CN203623955U - Flexible bionic propeller - Google Patents

Abstract

The utility model relates to a flexible bionic propeller. The flexible bionic propeller comprises more than one flexible bionic swinging joints. Each flexible bionic swinging joint comprises a cavity, a swinging rod, a rotary shaft and a fin strip. Each swinging rod is arranged in each cavity and the cavity is enabled to be a first cavity and a second cavity. One end of each swinging rod is a rotary end and the other end of each swinging rod is a freely swinging end. By rotation of each freely swinging end, each rotary end rotates. Communicating oil holes are respectively formed in each first cavity and each second cavity. Each rotary shaft is connected with each rotary end of each swinging rod. Each fin strip is arranged on each rotary shaft. The flexible bionic propeller has flexibility of motion and structure.

Description

Flexible Bionic Propulsion

technical field

The utility model relates to a bionic sports device, in particular to a flexible bionic propeller.

Background technique

With the development of society and the progress of science and technology, it is more and more important to develop bionic motion propellers for new underwater vehicles. The bionic swing joint is not only the structural component of the bionic thruster, but also the basis for simulating various bionic rhythmic movements. The performance of the bionic swing joint will directly affect the performance of the entire bionic thruster.

At present, the existing bionic propellers for underwater vehicles are generally composed of several independent or linked motor direct-driven rigid bionic swing joints, which are combined through a specific mechanical structure, and then simulated by a rigid mechanical transmission structure. The flexible rhythmic movement of living things. Since the rigid bionic oscillating joint is generally directly driven by a motor or through a motion transformation mechanism, when the mechanical structure is fixed, the law of the oscillating motion cannot be adjusted, resulting in a single form of bionic motion and few adjustable parameters. What's more serious is that when the bionic swing joint is disturbed by the outside world, it is easy to cause motion jamming, and even damage the mechanical structure and electrical system. Many related experiments have shown that based on the rigid bionic swing joint motion, the bionic motion simulated by the bionic thruster is relatively stiff, resulting in low efficiency of bionic propulsion.

Utility model content

The technical problem to be solved by the utility model is that: aiming at the technical problems existing in the prior art, the utility model provides a flexible bionic propeller with motion flexibility and structural flexibility.

In order to solve the problems of the technologies described above, the technical solution proposed by the utility model is:

A flexible bionic propeller, including more than one flexible bionic swing joint, the flexible bionic swing joint includes a cavity, a swing rod, a rotating shaft and fin rays, the swing rod is installed in the cavity and divides the cavity into second A chamber and a second chamber, one end of the swing rod is a rotating end, the other end of the swing rod is a free swing end, and the rotation end is rotated by the swing of the free swing end; the first chamber and the second The chambers are respectively provided with communicating oil holes, the rotating shaft is connected to the rotating end of the swing rod, and the fins are installed on the rotating shaft.

As a further improvement of the above technical solution:

A first one-way valve allowing fluid to flow from the first chamber to the second chamber and a second one-way valve allowing fluid to flow from the second chamber to the first chamber are provided on the swing rod.

Two one-way valve holes are opened on the swing rod, and the one-way valve holes are in the shape of stepped holes. Both the first one-way valve and the second one-way valve include valve cores installed in the one-way valve holes. , the spool spring and the adjusting screw, the spool is installed in the one-way valve hole and close to the step part, one end of the spool spring presses against the spool, and the other end is connected with the adjusting screw; oil hole.

Two return springs are arranged on the swing stroke of the free swing end of the swing rod, which are respectively installed in the first chamber and the second chamber. One end of the return spring is connected with the free swing end of the swing rod. The other end of the return spring is connected with the inner wall of the cavity.

The cavity includes a frame and two sealing end caps, and the two sealing end caps are located at both ends of the frame to form a sealed cavity.

The cavity body is provided with an accommodating cavity for installing the rotating end, and the accommodating cavity is formed by buckling a frame and two sealing end covers.

The cross-sectional shape of the cavity is fan-shaped, and the free swing end is located in the larger end of the fan-shaped cavity.

All flexible bionic swing joints are arranged in sequence and fixedly installed on the bracket assembly.

One end of the rotating shaft protrudes from the cavity, and the fins are connected to the extending end of the rotating shaft; a sealing assembly is provided on the sealing end cover near the extending end of the rotating shaft, and the sealing assembly includes a sealing ring, an extrusion cover and The connecting piece, the sealing ring is sheathed on the rotating shaft and fixed on the sealing end cover through the connecting piece and the gland.

Bosses are respectively provided on both sides of the bottom of the free swing end on the swing rod.

Compared with the prior art, the utility model has the advantages of:

(1) The utility model has certain movement flexibility and structure flexibility. The motion flexibility of the bionic swing joint means that motion parameters such as swing amplitude, swing frequency, and swing law can be dynamically adjusted, and there is no motion speed or acceleration impact when swinging and reversing; structural flexibility means that when there is external interference and the normal swing motion cannot The bionic flexible swing joint can be adjusted and adapted to automatically cut off the transmission chain to avoid damage to the mechanical structure or electrical system. The utility model can change the hydraulic flow by simply changing the control strategy of the hydraulic valve, thereby realizing the adjustment of the swing amplitude and swing frequency parameters of the flexible bionic swing joint, and realizing different swing laws, such as sinusoidal swing law, triangular wave swing law, etc. ; (2) The utility model effectively protects its structural safety, avoids damage to the mechanical structure, and realizes the flexibility of the bionic structure. When the flexible bionic swing joint is overloaded, it can automatically open the discharge protection structure, and the movement of its non-overloaded flexible bionic swing joint is not affected. When the overload is eliminated, its movement will recover automatically; (3) The utility model is equipped with a buffer cavity and a return spring, which effectively reduces the impact of the liquid flow when swinging and reversing; (4) The fan-shaped shape of the frame and other components designed by the utility model , so that its dimension along the axial direction is small, while its dimension perpendicular to the axial direction is relatively large. This flat fan-shaped structure facilitates large torque output in a compact volume; (5) The utility model is safe and Reliable, highly portable and practical.

Description of drawings

Fig. 1 is a schematic diagram of the exploded structure of the flexible bionic swing joint of the utility model.

Fig. 2 is a front structural schematic diagram of the flexible bionic swing joint of the present invention.

Fig. 3 is a sectional view of the A-A section of Fig. 3 .

Fig. 4 is a structural schematic diagram of the flexible bionic thruster of the utility model.

Fig. 5 is a structural schematic diagram of the flexible bionic propeller of the utility model in a normal motion state.

Fig. 6 is a structural schematic diagram of the fin rays of the flexible bionic thruster of the present invention in a blocked state.

Each label in the figure means:

1. The first sealing end cover; 2. Frame; 21. Accommodating cavity; 22. The first oil hole; 23. The second oil hole; 24. The first chamber; 25. The second chamber; 26. The cavity ; Core spring; 43, the first adjusting screw; 5, the second one-way valve; 51, the second spool; 52, the second spool spring; 53, the second adjusting screw; 6, rotating shaft; 7, flat key; 8 , return spring; 9, second sealing end cover; 10, sealing ring; 11, gland; 12, connector; 13, bracket; 14, fin ray; 15, oil pipe joint.

Detailed ways

Fig. 1 to Fig. 6 have shown the embodiment of flexible bionic thruster of the present utility model, comprise more than one flexible bionic swing joint, flexible bionic swing joint comprises cavity 26, swing bar 3, rotating shaft 6 and fin ray 14, swing Rod 3 is installed in cavity 26 and cavity 26 is divided into first chamber 24 and second chamber 25, and one end of fork 3 is rotating end 34, and the other end of fork 3 is free swing end, through free The swing of the swing end makes the rotating end 34 rotate; the first chamber 24 and the second chamber 25 are respectively provided with communicating oil holes, which are used to inject or discharge hydraulic oil, and the communicating oil holes include the first oil hole 22 and the second oil hole. Two oil holes 23 , the rotating shaft 6 is connected to the rotating end 34 of the swing rod 3 , and the fins 14 are installed on the rotating shaft 6 . The fork 3 divides the cavity 26 into the first chamber 24 and the second chamber 25 whose size changes and the sum of the total volume is constant in the swing process, and the first chamber 24 and the second chamber are alternately connected to the first chamber 24 and the second chamber through the communication oil hole. The cavity 25 is injected with a certain pressure of liquid flow, which can push the swing rod 3 to do periodic reciprocating swings. The swing frequency, swing amplitude and swing law can be controlled by the injected liquid flow, thereby realizing the flexibility of the swing movement.

In this embodiment, the swing rod 3 is provided with a first one-way valve 4 that allows fluid to flow from the first chamber 24 to the second chamber 25 and allows fluid to flow from the second chamber 25 to the first chamber 24. The second one-way valve 5; two one-way valve holes are provided on the swing rod 3, and the one-way valve holes are stepped holes. The first one-way valve 4 and the second one-way valve 5 all include The spool, spool spring and adjusting screw in the hole, the spool is installed in the one-way valve hole and close to the step part, one end of the spool spring presses against the spool, and the other end is connected with the adjusting screw, and the adjusting screw is provided with an oil filter. hole. The two one-way valve holes include the first valve hole 31 and the second valve hole 32, the stepped holes of the first valve hole 31 and the second valve hole 32 are oppositely arranged, and the valve core includes the first valve core 41 and the second valve core. Core 51, the spool spring includes a first spool spring 42 and a second spool spring 52, the adjusting screw includes a first adjusting screw 43 and a second adjusting screw 53, the first spool 41, the first spool spring 42 And the first adjusting screw 43 is set in the first valve hole 31 , and the second valve core 51 , the second valve core spring 52 and the second adjusting screw 53 are set in the second valve hole 32 . By arranging two reversely installed first one-way valves 4 and second one-way valves 5 between the first chamber 24 and the second chamber 25, when the swing rod 3 cannot continue to swing due to external interference , one of the chambers (high-pressure chamber) continues to inject high-pressure liquid flow, one of the check valves is opened, and the liquid flows to the other chamber (low-pressure chamber), the first one-way valve 4, the second one-way valve 5 The opening pressure can be adjusted separately by the valve core spring through the adjusting screw. In this embodiment, the first one-way valve 4 and the second one-way valve 5 are spherical valves. In other embodiments, the valve core can be in the shape of a truncated cone, a cylinder, or a diaphragm.

In this embodiment, when the hydraulic system injects a certain pressure hydraulic pressure into the first chamber 24 through the first oil hole 22 , the swing rod 3 will rotate clockwise around the rotating shaft 6 . If the load moment on the rotating shaft 6 is too large, or cannot continue to rotate clockwise due to external interference, the pressure of the liquid flow in the first chamber 24 will continue to rise until the first spool 41 of the first check valve 4 Push it away, so that the high-pressure liquid flow will automatically flow to the second chamber 25 at low pressure through the oil hole on the first adjusting screw 43, so as to avoid damage to the mechanical structure or the electrical system in the hydraulic system. When continuing to inject high-pressure hydraulic oil into the second oil hole 23, if the load moment on the swing rod 3 and the rotating shaft 6 is in the normal range, the pressure of the liquid flow in the second chamber 25 will not increase to the level of the second unit. Open the direction valve 5, that is, the swing rod 3 can rotate counterclockwise normally, otherwise the second one-way valve 5 will open, so that the liquid flow directly flows from the high-pressure second chamber 25 to the low-pressure first chamber 24, and the swing rod 3 stops at this time swing. When the forward and reverse load moments of the utility model do not exceed the normal value, the first one-way valve 4 and the second one-way valve 5 are all in the closed state, and now the swing rod 3 can swing back and forth normally.

In this embodiment, two return springs 8 are arranged on the swing stroke of the free swing end on the swing rod 3, which are respectively installed in the first chamber 24 and the second chamber 25. One end of the return spring 8 is connected to the swing rod 3 The free swing end is connected, and the other end of the return spring 8 is connected to the inner wall of the cavity 26. When the fork 3 swings to the limit position, a liquid flow buffer chamber is formed, and the movement of the fork 3 is constrained by the return spring 8, thereby reducing or even Eliminate the impact of the liquid flow during the swing reversing process, and at the same time ensure that the swing rod 3 is in the middle balance position when there is no liquid flow driving. In this embodiment, the return spring 8 is a compression spring, and in other embodiments, the return spring 8 can be a tension spring.

In this embodiment, the cavity 26 includes a frame 2 and two sealing end caps, and the two sealing end caps are located at both ends of the frame 2 to form a sealed cavity. The sealing end cap comprises a first sealing end cap 1 and a second sealing end cap 9, and the first sealing end cap 1 and the second sealing end cap 9 are fixed on one side of the frame 2 through a connecting piece 12, and ensure the connection between the two. The shaft hole is coaxial, the shape of the first sealing end cap 1 and the second sealing end cap 9 is the same as that of the frame 2, and the shape of the first sealing end cap 1, the frame 2 and the second sealing end cap 9 is designed as a flat fan-shaped structure, To achieve a large swing torque output in a compact structure;

In this embodiment, the cavity 26 is provided with an accommodating cavity 21 for installing the rotating end 34. The accommodating cavity 21 is formed by buckling the frame 2, the first sealing end cover 1 and the second sealing end cover 9, and the rotating end 34 The diameter of the shaft is the same as that of the housing chamber 21 shaft hole on the frame 2, and the inner round hole of the rotating end 34 is matched with the rotating shaft 6, and the two are connected together by the flat key 7. A closed shaft hole with a certain depth is designed on the first sealing end cover 1, and a through hole is provided at the corresponding position of the second sealing end cover 9. The diameter of the through hole is equal to that of the accommodating cavity 21, and the rotating shaft 6 matches the closed shaft hole. , which is coaxial with the accommodating cavity 21 on the frame 2, thereby forming a rotating pair.

In this embodiment, one end of the rotating shaft 6 protrudes from the cavity 26, and the fin 14 is connected to the extending end of the rotating shaft 6; a sealing assembly is provided on the sealing end cover near the extending end of the rotating shaft 6, and the sealing assembly includes a sealing ring 10 , Extrusion cover 11 and connector 12, sealing ring 10 sleeved on the rotating shaft 6 and fixed on the sealing end cover through the connecting member 12 and gland 11, effectively avoiding the flow of liquid from the rotating shaft 6 and the second sealing end cover 9 Leakage at the mating surface of the through hole.

In this embodiment, the cross section of the cavity 26 is fan-shaped, and the free swing end is located in the larger end of the fan-shaped cavity.

In this embodiment, bosses 33 are respectively provided on both sides of the bottom of the free swing end on the pendulum 3, and the setting of the bosses 33 prevents the sides of the pendulum 3 from adhering to the sides of the frame 2, and avoids the impact of liquid flow pressure when reversing . In this embodiment, all flexible bionic swing joints are arranged in sequence and fixedly installed on the bracket assembly.

In this embodiment, an oil pipe joint 15 is installed on the first oil hole 22 and the second oil hole 23 on each flexible bionic swing joint, and a hydraulic system is connected through the oil pipe joint 15, so as to facilitate the connection of the hydraulic system and realize hydraulic pressure. Oil injection and discharge.

As shown in Figures 4 to 6, all the flexible bionic swing joints are arranged sequentially and fixedly installed on the bracket assembly. The fin ray 14 on the bionic swing joint is covered with soft skin to form the fin surface.

As shown in FIG. 4 , the bracket 13 is linear, and a series of flexible bionic swing joints are installed on the bracket 13 through screws and mounting holes, and are arranged at equal intervals. In other embodiments, they can also be arranged at unequal intervals. Due to the effect of the return spring 8, all the fin rays 14 are in the middle equilibrium position. Figure 5 is a structural schematic diagram of the flexible bionic propeller swinging under the control of the hydraulic valve to form a normal waveform; Figure 6 is the structure when the fin rays 14 installed on the fourth and fifth flexible bionic swing joints from the left are disturbed by the outside world and cannot swing normally Schematic diagram, which forms a waveform as a whole. Because the swing movement of the swing rod 3 inside the corresponding flexible bionic swing joint is blocked, the oil pressure in the cavity on one side of the interior rises, so that the one-way valve on the swing rod 3 opens and discharges accordingly. flow, to prevent the inside of the bionic swing joint from being damaged due to the increase of oil pressure. At this time, no hydraulic pressure acts on the swing rod 3 to make it swing, and the corresponding fin ray 14 will no longer swing to prevent the fin ray 14 from breaking.

Although the present invention has been disclosed above with preferred embodiments, it is not intended to limit the present invention. Any person familiar with the art, without departing from the scope of the technical solution of the present utility model, can use the technical content disclosed above to make many possible changes and modifications to the technical solution of the utility model, or modify it into an equivalent change, etc. effective example. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention shall fall within the protection scope of the technical proposal of the present invention. the

Claims (10)

1. A flexible bionic propeller, characterized in that it includes more than one flexible bionic swing joint, the flexible bionic swing joint includes a cavity (26), a swing rod (3), a rotating shaft (6) and fin rays (14 ), the swing rod (3) is installed in the cavity (26) and the cavity (26) is divided into the first chamber (24) and the second chamber (25), the swing rod (3) One end is a rotating end (34), the other end of the swing rod (3) is a free swing end, and the rotating end (34) is rotated by the swing of the free swing end; the first chamber (24) and the second chamber (25) are respectively provided with communicating oil holes, the rotating shaft (6) is connected to the rotating end (34) of the pendulum (3), and the fin rays (14) are installed on the rotating shaft (6). 2. The flexible biomimetic propeller according to claim 1, characterized in that, the swing rod (3) is provided with a first opening allowing fluid to flow from the first chamber (24) to the second chamber (25). A one-way valve (4) and a second one-way valve (5) allowing flow from the second chamber (25) to the first chamber (24). 3. The flexible bionic propeller according to claim 2, characterized in that two one-way valve holes are opened on the swing rod (3), the one-way valve holes are stepped holes, and the first The one-way valve (4) and the second one-way valve (5) both include a valve core installed in the one-way valve hole, a valve core spring and an adjusting screw, and the valve core is installed in the one-way valve hole and is close to the stepped portion , one end of the spool spring presses against the spool, and the other end is connected with the adjusting screw; the adjusting screw is provided with an oil hole. 4. The flexible bionic propeller according to claim 1, 2 or 3, characterized in that two return springs (8) are arranged on the swing stroke of the free swing end of the swing rod (3), respectively installed on the In the first chamber (24) and the second chamber (25), one end of the return spring (8) is connected to the free swing end of the swing rod (3), and the other end of the return spring (8) is connected to the cavity (26) the inner wall links to each other. 5. The flexible bionic propeller according to claim 1, 2 or 3, characterized in that the cavity (26) includes a frame (2) and two sealing end caps, and the two sealing end caps are located on the frame (2) ) forms a sealed cavity at both ends. 6. The flexible bionic propeller according to claim 5, characterized in that, the cavity (26) is provided with an accommodating cavity (21) for installing the rotating end (34), and the accommodating cavity (21 ) is formed by buckling the frame (2) and two sealing end caps. 7. The flexible bionic propeller according to claim 1, 2 or 3, characterized in that, the cross-sectional shape of the cavity (26) is fan-shaped, and the free swing end is located in the larger end of the fan-shaped cavity . 8. The flexible bionic propeller according to claim 1, 2 or 3, characterized in that all the flexible bionic swing joints are arranged in sequence and fixedly installed on the bracket assembly. 9. The flexible bionic propeller according to claim 1, 2 or 3, characterized in that one end of the rotating shaft (6) extends out of the cavity (26), and the fin rays (14) are connected to the rotating shaft (6 ) on the protruding end; the sealing end cover near the protruding end of the rotating shaft (6) is provided with a sealing assembly, the sealing assembly includes a sealing ring (10), an extruded cover (11) and a connecting piece (12). The sealing ring (10) is sleeved on the rotating shaft (6) and fixed on the sealing end cover through the connecting piece (12) and the gland (11). 10. The flexible bionic propeller according to claim 1, 2 or 3, characterized in that bosses (33) are respectively provided on both sides of the bottom of the free swing end of the swing rod (3).

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