CN206125384U - Controllable bionical advancing device under water of rigidity - Google Patents
Controllable bionical advancing device under water of rigidity Download PDFInfo
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- CN206125384U CN206125384U CN201621080400.9U CN201621080400U CN206125384U CN 206125384 U CN206125384 U CN 206125384U CN 201621080400 U CN201621080400 U CN 201621080400U CN 206125384 U CN206125384 U CN 206125384U
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Abstract
The utility model discloses a controllable bionical advancing device under water of rigidity, the device includes: bionical advancing device main part, change rigidity joint, joint connecting frame, bionical fish tail fin, wherein: bionical advancing device main part has two or above change rigidity system composition, and every becomes the rigidity system and connects framework components by becoming rigidity joint and joint, joint connecting frame in system rotates with the change rigidity joint of previous system middle part activity part to be connected for bionical advancing device's under water swing, it changes magnetic field intensity through changing magnetism sense coil current size to become the rigidity joint to change joint rigidity. The utility model discloses in the time of can making the robot carry out different task under same environment, adjust self rigidity, reach the optimum propulsive performance of each task, also self rigidity can be changed under the complex environment, the adaptability to the environment is improved, simultaneously in a cycle of marcing, can change bionical advancing device's joint rigidity separately to improve the propulsive performance, reach the best and impel the state.
Description
Technical field
This utility model belongs to bio-robot technical field, and in particular to a kind of controllable aquatic bio-propulsion dress of rigidity
Put, can real-time control underwater bionic coatings device stiffness variation, so as to improve the device of propulsive performance.
Background technology
Roboticses be collection bionics, theory of mechanisms, materialogy, control technology, electromechanical integration technology, sensing technology with
Artificial intelligence technology, in the modern science and technology of one, is the important embodiment of National Industrial level of development and scientific and technological strength, special
Militarily there is not very strong application.The research of bionical submariner device even more has mobility strong, noise is low, be hidden in biocycle
The advantages such as identification are difficult in border, traditional routine sea warfare weapons are compared and is had more economy, sudden, fraudulence, disguise and Gao Sheng
Deposit rate.The bionical object of bionical underwater vehicle is varied, wherein the most universal with Fang Yu robots.Fish are through more than one hundred million years
Evolution, stiffness by itself can be changed by adjusting itself muscle, so as to be in complexity underwater environment and different fortune
During dynamic state, good kinetic characteristic can be ensured.
Bionical underwater vehicle will adapt to underwater environment and efficiently accomplish task, need two challenges of reply：One is water
Under environment complicated and changeable.Environment flowing is more complicated in water, for river, there is fixed water (flow) direction, while also having dark
Stream and whirlpool, have a stormy waves for lake, and for sea water, also larger stormy waves and tide.Therefore bionical submariner device
There are higher fltting speed and propulsive force stranded to prevent；Two is completing for many operations of multitask.Submariner device needs under water
Several work is completed, different work proposes different requirement to its performance.As patrolled and examined under water, there need to be higher propulsive efficiency,
Complete to move about on a large scale under limited energy resource supply；And for example investigate under water, both needed to have compared with high maneuverability, various obstacles can be passed through
The rapid destination for reaching required investigation, needs preferable stability and disguise in case giving away one's position again.
Research shows that the stiffness variation of bionical underwater propulsion unit influences whether movement needs and its propulsion of robot
Performance.But the rigidity of traditional bionical underwater vehicle is fixed, when single homework is carried out under water, it is impossible to according to change in real time
The underwater complex environment of change changes stiffness by itself, to be optimal travelling performance；And complete different motion in single water environment
The bionical underwater vehicle of state tradition can be subject to the immutable impact of stiffness by itself again, it is difficult to accomplish under various kinestates all
Reach optimal travelling performance；In addition, for traditional bionical underwater propulsion unit, it is desirable to change rigidity generally by
The modes such as more conversion materials, inefficiency, and rigidity can not be changed within a hunting period, limited is improved to propulsive performance.
Utility model content
The purpose of this utility model is, in order to solve above-mentioned problems of the prior art, to enable bionic coatings device
By changing rigidity in each cycle in moving about, adjustment bionic coatings device is in water in hunting period to its direction of propulsion
In the same direction with reverse amount of force and model of action, its propulsive performance is effectively improved.The utility model proposes one kind just
The controllable aquatic bio-propulsion device of degree, can be while robot motion, in a cycle, by changing different change just
The rigidity in degree joint, simulates the contraction and diastole of the muscle of fish in nature, makes bionic coatings device a cycle pendulum in water
Different travelling attitudes can be presented when dynamic, so that most suitable rigidity is reached in the cycle for being beneficial to positive propulsive force generation, and
Make the resistance of generation minimum in the cyclomorphosis rigidity for being unfavorable for positive propulsive force generation, flap the cycle so as to improve one
Propulsion capability.The stiffness variation in each variation rigidity joint of the present utility model can be it is synchronous can also be it is independent, can lead to
Crossing carries out different-stiffness change to each joint, improves the propulsive performance of bionical underwater propulsion mechanism.
The utility model proposes a kind of controllable aquatic bio-propulsion device of rigidity, including bionic coatings apparatus main body,
Bionic coatings apparatus main body includes a section or two sections and above stiffness-changing system and Biomimetic Fish tail fin, the bionic coatings device master
External body has waterproof eyelid covering to wrap up；Any one section stiffness-changing system is by variation rigidity joint and the connection of joint connection framework
Into the variation rigidity joint is connected by iron core, magnetic induction loop, magnetic rheology elastic body (MRE) ring, low-carbon (LC) steel disc, permanent magnet and aluminum
Joint is constituted, wherein, around iron core, permanent magnet center passes through iron core to magnetic induction loop, and compresses Zhoucheng outer ring and rotational parts,
Permanent magnet provides a constant magnetic field, variation rigidity joint is at the very start in magnetic field environment, and when changing, coil magnetic field is strong
When spending, by the magnetic field and the magnetic field joint effect variation rigidity joint of coil of permanent magnet, so as to the rigidity reality in variation rigidity joint can be made
The now change of positive negative direction, or be not added with permanent magnet, then without magnetic field environment at the beginning, when changing coil magnetic field intensity, only
The positive change of rigidity can be realized, magnetic rheology elastic body (MRE) ring and low-carbon (LC) steel disc are staggeredly enclosed within outside magnetic induction loop, can be by adjusting
Current size changes joint torsional rigidity, the upper and lower ends in variation rigidity joint by the change of magnetic flux adjusting magnetic field
Aluminum union joint is connected with joint connection framework one end；Joint connection framework other end middle part and another variation rigidity joint middle part
It is connected.
Further, the bionic coatings apparatus main body is in Biomimetic Fish shape.
Further, the variation rigidity joint aluminum union joint can be different according to the requirement of bionical underwater propulsion unit, if
The different connected modes of meter, aluminum union joint can with frame articulation on, also can be fixedly connected with framework, also can be clamped by framework.
Further, the variation rigidity joint is cylinder, cuboid or cone shape.
Further, the Biomimetic Fish caudal-fin models be rectangle, crescent, trapezoidal or sector.
The beneficial effects of the utility model are：The controllable bionic coatings device of this utility model rigidity passes through under the period of motion
The change of rigidity improves its propulsive performance.In one cycle, water is advanced to the counteracting force of bionic coatings device with robot
When direction is identical, the rigidity of bionic coatings device can be changed into most just when the propulsive force produced that is, under this rigidity is maximum；And work as
Water to the counteracting force of bionic coatings device it is contrary with robot direct of travel when, the rigidity of bionic coatings device can be changed into most
Little, i.e., produced under this rigidity propulsive force is minimum, so as to improve the propulsive performance of bionic coatings device.Can be in propulsion
When different-stiffness is changed to different joints, enhance bionic coatings device to the adaptability of environment and to such as cruising, turning, plus
The quick fulfillment capability of the tasks such as speed, is attained by optimum propulsive performance under varying environment and task.
Description of the drawings
Fig. 1 is knot of the controllable aquatic bio-propulsion device of this utility model rigidity containing two sections and two section above stiffness-changing systems
Structure schematic diagram, wherein, 1 is variation rigidity joint, and 2 is joint connection framework, and 3 is Biomimetic Fish Fin；
Fig. 2 is structural representation of the controllable aquatic bio-propulsion device of this utility model rigidity containing a section stiffness-changing system；
Fig. 3 is the internal structure schematic diagram in the variation rigidity joint according to the embodiment of this utility model one, wherein, 4 is aluminum
Union joint, 5 is mild steel end cap, and 6 is low-carbon (LC) steel disc, and 7 is magnetic rheology elastic body (MRE) ring, and 8 is permanent magnet, and 9 is iron core, 10
For magnetic induction loop, 11 is ball bearing, and 12 is rotational parts (mild steel), and 13 is magnetic induction line；
Fig. 4 is the structural representation in the variation rigidity joint according to the embodiment of this utility model one；
Fig. 5 is the sectional view in the variation rigidity joint according to the embodiment of this utility model one.
Specific embodiment
To make the purpose of this utility model, technical scheme and advantage become more apparent, below in conjunction with specific embodiment, and
Referring to the drawings, this utility model is further described.
By taking the controllable aquatic bio-propulsion device of rigidity containing two sections and two section above stiffness-changing systems as an example, Fig. 1 is this reality
The structural representation contained with the controllable aquatic bio-propulsion device of new rigidity, as shown in figure 1, the controllable bionic coatings dress of the rigidity
Put and be made up of Biomimetic Fish tail fin 3 and several stiffness-changing systems, each stiffness-changing system includes：Variation rigidity joint 1 and joint
Connection framework 2.Wherein：
The stiffness-changing system is that have variation rigidity joint two ends to be connected with joint link end, before the link of joint
The variation rigidity joint middle part rotational parts with another group of stiffness-changing system are held to be connected.It is two or more since so
Just can relatively rotate between stiffness-changing system.Close with the variation rigidity of last group of stiffness-changing system the front end of Biomimetic Fish tail fin
Section middle part rotational parts are connected.So all can produce relative rotation between each system when swinging, so as to realize bionical pushing away
Enter.
Fig. 2 is that one stiffness-changing system is constituted with Biomimetic Fish tail fin, and principle is firm with the change containing two sections and the two section above
The structural principle that degree system is constituted with bionic caudal fin is identical.
Fig. 3 is the sectional view in variation rigidity joint.Variation rigidity joint is by aluminum union joint 4, mild steel end cap 5, low-carbon (LC) steel disc
6th, magnetic rheology elastic body (MRE) ring 7, permanent magnet (can permanent magnet changed certain thickness low-carbon (LC) steel disc into) 8, iron core 9,
Magnetic induction loop 10, ball bearing 11 and rotational parts (mild steel) 12 are constituted.Wherein, aluminum union joint top is connected frame with joint
Frame end connects, and bottom is connected with mild steel end cap.The mild steel end cap at variation rigidity joint two ends secures the position of iron core, ferrum
Ball bearing is cased with the middle of core.Ball bearing outside and rotational parts interference fit.The upper and lower both sides of rotational parts and permanent magnet (or
Thick low-carbon (LC) steel disc) contact.In the middle of mild steel end cap and permanent magnet (or thick low-carbon (LC) steel disc), iron core outside winding multiturn magnetic induction line
Circle.On the outside of magnetic induction loop, magnetic rheology elastic body (MRE) ring and low-carbon (LC) steel disc are staggeredly placed.Entirely variation rigidity joint is external
The whole bondings in part.The direction of magnetic induction line 13 can be direction as shown in Figure 3, alternatively rightabout.Magnetic induction line direction with
Magnetic induction loop winding direction is relevant.
When Biomimetic Fish tail fin swings, joint connection framework can drive rotational parts to rotate, and rotational parts can make whole change
Rigidity joint twists.Under fixed environment, certain pendulum angle and frequency, the angle that variation rigidity joint is reversed is only
It is relevant with the counteracting force of water.Change magnetic field intensity by changing magnetic induction loop size of current, further change magnetorheological bullet
The rigidity of gonosome, so as to actively change joint stiffness, simulates the change of fish muscle rigidity when travelling such that it is able to find most suitable
With the rigidity of current environment, frequency and the amplitude of oscillation, the propulsive performance of bionic coatings device is improved.
When bionic coatings device carries out operation under complex environment, can be firm to change joint by changing magnetic field intensity
Degree, so as to change swimming characteristics of the whole bionic coatings device in water, improves its adaptive capacity to environment and swimming characteristics.And work as
Bionic coatings device being cruised, turn or during the task such as linear accelerating, can be reached by adjusting the change of its rigidity
To the most suitable rigidity of each task, to realize cruising, the optimum turning or bionic coatings device is attained by during linear accelerating
Performance.
Meanwhile, the stiffness variation of each stiffness-changing system of the variation rigidity aquatic bio-propulsion device can be consistent
, or it is each independent.Therefore, this variation rigidity aquatic bio-propulsion device can change difference within a hunting period
The rigidity in joint, makes bionic coatings device when swinging, and in the cycle for contributing to propulsive force generation the most suitable of each joint is reached
Rigidity, to improve propulsive force, and it is minimum to produce opposite force in the period modulation rigidity for producing opposite force, so as to reduce resistance,
Further improve the propulsive performance of variable rigidity bionic propulsion plant.
Fig. 4 is the 3-D view in the variation rigidity joint, and Fig. 5 is the three dimensional sectional view in the variation rigidity joint.
In a word, the operation principle of the controllable aquatic bio-propulsion device of the rigidity is：Change magnetic field intensity to change each
The rigidity in joint, and further change the kinetic characteristic of robot by the stiffness variation of bionic coatings device, so as to strengthen
The propulsive performance of robot.
To sum up, the controllable aquatic bio-propulsion device of this utility model rigidity can improve the long boat that robot is moved under water
Duration voyage ability, while but also with high speed, the ability of high motor-driven propulsion, and can be in a cycle by different joint stiffness
Change improve each cycle propulsive force, propulsive performance can greatly be improved.
Particular embodiments described above, has carried out entering one to the purpose of this utility model, technical scheme and beneficial effect
Step is described in detail, be should be understood that and be the foregoing is only specific embodiment of the utility model, is not limited to this
Utility model, all within spirit of the present utility model and principle, any modification, equivalent substitution and improvements done etc. all should be wrapped
It is contained within protection domain of the present utility model.
Claims (5)
1. the controllable aquatic bio-propulsion device of a kind of rigidity, it is characterised in that：Including bionic coatings apparatus main body, bionic coatings
Apparatus main body includes a section or two sections and above stiffness-changing system and Biomimetic Fish tail fin, has outside the bionic coatings apparatus main body
Waterproof eyelid covering is wrapped up；Any one section stiffness-changing system is formed by connecting by variation rigidity joint and joint connection framework, the change
Rigidity joint is made up of iron core, magnetic induction loop, magnetic rheology elastic body ring, low-carbon (LC) steel disc, permanent magnet and aluminum union joint, wherein,
Around iron core, permanent magnet center passes through iron core to magnetic induction loop, and compresses Zhoucheng outer ring and rotational parts, and permanent magnet provides one
Constant magnetic field, makes variation rigidity joint be at the very start in magnetic field environment, when coil magnetic field intensity is changed, by permanent magnet
Magnetic field and the magnetic field joint effect variation rigidity joint of coil, so as to the rigidity that can make variation rigidity joint realizes the change of positive negative direction
Change, or be not added with permanent magnet, then without magnetic field environment at the beginning, when changing coil magnetic field intensity, rigidity can only realized just
To change, magnetic rheology elastic body ring and low-carbon (LC) steel disc are staggeredly enclosed within outside magnetic induction loop, can adjust magnetic by adjusting size of current
, joint torsional rigidity is changed by the change of magnetic flux, upper and lower ends aluminum union joint and the joint in variation rigidity joint connect
Connect framework one end to be connected；Joint connection framework other end middle part is connected with another variation rigidity joint middle part.
2. the controllable aquatic bio-propulsion device of a kind of rigidity according to claim 1, it is characterised in that：It is described bionical to push away
Enter apparatus main body in Biomimetic Fish shape.
3. the controllable aquatic bio-propulsion device of a kind of rigidity according to claim 1, it is characterised in that：The variation rigidity
Joint aluminum union joint can be different according to the requirement of bionical underwater propulsion unit, design different connected modes, aluminum union joint
Can with frame articulation on, also can be fixedly connected with framework, also can be clamped by framework.
4. the controllable aquatic bio-propulsion device of a kind of rigidity according to claim 1, it is characterised in that：The variation rigidity
Joint is cylinder, cuboid or cone shape.
5. the controllable aquatic bio-propulsion device of a kind of rigidity according to claim 1, it is characterised in that：The Biomimetic Fish
Caudal-fin models are rectangle, crescent, trapezoidal or sector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621080400.9U CN206125384U (en) | 2016-09-26 | 2016-09-26 | Controllable bionical advancing device under water of rigidity |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621080400.9U CN206125384U (en) | 2016-09-26 | 2016-09-26 | Controllable bionical advancing device under water of rigidity |
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| Publication Number | Publication Date |
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| CN206125384U true CN206125384U (en) | 2017-04-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621080400.9U Withdrawn - After Issue CN206125384U (en) | 2016-09-26 | 2016-09-26 | Controllable bionical advancing device under water of rigidity |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106364648A (en) * | 2016-09-26 | 2017-02-01 | 中国科学技术大学 | Underwater bionic propelling device with controllable rigidity |
| CN112678136A (en) * | 2021-01-11 | 2021-04-20 | 南京航空航天大学 | Piezoelectric-driven machine pectoral fin posture adjusting system and working method thereof |
-
2016
- 2016-09-26 CN CN201621080400.9U patent/CN206125384U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106364648A (en) * | 2016-09-26 | 2017-02-01 | 中国科学技术大学 | Underwater bionic propelling device with controllable rigidity |
| CN112678136A (en) * | 2021-01-11 | 2021-04-20 | 南京航空航天大学 | Piezoelectric-driven machine pectoral fin posture adjusting system and working method thereof |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170426 Effective date of abandoning: 20180703 |
|
| AV01 | Patent right actively abandoned |