abstract
The invention provides a machine bionic jellyfish. It consists of a power system, a transmission system, a water spraying system and a fixed frame, wherein the power system consists of four electromagnet devices; The transmission system consists of four baffles and two return springs; The water spraying system consists of two skins, two water inlet pipes and four water outlet pipes; The fixing frame consists of a left fixing beam and a right fixing beam; The electromagnet device is installed on the baffle; Baffles are fixed on the upper and lower parts of the skin; The skin is fixed on the fixing frame through a baffle; The two ends of the return spring are respectively connected with the upper part and the lower part of the skin. The water inlet pipe is arranged at the front end of the leather bag, the water outlet pipe of the upper leather bag is symmetrically arranged at the rear lower end of the leather bag, and the water outlet pipe of the lower leather bag is symmetrically arranged at the rear upper end of the leather bag. The invention truly achieves no noise, and has the advantages of complete functions, simple structure, high working efficiency, low price, easy maintenance and the like.
page header
Inventor: Zhang Lixun (); Wang Lingjun ()
Transferee: Harbin Engineering University ()
Name and address of relevant ce: Nantong Street 145 1 Building 1, nangang district, Harbin, Heilongjiang.
Application serial number: CN2007 1007 1834.
Date of filing: March 6, 2007
classify
ECLA:b63h 1 1/08； b63h 5/08； b64c 27/20； b63h 25/42； b64c 29/00b 2 b； b63g 8/08； b64c 39/06B； b63h 5/ 10； b64c 29/02； B64C29/00B2C
Current international class: b63h1/37 (2006.01) i; B63H 1/38
investigator
Lawyer, agent or firm: Harbin Huck Patent Office Co., Ltd.; Liu Ya
ask
ask
1. A machine bionic jellyfish is characterized in that it consists of a power system, a transmission system, a water spraying system and a fixed frame, wherein the power system consists of four electromagnet devices, the transmission system consists of four baffles and two return springs, the water spraying system consists of two skins, two water inlet pipes and four water outlet pipes, the fixed frame consists of left and right Yan Dingliang, the electromagnet devices are installed on the baffle 2, and the baffle is fixed on the skin. The leather bag is fixed on the fixed frame ~ L 2 through the baffle, the two ends of the return spring are respectively fixed with E and the lower baffle, the water inlet pipe is arranged at the front end of the leather bag, the upper leather bag water outlet pipe is symmetrically arranged at the lower side of the back end of the leather bag, and the lower leather bag water outlet pipe is symmetrically arranged at the upper side of the back end of the leather bag.
2. The machine bionic jellyfish according to claim 1 is characterized in that the electromagnet device comprises an electromagnet and a matched storage battery.
3. The mechanical bionic jellyfish according to claim 2, wherein the baffle is round or oval.
4. The machine bionic jellyfish according to claim 3, characterized in that the water inlet pipe of the water spraying system is provided with a water inlet electromagnetic valve, and the water outlet pipe is provided with a water outlet electromagnetic valve.
5. The machine bionic jellyfish according to claim 4, characterized in that the skin bag is high elastic rubber, and its jF surface is round or oval, and its side surface is oval.
6. The machine bionic jellyfish according to claim 5, characterized in that the electromagnet device is arranged in the center of the baffle, the two baffles are symmetrically fixed on the upper part and the F part of the skin, and a sealing device is arranged at the joint.
7. The machine bionic jellyfish according to claim 6, wherein the two skins are symmetrically fixed on a fixing frame consisting of a left fixing beam and a right fixing beam through respective baffles, and both ends of the return spring are respectively fixed with K-F baffles.
8. The mechanical bionic jellyfish according to claim 7, wherein the cross-sectional area of the water inlet of the skin is larger than that of the water outlet.
9. The machine bionic jellyfish according to claim 8, characterized in that the water inlet pipe is arranged at the front end of the skin, and a sealing device is arranged at the joint of the water inlet pipe and the skin.
describe
describe
(') technical field
The invention relates to the technical field of ship propulsion, in particular to underwater detection equipment.
technical background
Noise is one of the biggest sources that affect the concealment of enemy reconnaissance, among which propeller noise is the main sound source of enemy underwater acoustic equipment monitoring. Although some improvement measures have been taken, the ideal effect is still not achieved. It seems that other propulsion methods should be considered to solve the problem. Some people have designed paddle propellers and fishtail swinging propellers, but they are not practical because of their complex structure and low efficiency. Some people have designed some water jet propulsion devices for submarines, but they still can't eliminate the noise fundamentally, because their driving or transmission devices are still noisy.
Motion flexibility is an important index to evaluate underwater reconnaissance equipment. Whether paddle propeller or fishtail rocking propeller, their flexibility is often insufficient.
At present, the related patents at home and abroad mainly include the following:
The application number is 2005 100 10225.6, which is an invention patent named "Dagang deep-water squid mollusk bionic robot". Memory alloy and return spring are used as transmission devices, but due to the imperfect memory alloy technology, the response speed is slow and the propulsion speed is limited. Moreover, there is only one water outlet, so the steering is not flexible and the F stability is poor. Although the patent with the application number of 00111425.5 reduces the noise, its gear transmission mechanism still cannot eliminate the noise fundamentally.
So at present, there is no equipment on the market that can solve the problems of noise and flexibility that plague the water F reconnaissance equipment.
Summary of the invention
The invention aims to provide a robot bionic jellyfish which can overcome noise and move flexibly.
The purpose of the invention is realized as follows: it consists of a power system, a transmission system, a water spraying system and a fixed frame, wherein the power system consists of four electromagnets; The transmission system consists of four baffles and two return springs; The water spraying system consists of two skins, two water inlet pipes and four water outlet pipes; The fixing frame consists of a left fixing beam and a right fixing beam; An electromagnet device is arranged on the baffle; Baffles are fixed on the upper and lower parts of the skin; The skin is fixed on the fixing frame through a baffle. The two ends of the return spring are respectively fixed with the upper baffle and the lower baffle, the water inlet pipe is arranged at the front end of the leather bag, the water outlet pipe of the upper leather bag is symmetrically arranged at the rear end of F, and the water outlet pipe of the lower leather bag is symmetrically arranged at the upper rear end of the leather bag.
The invention also has some structural features:
1. Electromagnet device includes electromagnet and its supporting battery;
2. The baffle can be round or oval;
3. The water inlet of the water spraying system is provided with a water inlet solenoid valve, and the water outlet is provided with a water outlet solenoid valve;
4. The leather bag can be made of rubber with high elasticity, with a round or oval front and an oval side; 5. The electromagnet device is installed in the center of the baffle, and the two baffles are symmetrically fixed on the upper and lower parts of the leather bag, and a sealing device is installed at the joint. Two leather bags are symmetrically fixed on a fixing frame consisting of a left fixing beam and a right fixing beam through respective baffles, and two ends of a return spring are respectively fixed on the upper baffle and the lower baffle; 7. The cross-sectional area of the water inlet of the leather bag is larger than that of the water outlet; 8. The water inlet pipe is arranged at the front end of the leather bag, and the joint between the water inlet pipe and the leather bag is provided with a sealing device. According to the principle that jellyfish use muscles to contract water sacs in the body and spray water silently and quickly, the invention designs a silent machine bionic jellyfish with electromagnets pressing on more than two skins to spray water.
The invention usually consists of two shells to form a working unit. After the start of work, the water inlet solenoid valve of one leather bag is opened, and its two water outlet solenoids are closed, and the two electromagnets repel each other under the cooperation of the return spring, so that water enters from the water inlet solenoid valve and fills the leather bag: during this process, the water outlet solenoid valve of the other leather bag is closed, its two water outlet solenoids are opened, and the two electromagnets attract each other, squeezing the leather bag and discharging water from the water outlet solenoid valve; In this way, when one skin enters the water, the other skin drains, and when one skin drains, the other skin enters the water, so that the robot bionic jellyfish advances alternately, and this process is a continuous working state. In the process of advancing, if one of the left water outlet solenoid valves is closed, the whole right turn can be realized, and if two left water outlet solenoid valves are closed at the same time, the whole right turn can be realized; On the contrary, the whole left turn and sharp left turn can be realized: the whole ups and downs can be realized by controlling the water inflow of the two skins. If the two skins work synchronously, that is, they absorb water and spray water at the same time, so that the jellyfish can obtain a large instantaneous thrust, which is called pulse forward state; It is also possible to let only one of the skins work to push the whole forward, and control the water inflow to make the other skin realize the whole ups and downs. In a word, the machine bionic jellyfish can realize a variety of running states:
(1) Forward and fast forward;
(2) take a step back;
(3) ups and downs, rapid ups and downs:
(4) Left turn and sharp left turn:
(5) Turn right and turn sharply;
(6) Forward and take-off and landing run synchronously;
(7) Forward and turn synchronously;
(8) Turn and take-off and landing synchronously.
The propulsion device of the invention does not use a propeller in water, nor does it use a noisy water-jet propulsion mode in the usual transmission system, but uses a brand-new noiseless water-pressing propulsion mode in the power and transmission system; At the same time, the hydrodynamic noise of the water vortex in the nozzle of the invention is not higher than the inherent noise in seawater; Therefore, the invention can be truly noiseless and has the advantages of complete functions, simple structure, high working efficiency, low cost, easy maintenance and the like.
Brief description of drawings
Fig. 1a is a front view of the robot bionic jellyfish of the present invention;
Fig. 2a is a top view of the robot bionic jellyfish of the present invention; Fig. 3a is a right side view of the robot bionic jellyfish of the present invention; Fig. 4a is another state diagram of the robotic bionic jellyfish of the present invention.
expand on
The invention will be further described with reference to the attached drawings and specific embodiments:
With reference to fig. 1A-4, this embodiment consists of a power system, a transmission system, a water spraying system and a fixed frame. In the figure, electromagnet devices 3, 13, 15, and 22 constitute a power system, and the electromagnet devices can be ready-made electromagnets and their supporting batteries. The baffle 1 4, 12, 16 and the return spring 2, 14 form a transmission system. Baffles l, 4, 12, 16 can be round or oval, and the material can be PTFE, steel plate, etc. The water spraying system consists of outer skin 6 and L 1, water inlet pipes 18 and 19, water inlet electromagnetic valves 17 and 20, water outlet pipes 7 and 10, 23 and 26, and water outlet electromagnetic valves 8, 9, 24 and 25. The skins 6 and 1 6544 water inlet pipes 18 and 19 and water outlet pipes 7, 10, 23 and 26 can be made of ready-made plastic pipes and thin-walled steel pipes. The water inlet solenoid valves 17, 20 and the water outlet solenoid valves 8, 9, 24, 25 can be made of ready-made solenoid valves: the fixed beams 5, 2l form a fixed frame electromagnet device 3, 13, 15, 22 are sealed and embedded in the baffle plates 4, 12,/kloc-respectively. Baffles 12 and 16 are respectively fixed on the upper and lower parts of the leather bag 1l, which are symmetrically arranged up and down, and sealed at the joint after being fixed; The left and right fixed beams 2l and 5 are used as fixed frames, and the skins 6 and 1 1 are symmetrically fixed on the fixed frames through their respective baffles 4 and 16. Two ends of the return spring 2 are respectively fixed with the baffles L and 4, and two ends of the return spring 14 are respectively fixed with the baffles 12 and 16; The water inlet pipe 18 and 19 are respectively fixed at the front ends of the skin 6, 1 1, the water outlet pipes 7 and 23 are symmetrically fixed at the lower rear end of the skin 6, and the water outlet pipes 10 and 26 are symmetrically fixed at the skin1. When working, the outlet I= 1 solenoid valves 8 and 24 are closed, the electromagnets 3 and 22 repel each other with the cooperation of the return spring 2, and water enters from the inlet I=l solenoid valve 19, filling the skin 6; In this process, the solenoid valves 9 and 25 of the effluent H are closed, and the electromagnets 13 and 15 attract each other, squeezing the skin ll, and the water is discharged from the effluent I-7 9 and 25, so that the skin ll drains when the skin 6 enters the water, and conversely, when the skin ll enters the water, the skin 6 drains; In this way, the skin 6 and 1 1 run alternately, pushing the robot bionic jellyfish forward as a whole, and this process is in a continuous working state; In the forward process, if the outlet solenoid valve 8 or 9 is closed, the overall right turn can be realized, and if the outlet solenoid valves 8 and 9 are closed at the same time, the overall right turn can be realized; If the outlet I: 1 solenoid valve 24 or 25 is closed, the overall left turn can be realized; If the outlet solenoid valves 24 and 25 are closed at the same time, the whole left sharp turn can be realized: by controlling the water inflow of the skin 6, 1 1, the whole uphill and downhill can be realized.
Fig. 1a and fig. 4a are two alternate running states of the leather bag 6 and the leather bag 1 1 respectively.
If the skin 6, 1l works synchronously, that is, it absorbs water and sprays water at the same time, the jellyfish can obtain a large instantaneous propulsion force, which is called pulse forward state; One skin can also work to push the whole forward, and the other skin can achieve the whole ups and downs by controlling the intake of water.
Wherein, the electromagnet provides power through the baffle to drive the two skins respectively; In the continuous working state, the two layers of skin alternately absorb water and drain water, thus promoting the overall progress. In the process of moving forward, if a solenoid valve at the left exit is closed, the whole right turn can be realized; If the two solenoid valves at the left outlet are closed at the same time, the whole right turn can be realized; On the contrary, you can turn left and left all the way; The whole up-and-down movement can be achieved by controlling the water intake of two skins. If the two airbags work synchronously, that is, absorb water and spray water at the same time, a large instantaneous thrust can be obtained, which is called pulse forward state; Or only one bladder does work to push the whole forward, and the other bladder realizes the whole fluctuation by controlling the water inflow. The device can be combined in multiple groups to form a stable, uniform and powerful water jet propulsion. The power source can also be changed for the propulsion of ordinary ships.