CN117550045B - A landing type underwater submersible based on fin wave motion - Google Patents
A landing type underwater submersible based on fin wave motion Download PDFInfo
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- CN117550045B CN117550045B CN202311848220.5A CN202311848220A CN117550045B CN 117550045 B CN117550045 B CN 117550045B CN 202311848220 A CN202311848220 A CN 202311848220A CN 117550045 B CN117550045 B CN 117550045B
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- 230000007246 mechanism Effects 0.000 claims abstract description 26
- 230000008859 change Effects 0.000 claims description 7
- 230000000087 stabilizing effect Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims 1
- 238000012544 monitoring process Methods 0.000 abstract description 9
- 238000000034 method Methods 0.000 abstract description 3
- 230000007613 environmental effect Effects 0.000 abstract description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 10
- 230000009189 diving Effects 0.000 description 6
- 239000000463 material Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000007789 sealing Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000009182 swimming Effects 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000002513 implantation Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 229920006268 silicone film Polymers 0.000 description 1
- 239000003381 stabilizer Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/37—Moving-wave propellers, i.e. wherein the propelling means comprise a flexible undulating structure
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
本发明实施例公开了一种基于鳍波动的着陆型水下潜航器，包括潜航主体，至少部分设置于所述潜航主体的侧面上的至少一组推进机构，以及设置于所述潜航主体底部的着陆行走机构；其中，所述推进机构包括沿推进方向可波动地设置的鳍体结构，以及用于带动所述鳍体结构波动的驱动结构；所述着陆行走机构用于带动所述潜航主体在具有支撑面的环境中移动。本发明通过采用波动推进的方式带动整个潜航器的移动，进而实现水下潜航状态下的高灵活性和强抗干扰性，在此基础上，结合着陆行走机构，完成在海底的移动需求，从而为水下和海底的环境监测、反馈和预警等航行需求提供新的方向。
The embodiment of the present invention discloses a landing-type underwater submersible based on fin fluctuations, including a submersible body, at least one group of propulsion mechanisms at least partially arranged on the side of the submersible body, and a landing walking mechanism arranged at the bottom of the submersible body; wherein the propulsion mechanism includes a fin body structure that can be arranged in a fluctuating manner along the propulsion direction, and a driving structure for driving the fin body structure to fluctuate; the landing walking mechanism is used to drive the submersible body to move in an environment with a support surface. The present invention drives the movement of the entire submersible by adopting a wave propulsion method, thereby achieving high flexibility and strong anti-interference in the underwater submerged state. On this basis, combined with the landing walking mechanism, the movement requirements on the seabed are met, thereby providing a new direction for navigation requirements such as underwater and seabed environmental monitoring, feedback and early warning.
Description
Technical Field
The embodiment of the invention relates to the field of underwater mobile equipment structures, in particular to a landing underwater vehicle based on fin fluctuation.
Background
The existing detection system in the offshore area mainly monitors underwater in a fixed area, and lacks mobility and flexibility. In the future, ocean engineering and ocean strategy in China are going from shallow water to deep water, and the purposes of monitoring the submarine boundary layer flow, improving the underwater environment and engineering disaster early warning capability are needed to be improved, so that an active and intelligent landing type submarine is required to be arranged on the offshore, and the purposes of submarine environment monitoring, feedback, early warning and the like are achieved.
Based on the above, the invention provides a landing type underwater vehicle based on fin surface fluctuation, which can simultaneously meet the moving requirements of underwater and seabed and provides support for underwater and seabed environment monitoring, feedback, early warning and the like, and the landing type underwater vehicle based on fin surface fluctuation is a problem to be solved.
Disclosure of Invention
Therefore, the embodiment of the invention provides a landing type underwater vehicle based on fin fluctuation, which drives the whole underwater vehicle to move in a fluctuation propulsion mode, so that high flexibility and strong anti-interference performance in an underwater diving state are realized, and on the basis, a landing travelling mechanism is combined to complete the moving requirement on the seabed, so that a new direction is provided for underwater and seabed environment monitoring, feedback, early warning and other navigation requirements.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:
In one aspect of the embodiments of the present invention, a fin wave based landing underwater vehicle is provided, comprising a submerged body, at least one set of propulsion mechanisms at least partially disposed on a side of the submerged body, and a landing travelling mechanism disposed at a bottom of the submerged body; wherein,
The propelling mechanism comprises a fin body structure which is arranged in a fluctuated manner along the propelling direction and a driving structure for driving the fin body structure to fluctuated;
The landing travelling mechanism is used for driving the submarine main body to move in an environment with a supporting surface.
As a preferable mode of the invention, the diving main body is arranged in an extending way along the propelling direction, and the length of the diving main body along the propelling direction is larger than the width of the diving main body;
preferably, the outer surface of the submerged body is formed in a streamline shape.
As a preferable scheme of the invention, the fin body structure comprises a fin surface and a plurality of fin bars which are arranged on the fin surface at intervals, and the driving structure realizes the fluctuation of the fin body structure by driving the fin bars and/or the fin surface to swing.
As a preferable scheme of the invention, the fin surfaces are unfolded to form a fan ring, and the extension lines of a plurality of fin strips are focused on the circle center of the fan ring;
and a stabilizing strip is hinged between two adjacent fin strips.
As a preferable scheme of the invention, one end of the stabilizing strip is connected with one end of one fin strip far away from the submarine main body, and the other end of the stabilizing strip is connected with one end of the other fin strip near the submarine main body.
As a preferable scheme of the invention, the driving structure at least comprises a steering engine, and each steering engine drives the fin and/or the fin face to swing.
As a preferred embodiment of the invention, the steering engine is connected to the fin and/or the fin surface by a rotatably arranged rotor.
As a preferable scheme of the invention, the rotating piece is arranged outside the sealing installation block, and the output end of the steering engine penetrates through the sealing installation block and is connected to the rotating piece.
As a preferable mode of the present invention, the rotating members are formed in a plurality of groups, and each group of the rotating members and the fan ring are arranged symmetrically with respect to the center of the fan ring.
As a preferable mode of the invention, each rotating member comprises a rotating disc which is arranged in a rotatable manner, a connecting sheet which extends from the rotating disc, and a hinge member which is positioned on one end of the connecting sheet far away from the rotating disc, wherein one end of the hinge member far away from the rotating disc is provided with a mounting member for connecting the fin body structure.
As an optimal scheme of the invention, a plurality of steering engines are provided, each steering engine drives one group of rotating parts to rotate, and the swinging directions of one group of rotating parts are opposite.
As a preferable scheme of the invention, the steering engine is one, an output shaft of the steering engine is connected with a plurality of driven shafts through a speed change structure and/or a steering structure, and the output shaft and/or each driven shaft is/are respectively connected with one of the rotating parts.
As a preferable mode of the present invention, the speed change structure is a speed change gear set, and the steering structure is a steering gear set.
As a preferable scheme of the invention, the steering engine adjusts the rotation rate through a speed regulator.
As a preferable mode of the invention, the propulsion mechanism is fixedly mounted on the submarine main body through a mounting block.
As a preferred embodiment of the present invention, the landing traveling mechanism includes a base plate for mounting the submerging body, and a crawler-type traveling base mounted under the base plate.
As a preferred embodiment of the present invention, the crawler-type moving base includes auxiliary moving parts at both sides, and a main moving part between the auxiliary moving parts.
As a preferred aspect of the present invention, the contact area between the main moving portion and the support surface is larger than the contact area between the auxiliary moving portion and the support surface.
Embodiments of the present invention have the following advantages:
By arranging the propelling mechanisms at two sides of the submerged main body and combining the landing travelling mechanism at the bottom of the submerged main body, a moving mode of combining the underwater swimming and the submarine travelling of the submerged main body is realized, and a new direction is provided for the same-frequency operation of submarine monitoring and underwater moving monitoring. On the basis, the invention further sets the propulsion mechanism as a fluctuated fin structure, and on the premise of meeting the propulsion, the invention is better suitable for the sea environment, especially reduces the large-amplitude interference to the water flow state in the water area, reduces the interference to the shoal of fish, and better completes the monitoring, feedback and early warning of the real environment under water and on the sea bottom.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It will be apparent to those of ordinary skill in the art that the drawings in the following description are exemplary only and that other implementations can be obtained from the extensions of the drawings provided without inventive effort.
The structures, proportions, sizes, etc. shown in the present specification are shown only for the purposes of illustration and description, and are not intended to limit the scope of the invention, which is defined by the claims, so that any structural modifications, changes in proportions, or adjustments of sizes, which do not affect the efficacy or the achievement of the present invention, should fall within the ambit of the technical disclosure.
FIG. 1 is a schematic view of a partial structure of a landing underwater vehicle according to an embodiment of the present invention;
FIG. 2 is a front view of a landing underwater vehicle according to an embodiment of the present invention;
FIG. 3 is a partial top view of a landing underwater vehicle according to an embodiment of the present invention;
FIG. 4 is a partial left side view of a landing underwater vehicle provided by an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a fin surface in an expanded state according to an embodiment of the present invention;
Fig. 6 is a schematic diagram of a fin structure in an expanded and operating state according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a propulsion mechanism according to an embodiment of the present invention;
fig. 8 is a schematic structural view of a landing gear according to an embodiment of the present invention in one direction;
Fig. 9 is a schematic structural view of a landing gear according to another embodiment of the present invention;
fig. 10 is a schematic structural diagram of a fin structure in an expanded state according to an embodiment of the present invention;
FIG. 11 is a schematic diagram of one of the steering gear sets according to the embodiments of the present invention;
Fig. 12 is a schematic view of a partial structure of a rotating shaft of one steering engine according to an embodiment of the present invention;
Fig. 13 is a schematic view of intensity distribution on a fin structure according to an embodiment of the present invention.
In the figure:
1-a submerged body; 2-a propulsion mechanism; 3-landing travelling mechanism;
A 21-fin structure; 22-drive structure;
211-fin surface; 212-fin; 213-stabilizing bars;
221-a turntable; 222-connecting pieces; 223-hinge member; 224-mount; 225-a mounting portion; 226-steering engine; 227-mounting blocks; 228—a first drive gear; 229-a second drive gear; 230-a first driven gear; 231-a first driven shaft; 232-a second driven gear; 233-a second driven shaft;
31-a bottom plate; 32-an auxiliary moving part; 33-main movement part.
Detailed Description
Other advantages and advantages of the present invention will become apparent to those skilled in the art from the following detailed description, which, by way of illustration, is to be read in connection with certain specific embodiments, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 to 12, the present invention provides a landing underwater vehicle based on fin fluctuation, and the technical scheme of the present invention will be described in detail by means of a specific embodiment implemented in an offshore area. Specifically, it mainly includes following several parts:
Diving main body 1: the outside of the device is a shell, and the inside of the device is provided with corresponding relevant equipment required for underwater monitoring, feedback, early warning and the like according to actual needs. Since this particular embodiment is considered to be applied to offshore areas, and more particularly, its submerged body 1 has a length of not more than 2m, a working water depth of not more than 100m, an economic speed of 1m/s and a maximum speed of 2m/s. It should be noted that, the specific values are only specific to the specific embodiment, and do not indicate that the technical solution of the present invention can only be set according to the specific values, and the technical solution of the present invention can be applied to any sea area, and the actual values can be adjusted according to the actual situation by those skilled in the art according to the applied sea areas, which is not repeated herein.
Propulsion mechanism 2: specifically, the fin structure 21 and the driving structure 22 for driving the fin structure 21 to fluctuate are included. For the fin structure 21, since it needs to take into account various motion modes and usage scenarios, there is an anisotropic requirement for the mechanical properties of the material. Specifically, the spanwise direction (i.e., the direction in which the wave direction forms an angle, preferably from the side closer to the main body 1 to the side farther from the main body 1) needs to have higher rigidity, and the chordwise direction (i.e., along the wave direction) needs to be softer than the spanwise direction as a whole. Specifically:
Spanwise direction: the portion requiring high rigidity is an elongated portion denoted a in fig. 13 (it should be noted that a portion is symbolically denoted a here, and it can be seen from fig. 13 that the portion denoted a is substantially along the radial direction of the fan ring structure, so that a plurality of radial directions can be selectively set for high rigidity). Such an arrangement would be driven by the driving structure 22 clamping the fixing point based on the fluctuation, and therefore, it is necessary to have the fin structure 21 which is at least partially flexible and capable of fluctuation, and has a certain strength in the spanwise direction, so that the driving force driven by clamping the fixing point and extending can be smoothly transmitted in the spanwise direction of the whole fin structure 21.
Chordwise: which has a low stiffness requirement and a relatively high stiffness requirement.
The need for low stiffness is sufficiently flexible to ensure that the overall fan-shaped fin structure 21 provides relatively little driving force (i.e., additional work required by the clip) when clamped and driven to wave by the clip, and to avoid excessive load requirements on the drive structure 22.
While the relatively higher stiffness-requiring portions are laterally elongated portions, labeled B and C in fig. 13. This location is set mainly in view of the fact that the fin structure 21 needs to have a certain strength (high tensile strength, relatively small tensile deformation) for underwater movement, and will not excessively deform at high frequency and high amplitude when water is being extracted. This area is thus mainly concentrated in the fin structure 21 in the circumferential direction at the end remote from the submerged body 1, i.e. chordwise with a certain strength near the outer edge. The specific width and length of the device can be adjusted according to actual needs.
Further, since the fin structure 21 has a certain twist (due to the fixing method of the driving structure 22) after forming the three-dimensional wave shape, the material of the fin structure 21 (preferably, the fin surface 211 requiring the wave shape) needs to have a certain deformability.
As shown in fig. 13, the portion denoted D is close to the submerged body 1 and is connected to the driving structure 22, where the driving force of the driving structure 22 is applied and further transmitted over the entire fin structure 21, and therefore, this portion denoted D is also required to have a certain strength so that the force of the driving structure 22 can be smoothly and effectively transmitted over the fin structure 21 (mainly the fin surface 211).
Further, in a more specific embodiment of the present invention, the fin structure 21 mainly includes a fin 212 and a fin surface 211 (i.e., the fin 212 is a portion denoted as a in fig. 13, where the rigidity requirement is the highest, and preferably, the fin 212 is a rigid rod). Wherein,
1) Fin 212: when all the fins 212 swing in a sine manner with a certain phase difference (between each other), the wave formed by swinging the three-dimensional fin surface 211 propagates along the chord direction and drives the flexible fin film (the flexible fin film is made of a similar flexible film material formed by the fin surface 211 made of a flexible material), the fins 212 are used as the skeleton structure of the fin structure 21, and in the practical application process, the length of the fins 212 can be further set to be 0.3m so as to adapt to the environment of the offshore water area used in the specific embodiment. Further, in order to make the connection between the two fins 212 relatively more stable, so that the fins 212 are relatively formed into a whole, the stress difference between the fin 212 close to the driving structure 22 and the fin 212 far away from the driving structure 22 is avoided to be too large, and the connecting stabilizer 213 can be hinged between the two adjacent fins 212, so that the stability of the connection between the fins 212 is further improved while the fin 212 is not affected to drive the fin surface 211 to fluctuate, and the fluctuation stability of the whole structure is improved.
2) Fin surface 211: the fin surface 211 has a fan ring shape, the inner and outer circular arcs share a circle center, the fin surface 211 is equally divided according to the number of the fin strips 212, a plurality of sub-fin surfaces can be obtained, and the adjacent sub-fin surfaces share one fin strip 212. The choice of fin 211 material primarily takes into account two factors: the active deformation of the fin surface 211 can push water, and the passive deformation of the fin surface 211 is easy to generate under the action of hydrodynamic force. Therefore, a thin silicone film with a low elastic modulus is selected as the fin surface 211 material. Thereby being convenient for forming a three-dimensional fluctuation shape and forming a single-side water-poking structure of the landing type underwater vehicle. On the basis of this, two sets of fin surfaces 211 and fin bars 212 are symmetrically provided on both sides of the submerged body 1.
3) Drive structure 22: the swinging of the fin 212 is powered by the drive structure 22 and therefore a suitable drive mode needs to be selected. The servo steering engine meets the requirements in terms of output torque, operability, response speed and the like, and meets the function of driving the fin 212, so that the steering engine 226 is selected as a driver in driving the fin structure 21. Further, steering engine 226 is coupled to fin 212 via a rotatably disposed rotating member. For example, as shown in fig. 8, the rotating member specifically includes a rotating disc 221 rotatably disposed, a connecting piece 222 extending from the rotating disc 221, and a hinge member 223 disposed on one end of the connecting piece 222 away from the rotating disc 221, where an end of the hinge member 223 away from the rotating disc 221 is provided with a mounting member 224 for connecting the fin body structure 21, and the steering engine 226 drives the rotating disc 221 to swing or rotate integrally or through a coaxial rotating shaft on the rotating disc 221, so as to drive the connecting piece 222 connected to the rotating disc 221 or the rotating shaft on the rotating disc 221 to swing or rotate, so as to be further sequentially conducted to the fin 212 through the hinge member 223 and the mounting member 224, and further drive the fin surface 211 to fluctuate. It should be noted that the mounting member 224 is preferably fixedly connected to the fin 212, so as to better ensure the stability of the whole structure. Meanwhile, the rotating members may be provided in plural groups, and are preferably arranged at equal intervals along the extending direction of the fin surface 211. More preferably, the rotating members are arranged symmetrically about the center of the fin surface 211 to better ensure the regularity of the waveform of the entire wave.
Furthermore, since the steering engine 226 needs to be sealed, the steering engine 226 can be mounted on the submarine main body 1 or a sealing cavity is additionally provided for placing the steering engine 226, and an output shaft of the steering engine 226 further penetrates through the sealing mounting portion 225 to be connected with a rotating member, so that the sealing performance of the structure is better improved.
On this basis, in order to ensure the consistency of the fluctuation frequency and amplitude of the rotating members on two sides which are centrosymmetric, and improve the regularity of the whole fluctuation, preferably, each group of symmetrically arranged rotating members can further adopt the same steering engine 226, namely, as the frequencies and amplitudes of the rotating members are consistent, the swinging directions are opposite, as shown in fig. 12, the output shaft of the steering engine 226 is only required to be connected to one of the rotating members, meanwhile, a group of gear sets is further connected to the output shaft, and further, another driven shaft is driven by the gear sets, so that the rotation directions of the driven shafts are opposite, and the other rotating members are connected to the driven shaft. For example, in one particular embodiment, as illustrated in fig. 12, a first drive gear 228 and a second drive gear 229 are coupled to the output shaft of steering engine 226. The first driving gear 228 is further meshed with a first driven gear 230, a first driven shaft 231 on the first rotating member is connected with the first driven gear 230, and the first driven shaft 231 is opposite to the output shaft of the steering engine 226 in steering direction; two second driven gears 232 are sequentially meshed with the second driving gear 229, and a second driven shaft 233 on a second rotating member is connected to the second driven gear 232 far away from the second driving gear 229, so that the second driven shaft 233 turns the same as the output shaft of the steering engine 226. Based on the above arrangement, one steering engine 226 can synchronously drive a group of rotating members with opposite directions to rotate at the same frequency. In addition, in order to make the axes of the driven shafts on the same straight line, the gears with appropriate diameters are selected according to the number of the gears in each group of gear sets, which is not repeated herein. Meanwhile, it should be noted that, the installation mode of the gear set and/or the driven wheel may be a mode that can be understood and set by those skilled in the art, so that the gear set and/or the driven wheel can only rotate, and this setting mode is easy for those skilled in the art to implement, for example, the driven wheel may be limited so that the driven wheel can only rotate, and the gear set is limited and set on the output shaft and the driven shaft, which is not repeated herein. Based on this, the invention further proposes a mode of driving multiple sets of rotating components by adopting the same steering engine 226, and the reverse rotation setting is just to refer to the above setting; for different groups of rotating parts, the swing amplitudes are mainly different so as to better realize the fluctuation of the waveform, therefore, different swing ranges can be realized based on the same output shaft only by further arranging a speed change gear set, and the driven shafts are driven by the different speed change gear sets to finish the difference of swing ranges of different rotating parts. The speed change gear set is of a type that will be understood and used by those skilled in the art and will not be described in detail herein.
Furthermore, in order to meet the requirements of different navigational speeds of underwater diving, and to adaptively adjust according to different environments, the steering engine 226 is further connected with a speed regulator, and the rotating speed of the steering engine 226 can be adjusted remotely or according to environmental information. For example, when a certain buoyancy is required instead of a state of swimming in water, the rotation speed of the steering engine 226 is low, so that a low swing frequency is achieved.
Landing running gear 3: which is located at the bottom of the submerged body 1 and comprises a bottom plate 31 for placing the submerged body 1 and a crawler-type moving base mounted below the bottom plate 31. To facilitate walking, the tracked mobile base here further comprises auxiliary mobile portions 32 on both sides and a main mobile portion 33 in the middle. As shown in fig. 9 and 10, the main moving part 33 serves as a main structure of the implantation seabed. In the practical application, even in the landing state, only the propulsion mechanism 2 needs to be turned on to generate forward propulsion power by the fluctuation of the fin structure 21, so that the main moving part 33 is influenced by the driving force to move forward or backward. That is, by the arrangement of the present invention, there is no need to additionally add a driving device in a landing state. Of course, the main moving part 33 can be driven to rotate by an additional driving mode to move on the seabed bed surface, and on the basis, the auxiliary moving parts 32 on two sides can be driven by the same rotating motor with the crawler, so that two groups of balanced touchdown points are further provided, the whole movement is better realized, and a new driving motor is not required to be additionally added.
While the invention has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.
Claims (13)
1. The landing type underwater vehicle based on fin fluctuation is characterized by comprising a submerged main body (1), at least one group of propelling mechanisms (2) at least partially arranged on the side surface of the submerged main body (1), and a landing travelling mechanism (3) arranged at the bottom of the submerged main body (1); wherein,
The propelling mechanism (2) comprises a fin body structure (21) which is arranged in a fluctuated manner along the propelling direction, and a driving structure (22) for driving the fin body structure (21) to fluctuated;
the landing travelling mechanism (3) is used for driving the submerged main body (1) to move in an environment with a supporting surface;
The fin body structure (21) comprises a fin surface (211) and a plurality of fin strips (212) which are arranged on the fin surface (211) at intervals, and the driving structure (22) drives the fin strips (212) and/or the fin surface (211) to swing so as to realize the fluctuation of the fin body structure (21);
the fin surfaces (211) are unfolded to form a fan ring, and extension lines of a plurality of fin strips (212) are focused on the circle center of the fan ring;
a stabilizing strip (213) is hinged between two adjacent fin strips (212);
One end of the stabilizing strip (213) is connected with one end, far away from the submerging main body (1), of one fin (212), and the other end of the stabilizing strip is connected with one end, close to the submerging main body (1), of the other fin (212);
The landing traveling mechanism (3) comprises a bottom plate (31) for installing the submarine main body (1) and a crawler-type movable base arranged below the bottom plate (31);
The crawler-type mobile base comprises auxiliary mobile parts (32) positioned on two sides and a main mobile part (33) positioned between the auxiliary mobile parts (32);
The contact area between the main moving part (33) and the supporting surface is larger than the contact area between the auxiliary moving part (32) and the supporting surface.
2. A landing type underwater vehicle according to claim 1, characterized in that the submerged body (1) is arranged extending in the direction of propulsion, and that the length of the submerged body (1) in the direction of propulsion is greater than the width of the submerged body (1).
3. A landing underwater vehicle according to claim 2, characterized in that the outer surface of the submerged body (1) is formed as a streamline.
4. A land-based underwater vehicle according to claim 1, wherein the driving structure (22) comprises at least one steering engine (226), and each steering engine (226) is adapted to oscillate the fin (212) and/or the fin (211).
5. A land type underwater vehicle as claimed in claim 4, wherein said steering engine (226) is connected to said fin (212) and/or said fin surface (211) by a rotatable member.
6. The land type underwater vehicle as claimed in claim 5, wherein said rotary member is mounted outside a seal mounting portion (225), and an output end of said steering engine (226) is connected to said rotary member through said seal mounting portion (225).
7. The submersible vehicle of claim 6, wherein the rotating members are formed in a plurality of groups, and each group of rotating members and the fan ring are arranged symmetrically with respect to the center of the fan ring.
8. A land-type underwater vehicle as claimed in claim 7, wherein each of said rotary members comprises a respective rotatable turntable (221), a connecting piece (222) extending from said turntable (221), and a hinge member (223) provided on said connecting piece (222) at an end remote from said turntable (221), and a mounting member (224) for connecting said fin structure (21) is provided at an end of said hinge member (223) remote from said turntable (221).
9. The land type underwater vehicle as claimed in claim 8, wherein a plurality of steering engines (226) are provided, each steering engine (226) drives a group of rotating members to rotate, and the swinging directions of a group of rotating members are opposite.
10. A landing type underwater vehicle as claimed in claim 8, wherein the steering engine (226) is one, an output shaft of the steering engine (226) is connected with a plurality of driven shafts through a speed change structure and/or a steering structure, and the output shaft and/or each driven shaft is/are respectively connected with one of the rotating members.
11. The land-based underwater vehicle of claim 10, wherein said transmission structure is a gear set and said steering structure is a steering gear set.
12. A landing type underwater vehicle as claimed in claim 11, wherein the steering engine (226) adjusts the rotation rate by means of a speed regulator.
13. A landing underwater vehicle as claimed in any one of claims 1 to 3, characterised in that the propulsion mechanism (2) is fixedly mounted to the submerged body (1) by means of a mounting block (227).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311848220.5A CN117550045B (en) | 2023-12-29 | 2023-12-29 | A landing type underwater submersible based on fin wave motion |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311848220.5A CN117550045B (en) | 2023-12-29 | 2023-12-29 | A landing type underwater submersible based on fin wave motion |
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| Publication Number | Publication Date |
|---|---|
| CN117550045A CN117550045A (en) | 2024-02-13 |
| CN117550045B true CN117550045B (en) | 2024-11-22 |
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| CN202311848220.5A Active CN117550045B (en) | 2023-12-29 | 2023-12-29 | A landing type underwater submersible based on fin wave motion |
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| CN111422334A (en) * | 2020-03-31 | 2020-07-17 | 西安交通大学 | Underwater multipurpose robot propelled by bionic fin undulation |
| WO2021137852A1 (en) * | 2019-12-30 | 2021-07-08 | Pliant Energy Systems Llc | Vehicle with traveling wave thrust module apparatuses, methods and systems |
| CN116176191A (en) * | 2023-03-09 | 2023-05-30 | 中国人民解放军国防科技大学 | Amphibious robot |
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| US11795900B2 (en) * | 2016-06-30 | 2023-10-24 | Pliant Energy Systems Llc | Vehicle with traveling wave thrust module apparatuses, methods and systems |
| WO2019099885A1 (en) * | 2017-11-17 | 2019-05-23 | Massachusetts Institute Of Technology | Actuation system for swimming robots |
| WO2023102775A1 (en) * | 2021-12-08 | 2023-06-15 | 西湖大学 | Underwater vehicle |
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| WO2021137852A1 (en) * | 2019-12-30 | 2021-07-08 | Pliant Energy Systems Llc | Vehicle with traveling wave thrust module apparatuses, methods and systems |
| CN111422334A (en) * | 2020-03-31 | 2020-07-17 | 西安交通大学 | Underwater multipurpose robot propelled by bionic fin undulation |
| CN116176191A (en) * | 2023-03-09 | 2023-05-30 | 中国人民解放军国防科技大学 | Amphibious robot |
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