CN113581429B - Corrugated paper folding type bionic jet propeller based on negative pressure - Google Patents
Corrugated paper folding type bionic jet propeller based on negative pressure Download PDFInfo
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- CN113581429B CN113581429B CN202110821951.5A CN202110821951A CN113581429B CN 113581429 B CN113581429 B CN 113581429B CN 202110821951 A CN202110821951 A CN 202110821951A CN 113581429 B CN113581429 B CN 113581429B
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- support plate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/08—Propulsion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H11/00—Marine propulsion by water jets
- B63H11/02—Marine propulsion by water jets the propulsive medium being ambient water
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T70/00—Maritime or waterways transport
- Y02T70/10—Measures concerning design or construction of watercraft hulls
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Abstract
The invention provides a negative pressure-based corrugated paper folding type bionic jet propeller which comprises a main body part, a power part, a control part, a transmission part and an execution part, wherein the main body part comprises a water spraying port, a left support plate, guide rods, a right support plate and a drainage port, the left support plate and the right support plate are connected through a plurality of guide rods, the power part is a vacuum pump, the control part is a vacuum electromagnetic valve, the transmission part comprises an air exhaust pipe and a transmission air pipe, the execution part comprises a closed film, corrugated paper, a sliding disc, a water inlet opening plate, a water inlet and a return spring, the corrugated paper is in a sleeve type structure, the inner surface and the outer surface of the sleeve type structure are respectively coated with a layer of closed film, and an abdominal cavity for containing liquid is formed by enclosing the closed film positioned on the inner surface of the sleeve type structure and the space between the left support plate and the sliding disc. The invention utilizes the folded paper as the inner skeleton of the propeller and is driven in a negative pressure mode, thereby realizing high-efficiency and high-speed propulsion and realizing a new breakthrough in the driving of the bionic underwater robot.
Description
Technical Field
The invention belongs to the technical field of bionic robots, and particularly relates to a negative pressure-based corrugated paper folding type bionic jet propeller.
Background
With the continual exploration of the ocean, there is a need to perform construction, maintenance and survey tasks in more challenging environments, and conventional underwater robots have been inadequate. The water jet propulsion is an important propulsion mode adopted by aquatic organisms, and the water jet propulsion and the water absorption actions are completed by changing the volume of a body cavity, so that the low energy consumption and the high efficiency can be kept at a lasting swimming speed, the high maneuverability can be realized at an outbreak swimming speed, and the water jet propulsion has the characteristics of low running noise, high propulsion efficiency, small attached body resistance and the like, so that the water jet propulsion mode of the organisms becomes a research hotspot of the bionic underwater robot. However, both the conventional actuator represented by a motor and the novel intelligent actuator represented by a Shape Memory Alloy (SMA) have the defects of high noise, small driving force, short driving stroke, low driving efficiency and the like.
Disclosure of Invention
In view of the above, the invention aims to provide a negative pressure-based corrugated paper folding type bionic jet propeller, which can realize high-efficiency and high-speed propulsion by using folded paper as an inner skeleton of the propeller and driving in a negative pressure mode, is expected to realize a new breakthrough in driving of a bionic underwater robot, and makes a prominent contribution to the exploration of oceans for people.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a corrugated paper folding type bionic jet propeller based on negative pressure comprises a main body part, a power part, a control part, a transmission part and an execution part, wherein the main body part comprises a water spray port, a left support plate, a guide rod, a right support plate and a drainage port; the power part is a vacuum pump, the control part is a vacuum electromagnetic valve, and the vacuum pump and the vacuum electromagnetic valve are both positioned above the bionic jet propeller; the transmission part comprises an air exhaust pipe and a transmission pipe, one end of the transmission pipe is communicated with the air exhaust pipe, the other end of the transmission pipe is connected with an A port of a vacuum electromagnetic valve, a vacuum pump is connected with a P port of the vacuum electromagnetic valve, an R port of the vacuum electromagnetic valve is communicated with the atmosphere, the air exhaust pipe is arranged on a left support plate, the execution part is positioned in the middle of the bionic jet propeller and comprises a closed film, corrugated folded paper, a sliding disc, a water inlet opening and closing plate, a water inlet and a return spring, the corrugated folded paper is arranged in a space enclosed by a plurality of guide rods, the sliding disc is arranged on the guide rods in a sliding manner and is positioned between the left support plate and the right support plate, the corrugated folded paper is of a sleeve structure, the inner surface and the outer surface of the sleeve structure are respectively coated with a layer of closed film, and one end of the corrugated folded paper and the closed film is connected with the right end face of the left support plate, the other end of the slide plate is connected with the left end face of the slide plate, an abdominal cavity for containing liquid is enclosed between the sealing film positioned on the inner surface of the sleeve-like structure and the left support plate and the slide plate, a plurality of return springs are uniformly arranged between the right end face of the slide plate and the left end face of the right support plate, the air exhaust pipe is arranged on the left support plate and is communicated with a cavity formed by the two sealing films, a water inlet is formed in the slide plate, and a water inlet opening-closing plate is hinged to the water inlet on the left end face of the slide plate; in the process of contracting the abdominal cavity, the pressure intensity in the cavity is greater than the external pressure intensity, so that the water inlet opening and closing plate completely covers the water inlet; in the unfolding process of the abdominal cavity, the external pressure is greater than the pressure in the cavity, so that the water inlet opening and closing plate is opened, and the abdominal cavity absorbs water from the outside through the water inlet.
Furthermore, the corrugated folding paper is formed by folding a flat plate into a crease according to design, bonding two ends of the plate after folding according to the crease to form a cylindrical structure, and axially folding and deforming the cylindrical structure when an axial force is applied.
Furthermore, a plurality of vent holes are uniformly formed in the corrugated folded paper.
Furthermore, the sliding disc, the left support plate and the right support plate are all circular plates.
Furthermore, the water spray port, the water inlet and the drainage port are positioned on the central axis of the bionic jet propeller.
Furthermore, the material of the sealing film is a TPU film, and the thickness of the sealing film is 0.1 mm.
Furthermore, the corrugated folded paper is made of a PVC film and has a thickness of 0.1 mm.
Further, the number of the guide rods is 3, 6 or 8, and the number of the return springs is 3, 6 or 8.
Compared with the prior art, the corrugated paper folding type bionic jet propeller based on negative pressure has the following advantages:
1) when the bionic jet propeller acts, the air is pumped into the inner cavity of the closed film, negative pressure is generated in the cavity, and the corrugated folded paper is folded, so that water is sprayed out; when the air source is disconnected, the inner cavity of the closed film is connected with the atmosphere, the negative pressure in the cavity disappears, and the corrugated folded paper is unfolded.
2) The utility model provides a bionical jet propulsion ware of ripple folded paper formula based on negative pressure, its abdominal cavity can switch between expansion state and shrink state.
3) This application is through adjusting the atmospheric pressure of sealing the film inner chamber for the abdominal cavity contracts under the negative pressure effect, thereby realizes that the water spray advances.
4) The water spray frequency of the bionic jet propeller is determined by the contraction speed and the recovery speed, so that the water spray frequency of the propeller is adjustable.
5) The maximum average swimming speed of the current cuttlefish-imitating jet propeller is 1 body length/second, the propelling speed of the bionic jet propeller is determined by the water spraying frequency, so that the bionic jet propeller can realize very high speed as long as the water spraying frequency is high enough, and when the negative pressure is adjusted to be maximum (namely-0.101 MPa), the theoretical maximum average swimming speed of the bionic jet propeller is about 1.2 body length/second.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural diagram of a negative pressure-based corrugated paper folding type bionic jet propeller according to an embodiment of the present invention;
FIG. 2 is an isometric view of a negative pressure-based corrugated paper folding type bionic jet propeller according to an embodiment of the invention;
FIG. 3 is a schematic diagram of the folding and gathering process of the corrugated folded paper;
FIG. 4 is a schematic diagram of a contraction state of a corrugated paper folding type bionic jet propeller based on negative pressure;
fig. 5 is a schematic diagram of a recovery process of a corrugated paper folding type bionic jet propeller based on negative pressure.
Description of reference numerals:
1-sealing film, 2-corrugated folded paper, 3-water spray nozzle, 4-left support plate, 5-air exhaust pipe, 6-air transmission pipe, 7-vacuum electromagnetic valve, 8-vacuum pump and 9-guide rod; 10-a sliding disc; 11-a right support plate; 12-a water inlet plywood; 13-a drainage port; 14-a water inlet; 15-return spring, 16-abdominal cavity, 17-vent.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
As shown in fig. 1-5, a negative pressure-based corrugated paper folding type bionic jet propeller comprises a main body part, a power part, a control part, a transmission part and an execution part, wherein the main body part comprises a water spray opening 3, a left support plate 4, guide rods 9, a right support plate 11 and a drainage opening 13, the left support plate 4 and the right support plate 11 are connected through a plurality of guide rods 9, the water spray opening 3 is formed in the left support plate 4, the drainage opening 13 is formed in the right support plate 11, and the main body part is used as a peripheral structure of the bionic jet propeller; the power part is a vacuum pump 8, the control part is a vacuum electromagnetic valve 7, and the vacuum pump 8 and the vacuum electromagnetic valve 7 are both positioned above the bionic jet propeller; the transmission part comprises an air exhaust pipe 5 and a transmission pipe 6, one end of the transmission pipe 6 is communicated with the air exhaust pipe 5, the other end of the transmission pipe is connected with an A port of a vacuum electromagnetic valve 7, a vacuum pump 8 is connected with a P port of the vacuum electromagnetic valve 7, an R port of the vacuum electromagnetic valve 7 is communicated with the atmosphere, the air exhaust pipe 5 is installed on a left support plate 4, an execution part is positioned in the middle of a bionic jet propeller, the execution part comprises a sealing film 1, corrugated folding paper 2, a sliding disc 10, a water inlet opening plate 12, a water inlet 14 and a return spring 15, the corrugated folding paper 2 is installed in a space surrounded by a plurality of guide rods 9, the sliding disc 10 is arranged on the guide rods 9 in a sliding manner and positioned between the left support plate 4 and a right support plate 11, the corrugated folding paper 2 is of a sleeve type structure, the inner surface and the outer surface of the sleeve type structure are respectively covered with a layer of sealing film 1, one end of the corrugated folded paper 2 and one end of the closed film 1 are connected with the right end face of the left support plate 4, the other end of the corrugated folded paper is connected with the left end face of the sliding disc 10, an abdominal cavity 16 for containing liquid is enclosed between the closed film positioned on the inner surface of the sleeve-like structure and the left support plate 4 and the sliding disc 10, a plurality of return springs 15 are uniformly arranged between the right end face of the sliding disc 10 and the left end face of the right support plate 11, the air exhaust pipe 5 is installed on the left support plate 4, the air exhaust pipe 5 is communicated with a cavity formed by the two closed films, a water inlet 14 is formed in the sliding disc 10, and a water inlet opening and closing plate 12 is hinged to a water inlet on the left end face of the sliding disc 10; and in the contraction process of the abdominal cavity 16, the pressure intensity in the cavity is greater than the external pressure intensity, so that the water inlet opening-closing plate 12 completely covers the water inlet 14; during the unfolding process of the abdominal cavity 16, the external pressure is greater than the pressure in the cavity, so that the water inlet opening and closing plate 12 is opened, and the abdominal cavity 16 absorbs water from the outside through the water inlet 14.
The corrugated folding paper 2 is a cylindrical structure formed by folding a flat plate according to design and bonding two ends of the plate after folding according to the folding, is similar to a corrugated pipe structure, and is axially folded and deformed when axial force is applied; specifically, as shown in fig. 3, the paper is firstly folded to form the crease as shown in (a), small holes as shown in (a), namely vent holes 17, are formed, the vent holes 17 can be used as air passages during vacuum pumping, so that the corrugated folded paper has better contraction effect, then the paper is folded according to the crease (the dotted line represents valley fold, and the solid line represents mountain fold), then two ends of the folded paper are bonded, so that the corrugated folded paper as shown in (b) can be obtained, and if axial force is applied to the folded paper, axial folding deformation as shown in (c) can be generated.
The slide plate 10, the left support plate 4 and the right support plate 11 are all circular plates. The water spray opening 3, the water inlet 14 and the drainage opening 13 are all located on the central axis of the bionic jet propeller, and the bionic jet propeller only realizes linear motion in water, namely, moves along the central axis of the bionic jet propeller, so that the drainage opening 13 and the water inlet 14 are arranged on the central axis to realize better drainage and water absorption effects, and the water spray opening 3 is arranged on the central axis to ensure that the propelling force direction of the bionic jet propeller coincides with the central axis, so that the bionic jet propeller realizes linear motion.
The material of the sealing film is a TPU film, the thickness of the sealing film is 0.1mm, the TPU film has the advantages of high strength, good toughness, high waterproofness, wear resistance, cold resistance, aging resistance and the like, and when the thickness of the TPU film is 0.1mm, the TPU film basically does not elastically deform when stressed.
The corrugated folded paper is made of a PVC film with the thickness of 0.1mm, and the PVC film has the advantages of good flexibility, easiness in forming, no toxicity, no pollution, good water resistance and the like; when the thickness is 0.1mm, the folding paper is not easy to generate brittle fracture during folding, and has certain rigidity after the folding is finished.
The number of the guide rods 9 is 3, 6 or 8, the guide rods are uniformly arranged, and the guide effect is good; the number of the return springs 15 is 3, 6 or 8; the arrangement is uniform and the restoring force is strong. The number of the air exhaust pipes can be 1, 2, 4, 8 and the like.
The gas in the closed membrane chamber can also be other fluids, such as water, oil, etc., but the vacuum pump 8 is replaced by a suction pump or an oil pump.
The working process of the application is as follows:
when the paper folding type bionic jet propeller acts, the vacuum solenoid valve 7 is opened, the external vacuum pump 8 is connected with the air exhaust pipe 5 through the vacuum solenoid valve 7 and the transmission pipe 6, the inner cavity formed by the two closed films is exhausted, the closed films shrink under the action of negative pressure, the corrugated paper folding 2 is driven to be folded, the sliding disc 10 is driven to move leftwards along the guide rod 9, the volume of the abdominal cavity 16 is reduced, and therefore water in the abdominal cavity 16 is sprayed out from the water spraying port 3, and the forward water spraying of the bionic jet propeller is achieved; at the moment, the water inlet opening-closing plate 12 is in a state of closing the water inlet 14, and the propelling speed of the bionic jet propeller is determined by the water spraying frequency of the bionic jet propeller, so that the water spraying frequency of the bionic jet propeller can be changed by changing the contraction speed and the return speed of a cavity of the bionic jet propeller, and the water spraying speed of the bionic jet propeller is adjusted;
when the vacuum electromagnetic valve 7 is disconnected, the air exhaust pipe 5 is connected with the atmosphere through the air conveying pipe 6 and the vacuum electromagnetic valve 7, negative pressure in an inner cavity formed by the two closed films disappears, the sliding disc 10 moves rightwards along the guide rod 9 under the action of restoring force of the restoring spring 15, the corrugated folded paper 2 is unfolded, at the moment, the external pressure is greater than the internal pressure of the abdominal cavity 16, the water inlet opening and closing plate 12 is opened, and therefore the bionic jet propeller achieves water absorption action and is ready for next water spraying.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. The utility model provides a bionical jet propulsion ware of ripple folded paper formula based on negative pressure which characterized in that: the bionic jet propeller comprises a main body part, a power part, a control part, a transmission part and an execution part, wherein the main body part comprises water spray ports (3), a left support plate (4), guide rods (9), a right support plate (11) and a drainage port (13), the left support plate (4) and the right support plate (11) are connected through a plurality of guide rods (9), the water spray ports (3) are formed in the left support plate (4), the drainage port (13) is formed in the right support plate (11), and the main body part is used as a peripheral structure of the bionic jet propeller; the power part is a vacuum pump (8), the control part is a vacuum electromagnetic valve (7), and the vacuum pump (8) and the vacuum electromagnetic valve (7) are both positioned above the bionic jet propeller; the transmission part include trachea (5) and transmission trachea (6) bleed, the one end and the trachea (5) intercommunication bleed of gas transmission pipe (6), the other end is connected with the A mouth of vacuum solenoid valve (7), vacuum pump (8) are connected with the P mouth of vacuum solenoid valve (7), the R mouth and the atmosphere intercommunication of vacuum solenoid valve (7), trachea (5) bleed install on left branch fagging (4), the execution part be located the middle part of bionical injection propeller, the execution part including seal film (1), ripple folded paper (2), sliding tray (10), the open plate of intaking (12), water inlet (14) and answer spring (15), ripple folded paper (2) install in the space that a plurality of guide bars (9) enclose, sliding tray (10) slide and set up on a plurality of guide bars (9), and is positioned between the left support plate (4) and the right support plate (11), the corrugated folded paper (2) is of a sleeve-like structure, the inner surface and the outer surface of the sleeve structure are respectively covered with a layer of closed film (1), one end of the corrugated folded paper (2) and the closed film (1) is connected with the right end face of the left support plate (4), the other end is connected with the left end face of the sliding disc (10), an abdominal cavity (16) for containing liquid is enclosed between the closed film positioned on the inner surface of the sleeve structure and the left support plate (4) and the sliding disc (10), a plurality of return springs (15) are uniformly arranged between the right end surface of the sliding disc (10) and the left end surface of the right supporting plate (11), the air exhaust pipe (5) is arranged on the left support plate (4), and the air exhaust pipe (5) is communicated with a cavity formed by the two closed films, a water inlet (14) is formed in the sliding disc (10), and a water inlet opening-closing plate (12) is hinged to the water inlet on the left end face of the sliding disc (10); in the contraction process of the abdominal cavity (16), the pressure intensity in the cavity is higher than the external pressure intensity, so that the water inlet opening and closing plate (12) completely covers the water inlet (14); in the unfolding process of the abdominal cavity (16), the external pressure is greater than the pressure in the cavity, so that the water inlet opening and closing plate (12) is opened, and the abdominal cavity (16) absorbs water from the outside through the water inlet (14).
2. The negative pressure-based corrugated paper folding type bionic jet propeller of claim 1, characterized in that: the corrugated folding paper (2) is used for folding a flat plate into creases according to design, two ends of the plate are bonded together to form a cylindrical structure after the creases are folded, and when axial force is applied, the cylindrical structure is axially folded and deformed.
3. The negative pressure-based corrugated paper folding type bionic jet propeller of claim 1, characterized in that: a plurality of vent holes (17) are uniformly arranged on the corrugated folded paper (2).
4. The negative pressure-based corrugated paper folding type bionic jet propeller of claim 1, characterized in that: the sliding disc (10), the left supporting plate (4) and the right supporting plate (11) are all circular plates.
5. The negative pressure-based corrugated paper folding type bionic jet propeller of claim 4, characterized in that: the water spray opening (3), the water inlet (14) and the drainage opening (13) are all positioned on the central axis of the bionic jet propeller.
6. The negative pressure-based corrugated paper folding type bionic jet propeller of claim 1, characterized in that: the material of sealing film is the TPU film, and thickness is 0.1 mm.
7. The negative pressure-based corrugated paper folding type bionic jet propeller of claim 1, characterized in that: the corrugated folded paper is made of a PVC film and has the thickness of 0.1 mm.
8. The negative pressure-based corrugated paper folding type bionic jet propeller of claim 1, characterized in that: the number of the guide rods (9) is 3, 6 or 8, and the number of the return springs (15) is 3, 6 or 8.
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| CN202110821951.5A CN113581429B (en) | 2021-07-20 | 2021-07-20 | Corrugated paper folding type bionic jet propeller based on negative pressure |
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| CN202110821951.5A CN113581429B (en) | 2021-07-20 | 2021-07-20 | Corrugated paper folding type bionic jet propeller based on negative pressure |
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| CN113581429B true CN113581429B (en) | 2022-08-30 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114408135A (en) * | 2022-01-27 | 2022-04-29 | 哈尔滨工业大学 | Cuttlefish-imitating robot based on double-pass SMA spring drive |
| CN114435572A (en) * | 2022-01-27 | 2022-05-06 | 哈尔滨工业大学 | Underwater jet propeller based on two-way SMA spring drive |
| CN114701632A (en) * | 2022-04-19 | 2022-07-05 | 吉林大学 | Bionic cuttlefish underwater propeller |
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| TWM251791U (en) * | 2003-11-25 | 2004-12-01 | Tah-Shan Lin | Press-pedaling mobile vessel |
| JP2005247077A (en) * | 2004-03-03 | 2005-09-15 | Ko Yamaguchi | Water-jet-fin propelling system |
| CN100579865C (en) * | 2008-04-23 | 2010-01-13 | 哈尔滨工程大学 | Underwater miniature bionic machinery fish |
| CN105173046B (en) * | 2015-07-17 | 2017-06-20 | 哈尔滨工程大学 | A kind of concertina ship's propeller |
| CN108622352B (en) * | 2018-05-11 | 2021-05-18 | 西北工业大学 | Autonomous underwater vehicle submerging and surfacing device based on shape memory alloy driver |
| CN109178263B (en) * | 2018-11-05 | 2021-06-01 | 江西理工大学 | Pulse jet type underwater robot based on tubular paper folding structure |
| CN110949645B (en) * | 2019-12-24 | 2021-11-09 | 哈尔滨工业大学 | SMA wire radial drive's advancing device under water |
| CN110949644B (en) * | 2019-12-24 | 2021-05-04 | 哈尔滨工业大学 | SMA wire axial drive's advancing device under water |
| CN111152905B (en) * | 2020-01-09 | 2021-04-13 | 吉林大学 | Dual-purpose bionic soft actuator |
| CN212007686U (en) * | 2020-04-28 | 2020-11-24 | 四川中水成勘院工程物探检测有限公司 | Remote control inkjet tracer detection device based on intelligent underwater robot |
| CN112061353A (en) * | 2020-10-15 | 2020-12-11 | 中国科学院深海科学与工程研究所 | Outer oil bag device for adjusting deep sea buoyancy and underwater operation platform |
| CN112720544B (en) * | 2020-12-29 | 2022-04-01 | 江西理工大学 | Large-load netted soft body grabbing mechanism based on paper folding structure and fiber interference |
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