CN109835455B - Flexible tail fin-imitating propeller driven by link mechanism - Google Patents

Abstract

The invention discloses a flexible imitation caudal fin propeller driven by a link mechanism, which comprises a side shield, a bracket, a muffler tile, a flexible imitation caudal fin blade, a push rod, a connecting rod seat and a connecting rod. The variable acceleration linear reciprocating motion of the push rod eventually evolves into the swinging of the flexible caudal fin blades through the connecting rods symmetrically distributed about the symmetrical plane of the first flexible caudal fin blade and the second flexible caudal fin blade. Adjusting the hinge position of the ball hinge at the end of the connecting rod and the flexible caudal fin blade can change the flexible deformation law of the flexible caudal fin blade and realize a variety of bionic swimming modes. When the present invention is implemented, it can be arranged in series or side by side by imitating the swimming pattern of fish schools, and has the advantages of low noise, high propulsion efficiency, stable propulsion and the like.

Description

A linkage mechanism drives a flexible imitation caudal fin thruster

technical field

The invention belongs to the technical field of bionic thrusters, in particular to a flexible caudal fin thruster driven by a link mechanism.

Background technique

The propeller propulsion device mainly used in the existing propeller has disadvantages such as high noise, large wake vortex, low comprehensive efficiency (usually less than 45%), and poor maneuvering performance. The huge noise and wake vortex make the underwater vehicle unable to hide better; the lack of maneuverability makes the underwater vehicle inconvenient to drive in the complex seabed environment; the low comprehensive efficiency makes the speedup of the underwater vehicle a problem. The propeller can effectively replace the traditional propeller propulsion mode, and has far-reaching significance in the field of ocean exploration and national defense, especially in the improvement of concealed navigation and endurance of underwater submersibles.

Chinese invention patent CN201510665821.1 discloses a two-degree-of-freedom bionic tail fin, including four parts: a paddle frame slot, a paddle frame, a blade and a transmission gear. The combination of a variety of blade propulsion methods can effectively improve the propulsion force, but the blade has two parts. There is no protection and noise canceling device on the side, and it is difficult to sneak under water.

Chinese utility model patent CN201420564908.0 discloses an imitation caudal fin propeller, which includes a left gear transmission part, a right gear transmission part, a middle planetary gear train part, a total input shaft, a bearing, a connecting rod, a tail fin connecting rod and a tail fin. Its structure It is compact, but the gear form used in this structure has the problems of high noise and strict working environment requirements, which is not suitable for underwater stealth diving.

SUMMARY OF THE INVENTION

The purpose of the present invention is to design a linkage mechanism-driven flexible caudal fin thruster to achieve underwater high-efficiency and low-noise propulsion.

The present invention adopts the following technical solutions to realize:

A connecting rod mechanism drives a flexible imitation caudal fin propeller, comprising a bracket and a propeller unit arranged on the bracket, the propeller unit comprising a driving device, a first connecting rod, a second connecting rod, a first flexible imitation tail fin blade, a second Flexible imitation caudal fin blades, first side shield and second side shield;

The first side shield and the second side shield are symmetrically installed on the bracket, the first flexible imitation caudal fin blade and the second flexible imitation caudal fin blade are symmetrically arranged between the first side shield and the second side shield, the first flexible Both the imitation caudal fin blade and the second flexible imitation caudal fin blade are connected with the bracket through the rotating shaft;

The driving device is mounted on the bracket and is located on one side between the first flexible imitation caudal fin blade and the second flexible imitation caudal fin blade, the driving device has a push rod capable of reciprocating motion, and the end of the push rod is provided with a connecting rod seat;

The connecting rod seat is connected with the first flexible imitation tail fin blade and the second flexible imitation tail fin blade respectively through a first connecting rod and a second connecting rod, and two ends of the first connecting rod are respectively connected with the connecting rod seat and the first flexible imitation tail fin The blades are connected by ball hinges, and the two ends of the second connecting rod are respectively connected with the connecting rod seat and the second flexible imitation tail fin blade by ball hinges;

The first link and the second link are symmetrical about the symmetry plane of the first flexible caudal fin blade and the second flexible caudal fin blade.

The position of the connection part between the first link and the first flexible imitation caudal fin blade is adjustable, and the position of the connection part between the second link and the second flexible imitation caudal fin blade is adjustable.

The first flexible imitation caudal fin blade and the second flexible imitation caudal fin blade are both provided with fin ray-shaped multi-line structures.

The thickness of the first flexible imitation caudal fin blade and the second flexible imitation caudal fin blade gradually decreases from the tip to the tip of the blade.

Both the first side shield and the second side shield are provided with sound-absorbing tiles.

A plurality of the propeller units are arranged on the bracket, and the plurality of the propeller units are arranged side by side or in a combined form of series.

Compared with the prior art, the present invention has the following beneficial effects:

The connecting rod mechanism drives the flexible caudal fin thruster of the present invention to use the push rod of the driving device to push the connecting rod seat, so that the connecting rod seat can reciprocate synchronously with the push rod, and the reciprocating motion of the connecting rod seat can pass through the first connecting rod and the second connecting rod. The two connecting rods make the first flexible imitation caudal fin blade and the second flexible imitation caudal fin blade perform flexible swing motion with the rotating shaft as the center of rotation, so as to realize the propulsion function. The link mechanism of the present invention drives the flexible imitation tail fin thruster to convert the variable acceleration linear reciprocating motion of the push rod into the flexible swing of the first and second flexible imitation tail fin blades on both sides through the first and second connecting rods, so as to realize the imitation of fish. Efficient swing propulsion with caudal-like fins. The linkage mechanism of the present invention drives the flexible caudal fin propeller to use the first and second side guards to slow down the interference and impact of the ocean currents on both sides of the propeller on the propeller, and guide the water flow disturbed by the flexible caudal fin blades to be discharged to the end of the propeller. .

Further, the position of the connection part between the first link and the first flexible imitation caudal fin blade of the present invention is adjustable, and the position of the connection part between the second link and the second flexible imitation caudal fin blade is adjustable, so by By changing the hinge position of the ball hinge at the end of the connecting rod and the flexible imitation caudal fin blade, the force point of the flexible imitation caudal fin blade can be adjusted, thereby changing the flexible deformation law of the flexible imitation caudal fin, and realizing a variety of bionic swimming modes, such as: whale-shaped caudal fin swing, The tail fin of the trevally fish swings.

Further, the first side guard plate and the second side guard plate of the present invention are provided with sound-absorbing tiles, which can not only absorb the underwater acoustic noise generated by the propeller, but also reduce the sound reflection intensity of the propeller itself, so as to realize echo. Stealth purpose.

Further, in the present invention, a plurality of thruster units are arranged side by side or in a combined form of series, so the energy saving mechanism in the swimming of fish schools can be imitated. The influence of the jet area reduces the energy consumption. When arranged side by side, due to the pressure coupling between multiple blades, the co-directional vortices falling off the trailing edge of the airfoil merge with each other and are strengthened to form a strong jet effect, so that the propeller can obtain additional thrust, thereby improving the propulsion efficiency.

Description of drawings

Fig. 1 is the schematic diagram of the application of the flexible imitation tail fin thruster driven by the linkage mechanism of the present invention in the submarine;

Fig. 2 is a schematic diagram of the flexible imitation tail fin thruster driven by the link mechanism of the present invention to imitate the swimming of fish; Fig. 2(a) is a combination of multiple thruster units arranged in series; Fig. 2(b) is a Multiple thruster units are arranged in a side-by-side combination;

3 is an overall schematic diagram of the flexible caudal fin thruster driven by the linkage mechanism according to the present invention;

Fig. 4 is the rear view of the flexible imitation caudal fin thruster driven by the link mechanism according to the present invention;

FIG. 5 is a schematic diagram of the link mechanism driving the flexible caudal fin thruster blade extrapolation according to the present invention;

FIG. 6 is a schematic diagram of retracting the blades of the flexible imitation caudal fin thruster driven by the link mechanism according to the present invention.

In the picture: 1 is the side shield, 2 is the bracket, 3 is the muffler tile, 4 is the flexible imitation tail fin blade, 5 is the push rod, 6 is the connecting rod seat, 7 is the connecting rod, 8 is the submersible, and 9 is the connecting rod The rod mechanism drives the flexible caudal fin thruster.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Referring to FIG. 1 , the flexible imitation tail fin propeller driven by the linkage mechanism provided by the present invention can be widely used in various underwater submersibles, and the propulsion device can be installed in a suitable position of the submersible according to actual needs.

Referring to FIG. 2( a ), the link mechanism of the present invention drives the flexible caudal fin thrusters to imitate the swimming characteristics of a school of fish, and is arranged in series. When fish swim autonomously, the anti-Kaman vortex street generated in the wake can induce a backward jet, thereby generating a thrust that offsets the resistance; but at the same time as the jet zone exists, there are also some low-speed zones, low-speed zones and fish energy saving mechanisms are closely related. The propeller of the present invention utilizes the properties of the low-speed zone to save energy and enhance the endurance capability of the underwater submersible.

Referring to FIG. 2( b ), the link mechanism of the present invention drives the flexible caudal fin thrusters to simulate the swimming characteristics of a school of fish and distribute them side by side. The reason why the multiple blades arranged side by side generate additional thrust is that under the pressure coupling between the multiple blades, the co-directional vortices shed by the trailing edges of the two airfoils fuse with each other and are strengthened to form a strong jet effect. The stronger the pressure coupling effect, the greater the additional thrust. The thrusters gain additional thrust, which improves propulsion efficiency.

Referring to FIG. 3 , the power of the link mechanism of the present invention to drive the flexible caudal fin thruster comes from the push rod 5 of the driving device, and the push rod 5 pushes the link base 6 to reciprocate up and down. The first link and the second link are symmetrically distributed in a "herringbone" shape, and the link seat 6 drives the movement of the first and second links in the "herringbone" distribution, and transmits the motion to the first and second flexible analogs. The caudal fin blade realizes the movement form of the blade's flexible swing.

Referring to FIG. 4 , the force transmission form of the flexible imitation tail fin thruster driven by the link mechanism of the present invention is from top to bottom, and the link seat 6 is driven by the push rod 5 . The connecting rod seat 6 of the flexible caudal fin thruster driven by the link mechanism is symmetrically distributed with the connecting rod seat ball hinge, which ensures that there are three rotational degrees of freedom between the connecting rod 7 and the connecting rod seat 6 . By changing the hinged position of the ball hinge at the end of the connecting rod 7 and the flexible imitation caudal fin blade 4, the flexible deformation law of the flexible imitation caudal fin blade 4 can be changed, and various bionic swimming modes can be realized. The end of the flexible imitation caudal fin blade 4 is provided with a shaft installation hole, and the rotating shaft on the bracket 2 is installed in the installation hole, and the bracket 2 supports the entire flexible imitation caudal fin blade 4 .

Referring to FIG. 5 , the outline of the flexible imitation caudal fin blade 4 imitates the caudal fin of a fish, and the end of the flexible imitation caudal fin blade 4 (that is, the connection end between the flexible imitation caudal fin blade 4 and the bracket 2 ) gradually decreases in thickness to the tip, and the thickness of the flexible imitation caudal fin blade 4 decreases gradually. Parallel multiple linear structures resembling fish fin rays. During the swinging process of the imitation caudal fin blade 4, the high pressure area and the low pressure area appear alternately on the upper and lower surfaces of the blade, and the high pressure area appears on the convex surface of the blade, and the low pressure area appears on the concave surface of the blade. The distribution of this high and low pressure area will be in the A pressure difference is created across the blades, which in turn generates propulsion. The push rod 5 moves downward, and the flexible imitation caudal fin blades 4 move to both sides. Under the action of water pressure, the blades are deformed in the form of "inner splay", thereby providing forward thrust. Side shields 1 attached with sound-absorbing tiles 3 are added on both sides of the flexible imitation caudal fin blades 4. The side shields 1 can slow down the impact of ocean currents on both sides of the propeller on the propeller, and guide the water disturbed by the flexible imitation caudal fin blades 4 to flow to the propeller. The end is discharged, and the attached sound-absorbing tile 3 is used to reduce the propeller's own noise and the sound target intensity, so as to achieve the purpose of echo stealth.

Referring to Fig. 6, the driving device can be a hydraulic cylinder. The push rod 5 of the hydraulic cylinder moves upward, and the flexible imitation tail fin blade 4 moves toward the center. Under the action of water pressure, the blade deforms in an "outside character" shape, thereby providing forward thrust. 5 and 6 illustrate that the flexible caudal fin blade 4 can provide forward thrust throughout the entire movement cycle.

The realization of the low-noise propulsion mode of the present invention: As can be seen from FIG. 4 , the downward movement of the push rod 5 drives the symmetrically arranged connecting rods 7 to move downward, thereby pushing the imitation tail fin blade 4 to flexibly swing around the rotating shaft. The link mechanism drives the upper and both sides of the flexible imitation caudal fin thruster, respectively, with brackets 2 and side shields 1 attached with muffler tiles 3 . The propeller has a simple structure, has no obvious impact on the mechanical mechanism, and the water rolled up by the flexible imitation caudal fin blades 4 flows through the above-mentioned structural constraints and noise cancellation, and the underwater acoustic noise is greatly reduced.

The realization of the high-efficiency propulsion method of the present invention: the connecting rod seat 6 drives the connecting rod 7 to move downward, and is restricted by the rotating shaft and the ball hinge, the flexible imitation tail fin blades 4 are unfolded to both sides, and the blades are subjected to the action of water pressure to produce "inner eight" deformation , producing forward thrust. The connecting rod seat 6 drives the connecting rod 7 to move upwards. Constrained by the ball hinge of the rotating shaft, the flexible imitation caudal fin blade 4 moves toward the center, and the blade is deformed by the water pressure to produce an "outside eight" shape, which generates a forward thrust. Adjusting the hinged position of the ball hinge at the end of the connecting rod 7 and the flexible imitation caudal fin blade 4 can change the flexible deformation law of the flexible imitation caudal fin blade 4 and realize a variety of bionic swimming modes. The arrangement of the flexible imitation tail fin thrusters driven by the linkage mechanism in the underwater submersible is adjusted, and the energy-saving mode of swimming in a school of fish is simulated to achieve efficient propulsion.

To sum up, the advantages of the present invention are embodied in:

The flexible imitation tail fin propeller driven by the link mechanism provided by the invention can imitate the swing of the tail fin of fish, and has the characteristics of high propulsion efficiency, strong maneuverability, low noise, simple structure, easy realization and high reliability.

Using the link mechanism of the present invention to drive a submersible with a flexible imitation tail fin thruster can greatly reduce its own noise level and reduce the sound reflection intensity, thereby enhancing the concealment of the underwater submersible.

The linkage mechanism-driven flexible caudal fin thruster of the present invention is inspired by the excellent propulsion performance of fish, inherits the high-efficiency propulsion performance of fish, and can effectively improve the underwater endurance of the submersible. Because the position of the driving fulcrum is variable, and the driving method adopts the mixed control of force and position, different swing laws of the flexible blades can be realized, and the bionic motion of different fishes can be realized.

The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above-mentioned embodiments. The above-mentioned embodiments and descriptions only illustrate the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will also have Various changes and improvements fall within the scope of the claimed invention. The claimed scope of the present invention is defined by the appended claims and their equivalents.

Claims (6)

1. A connecting rod mechanism driven flexible tail fin simulating propeller is characterized by comprising a support (2) and a propeller unit arranged on the support (2), wherein the propeller unit comprises a driving device, a first connecting rod, a second connecting rod, a first flexible tail fin simulating blade, a second flexible tail fin simulating blade, a first side protection plate and a second side protection plate;

the first side guard plate and the second side guard plate are symmetrically arranged on the support (2), the first flexible tail fin imitating blade and the second flexible tail fin imitating blade are symmetrically arranged between the first side guard plate and the second side guard plate, and the first flexible tail fin imitating blade and the second flexible tail fin imitating blade are both connected with the support (2) through rotating shafts;

the driving device is arranged on the support (2) and is positioned on one side between the first flexible tail fin simulating blade and the second flexible tail fin simulating blade, the driving device is provided with a push rod (5) capable of reciprocating, and the end part of the push rod (5) is provided with a connecting rod seat (6);

the connecting rod seat (6) is connected with the first flexible tail fin imitating blade and the second flexible tail fin imitating blade through a first connecting rod and a second connecting rod respectively, two ends of the first connecting rod are connected with the connecting rod seat (6) and the first flexible tail fin imitating blade through spherical hinges respectively, and two ends of the second connecting rod are connected with the connecting rod seat (6) and the second flexible tail fin imitating blade through spherical hinges respectively;

the first connecting rod and the second connecting rod are symmetrical about the symmetrical planes of the first flexible tail fin imitating blade and the second flexible tail fin imitating blade;

a rotating shaft mounting hole is formed in the tail end of the flexible tail fin simulating blade (4), and a rotating shaft on the support (2) is mounted in the mounting hole;

when the connecting rod seat (6) drives the first connecting rod and the second connecting rod to move downwards, the flexible tail fin simulating blades (4) are unfolded towards two sides under the restraint of the rotating shaft and the spherical hinge, and the flexible tail fin simulating blades (4) generate inward splayed deformation under the action of water pressure to generate forward thrust;

when the connecting rod seat (6) drives the first connecting rod and the second connecting rod to move upwards, the flexible tail fin simulating blades (4) are close to the center under the constraint of the rotating shaft ball hinge, and the flexible tail fin simulating blades (4) generate outward splayed deformation under the action of water pressure to generate forward thrust.

2. The linkage-driven flexible skeg propeller of claim 1, wherein a position of a connection between the first linkage and the first flexible skeg blades is adjustable, and a position of a connection between the second linkage and the second flexible skeg blades is adjustable.

3. The linkage mechanism driven flexible tail fin imitating propeller as claimed in claim 1, wherein the first flexible tail fin imitating blade and the second flexible tail fin imitating blade are both provided with a fin-shaped multi-line structure.

4. The linkage driven flexible skeg propeller of claim 1, wherein the first flexible skeg blades and the second flexible skeg blades gradually decrease in thickness from the blade tip to the tip.

5. The linkage-driven flexible skeg propeller as claimed in claim 1, wherein the first side guard and the second side guard are provided with noise reduction tiles (3).

6. The linkage mechanism driven flexible skeg propeller as claimed in claim 1, wherein a plurality of propeller units are arranged on the support (2), and the propeller units are arranged side by side or in a tandem combination.

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