A bionic undulating fin underwater propulsion device with high speed and high maneuverability dual forms

Abstract

The application belongs to the technical field of bionic underwater robots, and discloses a bionic wave fin underwater propulsion device with high speed and high mobility dual forms, which comprises a wave fin hollow driving mechanism, a wave fin surface, an electronic bin and a battery bin. The wave fin hollow driving mechanism is composed of a plurality of driving units. Two adjacent driving units are connected through a through bolt. The driving unit comprises a hollow waterproof motor, a motor rotor connecting piece, a swing fin strip and a hollow stepped shaft. The swing fin strip comprises a swing arm, a first gasket, a roller shaft sleeve, a copper sleeve, a second gasket and a rotating shaft nail. The bin body connecting piece comprises a first bin body connecting piece and a second bin body connecting piece. The device can realize two underwater motion forms and can be freely switched. In the high speed form, the hollow waterproof motor drives the swing fin strip to form spiral rotation and move quickly. In the high mobility form, the hollow waterproof motor drives the swing fin strip to perform a similar sine wave motion, so that multi-mode high mobility motion is realized.

Description

Technical Field

[0001] This invention belongs to the field of biomimetic underwater robot technology, specifically relating to a biomimetic wave fin underwater propulsion device with high speed and high maneuverability. Background Technology

[0002] Many fish in nature exhibit remarkable high speed and high maneuverability. High speed helps fish catch prey, cross water, and escape quickly, while high maneuverability helps them evade attacks, react quickly, and fight for territory. These high-speed, high-maneuverability propulsion strategies can be divided into two categories. One type adds auxiliary maneuvering organs to the high-speed propulsion organs, such as the long, slender tail fins of fish combined with highly maneuverable pectoral fins, and the broad pectoral fins of rays combined with highly maneuverable, rigid tails. The other type possesses two propulsion systems simultaneously, such as the black devil fish with a high-speed tail fin propulsion system and a highly maneuverable dorsal fin propulsion system, the squid with a high-speed jet propulsion system and a highly maneuverable pectoral fin propulsion system, and some shrimp with a high-speed explosive elastic tail and highly maneuverable webbed feet or legs.

[0003] Inspired by nature, biomimetic robots have been developed, but current biomimetic underwater robots, to varying degrees, cannot simultaneously possess both high speed and high maneuverability. BCF (Body-Caudal Fin) based underwater biomimetic robots offer high swimming speeds but suffer from limitations in maneuverability; MPF (Median-Paired Fin) based underwater biomimetic robots prioritize high maneuverability but sacrifice swimming speed. Both approaches have their advantages and significant limitations, creating a need for an underwater propulsion system that combines high speed and high maneuverability.

[0004] Currently, underwater biomimetic robots capable of high speed and high maneuverability have been developed. However, due to the differences in the two propulsion mechanisms, these robots have to employ separate propulsion systems for high-speed and high-maneuverability situations. Consequently, these biomimetic robots generally suffer from problems such as large and complex mechanical structures, high difficulty in controlling the propulsion system, and low utilization of the robot's structure. Summary of the Invention

[0005] The purpose of this invention is to solve the technical problems of existing underwater biomimetic robots, such as large and complex mechanical structures, high difficulty in controlling propulsion systems, and low structural utilization. The invention provides a biomimetic wave fin underwater propulsion device with high speed and high maneuverability.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] This invention provides a biomimetic undulating fin underwater propulsion device with both high speed and high maneuverability, comprising a hollow undulating fin drive mechanism, undulating fin surfaces, an electronics compartment, and a battery compartment. The undulating fin surfaces are disposed on both sides of the hollow undulating fin drive mechanism, while the electronics compartment and battery compartment are disposed at both ends of the hollow undulating fin drive mechanism and connected to the hollow undulating fin drive mechanism via compartment connectors. The hollow undulating fin drive mechanism consists of several drive units, with adjacent drive units connected by through bolts. The connection between the hollow undulating fin drive mechanism and the undulating fin surfaces is provided with a rotational degree of freedom, driving the undulating fin surfaces to achieve undulating motion.

[0008] Furthermore, the drive unit includes a hollow waterproof motor, a motor rotor connector, swing fins, and a hollow stepped shaft; the hollow waterproof motor is installed at both ends of the hollow stepped shaft and is arranged back to back; the motor rotor connector is located on one side of the hollow waterproof motor and is connected to the hollow waterproof motor by through bolts; the motor rotor connector has a protruding mounting plate, which is fixedly connected to the motor rotor connector; the mounting plate has a circular through hole, through which the swing fins pass and are connected to the mounting plate.

[0009] Furthermore, the oscillating fin includes a swing arm, a first washer, a roller bushing, a copper sleeve, a second washer, and a rotating shaft pin; the copper sleeve is disposed within a circular through hole, the roller bushing is disposed within the copper sleeve, the second washer and the first washer are respectively disposed at both ends of the roller bushing, the swing arm is disposed at the lower end of the first washer, the axes of the circular through hole, the copper sleeve, and the roller bushing coincide, and the rotating shaft pin passes through the second washer, the roller bushing, and the first washer sequentially from top to bottom and is threadedly connected to the swing arm; the swing arm is connected to the oscillating fin surface by a through bolt.

[0010] Furthermore, the hollow stepped shaft includes a first sleeve and a second sleeve disposed on one side of the first sleeve; the diameter of the second sleeve is larger than the diameter of the first sleeve; a through groove is provided at the end of the first sleeve away from the second sleeve; a through groove is provided at the end of the second sleeve away from the first sleeve.

[0011] Furthermore, the drive unit also includes an inner sleeve for the motor stator and an outer sleeve for the motor stator; the inner sleeve for the motor stator is fitted onto the second sleeve, and a through bolt passes through the through groove to connect with the adjacent hollow waterproof motor; the outer sleeve for the motor stator is fitted onto the first sleeve, and a through bolt passes through the through groove to connect with the adjacent hollow waterproof motor.

[0012] Furthermore, the first sleeve and the rotor inside the hollow waterproof motor are spaced at a certain distance; the second sleeve and the rotor inside the hollow waterproof motor are spaced at a certain distance.

[0013] Furthermore, the compartment connector includes a first compartment connector and a second compartment connector; the first compartment connector is disposed at the front end of the first drive unit, and the electronic compartment is disposed at the other end of the first compartment connector; the second compartment connector is disposed at the rear end of the last drive unit, and the battery compartment is disposed at the other end of the second compartment connector.

[0014] Furthermore, the coils of the electronic compartment, battery compartment, and hollow waterproof motor are arranged inside the hollow stepped shaft.

[0015] Furthermore, the wave-shaped fin is made of rubber material and has a fan-shaped structure in its natural state.

[0016] Furthermore, the copper sleeve and the circular through hole are interference fit.

[0017] Compared with the prior art, the present invention has the following beneficial technical effects:

[0018] This invention discloses a release-type undulating fin underwater propulsion device with both high-speed and high-maneuverability modes. Underwater, it exhibits two motion modes: high-speed spiral and high-maneuverability undulating, which can be flexibly switched. When the undulating fin surface is subjected to pre-tension, the inner and outer fan-shaped arcs transform into three-dimensional sinusoidal or three-dimensional spiral surfaces for high-speed spiral motion; the inner and outer fan-shaped arcs transform into sinusoidal or spiral-like curves for high-maneuverability undulating. Furthermore, based on this patent, the undulating fin surface can adopt a "dual-propeller counter-rotation" design to increase motion stability, resulting in higher thrust in the high-speed spiral mode. In the high-maneuverability undulating mode, the undulating fin surface is allowed to undulate at any position within 360 degrees, increasing the device's motion modes and underwater maneuverability. It can also combine the high-speed rotation mode with the high-maneuverability undulating mode to achieve rapid, high-maneuverability braking, turning, surfacing, and diving, among other postures. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the biomimetic wave-fin underwater propulsion device with a high-speed spiral shape in Embodiment 1 of the present invention.

[0020] Figure 2 This is a schematic diagram of the structure of the biomimetic wave fin underwater propulsion device with a highly maneuverable wave morphology according to Embodiment 1 of the present invention;

[0021] Figure 3 This is a schematic diagram of the hollow drive unit for the wave fin in an embodiment of the present invention;

[0022] Figure 4 This is a schematic diagram of the structure of the driving unit in an embodiment of the present invention;

[0023] Figure 5 This is a schematic diagram of the hollow stepped shaft in an embodiment of the present invention;

[0024] Figure 6 This is a schematic diagram of the structure of the swing fin in an embodiment of the present invention;

[0025] Figure 7 This is a schematic diagram illustrating the wave-shaped fin forming principle in an embodiment of the present invention;

[0026] Figure 8 This is a schematic diagram of the structure of the biomimetic wave-fin underwater propulsion device with a high-speed spiral shape in Embodiment 2 of the present invention.

[0027] Figure 9 This is a schematic diagram of the structure of the biomimetic wave fin underwater propulsion device with a highly maneuverable wave morphology according to Embodiment 2 of the present invention;

[0028] Figure 10 This is a schematic diagram of the structure of the biomimetic wave fin underwater propulsion device that combines a high-speed spiral shape with a highly maneuverable wave shape, according to Embodiment 3 of the present invention.

[0029] Figure label:

[0030] 1-Wave fin hollow drive mechanism; 11-Hollow waterproof motor; 12-Motor rotor connector; 13-Wave fin; 131-Swing arm; 132-First gasket; 133-Roller bushing; 134-Copper sleeve; 135-Second gasket; 136-Rotating shaft pin; 14-Hollow stepped shaft; 141-First sleeve; 142-Second sleeve; 15-Mounting plate; 16-Motor stator inner sleeve; 17-Motor stator outer sleeve; 2-Wave fin surface; 3-Electronic compartment; 4-Battery compartment; 5-Compartment body connector; 51-First compartment body connector; 52-Second compartment body connector; 6-Through bolt. Detailed Implementation

[0031] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0032] Example 1

[0033] This invention discloses a biomimetic wave-fin underwater propulsion device with both high-speed and high-maneuverability modes. Using the same device, it can achieve both a high-speed spiral mode and a high-maneuverability wave-fin mode, and can freely switch between the two modes, such as... Figure 1As shown, this invention presents a biomimetic wave-shaped underwater propulsion device with a high-speed spiral shape, comprising a hollow wave-shaped fin drive unit 1, a wave-shaped fin surface 2, an electronics compartment 3, and a battery compartment 4. The wave-shaped fin surface 2 is located on both sides of the hollow wave-shaped fin drive unit 1, while the electronics compartment 3 and battery compartment 4 are located at both ends of the hollow wave-shaped fin drive unit 1. Both the side of the electronics compartment 3 closest to the hollow wave-shaped fin drive unit 1 and the side of the battery compartment 4 closest to the hollow wave-shaped fin drive unit 1 are equipped with compartment connectors 5. A rotational degree of freedom is provided at the connection between the wave-shaped fin drive unit 1 and the wave-shaped fin surface 2, driving the wave-shaped fin surface 2 to achieve wave motion. Figure 3 As shown, the hollow drive unit 1 of the wave fin is composed of several drive units. In this embodiment, it is composed of six groups of drive units. Two adjacent drive units are connected by through bolts 6, and the structure and composition of each drive unit are the same.

[0034] like Figure 4 , 5As shown, the drive unit includes a hollow waterproof motor 11, a motor rotor connector 12, a swing fin 13, a hollow stepped shaft 14, a mounting plate 15, a motor stator inner sleeve 16, and a motor stator outer sleeve 17. The hollow stepped shaft 14 includes a first sleeve 141 and a second sleeve 142 disposed on one side of the first sleeve 141. In this embodiment, the second sleeve 142 is located on the right side, and the first sleeve 141 is located on the left side. The diameter of the first sleeve 141 is smaller than the diameter of the second sleeve 142, and both the end of the first sleeve 141 away from the second sleeve 142 and the section of the second sleeve 142 away from the first sleeve 141 are provided with through grooves. Bolt 6 is used to connect to the hollow waterproof motor 11. The hollow waterproof motor 11 is installed on both the first sleeve 141 and the second sleeve 142, with the two hollow waterproof motors 11 facing back-to-back. A certain distance is maintained between the first sleeve 141 and the rotor inside the hollow waterproof motor 11, and a certain distance is also maintained between the second sleeve 142 and the rotor inside the hollow waterproof motor 11 to prevent friction during rotation. In this embodiment, the hollow waterproof motor 11 is a hollow FOC motor, which has the advantage of a large hollow size. Its hollow interior is used to pass through the rigid connection shaft and wires. Furthermore, the hollow FOC motor has high-resolution position feedback and precision. The current control enables precise swing angle control in high-mobility undulating mode and precise synchronous control of multiple hollow waterproof motors 11 in high-speed spiral mode. The motor rotor connector 12 is located on one side of the central control waterproof motor 11 and is connected to the hollow waterproof motor 11 by through bolts 6. The mounting plate 15 is fixed to the motor rotor connector 12. The mounting plate 15 is provided with a circular through hole, through which the swing fin 13 passes and is connected to the mounting plate 15. In high-speed mode, the hollow waterproof motor 11 drives the swing fin 13 to rotate synchronously while maintaining the phase difference, so that the undulating fin surface 2 forms a spiral shape and pushes water backward rapidly, realizing the high-speed movement of the robot. The motor stator inner sleeve 16 is mounted on the second sleeve 142, and the through bolt 6 passes through the through groove and connects to the adjacent hollow waterproof motor 11. The motor stator outer sleeve 17 is mounted on the first sleeve 141, and the through bolt 6 passes through the through groove and connects to the adjacent hollow waterproof motor 11. The drive units are tightly connected to each other through the inner and outer sleeve design and fixed with through bolts 6, which allows the rotor of the hollow waterproof motor 11 to rotate 360 ​​degrees around the hollow stepped shaft 14 without restriction. Furthermore, the undulating fin 2 can also achieve 360-degree spiral rotation or sinusoidal undulation at any angle under the rotation of the hollow waterproof motor 11. Figure 6As shown, the oscillating fin 13 comprises a swing arm 131, a first washer 132, a roller bushing 133, a copper sleeve 134, a second washer 135, and a rotating shaft pin 136. The copper sleeve 134 is installed in a circular through hole, and the roller bushing 133 is installed in the copper sleeve 134. The axes of the circular through hole, the copper sleeve 134, and the roller bushing 133 coincide. At the same time, the copper sleeve 134 and the circular through hole are interference fit, and the roller bushing 133 can rotate freely in the copper sleeve 134. The first washer 132 is located at the lower end of the roller bushing 133, and the second washer 135 is located at the upper end of the roller bushing 133. The swing arm 131 is located at the lower end of the first washer 132. The rotating shaft pin 136 passes through the second washer 135, the roller bushing 133, and the first washer 132 from top to bottom and connects to the swing arm 131. The swing arm 131 in each unit is connected to the oscillating fin surface 2 by a through bolt 6.

[0035] like Figure 2 As shown, this invention presents a biomimetic wave-fin underwater propulsion device with a highly maneuverable wave-like shape. The chamber connector 5 includes a first chamber connector 51 and a second chamber connector 52. The first chamber connector 51 is located at the front end of the first drive unit, and the second chamber connector 52 is located at the rear end of the last drive unit. The electronic chamber 3 is located at the front end of the first chamber connector 51, and the battery chamber 4 is located at the rear end of the second chamber connector 52. The electronic chamber 3 houses the control circuit, and the battery chamber 4 houses the battery. The coils of the two chambers and the wiring of the hollow waterproof motor 11 all pass through the hollow stepped shaft 14. The wave-fin surface 2 is made of rubber and has a fan-shaped structure in its natural state. Under the action of pre-tightening force, the inner and outer fan-shaped arcs of the wave-fin surface 2 can be transformed into a sinusoidal curve or a spiral curve, thus transforming into a biomimetic wave-fin underwater propulsion device with a highly maneuverable wave-like shape.

[0036] like Figure 7 The diagram shows the forming principle of the wave fin 2 of the present invention. The same underwater propulsion device can achieve both high-speed navigation and high-maneuverability underwater. In the high-speed mode, the hollow waterproof motor 11 drives the wave fin 2 to rotate in a spiral shape, enabling the device to move quickly. In the high-maneuverability mode, the hollow waterproof motor 11 drives the wave fin 2 to perform sinusoidal wave motion, enabling the device to achieve multi-modal high-maneuverability motion.

[0037] Example 2

[0038] Based on the present invention's biomimetic wave-fin underwater propulsion device with both high speed and high maneuverability, a "dual-propeller counter-rotating type" can be adopted, such as... Figure 8 , 9As shown, two sets of undulating fins 2 are mounted on the hollow drive mechanism 1 of the undulating fins and are arranged in the same direction. Specifically, the propeller rotates in reverse and the reverse propeller rotates forward. This kind of pairing arrangement is common in ship propellers and aircraft blades. The torque generated by the two sets of undulating fins 2 cancels each other out, which can ensure that the device has stable high-speed motion in the spiral mode. Under the same size of undulating fin 2, the thrust generated by the "double propeller counter-rotating type" is about twice that of the single undulating fin 2. Under the same size and motor rotation speed, the thrust generated by the "double propeller counter-rotating type" is more than four times that in the undulating state. In the high-maneuverability undulating mode, due to the unique hollow structure, the undulating fins 2 can undulate and the undulation angle can be adjusted at will. By combining different fin positions, more complex motions can be achieved, realizing multi-modal complex motions, such as turning on the spot, vertical turning, and left and right translation.

[0039] Example 3

[0040] In this invention, a biomimetic wave-fin underwater propulsion device with high speed and high maneuverability is proposed. Based on six drive units, three more drive units are added, such as... Figure 10 As shown, it can meet the requirements of high speed and achieve rapid, highly maneuverable braking, steering, surfacing, and diving while moving at high speed. In addition, different combination methods can be used to meet different application environments and operational requirements.

[0041] In summary, this invention possesses two motion modes: high speed and high maneuverability, which can be flexibly switched. In high-speed mode, the hollow waterproof motor 1 drives the swinging fins 13 to rotate synchronously while maintaining a phase difference, causing the undulating fin surface 2 to form a spiral shape and rapidly push water backward, propelling the robot to move quickly. In high maneuverability mode, the hollow waterproof motor 1 drives the swinging fins 13 to perform sinusoidal undulations, causing the undulating fin surface 2 to form a sinusoidal undulating surface, enabling a series of highly maneuverable movements in the water, including forward, backward, turning in place, surfacing, and diving, achieving multimodal high maneuverability. Furthermore, the use of a "dual-propeller counter-rotating" design increases motion stability and exhibits higher thrust in the high-speed spiral mode; the hollow structure in the high-maneuverability undulating mode allows the undulating fin surface 2 to undulate at any position within 360 degrees, increasing motion modes and underwater maneuverability. Compared to traditional bionic robots, the innovative propulsion method and form transformation method of this invention avoid the traditional cumbersome multiple propulsion systems, simplifying the operation process and mechanical structure, and reducing control difficulty. Compared to other types of biomimetic wave-fin robots, this invention has a faster speed in high-speed mode, a richer range of motion modes in high-maneuverability mode, higher maneuverability, and better underwater mobility.

[0042] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

Claims

1. A biomimetic wave-fin underwater propulsion device with both high speed and high maneuverability, characterized in that: It includes a hollow drive mechanism for the wave fin (1), a wave fin surface (2), an electronic compartment (3), and a battery compartment (4); The wave fin surface (2) is set on both sides of the wave fin hollow drive mechanism (1), and the electronic compartment (3) and battery compartment (4) are set at both ends of the wave fin hollow drive mechanism (1) and connected to the wave fin hollow drive mechanism (1) through the compartment connector (5); The hollow drive mechanism (1) of the wave fin is composed of several drive units. Two adjacent drive units are connected by through bolts (6). The connection between the hollow drive mechanism (1) of the wave fin and the wave fin surface (2) is provided with a rotational degree of freedom, which drives the wave fin surface (2) to achieve wave motion. The drive unit includes a hollow waterproof motor (11), a motor rotor connector (12), a swing fin (13), and a hollow stepped shaft (14). The hollow waterproof motor (11) is installed at both ends of the hollow stepped shaft (14) and is arranged back to back. The motor rotor connector (12) is located on one side of the hollow waterproof motor (11) and is connected to the hollow waterproof motor (11) by a through bolt (6). The motor rotor connector (12) is provided with a protruding mounting plate (15) and is fixedly connected to the motor rotor connector (12). The mounting plate (15) is provided with a circular through hole, and the swing fin (13) passes through the circular through hole and is connected to the mounting plate (15). The swing fin (13) includes a swing arm (131), a first washer (132), a roller bushing (133), a copper sleeve (134), a second washer (135), and a rotating shaft pin (136). The copper sleeve (134) is disposed in a circular through hole, the roller bushing (133) is disposed in the copper sleeve (134), the second washer (135) and the first washer (132) are respectively disposed at both ends of the roller bushing (133), the swing arm (131) is disposed at the lower end of the first washer (132), the axes of the circular through hole, the copper sleeve (134) and the roller bushing (133) coincide, and the rotating shaft pin (136) passes through the second washer (135), the roller bushing (133) and the first washer (132) from top to bottom and is threadedly connected to the swing arm (131). The swing arm (131) is connected to the wave fin surface (2) by a through bolt (6). The hollow stepped shaft (14) includes a first sleeve (141) and a second sleeve (142) disposed on one side of the first sleeve (141); the diameter of the second sleeve (142) is larger than the diameter of the first sleeve (141); The first sleeve (141) has a through groove at the end away from the second sleeve (142); the second sleeve (142) has a through groove at the end away from the first sleeve (141).

2. The biomimetic wave-fin underwater propulsion device with high speed and high maneuverability as described in claim 1, characterized in that: The drive unit also includes an inner sleeve (16) of the motor stator and an outer sleeve (17) of the motor stator. The inner sleeve (16) of the motor stator is sleeved on the second sleeve (142), and the through bolt (6) passes through the through groove and is connected to the adjacent hollow waterproof motor (11). The motor stator outer sleeve (17) is fitted onto the first sleeve (141), and the through bolt (6) passes through the through groove and connects to the adjacent hollow waterproof motor (11).

3. The biomimetic wave-fin underwater propulsion device with high speed and high maneuverability as described in claim 2, characterized in that: The first sleeve (141) and the rotor inside the hollow waterproof motor (11) are provided with a certain distance; The second sleeve (142) and the rotor inside the hollow waterproof motor (11) are spaced at a certain distance.

4. The biomimetic wave-fin underwater propulsion device with high speed and high maneuverability as described in claim 3, characterized in that: The compartment connector (5) includes a first compartment connector (51) and a second compartment connector (52); The first compartment connector (51) is located at the front end of the first drive unit, and the electronic compartment (3) is located at the other end of the first compartment connector (51); the second compartment connector (52) is located at the rear end of the last drive unit, and the battery compartment (4) is located at the other end of the second compartment connector (52).

5. The biomimetic wave-fin underwater propulsion device with high speed and high maneuverability as described in claim 4, characterized in that: The coils of the electronic compartment (3), battery compartment (4) and hollow waterproof motor (11) are arranged inside the hollow stepped shaft (14).

6. The biomimetic wave-fin underwater propulsion device with high speed and high maneuverability as described in claim 5, characterized in that: The wave fin (2) is made of rubber material and has a fan-shaped structure in its natural state.

7. The biomimetic wave-fin underwater propulsion device with high speed and high maneuverability as described in claim 6, characterized in that: The copper sleeve (134) and the circular through hole are interference fit.

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