrees for it can utilize the initial velocity cooperation that obtains after moving about to fly to carry out the gliding after closing the control of moving about, the gliding is carried out to the initial velocity that obtains the initial velocity once more to 0 in gliding, reciprocate to go on, and the angle of attack when flapping the most advanced flapping of wing, holistic propulsive efficiency has more been improved. Compared with a non-glide wing, the propulsion distance endurance capacity of the non-glide wing is more than four times of that of the non-gradual change angle glide wing under the condition of consistent power and electric quantity.
After reading the detailed description of the present invention in conjunction with the drawings, the features and advantages of the present invention will become more apparent.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic diagram of the overall structure of an underwater bionic flapping wing system;
FIG. 2 is a schematic view of the structure of an flapping wing;
FIG. 3 is a schematic structural diagram of the inner rib plate of the flapping wing.
In the above figures:
1. cables and seals therefor; 2. Sealing the end cap; 3. A motor driver;
4. a motor sealed cabin; 5. A reduction motor; 6. A coupling;
7. a motor fixing bracket; 8. An outer output shaft; 9. A bearing gland;
10. a bearing; 11. A bearing end cap; 12. A seal ring;
13. an outer connecting member; 14. An outer bearing seat; 15. A bearing seal gland;
16. a small round nut; 17. A flapping wing framework; 18. Flapping wings.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.
In the description of the present invention, it should be noted that the terms "inside", "outside", "upper", "lower", "front", "rear", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
As shown in fig. 1-3, the utility model provides an on bionical flapping wing system under water is applied to bionical bat robotic fish, the utility model discloses a drive assembly, flapping wing skeleton 17 and flapping wing 18, the shape of flapping wing 18 is similar with the pectoral fin shape of bat, and the inside of flapping wing 18 is inlayed and is had length matched with gusset of flapping wing, and drive assembly is connected with flapping wing skeleton 17, and flapping wing skeleton 17 is connected with the leading edge curve of flapping wing 18, and drive assembly can drive flapping wing 18 via flapping wing skeleton 17 and make rotatory swing action.
The driving part comprises a speed reducing motor 5 and an underwater sealed pressure-resistant bin, the outside of the underwater sealed pressure-resistant bin consists of a sealing end cover 2, a motor sealing cabin 4 and a bearing end cover 11, a motor driver 3 and a cable machine sealing element 1 are assembled on the sealing end cover 2, and the speed reducing motor is positioned inside the underwater sealed pressure-resistant bin. One side of a speed reducing motor 5 is connected with a motor driver 3, the other side of the speed reducing motor 5 is fixed on a bearing end cover 11 of the underwater pressure-resistant cabin through a motor fixing frame 7, and the speed reducing motor 5 is connected with an outer output shaft 8 through a coupling 6; an outer bearing seat 14 is sleeved on the outer output shaft 8, bearings 10 are mounted on two sides of the outer bearing seat 14, a bearing gland 9 is matched with the lower bearing, a bearing gland 15 is matched with the upper bearing, and the bearings 10 are axially fixed with the bearing gland 15 through the bearing gland 9; a sealing ring 12 is arranged between the outer output shaft 8 and the bearing end cover 11, and the sealing ring 12 plays a role in sealing; the outer side of the outer output shaft 8 and the position between the outer bearing seats 14 are provided with outer connecting pieces, the outer connecting pieces 13 are fixedly connected with the outer bearing seats through small round nuts 16, the outer connecting pieces 13 are connected with the flapping wings through flapping wing frameworks 17, the speed reducing motor 5 supplies power and inputs signals to the outer connecting pieces through cables, sealing pieces 1 of the cables and a motor driver 3 of the speed reducing motor, the outer output shaft 8 is driven to rotate through a coupler 6, the outer output shaft 8 drives the outer connecting pieces 13 to rotate, and then the flapping wing frameworks 17 and the flapping wings 18 of the embedded rib plates swing in a rotating mode. In the present embodiment, the reduction motor is preferably a brushless reduction motor.
This bionical flapping wing system under water adopts flapping wing skeleton 17 that high strength aluminum alloy constitutes to combine together with the flapping wing 18 of embedded gusset plate, and flapping wing skeleton 17 is like the skeleton of bat flapping wing, and the flapping wing 18 of embedded gusset plate is like the meat wing of bat flapping wing, and the biological structure of simulation bat ray of very big limit has realized the combination of rigidity and flexibility, drives flapping wing skeleton 17 and the motion of flapping wing 18 through the control motor, can realize that the robot fish advances the high maneuver controllable swimming of turning.
The flapping wing 18 is a graded flexible wing, in the embodiment, the flapping wing 18 is made of silicon rubber with the density of 1-1.1, a graded rib plate is embedded in the silicon rubber, and the hardness of the root, the tail and the tip of the flapping wing 18 is also graded, specifically, the size of the rib plate is graded from the root, the tail and the tip of the wing from 32 +/-8 mm to 8 +/-4 mm, and the shore hardness is graded from 80 +/-15 to 50 +/-10. The flapping wings 18 are basically in a suspension state in water and are subjected to simulation by fluid mechanics simulation software, and the gradually-changed flexible wings are beneficial to increasing the attack angle of the tip of the pectoral fin during water flapping and improving the overall propulsion efficiency.
The included angle between the tangent line of the leading edge curve of the flapping wing 18 and the horizontal direction is gradually changed from 21 +/-5 degrees to 66 +/-15 degrees. The flapping wing framework 17 is also arranged in the form of a gliding wing with a gradually changing angle, the angle of the curve is matched with the front edge curve of the flapping wing 18, the left fixed end is also regarded as horizontal 0, and the initial angle of the curve is 21 +/-5 degrees and gradually changed to 66 +/-15 degrees. The gradual curve design ensures that the swimming can be closed to cooperate with the flapping wings to carry out gliding endurance after the initial speed is obtained in the swimming process of the bionic manta ray robotic fish.
Through a plurality of data measurement tests, in the embodiment, the width of the rib plate is gradually reduced from the wing root, the wing tail and the wing tip, and preferably gradually changed from 32mm to 8 mm. The shore hardness of the flapping wing gradually decreases from the wing root to the wing tail and the wing tip, and is preferably gradually increased from 80 to 50. The included angle between the tangent line of the leading edge curve of the flapping wing and the horizontal direction is preferably gradually changed from 21 degrees to 66 degrees, and the angle gradual change of the flapping wing framework is matched with the flapping wing.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in other forms, and any person skilled in the art may use the above-mentioned technical contents to change or modify the equivalent embodiment into equivalent changes and apply to other fields, but any simple modification, equivalent change and modification made to the above embodiments according to the technical matters of the present invention will still fall within the protection scope of the technical solution of the present invention.
Claims (10)
1. The utility model provides an underwater bionic flapping wing system, its characterized in that includes driver part, flapping wing skeleton and flapping wing, the shape of flapping wing is similar with the pectoral fin of bat ray, the gusset has been inlayed to the inside of flapping wing, driver part with flapping wing skeleton connects, flapping wing skeleton with the flapping wing is connected, driver part via the flapping wing skeleton drives the rotatory swing of flapping wing.
2. The underwater bionic flapping wing system of claim 1, wherein the flapping wing is a graded flexible wing, and the hardness of the root to the tail and the tip of the graded flexible wing is gradually changed.
3. The underwater bionic flapping wing system of claim 2, wherein the gradual-change flexible wing is made of silicon rubber with the density of 1-1.1, the rib plate is embedded in the silicon rubber flapping wing, and the Shore hardness of the gradual-change flexible wing is gradually reduced from the wing root to the wing tail and the wing tip.
4. The underwater biomimetic flapping wing system of claim 3, wherein the shore hardness of the graded flexible wing is gradually changed from 80 ± 15 to 50 ± 10.
5. The underwater bionic flapping wing system of claim 2, wherein the rib plate is adapted to the shape of the gradually-changed flexible wing, the rib plate is gradually changed, and the width of the rib plate is gradually reduced from the wing root to the wing tail and the wing tip.
6. The underwater biomimetic flapping wing system of claim 5, wherein the width of the rib plate is gradually changed from 32 +/-8 mm to 8 +/-4 mm.
7. The underwater bionic ornithopter system as claimed in claim 2, wherein the ornithopter frame is configured in a form of a gliding wing with gradually changed angle, the left fixed end is regarded as 0 degree horizontal, the included angle between the tangent line of the ornithopter frame and 0 degree horizontal is gradually changed from 21 +/-5 degrees to 66 +/-15 degrees, and the change of the included angle between the tangent line of the leading edge curve of the gradually changed flexible wing and the horizontal direction is the same as that of the ornithopter frame.
8. The underwater biomimetic flapping wing system of any one of claims 1 to 7,
the driving part comprises an underwater pressure-resistant bin and a motor;
the underwater pressure-resistant cabin comprises a sealing end cover, a motor sealing cabin and a bearing end cover, wherein a motor driver, a cable and a sealing element of the cable are arranged on the sealing end cover, and the motor driver is connected with the motor;
the motor is located the inside of withstand voltage storehouse under water, the motor with be provided with the motor mount between the bearing end cover, the motor via flapping wing skeleton drives the rotatory swing of flapping wing.
9. The underwater bionic flapping wing system of claim 8, wherein one end of the motor connected with the flapping wing is sequentially connected with an outer output shaft and an outer connecting piece, and the outer connecting piece is connected with the flapping wing framework; the other end of the motor is connected with the motor driver, the motor driver drives the motor to rotate, and the motor drives the flapping wing framework and the flapping wing to swing in a rotating mode through the outer output shaft via the outer connecting piece.
10. The underwater bionic flapping wing system of claim 9, wherein the outer output shaft is sleeved with an outer bearing seat, bearings are arranged on two sides of the outer bearing seat, a bearing gland is matched with a bearing on the lower side of the outer bearing seat, a bearing sealing gland is matched with a bearing on the upper side of the outer bearing seat, and the bearing is axially fixed through the bearing sealing gland and the bearing gland.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020783034.3U CN212448009U (en) | 2020-05-12 | 2020-05-12 | Underwater bionic flapping wing system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020783034.3U CN212448009U (en) | 2020-05-12 | 2020-05-12 | Underwater bionic flapping wing system |
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| CN212448009U true CN212448009U (en) | 2021-02-02 |
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| CN202020783034.3U Active CN212448009U (en) | 2020-05-12 | 2020-05-12 | Underwater bionic flapping wing system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113305850A (en) * | 2021-06-15 | 2021-08-27 | 西南科技大学 | Flexible robot and design method thereof |
| CN114228958A (en) * | 2021-12-10 | 2022-03-25 | 广州大学 | Imitative fish robot that flies based on dielectric elastomer drive |
-
2020
- 2020-05-12 CN CN202020783034.3U patent/CN212448009U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113305850A (en) * | 2021-06-15 | 2021-08-27 | 西南科技大学 | Flexible robot and design method thereof |
| CN113305850B (en) * | 2021-06-15 | 2022-03-08 | 西南科技大学 | Flexible robot and design method thereof |
| CN114228958A (en) * | 2021-12-10 | 2022-03-25 | 广州大学 | Imitative fish robot that flies based on dielectric elastomer drive |
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