WO2021137852A1 - Véhicule équipé d'appareils de module de poussée à ondes progressives, procédés et systèmes - Google Patents

Véhicule équipé d'appareils de module de poussée à ondes progressives, procédés et systèmes Download PDF

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Publication number
WO2021137852A1
WO2021137852A1 PCT/US2019/068995 US2019068995W WO2021137852A1 WO 2021137852 A1 WO2021137852 A1 WO 2021137852A1 US 2019068995 W US2019068995 W US 2019068995W WO 2021137852 A1 WO2021137852 A1 WO 2021137852A1
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WO
WIPO (PCT)
Prior art keywords
coupled
coupling member
thrust
actuators
elastic coupling
Prior art date
Application number
PCT/US2019/068995
Other languages
English (en)
Inventor
Benjamin Pietro Filardo
Daniel S. Zimmerman
Michael I. Weaker
Original Assignee
Pliant Energy Systems Llc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Pliant Energy Systems Llc filed Critical Pliant Energy Systems Llc
Priority to CN201980103552.6A priority Critical patent/CN115066550A/zh
Priority to PCT/US2019/068995 priority patent/WO2021137852A1/fr
Publication of WO2021137852A1 publication Critical patent/WO2021137852A1/fr

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03B—MACHINES OR ENGINES FOR LIQUIDS
    • F03B17/00—Other machines or engines
    • F03B17/06—Other machines or engines using liquid flow with predominantly kinetic energy conversion, e.g. of swinging-flap type, "run-of-river", "ultra-low head"
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H1/00—Propulsive elements directly acting on water
    • B63H1/30—Propulsive elements directly acting on water of non-rotary type
    • B63H1/37—Moving-wave propellers, i.e. wherein the propelling means comprise a flexible undulating structure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03B—MACHINES OR ENGINES FOR LIQUIDS
    • F03B13/00—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates
    • F03B13/10—Submerged units incorporating electric generators or motors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/20—Hydro energy

Definitions

  • the present innovations generally address energy conversion, and more particularly, include VEHICLE WITH TRAVELING WAVE THRUST MODULE APPARATUSES, METHODS AND SYSTEMS.
  • aspects of the disclosed apparatuses, methods and systems include devices which create repetitive or undulating motion, or effect, to produce useful work, such as for a propulsion system or other system, including energy-harnessing systems.
  • force or forces are applied to an arc-like flexible sheet-like material to create a deformed crenated strip fin with strained-deformations.
  • the strained- deformations take on a sinusoid-like form that express the internal energy state of the flexible sheet-like material after it has been configured into a crenated strip fin. After being incorporated into a mechanism with couplings that prevent the crenated strip fin from returning to its un-strained state, the strained-deformations persist.
  • Actuators may be used to sequentially rotate vertebrae attached to the fins causing the travel of sinusoid-like deformations along the fins.
  • the traveling waves of sinusoidal deformations may exert force on the fluid causing the fluid to move and/or creating thrust.
  • the fins may be configured and the actuators operated to create a crawling action.
  • the fin, fin actuator or actuators, power source and central controller may be incorporated into a thrust module. Two thrust modules couple to each other via roll actuators and flexible coupling members may form a vehicle with exceptional maneuverability.
  • Some examples of applications in various embodiments include propulsion systems for sub-sea vessels, personal propulsion systems attachable to the body of a swimmer or diver, surface vessels, amphibious vehicles, lighter-than-air craft, and the pumping, mixing and transportation of fluids, powders, and aggregates. Components, assemblies and modes of operation are described.
  • the actuators are of a type that are capable of harnessing energy, such as electromagnetic motors or dielectric elastomers
  • the mechanisms may also harness energy when fixed in an environment with moving fluid.
  • FIG 1 shows the formation of a crenated strip fin in one embodiment
  • FIG 2 shows a configuration of a crenated strip fin assembled into a mechanism in one embodiment
  • FIG 3 shows details of a transmission assembly in one embodiment
  • FIG 4 shows details of a transmission assembly in one embodiment
  • FIG 5 shows details of a transmission assembly in one embodiment
  • FIG 6 shows an embodiment attached to a vessel and mode of operation in one embodiment
  • FIG 7 shows an embodiment of a free-swimming vessel in one embodiment
  • FIG 8 shows an embodiment of a vessel or vehicle capable of moving on land in one embodiment
  • FIG 9 shows and embodiment attached to an immovable object or substrate and mode of operation in one embodiment
  • FIG 10 shows another implementation of one embodiment
  • the crenated strip fin 3 in its strained state is prevented from returning to its relaxed state by being fixed in at least two locations along an inner edge 4 to a first coupling 5 that is fixed to a vertebra plate 7, for example, via a rotation-enabling component 6 which may be a bearing 6a, FIG 3, or other component that allows the transmission of force from the first coupling 5 and vertebra plate 7 while allowing partial rotation between the first coupling 5 and the vertebra plate 7, such as a flexible planar plate 6b, FIG 4, torsion spring, rubber bushing and/or the like.
  • the vertebra plate 7 is fixed to the shaft 8 of an actuator 9 such as an electromagnetic motor, hydraulic motor, servo etc., FIG 2.
  • the actuators may be fixed to a common member 10 and are powered by a battery 11 or other power source. In one embodiment the rotational positions of the actuators 9 may be controlled by a central controller 12.
  • the first coupling 5, rotation-enabling component 6, vertebra plate 7 and shaft 8 comprise a transmission assembly 13, FIG. 3.
  • the point of attachment of the crenated strip fin 3 to the transmission assembly 13, 13a, 13b has three degrees of freedom of movement.
  • the actuator 9 induces rotation 14 of the vertebra plate 7 about the axis of the shaft 8.
  • the vertebra plate 7 is flexible in the direction 15 parallel to the axis of the shaft 8, the end of the vertebra plate 7 where it is fixed to the rotation-enabling component 6 is able to shift 15 in a direction parallel to the axis of the shaft 8.
  • the rotation-enabling component 6 allows the first coupling 5 to at least partially rotate 16 about an axis 17 perpendicular to the shaft 8, FIG 4.
  • the vertebra plate 7 may be rigid and motion of the transmission assembly 13, 13b in a direction 15 parallel to the direction of the axis of the shaft 8 may be facilitated by a bearing track, sleeve bearings 17a and/or the like, FIG 5.
  • the transmission assembly 13, 13b may be coupled to the common member 10 via mounting fixtures 17b.
  • the central controller 12 induces the actuators 9 to rotate the vertebra plates 7 clockwise and counterclockwise in a sequence that causes a traveling wave to move along the crenated strip fin 3.
  • fluid is primarily moved 18 in the direction of the traveling wave 19, causing the mechanism as well as a body 20 that may be attached to it via a harnessing fixture 22, to travel in a direction 21 opposite to that of the traveling wave 19.
  • Some examples of applications include surface craft or sub-sea marine propulsion, propulsion for lighter-than-air vehicles and/or the like.
  • the central controller 12 and battery 11 or other power source may be placed, e.g., inside the common member 10 which in some implementations may be watertight or air tight.
  • One fin, or two fins FIG 7, or more than two fins may, in one implementation, be attached to the common member 10 via transmission assemblies 13, 13a, 13b, to create a free-swimming vessel or vehicle which is able to move through fluid by imparting forces to the fluid, such as described above.
  • thrust vectoring may be facilitated to control the vessel’s pitch, yaw, roll, direction, turning, and other controlled movements which may be executed via the central controller 12.
  • Sensors such as accelerometers, gyroscopes, inertial measurement units, compass, optic flow sensors, sonar, lidar, and fluid motion sensors such as pressure and velocity sensors, and/or the like, may feed into the central controller 12 to achieve desired behavior of the vessel, vehicle or mechanism.
  • the mechanism illustrated in FIG 7 may also be configured, in some embodiments, to move itself on land or other substrate 23, e.g., by adjusting the position of the fins 3 to make contact with the land or other substrate 23, and by configuring the transmission assemblies 13, 13a, 13b, via the central controller 12, yielding a crawling or “slithering” action, to move the vessel or vehicle in a desired direction, FIG 8.
  • the traveling-wave 19 along the crenated strip fin 3 induced by transmission assemblies 13, 13a, 13b may cause fluid such as air or water to primarily move 18 in the direction of the traveling wave 19, FIG 9.
  • Applications include fluid-moving devices such as fans or pumps; fluid transportation or mixing, e.g. for industrial and chemical applications; aggregate, particle or powder mixing or transportation, e.g. for industrial and chemical applications, and/or the like.
  • the vertebra plate 7 has two or more lobes that may be evenly-spaced and may be rotationally symmetrical about the axis of the shaft 8.
  • a three- lobed vertebra plate 24 is shown for example in FIG. 10.
  • the common member 10 described above in this embodiment may be a chassis-like structure 10, 25 consisting of at least mainly longitudinal elements 10, 25, 26 and at least mainly transverse elements 10, 25, 27 to which at least one actuator 9 is fixed.
  • the actuator 9 or actuators 9 are fixed to the chassis 25 which provides reaction torque for the actuator 9 or actuators 9.
  • a crenated strip fin 3 is fixed to at least one lobed vertebra plate 24 via the first coupling 5.
  • at least one actuator 9 is employed to actuate at least one lobed vertebra plate 24.
  • a central controller 12 controls the actuator 9 or actuators 9 and a battery 11 or other power source powers the central controller 12 and actuator 9 or actuators 9.
  • the transmission assembly 13, 28, FIG. 11, for the embodiment shown in FIG 10 may in one embodiment be comprised of a first coupling 5, rotation-enabling component 6, lobed vertebra plate 24 and shaft 8 powered by an actuator 9 and allow three degrees of freedom of motion.
  • one or mote harnessing fixtures 22 may be added at a location or locations on the chassis 10, 25, so that the mechanism may be fixed to another body or to an immovable object or substrate 23.
  • the mechanism under operation may provide propulsive thrust in the manner shown in FIG 6.
  • the mechanism under operation may move ambient fluid in a desired direction or desired directions for the purposes of fluid transport or for the purposes of fluid, particle and aggregate mixing, in a similar manner as shown in FIG 9.
  • the actuators 9 are electromagnetic and/or other transducers capable of energy harnessing.
  • the harnessing fixture 22 when the harnessing fixture 22 is attached to an immovable object or substrate 23, ambient fluid with directional motion may cause the deformations of the crenated strips 3 to move in a traveling wave in the direction of fluid motion.
  • Kinetic energy from the moving fluid is transferred to the crenated strip 3 and may be converted into electrical energy via the actuators 9.
  • the energy may be stored in a battery 11, FIGS 9, 13, 14.
  • the common member 10 is a chassis-like structure 29 to which the actuators 9 are fixed, FIG 14.
  • the chassis-like structure 29 passes contiguously through slots 30 in vertebra plates 7, 24 to make them slotted vertebra plates 31 allowing the actuators 9 to rotate the slotted vertebra plates 31 without colliding with the chassis-like structure 29.
  • the transmission assembly 33 accommodates three degrees of freedom and may consist of a shaft 8 powered by an actuator 9, first couplings 5, rotation-enabling component 6 and slotted vertebra plate 31.
  • the inner area 34 of the slotted vertebra plate 31 is thicker or stiffer or wider than the regions 35 nearer the point of attachment to the bearing component, to allow torque transmission from the shaft 8 while also allowing the portion 35 of the slotted vertebra plate 31 near the rotation-enabling component 6 to bend and shift along an axis 15 parallel to that of the shaft 8.
  • FIG 16 and FIG 19 two or more transmission assemblies 13 powered by actuators 9, fixed to a common member 10, powered by a battery 11 or other power source, and controlled by a central controller 12, may be shared by two or mote crenated strip fins 3, FIG 19.
  • the common member 10 is fixed to a harnessing fixture 22 which is fixed to an immovable object or substrate 23 or the body of a vessel 20 in a similar manner as described in the embodiments above. Clockwise and counter-clockwise rotation of the transmission assemblies 13 may cause the sinusoidal deformations of both crenated strip fins 3 to travel in the same direction as each other along the axis of the shafts 8.
  • one crenated strip fin 3, 36 is attached to one set of transmission assemblies 13, 37 and the other crenated strip fin 3, 38 is connected to a second set of transmission assemblies 13, 39, FIG 20.
  • the degree of transmission assembly 13 rotation may vary between sets of transmission assemblies as well as within a set of transmission assemblies.
  • thrust vectoring is therefore facilitated to control the vessel’s pitch, yaw, roll, direction, turning, and other controlled movements which may be executed via the central controller 12.
  • Sensors such as accelerometers, gyroscopes, inertial measurement units, compass, optic flow sensors, sonar, lidar, and fluid motion sensors such as pressure and velocity sensors, and/or the like, may feed into the central controller 12 to achieve desired behavior of the vessel, vehicle or mechanism.
  • Another implementation utilizes two pairs of crenated strip fins 3, FIG 18 and FIG 21.
  • a first pair 40 is connected to one set of transmission assemblies 13, 37 and a second pair 42 is connected to a second set of transmission assemblies 13, 39, FIG 21 which may allow the implementation to exert more thrust without adding actuators 9.
  • thrust vectoring may be facilitated to control the vessel’s pitch, yaw, roll, direction, turning, and other controlled movements which may be executed via the central controller 12, such as described above.
  • a single actuator 43 may be used to drive more than one transmission assembly 13, 44 simultaneously through the use of a crank shaft, Scotch Yoke, cam shaft and/or the like.
  • FIG 22 An example is shown in FIG 22 using a shaft with conjugate cams, and where a battery or other power source 11 powers at least one actuator 43 attached to a common member 10.
  • Two or more transmission assemblies 13, 44, FIG 23, are mounted to the common member 10 with transmission assembly mounts 46. Rotation 46a of the cam shaft 47 causes the vertebra plates 7, 48 of two or more transmission assemblies 13, 44 to rotate clockwise and counterclockwise 14 in a similar manner as described in embodiments above.
  • the transmission assemblies 13, 44 are coupled to the crcnated strip fin 3 in a similar manner as described in embodiments above.
  • the common member 10 may be attached to an immovable object or substrate 23 or the body of a vessel 20, FIG 22, in a similar manner and for similar purposes as described in embodiments and implementations above.
  • the transmission assembly 13, 44 may be coupled to two or more crenated strip fins 3 via a lobed vertebra plate 49 with more than one crenated strip fin 3 attachment to the same lobed vertebra plate 49, to create a lobed transmission assembly 50 with more than one fin attached, FIG 24.
  • At least one lobed transmission assembly 50 mounted to a common member 10 may be actuated via an actuator 43 such as an electric motor and a central controller 12, and powered by a battery 11 or other power source to create a mechanism that may be free-swimming, and which may have a gear box 51 between the actuator and cam shaft 47, FIG 25.
  • the mechanism may be attached via one or more harnessing fixtures 22 to a body 20, to provide thrust to the body 20.
  • the body may be a sub- sea vessel, surface craft, or the body part of a person swimming or diving in water, or the body 20 may be attached to equipment worn by a person swimming or diving, FIG 26.
  • the common member 10, 25 may be fixed to a harnessing fixture 22 which is fixed to an immovable object or substrate 23, FIG 27.
  • Moving fluid 52 may exert loads on the fins 3 which may induce the strained deformations in the fins 3 to travel 54 in the direction of the moving fluid 52 to induce rotation of the shaft 47 via transmission assemblies 13, 44, 50.
  • the shaft 47 may be rotationally coupled to a gear box 51 coupled to an electromagnetic generator 53 or other transducer capable of turning rotational action into electrical eneigy.
  • an arched blade 55 is added to one edge of the arc- like flexible sheet-like material 2, FIG 28.
  • the arched blade 55 may, for example, be made from a hard, flexible material having high resilience such as stainless steel, a hard polymer, and/or the like.
  • the arched blade 55 may, e.g., be attached to the side of one edge of the flexible sheet-like material 2, or it may be inserted into a slot 56 in one edge of the flexible sheet-like material 2, FIGs 28-29.
  • FIG 30 shows a cross section through the edge of the flexible sheet-like material 2 in which the arched blade 55 is inserted into a slot 56 and fixed via a rivet, bolt, grommet, or similar coupling component 57 that passes through a hole in the flexible sheet-like material and the arched blade 55.
  • FIG 31 shows a cross section of an implementation in which the arched blade 55 has a thickening or flange along the edge that is inserted into the slot 56, and where the slot 56 has a widening that accommodates the cross- sectional profile of the arched blade 55 to mechanically hold the arched blade 55 in the slot 56.
  • glue, or another bonding agent may be applied to secure the arched blade 55 to the flexible sheet-like material 2.
  • the outer radius edge of the arched blade 55 forms a continuous arc but its inner edge is comprised of a series of narrow tabs 58 to reduce in-plane bending loads on the arced blade 55, and a series of eyelets 59 contiguous with the arched blade 55, FIG 32.
  • the coupling components 57 that pass through the flexible sheet-like material may pass through the eyelets.
  • two or more composite fins 60 are each coupled to two or more transmission assemblies 13, 13a, 13b powered by motors that are coupled to a common member 10, to create a vehicle capable of “skating” over ice, FIG 33.
  • two or more composite fins 60 are each coupled to two or more transmission assemblies 13, 44 that are coupled to a common member 10, 25 to yield a vehicle that can skate over ice.
  • the transmission assemblies 13, 44 of each fin may be actuated by a motor 43 that operates a crank shaft, Scotch Yoke, cam shaft and/or the like.
  • FIG 34 An example is shown in FIG 34 using a shaft 47 with conjugate cams for each composite fin 60 whereby a central controller 12 and battery 11 or other power source power a motor for each composite fin 60, allowing independent control of the speed and direction of undulation- travel for each composite fin 60. Independent control of each composite fin 60 allows for direction change and maneuverability of the vehicle over the ice.
  • a single motor and/or coupled control for both composite fins may be provided.
  • the vehicle may have two or more thrust modules, FIG 35-36.
  • the thrust module 62, 63 may comprise a crcnatcd strip fin 3 coupled via transmission assemblies 13, 13a, 13b, 28, 44 to a common member 10.
  • the common member 10 may incorporate a cam with a cam shaft 47 driven, e.g., by a single actuator 43 via a belt or gear and the like, to make a cam thrust module 62, FIG 35, with a battery 11 or other power source and a central controller 12.
  • the common member 10 may serve to secure a plurality of actuators 9 such as servo motors, to make a servo thrust module 63 FIG 36, having a battery 11 or other power source and a central controller 12, e.g., for autonomous or remotely controlled operation.
  • a rotating roll actuator 64 such as an electric motor, is fixed to the common member 10 at either end of the thrust module 62, 63.
  • the shaft, or other rotating component 65 of the first roll actuator 64 is fixed to one end of a flexible coupling member 66.
  • the shaft, or other rotating component 65 of a second roll actuator 64 is fixed to the other end of the flexible coupling member 66, FIG 37.
  • the first and second thrust modules 62, 63 of the vehicle may therefore, in one implementation, be elastically coupled to each other via the flexible coupling members 66 and via the rotating components 65 of the roll actuators 64.
  • the central controllers 12 of the thrust modules 62, 63 may communicate with each other through a wired or wireless connection. Each roll actuator 64 may rotate independently of the other roll actuators 64 under the control of the central controllers 12.
  • Traveling wave undulations of the fins are induced by the actuators of the thrust modules 62, 63.
  • the primary thrust vector of a thrust module 62,63 induced by traveling wave actuation along the fin 3 may create force in the direction substantially opposite to the traveling wave and substantially parallel to the longitudinal axis of the thrust module 62, 63.
  • a secondary' and lesser thrust vector of a thrust module 62, 63 may be perpendicular to the longitudinal axis of the thrust module 62, 63.
  • the vehicle’s default operating position may be one in which the fins 3 are in an overall horizontal position, the thrust modules 62, 63 are substantially parallel to each other, and the flexible coupling members 66 are substantially parallel to each other.
  • FIG 38 shows this default operating position looking at the front of the vehicle
  • FIG 39 shows this default position viewing the vehicle from above.
  • the vehicle may travel in a straight line when the traveling wave undulations of the fins 3 travel in the same direction.
  • the dotted lines shown in FIG 38 represent the positions of the front roll actuators 64a relative to the flexible coupling member 66, and represents positions of the rear roll actuators 64b relative to the flexible coupling member 66.
  • a variety of fin 3 tilt and fin 3 rotation positions may be implemented and/or achieved, creating a variety of thrust vector forces on the vehicle.
  • Actuation of one or more of the vehicle’s roll actuators 64 allows the thrust modules 62, 63 to tilt relative to each other so that the primary thrust vector of the two thrust modules 62, 63 are no longer parallel, causing the vehicle to roll and/or to change direction.
  • FIG 40 is a view looking at the front of the vehicle in a position where the rotating component 65 of the left front roll actuator 64a has rotated 67 the flexible coupling member 66 to which it is fixed forty-five degrees relative to itself, and the rotating component 65 of the rear left roll actuator 64b has rotated the flexible coupling member 66 to which it is fixed zero degrees relative to itself.
  • FIG 41 shows the same configuration as FIG 40 when viewing the vehicle from above.
  • FIG 42 Another example is shown in FIG 42, w'here a view looking at the front of the vehicle is shown in which the rotating component 65 of the front left roll actuator 64a has rotated 67 the flexible coupling component 66 to which it is fixed counter-clockwise forty- five degrees relative to itself, and the rotating component 65 of the right front roll actuator 64a has rotated 67 the flexible coupling component 66 to which it is fixed counter-clockwise forty-five degrees relative to itself.
  • the rotating component 65 of the left rear roll actuator 64b has rotated 67 the flexible coupling component 66 to which it is attached clockwise forty-five degrees relative to itself, and the rotating component of the rear right roll actuator 64b has rotated 67 the flexible coupling component 66 to which it is fixed clockwise forty- five degrees relative to itself.
  • FIG 43 shows the same positioning of roll actuators 64 viewing the vehicle from above.
  • the thrust vector of the left thrust module 62 is angled down while the thrust vector of the right thrust module 62 is angled up.
  • FIG 44 Another example is shown in FIG 44, where a view looking at the front of the vehicle is shown in a position where the rotating component 65 of the front left roll actuator 64a has rotated 67 the flexible coupling component 66 to which it is fixed ninety degrees counter-clockwise relative to itself, and the rotating component 65 of the front right roll actuator 64a has rotated 67 the flexible coupling component 66 to which it is fixed ninety degrees counter-clockwise relative to itself.
  • the rotating components 65 of both the left and right rear roll actuators 64b have rotated the coupling component 66 to which they are fixed zero degrees relative to themselves.
  • the primary thrust vectors of the thrust modules 62 are tilted upwards and downwards relative to each other as well as inwards towards the central longitudinal axis of the vehicle.
  • FIG 45 shows the same positioning of roll actuators 64 viewing the vehicle from above.
  • the flexible nature of the flexible coupling components 66 allows out-of-plane bending while substantially resisting in-plane bending due to their aspect ratios.
  • the two flexible coupling components 66 may be connected via a secondary chassis 68, which may be rigid or semi-rigid, onto which one or more vehicle payloads may be attached, FIG 46.
  • one end of the secondary chassis 68 may be rigidly fixed 69 to the first flexible coupling component 66 while the other end may be rotationally coupled to the second flexible coupling component 66, e.g., via a shaft and bearing 70 or other component allowing one degree of rotational freedom.
  • FIG 47 illustrates an implementation with cowlings 71 enclosing the thrust modules 62, 63 and shows a payload 72 attached to the secondary chassis 68.
  • the high maneuverabihty of the vehicle may result from various factors in various implementations. For example, these may include a fast and/or near-instantaneous thrust induced by the fins 3 due to their large surface areas, the ability of the fins 3 to induce drag vectoring in addition to thrust vectoring, and/or the roll actuators that allow the fins 3 to tilt and rotate relative to the longitudinal axis of the vehicle.
  • An example of rapid position and orientation change and mobility in this implementation is shown in the sequence of FIGS 48-52.
  • the roll actuators 64 are in one implementation of a default position and the direction of fin undulation travel 73 is directly backwards, causing the vehicle motion 74 to be directly forwards.
  • the horizontal plane 75 is shown as a dotted line in FIGS 48-52 as a reference plane to show how the vehicle’s position and movement has changed through the sequence.
  • the roll actuators 64 have caused the thrust modules 62,63 to tilt in opposite directions, as shown for example in FIGS 44-45, so that the thrust vector of one fin is partially upwards while the thrust vector of the other fin is partially downwards.
  • FIG 50 shows the vehicle after this rotation about the vehicle’s longitudinal axis has caused the horizontal plane of the vehicle to rotate 90 degrees, and the roll actuators 64 are back to their default position.
  • the undulation 73 of the upper fin 3 is traveling backwards while the undulation 73 of the lower fin is traveling forwards, causing the vehicle motion 74 to include a rotational component about a transverse axis of the vehicle (e.g., a yaw).
  • the vehicle has completed 90 degrees of this rotation, and the undulation 73 of both fins travels backwards (which is now upwards in the figure), causing the vehicle motion 74 to be directly downwards.
  • the disclosure includes multiple innovations including some that may not be presently claimed, and the Applicant reserves all rights in those presently unclaimed innovations including the right to claim such innovations, file additional applications, continuations, continuations in part, divisionals, and/or the like thereof.
  • advantages, embodiments, examples, functional, features, logical, operational, organizational, structural, topological, and/or other aspects of the disclosure are not to be considered limitations on the disclosure as defined by the claims or limitations on equivalents to the claims.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Ocean & Marine Engineering (AREA)
  • Power Engineering (AREA)
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Abstract

L'invention concerne un véhicule équipé d'appareils de module de poussée à ondes progressives, des procédés et des systèmes et comprenant une force ou des forces appliquées à un matériau à feuille flexible en forme d'arc pour créer une ailette en bande déformée crénelée avec des déformations contraintes. Les déformations contraintes prennent une forme de type sinusoïde qui expriment l'état d'énergie interne du matériau à feuille flexible après que celui-ci a été configuré en une ailette de bande crénelée. Après avoir été incorporé dans un mécanisme avec des accouplements qui empêchent l'étain de la bande crénelée de revenir à son état non contraint, les déformations contraintes persistent. Des actionneurs peuvent être utilisés pour faire tourner séquentiellement des vertèbres attachées aux ailettes provoquant le déplacement de déformations de type sinusoïde le long des ailettes. L'ailette, l'actionneur à ailette ou les actionneurs, la source d'alimentation et le dispositif de commande central peuvent être incorporés dans un module de poussée. Deux modules de poussée se couplent l'un à l'autre par l'intermédiaire d'actionneurs à rouleaux et d'éléments de couplage flexibles peuvent former un véhicule avec une manœuvrabilité exceptionnelle.
PCT/US2019/068995 2019-12-30 2019-12-30 Véhicule équipé d'appareils de module de poussée à ondes progressives, procédés et systèmes WO2021137852A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201980103552.6A CN115066550A (zh) 2019-12-30 2019-12-30 具有行进波推力模块装置的车辆、方法和系统
PCT/US2019/068995 WO2021137852A1 (fr) 2019-12-30 2019-12-30 Véhicule équipé d'appareils de module de poussée à ondes progressives, procédés et systèmes

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PCT/US2019/068995 WO2021137852A1 (fr) 2019-12-30 2019-12-30 Véhicule équipé d'appareils de module de poussée à ondes progressives, procédés et systèmes

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