DE102008053495B4 - Muscle powered scuba - Google Patents

Abstract

Muscle-powered diving apparatus consisting of a bow part {10} with hand fixations, a middle part {30} with devices for fixing the diver, an elastically bendable and twistable connection {20} between front part and middle part, and a tail part {40} with movable tail construction {41} and movable caudal fin {42}, characterized in that the propulsion is generated by a combination of sigmoidal wave motion along the diving apparatus and inflated wing profiles on the caudal fin {40} utilizing contiguous muscle groups of the diver in the form that On one side of the diving device, the pressure force from the hand, arm, shoulder and torso in the direction of swimming, and the compressive force from the hip, thigh, calf and foot opposite to the direction of swimming act and on the other side of the diving machine, the traction of the hand, arm, shoulder and trunk opposite to the direction of swimming and the pulling force from the hip , Thigh, calf and foot in the direction of swimming

Description

Subject of the invention

The invention relates to a powered by muscle power diving device, which allows a fish-like locomotion in the water at high speed and with special maneuverability through the combined use of impinged airfoils and S-shaped wave motion along its longitudinal axis.

In the invention is not the idea of a sports and leisure equipment in the foreground. The guiding principle is to increase the speed and the range of action of motorless underwater drives, as well as significantly improve their handling and maneuverability. The design should continue to have potential for transporting equipment, gauges, cameras and similar items. The target group are research divers, marine divers and salvage divers.

State of the art

Motorless swimming and diving equipment are known in which the propulsion is generated by screws or propellers. Also known are drives with lamellar structures, which should produce thrust by folding surfaces in a linear motion. These drive principles are not used by the present invention.

Swimming and diving equipment, which are oriented to the production of propulsion on the movements and the nature of fish / marine mammals and their fins, are explained, inter alia, in the following writings: DE 9405194 U1 . DE 4410674 A1 . DE 2338524 A . EP 0867360 B1 . JP 9276444 A . US652414561 . US656186261 . WO2005005245A2 and WO2003035186A1 , Common to these solutions that are set on foot or leg brackets, levers, cables or similar tail or tail fins in motion, in such a way that the deflection of the respective fin takes place essentially as a rotational movement about the fins root. This corresponds to the actual movement of fish fins only limited and implies a lower efficiency.

In FR 2616076 A1 a construction is described in which the fin undergoes a major rash via a lever, and a fin construction is shown as a nature-like adaptation of the tail fins of slow-moving fish (fry).

In US 6375530 B1 Among other things, a construction is described in which a biased, flexible longitudinal beam with abutments for legs and feet, a movement similar to that of whales and dolphins is generated.

The present invention differs from the prior art essentially in that it allows the movement and maneuverability of fast-swimming fish (predatory fish) to be imitated much more naturally and with greater efficiency.

Definitions

In the functional description of the invention terms are used which allow different interpretations. These terms are defined below.

"S-shaped wave motion" means the flowing, repeating deflection or body wave along the longitudinal axis of a fish. Characteristic of this movement is the passage of the wave from head to tail. Propulsion is generated in this type of movement that repels the animal with its side surfaces on the water. The body wave runs faster backwards as the fish moves forward. The speed difference will be smaller the more efficiently the animal is swimming.

"Buoyancy profile" means buoyancy not in the sense of the equivalent of the displaced water quantity, but in the sense of a flowed airfoil profile, with which by the use of pressure differences climbing movements, sinking movements and propulsion can be generated. The term is used in the following descriptions the same meaning with the term "wing profile".

"Angle of attack" means the angle between the profile axis of an airfoil and the directional vector of the applied flow. Small angles of attack cause a low flow resistance and produce only slight pressure differences on the profile. Large angles increase the flow resistance and cause large pressure differences on the profile. The pressure differences can be z. B. can be implemented in buoyancy or propulsion. A further increase in the angle of attack leads to the formation of vortices first in the rear, then in the front region of the flow around the vacuum side of the profile, up to the stall.

"Schränkung" means a structurally existing or induced, mostly flowing change in the angle of attack on a wing profile over its entire length. It is externally perceived as a "twisting of the wing profile in itself" (along its longitudinal axis). With a profile restriction, the Speed range between minimum speed (build up of effective pressure differences on the profile) and maximum speed (stall) can be increased. This improves the efficiency of the profile and thus the stability and maneuverability of the scuba.

"Forced linkage" means a position of an airfoil that is mechanically forced by means of traction cables, levers or the like, deviating from the directional vector of the adjacent flow. Example: Aircraft elevators, ailerons and ailerons are moved in this sense by "forced linkage".

"Fin" means a tapered airfoil, which is used to generate propulsion and / or to improve the directional stability. Finns themselves can be individually attached to the diving equipment, but then are not movably mounted. Movably mounted fins including the attachment mechanisms are described below as "fins".

"Rolling" means a rotary movement of the diving device about its longitudinal axis. "Nod" means a rotary movement of the diving device about its transverse axis. "Setup" means a tendency of the scuba to ruffle on its bow.

goal

The aim of the invention is the development of a motorless diving device with which high speeds can be achieved, and which has excellent maneuverability at high and low speeds. The latter is understood in particular the ability to stably stay in place, turn on the spot or in tight radii, and controlled from high speed with simultaneous change of direction and delay effectively (braked evasive maneuvers).

Natural role model

As natural role models of the invention serve fast swimming large fish, especially sharks and swordfish. These fish species swim and maneuver by combining two basic principles of buoyancy and propulsion. rationale 1 is the principle of the wave passing from the head to the tail, which is also called "s-shaped wave motion". rationale 2 is the principle of creating pressure differences on the fins, which are comparable in shape and mode of action with technical buoyancy profiles. The combination of the two principles occurs in an interaction of the wave motion, which terminates as a tail excursion and causes a water displacement, with a tail tail and flow dependent, variable alignment of the caudal fin.

The movement sequence for recording speed can be divided into the resting phase, starting phase and travel phase.

In the resting phase, the animal is initially in hydrostatic equilibrium, without on the body or on the fins, a vortrieb generating, flow is applied.

In the starting phase, the animal creates an influx of the thoracic and caudal fins by simultaneously deflecting the head and tail to one side and then moving quickly and powerfully to the other side. The starting and pivot point for this movement is in the trunk area, in the vertical axis of the pectoral fins or in their vicinity. The balanced ratio of the side surfaces of the head, trunk, tail and fins in all fish causes a cancellation of the torques and prevents a yaw movement of the animal (rotation about the vertical axis). On the one hand water is displaced during the impact movement, and on the other hand the position of the caudal fin is changed so that a positive angle of attack results opposite to the directional vector of the adjacent flow. The resulting pressure difference at the fin creates a resulting lift vector whose horizontal component is translated into propulsion.

By combining propulsion through the flow and displacement of water, the animal already has enough speed after one or two beating cycles to be able to control its pectoral fins and move on to the journey phase.

The travel phase is characterized by smaller rashes of the head and tail, as well as a slight change in the movement pattern. The rashes produced synchronously in the starting phase experience a phase shift in the travel state in the form that the head movement leads the tail movement somewhat in the respective direction. This results in the optimal s-shaped wave motion, which brings the animal in combination with the tail fin strokes (propulsion through wing effect and water displacement) in uniform, repetitive cycles in a motor balance.

For high-speed control movements, fast large fish use significantly the pectoral fins, in low-speed maneuvers and in a narrow space in addition to the tail. For turns around the vertical axis on the spot or in a small space, the tail is around deflected up to 90 ° and more. The caudal fin and pectoral fins support and stabilize this movement with mostly small, smiling rashes and quick changes of angle of attack. The fish also use similar movements to stably stay in place and compensate for water movement caused by waves or currents.

For braking and avoidance, fast swimming fish from the genus of cartilaginous fish can only use the caudal fin and the dorsal fins near the tail. Other fish species use their pectoral fins more efficiently, which they can spread. This allows an effective delay through the formation of vortices behind the fin surfaces.

Technical solution

The construction of the diving device according to the invention is such that the above-described movements of fast-swimming fish can be modeled close to the model by a human or a diver with muscular strength and coordinated body movements.

Basic ingredients

The construction of the diving equipment consists of a nosepiece { 10 }, a middle section { 30 }, an elastic connection of bow and middle section { 20 }, and a tail section { 40 }, please refer I ,

The bow section is used for control, the introduction of force from the hull and arms, and as an abutment and hold for the hands of the diver. It consists of a rigid bow element, on both sides of which control fins with braking surfaces and grips for the hands of the diver are attached.

The rigid bow element is elastically bendable and twistable connected to the rigid middle part. The main pivot point for bending and twisting is located at the level of the diver's hull.

The middle part is used to fix the diver on the diving equipment, the recording of pressure forces from the hips and legs of the diver, as well as their forwarding to the tail section. In the rear region of the middle part for a device for receiving and forwarding mutual pedaling movements is integrated. This device, referred to below as the "pedal unit", comprises a rotatable cross-piece with supports for the feet, as well as a construction for transforming the pedaling movements. At the middle part additional fins may be attached to stabilize the diving device.

The tail section adjoins the middle section and consists of a movable tail and a caudal fin. Tail and caudal fin are movably connected to the pedal unit and are deflected by this. The tail section may contain additional fins to stabilize the scuba.

operating concept

The operation of the diving device takes place in prone position, see II , with the head towards the bow and the legs towards the stern, by stretching or pressing with arms, torso and legs, as well as by aligning the control fins on the bow part with the hands.

As an abutment and hold for the hands serve the handles on the bow section, from which also the controls of the control fins are reachable.

As an abutment for the feet serve the foot brackets, which are rotatably mounted on the cross member at the middle part.

The oppositely directed pressure forces from the arms and legs cause on the one hand a lateral deflection of the bow part, and on the other hand, a lateral deflection of the tail, see III , With the operation of the control fins and braking surfaces climbing and sinking movements, rolling movements can be generated about the longitudinal axis and one or two-sided delays.

Front-end { 10 }

The lateral deflection of the bow portion allows on the one hand, the initiation of the S-shaped wave motion, and on the other hand, at a start from the hibernation out, for a first flow of each hurrying forward control fin (improvement of stability and controllability).

The tax fins { 13 } are shaped as wing profiles and can, for stabilization of the diving device, be provided with a Schränkung. They are rotatable and can be folded forward on the rigid bow element { 11 } and are attached via levers or handles { 13b } operated by changing their angle of attack.

Firmly connected to the control fins are the braking surfaces { 13a }. These are rigid surfaces, which bear against the bow element in the unbraked state, and which are folded for braking together with the control fins forward against the flow. The braking effect is based on the formation of vortices behind the surfaces { 13a }, please refer IV , The surfaces are shaped so that the braking effect does not interfere with the control of the diving device, in particular so no rolling, pitching or Aufstellendenzen caused.

The control fins with the braking surfaces are each operated together via a lever or handle, so that the change in the angle of attack of each fin and the initiation of the braking effect can be combined. On the one hand, this design allows dosed delays with simultaneous changes of direction and, on the other hand, dynamic maneuvers with tight curve radii.

Elastic connection of front part and middle part { 20 }

The elastically bendable and twistable connection between the front part and middle part is required in order to produce the s-shaped wave motion. It is located in the body of the diver, because this is the central starting and pivot point of all driving movements of the diver (mutual stretching movements of the arms and legs).

The elastic connecting part further has the function of coming from the bow part, possibly strong control reactions to dampen transverse and longitudinal axis and delayed forward to the middle and tail section. This improves maneuverability and enables the generation of fluid movements.

The flexibility around longitudinal and transverse axis through the elastic connection ultimately leads to curved paths to improved flow and effect of all fins and fins on the diving equipment.

A rigid connection would result in a change in the angle of attack of the control fins (front part) at the same time a change in the angle of attack of all fins or fins behind it (eg stabilizing fins) would be enforced. These would have to leave their previous flow level, with the result of a deterioration of the flow conditions on the entire diving equipment. By a flexible connection between the front part and middle part of this effect is reduced. The fins and fins can then follow a circular path and thus their original flow plane.

Middle part { 30 }

The middle part has a seat-like trough for fixing the diver { 32 } for the buttocks, as well as over a bearing surface { 33 } for the abdominal and pelvic area. Furthermore, loops or locks for securing and fixing may be present, which are connected to the hip, torso or shoulders.

Part of the middle part is still the so-called pedal unit { 31 }, which takes up and reverses the diver's mutual pedaling movements so that they can be translated into lateral deflections of the tail (tail section).

The pedaling movements are carried out via a rotatable traverse { 31a } with foot mounts { 31b }. The crossbeam can be designed to simultaneously perform the function of a horizontal stabilizing fin.

The technical realization of the transformation and forwarding of pedaling can be done with a gear or a translation, z. B. with traction cables, timing belt gears and / or levers.

The tread unit is designed so that with a relative Fußhub of about 20 cm to 30 cm (distance of the feet to each other), the maximum tail deflection can be generated at the rear part. For smaller tail rashes in the travel business, a relative foot lift of about 5 cm to about 15 cm is required.

Tail section { 40 }

The tail section consists of the tail construction { 41 } and the caudal fin { 42 }. In addition, stabilizing fins may be appropriate.

The tail construction is rotatable at the middle part { 30 } and can be laterally curved or deflected over its entire length. It is designed so that the lateral deflection can reach an angle ≥ 90 ° with respect to the longitudinal axis of the diving equipment, see IV , The deflection is either with a constant radius of curvature, or unevenly degressive (radii of curvature towards the caudal fin becoming larger) or progressive (radii of curvature becoming smaller towards the caudal fin), see VII ,

The technical realization can z. B. with rotatably coupled segments { 41a } whose position or deflection is determined by pulling cables { 41b } is changed. The traction cables are connected to the translation of the pedal unit. The degree of lateral deflection or radius of curvature, as well as the force for the deflection and the return of the tail construction to the initial state, can be determined by rubber bands. 41c } or spring elements are defined. By the use of rubber bands or spring elements with different degrees of elasticity uneven radii of curvature (progressive or degressive) can be generated along the tail.

The caudal fin { 42 } is rotatable at the end of the tail construction { 41 } attached and composed from a fin root { 42a } and tail fins { 42b }, which are attached to the fins root.

The fin root { 42a } can be rigid on the tail construction { 41 } be attached. It can also be fixed so that by forced articulation and / or by inflowing water, a rotational movement about the (curved) longitudinal axis of the tail takes place. The rotational movement can take place in a plane orthogonal or inclined to the axis of the tail. This allows lateral tilting movements of the tail fins directed radially about the tail axis, see VI ,

The tail fins consist of wing profiles { 42b } with symmetrical cross-section. They are at least as long that they protrude sufficiently from the vortex zone behind divers and diving equipment. The tail fins can thus be used to control the diving equipment.

At least one of the tail fins is rotatably mounted at right or oblique angles about its longitudinal axis to the fins root. The rotation or pivoting of the respective tail fin is effected by forced articulation and / or by inflowing water.

The profile of the tail fins can still be such that enforced articulation, see Vb ), and / or inflowing water sets a profile skew, see VI , A profile with this property can be z. B. made of elastic materials.

Due to the lateral deflection of the tail, the caudal fin around the turning and attachment point of the tail at the middle part describes an elliptical path. The rotatable mounting of the tail fins on the fins root leads to the rotation of these wing profiles with the profile nose in the direction of the flow. Opposite the resulting flow vector { 42d } thus sets a positive angle of attack. At the respective profile creates negative pressure or suction with a component in the direction of the bow, which gives the diving device propulsion. This propulsion component can be increased by the lateral tilting of the respective fin in the direction of flow (with rotatable fins root) and by a tilt of the tail fins depending on the deflection.

At the turning point of the tail excursion, the fins of the caudal fin change their orientation and simultaneously reach their greatest lateral deflection with respect to the longitudinal axis of the diving device. The result of this movement is a pulse-like fin stroke with large lateral displacement of water, through which a substantial part of the propulsion is generated.

Physiological applicability

• – „seitliche Auslenkung des Bugteils”
• – „seitliche Auslenkung des Schwanzes mit Änderung der Anstellwinkel an der Schwanzflosse”
• – „Änderung der Anstellwinkel der Steuerflossen” können Bewegungsmuster erzeugt werden, welche denen von schnell schwimmenden Großfischen sehr ähnlich sind.

By combination and coordination of the three movement components

• - "lateral deflection of the bow section"
• - "lateral deflection of the tail with change in the angle of attack on the caudal fin"
• - "Change the angle of attack of the control fins" motion patterns can be generated, which are very similar to those of fast-swimming large fish.

It can be implemented both the starting phase and the travel phase. With the help of the control fins rolling, climbing and sinking movements and movements can be generated on inclined curved paths. Tail deflections with an angle of about 90 ° can be used for maneuvering in confined spaces as well as for decelerating and turning. For perseverance on the spot, small, fanning rashes of tail fins and tax fins can be created.

Also modeled on the model of some fish and essential for a fast diving equipment are the braking surfaces of the control fins. These allow metered delays without compromising the directional stability of the scuba. They also allow dynamic maneuvers with flow disturbances to stall.

The length of the diving equipment depends largely on the size of the diver and the need for additional equipment. It is about 3 m to 4 m.

However, such a long length of the diving device makes this for the transport more cumbersome, but from the perspective of the required beating frequency is advantageous.

In fish, the longer a fish is, the smaller the frequency of the tail required for a certain speed. With a length of approx. 3 m to 4 m, rapid locomotion is possible even with movement cycles in the range of approx. 1.0 Hz to 0.5 Hz. This frequency range corresponds approximately to the cycle cycles when cycling. A diver with good physical condition can sustain this frequency for a longer time.

LIST OF REFERENCE NUMBERS

10

front section

11

rigid bow element

12

Hand grips for the diver

13

control fin

13a

braking surfaces

13b

Lever for changing the angle of attack of the respective control fin and for operating the braking surface

13c

Rotatable and foldable fixation

20

elastically bendable and twistable connection between front part and middle part

30

midsection

31

"Treteinheit", device for receiving and forwarding mutual pedaling movements

31a

rotatable crossbeam

31b

Brackets for the feet

31c

Construction for forming and forwarding the pedaling movements

32

seated hollow

33

Support surface for abdomen and pelvic area

34

vertical stabilizing fins

40

tail section

41

movable tail or tail construction

41a

rotatably coupled segments

41b

towing ropes

41c

rubber bands

42

movable caudal fin

42a

fin root

42b

tail fins

42c

rotatably mounted fins root with forced linkage

42d

Direction vector of the flow with lateral deflection of the tail

I Oblique representation: diving device in the variant with tail construction of rotatable segments and deflection mechanism with traction ropes and rubber bands, caudal fin with two movably mounted fins without forced articulation

II Side view: diving device in the embodiment according to I , with diver lying on it

III Top view: diving device in the embodiment according to I , with diver lying on it in an equal stretching motion (right side of the body), diving equipment with bow and tail part deflected in the same direction

IV Top view: diving device in the embodiment according to I , with diver lying on left-hand braking maneuver (left control fin and braking surface folded forward) with tail deflection of approx. 90 ° (shown at the turning point of the movement)

V Detail tail construction, top view: principal solution variant for aligning the caudal fin in the direction of the flow with forced articulation, a) initial or rest position, b) beginning deflection to the left

VI Detail tail construction, oblique representation: principal solution variant with rigid fins root and obliquely rotatably mounted, by water pressure in the direction of flow rotated and limited tail fin

VII Top view, Schematic representation of the possible tail curvatures: a) degressive deflection of the tail (radius of curvature increases toward the tail end), b) uniform deflection of the tail (radius of curvature remains unchanged over the entire length of the tail), c) progressive deflection of the tail (radius of curvature is in the direction of the tail end) smaller)

references

• - "Patents of Nature", Ference Greguss, Verlag Neues Leben Berlin, 2nd revised edition 1988
• - "Bionics - Fundamentals and Examples of Engineers and Natural Scientists", Werner Nachtigall, Springer Verlag Berlin Heidelberg, 2nd revised edition 2002

Claims (6)

Muscle-powered diving device consisting of a nosepiece { 10 } with hand fixations, a middle part { 30 } with devices for fixing the diver, an elastically bendable and twistable connection { 20 } between front and center section, and a tail section { 40 } with movable tail construction { 41 } and moving caudal fin { 42 }, characterized in that the propulsion through a combination of s-shaped wave motion along the diving device and flowed wing profiles on the caudal fin { 40 } is generated using contiguous muscle groups of the diver in the form that act on one side of the diving device, the pressure force of the hand, arm, shoulder and trunk in the direction of swimming, and the pressure force from the hip, thigh, calf and foot opposite to the swimming direction and on On the other side of the diving equipment, the pulling force from the hand, arm, shoulder and trunk are opposite to the direction of swimming and the pulling force from the hip, thigh, calf and foot in the direction of swimming Diving apparatus according to claim 1, characterized in that its rear part { 40 } with tail construction { 41 } and caudal fin { 42 } over its entire length can be deflected to an angle α of α ≥ 90 ° to the longitudinal axis of the diving device Diving apparatus according to claim 1, characterized in that its tail construction { 41 } with a uniform curvature (constant radius of curvature of the tail central axis) or with an uneven curvature (variable radius of curvature of the tail center line) can be deflected Diving apparatus according to claim 1, characterized in that the propulsion generating profile { 42b ) of his caudal fin { 42 } can be aligned from the beginning to the end of each tail stroke movement with optimal angle of attack to create propulsion in the flow Diving apparatus according to claim 4, characterized in that at least one tail fin { 42b } as the propulsion-producing profile of the caudal fin { 42 } is formed and can be tilted radially about the longitudinal axis of the tail Diving apparatus according to claim 1 with control fins { 13 } on his nosepiece { 10 }, characterized in that the control fins { 13 } with braking surfaces { 13a } which are used to generate the braking effect together with the control fins { 13 } can be worked against the flow, without affecting the directional and positional stability of the scuba

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