TWI710500B - Maritime biomimetic propelling device - Google Patents

Abstract

An maritime biomimetic propelling device includes a boat body; an operating rod having a grip handle protruding from the boat body and having a driving rod at the lower end thereof and protruding from the bottom of the boat body; a biomimetic propelling unit having a pair of connecting rod sets disposed on the lateral sides thereof, a connecting rod of the connecting rod sets is pivotally connected to the bottom of the boat body at a pivot point, where each of the connecting rod sets is pivotally connected to an input rod and an output rod respectively, one end of the two input rods is pivotally connected to two ends of the driving rod, and when the driving rod swings from side to side, the two input rods moves the connecting rod sets which swings side to side on the pivot point and thereby the two output rods individually swing forward and backward at a predefined angle; and two webbed paddles configured to move in a forward direction and retract and to move in a backward direction and spread out to propel the boat body by imitating the propelling actions of living animals such as frogs.

Description

Water surface and underwater bionic propulsion device

The present invention relates to a water surface and underwater propulsion vehicle that can simulate the stroke of frogs and other creatures while saving effort to control the ship's forward movement.

Due to Taiwan's beautiful conditions surrounded by the sea, many marine recreational equipment and facilities have been gradually developed in recent years, which has enabled marine activities to flourish. Nowadays, the types of marine leisure options are more diverse, such as: snorkeling, canoeing, white water rafting, stand-up paddle boarding (SUP), etc. The western part of Taiwan is very suitable for marine activities, because the western part is a sandbar topography with large beaches and bathing beaches. The Xiuguluan River in Hualien in the east is an excellent rafting spot due to its abundant water, good water quality and steep river topography. Although there are more and more leisure activities and facilities nowadays, due to price considerations and limited use time, there are many restrictions that cannot be popularized.

For example, there is a new type of patent case No. 365959 "Aquatic human-powered recreational boat" announced on August 1, 88 of the Republic of China, which discloses that it is composed of a hull, a driving mechanism and a steering mechanism installed inside the hull , The rear end of the hull is provided with a pipe protruding from the bottom of the hull. The drive mechanism is composed of a sprocket, a gearbox and a propeller that extends the power to the inside of the pipe by the gearbox. There is a pedal. After the user uses the pedal to rotate the sprocket, it is converted into high-speed power through the gearbox, which causes the propeller to rotate at high speed, causing water to spray out of the pipe, and then push the hull forward. The steering mechanism controls the forward direction of the hull. This kind of leisure boat not only does not splash, but also can travel at a relatively high speed, which is leisurely and interesting, and can also have the effect of sports.

The previous case of the patent uses manual pedaling for advancement. However, the kinetic energy generated after pedaling is transmitted by the driving mechanism, which will cause energy loss. In addition to the resistance in the water, the pedaling is not only labor-intensive, but also The kinetic energy that can drive the hull forward has become quite small, so the forward speed is quite slow, which does not meet the use efficiency. In particular, the way of pedaling with both feet needs to pedal a full circle to complete a stroke, so it is quite laborious.

Another example is the Invention No. I516414 "Water Running Power Boat" patent case announced on January 11, 105 of the Republic of China, which discloses: a direction control mechanism is pivoted to a plate body, and the direction control mechanism is from the plate body One end extending upward from the upper side is provided with a gripping portion and one end extending downward from the lower side of the board is provided with a direction adjusting portion, a driving mechanism is provided on the board and includes a running unit and a propulsion unit , The running and stepping unit is rotatably arranged on the upper side of the board, the propulsion unit is in a rotationally connected relationship with the running and stepping unit and extends downward to one end of the lower side of the board. A propulsion assembly is provided. The rotation drives the propulsion assembly to rotate to generate a propulsion power. In this way, it can have multiple sports modes and leisure and entertainment functions at the same time, can also adjust the required running speed, and even obtain all use-related information.

The previous case of the patent uses a running method to advance through the plate of the driving mechanism, but the driving mechanism also has the disadvantage of energy consumption, and the running method is quite physical, so it is not ideal in use.

In view of this, in view of the current known surface vehicles all have the above-mentioned shortcomings.

The present invention provides a surface and underwater bionic propulsion device, which is equipped with a hull; a control rod is pivotally arranged on the hull, the control rod protrudes from the top of the hull and is provided with a grip, and the The control rod protrudes from the bottom of the hull and is provided with a driving rod. The handle is rotated left and right relative to the hull to link the driving rod to swing left and right; a bionic propulsion unit is pivotally connected to the hull. At the bottom of the hull, the bionic propulsion unit is equipped with two connecting rods corresponding to the left and right. One of the two connecting rods The rods are respectively pivotally connected to the bottom of the hull by a pivot point, and the two link sets are pivotally connected to an input rod and an output rod, and one end of the two input rods is connected to the two ends of the driving rod. When the driving rod swings to the left and right, the two link sets are respectively linked through the two input rods. The two link sets swing left and right with the pivot point as the fulcrum, so that the Each of the two output rods swings forward and backward by an angle; two webbed paddle elements are respectively combined and fixed to the two output rods, and the two webbed paddle elements are respectively retracted forwards and opened backwards with the two output rods Swipe action.

The above ship system is made of a wood, a glass fiber, a styrofoam, a plastic or a foam material.

The above-mentioned ship system is combined with a buoyancy element, and the buoyancy element is an air bag, a float, a wooden block, a floating board, a polylong or a plastic, so as to provide the hull with the buoyancy.

A cushion is further provided, the top of the hull is provided with a groove, the seat cushion is movably fixed on the hull, and the distance between the seat cushion and the groove can be adjusted.

The top of the hull is provided with two opposite first fixing parts at a position adjacent to the groove, the two first fixing parts are provided with a first long groove, and the bottom of the seat cushion is provided with two second fixing parts. Two fixed parts, the two second fixed parts are provided with a second elongated groove, the two second elongated grooves and the two first elongated grooves move and mate with each other, and the two screws respectively pass through the two first elongated grooves. After the long groove and the two second long grooves, two nuts are used to lock the two screws respectively, so that the two second fixing parts and the two first fixing parts are mutually locked, thereby fixing the seat cushion On the hull.

The front of the bottom of the hull is provided with two first arc-shaped grooves facing each other, and the back of the bottom of the hull is provided with two second arc-shaped grooves in opposite directions. The two input rods are driven by a first pivot and the driving shaft respectively. The two ends of the rod are pivotally connected, the two first pivots respectively protrude into the two first arc-shaped grooves to form a limit movement, and the other ends of the two input rods are respectively connected to the second pivot by a second pivot The two connecting rod groups are pivotally connected, and the second pivot system respectively protrudes in the two second arc-shaped grooves to form a limit movement.

The aforementioned two-link group is composed of a plurality of four-link mechanisms.

The two paddle elements are respectively provided with a fixing frame, and a wing that expands in one direction is combined with each of the two fixing frames. When the two fixing frames are moved forward, the two wings are respectively relative to the fixing frame. When the two fins are unfolded in one direction, when the two fixing frames are moved backward, they are respectively closely attached to the fixing frames.

The above technical features have the following advantages:

1. You only need to hold the joystick with both hands and turn it left and right to control the hull to move forward in a zigzag trajectory. There is no need to use two feet to step on it, so it is quite labor-saving.

2. Through the front and back swing of the two-link group, the output rods are respectively linked to swing forward and back by an angle, which can simulate the behavior of a frog and other creatures swinging forward and backward while kicking the water. , Which can save effort to operate the hull forward.

3. When the paddle element moves towards the rear of the hull, the fins of the paddle element will closely fit the fixed frame, thereby increasing the thrust of the fins on the water and the reaction force generated by the water on the fins, so that the hull can be go ahead.

4. When the paddle element is swung towards the front of the hull, the fins of the paddle element will be unidirectionally deployed with the fixed frame to reduce the resistance to the water flow. Therefore, it does not need to spend too much effort to make the paddle The element moves forward without causing the hull to move backwards.

(1): Hull

(11): Buoyancy element

(12): Groove

(13): The first fixed part

(14): The first long slot

(15): The first arc groove

(16): The second arc groove

(2): Seat cushion

(21): The second fixed part

(22): Second long slot

(23): Screw

(24): Nut

(3): Joystick

(31): Grip

(32): Drive rod

(4): Bionic Propulsion Unit

(41): Link group

(411): connecting rod

(412): pivot point

(42): Input lever

(43): Output rod

(44): First pivot

(45): second pivot

(5): Paddle element

(51): fixed frame

(52): Wing

(A): User

[The first figure] is a perspective view of an embodiment of the invention.

[The second figure] is a schematic diagram of the bottom structure of the hull of the embodiment of the present invention.

[The third figure] is a schematic diagram of the seat cushion adjustment structure of the embodiment of the present invention.

[Fourth Figure] is a perspective view of the paddle element of the embodiment of the present invention.

[Fifth Figure] is a schematic diagram of the stroke of the left and right paddle elements of the embodiment of the present invention.

[Figure 6] is a schematic diagram of the use of the embodiment of the present invention.

[The seventh figure] is a schematic diagram of the left and right swing (1) of the bionic propulsion unit of the embodiment of the present invention.

[Figure 8] is a schematic diagram of the left and right swing (2) of the bionic propulsion unit of the embodiment of the present invention.

[Figure 9] is a diagram showing the relationship between the draught (L _water ) and the weight of the occupant (W _passenger ) obtained when the embodiment of the present invention is tested.

[Figure 10] is a diagram showing the relationship between the forward speed of the hull (V _forward ) and the flapping frequency (f _swing ) of the web paddle element obtained when the embodiment of the present invention is tested.

Please refer to the first and second figures, the embodiment of the present invention includes: a hull (1), a seat cushion (2), a control lever (3), a bionic propulsion unit (4) and a paddle element (5) ,among them: The hull (1) can be made of a wood, a glass fiber, a styrofoam, a plastic or a foam and other materials with low density, light weight and high buoyancy, so as to make the hull (1) Has a buoyancy. The hull (1) of the embodiment of the present invention is combined with a buoyancy element (11). The buoyancy element (11) can be an air bag, a floating ball, a wooden block, a floating board, a poly dragon or a plastic , So as to provide the hull (1) with the buoyancy. The hull (1) is shaped like a gourd, an ellipse, a shuttle or a circle. And the top of the hull (1) is provided with a groove (12), adjacent to the groove (12) are provided with two opposite first fixing parts (13) at appropriate positions (as shown in the third figure) As shown], the two first fixing parts (13) are provided with a first long slot (14). The front of the bottom of the hull (1) is provided with two first arc-shaped grooves (15) facing each other, and the bottom of the hull (1) is provided with two second arc-shaped grooves (16) that are reversed.

The seat cushion (2) is movably fixed on the hull (1). The bottom of the seat cushion (2) is provided with two second fixing parts (21), the two second fixing parts (21) can be matched with the two first fixing parts (13), and the two second fixing parts A second elongated groove (22) is provided on the portion (21). The two second elongated grooves (22) can move and mate with the two first elongated grooves (14) to adjust the seat cushion (2) The distance relative to the groove (12) from. When the distance adjustment is completed, two screws (23) are passed through the two first elongated grooves (14) and the two second elongated grooves (22) respectively, and then two nuts (24) are used to lock the Fixed to the two screws (23), so that the two second fixing parts (21) and the two first fixing parts (13) can be locked to each other, so that the seat cushion (2) can be fixed to the hull (1) on.

The control lever (3) is pivoted on the hull (1). The control rod (3) protrudes from the top of the hull (1) and is provided with a grip (31), and the control rod (3) protrudes from the bottom of the hull (1) and is provided with a driving rod (32) for rotating the handle (31) left and right relative to the hull (1), and the driving rod (32) can be linked to swing left and right.

The bionic propulsion unit (4) is pivotally connected to the bottom of the hull (1). The bionic propulsion unit (4) is provided with two-link groups (41) corresponding to the left and right. The two-link group (41) is composed of a plurality of four-link mechanisms. One of the connecting rods (411) is pivotally connected to the bottom of the hull (1) by a pivot point (412). The two connecting rod groups (41) are pivotally connected to an input rod (42) and an output rod (43) respectively. One end of the two input rods (42) is pivotally connected to the two ends of the driving rod (32) by a first pivot (44), and the two first pivots (44) respectively protrude from the two In the first arc-shaped slot (15), a limit movement is formed. In addition, the other ends of the two input rods (42) are respectively pivotally connected to the two link sets (41) by a second pivot (45), and the second pivot (45) protrudes from the two In the second arc-shaped slot (16), a limit movement is formed. When the driving rod (32) is used to swing left and right, the two connecting rod groups (41) can be respectively linked through the two input rods (42). Because the first pivot (44) and the second pivot (45) at the two ends of the two input rods (42) can be connected to the two first arc slots (15) facing each other and the two second The arc-shaped groove (16) moves in a limited position, so that the output rod (43) is linked to swing forward and backward by an angle through the front and back swing of the two link groups (41), so as to simulate a frog, etc. When a creature is paddling, its forelimbs or hind limbs swing forward and backward to kick the water.

Two paddle elements (5) (as shown in the fourth figure) are respectively combined and fixed to the two output rods (43). The two paddle elements (5) are respectively provided with a fixing frame (51), and the two fixing frames (51) are respectively combined with a wing (52) that can be expanded in one direction. As shown in the fifth figure, the two wings (52) are forward on the two fixing frames (51) When swiping, they can be unidirectionally expanded relative to the two fixing frames (51) to reduce the resistance of the water flow, and the two fins (52) can be opposite to each other when the two fixing frames (51) are swung backwards. The two fixing frames (51) are closely attached to increase the reaction force generated by the water and increase the propulsion force of the hull moving forward.

During use, as shown in the third and sixth figures, a user (A) can loosen the two screws on the two screws (23) at the bottom of the seat cushion (2) according to the length of their legs. Cap (24), and then relatively adjust the position of the two second long grooves (22) and the two first long grooves (14), so that the user (A) can ride on the seat cushion (2) When it is up, its feet can be comfortably placed in the groove (12). After the positional distance adjustment of the seat cushion (2) is completed, the two nuts (24) can be locked on the two screws (23) respectively, so that the two second fixing parts (21) and the two The first fixing parts (13) can be locked to each other, so that the seat cushion (2) can be fixed on the hull (1) to facilitate the user (A) to ride.

As shown in the second and sixth figures, when starting to move forward, the user (A) can hold the grip (31) with both hands, and then turn the grip (31) left and right , The system can link the driving rod (32) to swing left and right. When the driving rod (32) starts to swing left and right, the driving rod (32) can respectively pass through the two input rods (42) to drive the two link group (41) to swing forward and backward, and use the two The two connecting rods (411) of the connecting rod group (41) swing left and right with the two pivot points (412) as fulcrums respectively, and the first pivot shaft that matches the two ends of the two input rods (42) (44) It can move with a limit in the two opposite first arc-shaped slots (15), and the second pivot (45) can move with a limit in the two second arc-shaped slots (16) in opposite directions As shown in the seventh and eighth diagrams, in this way, the two output rods (43) can swing forward and backward by an angle through the linkage of the two linkage groups (41), so as to generate simulated frogs, etc. When a creature is paddling, its forelimbs or hind limbs swing forward and backward to kick the water.

As shown in the fourth and fifth figures, when the two output rods (43) are used to swing forward each by an angle, the two paddle elements (5) fixed by the two output rods (43) will be Move towards the front of the hull (1), and at the same time, when the two fins (52) of the two paddle elements (5) move forward, they will be unidirectionally expanded with the two fixing frames (51). , In order to reduce the resistance of the water flow, so there is no need to spend too much effort, namely The paddle element (5) can be moved forward to position. When the two output rods (43) each swing back by an angle, the two paddle elements (5) fixed by the two output rods (43) will move toward the rear of the hull (1), and at the same time When the fins (52) of the two paddle elements (5) are moved backwards, they are closely attached to the two fixing frames (51) respectively, thereby increasing the thrust of the two fins (52) against water. The reaction force generated by the water on the two wings (52) is reused to make the hull (1) move forward. In this way, by turning the grip (31) left and right, it can simulate the forelegs or hindlimbs of frogs and other creatures to kick back to make the hull (1) move forward, and the forelegs or hindlimbs to swing forward. The gap between the two wings (52) and the two fixing frames (51) allows water flow to flow therethrough, so as to reduce the resistance of the water flow, so that the hull (1) can be operated to move forward with less effort.

117973(cm³)。該輪胎內胎所承受的總浮力約為：F_buoy=V_tube×ρ_water×g_gravity=117973(cm³)×1(gw/cm³)×(1kgw/10³gw)

118(kgw)。測試時之船體的總重量約為40(kgw)，可以得到吃水深度(L_water)與乘員重量(W_passenger)之關係圖〔如第九圖所示〕。由第九圖可以得知，船體最大可承受約80(kgw)的乘員重量，對於一般的成人和小孩而言，本發明之設計所能承載的重量已綽綽有餘。 In the present invention, through actual tests, the draught of the hull needs to consider the following factors: the weight of the hull (W _boat ), the weight of the occupants (W _passenger ), and the buoyancy generated by the hull design (W _buoy ). The criterion to be considered in the buoyancy design is: W _buoy ≧W _boat + W _passenger . Therefore, when testing the buoyancy required by the hull, the buoyancy element of the hull is a large truck tire inner tube. The tire inner tube model is 1000R20 with an outer diameter of 102 (cm) and an inner diameter of 51 (cm). ), the total volume of the tire inner tube is approximately: V _tube =A×L=(π×D _in ² ÷4)×π×D _middle =(π×25 ² ÷4)×π×76.5

117973 (cm ³ ). The total buoyancy of the tire inner tube is approximately: F _buoy =V _tube ×ρ _water ×g _gravity =117973(cm ³ )×1(gw/cm ³ )×(1kgw/10 ³ gw)

118 (kgw). The total weight of the hull during the test is about 40 (kgw), and the relationship between the draught (L _water ) and the passenger weight (W _passenger ) can be obtained (as shown in the ninth figure). It can be seen from the ninth figure that the hull can bear a maximum occupant weight of about 80 (kgw). For ordinary adults and children, the weight of the design of the present invention is more than enough.

Regarding the consideration of propulsion efficiency, it is one of the most important considerations for the design of all surface and underwater vehicles. However, since the main function of the present invention is used for leisure, the propulsion efficiency does not need to meet extremely high requirements, and the most important thing is to be able to sail forward smoothly and effortlessly. Therefore, the consideration criterion for propulsion design is: P _thrust ≧P _{water resistance} , that is, the power P _thrust (watt) of the propulsion must be greater than the water resistance power P _{water resistance} (watt) of the ship's forward movement. Life experience and a relational expression that conforms to physical intuition to describe the situation of the hull moving forward: V _forward =α×f _swing -β×V _forward .

In this relationship, α is the effective coefficient of flapping frequency f _swing , α=α(F _thrust ) is a function of the propulsion force F _thrust of a single webbed element, and β is the friction coefficient of water resistance. With different values of α and β, the relationship between the forward speed of the hull (V _forward ) and the flapping frequency (f _swing ) of the webbed element can be obtained (as shown in the tenth figure). It can be seen from the tenth figure that if the grip is rotated at a frequency of 30 times per minute, the hull will move about 5 to 10 meters per minute. Through the above-mentioned tests, it is sufficient to prove that the bionic propulsion paddle device of the present invention can indeed be realized and achieve the above-mentioned effects.

Based on the description of the above-mentioned embodiments, when one can fully understand the operation and use of the present invention and the effects of the present invention, the above-mentioned embodiments are only preferred embodiments of the present invention, and the implementation of the present invention cannot be limited by this. The scope, that is, simple equivalent changes and modifications made according to the scope of the patent application of the present invention and the description of the invention, are all within the scope of the present invention.

(1): Hull

(11): Buoyancy element

(15): The first arc groove

(16): The second arc groove

(3): Joystick

(31): Grip

(32): Drive rod

(4): Bionic Propulsion Unit

(41): Link group

(411): connecting rod

(412): pivot point

(42): Input lever

(43): Output rod

(44): First pivot

(45): second pivot

(5): Paddle element

(51): fixed frame

(52): Wing

Claims (7)

A water surface and underwater bionic propulsion device, comprising: a hull, the front of the bottom of the hull is provided with two first arc-shaped grooves facing each other, and the bottom of the hull is provided with two opposite second arc-shaped grooves behind ; A control rod, which is pivoted on the hull, the control rod protrudes from the top of the hull and is provided with a grip, and the control rod protrudes from the bottom of the hull and is provided with a driving rod, Rotate the handle left and right relative to the hull to link the driving rod to swing left and right; a bionic propulsion unit is pivotally connected to the bottom of the hull, and the bionic propulsion unit is equipped with left and right phases. Corresponding two link sets, one of the links of the two link sets is pivotally connected to the bottom of the hull with a pivot point, and the two link sets are pivoted to an input rod and an output rod respectively , The two input rods are respectively pivotally connected to the two ends of the driving rod by a first pivot, and the two first pivots respectively protrude in the two first arc-shaped grooves to form a limit movement, and the The other ends of the two input rods are respectively pivotally connected to the two connecting rod groups by a second pivot, and the two second pivots respectively protrude in the two second arc-shaped grooves to form a limit movement. When the driving rod swings to the left and right, the two input rods are respectively linked to the two linkage groups. The two linkage groups respectively use the pivot point as a fulcrum to swing left and right, so that the two output rods are forwarded respectively. , Swing back by an angle; two paddle elements are respectively combined and fixed to the two output rods, and the two paddle elements are swiped forward and back with the two output rods respectively. For example, the water surface and underwater bionic propulsion device described in item 1 of the scope of patent application, wherein the ship system is made of a wood, a glass fiber, a styrofoam, a plastic or a foam material. For example, the water surface and underwater bionic propulsion device described in item 1 of the scope of patent application, wherein the ship system is combined with a buoyancy element, and the buoyancy element is an air bag, a floating ball, a wooden block, a floating board, a poly dragon or A plastic to provide the hull with the buoyancy. For example, the water surface and underwater bionic propulsion device described in item 1 of the scope of patent application is further provided with a cushion, a groove is provided on the top of the hull, and the seat cushion is movably fixed on the hull and can adjust the seat The distance of the pad relative to the groove. For example, the water surface and underwater bionic propulsion device described in item 4 of the scope of patent application, wherein the top of the hull is provided with two opposite first fixing parts at a position adjacent to the groove, and the two first fixing parts are connected to A first elongated groove is opened, the bottom of the seat cushion is provided with two second fixing parts, and a second elongated groove is opened on the two second fixing parts. The two second elongated grooves are connected to the second One elongated groove moves and mates with each other. After passing through the two first elongated grooves and the two second elongated grooves, the two screws are respectively locked on the two screws with two nuts to fix the two second screws. The part and the two first fixing parts are locked to each other so as to fix the seat cushion on the hull. For example, the water surface and underwater bionic propulsion device described in item 1 of the scope of patent application, wherein the two-link group is composed of plural four-link mechanisms. For example, the water surface and underwater bionic propulsion device described in item 1 of the scope of patent application, wherein the two webbed paddle elements are respectively provided with a fixed frame, and each of the two fixed frames is combined with a unidirectionally expanded fin, and the two fins are in When the two fixing frames are moved forward, they are respectively unfolded in one direction relative to the fixing frame, and when the two fixing frames are moved backward, the two fins are respectively closely attached to the fixing frame.

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