CN201254281Y - Bionic underwater thruster of beating fin driven by hydraulic - Google Patents

Abstract

A hydraulically driven undulating fin bionic underwater propeller, which includes a bracket, more than two single-section swing devices, more than two fin rays, flexible fin surfaces and a hydraulic control unit, and the two or more single-section swing devices are fixed on the bracket On the top, the flexible fin surface is laid on the fin rays. The single-section swing device includes a swing cylinder, an inner swing rod and an inner swing rod shaft. The inner swing rod is installed in the swing cylinder and separates the swing cylinder. It is formed into a left oil chamber and a right oil chamber. The inner swing rod is connected with the fins outside the swing cylinder body through the shaft of the inner swing rod. The right oil hole joint and the left oil hole joint used to connect with the hydraulic control unit are opened on the swing cylinder body. , the right oil hole joint and the left oil hole joint communicate with the right oil chamber and the left oil chamber respectively, and the flexible fin surface is laid on the fin ray. The utility model has a simple and compact structure and a simple principle, and can simulate the undulating movement of the flexible long fins of underwater organisms, generate propulsion parallel to the long axis direction of the support, and can adjust control parameters at any time according to the load situation.

Description

Hydraulically driven fluctuating fin biomimetic underwater propulsion

technical field

The utility model mainly relates to the design field of a bionic underwater thruster, in particular to a bionic underwater thruster driven by hydraulic pressure with undulating fins.

Background technique

At present, some scientific research institutions at home and abroad are conducting research on the undulating motion of flexible long fins of underwater organisms, such as "Nile Devil" and other fish, and have developed a test device that simulates this undulating motion, and have carried out underwater propulsion tests of such devices , confirming the apparent low-perturbation property of the undulating motion. However, these test devices have some defects. For example, although they are designed to simulate flexible motion, rigid mechanisms are used in many places. For example, the phase between two adjacent sections is fixed, the shape of the baseline cannot be changed, the driving ability is limited, and the structure is complicated. It is difficult to get out of the experiment. room into practical engineering applications.

Utility model content

The problem to be solved by the utility model is: aiming at the technical problems existing in the prior art, the utility model provides a simple and compact structure, a simple principle, which can simulate the undulating movement of the flexible long fins of underwater organisms, and can be used at any time according to the load condition. Hydraulically driven undulating fin biomimetic underwater thruster with adjustable control parameters.

In order to solve the above-mentioned technical problems, the solution proposed by the utility model is: a hydraulically driven undulating fin bionic underwater propeller, which is characterized in that it includes a bracket, more than two single-section swing devices, more than two fin rays, flexible The fin surface and the hydraulic control unit, the two or more single-section swing devices are fixed on the bracket, the flexible fin surface is laid on the fin rays, the single-section swing device includes a swing cylinder, an inner swing rod, and an inner swing rod shaft, The inner swing rod is installed in the swing cylinder body and divides the swing cylinder body into a left oil chamber and a right oil chamber. The right oil hole joint and the left oil hole joint connected to the control unit are opened on the swing cylinder body, and the right oil hole joint and the left oil hole joint are connected with the right oil chamber and the left oil chamber respectively, and the flexible fin surface is laid on the fin ray.

The hydraulic control unit is an electromagnetic control valve, a hydraulic source and a hydraulic source servo motor, and the hydraulic source is connected to the right oil hole joint and the left oil hole joint through the hydraulic source servo motor, electromagnetic control valve and hydraulic pipeline.

The hydraulic control unit is a rotary fluid distribution valve. The rotary fluid distribution valve includes a valve body, a rotary valve core, a drive motor, a closed end cover and an open end cover, and the closed end cover and the open end cover are respectively connected to the valve The two ends of the body form a closed cavity, and one end of the rotary valve core installed in the closed cavity is connected to the drive motor. In the closed cavity, a high-pressure oil chamber is formed between the closed end cover, the rotary valve core and the valve body. A low-pressure oil chamber is formed between the open end cover, the rotary valve core and the valve body, and there is no connection between the high-pressure oil chamber and the low-pressure oil chamber; there are several pressure oil chambers on the outer peripheral side of the valve body, There is no connection between the high-pressure oil chamber and the low-pressure oil chamber; the outer peripheral side of the valve body is provided with several valve body oil holes for connecting the oil circuit of the actuator, and the outer peripheral side of the rotary valve core is provided with several valve core oil holes. The oil hole of the valve body communicates with the closed cavity through the oil hole of the valve core.

The number of valve body oil holes is n, wherein n is an even number, and every two valve body oil holes located in the diameter direction of the valve body form a group.

The number of the spool oil holes is n, wherein n is an even number, and every two spool oil holes located in the diameter direction of the rotary spool form a group.

The closed end cover is provided with an oil inlet hole connected with the high-pressure oil supply equipment, and the oil inlet hole is connected with the high-pressure oil chamber, and the open end cover is provided with an oil outlet hole connected with the low-pressure oil chamber.

The two end surfaces of the rotary valve core are respectively provided with arc-shaped grooves.

Shallow grooves are opened between adjacent valve core oil holes on the rotary valve core.

Compared with the prior art, the utility model has the advantages of: (1) the utility model has developed a device that can simulate the undulating motion of the flexible long fins of underwater creatures, and the device can provide propulsion for underwater vehicles Or control torque, the device has compact structure, simple control and strong portability. (2) The utility model only needs to be equipped with one hydraulic source and can adopt a more mature servo motor-driven gear pump device in the industry, which has the characteristics of small size, low noise, and high fluid pressure. (3) When other control parameters remain unchanged, by simply controlling the speed of the hydraulic source servo motor in the hydraulic control unit, the flow rate and pressure of the fluid in the hydraulic circuit can be adjusted, thereby changing the load capacity and fluctuation range of the entire device . (4) The utility model further controls the rotational speed of the servo motor in the rotary fluid distribution valve to adjust the frequency of the wave movement of the entire device and the swing amplitude of the swing rod in each single-section swing device. (5) By reasonably arranging the position of the oscillating device, the undulating motion effect with the baseline as a curve can be realized.

Description of drawings

Fig. 1 is a structural schematic diagram of a hydraulically driven flexible fluctuating fin device of the present invention;

Fig. 2 is a schematic structural view of a single-section swing device in the device of the present invention;

Fig. 3 is a schematic diagram of the three-dimensional structure of the rotary fluid distribution valve in the utility model;

Fig. 4 is a schematic cross-sectional view of the rotary fluid distribution valve in the utility model;

Fig. 5 is a schematic diagram of an exploded structure of a rotary fluid distribution valve in the present invention;

Fig. 6 is a schematic structural view of the rotary valve core in the rotary fluid distribution valve.

illustration

1. Rotary fluid distribution valve 2. Servo motor

3. Oil return pipe joint 4. Oil delivery hose

5. Oil inlet pipe joint 6. Support block

7. Fin ray 8. Flexible fin surface

9. Single-section swing device 10. Bracket

11. Inner swing rod drive shaft 12. Right oil hole joint

13. Right oil chamber 14. Inner swing rod

15. Left oil chamber 16. Swing cylinder

17. Left oil hole joint

101. The first deep groove ball bearing 102. Closed end cover

103. First screw 104. Valve body

105. Open end cover 106. Second screw

107. The second deep groove ball bearing 108. Flat key

109. Motor bracket 110. Drive motor

111. Coupling 112. Rotary valve core

113. O-ring sealing ring 114. Valve body oil hole

115. Spool oil hole 116. Shallow groove

117. Arc groove 118. Closed cavity

Detailed ways

The utility model will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

As shown in Fig. 1 and Fig. 2, the hydraulically driven fluctuating fin bionic underwater thruster of the present invention includes a bracket 10, more than two single-section swing devices 9, more than two fin rays 7, flexible fin surfaces 8 and hydraulic pressure Control unit, the two or more single-section swing devices 9 are fixed on the bracket 10, the flexible fin surface 8 is laid on the fin 7, and the single-section swing device 9 includes a swing cylinder 16, an inner swing rod 14, an inner swing Rod shaft 11, right oil hole joint 12 and left oil hole joint 17, the inner swing rod 14 is installed in the swing cylinder 16 and divides the swing cylinder 16 into a left oil chamber 15 and a right oil chamber 13. The swing rod 14 is connected to the fin 7 outside the swing cylinder body 16 through the inner swing rod shaft 11, and the right oil hole joint 12 and the left oil hole joint 17 for connecting with the hydraulic control unit are set on the swing cylinder body 16, and the right oil hole joint 17 is opened on the swing cylinder body 16. The hole joint 12 and the left oil hole joint 17 communicate with the right oil chamber 13 and the left oil chamber 15 respectively. According to the needs of the test and structural design, the shape of the support 10 is designed, such as bending, straight line, etc. The overall support 10 can be set according to the shape of the base of the flexible long fin, so that the line connecting the swing centers of n sets of single-section swing devices 9 (hereinafter referred to as the baseline) can form a straight line or a curve. Here, for the convenience of description, the bracket 10 is designed as a straight line under the premise of not affecting the described structural properties. The two brackets 10 and the two support blocks 6 are connected into a whole by screws, which serve as the installation platform of the single-section swing device 9 . According to the needs of the test and structural design, n=1, 2, 3,,,,,, sets of single-section swing devices 9 are equidistant according to the same installation method, and the distance between two adjacent sets of single-section swing devices 9 can also be adjusted according to needs. The spacing between them is installed on the bracket 10 with different values, and the flexible fin surface 8 is installed on the n fins 7 on the arranged n sets of single-section swinging devices 9, thereby completing the installation of the main body of the flexible undulating fin device. Since the n sets of single-section swing devices 9 are not equipped with a hydraulic drive circuit, under the elastic action of the flexible fin surface 8 itself, the n fin rays 7 present a planar shape. As shown in Figure 2, the inner swing rod 14 in the single-section swing device 9 divides the swing cylinder 16 into two independent right chambers 13 and left chambers 15 whose volumes can vary, and the sum of the volumes of the two chambers is a fixed value . Each cavity has an oil hole joint connected to the hydraulic circuit. When the fluid in the hydraulic circuit is injected into the cavity connected to it through the oil hole joint, the volume of the cavity increases, and the volume of the other cavity decreases. Small and the fluid therein flows back into the hydraulic circuit through the oil hole joint, thereby driving the fin ray 7 to swing through the inner swing rod transmission shaft 11 . When the hydraulic circuit injects hydraulic oil through the oil hole joint 12, the swing direction of the fin rays 7 is just opposite. When the rotary fluid distribution valve 1 alternately injects fluid into the oil hole joint in the single-section swing device 9 according to a certain frequency, the fin ray 7 can realize the swing movement at the same frequency. The flexible fin surface 8 is a material with elasticity and toughness on one side, which is fixed on the fin bars 7 of n sets of single-section swing devices 9 . When n sets of single-section swing devices 9 swing in an orderly manner under the drive of the hydraulic control unit, the fin surface 8 can maintain a certain waveform. When the distance between the fin rays 7 is denser, the waveform presented will be smoother. .

The hydraulic control unit is an electromagnetic control valve, a hydraulic source, and a hydraulic source servo motor. The hydraulic source is connected to the right oil hole joint 12 and the left oil hole joint 17 through the hydraulic source servo motor, electromagnetic control valve, and hydraulic pipeline.

In a preferred embodiment, as shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7, the rotary fluid distribution valve 1 of the present invention includes a valve body 104, a rotary valve core 112, a driving motor 110. The closed end cap 102 and the open end cap 105, the closed end cap 102 and the open end cap 105 are respectively connected to the two ends of the valve body 104 to form a closed cavity 118, and the rotary valve core 112 installed in the closed cavity 118 One end is connected with the driving motor 110, and a high-pressure oil chamber is formed between the closed end cover 102, the rotary valve core 112, and the valve body 104 in the closed cavity 118, and a high-pressure oil chamber is formed between the open end cover 105, the rotary valve core 112, and the valve body 104. The low-pressure oil chamber, the high-pressure oil chamber and the low-pressure oil chamber are not connected; the outer peripheral side of the valve body 104 is provided with several valve body oil holes 114 for connecting the oil circuit of the actuator, and the outer peripheral side of the rotary spool 112 is provided with A plurality of spool oil holes 115 , the valve body oil hole 114 communicates with the closed cavity 118 through the spool oil holes 115 .

Valve body 104, rotary spool 112 closed end cover 102 and open end cover 105 all adopt revolving body parts, referring to Fig. 5 and shown in Fig. 6, valve body 104 is as the main part of whole device, closed end cover 102 and open end The cover 105 is fastened to the valve body 104 through first screws 103 and second screws 106 respectively. The rotary valve core 112 is installed in the closed end cover 102 and the open end cover 105 through the first deep groove ball bearing 101 and the second deep groove ball bearing 107, and can rotate around its own geometric axis. Between the drive shaft part of the rotary valve core 112 and the open end cover 105 , an o-shaped sealing ring 113 is used for rotary and dynamic sealing. The driving motor 110 is installed on the open end cover 105 through the motor bracket 109 , and the output shaft of the driving motor 110 is connected with the shaft of the rotary valve core 112 through the coupling 111 and the flat key 108 . On the cylindrical side of the outer peripheral side of the valve body 104, there are n valve body oil holes 114 for connecting the oil circuit of the actuator, where n is an even number, and two valve body oil holes 114 located in the radial direction of the valve body 104 form a group . The rotary valve core 112 is installed inside the valve body 104 and cooperates with the valve body 104 through a cylindrical surface. When the rotary spool 112 is in different rotation positions, the valve body oil holes 114 at different positions on the cylindrical side of the valve body 104 will communicate with the high-pressure oil chamber or the low-pressure oil chamber respectively.

Referring to FIG. 4 and FIG. 5 , the end surface of the closed end cap 102 is in contact with the end surface of the valve body 104 , and is tightly connected by the first screw 103 . There is an oil inlet pipe joint 5 on the closed end cover 102, which can be connected with high-pressure oil supply devices such as gear pumps and accumulators to input hydraulic oil with a certain pressure, and there is no other channel connected to the outside world Therefore, even if there is high-pressure oil stored inside the high-pressure oil chamber formed with the valve body 104 and the rotary spool 112 parts, it will not cause leakage to the outside world. The end surface of the open end cover 105 is in contact with the other end surface of the valve body 104 and is fastened with the second screw 106 . There is an oil outlet pipe joint 3 on the outside of the open end cover 105, which can be connected with the fuel tank. In addition, a circular hole is opened at the rotating shaft of the open end cover 105 for extending the driving shaft of the rotary valve core 112 . Since the oil cavity formed by the open end cover 105, the rotary spool 112 and the valve body 104 is a low-pressure oil cavity, that is, the oil pressure inside it is very low, so the seal between the open end cover 105 and the rotary spool 112 may not be used. The lip seal ring is oil-sealed and the O-ring 113 is directly adopted for sealing.

Referring to Fig. 2 and Fig. 4, there are n spool oil holes 115 uniformly opened on the cylindrical side of the rotary spool 112, where n is an even number, and every two spools located in the diameter direction of the rotary spool 112 The oil holes 115 constitute a group. When rotated to a proper position, these spool oil holes 115 can communicate with the valve body oil holes 114 on the cylindrical side of the valve body 104 . In order to ensure that each oil hole has more conduction time, shallow grooves 116 are provided between adjacent valve core oil holes 115 on the rotary spool 112 . On both sides of the main body of the rotary spool 112, an arc groove 1117 is respectively processed, and the arc groove 117 connects n/2 adjacent oil holes on the cylindrical side of the part, thereby speeding up the oil in and out. .

In this embodiment, two of the 2n branch valve body oil holes 114 on the rotary fluid distribution valve 1 are taken out along the diameter direction, and are connected to the first installed main structure with the oil delivery hose 4. On the right oil hole joint 12 and the left oil hole joint 17 in the single-section swing device 9. Take out the remaining n-1 butt joints from the rotary fluid distribution valve 1 sequentially in the same direction in the same way, and use the oil delivery hose 4 to connect the right oil in the remaining n-1 sets of single-section swing devices 9 in sequence. On the hole joint 12 and the left oil hole joint 17, complete the connection of the drive branch circuit. During the connection process, it should be noted that the adjacent n/2 branch valve body oil holes 114 on the rotary fluid distribution valve 1 should be connected to the right oil hole joint 12 and left oil hole joint 17 on the same side of n sets of single-section swing devices. Sequential connection, otherwise there will be waveform disorder in the following exercise. Connect the oil inlet joint 5 of the rotary fluid distribution valve 1 to the high-pressure oil hole of the hydraulic source through the oil pipe, and connect the oil return joint 3 to the oil storage tank through the oil return pipe to complete the connection of the main oil circuit. So far, the hydraulic drive circuit of the whole device has been connected. Referring to Fig. 3, there are 2n branch valve body oil holes 114 installed on the main cylindrical surface of the rotary fluid distribution valve 1, and the two branch valve body oil holes 114 along the diameter direction form a passage, forming a total of n 2 passages, so that n sets of single-section swing devices 9 can be connected. 2 Drive the internal structure of the rotary fluid distribution valve 1 to move, so that n adjacent valve body oil holes 114 communicate with the high-pressure oil chamber at a certain moment, and then communicate with the oil inlet The hole joints 17 or 12 are connected, and the other n adjacent branch oil hole joints 18 are the same as the low-pressure oil chamber, and then communicated with the oil return pipe joint 3; The adjacent valve body oil hole 114 will communicate with the oil inlet joint 17 or 12 . In a preferred embodiment, the system has two motors in total. The hydraulic source motor controls the pressure of the high-pressure oil circuit and the fluctuation amplitude of the fluctuating fin; the rotary fluid distribution valve controls the conduction/closing sequence of each joint and the fluctuation of the entire fluctuating fin Frequency, the higher the frequency, the smaller the amplitude, and the lower the frequency, the greater the amplitude.

Working principle: the rotary distribution valve is driven by the driving motor 110, so that at a certain moment, there are always n/2 valve body oil holes 114 adjacent to each other in the circumferential direction of the rotary distribution valve and communicate with the oil inlet pipe joint 5. The remaining n/2 valve body oil holes 114 communicate with each other and communicate with the oil return pipe joint 3 . With the rotation of the driving motor 110, the positions of the adjacent and communicating n/2 valve body oil holes 114 in the circumferential direction of the rotary distribution valve are changed. For each valve body oil hole 114, it is connected with the oil inlet pipe joint The time is the same and is related to the current rotation speed of the drive motor 110 .

Take the first oscillating device 9 as an example for illustration. After inputting high-pressure hydraulic oil into the oil inlet pipe joint 5, in the first half rotation cycle of the driving motor 110, for a pair of valve body oil holes 114 in the diameter direction, the valve body oil hole 114 communicating with the oil inlet pipe joint 5 and The right oil hole joint of the swing device of the first single-section swing device 9 is connected, high-pressure hydraulic oil enters the right oil chamber 13 of the swing device, pushes the inner swing rod 14 to swing clockwise, and drives the fin ray 7 clockwise through the inner swing rod transmission shaft 11 Rotate, squeeze the left oil chamber 16 of the swinging device at the same time, so that the hydraulic oil in it flows back to another valve branch oil hole 18 in the diameter direction of the rotary hydraulic valve, and enters and flows out of the oil return pipe joint 3; the driving motor 1102 rotates In the second half cycle, the valve body oil hole 114 previously communicated with the oil return pipe joint 3 starts to communicate with the oil inlet pipe joint 5, so that the left oil hole joint 17 of the swing device in the single-section swing device 9 communicates with the oil inlet pipe joint 5, High-pressure hydraulic oil enters the left oil chamber 16 of the swing device, pushes the inner swing rod 14 to rotate counterclockwise, drives the fin 7 to rotate counterclockwise through the inner swing rod transmission shaft 11, and squeezes the right oil chamber 13 of the swing device at the same time, which is the hydraulic oil in it The flow returns to the rotary fluid distribution valve 1 and flows out from the oil return pipe joint 3, thereby completing the reciprocating swing of the swing rod within one cycle.

The swinging principle of other swinging rods is similar to this, but because the initial moment when n/2 adjacent valve branch oil holes on the rotary fluid distribution valve 1 are connected to the oil inlet pipe 5 is different, the initial swinging angular position of the swinging rod is different , so that n/2 fin rays 7 form an orderly swing, and then drive the flexible fin surface clamped by the fin rays 7 to form a waveform.

Claims (10)

1. A hydraulically driven fluctuating fin bionic underwater propeller, characterized in that: it includes a support (10), more than two single-section swing devices (9), a flexible fin surface (8) and a hydraulic control unit, the two More than one single-section swing device (9) is fixed on the support (10), and the single-section swing device (9) includes a swing cylinder body (16), an inner swing rod (14), an inner swing rod rotating shaft (11) and The fin ray (7), the inner swing rod (14) is installed in the swing cylinder (16) and divides the swing cylinder (16) into a left oil chamber (15) and a right oil chamber (13). The swing rod (14) is connected with the fin ray (7) outside the swing cylinder body (16) through the inner swing rod shaft (11), and is used to connect the right oil hole joint (12) and the left oil hole joint ( 17) Opened on the swing cylinder (16), the right oil hole joint (12) and the left oil hole joint (17) communicate with the right oil chamber (13) and the left oil chamber (15) respectively, and the flexible fin surface (8) Lay on fin rays (7). 2. The hydraulically driven fluctuating fin bionic underwater thruster according to claim 1, characterized in that: the hydraulic control unit is an electromagnetic control valve, a hydraulic source, and a hydraulic source servo motor, and the hydraulic source is passed through the hydraulic source servo motor, electromagnetic The control valve and the hydraulic pipeline are connected with the right oil hole joint (12) and the left oil hole joint (17). 3. The hydraulically driven undulating fin bionic underwater propeller according to claim 1, characterized in that: the hydraulic control unit is a rotary fluid distribution valve (1), and the rotary fluid distribution valve (1) includes a valve body ( 104), rotary spool (112), driving motor (110), closed end cover (102) and open end cover (105), and described closed end cover (102) and open end cover (105) are respectively connected to the valve The two ends of the body (104) form a closed cavity (118), and one end of the rotary valve core (112) installed in the closed cavity (118) is connected with the drive motor (110), and the closed cavity (118) A high-pressure oil chamber is formed between the middle closed end cover (102) and the rotary valve core (112) and the valve body (104), and between the open end cover (105) and the rotary valve core (112) and the valve body (104) A low-pressure oil chamber is formed, and there is no communication between the high-pressure oil chamber and the low-pressure oil chamber; several valve body oil holes (114) are opened on the outer peripheral side of the valve body (104) for connecting the oil circuit of the actuator, and the rotary valve A plurality of valve core oil holes (115) are opened on the outer peripheral side of the core (112), and the valve body oil hole (114) communicates with the closed cavity (118) through the valve core oil hole (115). 4. The hydraulically driven fluctuating fin bionic underwater thruster according to claim 3, characterized in that: the number of oil holes (114) in the valve body is n, where n is an even number, and every two are located in the valve body (104 ) The valve body oil hole (114) on the diameter direction forms a group. 5. The hydraulically driven undulating fin bionic underwater propeller according to claim 3, characterized in that: the number of oil holes (115) of the valve core is n, where n is an even number, and every two are located on the rotary valve core. (112) spool oil hole (115) on the diameter direction forms one group. 6. The hydraulically driven undulating fin bionic underwater propeller according to claim 3, 4 or 5, characterized in that: the closed end cover (102) is provided with an oil inlet hole connected to the high-pressure oil supply equipment, so The oil inlet hole communicates with the high-pressure oil chamber, and the open end cover (105) is provided with an oil outlet hole communicated with the low-pressure oil chamber. 7. The hydraulically driven undulating fin bionic underwater propeller according to claim 3, 4 or 5, characterized in that arc-shaped grooves (117) are respectively opened on the two end surfaces of the rotary valve core (112) . 8. The hydraulically driven fluctuating fin bionic underwater propeller according to claim 6, characterized in that arc-shaped grooves (117) are opened on both end surfaces of the rotary valve core (112). 9. The hydraulically driven fluctuating fin bionic underwater propeller according to claim 3, 4 or 5, characterized in that: on the rotary spool (112), there are openings between adjacent spool oil holes (115) Shallow groove (116). 10. The hydraulically driven undulating fin bionic underwater propeller according to claim 8, characterized in that: shallow grooves (116) are opened between adjacent valve core oil holes (115) on the rotary valve core (112) ).

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