CN217575558U - Bionic bat ray diving propeller - Google Patents

Abstract

The invention discloses a bionic manta ray diving propeller, which is based on a bionic manta ray and includes a battery compartment, a flexible pectoral fin, a joystick, a control compartment and a tail fin. , the joystick and the caudal fin are respectively connected, the control cabin is used to place the control system, the control cabin is provided with a lock, which can be opened and closed, and the flexible pectoral fin includes two, namely the left fin of the manta ray and the right fin of the manta ray. Fins, the manta ray left fin and the manta ray right fin are respectively cast symmetrically on both sides of the back of the control cabin through soft materials, and a propeller is respectively provided under the manta ray left fin and the manta ray right fin. In the present application, two operating rods are installed on the bionic manta ray diving thruster to effectively connect the diver and the thruster, which can effectively improve the diving speed of the diver in the water, complete some auxiliary diving work at the same time, and improve the efficiency of the diver. This submersible thruster maximizes the diver's time underwater.

Description

A bionic manta ray diving propeller

technical field

The invention relates to the field of underwater robots, in particular to a bionic manta ray submersible propeller.

Background technique

In recent years, with the development and utilization of marine resources, underwater robots have flourished. In advanced diving instruction, open water scuba divers will be involved in the use of "underwater thrusters" in the "advanced adventure" section of the study. The submersible thruster has been popular since its invention, and its benefits are obvious: it allows a diver to reach the maximum depth with the least physical effort, consume less air, and stay in the water longer. Many divers say that using a thruster allows them to focus more on their breathing, and at the same time, it helps you get from the coast to a dive site with very little air, and it also helps you see more in the time limit when boat diving . At present, most of the hand-held diving propellers widely selected by divers are torpedo-shaped, and there are almost no manta-ray types.

As more and more researchers begin to study robotic fish swimming in MPF propulsion mode, for example, Epstein from Northwestern University in the United States developed a bionic ribbon-like long-fin propulsion, and Yamamoto from Japan imitated double kisses based on the flapping wing principle. The manta ray has developed a flexible robotic fish, the National University of Defense Technology of China has researched a flexible long-fin wave-propulsion bionic underwater robot and a pectoral fin swing mode propulsion robotic fish, and Beijing University of Aeronautics and Astronautics has developed a single-degree-of-freedom manta ray-like underwater machine fish etc. Fish swimming in MPF mode represented by manta rays have been excavated and applied to the manufacture of underwater machines, which provides evidence for the realization of bionic manta ray diving propulsion.

Most of the existing bionic manta ray submersible propellers are autonomous underwater vehicles, which focus on independent diving operations and are separated from the divers themselves, which is not conducive to improving work efficiency, nor is it helpful for divers to travel underwater.

The present application relates to a bionic manta ray submersible propeller, which can assist divers to travel underwater without hindering the operation of auxiliary equipment possessed by the propeller itself.

SUMMARY OF THE INVENTION

In order to achieve the above technical purpose, the utility model discloses a bionic manta ray diving propeller. Based on the bionic manta ray, two operating rods are installed on the submersible propeller to connect the diver and the propeller together, so as to boost the diver in the water. down the parade.

This application is achieved through the following technical solutions:

A bionic manta ray diving propulsion is based on a bionic manta ray, and includes a battery compartment, flexible pectoral fins, a joystick, a control compartment and a tail fin. The caudal fins are respectively connected, the control cabin is used to place the control system, the control cabin is provided with a lock, which can be opened and closed on the side, and the flexible pectoral fins include two, which are respectively the left fin of the manta ray and the right fin of the manta ray. The manta ray left fin and the manta ray right fin are respectively cast symmetrically on both sides of the back of the control cabin through soft materials. A propeller is respectively provided under the manta ray left fin and the manta ray right fin. The left and right sides of the control cabin Two pairs of steering gears are symmetrically arranged, respectively, and the propeller thrusters and steering gears are respectively connected with the control system signal. The joystick includes two, which are respectively arranged at the front of the back of the control cabin, and the battery compartment is arranged at the back of the control cabin. On the top, the battery compartment is used to place the battery to supply power to the entire control system. The tail fin is arranged at the bottom of the control cabin, and a tail driver bracket is arranged inside the tail fin. The tail driver bracket is connected with the signal of the control system in the control cabin. .

As a preferred embodiment, the overall shape of the submersible propeller is a flat shape.

As a preferred embodiment, the flexible pectoral fins are designed in a triangle shape, as the propulsion structure of the submersible propeller, the flexible pectoral fins provide power for the swimming of the submersible propeller through flexible swing, and the triangular structure can reduce the resistance of the water.

As a preferred embodiment, when the left fin of the manta ray and the right fin of the manta ray swing at the same time, the forward motion can be realized, and when the left fin of the manta ray swings, the right fin of the manta ray is stationary, and the turning motion can be realized.

As a preferred embodiment, the flexible pectoral fin includes a bionic fin unit and an elastic fin surface, the bionic fin unit and the elastic fin surface made of latex leather material are connected by bonding, and the bionic fin unit includes two, which are respectively arranged At the leading edge of the flexible pectoral fin, the bionic fin unit can transmit the motion of the leading edge of the flexible pectoral fin backward to better simulate the flexible swing of the pectoral fin of the manta ray.

As a preferred embodiment, the bionic fin unit uses SMA wire with a diameter of 0.2 mm as the driving material, the bionic fin unit includes a base body, SMA wire, a silicone skin and an elastomer, the elastomer is fixed on the base body, and the elastomer is SMA wires are arranged on both sides of the SMA wire respectively, and a silicone skin is covered on the SMA wires.

As a preferred embodiment, the bionic fin unit has a width of 9mm, a total length of 80mm and a thickness of 3mm. The bionic fin unit works in a differential manner. When the SMA wire on one side shrinks, the bionic fin unit is driven to bend, and the SMA on the other side is stretched at the same time. The SMA wire on the other side shrinks, which drives the bionic fin unit to bend to the opposite side, while stretching the SMA wire on the opposite side, and the bionic fin unit can achieve upward and downward flexibility under the differential contraction of the two SMA wires. Bend swing motion. The contraction action of the SMA wire can well simulate the contraction movement of the pectoral fin muscles of the manta ray. During the differential movement of the flexible bionic fin unit, the elastomer of polyethylene material and the silicone skin can store elastic energy when the SMA wire contracts, while The elastic energy is released when the SMA wire recovers, improving the utilization efficiency of energy. During the bending and swinging process of the bionic fin unit, the SMA wire is close to the elastic body, and the entire flexible fin unit can achieve uniform curvature bending.

As a preferred embodiment, the caudal fin includes two thin sheets, and the caudal fin is used for stabilizing the course and is composed of polyethylene sheets coated with silica gel on the surface.

As a preferred embodiment, one of the two joysticks is fixed and is only used for grasping by hand, and the other can be manually manipulated to control the movement direction and speed of the diving propeller.

As a preferred embodiment, the control system includes a wireless transmitting module, a wireless receiving module, and a control driving module. The wireless transmitting module and the wireless receiving module are integrated circuits based on the PT2262 chip and the SC2272 chip that can provide 6 channels of wireless control signals, respectively. The main control chip that controls the driver module adopts PIC16F877A single-chip microcomputer. The RB0~RB6 ports are connected to the wireless receiving module, and the RD0~RD3 ports are connected to the MOSFET to control the on-off of the 4-way SMA wire, which is realized by the level transition interrupt function of the RB0 port. Real-time control of the swimming state of a bionic manta ray.

Beneficial effects:

(1) A bionic manta ray submersible propeller of the present application adds a joystick structure to the bionic manta ray submersible, which ingeniously combines man and machine, so that it is not only a submersible, but becomes a diver underwater Parade right-hand man.

(2) A pair of joysticks are provided in the present application, which are respectively installed in front of the back of the control cabin. Divers can hold the two joysticks with both hands to control the direction. The action signal will be converted into an electrical signal and transmitted to the inside of the control cabin, and then converted into a motion signal of the machine. In the present application, by installing two operating rods on the bionic manta ray diving thruster to effectively connect the diver and the thruster, the diving speed of the diver in the water can be effectively improved, and some auxiliary diving work can be completed at the same time, thereby improving the efficiency of the diver.

(3) The movement of divers underwater is limited by oxygen, so the time of a dive is often shorter. The submersible thruster can reduce the amount of movement of the diver when working underwater, thereby reducing the oxygen consumption and maximizing the utilization of the diver's time underwater. In addition, the design of the two joysticks helps the diver better control the consistent movement of the body and the thrusters.

Description of drawings

FIG. 1 is a schematic diagram of the overall structure of a bionic manta ray diving propeller of the application.

FIG. 2 is a side view of FIG. 1 .

FIG. 3 is a bottom view of FIG. 1 .

FIG. 4 is a schematic structural diagram of a control cabin in a bionic manta ray submersible thruster according to the present application.

FIG. 5 is a schematic structural diagram of a flexible pectoral fin in a bionic manta ray diving propulsion according to the present application.

FIG. 6 is a schematic structural diagram of a tail fin in a bionic manta ray diving propulsion according to the present application.

FIG. 7 is a schematic structural diagram of a battery compartment in a bionic manta ray diving propulsion according to the present application.

FIG. 8 is a schematic structural diagram of a joystick in a bionic manta ray diving propulsion according to the present application.

FIG. 9 is a schematic structural diagram of a module of a control system in a bionic manta ray submersible thruster according to the present application.

10 is a schematic structural diagram of a bionic fin unit in a bionic manta ray diving propulsion according to the present application.

Detailed ways

Below in conjunction with the accompanying drawings, the embodiments of the present invention are described in detail: the present embodiment is implemented on the premise of the technical solution of the present invention, and provides detailed embodiments and specific operation processes, but the protection scope of the present invention is not limited to the following described embodiment.

Example:

As shown in Figures 1, 2, 3, and 4, a bionic manta ray diving propulsion is based on bionic manta rays, and includes a battery compartment 1, a flexible pectoral fin 2, a joystick 3, a control cabin 4 and a tail fin 5, and controls Cabin 4, as the core component, is connected with battery compartment 1, flexible pectoral fin 2, joystick 3 and caudal fin 5 respectively. Control cabin 4 is used to place the control system. Control cabin 4 is provided with a lock for opening and closing. The flexible pectoral fin 2 includes The two are respectively the left fin of the manta ray and the right fin of the manta ray. The left fin of the manta ray and the right fin of the manta ray are respectively cast symmetrically on both sides of the back of the control cabin 4 through the soft material, and the bottom of the left fin of the manta ray and the right fin of the manta ray A propeller thruster is respectively provided, and two pairs of steering gears are symmetrically arranged on the left and right sides of the control cabin 4 respectively, and the propeller thruster and the steering gear are respectively connected with the signal of the control system. The four steering gears respectively control the operation of the submersible thrusters in four directions: front, rear, left, right.

The joystick 3 includes two, which are respectively arranged at the back and forward position of the control cabin 4. The battery compartment 1 is arranged on the top of the control cabin 4. The battery compartment 1 is used to place the battery to supply power to the entire control system. The tail fin 5 is arranged in the control cabin. At the bottom of 4 , a tail driver bracket is arranged inside the tail fin 5 , and the tail driver bracket is signal-connected with the control system in the control cabin 4 . The overall shape of the submersible thruster is a flat shape.

As shown in Figures 5, 6, 7, and 8, the flexible pectoral fin 2 is designed in a triangle shape. As the propulsion structure of the diving propeller, the flexible pectoral fin 2 provides power for the swimming of the diving propeller through flexible swing, and the triangular structure can reduce the water resistance. When the manta ray's left fin and the manta ray's right fin swing at the same time, the forward motion can be realized. When the manta ray's left fin swings, the manta ray's right fin is still, and the turning motion can be realized. Materials that can be used for the flexible pectoral fin 2 and caudal fin 5 include shape memory alloy (SMA), ionic polymer conductive film (ICPF), and piezoelectric ceramic (PZT). Compared with other materials, SMA has high resistivity, high fatigue life, and deformation recovery. Due to the advantages of large volume, large shape recovery stress and high energy density, in this embodiment, SMA wire is used as the driving material.

The caudal fin 5 is located at the bottom of the control cabin 4, and the caudal fin 5 includes two thin sheets. The caudal fin 5 is used to stabilize the course and is made of polyethylene sheets coated with silica gel. Two joysticks are respectively arranged at the back front position of the control cabin 4, one joystick 3 is fixed and only for hand grasping, and the other joystick 3 can be manually manipulated to control the movement direction and speed of the submersible propeller.

As shown in FIG. 10 , the flexible pectoral fin 2 includes a bionic fin unit 21 and an elastic fin surface 22. The bionic fin unit 21 and the elastic fin surface 22 made of a latex leather material are connected by bonding, and the bionic fin unit 21 includes two , respectively arranged at the front edge of the flexible pectoral fin 2, the bionic fin unit 21 can transmit the movement of the front edge of the flexible pectoral fin 2 backwards, so as to better simulate the flexible swing of the pectoral fin of the manta ray. The bionic fin unit 21 uses SMA wire with a diameter of 0.2 mm as the driving material. The bionic fin unit 21 includes a base body 211 , SMA wire 212 , a silicone skin 213 and an elastic body 214 , and the elastic body 214 is fixed on the base body 211 . SMA wires 212 are respectively arranged on both sides of the SMA wires 212, and a silicone skin 213 is covered on the SMA wires 212. The bionic fin unit 21 has a width of 9 mm, a total length of 80 mm and a thickness of 3 mm. The bionic fin unit 21 works in a differential manner. When the SMA wire on one side shrinks, the bionic fin unit 21 is driven to bend, and the SMA wire on the other side is stretched at the same time; The side SMA wire shrinks, which drives the bionic fin unit 21 to bend toward the opposite side, and simultaneously stretches the SMA wire on the opposite side. The bionic fin unit 21 can achieve upward and downward flexible bending and swinging under the differential contraction of the two SMA wires. sports. The contraction action of the SMA wire can well simulate the contraction movement of the pectoral fin muscles of the manta ray. During the differential movement of the flexible bionic fin unit, the elastomer of polyethylene material and the silicone skin can store elastic energy when the SMA wire contracts, while The elastic energy is released when the SMA wire recovers, improving the utilization efficiency of energy. During the bending and swinging process of the bionic fin unit, the SMA wire is close to the elastic body, and the entire flexible fin unit can achieve uniform curvature bending.

As shown in Figure 9, the control system includes a wireless transmitting module, a wireless receiving module, and a control driving module. The wireless transmitting module and the wireless receiving module are integrated circuit modules based on the PT2262 chip and the SC2272 chip that can provide 6 channels of wireless control signals respectively. , the main control chip that controls the drive module adopts PIC16F877A single-chip microcomputer, RB0~RB6 ports are connected with the wireless receiving module, RD0~RD3 are connected with MOSFETs to control the power on and off of 4 channels of SMA wires, and the level transition interrupt function of the RB0 port is used to realize the Real-time control of the swimming state of a bionic manta ray.

The basic principles and main features of the present invention and the advantages of the present invention have been shown and described above. 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 modifications 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 (10)

1. The utility model provides a bionical bat dive propeller, is based on bionical bat, its characterized in that, including battery compartment, flexible pectoral fin, control lever, control cabin and tail fin, the control cabin is as core component, links to each other respectively with battery compartment, flexible pectoral fin, control lever and tail fin, the control cabin is used for placing control system, the control cabin is equipped with a hasp, and the aspect is opened and is closed, flexible pectoral fin includes two, is bat left fin, bat right fin respectively, bat left fin, bat right fin pass through the software material respectively the symmetry casting in the both sides of control cabin back, bat left fin, bat right fin are equipped with a screw propeller respectively below, the left and right sides of control cabin symmetry respectively is equipped with two pairs of steering engines, propeller, steering engine respectively with control system signal connection, the control lever includes two, sets up the back that is in the control cabin and leans on the front position respectively, the battery compartment sets up the top, the battery is used for placing the battery, gives the power supply of whole control system, the tail set up the driver in the control cabin, this tail driver of tail support and this tail control system connection.

2. The bionic manta ray submersible thruster of claim 1, wherein the submersible thruster is shaped as a flat whole.

3. The bionic manta ray diving propeller as claimed in claim 1, wherein the flexible pectoral fin is designed into a triangle shape as a propelling structure of the diving propeller, the flexible pectoral fin provides power for the swimming of the diving propeller through flexible swing, and the triangle structure can reduce the resistance of water.

4. The bionic manta ray diving propeller of claim 1, wherein an advancing motion is realized when a left fin of a manta ray and a right fin of a manta ray swing simultaneously, and a turning motion is realized when the right fin of the manta ray is stationary.

5. The bionic manta ray diving propeller of claim 1, wherein, the flexible pectoral fin comprises a bionic fin unit and two elastic fin surfaces, the elastic fin surfaces made of the bionic fin unit and latex skin materials are connected in a bonding mode, the bionic fin unit comprises two bionic fin units which are respectively arranged at the front edge of the flexible pectoral fin, and the bionic fin unit can transmit the motion of the front edge of the flexible pectoral fin backwards so as to better simulate the flexible swing of the manta ray pectoral fin.

6. The bionic manta ray submersible thruster of claim 5, wherein the bionic fin unit adopts an SMA wire with a diameter of 0.2mm as a driving material, and comprises a base body, the SMA wire, a silica gel skin and an elastic body, wherein the elastic body is fixed on the base body, the SMA wire is respectively arranged at two sides of the elastic body, and the silica gel skin is covered on the SMA wire.

7. The simulated manta ray submersible thruster of claim 5, wherein the bionic fin unit is 9mm wide, 80mm long and 3mm thick, and operates in a differential mode, when the SMA wire on one side contracts, the bionic fin unit is driven to bend, and the SMA wire on the other side is stretched; and the SMA wires on the other side contract to drive the bionic fin unit to bend towards the direction of the opposite side, and simultaneously stretch the SMA wires on the opposite side, so that the bionic fin unit can realize flexible bending and swinging movement upwards and downwards under the drive of differential contraction of the two SMA wires.

8. The bionic manta ray submersible thruster of claim 1, wherein the tail fin comprises two thin sheets, the tail fin is used for stabilizing course and is made of polyethylene sheet coated with silica gel on surface.

9. The bionic manta ray submersible thruster of claim 1, wherein one of the two joysticks is fixed and only held by hand, and the other joystick can be manually operated to control the moving direction and speed of the submersible thruster.

10. The bionic manta ray submersible thruster as claimed in claim 1, wherein the control system comprises a wireless transmitting module, a wireless receiving module, and a control driving module, the wireless transmitting module and the wireless receiving module are integrated circuit modules based on a PT2262 chip and an SC2272 chip, respectively, and can provide 6 wireless control signals, a main control chip of the control driving module adopts a PIC16F877A single chip microcomputer, ports RB0 to RB6 are connected with the wireless receiving module, ports RD0 to RD3 are connected with a MOSFET to control the on/off of 4 SMA wires, and a level jump interrupt function of the port RB0 is utilized to realize real-time control of the swimming state of the manta ray.

Images