JP4370542B2 - Underwater propulsion device and underwater moving device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an underwater propulsion system, and more particularly to an underwater propulsion device that does not use a screw and an underwater moving device using the underwater propulsion device.
[0002]
[Prior art]
Conventional ships obtain thrust for moving using a screw propulsion device.
In this method, a screw is rotated by a combustion engine, and propulsion is performed using a reaction force of water accompanying the rotation of the screw.
Moreover, in the present ship, the rudder is used for the direction change.
The hull is a rigid body and will not be deformed.
In addition, an underwater robot modeled on fish has been developed. This fish-type underwater robot obtains thrust by vibrating the tail fin in the lateral direction.
In addition, as a direction control of a fish-type underwater robot, a device using a chest fin is considered.
[0003]
[Problems to be solved by the invention]
However, for example, when a screw is considered as a propulsion device for leisure, a diver or an underwater creature is involved, which is dangerous.
Moreover, direction turning is not easy.
For example, in the case of a ship, sea level resistance is increased by the waves created by the ship. In order to reduce the wave resistance, the bow is sharp.
This bow structure makes the ship difficult to turn.
In addition, not only ships but also submarines, the direction change is obtained only with a small rudder at the stern, and the force of direction change is obtained by the reaction force from the water acting here, and it is possible to obtain a large force for direction change. Have difficulty.
Further, in the case of a screw, it is difficult to rotate at a predetermined speed or more due to cavitation generated on the outer periphery of the screw, which causes a speed limit.
In some high-speed boats, there is an example in which a lift is not generated so as to prevent this cavitation, and a high speed is achieved by performing high rotation, but this is inefficient.
As described above, the current ship has an extremely large turning radius.
[0004]
On the other hand, it is known that aquatic organisms move with high efficiency.
For example, it is known that some dolphins and whales swim at a maximum speed of 60 km or more, and that a shark's tuna swims at a maximum speed of 160 km.
However, the propulsion mechanism has not been fully elucidated.
In addition, dolphins suddenly stop and turn, but the mechanism for this sudden turn has not been clarified.
In the case of fish, a pectoral fin is used for slow migration and direction turning, and there is an example of a fish type robot that imitates this, but in the case of a dolphin, the pectoral fin does not play a very important role.
An object of the present invention is to elucidate the mechanism of dolphin turning and to realize an underwater propulsion system in which this mechanism is engineered.
[0005]
[Means for Solving the Problems]
By using a fin vibration propulsion system for aquatic organisms, especially Minamata mammals, rapid turning is possible.
The second aspect of the present invention has a wing-shaped structure especially for the tail section, and when the tail head moves up and down, it forms an angle of attack with respect to the vertical water flow by using the lift force acting on the tail head, so Is possible.
The third aspect of the present invention has an airfoil structure with a cross section viewed from above surrounding the body and tail edge of the device, and the airfoil is displaced in the horizontal direction to form an angle of attack with respect to the relative flow of water when traveling. Using the lifting force acting on this tail, it is possible to make a sudden turn in water.
Further, the fourth and fifth inventions constitute a vehicle using these direction turning systems.
[0006]
【Example】
An embodiment in which the underwater propulsion device of the present invention is applied as an assist device for scuba diving will be described with reference to the drawings.
FIG. 1 shows a side view of this embodiment, and FIG. 2 shows a top view.
The body part 1, the tail edge part 2 and the fin part 3 constitute an outer shape.
The body portion 1 has a structure that wraps the body of the diver in a streamlined manner, and has a belt that holds the diver.
Further, a motor 4 for moving the tail part 2 up and down is fixed to the body part 1.
A motor drive unit 5 is provided in front of the diver.
The case of the drive unit 5 is provided with a start switch and a speed control switch (not shown).
A plurality of power transmission bodies 6 are provided in the tail piece 2, and the power transmission bodies 6 have a spring structure so that displacement occurs with a phase difference.
One end of the power transmission body 6 connected to the body side is rotatably attached to the motor 4 provided in the body portion 1, and the motor 4 is rotatably attached to the other end of the power transmission body 6. .
One end of the next power transmission body 6 is connected to the motor 4.
There is no motor at the end of the power transmission body 6 connected to the tail fin side, and it is directly connected to the tail fin 3.
In addition, the fin part 3 may be hold | maintained rotatably by the torsion coil spring.
In addition, holding members 8 for placing the insteps of the divers are provided on the right and left sides of the tail edge part 2, thereby performing direction turning.
Further, the outer periphery of the tail portion is covered with a rubber material, and has an acute angle portion at the upper portion as shown in FIG. 3a, and its cross section is an airfoil having an acute angle upward as shown in FIG. 3b. ing.
By the coordinated rotational movement in which the phase of the motor 4 of the body 1 and the motor 4 of the tail 2 is controlled, the tail 2 is moved up and down (vibrating), and the tail fin 3 is moved up and down.
The propulsion speed is controlled by controlling the rotation speed and phase of the motor 4.
Both the cross section seen from the side and the cross section seen from the top of the outer shape including the body part 2 and the tail part 3 form an airfoil.
[0007]
A battery 5 is mounted on the body 1.
This battery 5 uses a seawater battery.
This seawater battery uses seawater as an electrolyte solution and uses a magnesium alloy as an electrode, and utilizes a chemical reaction in which chlorine ions in the seawater react with magnesium to form magnesium chloride and release electric charges.
[0008]
Next, the operation will be described.
The diver operates a motor drive (start) switch when he wants to move forward.
Then, as the phases of the motor 4 of the body 1 and the tail fin motor are rotated, the tail edge part moves up and down, the fin part pushes water, and the reaction proceeds.
A fin part is an elastic body, and the angle of attack with respect to a relative water flow is comprised with a vertical motion.
Therefore, lift is generated, and the component of the lift in the direction of travel becomes the driving force.
During this vertical movement, the tail edge part 2 has a spring structure, so that the driving force of the motor is further propagated to the fin part 3 with a phase difference.
[0009]
If the diver wants to turn, the diver twists the tail 2 by applying force to the right or left holding part at the instep.
As shown in FIG. 4, this twist causes displacement of the cross section of the blade at the tail portion so as to form a turning angle with respect to the water flow caused by the vertical movement, so that a lift L with respect to the relative V water flow is generated and direction turning is performed.
When the blade cross section is displaced clockwise relative to the relative water flow V, lift is generated in the left direction, and when it is rotated clockwise and displaced counterclockwise, the lift is generated in the right direction and rotated counterclockwise. .
[00010]
When the diver wants to turn in a state of traveling at a certain speed or higher, the diver applies a force to the right or left holding part with his / her foot to displace the tail part 2 in the horizontal direction.
In reality, not only the tail 2 but also the direction of the body 1 is displaced about the center of gravity.
As shown in FIG. 5, this displacement causes the blade cross section viewed from above to be displaced so as to form a turning angle with respect to the relative water flow V in the traveling direction. Done.
When the wing cross-section body head is displaced clockwise with respect to the water flow, lift is generated in the left direction and rotated right, and when it is displaced counterclockwise, lift is generated in the right direction and rotated in the left direction. To do.
This is because the airfoil displacement becomes negative due to the airfoil displacement, and the moment acting point changes toward the fin side.
[0011]
Although the diver twists the tail edge, it may be displaced by another actuator.
Further, the present invention is not limited to the above embodiment, and may be a sealed personal submarine as shown in FIG. 6, for example.
In this embodiment, a cabin in which a crew member enters includes a carbon dioxide adsorbing device 10 for removing carbon dioxide, an oxygen cylinder 11, a ballast tank 12 for adjusting buoyancy, and a pump 13 for taking water into and out of the ballast tank. Have.
For example, when the weight 14 for adjusting the weight is set and the basic mounting weight is set to 100 kg, if the weight of the crew member is 60 kg, a weight of 40 kg is mounted.
The ballast tank 12 is a tank for fine adjustment. When the specific gravity of the device is smaller than seawater, seawater is introduced, and when larger than seawater, air or oxygen is introduced so as to adjust neutral buoyancy with seawater. Release.
The weight is held so that it can be released to the outside, and it becomes possible to rise rapidly by releasing it in an emergency.
[0012]
One of the reasons that fin propulsion is more efficient than screw propulsion is that fins can impart momentum to a larger amount of water than screws.
For example, when moving in water, it may be considered that a momentum of p = mv is given to water and propelled by the reaction.
At this time, the kinetic energy is E = 1/2 mv2, and when p is considered to be constant, less energy is required if the mass m is larger than the speed v.
It is considered that fin propulsion is highly efficient because energy efficiency can be increased by giving a small speed to a large amount of water rather than giving a large speed to a small amount of water.
Moreover, in the case of a screw, thrust is obtained by rotating at a high speed, but a dolphin has a frequency of 10 Hz or less.
Low rotation is more efficient than high rotation, and this point is considered to be one of the reasons why biological propulsion is highly efficient.
[0013]
In addition, although there is an idea that the propulsion mechanism of the aquatic organisms achieves high efficiency simply by propelling the fins, it is not so, and it is also considered that the point due to the outer shape and soft operation is also large.
In the case of Minamata mammals, this soft movement is a movement using the spine, and a movement in which the driving force propagates with a phase difference.
In the embodiment of the present application, in order to realize this soft movement, the outer shape is formed of a tail rubber having a spring structure and a flexible rubber material.
Thereby, in the present Example, the high efficiency nearer to aquatic organisms is achieved.
[0014]
In addition, there is a report that the dolphin migration number is 0.82, which is higher than 0.7 for carp and 0.6 for crucian carp.
This migration number means a dimensionless speed obtained by dividing the body length specific speed by the frequency of the tail fin. In the case of dolphins, it means that if the tail fin reciprocates once, it advances by 82% of the body length.
This high dolphin migration may be due to the fact that dolphins use not only the lift of fins but also the lift that acts on the trunk.
[0015]
【The invention's effect】
According to the present invention, by utilizing the mechanism of aquatic organisms, it is possible to construct a highly efficient and environmentally friendly propulsion system, and it is possible to perform a rapid turn and a sudden stop, and a highly mobile propulsion. A system and an underwater vehicle can be constructed.
[0013]
[Brief description of the drawings]
FIG. 1 is a side view of an embodiment. FIG. 2 is a top view of the embodiment. FIG. 3A is a top view of a tail. FIG. 4B is a cross-sectional view of a tail. FIG. 5 is an explanatory diagram of the second direction turning principle. FIG. 6 is a side view showing another embodiment.
1 Body part 2 Tail fin part 3 Tail fin part

Claims (2)

Provided at the end of the body part, the tail part connected to the body part so as to be capable of axial rotation displacement, the actuator for moving the tail part up and down with respect to the body part, and the tail part A fin portion and a power supply portion for supplying electric power to the actuator, and obtaining a propulsive force by vertical vibration of the fin portion, and the outer shape of the tail portion has a wing shape, An underwater propulsion device that changes the direction of the left and right by moving up and down by moving to form a turning angle with respect to the direction of up and down movement. A torso part, a crew member holding part provided in the torso part, a tailing part connected to the torso part so as to be displaceable, and an actuator for vertically moving the tailing part with respect to the torso part A fin portion provided at an end of the tail portion, and a power source portion that supplies electric power to the actuator, and obtains propulsive force by vertical vibration of the fin portion, and the outer shape of the tail portion is An underwater propulsion device characterized in that the cross-section has an airfoil shape and is moved up and down by being displaced so as to form a turn angle with respect to the direction of vertical movement.

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