Bionic fluctuation propeller combining magneto-rheological damper and elastic element

Abstract

The invention provides a bionic fluctuating propeller combining magnetorheological damping and elastic elements. The bionic fluctuating propeller comprises a driving part and a driving part, the transmission part comprises a shell, a containing space is formed in the shell, the shell is connected with the driving part, and the driving part drives the transmission part to reciprocate through the shell; the rotating shaft is rotatably arranged at the bottom of the accommodating space and extends out of the top of the shell; the damping assembly is arranged in the containing space and arranged on the rotating shaft in a sleeving mode, the damping assembly is filled with magnetorheological fluid, and the rotating damping of the rotating shaft is adjusted by adjusting the viscosity of the magnetorheological fluid; the elastic component is connected with the shell; and the swinging part is connected with the elastic assembly and the rotating shaft, and the swinging part swings relative to the driving part under the action of the damping assembly and the elastic assembly.

Description

Technical Field

[0001] The invention relates to the technical field of underwater robots, and in particular to a bionic wave propeller combining magnetorheological damping and elastic elements. Background Art

[0002] In recent years, underwater robots have gradually become key equipment for marine resource exploration. Traditional underwater robots are usually propeller-driven, with low efficiency, high noise and low concealment. With the development of bionics and the advancement of mechatronics technology, some underwater robots are equipped with bionic wave propulsion devices. By simulating the wave propulsion method of fish, this type of underwater robot has the advantages of high concealment, high maneuverability and low noise, and has become the focus of extensive attention and research by scholars at home and abroad.

[0003] However, in the related art, limited by the material properties of the elastic components, the bionic wave propulsor can only achieve better propulsion performance in a specific frequency band, and it is difficult to maintain better propulsion performance at different swing frequencies. Summary of the invention

[0004] In view of this, the present disclosure provides a bionic wave propeller combining magnetorheological damping and elastic elements to solve the problem of difficulty in maintaining better propulsion performance at different swing frequencies.

[0005] The bionic wave propeller of the combination of magnetorheological damping and elastic elements comprises: a driving part; a transmission part, comprising: a shell, which forms a accommodating space, the shell is connected to the driving part, and the driving part drives the transmission part to reciprocate through the shell; a rotating shaft, which is rotatably arranged at the bottom of the accommodating space and extends out of the top of the shell; a damping component, which is arranged in the accommodating space and sleeved on the rotating shaft, the damping component is filled with magnetorheological fluid, and the rotation damping of the rotating shaft is adjusted by adjusting the viscosity of the magnetorheological fluid; and an elastic component, which is connected to the shell; and a swinging part, which is connected to the elastic component and the rotating shaft, and the swinging part swings relative to the driving part under the action of the damping component and the elastic component.

[0006] Optionally, the elastic component includes: a first elastic element, which is sleeved on the rotating shaft, the first end of the first elastic element is connected to the first end of the swinging part, and the second end of the first elastic element is connected to the top of the shell; and a second elastic element, the first end of the second elastic element is connected to the bottom of the shell, and the second end of the second elastic element is connected to the second end of the swinging part.

[0007] Optionally, the damping assembly includes: a coil, which is sleeved on the rotating shaft, and the coil is connected to an external power supply device to form a magnetic field in the accommodating space, thereby adjusting the viscosity of the magnetorheological fluid; a plurality of shear disks, which are respectively arranged on the outer circumference of the coil; and a plurality of magnetic isolation rings, which are respectively arranged on the outer circumference of the coil and are alternately arranged with the shear disks along the axial direction of the rotating shaft, and the magnetorheological fluid is arranged between the shear disks and the magnetic isolation rings to adjust the rotational damping of the rotating shaft based on the viscosity of the above-mentioned magnetorheological fluid.

[0008] Optionally, the multiple shear disks include multiple first shear disks and multiple second shear disks, and the multiple magnetic isolation rings include multiple first magnetic isolation rings and multiple second magnetic isolation rings; wherein, the multiple first magnetic isolation rings are alternately arranged with the multiple first shear disks along the axial direction of the rotating shaft; the multiple second shear disks are respectively sleeved on the multiple first magnetic isolation rings, and the multiple second magnetic isolation rings are respectively sleeved on the multiple first shear disks.

[0009] Optionally, the damping assembly also includes: a magnetic isolation layer, which is arranged between the coil and the shear disk and covers the outer circumference of the coil; an upper shear layer, which is arranged at the top of the coil and covers the top of the coil, the top of the magnetic isolation layer, and a first part of the shaft located in the accommodating space that is not covered by the magnetic isolation layer; and a lower shear layer, which is arranged at the bottom of the coil and covers the bottom of the coil, the bottom of the magnetic isolation layer, and a second part of the shaft located in the accommodating space that is not covered by the magnetic isolation layer except the first part.

[0010] Optionally, the damping assembly further comprises: a seal, which is arranged between the upper shear layer and the magnetic isolation layer, and / or between the lower shear layer and the magnetic isolation layer, so as to prevent the magnetorheological fluid from entering the coil.

[0011] Optionally, the driving part includes: a motor; a first rotating member connected to the output shaft of the motor; a second rotating member rotatably connected to the first rotating member, the second rotating member including a sliding rod; and a third rotating member connected to the shell and arranged parallel to the rotating shaft, a sliding groove being formed on the third rotating member, the sliding rod being passed through the sliding groove, and the motor drives the third rotating member and the transmission part to reciprocate based on the cooperation between the sliding groove and the sliding rod.

[0012] Optionally, the bionic wave propulsor also includes: a mounting frame, on which the driving part is mounted; a first detection part, including: a first rotor mounted on the third rotating member; and a first stator mounted on the mounting frame at a position opposite to the first rotor, so as to detect the movement of the transmission part relative to the driving part based on the movement of the first rotor relative to the first stator; a second detection part, including: a second rotor mounted on the rotating shaft; and a second stator mounted on the third rotating member and arranged opposite to the second rotor, so as to detect the movement of the swinging part relative to the transmission part based on the movement of the second rotor relative to the second stator.

[0013] Optionally, the swinging part includes: a connecting component, a first end of the connecting component is sleeved on the rotating shaft and connected to the first end of the first elastic element, a second end of the connecting component is connected to the second end of the second elastic element, and the connecting component and the rotating shaft remain stationary; a tail fin, connected to the third end of the connecting component, and the connecting component drives the tail fin to swing relative to the driving part under the action of the damping component and the elastic component.

[0014] Optionally, the rotating shaft is formed with a channel allowing a wire to enter so as to connect the external power supply device and the coil.

[0015] According to the embodiment of the present disclosure, by setting a driving part, the transmission part can be driven to reciprocate, so as to drive the swing part to reciprocate. By setting a damping component and an elastic component, in the process of the swing part following the reciprocating motion of the transmission part, the swing part can be controlled to rotate relative to the transmission part, so that the swing part can be controlled to swing relative to the driving part. Not only can the elastic component be used to optimize and adjust the phase and amplitude of the swing of the swing part at a specific frequency so as to achieve better propulsion performance through swinging, but also the damping component can be used to generate a larger damping torque to reduce the phase of the swing of the swing part and adjust the amplitude of the swing of the swing part, so as to improve the propulsion performance of the swing part at high frequencies, solve the problem of difficulty in maintaining better propulsion performance at different swing frequencies, and have strong practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and other objects, features and advantages of the present disclosure will become more apparent through the following description of the embodiments of the present disclosure with reference to the accompanying drawings, in which:

[0017] Figure 1 A stereoscopic view of a bionic wave propeller combining magnetorheological damping and elastic elements according to an embodiment of the present disclosure is schematically shown.

[0018] Figure 2 A perspective view of a transmission part and a swing part according to an embodiment of the present disclosure is schematically shown.

[0019] Figure 3 A cross-sectional view of a transmission part according to an embodiment of the present disclosure is schematically shown.

[0020] Reference numerals

[0021] 1. driving part; 11. motor; 12. first rotating member; 13. second rotating member; 14. third rotating member; 15. encoder; 2. transmission part; 21. housing; 211. upper housing; 212. lower housing; 22. rotating shaft; 221. channel; 23. damping assembly; 231. coil; 232. first shearing disk; 2321. first first shearing disk; 2322. second first shearing disk; 2323. third first shearing disk; 2324. fourth first shearing disk; 233. second shearing disk; 2331. first second shearing disk; 2332. second second shearing disk; 2333. third second shearing disk; 2334. fourth second shearing disk; 234. first magnetic isolating ring; 2341. first first magnetic isolating ring; 2342. second first magnetic isolating ring; 234 3. The third first magnetic isolation ring; 235. The second magnetic isolation ring; 2351. The first second magnetic isolation ring; 2352. The second second magnetic isolation ring; 2353. The third second magnetic isolation ring; 2354. The fourth second magnetic isolation ring; 236. The magnetic isolation layer; 237. The upper shear layer; 238. The lower shear layer; 239. The seal; 24. The first elastic element; 25. The second elastic element; 3. The swing part; 31. The connecting assembly; 311. The upper cover plate; 312. The lower cover plate; 313. The first connecting rod; 314. The second connecting rod; 32. The tail fin; 4. The mounting frame; 41. The upper bracket; 42. The lower bracket; 43. The rib plate; 5. The first detection part; 51. The first rotor; 52. The first stator; 6. The second detection part; 61. The second rotor; 62. The second stator; 7. The connecting frame; 8. The mounting shaft. DETAILED DESCRIPTION

[0022] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present disclosure. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present disclosure. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0023] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise", "include", etc. used herein indicate the existence of features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0024] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0025] When using expressions such as "at least one of A, B, and C, etc.", they should generally be interpreted according to the meaning of the expression commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0026] Figure 1 A stereoscopic view of a bionic wave propeller combining magnetorheological damping and elastic elements according to an embodiment of the present disclosure is schematically shown. Figure 2 A perspective view of a transmission part and a swing part according to an embodiment of the present disclosure is schematically shown. Figure 3 A cross-sectional view of a transmission part according to an embodiment of the present disclosure is schematically shown.

[0027] like Figure 1-Figure 3As shown, the embodiment of the present disclosure provides a bionic wave propeller of a combination of magnetorheological damping and elastic elements. The bionic wave propeller may include a driving part 1, a transmission part 2 and a swinging part 3. The transmission part 2 may include a shell 21, a rotating shaft 22, a damping component 23 and an elastic component. The shell 21 may be formed with a receiving space. The shell 21 may be connected to the driving part 1. The driving part 1 may drive the transmission part 2 to reciprocate through the shell 21. The rotating shaft 22 is rotatably arranged at the bottom of the receiving space and extends out of the top of the shell 21, that is, in the process of the driving part 1 driving the shell 21 to reciprocate, the rotating shaft 22 not only follows the shell 21 to move relative to the driving part 1, but also can rotate relative to the shell 21. The damping component 23 may be arranged in the receiving space and sleeved on the rotating shaft 22. The damping component 23 may be filled with magnetorheological fluid, and the rotation damping of the rotating shaft 22 may be adjusted by adjusting the viscosity of the magnetorheological fluid. The viscosity of the magnetorheological fluid can change under the action of the surrounding magnetic field, so that the rotation damping of the rotating shaft 22 can be adjusted by adjusting the surrounding magnetic field. For example, when the frequency of the magnetic field increases, the viscosity increases and the rotation damping increases. The elastic component can be connected to the shell 21. The swinging part 3 can be connected to the elastic component and the rotating shaft 22. The swinging part 3 can swing relative to the driving part 1 under the action of the damping component 23 and the elastic component, that is, the rotation damping of the rotating shaft 22 by the damping component 23 and the elasticity of the elastic component will affect the swing of the swinging part 3. The shell 21 may include an upper shell 211 and a lower shell 212. The rotating shaft 22 can be connected to the upper shell 211 and the lower shell 212 respectively through bearings.

[0028] According to the embodiment of the present disclosure, by setting the driving part 1, the transmission part 2 can be driven to reciprocate, so as to drive the swing part 3 to reciprocate. By setting the damping component 23 and the elastic component, in the process of the swing part 3 following the reciprocating motion of the transmission part 2, the swing part 3 can be controlled to rotate relative to the transmission part 2, so that the swing part 3 can be controlled to swing relative to the driving part 1. Not only can the elastic component be used to optimize and adjust the phase and amplitude of the swing of the swing part 3 at a specific frequency to achieve better propulsion performance, but also the damping component 23 can be used to generate a larger damping torque to reduce the phase of the swing of the swing part 3 and adjust the amplitude of the swing of the swing part 3, so as to improve the propulsion performance of the swing part 3 at high frequencies, solve the problem of difficulty in maintaining better propulsion performance at different swing frequencies, and have strong practicality.

[0029] In some embodiments, the driving part 1 may include a motor 11, a first rotating member 12, a second rotating member 13, and a third rotating member 14. The first rotating member 12 may be connected to the output shaft of the motor 11. The second rotating member 13 may be rotatably connected to the first rotating member 12. The second rotating member 13 may include a sliding rod. The third rotating member 14 may be connected to the housing 21 through the connecting frame 7 and arranged parallel to the rotating shaft 22. A sliding groove may be formed on the third rotating member 14. The sliding rod may be inserted into the sliding groove. The motor 11 may drive the third rotating member 14 and the transmission part 2 to reciprocate based on the cooperation between the sliding groove and the sliding rod. The motor 11 may be arranged in a direction perpendicular to the rotating shaft 22. The first rotating member 12 may be in a broken line shape. The first rotating member 12 may include a first rod extending parallel to the rotating shaft 22 and a second rod at an obtuse angle to the first rod. The second rotating member 13 may be mounted on the second rod through a bearing. The first rod may be connected to the output shaft of the motor 11 through a keyway. The second rotating member 13 may be in a U-shape. The U-shaped base may be arranged on the second rod. The two U-shaped arms can be respectively arranged on both sides of the third rotating member 14. The slide bar can pass through the slide slot and connect with the two arms. The driving part 1 can also include an encoder 15. The encoder 15 can be connected with the motor 11.

[0030] In some embodiments, the driving part 1 may use a cam mechanism or a servo known in the art to drive the transmission part 2 to reciprocate.

[0031] In some embodiments, the elastic component may include a first elastic element 24 and a second elastic element 25. The first elastic element 24 may be sleeved on the rotating shaft 22. The first end (eg, Figure 1 The upper end of the first elastic element 24 shown in FIG. 1 may be connected to the first end of the swing portion 3 (eg, Figure 1 The second end of the first elastic element 24 (as shown in FIG. Figure 1 The lower end of the first elastic element 24 shown in FIG. 24 may be connected to the top of the housing 21. The first end of the second elastic element 25 (as shown in FIG. Figure 1 The upper end of the second elastic element 25 shown in FIG. 1 is connected to the bottom of the housing 21. The bottom of the housing 21 may be installed with a mounting shaft 8. The first end of the second elastic element 25 may be connected to the bottom of the housing 21 via the mounting shaft 8. The second end of the second elastic element 25 (as shown in FIG. 1 ) is connected to the bottom of the housing 21. The bottom of the housing 21 may be installed with a mounting shaft 8. Figure 1 The lower end of the second elastic element 25 shown in FIG. Figure 1The first elastic element 24 and the second elastic element 25 are connected to the lower end of the swinging part 3 shown in the figure, that is, the elastic component can be connected to the swinging part 3 through the first elastic element 24 and the second elastic element 25, so that the phase and amplitude of the swinging part 3 can be optimized and adjusted at a specific frequency, so that the swinging can achieve better propulsion performance. The first elastic element 24 and the second elastic element 25 can be any one of the springs, spring sheets and elastic rods known in the art, or a combination of at least one of them, and no specific limitation is made to this.

[0032] In some embodiments, the swinging part 3 may include a connecting component 31 and a tail fin 32. The tail fin 32 may be made of a carbon fiber material. Figure 1 The upper end of the connecting assembly 31 shown in FIG. 1 may be sleeved on the rotating shaft 22 and connected to the first end of the first elastic element 24. The second end of the connecting assembly 31 (as shown in FIG. 1 ) may be sleeved on the rotating shaft 22 and connected to the first end of the first elastic element 24. Figure 1 The lower end of the connecting component 31 shown in the figure can be connected to the second end of the second elastic element 25. The connecting component 31 can remain stationary with the rotating shaft 22, so that the phase and amplitude of the swing of the swinging part 3 can be optimized by adjusting the rotation of the rotating shaft 22. Further, the rotation damping of the rotating shaft 22 can be adjusted by the damping component 23, thereby adjusting the rotation of the rotating shaft 22. The tail fin 32 can be connected to the third end of the connecting component 31. The connecting component 31 can drive the tail fin 32 to swing relative to the driving part 1 under the action of the damping component 23 and the elastic component. Further, the swing of the tail fin 32 can cause the rotation of the first elastic element 24 and the second elastic element 25, and the elastic torque generated by the first elastic element 24 and the second elastic element 25 can act on the transmission part 2.

[0033] The first end of the connecting assembly 31 may include an upper cover plate 311 sleeved on the rotating shaft 22. The second end of the connecting assembly 31 may include a lower cover plate 312 sleeved on the mounting shaft 8. The connecting assembly 31 also includes a first connecting rod 313 connecting the upper cover plate 311 with the tail fin 32 and a second connecting rod 314 connecting the lower cover plate 312 with the tail fin 32. The third end of the connecting assembly 31 may be a connection point between the first connecting rod 313, the second connecting rod 314 and the tail fin 32.

[0034] In some embodiments, the damping assembly 23 may include a coil 231, a plurality of shear disks, and a plurality of magnetic isolation rings. The coil 231 may be sleeved on the rotating shaft 22. The coil 231 may be connected to an external power supply device to form a magnetic field in the accommodation space, thereby adjusting the viscosity of the magnetorheological fluid. A plurality of shear disks may be respectively arranged on the outer periphery of the coil 231. A plurality of magnetic isolation rings may be respectively arranged on the outer periphery of the coil 231, and alternately arranged with the shear disks along the axial direction of the rotating shaft 22, and the magnetorheological fluid is arranged between the shear disks and the magnetic isolation rings to adjust the rotational damping of the rotating shaft 22 based on the viscosity of the above-mentioned magnetorheological fluid. By arranging a plurality of shear disks and a plurality of magnetic isolation rings, and arranging the shear disks and the magnetic isolation rings alternately, the magnetic field effect can be enhanced, the adjustment accuracy of adjusting the rotational damping can be improved, the reliability of the damping assembly 23 can be improved, and the service life can be extended.

[0035] In some embodiments, a channel 221 allowing a wire to enter may be formed on the rotating shaft 22 to connect an external power supply device and the coil 231 .

[0036] In some embodiments, the plurality of shear disks may include a plurality of first shear disks 232 and a plurality of second shear disks 233. The plurality of magnetic isolation rings may include a plurality of first magnetic isolation rings 234 and a plurality of second magnetic isolation rings 235. The plurality of first magnetic isolation rings 234 may be alternately arranged with the plurality of first shear disks 232 along the axial direction of the rotating shaft 22. The plurality of second shear disks 233 are respectively sleeved on the plurality of first magnetic isolation rings 234. The plurality of second magnetic isolation rings 235 are respectively sleeved on the plurality of first shear disks 232. Figure 3 As shown, the plurality of first magnetic isolation rings 234 may be respectively the first first magnetic isolation ring 2341, the second first magnetic isolation ring 2342 and the third first magnetic isolation ring 2343. The plurality of second magnetic isolation rings 235 may be respectively the first second magnetic isolation ring 2351, the second second magnetic isolation ring 2352, the third second magnetic isolation ring 2353 and the fourth second magnetic isolation ring 2354. The plurality of first shear disks 232 may be respectively the first first shear disk 2321, the second first shear disk 2322, the third first shear disk 2323 and the fourth first shear disk 2324. The plurality of second shear disks 233 may be respectively the first second shear disk 2331, the second second shear disk 2332, the third second shear disk 2333 and the fourth second shear disk 2334.

[0037] In some embodiments, the damping assembly 23 may further include a magnetic isolation layer 236, an upper shear layer 237, and a lower shear layer 238. The magnetic isolation layer 236 may be disposed between the coil 231 and the shear disk, and cover the outer periphery of the coil 231 to shield external electromagnetic interference and protect the coil 231 from the influence of the external magnetic field. The upper shear layer 237 may be disposed on the top of the coil 231, and cover the top of the coil 231, the top of the magnetic isolation layer 236, and the first part of the rotating shaft 22 located in the accommodation space that is not covered by the magnetic isolation layer 236. The lower shear layer 238 may be disposed on the bottom of the coil 231, and cover the bottom of the coil 231, the bottom of the magnetic isolation layer 236, and the second part of the rotating shaft 22 located in the accommodation space that is not covered by the magnetic isolation layer 236 except the first part. The magnetic isolation layer 236 and the magnetic isolation ring may be made of aluminum. The lower shear layer 238 may be formed integrally with the rotating shaft 22. The first magnetic isolation ring 234 and the first shear disk 232 may be fixed to the lower shear layer 238 by screws. The second magnetic isolation ring 235 and the second shear plate 233 may be fixed to the lower housing 212 by screws.

[0038] In some embodiments, the damping assembly 23 may further include a seal 239. The seal 239 may be disposed between the upper shear layer 237 and the magnetic isolation layer 236, and / or between the lower shear layer 238 and the magnetic isolation layer 236, to prevent the magnetorheological fluid from entering the coil 231, and to ensure that the magnetorheological fluid is always between the shear disk and the magnetic isolation ring.

[0039] In some embodiments, the bionic wave propulsor may further include a mounting frame 4, a first detection unit 5, and a second detection unit 6. The mounting frame 4 may include an upper bracket 41 and a lower bracket 42. The mounting frame 4 may further include a rib plate 43 for supporting the third rotating member 14. By providing the rib plate 43, the third rotating member 14 can be prevented from tilting, thereby ensuring the rotation concentricity of the upper end and the lower end of the third rotating member 14. The driving unit 1 may be mounted on the mounting frame 4. The first detection unit 5 may include a first rotor 51 and a first stator 52. The first rotor 51 may be mounted on the third rotating member 14. The first stator 52 may be mounted on the mounting frame 4 at a position opposite to the first rotor 51, so as to detect the movement of the transmission unit 2 relative to the driving unit 1 based on the movement of the first rotor 51 relative to the first stator 52. The second detection unit 6 may include a second rotor 61 and a second stator 62. The second rotor 61 may be mounted on the rotating shaft 22. The second stator 62 can be mounted on the third rotating member 14 and arranged relative to the second rotor 61 to detect the movement of the swinging part 3 relative to the transmission part 2 based on the movement of the second rotor 61 relative to the second stator 62. The first detection part 5 and the second detection part 6 can use an encoder 15 known in the art. By setting the first detection part 5, the movement of the transmission part 2 relative to the driving part 1 can be detected, and by setting the second detection part 6, the movement of the swinging part 3 relative to the transmission part 2 can be detected, so that the swing of the swinging part 3 relative to the driving part 1 can be detected. The first detection part 5 and the second detection part 6 can be waterproof.

[0040] It will be appreciated by those skilled in the art that the features described in the various embodiments and / or claims of the present disclosure may be combined and / or combined in a variety of ways, even if such combinations and / or combinations are not explicitly described in the present disclosure. In particular, the features described in the various embodiments and / or claims of the present disclosure may be combined and / or combined in a variety of ways without departing from the spirit and teachings of the present disclosure. All of these combinations and / or combinations fall within the scope of the present disclosure.

[0041] The embodiments of the present disclosure are described above. However, these embodiments are only for illustrative purposes and are not intended to limit the scope of the present disclosure. Although the embodiments are described above separately, this does not mean that the measures in the various embodiments cannot be used in combination to advantage. The scope of the present disclosure is defined by the attached claims and their equivalents. Without departing from the scope of the present disclosure, those skilled in the art may make a variety of substitutions and modifications, which should all fall within the scope of the present disclosure.

Claims

1. A bionic wave propeller combining magnetorheological damping and elastic elements, characterized in that: include: Drive unit; Transmission unit, including: A housing is formed with a receiving space, the housing is connected to the driving part, and the driving part drives the transmission part to reciprocate through the housing; A rotating shaft, rotatably disposed at the bottom of the accommodation space and extending out of the top of the shell; A damping assembly is disposed in the accommodating space and sleeved on the rotating shaft, wherein the damping assembly is filled with magnetorheological fluid, and the rotation damping of the rotating shaft is adjusted by adjusting the viscosity of the magnetorheological fluid; and an elastic component connected to the housing; and The swinging part is connected to the elastic component and the rotating shaft, and the swinging part swings relative to the driving part under the action of the damping component and the elastic component.

2. The bionic wave propeller of the combination of magnetorheological damping and elastic elements according to claim 1 is characterized in that: The elastic component comprises: a first elastic element, sleeved on the rotating shaft, wherein a first end of the first elastic element is connected to a first end of the swinging portion, and a second end of the first elastic element is connected to a top of the housing; and A second elastic element, wherein a first end of the second elastic element is connected to the bottom of the housing, and a second end of the second elastic element is connected to the second end of the swinging portion.

3. The bionic wave propeller of the combination of magnetorheological damping and elastic elements according to claim 1 is characterized in that: The damping assembly comprises: A coil, sleeved on the rotating shaft, the coil being connected to an external power supply device to form a magnetic field in the containing space, thereby adjusting the viscosity of the magnetorheological fluid; A plurality of shear discs are respectively arranged on the outer periphery of the coil; and A plurality of magnetic isolation rings are respectively arranged on the outer circumference of the coil and are alternately arranged with the shear disk along the axial direction of the rotating shaft. The magnetorheological fluid is arranged between the shear disk and the magnetic isolation rings to adjust the rotation damping of the rotating shaft based on the viscosity of the magnetorheological fluid.

4. The bionic wave propeller of the combination of magnetorheological damping and elastic elements according to claim 3 is characterized in that: The plurality of shear disks include a plurality of first shear disks and a plurality of second shear disks, and the plurality of magnetic isolation rings include a plurality of first magnetic isolation rings and a plurality of second magnetic isolation rings; Wherein, the plurality of first magnetic isolation rings and the plurality of first shear disks are respectively arranged alternately along the axial direction of the rotating shaft; The plurality of second shearing disks are respectively sleeved on the plurality of first magnetic isolation rings, and the plurality of second magnetic isolation rings are respectively sleeved on the plurality of first shearing disks.

5. The bionic wave propeller of the combination of magnetorheological damping and elastic elements according to claim 3 is characterized in that: The damping assembly further comprises: a magnetic isolation layer, disposed between the coil and the shear disk and covering the outer circumference of the coil; an upper shear layer, disposed on the top of the coil, and covering the top of the coil, the top of the magnetic isolation layer, and a first portion of the shaft located in the accommodating space and not covered by the magnetic isolation layer; and The lower shear layer is arranged at the bottom of the coil and covers the bottom of the coil, the bottom of the magnetic isolation layer, and the second part of the shaft located in the accommodating space and not covered by the magnetic isolation layer except the first part.

6. The bionic wave propeller of the combination of magnetorheological damping and elastic elements according to claim 5, characterized in that: The damping assembly further comprises: A sealing member is disposed between the upper shear layer and the magnetic isolation layer, and / or between the lower shear layer and the magnetic isolation layer, so as to prevent the magnetorheological fluid from entering the coil.

7. The bionic wave propeller of the combination of magnetorheological damping and elastic elements according to claim 1, characterized in that: The driving unit comprises: Motor; A first rotating member connected to the output shaft of the motor; a second rotating member, rotatably connected to the first rotating member, the second rotating member comprising a sliding rod; and The third rotating member is connected to the shell and is arranged parallel to the rotating shaft. A slide groove is formed on the third rotating member. The slide rod is passed through the slide groove. The motor drives the third rotating member and the transmission part to reciprocate based on the cooperation between the slide groove and the slide rod.

8. The bionic wave propeller of the combination of magnetorheological damping and elastic elements according to claim 1, characterized in that: Also includes: A mounting frame, wherein the driving unit is mounted on the mounting frame; The first detection unit includes: A first rotor mounted on the third rotating member; and A first stator is mounted on the mounting frame at a position opposite to the first rotor to detect movement of the transmission part relative to the driving part based on movement of the first rotor relative to the first stator; The second detection unit includes: A second rotor mounted on the rotating shaft; and The second stator is mounted on the third rotating member and is arranged opposite to the second rotor to detect the movement of the swinging part relative to the transmission part based on the movement of the second rotor relative to the second stator.

9. The bionic wave propeller of the combination of magnetorheological damping and elastic elements according to claim 2, characterized in that: The swinging portion comprises: A connecting component, wherein a first end of the connecting component is sleeved on the rotating shaft and connected to a first end of the first elastic element, a second end of the connecting component is connected to a second end of the second elastic element, and the connecting component and the rotating shaft remain stationary; The tail fin is connected to the third end of the connecting component, and the connecting component drives the tail fin to swing relative to the driving part under the action of the damping component and the elastic component.

10. The bionic wave propeller of the combination of magnetorheological damping and elastic elements according to claim 3, characterized in that: The rotating shaft is formed with a channel allowing a wire to enter so as to connect the external power supply device and the coil.

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