CN106672185A - Flexible flapping wing driving device for small underwater vehicle - Google Patents

Abstract

The invention discloses a flexible flapping-wing driving device for a small underwater vehicle, which comprises a plurality of flapping-wing units, and the flapping-wing units are connected by self-aligning blocks; and are respectively installed in corresponding slot holes on the bottom plate through the connection of rotating shafts and support seats. Among them, the support seat is located at both ends of the base plate and installed symmetrically up and down, and the two steering gears are located at both ends of the base plate, and are fixed on the base plate through the steering gear frame and the steering gear mounting plate; the steering flexible rod is located between the support base and the steering gear, and the steering flexible rod It is connected with the steering gear, and the flapping wing units at both ends of the bottom plate are connected with the support seat through the third rotating shaft; the flexible rod and the steering flexible rod are connected by silicone skin to form the airfoil. The phase angle difference between the two flapping wing units is 90 degrees. The servo motor and the motor base are fixedly connected and installed at one end of the base plate. The flexible flapping wing driving device has two-way propulsion and steering functions, and the steering rudder angle and steering speed are flexibly controlled through the steering gear; the degree of modularization is high, which improves the maneuverability and operation ability in complex environments.

Description

A flexible flapping wing driving device for a small underwater vehicle

technical field

The invention relates to the technology of underwater unmanned vehicles, in particular to a flexible flapping wing drive device for small underwater vehicles

Background technique

The 21st century is called the "Ocean Century" in which human beings exploit and utilize the ocean. For some situations where the underwater operation environment is complicated and the operation is difficult, the submarine cannot successfully complete the task. In recent years, the technology of underwater unmanned vehicles has developed rapidly and is widely used in the above-mentioned occasions, as well as in the detection of underwater resources, water environment monitoring, exploration and monitoring of dams, and many other aspects of utilizing marine resources.

Underwater vehicles must have propellers. The propeller is a device that converts the mechanical energy generated by the engine into the thrust necessary for the aircraft to move forward. At present, propellers commonly used in aircraft include: single propeller, water jet propeller, flapping wing propeller, flapping wing propeller is divided into single degree of freedom flapping wing propeller, double degree of freedom flapping wing propeller; propeller is generally rigid wing. Domestic scholars and experts have also extensively studied flexible flapping wings. The research directions can be roughly divided into two directions. One is the research on flapping wing materials. The wings are flexible and have a certain waveform after being energized, and generate forward thrust. One piezoelectric material is still in the research stage; the other is multi-articulated, which needs to be driven by multiple servo motors. The disadvantage is that the drive of the servo motor is not easy to seal, and it is easy to enter water. The coordination between multiple servo motors is poor, and it is difficult to form a stable sine wave. Due to the limitations of the mechanism, the speed of the flapping wing is slow and the thrust generated is small, which makes the carrying capacity and maneuverability of the underwater vehicle worse, which is not conducive to the survival and operation in complex ocean environments.

Invention patent CN104386228A discloses "a fishtail flapping wing hybrid underwater glider configuration". The two sides of the glider body are equipped with gliding wings, and a buoyancy adjustment system and a center of gravity adjustment system are installed inside the body. The attitude of the glider is changed by adjusting the center of gravity adjustment system, and the flexible flapping wing is installed at the tail to generate thrust. In theory, this approach produces higher speeds and accelerations. But in fact, due to insufficient quantitative research on the propulsion mechanism, there is a gap between the actual effect of the prototype and the theoretical prediction, and no advantages have been shown. Simultaneously, the speed of this tail flexible flapping wing cooperative gliding wing working mode is low, carrying capacity is poor, and turning is difficult, causes the maneuverability of aircraft poor.

Invention patent CN1074302A proposes a "bionic underwater robot based on flexible flapping wing propulsion". It belongs to the category of single-degree-of-freedom flexible flapping wings. The electric motor drives two sets of crank rockers through gears to finally output reciprocating circular rotation on the wing root shaft. The flexible airfoil will produce a certain deformation, and the water will exert force on it to drive the underwater robot to move. However, this single-degree-of-freedom device has a complex mechanism, it is difficult to control the shape of the airfoil, it is difficult to control the thrust direction of the underwater robot, and it is difficult to obtain an ideal propulsion force, which cannot meet the requirements of rapid propulsion of small and medium-sized vehicles.

Contents of the invention

In order to avoid the deficiencies in the prior art, the present invention proposes a flexible flapping-wing driving device for a small underwater vehicle. The driving device has a large propulsion force, has bidirectional propulsion and steering functions, and is suitable for the operation capability of unmanned underwater vehicles in complex ocean environments.

The technical solution adopted by the present invention to solve the technical problems is: comprising flapping wing unit, base plate, support base, second rotating shaft, steering gear frame, steering gear, steering gear mounting plate, steering flexible rod, third rotating shaft, motor seat, Servo motors, multiple flapping wing units are connected in series through self-aligning blocks, and are respectively installed in the corresponding slot holes on the bottom plate through the connection between the second rotating shaft and the support base. The frame and the steering gear mounting plate are fixedly installed on both ends of the upper surface of the bottom plate, the steering flexible rod is located between the support base and the steering gear, and is connected with the steering gear, and the flapping wing units at both ends of the base plate are connected to the support base through the third rotating shaft ;The servo motor and the motor base are fixedly installed on one end of the bottom plate, and the servo motor is connected to the second rotating shaft through a coupling;

The flapping wing unit includes a shaft sleeve, a flange bearing, a first rotating shaft, nuts, screws, self-aligning blocks, and a flexible rod. The rod is located in the middle of the two flange bearings, and the hole below the flexible rod is equipped with a bearing, which is used for the flexible rod to be connected in series on the same rotating shaft, and the sleeve is used for the positioning of the flexible rod; the self-aligning block is a cross-shaped protrusion, and the self-aligning block There is a central screw hole in the upper axis, and four screw holes are evenly distributed around the center of the hole. The self-aligning block and the first rotating shaft are fastened by screws and nuts, and the two flapping wing units are connected by self-aligning blocks.

There are at least ten flapping wing units distributed along the slots on the bottom plate; the phase angle between two flapping wing units is 90 degrees.

The flexible rod and the steering flexible rod are connected by a silicone skin to form an airfoil.

The steering gear is a waterproof steering gear.

The first rotating shaft, the flange bearing and the shaft sleeve are coaxially installed.

Beneficial effect

A flexible flapping-wing driving device for a small underwater vehicle proposed by the present invention includes a plurality of flapping-wing units, and the flapping-wing units are connected by self-aligning blocks; they are respectively installed in corresponding grooves on the bottom plate through the connection of the second rotating shaft and the supporting seat In the hole, the support seat is located at both ends of the bottom plate and installed symmetrically up and down. The two steering gears are respectively located at both ends of the bottom plate, and are fixed on the bottom plate through the steering gear frame and the steering gear mounting plate. The steering flexible rod is located between the support seat and the rudder. Between the steering gear, the steering flexible rod is connected to the steering gear, and the flapping wing units at both ends of the bottom plate are connected to the support seat through the third rotating shaft; the flexible rod and the steering flexible rod are connected by silicone skin to form an airfoil. The phase angle between the two flapping wing units is 90 degrees. The servo motor is fixedly connected with the motor base and installed at one end of the bottom plate; the servo motor is connected with the second rotating shaft through a shaft coupling.

The flexible flapping wing driving device of the small underwater vehicle of the present invention has the function of two-way propulsion. When the motor rotates clockwise, the forward direction of the wing surface is continuously changed to generate positive thrust. During work, the motor drives the second rotating shaft. The second rotating shaft drives the first-stage self-aligning block, the shaft on the first-stage self-aligning block drives the first-stage flexible rod to swing, the second-stage self-aligning block and the first-stage self-aligning block are concentric, and the position of the flexible rod is 90 degrees ahead , and so on. The continuous sinusoidal change of the airfoil produces forward driving force, and vice versa produces backward thrust. When the rudder angle is not zero, the overall force direction of the device will be changed, thereby turning.

The flexible flapping wing driving device of the small underwater vehicle of the present invention uses a DC brushless motor as a driving motor for precise control and smooth speed regulation. Through the steering servo, the rudder angle can be precisely controlled, and the steering speed can be flexibly controlled.

The flexible flapping wing driving device of the small underwater vehicle of the present invention can improve the carrying capacity of the small autonomous underwater vehicle and the bionic underwater robot, complete two-way propulsion and steering, and have high mobility and modularization; survivability and workability.

Description of drawings

A flexible flapping wing driving device for a small underwater vehicle of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

Fig. 1 is an exploded view of the flapping wing unit of the flexible flapping wing driving device of the underwater vehicle of the present invention.

Fig. 2 is an axonometric view of the structure of the flexible flapping wing driving device of the underwater vehicle of the present invention.

Fig. 3 is a schematic diagram of the mounting position of the steering gear and the steering flexible rod of the present invention.

Fig. 4 is a schematic diagram of assembly of the flexible flapping wing driving device of the underwater vehicle of the present invention.

Fig. 5 is a schematic diagram of the installation position of the servo motor of the present invention.

in the picture

1. Shaft sleeve 2. Flange bearing 3. First rotating shaft 4. Nut 5. Screw 6. Self-aligning block 7. Flexible rod 8. Bottom plate 9. Support seat 10. Second rotating shaft 11. Steering gear frame 12. Steering gear 13. Servo mounting plate 14. Steering flexible rod 15. Third rotating shaft 16. Motor seat 17. Servo motor

detailed description

This embodiment is a flexible flapping wing driving device for a small underwater vehicle.

In order to simulate the change law of a single airfoil of a sine wave, two discrete airfoils must be used for sampling simulation; the phase angle between the two flapping wing units is 90 degrees, and each sine wave requires five flapping wing units. To ensure that the airfoil of the sine wave is not distorted, there are certain requirements for the number of flapping wing units, and the axial distribution of slots on the bottom plate is at least ten.

Shannon's sampling theorem is an important basic conclusion in the discipline of information theory; sampling is to convert a signal, that is, a continuous function in time or space, into a numerical sequence, that is, a discrete function in time or space. After the discrete signal obtained by sampling passes through the keeper, the obtained signal is a step signal, which has the characteristics of a zero-order keeper. If the signal is band-limited and the sampling frequency is higher than twice the highest frequency of the signal, then the original continuous signal can be completely reconstructed from the sampled samples. Therefore, in order to ensure that the simulated change of the sinusoidal airfoil is not distorted, at least ten flapping wing units are required in this embodiment.

Referring to Figures 1 to 5, the flexible flapping wing driving device of the underwater vehicle in this embodiment includes a flapping wing unit, a base plate 8, a support seat 9, a second rotating shaft 10, a steering gear frame 11, a steering gear 12, and a steering gear mounting plate 13. Steering flexible rod 14, third rotating shaft 15, motor base 16, servo motor 17; a plurality of flapping wing units are connected in series through self-aligning blocks, and are respectively installed in the corresponding slots on the base plate 8 through the connection of the second rotating shaft 10 and the supporting base 9 In the hole, there are four supporting bases 9 arranged symmetrically up and down at the two ends of the base plate 8 . The two steering gears 12 are located at both ends of the base plate 8 respectively, and are fixedly installed on the base plate 8 through the steering gear frame 11 and the steering gear mounting plate 13 . The steering flexible rod 14 is located between the support base 9 and the steering gear 12, and is connected with the steering gear 12. The flapping wing units at both ends on the base plate 8 are connected with the support base 9 through the third rotating shaft 15; the servo motor 17 is fixedly connected with the motor base 16 Installed on one end of the bottom plate 8, the servo motor 17 is connected with the second rotating shaft 10 through a coupling.

Flapping wing unit includes shaft sleeve 1, flange bearing 2, first rotating shaft 3, nut 4, screw 5, self-aligning block 6, flexible rod 7, two flange bearings 2 are installed on the first rotating shaft 3, flange bearing 2 is connected with the shaft sleeve 1; the flexible rod 7 is installed in the middle of the two flange bearings 2, and the flange edge of the flange bearing 2 restricts the movement of the flexible rod 7 in the axial direction, and at the same time reduces the probability of wear of the wing flexible rod 7 . The hole below the flexible rod 7 is equipped with a bearing, which is used for the flexible rod 7 to be connected in series on the same rotating shaft. The self-aligning block 6 is a cross-shaped protrusion. There is a central screw hole in the upper axis of the self-aligning block 6, and four screw holes are evenly distributed around the center of the hole. The self-aligning block 6 and the first rotating shaft 3 are fastened by screws 5 and nuts 4. , the two flapping wing units are connected by the self-aligning block 6. The inner hole of the first rotating shaft 3 is a threaded hole with an inner diameter of 3 mm and an outer diameter of 5 mm. The self-aligning block 6 is connected to the first rotating shaft 3 through the screw 5, and the screw 5 is reversely installed in the adjacent hole for the connection between the flapping wing units. Wherein the first rotating shaft 3, the flange bearing 2, and the shaft sleeve 6 are connected with the shaft center. The side surface of the self-aligning block 6 and the end surface of the first rotating shaft 3 are closely positioned.

In this embodiment, the flexible rod 7 and the steering flexible rod 14 are connected by a silicone skin to form an airfoil. Since silica gel is a flexible material, a changing airfoil is formed when the phase of the flexible rod 7 is constantly changing. Through the phase deflection between the ten-stage flapping wing units, a sinusoidal envelope surface is formed between the flexible rods 7. Through the servo motor 17 Driving the continuous change of the sinusoidal airfoil, thus generating unidirectional propulsion.

The steering gear 12 adopts a waterproof steering gear, the steering gear 12 is installed on the steering gear frame 11, and the steering gear mounting plate 13 is used for positioning and installing the steering gear frame 11. The rudder wheel of the steering gear 12 is connected with the steering flexible rod 14 for adjusting the steering airfoil, thereby controlling the steering of the whole mechanism. When the distance between the steering flexible rod 14 and the flexible rod 7 is large, the steering gear 12 drives the steering flexible rod 14 to form a certain rudder angle, which generates a yaw moment, and the aircraft turns.

Claims (5)

1. a small-sized underwater vehicle flexible flapping wing drive device, is characterized in that: comprise flapping wing unit, base plate, support seat, the second rotating shaft, steering gear frame, steering gear, steering gear mounting plate, turn to flexible bar, the first The three rotating shafts, the motor base, the servo motor, and multiple flapping wing units are connected in series through the self-aligning block, and are respectively installed in the corresponding slots on the bottom plate through the connection between the second rotating shaft and the support seat. The support seats are installed symmetrically up and down at both ends of the bottom plate. The two steering gears are fixedly installed on both ends of the upper surface of the bottom plate through the steering gear frame and the steering gear mounting plate. The steering flexible rod is located between the support seat and the steering gear and is connected with the steering gear. The three rotating shafts are connected to the supporting base; the servo motor and the motor base are fixedly connected to one end of the bottom plate, and the servo motor is connected to the second rotating shaft through a coupling; The flapping wing unit includes a shaft sleeve, a flange bearing, a first rotating shaft, nuts, screws, self-aligning blocks, and a flexible rod. Two flange bearings are installed on the first rotating shaft, and the flange bearing is connected with the shaft sleeve. The rod is located in the middle of the two flange bearings, and the hole below the flexible rod is equipped with a bearing, which is used for the flexible rod to be connected in series on the same rotating shaft, and the sleeve is used for the positioning of the flexible rod; the self-aligning block is a cross-shaped protrusion, and the self-aligning block There is a central screw hole in the upper axis, and four screw holes are evenly distributed around the center of the hole. The self-aligning block and the first rotating shaft are fastened by screws and nuts, and the two flapping wing units are connected by self-aligning blocks. 2. the underwater vehicle flexible flapping wing driving device according to claim 1, is characterized in that: described flapping wing unit is distributed at least ten along the slot hole on the base plate; Phase angle is 90 between two flapping wing units Spend. 3. the flexible flapping wing driving device of underwater vehicle according to claim 1, is characterized in that: adopt silica gel skin to connect and form airfoil between described flexible rod and turn to flexible rod. 4. underwater vehicle flexible flapping wing driving device according to claim 1, is characterized in that: described steering gear is waterproof steering gear. 5. underwater vehicle flexible flapping wing driving device according to claim 1, is characterized in that: the first rotating shaft, flange bearing, axle sleeve coaxial installation.