Bionic cuttlefish underwater vehicle

Abstract

The invention belongs to the technical field of underwater vehicle design, and particularly relates to a bionic cuttlefish underwater vehicle. Comprising a boat body, a control structure, a cruising assembly, a spraying assembly and a power module. The boat body is of a cylindrical structure imitating the shape of cuttlefish and comprises a front-end cross-shaped part, a middle-section installation part, a tail-end propelling part and a tail-end tail skirt part. The control structure comprises a bionic fin steering mechanism; the cruising assembly comprises a propeller and a propeller driving motor; the spraying assembly comprises a deformation bag sleeve, a breathing bag sleeve and a nozzle. The invention relates to a bionic cuttlefish underwater vehicle, and aims to provide a bionic cuttlefish underwater vehicle capable of providing enough instantaneous explosive power under low energy consumption.

Description

Technical Field

[0001] The present invention belongs to the technical field of submersible design, and particularly relates to a bionic cuttlefish submersible. Background Art

[0002] The shape design of underwater vehicles needs to consider hydrodynamic performance to reduce resistance, lower noise and improve maneuverability, and achieve a smaller navigation resistance through different shape designs. In recent years, various animals swimming in water in nature have become the objects of bionics. The cuttlefish is a common marine creature, and its unique shape and jet movement mode are completely different from those of traditional marine creatures that provide power by swinging fins and tail fins. According to its action principle, there have emerged several underwater vehicles that mimic its action mode, but the vast majority still achieve power imitation through propellers and provide burst thrust by increasing instantaneous power. On the one hand, the energy consumption in this process is extremely high, resulting in a significant decline in the endurance of the submersible. On the other hand, the burst process is accompanied by a significant increase in internal sound and electrical signals, which has a great impact on tasks that require quiet and concealed operations, etc., and thus greatly limits the application range. Summary of the Invention

[0003] The purpose of the present invention is to provide a bionic cuttlefish submersible with low energy consumption, simple structure, low noise, and capable of achieving low-energy cruising and high-burst acceleration.

[0004] To achieve the above purpose, the present invention adopts the following technical solutions.

[0005] A bionic cuttlefish submersible includes a hull 1, a steering structure, a cruising component, a jetting component, and a power supply module;

[0006] The hull 1 is a cylindrical structure imitating the shape of a cuttlefish, including a front cross part 10, a middle mounting part 11, a rear end propulsion part 12, and a terminal tail skirt part 13;

[0007] The front cross part 10 forms a cross structure, and the ends of the cross structure form mounting surfaces 100 in the horizontal and vertical directions. There are two strip-shaped water suction ports 101 on the left and right sides of the horizontal area of the cross structure. The rear side of the strip-shaped water suction port 101 is connected to a duct 103, and the two ducts 103 extend backward through the cross part 10 and the middle mounting part 11 and finally form two propulsion ports 104 from the rear end propulsion part 12;

[0008] The steering structure includes: four bionic fin rudders 105 arranged on the mounting surface 100, a steering mechanism arranged inside the front cross part 10. The steering mechanism includes a horizontally arranged and a vertically arranged rudder rod 107, and a rudder rod drive motor for controlling the angle of the rudder rod; the horizontally arranged rudder rod is connected to the two horizontally arranged bionic fin rudders 105, and the vertically arranged rudder rod is connected to the two vertically arranged bionic fin rudders 105;

[0009] The cruise assembly includes: two propellers disposed in two ducted pipes 103 and close to the propulsion inlet 104, and a propeller drive motor 106 for driving the propellers;

[0010] The jet assembly includes: a deformable bladder 20 located inside the middle section mounting part 11 and the tail-end propulsion part 12, a breathing bladder 21 located inside the deformable bladder 20, and a nozzle located at the rear end of the breathing bladder 21; the tail-end propulsion part 12 is provided with a jet opening 120, the jet opening 120 is located between two ducted pipes 103, and the nozzle is arranged inside the jet opening 120 with the jet orifice facing backward;

[0011] The front ends of the deformable bladder 20 and the breathing bladder 21 are wrapped outside the ducted pipe 103 and fixed through the ducted pipe 103 and the inner wall of the hull 1. The rear end of the breathing bladder 21 is connected to the nozzle through a one-way valve. The one-way valve can only supply water to the nozzle side. The front end of the deformable bladder 20 wraps the breathing bladder 21;

[0012] The deformable bladder 20 is composed of a silica gel sleeve, elastic rib strips embedded in the silica gel sleeve and extending in the front-back direction, arc-shaped shape memory metal wires embedded in the silica gel sleeve and extending in the left-right direction, and a power supply circuit connected to the shape memory metal wires; the silica gel sleeve is a soft structure. A plurality of elastic rib strips are evenly arranged in the silica gel sleeve to make the silica gel sleeve have a tendency to expand outward. A plurality of arc-shaped shape memory metal wires are vertically crossed with the elastic rib strips and are symmetrically arranged up and down. The ends of the arc-shaped shape memory metal wires facing each other up and down are connected to form a ring structure;

[0013] The low-temperature state of the arc-shaped shape memory metal wire after power-off is an extended state, and the high-temperature state after being powered on and heated is a contracted state;

[0014] The breathing bladder 21 is a soft structure. The breathing bladder 21 is arranged closely against the inner wall of the deformable bladder 20. Water absorption holes 200 are evenly distributed on the surface of the deformable bladder 20. Water inlet holes 210 are evenly distributed on the surface of the breathing bladder 21. The water absorption holes 200 and the water inlet holes 210 are staggered from each other;

[0015] Water passing holes 222 are arranged in the areas of the middle section mounting part 11 and the tail-end propulsion part 12 opposite to the breathing bladder 21;

[0016] The power supply module is used to supply power to the rudder rod drive motor, the propeller drive motor 106, and the arc-shaped shape memory metal wires.

[0017] For a further improvement or preferred implementation mode of the foregoing bionic cuttlefish submersible, it further includes a transmission gear for connecting the rudder rod drive motor and the rudder rod 7.

[0018] For a further improvement or preferred implementation mode of the foregoing bionic cuttlefish submersible, the one-way valve is a constant pressure relief valve or a controllable one-way valve.

[0019] For a further improvement or preferred embodiment of the aforementioned bionic cuttlefish submersible, on the left and right sides of the inner wall of the middle section installation part 11, there are first support parts 111, and on the outer side of the duct 103, there is a connecting part 112 facing the first support part 111; the connecting part 112 abuts against the deformation bladder sleeve 20 and the breathing bladder sleeve 21 to press them tightly against the first support part 111.

[0020] For a further improvement or preferred embodiment of the aforementioned bionic cuttlefish submersible, at the water inlet of the strip-shaped water suction port 101, a grid structure 109 is arranged along the front-rear direction.

[0021] For a further improvement or preferred embodiment of the aforementioned bionic cuttlefish submersible, the areas in the middle of the two ducts 103 in front of the propeller are communicated with each other to form a drainage channel 108.

[0022] For a further improvement or preferred embodiment of the aforementioned bionic cuttlefish submersible, the two strip-shaped water suction ports 101 are arranged at an angle of 5-10°, and the two propulsion ports 104 are arranged at an angle of 10-15°.

[0023] For a further improvement or preferred embodiment of the aforementioned bionic cuttlefish submersible, several turbulence ports 110 are arranged at the edge of the bionic fin rudder 105; the turbulence ports 110 are respectively located on both sides of the outermost end of the bionic fin rudder 105 and are communicated with the duct 103.

[0024] For a further improvement or preferred embodiment of the aforementioned bionic cuttlefish submersible, the surface of the hull 1 or the protruding surface of the hull is evenly provided with a crescent dune surface structure. Description of the Drawings

[0025] Figure 1 is the front view of the bionic cuttlefish submersible;

[0026] Figure 2 is the top view of the bionic cuttlefish submersible;

[0027] Figure 3 is the assembly drawing of the bionic cuttlefish submersible;

[0028] Figure 4 is the front view of the bionic cuttlefish submersible;

[0029] Figure 5 is the schematic diagram of the duct structure of the bionic cuttlefish submersible;

[0030] Figure 6 is the cross-sectional view of the ejection structure of the bionic cuttlefish submersible;

[0031] Figure 7 is the enlarged view of area A;

[0032] Among them, the reference numerals include:

[0033] Hull 1, front cross part 10, middle section installation part 11, tail end propulsion part 12, end tail skirt part 13, deformation bladder sleeve 20, breathing bladder sleeve 21, installation surface 100, strip-shaped water suction port 101, duct 103, propulsion port 104, bionic fin rudder 105, propeller drive motor 106, rudder rod 107, drainage channel 108, grid structure 109, turbulent flow port 110, first support part 111, connection part 112, jet port 120, water suction hole 200, water inlet hole 210, water passing hole 222. Specific implementation mode

[0034] The present invention will be described in detail below in conjunction with specific embodiments.

[0035] A bionic cuttlefish submersible of the present invention is used to provide a bionic cuttlefish submersible that can provide sufficient instantaneous explosive power at low energy consumption.

[0036] As Figure 1 shown, the main structure of the bionic cuttlefish submersible of the present invention includes a hull 1, a control structure, a cruising component, a jet component, and a power module;

[0037] Among them, the hull 1 is a cylindrical structure imitating the shape of a cuttlefish, including a front cross part 10, a middle section installation part 11, a tail end propulsion part 12, and an end tail skirt part 13;

[0038] The front cross part 10 forms a cross structure. The ends of the cross structure form installation surfaces 100 in the horizontal and vertical directions. Two strip-shaped water suction ports 101 are provided on the left and right sides of the horizontal area of the cross structure. The rear side of the strip-shaped water suction port 101 is connected to a duct 103. The two ducts 103 extend backward through the cross part 10 and the middle section installation part 11 and finally form two propulsion ports 104 from the tail end propulsion part 12;

[0039] The hull structure is the main support structure of the submersible. In specific implementation, for the convenience of the design and installation of internal components, on the basis of the foregoing basic structure, separable openings and shell surface structures can be provided on the upper and lower sides of the hull, such as Figure 3 the separable shell surfaces on the upper and lower sides in

[0040] to simplify the assembly and usage methods.

[0041] As Figure 5 shown, among them, the two ducts 103 provide power for low-speed and stable cruising by installing propellers inside. By adjusting the power difference between the two propellers, the change of driving forces in two directions can be realized, and then the turning of the submersible can be controlled.

[0042] To optimize the oncoming flow characteristics, ensure the consistency of the fluid pressure in the oncoming flow direction, and avoid differences in the water intake speed on one side of the strip-shaped water suction port, which may affect the control effect. In this case, the areas in the middle of the two duct pipes 103 in front of the propeller are interconnected to form a drainage channel 108.

[0043] At the same time, the two strip-shaped water suction ports 101 are arranged at an angle of 5-10°, and the two propulsion ports 104 are arranged at an angle of 10-15°. The propulsion ports with an angle of 10-15° can better simulate the characteristics of the cuttlefish tail wake. At the same time, the existence of the angle can provide an increased difference in the propulsion torques on the left and right sides during turning, and can provide a greater turning speed compared to parallel propulsion ports, reducing the energy consumption during the turning process.

[0044] The two strip-shaped water suction ports designed at an angle can form a low-pressure fluid area in the oncoming flow direction in front of the cuttlefish, and at the same time reduce the fluid pressure flowing through the surface of the submersible, reducing the resistance during the movement of the thruster. At the same time, in the fluid environment where the submersible is located in the forward direction of the submersible, a sound and electric signal propagation medium layer with different densities is formed, causing the sound and electric signals to be reflected and refracted, reducing the probability of the core sound and electric signals of the submersible being detected.

[0045] Particularly, through analysis, the special fin structure of the cuttlefish enables it to generate a specific flow field different from that of traditional marine organisms. Therefore, in this embodiment, a number of turbulent ports 110 are provided at the edge of the bionic fin rudder 105; the turbulent ports 110 are respectively located on both sides of the outermost end of the bionic fin rudder 105 and are connected to the duct pipe 103. The negative pressure of the duct forms a low-pressure water intake flow at the turbulent ports to imitate the flow field disturbance caused by the fin swing of the cuttlefish, further improving its electromagnetic bionic ability, so that it can generate sound and electric signal characteristics closer to those of real cuttlefish when being detected.

[0046] Particularly, based on the drag reduction theory of crescent dunes, to improve the endurance performance of the submersible, in this embodiment, crescent dune surface structures are uniformly provided on the hull 1 or the protruding surface of the hull. The crescent dune surface structure is beneficial to reducing the energy consumption of the submersible and improving the propulsion efficiency of the vehicle.

[0047] Particularly, to prevent water debris from entering the duct pipe and affecting the operation of the propeller, a grille structure 109 in the front-rear direction is provided at the water inlet of the strip-shaped water suction port 101.

[0048] Such as Figure 1 、 Figure 3 、 Figure 4As shown in the figure, the steering structure includes: four bionic fin rudders 105 arranged on the mounting surface 100, a steering mechanism arranged inside the front cross part 10. The steering mechanism includes a horizontally arranged and a vertically arranged rudder rod 107, and a rudder rod driving motor for controlling the angle of the rudder rod; the horizontally arranged rudder rod is connected to two bionic fin rudders 105 in the horizontal direction, and the vertically arranged rudder rod is connected to two bionic fin rudders 105 in the vertical direction;

[0049] The cruising assembly includes: two propellers arranged in two duct pipes 103 and close to the propulsion port 104, and a propeller driving motor 106 for driving the propellers;

[0050] The swing of the bionic fin rudder 105 can be controlled by the rudder rod 107. By coordinating the rotational speed difference of the two propellers in the cruising assembly, the motion control of the submersible can be achieved. The two control methods are redundant with each other to ensure the stability of control and perform compensation control, so as to achieve efficient control in the way of minimizing energy consumption as much as possible.

[0051] To ensure the line of sight of control, in specific implementation, according to the steering method of the rudder, transmission gears and other structures for connecting the rudder rod driving motor and the rudder rod 7 are also arranged inside the submersible.

[0052] An important motion characteristic of cuttlefish is that it can achieve instantaneous acceleration and displacement through jetting. In traditional simulation schemes, it is achieved by the instantaneous change of propulsion force. This method has high energy consumption, and has high technical requirements for the electrical control of the equipment, the performance of the propeller and the control system, and is not suitable for industrial applications. Therefore, with reference to the theory of energy storage and launch, this application provides a jetting structure that realizes energy storage jetting based on the electrostrictive energy storage of shape memory wire.

[0053] As shown in Figure 3 、 Figure 6 、 Figure 7 the figure, the jetting assembly includes: a deformable bladder sleeve 20 located inside the middle section mounting part 11 and the tail end propulsion part 12, a breathing bladder sleeve 21 located inside the deformable bladder sleeve 20, and a nozzle located at the rear end of the breathing bladder sleeve 21; the tail end propulsion part 12 is provided with a jetting port 120, the jetting port 120 is located between the two duct pipes 103, and the nozzle is arranged inside the jetting port 120 with the jet opening facing backward;

[0054] The front ends of the deformable bladder sleeve 20 and the breathing bladder sleeve 21 are wrapped outside the duct pipe 103 and fixed through the duct pipe 103 and the inner wall of the hull 1. The rear end of the breathing bladder sleeve 21 is connected to the nozzle through a one-way valve. The one-way valve can only supply water to the nozzle side. The front end of the deformable bladder sleeve 20 wraps the breathing bladder sleeve 21;

[0055] The deformable bladder sleeve 20 is composed of a silica gel sleeve, elastic rib strips embedded in the silica gel sleeve and extending in the front-back direction, arc-shaped memory metal wires embedded in the silica gel sleeve and extending in the left-right direction, and a power supply circuit connected to the memory metal wires; the silica gel sleeve is of a soft structure, and a plurality of elastic rib strips are evenly arranged in the silica gel sleeve to make the silica gel sleeve have a tendency to expand outwards. A plurality of arc-shaped memory metal wires are vertically crossed with the elastic rib strips and are symmetrically arranged up and down. The ends of the arc-shaped memory metal wires facing each other up and down are connected to form a ring structure;

[0056] The low-temperature state of the arc-shaped memory metal wire after power-off is in an extended state, and the high-temperature state after being heated by electricity is in a contracted state;

[0057] The breathing bladder sleeve 21 is of a soft structure. The breathing bladder sleeve 21 is arranged closely against the inner wall of the deformable bladder sleeve 20 (connected by a close connection structure or multi-point bonding, etc., and a water flow channel surface is formed between the two bladder sleeves). The surface of the deformable bladder sleeve 20 is evenly provided with water absorption holes 200, and the surface of the breathing bladder sleeve 21 is evenly provided with water inlet holes 210. The water absorption holes 200 and the water inlet holes 210 are staggered from each other;

[0058] Water passing holes 222 are arranged in the areas of the middle section installation part 11 and the tail end propulsion part 12 facing the breathing bladder sleeve 21;

[0059] Based on the state switching that the deformable bladder sleeve contracts when the arc-shaped memory metal wire is heated by electricity and the elastic rib strips make the deformable bladder sleeve naturally expand, the rib strips can be used to expand the deformable bladder sleeve at the low-temperature state, absorb water and flow along the contact surface gap between the two bladder sleeves and be stored in the breathing bladder sleeve. When jet propulsion is required, the memory metal wire is heated by electricity to make it reach the high-temperature state and maintain it, so that the memory metal wire has a tendency to quickly contract, and the deformable bladder sleeve and the breathing bladder sleeve are tightened. Due to the action of the one-way valve of the ejector, the compressed water is ejected backward to complete the jet propulsion.

[0060] By controlling the opening pressure of the one-way valve, the power during jetting can be further optimized. For this reason, in this embodiment, the one-way valve can adopt a constant-pressure drain valve or a controllable one-way valve.

[0061] To avoid the vibration of the structure and reduce the noise during the jetting process, in this embodiment, first support parts 111 are arranged on the left and right sides of the inner wall of the middle section installation part 11, and a connection part 112 is arranged on the outer side of the duct 103 opposite to the first support part 111; the connection part 112 abuts against the deformable bladder sleeve 20 and the breathing bladder sleeve 21 to press them tightly against the first support part 111.

[0062] The jetting action is realized by using a shape memory metal in cooperation with an elastic structure. During this process, there is no need for power burst control. At the same time, the action of the elastic energy storage structure itself has shock and vibration damping capabilities. Therefore, during the jetting process, the structural noise and electrical noise signals of the submersible itself are smaller, which is more conducive to the concealment of the submersible, reduces the electromagnetic signal size, and at the same time has lower energy consumption, enabling better low-energy consumption cruising motion.

[0063] Among them, the power supply module is used to supply power to the rudder rod drive motor, the propeller drive motor 106, and the arc-shaped shape memory wire. To ensure the stable operation of each device structure. Specifically in implementation, according to requirements, a local control chip or a remote control chip also needs to be configured to realize the remote control of the foregoing control actions. The foregoing control actions only require controlling the on / off of the circuit and the magnitude of the current. The selection of the control chip and the circuit are very mature. Other solutions including the sealing and waterproofing of the foregoing electrical structure and the connection and fixation of the structure adopt conventional solutions in the prior art, so they will not be elaborated in this application.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting the protection scope of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the essence and scope of the technical solutions of the present invention.

Claims

1. A bionic cuttlefish submersible, characterized in that: It comprises a hull (1), a control structure, a cruise component, a jet component, and a power module; The hull (1) is a cylindrical structure imitating the appearance of a cuttlefish, comprising a front cross portion (10), a middle mounting portion (11), and a rear propulsion portion (12); The front cross portion (10) forms a cross structure, the ends of the cross structure form mounting surfaces (100) along the horizontal and vertical directions, two strip-shaped water suction ports (101) are provided on the left and right sides of the horizontal region of the cross structure, the rear sides of the strip-shaped water suction ports (101) are connected to duct pipes (103), and the two duct pipes (103) extend backward through the cross portion (10), the middle mounting portion (11), and finally form two propulsion ports (104) from the rear end propulsion portion (12); The control structure comprises: four bionic fin rudders (105) arranged on a mounting surface (100), a steering mechanism arranged inside a front cross portion (10), the steering mechanism comprising a horizontally arranged and a vertically arranged rudder stock (107), and a rudder stock driving motor for controlling the angle of the rudder stock; the horizontally arranged rudder stock is connected to the two horizontally arranged bionic fin rudders (105), and the vertically arranged rudder stock is connected to the two vertically arranged bionic fin rudders (105); The cruise assembly comprises: two propellers arranged in two ducts (103) and close to the propulsion port (104) and a propeller drive motor (106) for driving the propellers; The spray assembly comprises: a deformable bag sleeve (20) located inside the middle section mounting portion (11) and the tail end propulsion portion (12), a breathing bag sleeve (21) located inside the deformable bag sleeve (20), and a nozzle located at the rear end of the breathing bag sleeve (21); the tail end propulsion portion (12) is provided with a spray port (120), the spray port (120) is located between two duct pipes (103), and the nozzle is arranged inside the spray port (120) with the spray port facing backwards; The front ends of the deformable bag cover (20) and the breathing bag cover (21) are covered on the outside of the duct pipe (103) and fixed by the duct pipe (103) and the inner wall of the hull (1). The rear end of the breathing bag cover (21) is connected to the nozzle via a one-way valve. The one-way valve can only supply water to one side of the nozzle. The front end of the deformable bag cover (20) covers the breathing bag cover (21). The deformable bag sleeve (20) is composed of a silicone sleeve, elastic ribs embedded in the silicone sleeve and extending in the front-to-back direction, an arc-shaped memory metal wire embedded in the silicone sleeve and extending in the left-to-right direction, and a power supply circuit connected to the memory metal wire; the silicone sleeve is a soft structure, a plurality of elastic ribs are evenly arranged in the silicone sleeve so that the silicone sleeve has a tendency to expand outwards, a plurality of arc-shaped memory metal wires cross the elastic ribs vertically, and are symmetrically arranged up and down, and the ends of the arc-shaped memory metal wires facing each other up and down are connected to form a ring structure; The arc-shaped memory metal wire is in a stretched state in the low temperature state after power is turned off, and in a contracted state in the high temperature state after power is turned on and heated; The breathing bag cover (21) is a soft structure. The breathing bag cover (21) is arranged closely to the inner wall of the deformable bag cover (20). The surface of the deformable bag cover (20) is evenly provided with water absorption holes (200). The surface of the breathing bag cover (21) is evenly provided with water inlet holes (210). The water absorption holes (200) and the water inlet holes (210) are staggered with each other. A water hole (222) is provided in the area directly facing the breathing bag cover (21) on the middle section mounting portion (11) and the tail end propulsion portion (12); The power module is used to supply power to the rudder rod driving motor, the propeller driving motor (106) and the arc-shaped memory metal wire.

2. The bionic cuttlefish submersible according to claim 1, characterized in that: It also includes a transmission gear for connecting the rudder bar driving motor and the rudder bar (7).

3. The bionic cuttlefish submersible according to claim 1, characterized in that: The one-way valve is a designated pressure relief valve or a controllable one-way valve.

4. The bionic cuttlefish submersible according to claim 1, characterized in that: A first supporting portion (111) is provided on the left and right sides of the inner wall of the middle section mounting portion (11), and a connecting portion (112) directly opposite to the first supporting portion (111) is provided on the outer side of the duct pipe (103); the connecting portion (112) presses against the deformable bag sleeve (20) and the breathing bag sleeve (21) so that they are pressed tightly against the first supporting portion (111).

5. The bionic cuttlefish submersible according to claim 1, characterized in that: A grid structure (109) is provided at the water inlet of the strip-shaped water suction port (101) along the front-rear direction.

6. The bionic cuttlefish submersible according to claim 1, characterized in that: The areas in the middle of the two duct pipes (103) located in front of the propeller are connected to each other to form a drainage channel (108).

7. The bionic cuttlefish submersible according to claim 1, characterized in that: The two strip-shaped water suction ports (101) are arranged at an angle of 5 to 10 degrees, and the two propulsion ports (104) are arranged at an angle of 10 to 15 degrees.

8. The bionic cuttlefish submersible according to claim 1, characterized in that: The edge of the bionic fin rudder (105) is provided with a plurality of turbulence ports (110); the turbulence ports (110) are respectively located on both sides of the farthest end of the bionic fin rudder (105) and are connected to the duct pipe (103).

9. The bionic cuttlefish submersible according to claim 1, characterized in that: The boat body (1) or the protruding surface of the boat body is evenly provided with a crescent-shaped sand dune surface structure.

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