CN115432153A - A waterproof flapping mechanism imitating manta ray flexible pectoral fins - Google Patents

Abstract

The invention relates to a simulated bat ray flexible pectoral fin waterproof flapping mechanism, belonging to the field of bionic aircrafts; the bionic aircraft body comprises a main driving motor assembly, a passive waterproof flapping assembly, a flexible pectoral fin assembly and a main body sealed cabin, wherein the main driving motor assembly is arranged in the main body sealed cabin of the bionic aircraft body, and the passive waterproof flapping assembly is arranged in the flexible pectoral fin assemblies at two sides of the bionic aircraft; the passive waterproof flapping assemblies on the two sides are driven by the main driving motor assembly, so that flexible pectoral fin flapping is realized. The driving synchronous belt wheel and the driven synchronous belt wheel are transmitted through the synchronous belt, and the installation precision requirement and the integral assembly requirement of the waterproof sealing shell are low. Through the waterproof transmission of steering wheel, realize that power exports the outside flexible pectoral fin in the cabin body from the cabin body is inside, adopt waterproof steering wheel. The pectoral fins are made of flexible materials and have hollow structures, so that the load of internal resistance to the fin rays due to passive deformation of the pectoral fins can be reduced, the load of a steering engine is reduced, the internal consumption of the whole motion system is reduced, and the efficiency of power output is improved.

Description

A waterproof flapping mechanism imitating manta ray flexible pectoral fins

technical field

The invention belongs to the field of bionic aircraft, and in particular relates to a waterproof flapping mechanism imitating a flexible pectoral fin of a manta ray.

Background technique

Traditional underwater vehicles mostly have a rotary appearance and are propelled by propellers. The work is stable and the propulsion speed is fast, but the navigation attitude is difficult to change flexibly, and the obstacle avoidance performance is not good. As a new type of underwater vehicle, the bionic ray underwater vehicle based on pectoral fin propulsion has the advantages of good maneuverability, high bionicity, and strong concealment.

In the prior art, the waterproof steering gear is directly used for the bionic ray underwater vehicle, but the steering gear has high requirements, and it cannot work in seawater environment or at a large depth, and the steering gear directly drives the fin rays, and the steering gear and fin rays cannot be adjusted. The transmission coefficient of the fins cannot give full play to the performance of the steering gear. Due to the exterior of the waterproof steering gear, the power line and signal line of the steering gear must enter the main cabin to connect to the control board, which needs to be waterproofed separately, which is not easy to disassemble. At the same time, the external connecting wire connector is easily corroded by seawater. Conventional connectors such as banana plugs are not It cannot be used to prevent direct short circuit of seawater. The customized joint is bulky and expensive, and it takes up space for movable pectoral fins, which is not conducive to shape preservation. The maintenance cost of the corresponding waterproof steering gear is also higher.

In the prior art, the pectoral fins of the bionic aircraft are still supported by skeletons, because there is a large amount of water inside the pectoral fins. When flapping, the water in the pectoral fin cavity hinders the flapping of the pectoral fins due to inertia, and makes the skin of the pectoral fins unable to maintain its shape.

In the prior art, the fin rays and silica gel are fixedly poured or integrally wrapped and inactively matched. When the phase difference between the fin rays moves, it is necessary to overcome the internal resistance of the overall pectoral fin deformation, and the internal friction of the system is serious.

Contents of the invention

Technical problem to be solved:

In order to avoid the deficiencies of the prior art, the present invention provides a flexible pectoral fin waterproof flapping mechanism imitating a manta ray, including a drive assembly, a flap assembly and a pectoral fin, the drive module is placed in a sealed cabin, and the transmission module is placed in a waterproof seal In the shell, the waterproof problem of the control and driving parts of the imitation manta ray aircraft is solved; the pectoral fins are designed with flexible materials and hollow structures, which can reduce the load on the fin rays due to the internal resistance of the passive deformation of the pectoral fins, and at the same time reduce the load on the steering gear. Reduce the internal friction of the entire motion system and improve the efficiency of power output.

The technical solution of the present invention is: a manta ray imitation flexible pectoral fin waterproof flapping mechanism, including a main drive motor assembly, a passive waterproof flap assembly, a flexible pectoral fin assembly and a main body sealing compartment, and the main drive motor assembly is arranged on a bionic aircraft In the sealed compartment of the main body of the torso, the passive waterproof flapping components are arranged in the flexible pectoral fin components on both sides of the bionic aircraft;

The passive waterproof flapping assemblies on both sides are driven by the main drive motor assembly to realize flapping of flexible pectoral fins.

A further technical solution of the present invention is: the main driving motor assembly includes a power source, a bracket and an active synchronous pulley, and multiple sets of power sources are respectively installed in the main body sealed compartment through the bracket; a plurality of the active synchronous pulleys are respectively installed in The output shaft of each power source.

A further technical solution of the present invention is: the power source is a steering gear or a motor.

A further technical solution of the present invention is: the flexible pectoral fin assembly includes a pectoral fin fixing block and a flexible pectoral fin, and two symmetrically arranged flexible pectoral fins are respectively installed on both side walls of the bionic aircraft trunk through the pectoral fin fixing block; the flexible pectoral fin is hollow structure.

A further technical solution of the present invention is: the spanwise airfoil of the flexible pectoral fin is a NACA airfoil, and its maximum thickness chord ratio coefficient ranges from 2% to 10%, which can reduce the internal resistance of passive deformation when the pectoral fin phase difference flutters .

A further technical solution of the present invention is: the flexible pectoral fins are poured with flexible materials, such as silica gel, rubber and TPU.

A further technical solution of the present invention is: adding hollow microbead material to the flexible material to reduce the material density.

A further technical solution of the present invention is: the density of the flexible material is 1.0g/cm ² -1.05g/cm ² , which is close to the density of water body.

A further technical solution of the present invention is: multiple sets of the passive waterproof flapping components are evenly distributed in the axial direction on both sides of the main body sealed cabin, corresponding to multiple power sources of the main body sealed cabin;

The passive waterproof flapping assembly includes fin rays, output shaft, passive synchronous pulley and waterproof sealing shell, and the waterproof sealing shell is fixed on the side wall of the main body sealing cabin; one end of the output rotating shaft is sealed and installed in the waterproof sealing shell, and the other One end is fixedly connected to the root of the fin, and the passive synchronous pulley is fixed on the output shaft;

The active synchronous pulley and the passive synchronous pulley are connected by a synchronous belt, and the power source sequentially drives the active synchronous pulley, the synchronous belt, the passive synchronous pulley, and the output shaft to rotate, and then drives the fins to swing. The flexible pectoral fin flapping can be realized by swinging with different phase difference between them.

A further technical solution of the present invention is: the waterproof sealing shell is a hollow semi-cylindrical shell, a through hole is opened at one end, and a waterproof end cover is coaxially installed at the inner end of the through hole; the waterproof end cover has a central hole;

The part of the output rotating shaft extending into the waterproof sealing casing is connected to the waterproof sealing casing and the central hole of the waterproof end cover through rolling bearings;

A sealing ring is provided between the inner wall of the central hole of the waterproof end cover and the output shaft for dynamic sealing between the two; a sealing ring is provided between the outer peripheral surface of the waterproof end cover and the waterproof sealing shell for use between the two. Between static seals.

A further technical solution of the present invention is: retaining rings are arranged on both sides of the passive synchronous pulley for its axial positioning.

Beneficial effect

The beneficial effects of the present invention are:

1. Except for the output shaft, the other parts of the present invention are all in the waterproof casing, so there is no need for waterproofing of the components, easy disassembly and assembly, good interchangeability, and no problem of seawater failure.

2. The shape of the steering gear is of the opposite sex, and the shape of the manta ray is flat. In the existing technology, the exterior of the steering gear will occupy a larger pectoral fin area. When the pectoral fin flaps at a particularly large angle (amplitude), the steering gear cannot follow it. The synchronous rotation of the pectoral fins will destroy the shape of the pectoral fins, and the bionicity cannot be well maintained. However, the transmission output shell of the present invention has a regular shape (semicircle), and can still maintain the shape of the pectoral fin at about ±80° (originally 45°), and has better bionic properties.

3. The invention adopts gap movable assembly, which is more conducive to the phase difference movement between the fin rays, effectively reduces the internal friction of the system, improves the power output efficiency of the steering gear, and at the same time avoids the overheating fault caused by the long-term high power of the steering gear.

4. The physical characteristics of the flexible material used in the pectoral fins of the present invention are closer to real biological structures in terms of material touch and appearance than traditional fabrics such as spandex, and can act as muscles, with stronger bionicity. The optional hardness of the flexible material ranges from 0° to 70°, preferably 0° to 30°. In addition, flexible materials have lower water resistance than traditional fabrics, and the shape of the impermeable airfoil is better, which can better convert flapping power into thrust, and the efficiency is higher.

5. Compared with the steering gear directly driving the fin rays, by changing the transmission coefficient of the pulley, the different phases and speeds of the steering gear and the fin rays can be realized to increase the flapping torque or flapping speed limit and reduce the use demand for the steering gear . After the large-volume steering gear is placed inside the cabin, the proportion of the fluttering part of the pectoral fin is larger than that of the whole machine, and the thickness of the root of the pectoral fin is reduced, so that the amplitude of a single pectoral fin flapping is larger and the single fluttering is improved. It is also more conducive to the shape-keeping design of the pectoral fin shape.

6. The active synchronous pulley and the passive synchronous pulley of the present invention are transmitted through the synchronous belt, and the precision requirements for the installation of the waterproof sealed case and the overall assembly requirements are low. Through the waterproof transmission of the steering gear, the power is output from the inside of the cabin to the flexible pectoral fins outside the cabin, so that there is no need to use a waterproof steering gear, reducing the use cost of the steering gear.

Description of drawings

Fig. 1 flexible pectoral fin waterproof flapping mechanism;

Figure 2 main drive motor assembly;

Figure 3 passive waterproof flapping components;

Figure 4 Flexible pectoral fin assembly;

Figure 5. Top view section of pectoral fin;

Figure 6. Span-wise section view of pectoral fins;

Figure 7 parts transmission path;

Explanation of reference numerals: 1. Main drive motor assembly 2. Passive waterproof flutter assembly, 3. Flexible pectoral fin assembly, 4. Main airtight compartment; 1-1. Steering gear 1-2. Steering gear bracket 1-3. Active synchronization Pulley; 2-1 fin ray, 2-2 fin ray connector, 2-3 waterproof end cover, 2-4 sealing ring, 2-5 rolling bearing, 2-6 sealing ring, 2-7 output shaft, 2-8 Retaining ring, 2-9 passive synchronous pulley, 2-10 retaining ring, 2-11 shaft retaining ring, 2-12 rolling bearing, 2-13 waterproof sealing shell; 3-1. Pectoral fin fixing block, 3-2. Flexible pectoral fins.

detailed description

The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Orientation indicated by rear, left, right, vertical, horizontal, top, bottom, inside, outside, clockwise, counterclockwise, etc. The positional relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, Therefore, it should not be construed as limiting the invention.

In this embodiment, a manta ray imitation flexible pectoral fin waterproof flapping mechanism includes a main drive motor assembly 1, a passive waterproof flap assembly 2, a flexible pectoral fin assembly 3 and a main body sealing compartment 4, and the main drive motor assembly 1 is arranged in bionic navigation In the main airtight cabin 4 of the torso, the passive waterproof flapping assembly 2 is arranged in the flexible pectoral fin assembly 3 on both sides of the bionic aircraft; the passive waterproof flapping assembly 2 on both sides is driven by the main drive motor assembly 1 to realize flexibility. Pectoral fins flutter.

The main drive motor assembly 2 includes a steering gear or motor, a bracket and an active synchronous pulley, and multiple groups of power sources are respectively installed in the main body sealed compartment through the bracket; a plurality of the active synchronous pulleys are respectively installed on the output of each power source axis.

The flexible pectoral fin assembly 3 includes a pectoral fin fixing block 31- and a flexible pectoral fin 3-2, and two symmetrically arranged flexible pectoral fins 3-2 are respectively installed on both side walls of the bionic aircraft trunk through the pectoral fin fixing block 3-1; the flexible pectoral fin 3-2 is a hollow structure. When different fin rays move with a phase difference, the fin rays can slide relative to each other inside the pectoral fin, reducing the amount of passive deformation of the pectoral fin, thereby reducing the load on the fin rays due to the internal resistance of the passive deformation of the pectoral fin. At the same time, reduce the load of the steering gear, reduce the internal friction of the entire motion system, and improve the efficiency of power output.

The flexible pectoral fin 3-2 is poured by flexible material, adopts silica gel, rubber, TPU. Hollow bead materials are added to the flexible material to reduce the material density. The density of the flexible material is 1.0g/cm ² -1.05g/cm ² , which is close to the density of the water body, so that the pectoral fins are in a suspended state in the water, which is beneficial to maintain the attitude of the aircraft in a static state, reduces the static load of the steering gear, and is more conducive to gliding.

Multiple groups of the passive waterproof flapping components 2 are evenly distributed on both sides of the main airtight cabin 4 in the axial direction, corresponding to the multiple motors or steering gears of the main airtight cabin 4;

The passive waterproof flutter assembly 2 includes a fin ray 2-1, an output shaft 2-7, a passive synchronous pulley 2-9 and a waterproof sealing case 2-13, and the waterproof sealing case 2-13 is fixed on the side wall of the main body sealing compartment 4 One end of the output rotating shaft 2-7 is sealed and installed in the waterproof sealing shell 2-13, and the other end is fixedly connected with the root of the fin ray 2-1, and the passive synchronous pulley 2-9 is fixed on the output rotating shaft; the active The synchronous belt pulley 1-3 and the passive synchronous belt pulley 2-9 are connected through a synchronous belt, and the active synchronous belt pulley 1-3, the synchronous belt, the passive synchronous belt pulley 2-9, and the output shaft 2 are sequentially driven by the motor or steering gear -7 rotates, and then drives the fin rays 2-1 to swing, and realizes flexible pectoral fin flapping through the swing of different phase differences between different fin rays 2-7.

Preferably, the waterproof sealing shell 2-13 is a hollow semi-cylindrical shell with a through hole at one end, and a waterproof end cover is coaxially installed at the inner end of the through hole; the waterproof end cover has a central hole; The part of the output rotating shaft 2-7 protruding into the waterproof sealing shell is connected with the waterproof sealing shell and the central hole of the waterproof end cover through rolling bearings; the inner wall of the central hole of the waterproof end cover and the output rotating shaft are provided with sealing A ring is used for dynamic sealing between the two; a sealing ring is arranged between the outer peripheral surface of the waterproof end cover and the waterproof sealing shell for static sealing between the two.

Preferably, retaining rings are provided on both sides of the passive synchronous pulley for its axial positioning.

Example:

Referring to Fig. 1, the overall structural connection method: each flexible pectoral fin 3-2 is composed of several groups of active-passive flapping mechanisms, as shown in Fig. 1, there are 3 groups of flapping components. Each set of main drive motor assembly 1 is fixedly installed inside the main body sealed cabin 4 through the steering gear bracket 1-2, and the main drive synchronous pulley 1-3 of each set of main drive motor assembly 1 is passively synchronized with the passive waterproof flutter assembly 2 Pulleys 2-9 are connected by timing belts. The passive waterproof flutter assembly is fixedly installed on the side wall of the main airtight chamber through the installation hole of the waterproof airtight chamber. The flexible pectoral fin assembly 3 is put on the passive waterproof flutter assembly and is fixedly installed with the side wall of the cabin body.

Referring to Figure 2, the main drive motor assembly connection method: the steering gear or servo motor 1-1 is fixedly installed on the steering gear bracket 1-2, and the active synchronous pulley 1-3 is installed on the output shaft of the steering gear 1-1. The main drive click assembly is fixedly installed in the main sealed cabin through the steering gear bracket, and the rotation of the output shaft of the steering gear drives the rotation of the main drive timing pulley.

Referring to Figure 3, the connection method of the passive waterproof flapping component: the fin ray 2-1 is fixedly installed on the fin ray connector 2-2, the fin ray connector 2-2 is fixed on the output shaft 2-7, and the sealing ring 2- 6 Installed on the output shaft 2-7 for the dynamic seal of the relative rotation between the output shaft 2-7 and the waterproof end cover 2-3, the rolling bearing 2-5 and the rolling bearing 2-12 are respectively installed on the waterproof end cover 2-3 and the waterproof seal The shell 2-13 is used to support the output shaft 2-7 for rotational movement. The waterproof end cover 2-3 is fixedly installed on the waterproof sealing shell 2-13 through the screw hole on the end face, and the sealing ring 2-4 is installed on the waterproof end cover 2-3 to ensure the static sealing between the two. The passive synchronous pulley 2-9 is installed on the output shaft, and is axially fixed by set screws. The retaining ring 2-8 and the retaining ring 2-10 are used for the axial positioning of the passive synchronous pulley 2-9. Ring 2-11 is used for axially fixing retaining ring 2-10.

Referring to Figure 4, the connection description: the flexible pectoral fins are poured with flexible materials, such as silica gel, rubber, TPU and other materials, and hollow microbead materials can be added to the flexible materials to reduce the material density, preferably adjustable to 1.0g /cm ² -1.05g/cm ² is close to the density of the water body, so that the pectoral fins are in a suspended state in the water, which is beneficial to maintain the attitude of the aircraft in a static state, reduces the static load of the steering gear, and is also more conducive to gliding. The flexible pectoral fin is fixedly installed on the pectoral fin fixed block, and the pectoral fin fixed block passes through the fin rays 2-1 and is fixedly installed in the main airtight compartment.

Referring to Fig. 5, the flexible pectoral fin 3-2 and the fin ray 2-1 adopt a movable clearance fit, and the pectoral fin is preferably a hollow structure at the position of the fin ray. Sliding reduces the amount of passive deformation of the pectoral fins, thereby reducing the load on the fin rays due to the internal resistance of the passive deformation of the pectoral fins. At the same time, it reduces the load on the steering gear, reduces the internal friction of the entire motion system, and improves the efficiency of power output.

Referring to Figure 6, the preferred NACA airfoil for the pectoral fin spanwise airfoil, in order to reduce the internal resistance of passive deformation when the pectoral fin phase difference flutters, the maximum thickness chord ratio coefficient range of the movable pectoral fin is 2%-10%, preferably 3%-5%, taking the maximum chord length of the pectoral fin in this example as 400mm as an example, the maximum thickness of the active part of the root is 10mm.

With reference to shown in Figure 7, the steering gear or the output shaft of the servo motor 1-1 in the main body sealed cabin rotates to drive the main drive synchronous pulley 1-3, drives the passive synchronous pulley 2-9 in the waterproof sealed shell through the synchronous belt, and drives The output rotating shaft 2-7 drives the fin ray 2-1 on the fin ray connector 2-2 to realize the swing of the fin ray 2-1. The flapping of flexible pectoral fins is realized by the swing of different phase differences between different fin rays. By controlling the speed and rotation angle of the steering gear or the servo motor 1-1, different flapping frame widths and flapping frequencies of the fin rays 2-1 can be realized. By controlling the phase difference between different groups of steering gears, different phase difference flapping of the flexible pectoral fin can be realized.

Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be construed as limitations to the present invention. Variations, modifications, substitutions, and modifications to the above-described embodiments are possible within the scope of the present invention.

Claims (10)

1. An imitation manta ray flexible pectoral fin waterproof flapping mechanism, is characterized in that: comprise main drive motor assembly, passive waterproof flap assembly, flexible pectoral fin assembly and main body sealing cabin, described main drive motor assembly is arranged on the trunk of bionic aircraft In the sealed cabin of the main body, the passive waterproof flapping components are arranged in the flexible pectoral fin components on both sides of the bionic aircraft; The passive waterproof flapping assemblies on both sides are driven by the main drive motor assembly to realize flapping of flexible pectoral fins. 2. The manta ray imitation flexible pectoral fin waterproof flapping mechanism according to claim 1, characterized in that: the main drive motor assembly includes a power source, a bracket and an active synchronous pulley, and multiple sets of power sources are respectively installed on the main body seal through the bracket In the cabin; multiple active synchronous pulleys are respectively installed on the output shafts of the power sources. 3. The manta ray imitation flexible pectoral fin waterproof flapping mechanism according to claim 2, characterized in that: the power source is a steering gear or a motor. 4. According to the described manta ray flexible pectoral fin waterproof flapping mechanism according to claim 1, it is characterized in that: the flexible pectoral fin assembly includes a pectoral fin fixing block and a flexible pectoral fin, and two symmetrically arranged flexible pectoral fins are respectively installed on the bionic body through the pectoral fin fixing block. The two side walls of the torso of the aircraft; the flexible pectoral fin is a hollow structure. 5. According to the described manta ray imitation flexible pectoral fin waterproof flapping mechanism according to claim 4, it is characterized in that: the spanwise airfoil of described flexible pectoral fin is NACA airfoil, and its maximum thickness chord ratio coefficient range is 2%-10%, It can reduce the internal resistance of passive deformation when the pectoral fin phase difference flutters. 6. The waterproof and fluttering mechanism of imitating manta ray flexible pectoral fins according to claim 4, characterized in that: the flexible pectoral fins are poured from flexible materials, such as silica gel, rubber, and TPU. 7. The waterproof and flapping mechanism of imitating manta ray flexible pectoral fins according to claim 6, characterized in that: hollow microbead materials are added to the flexible material to reduce the material density. 8 . The waterproof and flapping mechanism of manta ray imitating flexible pectoral fins according to claim 7 , wherein the density of the flexible material is 1.0 g/cm ² -1.05 g/cm ² , which is close to the density of water. 9. According to any one of claims 1-8, the manta ray flexible pectoral fin waterproof flapping mechanism is characterized in that: multiple sets of the passive waterproof flapping components are evenly distributed in the axial direction on both sides of the main body sealed cabin, and One-to-one correspondence of multiple power sources in the sealed cabin of the main body; The passive waterproof flapping assembly includes fin rays, output shaft, passive synchronous pulley and waterproof sealing shell, and the waterproof sealing shell is fixed on the side wall of the main body sealing cabin; one end of the output rotating shaft is sealed and installed in the waterproof sealing shell, and the other One end is fixedly connected to the root of the fin, and the passive synchronous pulley is fixed on the output shaft; The active synchronous pulley and the passive synchronous pulley are connected by a synchronous belt, and the power source sequentially drives the active synchronous pulley, the synchronous belt, the passive synchronous pulley, and the output shaft to rotate, and then drives the fins to swing. The flexible pectoral fin flapping can be realized by swinging with different phase difference between them. 10. The manta ray imitation flexible pectoral fin waterproof flapping mechanism according to claim 9, characterized in that: the waterproof sealing shell is a hollow semi-cylindrical shell, one end of which has a through hole, and the inner end of the through hole is coaxial A waterproof end cover is installed; the waterproof end cover has a central hole; The part of the output rotating shaft extending into the waterproof sealing casing is connected to the waterproof sealing casing and the central hole of the waterproof end cover through rolling bearings; A sealing ring is provided between the inner wall of the central hole of the waterproof end cover and the output shaft for dynamic sealing between the two; a sealing ring is provided between the outer peripheral surface of the waterproof end cover and the waterproof sealing shell for use between the two. Between static seals.

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