A biomimetic cuttlefish underwater vehicle

Abstract

The present application belongs to the technical field of submarine design, and particularly relates to a bionic cuttlefish submarine. The bionic cuttlefish submarine comprises a hull, a control structure, a cruising assembly, a jetting assembly and a power module. The hull is a cylindrical structure in the shape of a cuttlefish, comprising a front cross section, a middle mounting section, a tail propulsion section and a tail skirt section. The control structure comprises a bionic fin rudder control mechanism. The cruising assembly comprises a propeller and a propeller driving motor. The jetting assembly comprises a deformation capsule, a breathing capsule and a nozzle. The bionic cuttlefish submarine can provide sufficient instantaneous burst force at a lower energy consumption.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of submarine design, and particularly relates to a bionic cuttlefish submarine. BACKGROUND

[0002] The shape design of underwater vehicles needs to consider hydrodynamic performance to reduce resistance, reduce noise and improve maneuverability. In recent years, various water-moving animals in nature have become the object of bionics. Cuttlefish is a common marine organism, and its unique shape and jet movement mode are completely different from the traditional marine organisms powered by fin tail wing swing. According to its action principle, there are currently many underwater vehicles that imitate its action mode, but most of them still use propellers to achieve power simulation. The instantaneous power is increased to provide explosive thrust. On the one hand, the energy consumption is very high in this process, which greatly reduces the endurance of the submarine. On the other hand, the explosive process is accompanied by a large increase in internal acoustic and electric signals, which greatly affects the tasks that require silent and covert operations, greatly limiting the application range. SUMMARY

[0003] The purpose of the present application is to provide a bionic cuttlefish submarine with low energy consumption, simple structure, low noise, and the ability to achieve low-energy cruise and high-explosive acceleration.

[0004] To achieve the above purpose, the technical scheme is adopted as follows.

[0005] A bionic cuttlefish submarine includes a hull 1, a control structure, a cruise assembly, a jet assembly, and a power module.

[0006] The hull 1 is a cylindrical structure in the shape of a cuttlefish, including a front cross section 10, a middle mounting section 11, a tail propulsion section 12, and a tail skirt section 13.

[0007] The front cross section 10 forms a cross structure, and the end of the cross structure forms a mounting surface 100 in the horizontal and vertical directions. Two strip-shaped water inlets 101 are provided on the left and right sides of the horizontal area of the cross structure. The strip-shaped water inlets 101 are connected to the duct pipes 103 behind them. The two duct pipes 103 extend backward through the cross section 10, the middle mounting section 11, and finally form two propulsion inlets 104 from the tail propulsion section 12.

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

[0009] The cruise assembly comprises two propellers arranged in the two ducts 103 and close to the propulsion port 104, and propeller drive motors 106 for driving the propellers;

[0010] The injection assembly comprises a deformation capsule 20 arranged inside the middle mounting portion 11 and the tail propulsion portion 12, a breathing capsule 21 arranged inside the deformation capsule 20, and a nozzle arranged at the rear end of the breathing capsule 21; the tail propulsion portion 12 is provided with an injection port 120, the injection port 120 is arranged between the two ducts 103, and the nozzle is arranged inside the injection port 120 with the injection port facing backward;

[0011] The front end of the deformation capsule 20 and the breathing capsule 21 is wrapped outside the duct 103 and is fixed by the inner wall of the hull 1, the rear end of the breathing capsule 21 is connected to the nozzle through a one-way valve, the one-way valve can only supply water to one side of the nozzle, and the front end of the deformation capsule 20 wraps the breathing capsule 21;

[0012] The deformation capsule 20 is composed of a silica gel sleeve, elastic ribbons embedded in the silica gel sleeve and extending in the front-rear direction, arc-shaped memory metal wires embedded in the silica gel sleeve and extending in the left-right direction, and a power supply circuit connected to the memory metal wires; the silica gel sleeve has a soft structure, a plurality of elastic ribbons are evenly arranged in the silica gel sleeve to make the silica gel sleeve have a tendency to expand outward, a plurality of arc-shaped memory metal wires are perpendicular to the elastic ribbons and are symmetrically arranged upward and downward, and the end portions of the arc-shaped memory metal wires upward and downward opposite to each other are connected to form a ring-shaped structure;

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

[0014] The breathing capsule 21 has a soft structure, the breathing capsule 21 is arranged close to the inner wall of the deformation capsule 20, the surface of the deformation capsule 20 is uniformly provided with water absorption holes 200, the surface of the breathing capsule 21 is uniformly provided with water inlet holes 210, and the water absorption holes 200 and the water inlet holes 210 are staggered with each other;

[0015] The area of the middle mounting portion 11 and the tail propulsion portion 12 opposite to the breathing capsule 21 is provided with a water passing hole 222;

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

[0017] The further improvement or preferred embodiment of the foregoing bionic cuttle submarine further comprises a transmission gear for connecting the rudder rod drive motor and the rudder rod 7.

[0018] The further improvement or preferred embodiment of the foregoing bionic cuttle submarine, the one-way valve is a specified pressure relief valve or a controllable one-way valve.

[0019] Further improvement or preferred embodiment of the foregoing biomimetic cuttle submarine, the first support part 111 is arranged on the left and right inner walls of the middle mounting part 11, and the connecting part 112 opposite to the first support part 111 is arranged on the outside of the duct pipe 103; the connecting part 112 presses the deformation capsule 20 and the breathing capsule 21 to be tightly pressed on the first support part 111.

[0020] Further improvement or preferred embodiment of the foregoing biomimetic cuttle submarine, the strip-shaped water inlet 101 is provided with a grid structure 109 along the front-rear direction at the water inlet.

[0021] Further improvement or preferred embodiment of the foregoing biomimetic cuttle submarine, the two duct pipes 103 are communicated with each other at the region on the front side of the propeller, forming a drainage channel 108.

[0022] Further improvement or preferred embodiment of the foregoing biomimetic cuttle submarine, the two strip-shaped water inlets 101 are arranged at an angle of 5-10°, and the two propulsion inlets 104 are arranged at an angle of 10-15°.

[0023] Further improvement or preferred embodiment of the foregoing biomimetic cuttle submarine, the edge of the biomimetic fin rudder 105 is provided with a plurality of turbulence ports 110; the turbulence ports 110 are respectively arranged on the two farthest sides of the biomimetic fin rudder 105 and are communicated with the duct pipe 103.

[0024] Further improvement or preferred embodiment of the foregoing biomimetic cuttle submarine, the surface of the hull 1 or the convex surface is uniformly provided with a crescent-shaped sand dune surface structure. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 is a front view of the biomimetic cuttle submarine;

[0026] Figure 2 is a top view of the biomimetic cuttle submarine;

[0027] Figure 3 is an assembly view of the biomimetic cuttle submarine;

[0028] Figure 4 is a front view of the biomimetic cuttle submarine;

[0029] Figure 5 is a schematic view of the duct pipe structure of the biomimetic cuttle submarine;

[0030] Figure 6 is a cross-sectional view of the injection structure of the biomimetic cuttle submarine;

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

[0032] The reference signs include:

[0033] boat body 1, front cross section 10, middle section mounting part 11, tail end propulsion part 12, tail end skirt part 13, deformation capsule 20, breathing capsule 21, mounting surface 100, strip-shaped water suction port 101, duct pipe 103, propulsion port 104, bionic fin rudder 105, propeller driving motor 106, rudder rod 107, drainage channel 108, grid structure 109, turbulence port 110, first support part 111, connecting part 112, jet port 120, water suction hole 200, water inlet hole 210, water passing hole 222. DETAILED DESCRIPTION

[0034] The application will be described in detail below in combination with specific embodiments.

[0035] The bionic cuttle submarine of the application is used to provide a bionic cuttle submarine capable of providing sufficient instantaneous burst force under lower energy consumption.

[0036] As shown in the drawings, Figure 1 The main structure of the bionic cuttle submarine of the application includes a boat body 1, a steering structure, a cruising assembly, a jet assembly, and a power module.

[0037] The boat body 1 is a cylindrical structure in the shape of a cuttle, including a front cross section 10, a middle section mounting part 11, a tail end propulsion part 12, and a tail end skirt part 13.

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

[0039] The boat body structure is the main support structure of the submarine. In specific implementation, in order to facilitate the design and installation of internal elements, on the basis of the foregoing basic structure, a separable opening and a shell surface structure such as the upper and lower separable shell surfaces in the drawings Figure 3 may be arranged on the upper and lower sides of the boat body to simplify the assembly and use mode.

[0040] The tail end skirt part 13 is mainly used to simulate the tail skirt structure of a cuttle. When further optimized, the wake characteristics can be further optimized through the design of the tail skirt structure, and the period is closer to the real cuttle.

[0041] As shown in the drawings, Figure 5 The two duct pipes 103 provide power during low-speed and stable cruising by installing propellers inside. The power difference adjustment of the two propellers can realize the change of driving force in two directions, thereby controlling the turning of the submarine.

[0042] In order to optimize the incoming flow characteristics, ensure the consistency of the fluid pressure in the direction of the incoming flow, and avoid the difference in water inlet speed on one side of the strip-shaped water inlet, which affects the control effect, the middle part of the two duct pipes 103 on the front side of the propeller is connected to each other to form a flow guide channel 108.

[0043] At the same time, the two strip-shaped water inlets 101 are arranged at an angle of 5-10°, and the two propulsion inlets 104 are arranged at an angle of 10-15°. The propulsion inlet with an angle of 10-15° can better simulate the squid tail flow characteristics, and the existence of the angle can provide a difference in the propulsion moment on the left and right sides during turning, which can provide a greater turning speed and reduce the energy consumption during the turning process compared with the parallel propulsion inlet.

[0044] The two strip-shaped water inlets with an angle can form a low-pressure fluid area in the direction of the incoming flow on the front side of the squid, and at the same time, reduce the fluid pressure flowing through the surface of the underwater vehicle, reduce the resistance during the movement of the propeller, and form a layer of sound and electric signal propagation medium with different densities in the fluid environment in the forward direction of the underwater vehicle, so that the sound and electric signals are reflected and refracted, and the probability of detection of the core sound and electric signal noise of the underwater vehicle is reduced.

[0045] In particular, through analysis, the special fin wing structure of the squid can produce a specific flow field different from traditional marine organisms. Therefore, in the present embodiment, a plurality of turbulence ports 110 are arranged on the edge of the bionic fin rudder 105; the turbulence ports 110 are respectively located on the two sides of the farthest end of the bionic fin rudder 105 and are in communication with the duct pipe 103. The low-pressure water flow is formed in the turbulence port through the negative pressure of the duct pipe, so as to simulate the flow field disturbance caused by the swing of the squid fin wing, further improve the electromagnetic bionics ability, and make the sound and electric signal characteristics closer to the real squid when being detected.

[0046] In particular, based on the crescent-shaped sand dune drag reduction theory, in order to improve the endurance performance of the underwater vehicle, crescent-shaped sand dune surface structures are uniformly arranged on the surface of the hull 1 or the protruding surface of the hull. The crescent-shaped sand dune surface structure is beneficial to reducing the energy consumption of the underwater vehicle and improving the propulsion efficiency of the vehicle.

[0047] In particular, in order to avoid the entry of water into the duct pipe and affect the action of the propeller, a grid structure 109 along the front and rear directions is arranged at the water inlet of the strip-shaped water inlet 101.

[0048] As Figure 1 , Figure 3 , Figure 4As shown in the figure, the steering structure includes four bionic fin rudders 105 arranged on the mounting surface 100, a steering mechanism arranged inside the front end cross 10, the steering mechanism including a horizontally arranged rudder rod 107 and a vertically arranged rudder rod 107, and a rudder rod driving motor for controlling the angle of the rudder rod; the horizontally arranged rudder rod is connected with two horizontally arranged bionic fin rudders 105, and the vertically arranged rudder rod is connected with two vertically arranged bionic fin rudders 105.

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

[0050] The swing of the bionic fin rudders 105 can be controlled through the rudder rod 107, and the motion control of the underwater vehicle can be realized by matching the speed difference of the two propellers in the cruising assembly, the two control modes are redundant to each other to ensure the stability of the control, and compensation control is performed to realize efficient control in a way of minimizing energy consumption.

[0051] To ensure the line of sight of the control, in the specific implementation, according to the steering mode of the rudder, the underwater vehicle further comprises a transmission gear for connecting the rudder rod driving motor and the rudder rod 7.

[0052] An important motion feature of an octopus is to achieve instantaneous acceleration and displacement through jetting. In a traditional simulation scheme, the instantaneous change of propulsion force is used to achieve this. This way is high in energy consumption, and has high requirements for the electrical control of the equipment, the performance of the propeller, and the technology of the control system, and is not suitable for industrial application. Therefore, the application provides a jetting structure based on the energy storage of the electric contraction of the memory wire, according to the theory of energy storage and launching.

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

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

[0055] The deformation sleeve 20 is composed of a silica gel sleeve, elastic ribs embedded in the silica gel sleeve and extending in the front-rear direction, arc-shaped memory wires embedded in the silica gel sleeve and extending in the left-right direction, and a power supply circuit connected with the memory wires; the silica gel sleeve is of soft structure, a plurality of elastic ribs are evenly arranged in the silica gel sleeve to make the silica gel sleeve have a tendency to expand outward, a plurality of arc-shaped memory wires are vertically crossed with the elastic ribs and symmetrically arranged upward and downward, and the end portions of the arc-shaped memory wires upward and downward opposite to each other are connected to form a ring-shaped structure.

[0056] The low-temperature state of the arc-shaped memory wire after power-off is an extended state, and the high-temperature state after power-on and heating is a contracted state.

[0057] The breathing sleeve 21 is of soft structure, and the breathing sleeve 21 is arranged in close contact with the inner wall of the deformation sleeve 20 (connected through close-range connection structure or multi-point bonding, etc., to form a water flow channel surface between the two sleeves), the surface of the deformation sleeve 20 is uniformly provided with water absorption holes 200, and the surface of the breathing sleeve 21 is uniformly provided with water inlet holes 210, the water absorption holes 200 and the water inlet holes 210 are staggered with each other.

[0058] The region on the middle mounting portion 11 and the tail end advancing portion 12 opposite to the breathing sleeve 21 is provided with a water passing hole 222;

[0059] Based on the state switching of the deformation sleeve contracted by the arc-shaped memory wire after power-on and heating and the deformation sleeve naturally expanded by the elastic rib, the deformation sleeve can be expanded by the rib in the low-temperature state, water is absorbed and flows along the gap of the contact surface between the two sleeves and stored in the breathing sleeve, when jet propulsion is needed, the arc-shaped memory wire is heated by power-on to reach the high-temperature state and keep the state, the arc-shaped memory wire has a tendency to quickly contract, and the deformation sleeve and the breathing sleeve are tightened, due to the action of the one-way valve of the injector, the compressed water is sprayed backward to complete the jet propulsion.

[0060] By controlling the opening pressure of the one-way valve, the power size during jetting can be further optimized, therefore, in the embodiment, the one-way valve can be a constant pressure relief valve or a controllable one-way valve.

[0061] In order to avoid the vibration of the structure during jetting and reduce the noise, in the embodiment, the first support portion 111 is arranged on the left and right sides of the inner wall of the middle mounting portion 11, and the connection portion 112 opposite to the first support portion 111 is arranged on the outer side of the duct pipe 103; the connection portion 112 abuts against the deformation sleeve 20 and the breathing sleeve 21 to make them tightly press against the first support portion 111.

[0062] The elastic structure is matched with the memory metal to realize the jetting action, the power burst control is not involved in the process, the action of the elastic energy storage structure has the shock absorption and shock resistance, the noise of the submarine structure and the electrical noise signal are smaller in the jetting process, the submarine is more favorable for the concealment, the electromagnetic signal size is reduced, the energy consumption is lower, and the low energy consumption cruise motion is better realized.

[0063] The power module is used for supplying power to the rudder rod driving motor, the propeller driving motor 106 and the arc-shaped memory metal wire. The stable operation of each device structure is ensured. In the specific implementation, a local control chip or a remote control chip is further configured to realize the remote control of the aforementioned control action. The control chip selection and the circuit are very mature, and other schemes including the sealing and waterproof of the aforementioned electrical structure and the connection and fixation of the structure adopt the conventional schemes in the prior art. Therefore, the schemes are not described herein.

[0064] Finally, it should be noted that the above examples are used to illustrate the technical solutions of the present application, and are not intended to limit the scope of protection of the present application. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced by equivalents without departing from the essence and scope of the technical solutions of the present application.

Claims

1. A biomimetic cuttlefish submersible, characterized by, The utility model relates to a kind of unmanned aerial vehicle, including hull (1), steering structure, cruise assembly, jet assembly, power module; Hull (1) is the tubular structure of imitating cuttlefish appearance, including front end cross section (10), middle section mounting portion (11), tail end propulsion portion (12); Front end cross section (10) forms cross structure, and the installation surface (100) in horizontal direction and vertical direction is formed in cross structure end portion, and two strip-shaped water suction ports (101) are equipped in horizontal area left and right of cross structure, and strip-shaped water suction port (101) rear side is connected with duct pipe (103), and two duct pipes (103) extend backward and pass through cross section (10), middle section mounting portion (11) lastly form two propulsion ports (104) from tail end propulsion portion (12); Steering structure includes: four bionic fin rudders (105) set on installation surface (100), steering mechanism set in the inner side of front end cross section (10), steering mechanism includes a horizontally arranged and a vertically arranged rudder rod (107), and rudder rod drive motor for controlling the angle of rudder rod;The horizontally arranged rudder rod is connected with two horizontal direction bionic fin rudders (105), and the vertically arranged rudder rod is connected with two vertical direction bionic fin rudders (105); Cruise assembly includes: two propellers set in two duct pipes (103) and close to propulsion port (104) and propeller drive motor (106) for driving propeller; Jet assembly includes: deformation capsule cover (20) located in the inner side of middle section mounting portion (11) and tail end propulsion portion (12), breathing capsule cover (21) located in the inner side of deformation capsule cover (20), nozzle located in the rear end of breathing capsule cover (21);Tail end propulsion portion (12) is equipped with jet port (120), and jet port (120) is located between two duct pipes (103), and nozzle is set in the inner side of jet port (120) and jet port faces backward; The front end of deformation capsule cover (20) and breathing capsule cover (21) is covered outside duct pipe (103), and is fixed by duct pipe (103) and inner wall of hull (1), the rear end of breathing capsule cover (21) is connected with nozzle through one-way valve, one-way valve can only supply water to one side of nozzle, and the front end of deformation capsule cover (20) covers breathing capsule cover (21); The deformation capsule cover (20) is composed of a silica gel cover, elastic ribs extending in the front-rear direction embedded in the silica gel cover, arc-shaped memory metal wires extending in the left-right direction embedded in the silica gel cover, and a power supply circuit connected with the memory metal wires;The silica gel cover is of soft structure, and multiple elastic ribs are evenly arranged in the silica gel cover to make the silica gel cover have a tendency to expand outward, multiple arc-shaped memory metal wires are perpendicular to the elastic ribs and symmetrically arranged in an up-down direction, and the ends of the arc-shaped memory metal wires symmetrically arranged in the up-down direction are connected to form a ring structure; The low-temperature state of the arc-shaped memory metal wire after power-off is an extended state, and the high-temperature state after heating is a contracted state; Breathing capsule cover (21) is of soft structure, and breathing capsule cover (21) is arranged in close contact with the inner wall of deformation capsule cover (20), and the surface of deformation capsule cover (20) is uniformly provided with water absorption holes (200), and the surface of breathing capsule cover (21) is uniformly provided with water inlet holes (210), and the water absorption holes (200) and the water inlet holes (210) are staggered with each other; The water passing hole (222) is arranged on the area opposite to the breathing bag cover (21) of the middle mounting part (11) and the tail end propelling part (12); The power module is used for supplying power to the rudder rod driving motor, the propeller driving motor (106) and the arc memory wire.

2. The mimic cuttlefish submersible of claim 1, wherein, The transmission gear for connecting the rudder rod driving motor and the rudder rod (7) is further included.

3. The mimic cuttlefish submersible of claim 1, wherein, The one-way valve is a specified pressure relief valve or a controllable one-way valve.

4. The mimic cuttlefish submersible of claim 1, wherein, The first support part (111) is arranged on the left and right sides of the inner wall of the middle mounting part (11), and the connecting part (112) opposite to the first support part (111) is arranged on the outer side of the duct pipe (103); the connecting part (112) presses the deformation bag cover (20) and the breathing bag cover (21) to be tightly pressed on the first support part (111).

5. The mimic cuttlefish submersible of claim 1, wherein, The strip-shaped water suction port (101) is provided with the grid structure (109) along the front and back directions at the water inlet.

6. The mimic cuttlefish submersible of claim 1, wherein, The middle parts of the two duct pipes (103) on the front side of the propeller are communicated with each other to form the drainage channel (108).

7. The mimic cuttlefish submersible of claim 1, wherein, The two strip-shaped water suction ports (101) are arranged at an angle of 5-10°, and the two propelling ports (104) are arranged at an angle of 10-15°.

8. The mimic cuttlefish submersible of claim 1, wherein, The edge of the bionic fin rudder (105) is provided with a plurality of turbulent ports (110); the turbulent ports (110) are respectively located on the two farthest sides of the bionic fin rudder (105) and are communicated with the duct pipe (103).

9. The mimic cuttlefish submersible of claim 1, wherein, The crescent-shaped dune surface structure is uniformly arranged on the surface of the hull (1) or the protruding hull.

Images