An umbrella-like positive displacement biomimetic thruster

Abstract

The present application relates to a kind of umbrella-shaped positive displacement bionics propeller, connecting link between water absorption structure and water jet structure and umbrella-shaped structure and outer elastic skin are connected, water absorption structure is equipped with water suction port, water jet structure is equipped with water jet port, electric push rod is placed in water jet structure, water suction port, water outlet are driven together by electric push rod multi-joint connecting rod and umbrella-shaped structure and outer elastic skin complete the action of imitating squid water suction and water jet.The present application uses the mechanism similar to umbrella-shaped opening and closing, realizes the volume change of cavity and the change of pressure difference inside and outside cavity, completes water absorption and drainage process;Adopt the mode of head lateral water absorption, tail axial water jet, it is easy to realize the maximum of propulsive efficiency;Using the same set of driving device, through the design of mechanism to realize the interlocking of water suction port and water jet port, and the opening and closing action of expansion and contraction support;Water jet port uses rudder machine, realizes the vector control of the propeller's propelling direction, so as to improve the high mobility and flexible operability of equipment.

Description

Technical Field

[0001] This invention relates to a volumetric water jet propulsion system, and more particularly to a volumetric biomimetic propulsion device. Background Technology

[0002] With increasing human demands for marine topographic surveying, biological resource investigation, marine resource development, marine pollution monitoring, and underwater reconnaissance, the development of flexible, compact, quiet, and efficient underwater mobility equipment is of great significance, among which the performance of the propulsion system is crucial. Traditional propellers, which rely on motors to drive blades at high speeds for propulsion, suffer from problems such as large size, high noise, and a complex propulsion system, making them unsuitable for the propulsion power requirements of highly maneuverable, compact, and quiet modern underwater robots.

[0003] Humans have always drawn design inspiration from observing nature. It has been discovered that bodily propulsion utilizes body flapping (swinging, undulation) or fluid ejection through cavity deformation. However, jet propulsion, with its high thrust, efficiency, and maneuverability, is ideally suited for underwater equipment of a certain size requiring high sensitivity and long-distance operation.

[0004] Cuttlefish are a typical aquatic creature that uses water jet propulsion. They achieve the process of spraying and sucking water by changing the volume of their body cavity.

[0005] For example, patent publication number CN113928522A discloses a squid-inspired pulse jet propulsion device. It uses a rotary motor as a power source, which drives a crank-rocker mechanism to cause a deformable cavity to reciprocate, changing the cavity's internal volume and thus achieving water intake and spraying. It employs a double-disc, clamp-on, swing-open one-way valve structure, which automatically opens and closes based on changes in water pressure within the cavity. The intake one-way valve opens towards the inside of the water storage pipe, while the spray one-way valve opens towards the outside. This allows for alternating water intake and spraying actions: the intake valve opens and the spray valve closes during water intake, and vice versa.

[0006] For example, patent publication number CN114701632A discloses a biomimetic squid underwater propulsion device. It uses a dielectric elastomer, which is stretched by electrical stimulation, causing the rubber elastomer to stretch as well, thus increasing the internal volume of the cavity and achieving water intake. By removing the electrical stimulation, the dielectric elastomer returns to its original length, causing the rubber elastomer to contract, thus decreasing the internal volume of the cavity and achieving water spraying. A duckbill one-way valve is used, which automatically opens and closes based on changes in water pressure within the cavity. Both the duckbill one-way valve and the duckbill one-way valve have their openings facing forward, allowing the intake one-way valve to open and the spray one-way valve to close during water intake, and vice versa, thus achieving alternating water intake and spraying actions.

[0007] The disadvantages of the above-mentioned existing technology are:

[0008] 1) Propeller propulsion: large size, prone to cavitation damage, loud noise, complex overall structure, poor maneuverability, and large turning radius of the aircraft.

[0009] 2) Puffing propulsion: low efficiency, small thrust, poor maneuverability, and unsuitable for long-term and long-distance work.

[0010] 3) Existing waterjet propulsion technology: Large equipment or vessels generally use pump-jet propulsion, which also suffers from problems such as high noise and complex mechanisms. One approach to volumetric waterjet propulsion is to use the deformation of shape memory alloy wires to mimic the movement of a cavity; another is to use alternating current to deform a piezoelectric vibrator, thereby changing the volume of the cavity. Currently, this approach is only suitable for very small objects, and its usability and reliability are both low. Summary of the Invention

[0011] This invention proposes an umbrella-shaped volumetric biomimetic thruster. It employs an umbrella-like opening and closing mechanism to achieve changes in the cavity's volume and the pressure difference between the inside and outside of the cavity, thus completing the water intake and discharge processes. It uses a method of lateral water intake at the head and axial water spray at the tail, easily maximizing propulsion efficiency. A single drive unit is used, and the mechanism design achieves interlocking between the water intake and spray nozzles, as well as the opening and closing actions of the expansion and contraction supports. The spray nozzle uses a directional servo to achieve vector control of the thruster's propulsion direction, thereby improving the device's high maneuverability and flexible operation, meeting the needs of underwater equipment for compact, flexible, efficient, quiet, highly maneuverable, and highly reliable propulsion.

[0012] To achieve the above objectives, the technical solution of the present invention is: an umbrella-shaped volumetric biomimetic propulsion device, comprising a water-absorbing structure, a water-spraying structure, an electric push rod, a multi-jointed connecting rod and an umbrella-shaped structure, an outer elastic skin, and a water-spraying structure. The water-absorbing structure and the water-spraying structure are connected by the multi-jointed connecting rod, the umbrella-shaped structure, and the outer elastic skin. The water-spraying structure has a water intake port and a water spray port. The electric push rod is placed in the water-spraying structure. The water intake port of the water-absorbing structure and the water outlet of the water-spraying structure are driven by the electric push rod to complete the action of mimicking a squid sucking and spraying water.

[0013] Furthermore, the electric push rod is a pushing component. When the electric push rod retracts, the multi-joint connecting rod and the umbrella-shaped structure open outward like an umbrella, while the water inlet opens and the water spray nozzle closes, completing the water intake process. When the electric push rod extends, the multi-joint connecting rod and the umbrella-shaped structure retract inward like an umbrella, while the water inlet closes and the water spray nozzle opens, completing the water spraying process.

[0014] Furthermore, the water spray structure uses a servo motor to control the direction of the water spray nozzles, thereby achieving directional vector control of the propeller.

[0015] Furthermore, the water-absorbing structure consists of an electric push rod, a rack, a cylindrical gear worm wheel, a worm, two bevel gears, four sealing plates on the bevel gears, and four water intake ports. The head of the water-absorbing structure has four water intake ports on its side. The rack is fixedly connected to the top of the electric push rod. The rack is connected to the worm through the cylindrical gear. The worm is connected to the small bevel gear through the worm wheel. The small bevel gear meshes with the large bevel gear. The large bevel gear has four sealing plates.

[0016] Furthermore, the water spray structure consists of a tension spring, a semi-circular plug, a buckle, a compression spring, an electric push rod, a servo motor, and a vector water spray nozzle. The vector water spray nozzle is axially located at the tail of the water spray structure. The electric push rod is connected to the semi-circular plug through a tension spring. The front of the water spray structure is provided with a buckle for locking the semi-circular plug and a compression spring for resetting the buckle.

[0017] The beneficial effects of this invention are:

[0018] 1. The design concept of lateral water intake at the head and axial water spray at the tail can maximize the efficiency of water jet propulsion according to the momentum theorem.

[0019] 2. An electric push rod is used to drive the umbrella-shaped structure to open and close, which in turn drives the outer elastic skin to expand and contract, thereby realizing the volume change of the propeller cavity, the change of the internal and external pressure difference, and the water intake and spraying process.

[0020] 3. The same set of electric actuators is used for driving, and the opening and closing of the water inlet and the spray nozzle are interlocked through the transmission mechanism design. Attached Figure Description

[0021] Figure 1 This is a three-dimensional schematic diagram of the umbrella-shaped volumetric biomimetic thruster of the present invention. Figure 1 ;

[0022] Figure 2 This is a three-dimensional schematic diagram of the umbrella-shaped volumetric biomimetic thruster of the present invention. Figure 2 ;

[0023] Figure 3 This is a three-dimensional diagram of the water-absorbing structure. Figure 1 ;

[0024] Figure 4 This is a three-dimensional diagram of the water-absorbing structure. Figure 2 ;

[0025] Figure 5 This is a cross-sectional schematic diagram of the water spray structure;

[0026] Figure 6 This is a 3D schematic diagram of the water spray structure. Figure 1 ;

[0027] Figure 7 This is a 3D schematic diagram of the water spray structure. Figure 2 ;

[0028] Figure 8 This is a partial schematic diagram of the water spray structure;

[0029] Figure 9 This is a schematic diagram of a large bevel gear and a sealing plate;

[0030] In the diagram: 1. Electric actuator, 2. Inlet, 3. Multi-joint connecting rod and umbrella-shaped structure, 4. Spray nozzle, 5. Cylindrical gear, 6. Worm gear, 7. Worm wheel, 8. Small bevel gear, 9. Large bevel gear, 10. Rack, 11. Semicircular plug, 12. Snap fastener, 13. Tension spring, 14. Sealing plate, 15. Compression spring. Detailed Implementation

[0031] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0032] like Figures 1 to 9 As shown, an umbrella-shaped volumetric biomimetic thruster according to an embodiment of the present invention mainly consists of a water-absorbing structure, a water-spraying structure, an electric push rod 2, a multi-jointed connecting rod and an umbrella-shaped structure 3, an outer elastic skin, a water-spraying structure, and a servo motor. The water-absorbing structure and the water-spraying structure are connected by the multi-jointed connecting rod, the umbrella-shaped structure 3, and the outer elastic skin. The electric push rod 1 is placed in the water-spraying structure and drives the outer elastic skin to expand and contract through the connection of the multi-jointed connecting rod and the umbrella-shaped structure 3.

[0033] The electric push rod 1 is the driving component of the device. The umbrella-shaped structure, the water intake of the water-absorbing structure, and the water outlet of the water-spraying structure are all driven by the electric push rod 1 to complete the action of mimicking a squid sucking and spraying water. When the electric push rod 1 retracts, the multi-joint connecting rod and the umbrella-shaped structure 3 open outwards like an umbrella, while the water intake 2 opens and the water spray 4 closes, completing the water intake process. When the electric push rod 1 extends, the multi-joint connecting rod and the umbrella-shaped structure 3 retract inwards like an umbrella, while the water intake 2 closes and the water spray 4 opens, completing the water spraying process. This cycle repeats continuously, enabling the entire device to propel forward. Finally, a servo motor controls the direction of the water spray 4, achieving directional vector control of the propeller.

[0034] like Figure 3 As shown in Figures 4 and 9, the water-absorbing structure consists of an electric push rod 1, a rack 10, a cylindrical gear 5, a worm gear 7, a worm 6, a small bevel gear 8, a large bevel gear 9, four sealing plates 14 on the bevel gears, and four water-absorbing ports 2. The head of the water-absorbing structure has four water-absorbing ports 2 on its side. The rack 10 is fixedly connected to the electric push rod 1. The rack 10 is connected to the worm 7 via the cylindrical gear 5. The worm 7 is connected to the small bevel gear 8 via the worm gear 6. The small bevel gear 8 meshes with the large bevel gear 9, and the large bevel gear 9 has four sealing plates 14.

[0035] When the electric actuator 1 begins axial movement, the fixed rack 10 drives the cylindrical gear 5. As the cylindrical gear 5 rotates, it drives the coaxial worm gear 7 to rotate as well. The rotation of the worm gear 7 drives the worm wheel 6 to rotate, which in turn drives the coaxial small bevel gear 8 to rotate. Finally, the motion is transmitted through the small bevel gear 8 to the large bevel gear 9, which is connected to four sealing plates 14. This causes the sealing plates 14 to rotate, controlling the opening and closing of the water inlets 2, thus completing the transmission of axial motion to the rotation of the circumferential sealing plates 14. With the up-and-down movement of the electric actuator 1, the process of periodically allowing water to enter through the four water inlets 2 is achieved.

[0036] like Figures 5 to 8As shown, the water spray structure consists of a tension spring 13, a semi-circular plug 11, a latch 12, a compression spring 15, an electric push rod 1, a servo motor, and a water nozzle 4. The water nozzle 4 is axially positioned at the tail of the water spray structure. The electric push rod 1 is connected to the semi-circular plug 11 via the tension spring 13. The front of the water spray structure is equipped with a latch 12 for holding the semi-circular plug 11 in place and a compression spring 15 for resetting the latch 12. Its working principle is as follows: when the electric push rod 1 retracts to a certain extent, i.e., when the device has absorbed a certain amount of water, the extended portion of the semi-circular plug 11 reaches its maximum length. At this point, the electric push rod 1 has not yet reached its maximum extension. Further retraction of the electric push rod 1 will cause the latch 12 to release, the tension spring 13 to retract the bottom of the semi-circular plug 11, and the compression spring 15 to reset the latch 12. When the electric push rod 1 extends, the bottom semi-circular plug 11 is again latched by the latch 12, thus preventing premature water spraying and ensuring a strong spray force. The propulsion system is equipped with a servo motor and a water jet at the tail, which allows for control of the propulsion direction.

Claims

1. An umbrella positive-displacement biomimetic thruster, characterized by: The water suction structure, the water spraying structure, the electric push rod, the multi-joint connecting rod and the umbrella structure, the outer elastic skin, the water spraying structure, the water suction structure and the water spraying structure are connected with the multi-joint connecting rod and the umbrella structure and the outer elastic skin, the water suction structure is provided with a water suction port, the water spraying structure is provided with a water spraying port, the electric push rod is arranged in the water spraying structure, the water suction port of the water suction structure and the water outlet port of the water spraying structure are driven by the electric push rod to drive the multi-joint connecting rod and the umbrella structure and the outer elastic skin to complete the action of imitating the water suction and water spraying of the squid; the water spraying structure is composed of a tensile spring, a semicircular plug, a buckle, a compression spring, an electric push rod, a rudder and a vector water spraying port, the vector water spraying port is axially arranged at the tail of the water spraying structure, the semicircular plug is connected to the electric push rod through the tensile spring, the front part of the water spraying structure is provided with the buckle for buckling the semicircular plug and the compression spring for resetting the buckle; the same set of electric push rods are adopted to drive, and the opening and closing interlocking linkage of the water suction port and the water spraying port is realized through a transmission mechanism.

2. The umbrella-type positive-displacement biomimetic thruster according to claim 1, characterized in that: The electric push rod is a pushing component, when the electric push rod is contracted, the multi-joint connecting rod and the umbrella structure are opened outward like an umbrella, at the same time, the water suction port is opened and the water spraying port is closed, and the water suction process is completed; when the electric push rod is elongated, the multi-joint connecting rod and the umbrella structure are contracted inward like an umbrella, at the same time, the water suction port is closed and the water spraying port is opened, and the water spraying process is completed.

3. The umbrella-type positive-displacement biomimetic thruster according to claim 1, wherein: The water spraying structure adopts the rudder to control the turning of the water spraying port, and realizes the direction vector control of the propeller.

4. The umbrella-type positive-displacement biomimetic thruster according to claim 1, wherein: The water suction structure is composed of an electric push rod, a rack, a cylindrical gear, a worm gear, a worm, two bevel gears and four sealing pieces and four water suction ports on the bevel gears, the head part of the water suction structure is laterally provided with four water suction ports, the rack is fixedly connected to the upper surface of the electric push rod, the rack is connected to the worm gear through the cylindrical gear, the worm gear is connected to the small bevel gear through the worm, and the small bevel gear is meshingly connected to the large bevel gear, and the large bevel gear is provided with four sealing pieces.

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