CN110884635A - Underwater flapping propulsion device - Google Patents
Underwater flapping propulsion device Download PDFInfo
- Publication number
- CN110884635A CN110884635A CN201911289484.5A CN201911289484A CN110884635A CN 110884635 A CN110884635 A CN 110884635A CN 201911289484 A CN201911289484 A CN 201911289484A CN 110884635 A CN110884635 A CN 110884635A
- Authority
- CN
- China
- Prior art keywords
- shell cover
- electromagnet
- lower shell
- upper shell
- permanent magnet
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 claims abstract description 3
- 239000003292 glue Substances 0.000 claims description 5
- 229910001220 stainless steel Inorganic materials 0.000 claims description 3
- 239000010935 stainless steel Substances 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 9
- 239000000463 material Substances 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 235000015170 shellfish Nutrition 0.000 description 2
- 230000009182 swimming Effects 0.000 description 2
- 210000000683 abdominal cavity Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 210000003041 ligament Anatomy 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
Abstract
The invention belongs to the technical field of robots. The underwater flapping propulsion device has the advantages of being simple in structural design, small in size, light in weight, strong in reliability and convenient to control. The technical scheme is as follows: an underwater flapping propulsion device comprises a battery; the method is characterized in that: the electromagnetic switch comprises an upper shell cover and a lower shell cover which are hinged with each other at the tail parts and have streamline outer surfaces, a permanent magnet fixed on the inner wall of the upper shell cover, an electromagnet fixed on the inner wall of the lower shell cover, a control system fixed on the inner wall of the lower shell cover and electrically connected with the electromagnet to control the on-off of the electromagnet, and a plurality of springs which are parallel to each other and are respectively fixed on the inner walls of the upper shell cover and the lower shell cover at; the electromagnet corresponds to the permanent magnet in position, so that when the upper shell cover and the lower shell cover are closed, the central lines of the electromagnet and the permanent magnet are just overlapped.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to an underwater flapping propulsion device.
Background
At present, the underwater robot mainly adopts a propeller type driving mode, the design size and the power consumption are large, the adaptability to complex underwater environment during underwater driving is poor, the reliability is low, the driving efficiency is not high, and certain damage can be caused to underwater ecological environments such as ocean, so that a new underwater robot driving mode is necessarily explored.
The organisms in the sea have undergone natural selection for tens of thousands of years, and have evolved unique swimming modes in the sea. Marine organisms such as deep sea shellfish rely on light, small and streamlined shells, rapidly contracting closure muscles and the elastic properties of hinges of internal and external ligaments, and the highly developed closure muscles are used to rapidly flap the shell to swim, so that water in the abdominal cavity is forced to be extruded out, and the shells are pushed to move forwards by a forward reaction force (i.e. thrust) applied to the shells by water. Therefore, the research on the underwater propulsion mode of the deep sea shellfish is an important part for designing the driving mode of the underwater robot.
Disclosure of Invention
The invention aims to overcome the defects of the background technology and provides an underwater flapping propelling device which has the characteristics of simple structural design, small volume, light weight, strong reliability and convenient control.
The technical scheme provided by the invention is as follows:
an underwater flapping propulsion device comprises a battery; the method is characterized in that: the electromagnetic switch comprises an upper shell cover and a lower shell cover which are hinged with each other at the tail parts and have streamline outer surfaces, a permanent magnet fixed on the inner wall of the upper shell cover, an electromagnet fixed on the inner wall of the lower shell cover, a control system fixed on the inner wall of the lower shell cover and electrically connected with the electromagnet to control the on-off of the electromagnet, and a plurality of springs which are parallel to each other and are respectively fixed on the inner walls of the upper shell cover and the lower shell cover at; the electromagnet corresponds to the permanent magnet in position, so that when the upper shell cover and the lower shell cover are closed, the central lines of the electromagnet and the permanent magnet are just overlapped.
The spring is a spiral spring; two ends of the spring are respectively fixed on the inner walls of the upper shell cover and the lower shell cover through spring fixing seats.
The permanent magnet and the electromagnet are both provided with grooves inside, so that the weight of the device is reduced.
Two through holes for the end parts of the springs to pass through are formed in the spring fixing seat so as to fix the springs.
The spring is made of stainless steel.
The permanent magnet and the upper shell cover, the electromagnet and the lower shell cover as well as the control system and the lower shell cover are fixedly connected by AB glue.
The control system adopts an STC8051 singlechip.
The invention has the beneficial effects that:
1) the permanent magnet is attracted or released by the on-off of the electromagnet; the electromagnet is electrified to attract the permanent magnet to close the upper shell cover and the lower shell cover, and the spring is compressed at the same time; the electromagnet is powered off, and the upper shell cover and the lower shell cover are opened under the action of the elastic force of the spring; the open-close frequency and the open-close angle of the upper shell cover and the lower shell cover can be controlled by controlling the on-off frequency of the electromagnet, so that the moving posture and the flapping frequency of the device can be better controlled, and the device has a better moving effect.
2) The invention has simple structure, small volume and light weight, and the outer surfaces of the upper shell cover and the lower shell cover are made into streamline shapes, thereby effectively reducing the resistance of the device when the device moves in water and improving the moving efficiency.
3) The invention adopts the STC8051 singlechip as a control system, and has the characteristics of simple structure, convenient control, low price and strong reliability.
4) The invention adopts a lithium battery (with the optimal capacity of 2600mah) which can be charged for many times as a power source, and can ensure that the mechanism can stably run in water for a long time.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic perspective view of the second embodiment of the present invention.
Fig. 3 is a schematic cross-sectional structure of the present invention.
Reference numerals:
1. an electromagnet; 2. a permanent magnet; 3. a spring fixing seat; 4. a spring; 5. an upper shell cover; 6. a lower shell cover; 7. a battery; 8. a hinge; 9. and (5) controlling the system.
Detailed Description
The following further description is made with reference to the embodiments shown in the drawings.
The underwater flapping propulsion device shown in fig. 1 to 3 comprises an upper shell cover 5, a lower shell cover 6, a permanent magnet 2, an electromagnet 1, a battery 7, a plurality of (two in the invention) springs 4 and a control system 9. The upper shell cover and the lower shell cover are hinged with each other through hinges 8, and the outer surfaces of the upper shell cover and the lower shell cover are both made into streamline shapes so as to reduce the resistance of water flow during swimming; when the upper shell cover and the lower shell cover are quickly closed, water flow in the inner cavity is pressed out, and therefore the pushing device moves. The permanent magnet is fixed on the inner wall of the upper shell cover through AB glue; the electromagnet is fixed on the inner wall of the lower shell cover through AB glue; the permanent magnet and the electromagnet are both provided with grooves, so that the weight of the device is reduced, and the device can move in water. The electromagnet corresponds to the permanent magnet in position, so that when the upper shell cover and the lower shell cover are closed, the central lines of the electromagnet and the permanent magnet are just overlapped. The control system is fixed on the inner wall of the lower shell cover through AB glue and is positioned in front of the electromagnet and electrically connected with the electromagnet so as to control the on-off of the electromagnet; the control system adopts an STC8051 singlechip. The power source of the invention adopts a battery, preferably a lithium battery which can be charged for a plurality of times (preferably, the capacity is 2600 mah).
The two springs are both pressure springs (preferably spiral springs) with certain radian, the spring material is stainless steel material, the shear modulus is moderate, the material hardness is good, the spring is not easy to corrode and rust in water, and the service life of the spring can be prolonged; the two springs are arranged in parallel, and two ends of each spring are fixed on the inner walls of the upper shell cover and the lower shell cover through spring fixing seats 3 respectively; the spring fixing seat comprises four spring fixing seats, two through holes are formed in each spring fixing seat, and the end portion of each spring penetrates through the two through holes so as to fix the spring on the spring fixing seat.
The working mode of the invention is as follows:
when the device is in an initial state, the control system is closed, the electromagnet has no magnetism, and the upper shell cover and the lower shell cover are in an open state. When the control system is started, the electromagnet is electrified along with the control frequency (the control frequency can be preset) of the control system, so that the upper shell cover and the lower shell cover are quickly closed (the spring is compressed at the same time), water flow in the inner cavity is extruded out, the device advances under the action of counterforce, and the advancing direction is the hinged part of the upper shell cover and the lower shell cover. Then the electromagnet is powered off, the magnetic force disappears, the spring extends under the action of the elastic force, and the upper shell cover and the lower shell cover are opened. The above cycle is repeated, and the apparatus can be intermittently advanced. The opening and closing frequency and the opening and closing angle of the upper shell cover and the lower shell cover can be controlled by controlling the on-off frequency of the electromagnet, so that the moving posture and the flapping frequency of the device are better controlled, and the device has a better moving effect.
Claims (7)
1. An underwater flapping propulsion device comprises a battery (7); the method is characterized in that: the device comprises an upper shell cover (5) and a lower shell cover (6) which are hinged with each other at the tail parts and have streamline outer surfaces, a permanent magnet (2) fixed on the inner wall of the upper shell cover, an electromagnet (1) fixed on the inner wall of the lower shell cover, a control system (9) fixed on the inner wall of the lower shell cover and electrically connected with the electromagnet to control the on-off of the electromagnet, and a plurality of springs (4) which are parallel to each other and are respectively fixed on the inner walls of the upper shell cover and the; the electromagnet corresponds to the permanent magnet in position, so that when the upper shell cover and the lower shell cover are closed, the central lines of the electromagnet and the permanent magnet are just overlapped.
2. The underwater flapping propulsion device of claim 1, wherein: the spring is a spiral spring; two ends of the spring are respectively fixed on the inner walls of the upper shell cover and the lower shell cover through spring fixing seats (3).
3. The underwater flapping propulsion device of claim 2, wherein: the permanent magnet and the electromagnet are both provided with grooves so as to reduce the weight of the device.
4. The underwater flapping propulsion device of claim 3, wherein: two through holes for the end parts of the springs to pass through are formed in the spring fixing seat so as to fix the springs.
5. The underwater flapping propulsion device of claim 4, wherein: the spring is made of stainless steel.
6. The underwater flapping propulsion device of claim 5, wherein: the permanent magnet and the upper shell cover, the electromagnet and the lower shell cover as well as the control system and the lower shell cover are fixedly connected by AB glue.
7. The underwater flapping propulsion device of claim 6, wherein: the control system adopts an STC8051 singlechip.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910826455 | 2019-09-03 | ||
| CN2019108264551 | 2019-09-03 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110884635A true CN110884635A (en) | 2020-03-17 |
Family
ID=69751986
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911289484.5A Pending CN110884635A (en) | 2019-09-03 | 2019-12-11 | Underwater flapping propulsion device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110884635A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201002717Y (en) * | 2006-11-29 | 2008-01-09 | 施仲伟 | Loose-leaf impelled brake and reverse device for vessels |
| CN102079371A (en) * | 2010-11-19 | 2011-06-01 | 王世全 | Bionic robofish propelled by vibration of lateral fins |
| US20130064607A1 (en) * | 2008-04-07 | 2013-03-14 | Rodney H. Masters | Underwater Device for ROV Installable Tools |
| KR20140002129U (en) * | 2012-10-05 | 2014-04-15 | 대우조선해양 주식회사 | EM-Log Probe's Installation Structure of Submarine |
| CN105173046A (en) * | 2015-07-17 | 2015-12-23 | 哈尔滨工程大学 | Accordion type ship propeller |
| CN105836084A (en) * | 2016-05-20 | 2016-08-10 | 苏州科技学院 | Bionic underwater propeller and control method thereof |
| CN108860530A (en) * | 2018-09-07 | 2018-11-23 | 中国科学技术大学 | A kind of bionical scallop robot based on flux driving |
| CN109080720A (en) * | 2018-07-03 | 2018-12-25 | 浙江理工大学 | A kind of stable hopping robot of magnetic drive |
| CN109774904A (en) * | 2019-03-04 | 2019-05-21 | 沈阳航天新光集团有限公司 | A kind of underwater bionic robot occlusion mechanism |
-
2019
- 2019-12-11 CN CN201911289484.5A patent/CN110884635A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201002717Y (en) * | 2006-11-29 | 2008-01-09 | 施仲伟 | Loose-leaf impelled brake and reverse device for vessels |
| US20130064607A1 (en) * | 2008-04-07 | 2013-03-14 | Rodney H. Masters | Underwater Device for ROV Installable Tools |
| CN102079371A (en) * | 2010-11-19 | 2011-06-01 | 王世全 | Bionic robofish propelled by vibration of lateral fins |
| KR20140002129U (en) * | 2012-10-05 | 2014-04-15 | 대우조선해양 주식회사 | EM-Log Probe's Installation Structure of Submarine |
| CN105173046A (en) * | 2015-07-17 | 2015-12-23 | 哈尔滨工程大学 | Accordion type ship propeller |
| CN105836084A (en) * | 2016-05-20 | 2016-08-10 | 苏州科技学院 | Bionic underwater propeller and control method thereof |
| CN109080720A (en) * | 2018-07-03 | 2018-12-25 | 浙江理工大学 | A kind of stable hopping robot of magnetic drive |
| CN108860530A (en) * | 2018-09-07 | 2018-11-23 | 中国科学技术大学 | A kind of bionical scallop robot based on flux driving |
| CN109774904A (en) * | 2019-03-04 | 2019-05-21 | 沈阳航天新光集团有限公司 | A kind of underwater bionic robot occlusion mechanism |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200317 |