An integrated 3D printed flexible rudder variant mechanism based on sliding tongue structure

Abstract

The present invention is applicable to the technical field of bionic underwater vehicles, and provides an integrated 3D printed flexible rudder variant mechanism based on a sliding tongue structure, including a flexible rudder structure, a power structure, a skin structure and a support structure. The entire mechanism drives the sliding tongue structure to slide in the sliding tongue groove below the rigid leading edge by means of the meshing of a transmission gear and a rack. When the driving force is applied along the flexible trailing edge, the flexible trailing edge deflects upward, and when the driving force is applied along the rigid leading edge, the flexible trailing edge deflects downward, thereby realizing the deformation of the flexible rudder structure. The first deflection gear drives the inner panel to rotate to drive the flexible rudder structure to deflect as a whole. The present invention overcomes the limitations of traditional continuously deformable rudder blades in miniaturization, flutter suppression and stealth performance, realizes the dual functions of deflection and rudder type change, enables underwater vehicles to move more efficiently and stably in complex underwater flow field environments, and provides strong technical support for deep-sea exploration, underwater operations and other fields.

Description

Technical Field

[0001] The invention belongs to the technical field of bionic underwater vehicles, and in particular relates to an integrated 3D printed flexible rudder variant mechanism based on a sliding tongue structure. Background Art

[0002] Rudder blades are an important component of underwater vehicles. Usually, directional control is achieved by controlling the deflection of the entire rudder blade through a complex transmission system. Some rudder blades have flap rudders to achieve complex rudder surface combinations, but they are prone to cause noise and vibration during operation. In addition, the gaps caused by the discontinuous deformation of the rudder surface will not only fail to improve the fluid dynamics in some cases, but will also increase additional resistance. They cannot function in the face of complex flow fields. In particular, these gaps will produce cavitation when the submersible is sailing at high speed, making it unusable.

[0003] Traditional continuously deforming rudder blades adopt a discrete design, using rigid connecting rods and rigid hinges covered with flexible skin to achieve continuous deformation of the rudder blades. However, due to the complicated driving structure and the large volume required for the structure, a series of problems make it difficult to miniaturize, unable to actively suppress flutter and have poor stealth performance.

[0004] Compared with traditional manufacturing methods (such as injection molding, milling, etc.), 3D printing can support more complex designs, including complex structures inside parts, which are often difficult or impossible to achieve with traditional manufacturing methods. Using multi-material integrated 3D printing technology, the rudder blade can be printed as a whole, simplifying the assembly process and reducing structural redundancy while reducing its size. Based on this technological breakthrough, in order to solve the key problems of noise, vibration, low fluid dynamic efficiency and high-speed cavitation bubble generation in the design of underwater vehicle rudder blades, and to overcome the limitations of traditional continuously deforming rudder blades in miniaturization, flutter suppression and stealth performance, the present invention proposes an integrated 3D printed flexible rudder deformation mechanism based on a sliding tongue structure. Summary of the invention

[0005] The object of the present invention is to provide an integrated 3D printed flexible rudder variant mechanism based on a sliding tongue structure, aiming to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] An integrated 3D printed flexible rudder variant mechanism based on a sliding tongue structure, comprising a flexible rudder structure, a power structure, a skin structure and a support structure;

[0008] The flexible rudder structure is generated by multi-material 3D printing and is composed of three materials: rigid resin, PP and soft rubber. The flexible rudder structure includes a rigid leading edge, a flexible trailing edge, a sliding tongue structure and a rack; the rigid leading edge is composed of rigid resin, the sliding tongue structure and the flexible trailing edge are both composed of soft rubber and PP materials alternately, and the rack is composed of PP material;

[0009] The sliding tongue structure is connected to the flexible rear edge, and the sliding tongue structure is slidably connected to the rigid front edge; the flexible rear edge is connected to the rigid front edge, and the connection point is located at the upper edge of the rigid front edge; the rack is fixedly arranged above the middle part of the sliding tongue structure;

[0010] The power structure includes an outer panel, an inner panel, an outer rolling bearing, an inner transmission rod, a sleeve, a first deflection gear, an inner rolling bearing, a power transmission coupling assembly, a deformation motor, a deflection motor, a transmission rod, a second deflection gear and a transmission gear;

[0011] An outer panel and an inner panel are fixedly embedded on the outer surface of the rigid leading edge of the flexible rudder structure; the support structure is connected to the inner panel via an outer rolling bearing, and the inner panel is fixedly connected to the first deflection gear via a threaded structure; the inner transmission rod is connected to the inner panel via an inner rolling bearing, and the end of the inner transmission rod extends into the flexible rudder structure and is fixedly connected to a transmission gear, and the transmission gear is meshedly connected to the rack; the inner transmission rod is connected to the deformation motor via a power transmission coupling assembly; the shaft sleeve is fixedly connected to the first deflection gear and the outer rolling bearing via a nut on the inner panel; the first deflection gear is meshedly connected to the second deflection gear; the transmission rod is connected to the deflection motor via a power transmission coupling assembly, and the transmission rod is fixedly connected to the second deflection gear via a threaded structure;

[0012] The skin structure is bonded to the outer surface of the flexible rudder structure by pre-tensioning;

[0013] The supporting structure is used to support the power structure.

[0014] Furthermore, a sliding tongue groove is provided in the rigid front edge, and the sliding tongue structure is slidably connected to the sliding tongue groove.

[0015] Furthermore, the power transmission coupling assembly includes an outer coupling and an inner coupling, the inner transmission rod is connected to the inner coupling and the deformation motor via the outer coupling; the transmission rod is connected to the inner coupling and the deflection motor via the outer coupling.

[0016] Furthermore, the power structure also includes fastening studs, and the outer panel and the inner panel are fixedly connected to the flexible rudder structure via the fastening studs.

[0017] Furthermore, the skin structure is made of soft rubber.

[0018] Furthermore, the skin structure includes a spanwise covering film, a lateral covering film and an embedded covering film;

[0019] The spanwise covering film is bonded to the outer surface of the flexible rudder structure and the outer edges of the outer panel and the inner panel by pre-tensioning; the lateral covering film is bonded to the side of the flexible trailing edge and the trailing edges of the outer panel and the inner panel by pre-tensioning; and the inner covering film is bonded between the outer panel and the side of the rigid leading edge and between the inner panel and the other side of the rigid leading edge by pre-tensioning.

[0020] Further, the support structure includes an outer mounting plate, an inner threaded column and an inner mounting plate;

[0021] The deformation motor and the deflection motor are fixedly connected to the inner mounting plate by bolts and nuts; the outer mounting plate is connected to the outer rolling bearing through a support hole, and the outer mounting plate is connected to the inner panel through an outer rolling bearing; the outer mounting plate and the inner mounting plate are fixedly connected by an internal threaded column.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. Noise and vibration reduction: The present invention adopts multi-material 3D printing technology, combined with a clever combination of rigid resin, PP and soft rubber materials, to achieve a smooth transition of the flexible rudder structure during the deformation process, effectively reducing the noise and vibration problems caused by material mismatch or structural mutation, thereby improving the stealth and ride comfort of the aircraft.

[0024] 2. Improved fluid dynamic efficiency: The flexible rudder structure of the present invention can imitate the movement of the flexible fins of fish, change its own direction and shape according to the current flow field to efficiently utilize the flow field, and realize two kinds of movement, namely deflection and rudder type change, so that the underwater vehicle can move efficiently in a complex underwater flow field environment.

[0025] 3. Cavitation suppression: The present invention effectively reduces the cavitation phenomenon caused by water flow impact by adjusting the direction and shape of the flexible rudder structure during high-speed navigation, which not only improves navigation stability but also extends the service life of the aircraft.

[0026] 4. Miniaturization and flutter suppression: The flexible rudder variant mechanism generated by the present invention through integrated 3D printing technology achieves high integration and miniaturization. At the same time, the combination of the sliding tongue structure and multi-material design effectively suppresses the flutter phenomenon, ensuring the stable control of the vehicle in complex flow fields.

[0027] 5. Improved stealth performance: The present invention adopts a pre-tensioned skin structure, which not only enhances the integrity and sealing of the structure, but also significantly improves the stealth performance of the aircraft by reducing the radar reflection area and sound propagation path. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the present invention.

[0029] Figure 2 It is a top view schematic diagram of the overall structure of the present invention.

[0030] Figure 3 It is a cross-sectional schematic diagram of the overall structure of the present invention.

[0031] Figure 4 It is a three-dimensional schematic diagram of the flexible rudder structure of the present invention.

[0032] Figure 5 It is a plan view schematic diagram of the flexible rudder structure of the present invention.

[0033] Figure 6 It is a three-dimensional schematic diagram of the rigid leading edge of the present invention.

[0034] Figure 7 It is a three-dimensional schematic diagram of the flexible trailing edge of the present invention.

[0035] Figure 8 It is a three-dimensional schematic diagram of the sliding tongue structure and the rack of the present invention.

[0036] Fig. 9 The figure is a schematic diagram of the positional relationship among the outer panel, the inner panel, the spanwise coating and the lateral coating in the present invention.

[0037] Fig.10 It is a three-dimensional schematic diagram of the skin structure in the present invention.

[0038] In the figure: 10, flexible rudder structure; 101, rigid leading edge; 102, sliding tongue structure; 103, flexible trailing edge; 104, rack; 20, outer panel; 30, inner panel; 40, spanwise coating; 50, lateral coating; 60, fastening stud; 70, embedded coating; 80, outer mounting plate; 90, outer rolling bearing; 100, inner transmission rod; 110, bushing; 120, first deflection gear; 130, inner rolling bearing; 140, inner threaded column; 150, outer coupling; 160, inner coupling; 170, inner mounting plate; 180, deformation motor; 190, deflection motor; 200, transmission rod; 210, second deflection gear; 220, transmission gear. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0040] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0041] like Figure 1-Figure 10 As shown, an integrated 3D printed flexible rudder variant mechanism based on a sliding tongue structure provided by an embodiment of the present invention includes a flexible rudder structure 10, a power structure, a skin structure and a support structure;

[0042] The skin structure is made of soft glue and is bonded to the outer surface of the flexible rudder structure 10 by pre-tensioning;

[0043] The supporting structure is used to support the power structure.

[0044] like Figure 1 As shown, as a preferred embodiment of the present invention, the flexible rudder structure 10 is an integrally formed structure generated by multi-material 3D printing, and is composed of three materials: rigid resin, PP (polypropylene) and soft glue. The flexible rudder structure 10 includes a rigid leading edge 101, a flexible trailing edge 103, a sliding tongue structure 102 and a rack 104; the rigid leading edge 101 is composed of rigid resin, the sliding tongue structure 102 and the flexible trailing edge 103 are both composed of soft glue and PP materials alternately, and the rack 104 is composed of PP material.

[0045] A sliding tongue groove is provided in the rigid leading edge 101; the sliding tongue structure 102 is connected to the flexible trailing edge 103, and the sliding tongue structure 102 is slidably connected to the sliding tongue groove; the flexible trailing edge 103 is connected to the rigid leading edge 101, and the connection point is located at the upper edge of the rigid leading edge 101; the rack 104 is fixedly arranged above the middle part of the sliding tongue structure 102.

[0046] In the embodiment of the present invention, when the rack 104 drives the sliding tongue structure 102 to slide in the sliding tongue groove below the rigid leading edge 101, the flexible trailing edge 103 deflects upward or downward, and at the same time, the curvature of the continuous outer surface of the flexible rudder changes, thereby controlling the deformation of the flexible rudder structure 10. The deformation mode is as follows:

[0047] The power structure transmits a driving force to the rack 104. When the driving force is applied along the flexible trailing edge 103, the flexible trailing edge 103 deflects upward; when the driving force is applied along the rigid leading edge 101, the flexible trailing edge 103 deflects downward.

[0048] like Figure 3 and Fig. 9As shown, as a preferred embodiment of the present invention, the power structure includes an outer panel 20, an inner panel 30, a fastening stud 60, an outer rolling bearing 90, an inner transmission rod 100, a sleeve 110, a first deflection gear 120, an inner rolling bearing 130, a power transmission coupling assembly (including an outer coupling 150 and an inner coupling 160), a deformation motor 180, a deflection motor 190, a transmission rod 200, a second deflection gear 210 and a transmission gear 220;

[0049] The outer surface of the rigid leading edge 101 of the flexible rudder structure 10 is embedded with an outer panel 20 and an inner panel 30; the outer panel 20, the inner panel 30 and the flexible rudder structure 10 are fixedly connected together by the threaded structure of the fastening stud 60; the supporting structure is connected to the inner panel 30 through the outer rolling bearing 90, and the inner panel 30 is fixedly connected to the first deflection gear 120 through the threaded structure; the inner transmission rod 100 is connected to the inner panel 30 through the inner rolling bearing 130, and the end of the inner transmission rod 100 extends into the flexible rudder structure 10 and is fixedly connected to the transmission gear Wheel 220, the transmission gear 220 is meshed and connected with the rack 104; the inner transmission rod 100 is connected with the inner coupling 160 and the deformation motor 180 through the outer coupling 150; the sleeve 110 is fixedly connected with the first deflection gear 120 and the outer rolling bearing 90 through the nut on the inner panel 30; the first deflection gear 120 is meshed and connected with the second deflection gear 210; the transmission rod 200 is connected with the inner coupling 160 and the deflection motor 190 through the outer coupling 150, and the transmission rod 200 is fixedly connected with the second deflection gear 210 through a threaded structure.

[0050] In the embodiment of the present invention, the deformation motor 180 rotates to drive the flexible rudder structure 10 to deform, and the deflection motor 190 drives the flexible rudder structure 10 to deflect.

[0051] Here’s how it works:

[0052] The deformation motor 180 drives the inner transmission rod 100 to rotate through the outer coupling 150 and the inner coupling 160, and the inner transmission rod 100 drives the sliding tongue structure 102 to slide in the sliding tongue groove below the rigid leading edge 101 by meshing with the rack 104 of the flexible rudder structure 10 through the transmission gear 220, thereby realizing the deformation of the flexible rudder structure 10;

[0053] The deflection motor 190 drives the transmission rod 200 to rotate through the outer coupling 150 and the inner coupling 160 , the transmission rod 200 drives the second deflection gear 210 to rotate, the second deflection gear 210 drives the first deflection gear 120 to rotate, and the first deflection gear 120 drives the inner panel 30 to rotate, so as to drive the flexible rudder structure 10 to deflect as a whole.

[0054] like Fig. 9 and Fig.10 As shown, as a preferred embodiment of the present invention, the skin structure includes a span-wise covering film 40, a lateral covering film 50 and an embedded covering film 70;

[0055] The spanwise coating 40 is bonded to the outer surface of the flexible rudder structure 10 and the outer edges of the outer panel 20 and the inner panel 30 by pre-tensioning; the lateral coating 50 is bonded to the side of the flexible trailing edge 103 and the trailing edges of the outer panel 20 and the inner panel 30 by pre-tensioning; and the inner coating 70 is bonded between the outer panel 20 and the side of the rigid leading edge 101 and between the inner panel 30 and the other side of the rigid leading edge 101 by pre-tensioning.

[0056] like Figure 3 As shown, as a preferred embodiment of the present invention, the support structure includes an outer mounting plate 80, an inner threaded column 140 and an inner mounting plate 170;

[0057] The deformation motor 180 and the deflection motor 190 are both fixedly connected to the inner mounting plate 170 by bolts and nuts; the outer mounting plate 80 is connected to the outer rolling bearing 90 through a support hole, and the outer mounting plate 80 is connected to the inner panel 30 through the outer rolling bearing 90; the outer mounting plate 80 and the inner mounting plate 170 are fixedly connected by an internal threaded column 140.

[0058] In the embodiment of the present invention, the support structure is a simple support structure provided for the convenience of demonstration. In actual application of the invention, a suitable support structure can be designed according to actual working conditions.

[0059] The working principle of the present invention is:

[0060] In the integrated 3D printed flexible rudder deformation mechanism based on the sliding tongue structure, the deformation motor 180 drives the inner transmission rod 100 to rotate through the outer coupling 150 and the inner coupling 160, and the inner transmission rod 100 drives the sliding tongue structure 102 to slide in the sliding tongue groove below the rigid leading edge 101 by means of the transmission gear 220 meshing with the rack 104 of the flexible rudder structure 10. When the driving force is applied along the flexible trailing edge 103, the flexible trailing edge 103 deflects upward, and when the driving force is applied along the rigid leading edge 101, the flexible trailing edge 103 deflects downward, thereby realizing the deformation of the flexible rudder structure 10. The deflection motor 190 drives the transmission rod 200 to rotate through the outer coupling 150 and the inner coupling 160, and the transmission rod 200 drives the second deflection gear 210 to rotate, and the second deflection gear 210 drives the first deflection gear 120 to rotate, and the first deflection gear 120 drives the inner panel 30 to rotate, so as to drive the flexible rudder structure 10 to deflect as a whole.

[0061] The above are only preferred embodiments of the present invention. It should be pointed out that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention. These should also be regarded as the protection scope of the present invention. These will not affect the effect of the implementation of the present invention and the practicality of the patent.

Claims

1. An integrated 3D printed flexible rudder variant mechanism based on a sliding tongue structure, characterized in that: It includes flexible rudder structure, power structure, skin structure and supporting structure; The flexible rudder structure is generated by multi-material 3D printing and is composed of three materials: rigid resin, PP and soft rubber. The flexible rudder structure includes a rigid leading edge, a flexible trailing edge, a sliding tongue structure and a rack; the rigid leading edge is composed of rigid resin, the sliding tongue structure and the flexible trailing edge are both composed of soft rubber and PP materials alternately, and the rack is composed of PP material; The sliding tongue structure is connected to the flexible rear edge, and the sliding tongue structure is slidably connected to the rigid front edge; the flexible rear edge is connected to the rigid front edge, and the connection point is located at the upper edge of the rigid front edge; the rack is fixedly arranged above the middle part of the sliding tongue structure; The power structure includes an outer panel, an inner panel, an outer rolling bearing, an inner transmission rod, a sleeve, a first deflection gear, an inner rolling bearing, a power transmission coupling assembly, a deformation motor, a deflection motor, a transmission rod, a second deflection gear and a transmission gear; An outer panel and an inner panel are fixedly embedded on the outer surface of the rigid leading edge of the flexible rudder structure; the support structure is connected to the inner panel via an outer rolling bearing, and the inner panel is fixedly connected to the first deflection gear via a threaded structure; the inner transmission rod is connected to the inner panel via an inner rolling bearing, and the end of the inner transmission rod extends into the flexible rudder structure and is fixedly connected to a transmission gear, and the transmission gear is meshedly connected to the rack; the inner transmission rod is connected to the deformation motor via a power transmission coupling assembly; the shaft sleeve is fixedly connected to the first deflection gear and the outer rolling bearing via a nut on the inner panel; the first deflection gear is meshedly connected to the second deflection gear; the transmission rod is connected to the deflection motor via a power transmission coupling assembly, and the transmission rod is fixedly connected to the second deflection gear via a threaded structure; The skin structure is bonded to the outer surface of the flexible rudder structure by pre-tensioning; The supporting structure is used to support the power structure.

2. The integrated 3D printed flexible rudder variant mechanism based on the sliding tongue structure according to claim 1 is characterized in that: A sliding tongue groove is provided in the rigid front edge, and the sliding tongue structure is slidably connected to the sliding tongue groove.

3. The integrated 3D printed flexible rudder variant mechanism based on the sliding tongue structure according to claim 1 is characterized in that: The power transmission coupling assembly comprises an outer coupling and an inner coupling, the inner transmission rod is connected with the inner coupling and the deformation motor via the outer coupling; the transmission rod is connected with the inner coupling and the deflection motor via the outer coupling.

4. The integrated 3D printed flexible rudder variant mechanism based on the sliding tongue structure according to claim 1 is characterized in that: The power structure further comprises fastening studs, and the outer panel and the inner panel are both fixedly connected to the flexible rudder structure via the fastening studs.

5. The integrated 3D printed flexible rudder variant mechanism based on the sliding tongue structure according to claim 1 is characterized in that: The skin structure is made of soft rubber.

6. The integrated 3D printed flexible rudder variant mechanism based on the sliding tongue structure according to claim 1 is characterized in that: The skin structure includes a span-wise covering film, a lateral covering film and an embedded covering film; The spanwise covering film is bonded to the outer surface of the flexible rudder structure and the outer edges of the outer panel and the inner panel by pre-tensioning; the lateral covering film is bonded to the side of the flexible trailing edge and the trailing edges of the outer panel and the inner panel by pre-tensioning; and the inner covering film is bonded between the outer panel and the side of the rigid leading edge and between the inner panel and the other side of the rigid leading edge by pre-tensioning.

7. The integrated 3D printed flexible rudder variant mechanism based on the sliding tongue structure according to claim 1 is characterized in that: The support structure includes an outer mounting plate, an inner threaded column and an inner mounting plate; The deformation motor and the deflection motor are fixedly connected to the inner mounting plate by bolts and nuts; the outer mounting plate is connected to the outer rolling bearing through a support hole, and the outer mounting plate is connected to the inner panel through an outer rolling bearing; the outer mounting plate and the inner mounting plate are fixedly connected by an internal threaded column.

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