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Abstract
The invention provides a robotic bionic jellyfish. It is composed of a power system, a transmission system, a water spray system and a fixed frame. The power system consists of four electromagnet devices. The transmission system consists of four baffles and two return springs. The water spray system consists of two leather bags and two It consists of one water inlet pipe and four water outlet pipes. The fixed frame is composed of left and right fixed beams. The electromagnet device is set on the baffle. The baffle is fixed on the upper and lower parts of the leather bag. The leather bag is fixed on the fixed frame through the baffle and resets. Both ends of the spring are fixed to the upper and lower baffles respectively; the water inlet pipe is arranged at the front end of the skin bag, the water outlet pipe of the upper skin bag is symmetrically arranged at the lower rear end of the skin bag, and the water outlet pipe of the lower skin bag is symmetrically arranged at the upper rear end of the skin bag. The invention is truly noiseless and has the advantages of complete functions, simple structure, high working efficiency, low price and easy maintenance.
Header
Inventors: Zhang Lixun (); Wang Lingjun ()
Assignee: Harbin Engineering University ()
Correspondence Name and Address: Building 1, No. 145, Nantong Street, Nangang District, Harbin City, Heilongjiang Province 150001
Application Serial No.: CN200710071834
Filed: 2007-03-06
Classification
ECLA: B63H11/08; B63H5/08; B64C27/20; B63H25/42; B64C29/00B2B; B63G8/08; B64C39/06B; >
Current Intern'l Class: B63H1/37(2006.01)I; B63H1/38(2006.01)I
Examiner
Attorney, Agent or Firm: Harbin Hako Patent Office Co., Ltd.; Liu Ya
Claims
Claims
1. A kind of robotic bionic jellyfish, which is characterized by: it is composed of a power system, The transmission system, water spray system and fixed frame are composed of four electromagnet devices. The transmission system is composed of four baffles and two return springs. The water spray system consists of two bladders, two water inlet pipes and four It consists of a water outlet pipe, the fixed frame is composed of left and right fixed beams, the electromagnet device is set on the baffle 2, the baffle is fixed on the lower part of the skin bag, the skin bag is fixed on the fixed frame ~ 12 through the baffle, and the two ends of the reset spring They are respectively fixed to E and the lower baffle, the water inlet pipe is arranged at the front end of the skin bag, the water outlet pipe of the upper skin bag is symmetrically arranged at the lower rear end of the skin bag, and the water outlet pipe of the lower skin bag is symmetrically arranged at the upper rear end of the skin bag.
2. The robotic bionic jellyfish according to claim 1, characterized in that: the electromagnet device includes an electromagnet and its matching battery.
3. The robotic bionic jellyfish according to claim 2, characterized in that: the baffle is circular or oval.
4. The robotic bionic jellyfish according to claim 3, characterized in that: the water inlet pipe of the water spray system is provided with a water inlet solenoid valve, and the water outlet pipe is provided with a water outlet solenoid valve. .
5. The robotic bionic jellyfish according to claim 4, characterized in that: the skin bag is made of rubber with high elasticity, its surface is round or oval, and its side is oval.
6. The robotic bionic jellyfish according to claim 5, characterized in that: the electromagnet device is arranged in the center of the baffle, and the two baffles are symmetrically fixed on the top of a skin bag. , Part F, the connection is equipped with a sealing device.
7. The robotic bionic jellyfish according to claim 6, characterized in that: the two skin bags are symmetrically fixed to the left and right fixed beams through respective baffles. On the frame, both ends of the return spring are fixed with the k-F baffles respectively.
8. The robotic bionic jellyfish according to claim 7, characterized in that: the water inlet 11 cross-sectional area of ??the skin bag is larger than the water outlet cross-sectional area.
9. The robotic bionic jellyfish according to claim 8, characterized in that: the water inlet pipe is arranged at the front end of the skin bag, and a sealing device is provided at the connection between the water inlet pipe and the skin bag.
Description
Description
(')Technical field
The present invention relates to the field of ship propulsion technology, specifically to an underwater detection equipment.
Background technology
Noise is one of the biggest causes that affects the concealment of enemy reconnaissance. Among them, propeller noise is the main source of sound monitored by enemy underwater acoustic equipment. Although some improvement measures have been taken , but still cannot achieve the desired effect. To solve the problem, it seems that we should consider looking for other propulsion methods. Some people have designed paddle-type and fish-tail swing-type propellers, but they are not practical due to their complex structure and low efficiency; some people have also designed some water-jet propellers. Propulsion devices are used on submarines, but they still cannot fundamentally eliminate noise because their drives or transmissions are still noisy.
Movement flexibility is an important indicator for evaluating underwater reconnaissance equipment. Whether it is a paddle or fishtail swing propeller, they are often not flexible enough.
At present, the relevant patents at home and abroad mainly include the following types:
The patent name of the patent application number 200510010225.6 is the invention of "Squid-like Mollusk Dagang Deep Underwater Bionic Robot" The patent uses memory alloy and return spring as the transmission device. Since the memory alloy technology is not perfect and the response speed is slow, its propulsion speed is limited; and it has only one water outlet, the steering is inflexible, and the stability is poor; the application number is Although the propulsion principle of the invention No. 00111425.5 titled "Noiseless Submarine Pressurized Water Jet Propeller" reduces noise, its gear transmission mechanism still cannot fundamentally eliminate the noise.
Therefore, there is currently no equipment on the market that can solve the problems such as noise and flexibility that plague underwater reconnaissance equipment.
Content of the invention
The purpose of the present invention is to provide a robotic bionic jellyfish that can overcome noise and move flexibly.
The purpose of the present invention is achieved as follows: it is composed of a power system, a transmission system, a water spray system and a fixed frame. The power system is composed of four electromagnet devices, and the transmission system is composed of four blocks. plate and two return springs. The water spray system consists of two bladders, two water inlet pipes and four water outlet pipes. The fixed frame consists of left and right fixed beams. The electromagnet device is set on the baffle, and the baffle is fixed on The upper and lower parts of the skin bag are fixed on the fixed frame through baffles. Both ends of the return spring are fixed to the upper and lower baffles respectively. The water inlet pipe is arranged at the front end of the skin bag. The outlet pipe of the upper skin bag is symmetrically arranged behind F of the skin bag. end, the outlet pipe of the lower skin bag is symmetrically arranged at the upper and rear end of the skin bag.
The present invention also has the following structural features:
1. The electromagnet device includes an electromagnet and its matching battery;
2. The baffle can be circular or oval;
3. The water inlet pipe of the water spray system is provided with a water inlet solenoid valve, and the water outlet pipe is provided with a water outlet solenoid valve;
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4. The material of the skin bag can be made of rubber with high elasticity, and its front is round or oval, and the side is oval; 5. The electromagnet device is set in the center of the baffle. Two baffles are symmetrically fixed on the upper and lower parts of a skin bag, and a sealing device is provided at the connection: 6. The two baffles are symmetrically fixed up and down on the fixed frame composed of left and right fixed beams through their respective baffles. , both ends of the return spring are fixed to the upper and lower baffles respectively; 7. The cross-sectional area of ??the water inlet of the skin bag is larger than the cross-sectional area of ??the water outlet; 8. The water inlet pipe is set at the front end of the skin bag, at the connection between the water inlet pipe and the skin bag A sealing device is provided. The invention is based on the principle that the jellyfish uses its muscles to contract the water sacs in its body to spray water and move forward quickly and silently. It designs a noiseless machine bionic jellyfish that pressurizes two or more skin sacs with electromagnets to spray water.
The present invention usually consists of two skin bags forming a working unit. After the work starts, the water inlet solenoid valve of a skin bag is opened, and its two water outlet solenoid valves are closed at the same time. The two electromagnets repel each other with the cooperation of the return spring, so that water enters from the water inlet solenoid valve and fills the skin bag: During this process, the water outlet solenoid valve of the other bladder is closed, and its two water outlet solenoid valves are opened at the same time. The two electromagnets attract each other and squeeze the bladder, causing the water to be discharged from the water outlet solenoid valve; in this way, when one bladder is filled with water, the other One skin bag drains water, and while one skin bag drains water, the other skin bag receives water. Such alternating movements push the robotic bionic jellyfish forward. This process is a continuous forward working state. During the process of moving forward, if one of the left water outlet solenoid valves is closed, the overall right turn can be achieved; if the two left water outlet solenoid valves are closed at the same time, the overall right sharp turn can be achieved; conversely, the overall left turn and left sharp turn can be achieved: Pass Controlling the water inflow of the two bladders can achieve the overall ups and downs movement. If the two skin bags work synchronously, that is, they absorb water and spray water at the same time, the jellyfish can get a larger instantaneous thrust. This state is called the pulse forward state; it is also possible to only let one of the skin bags work to push the whole forward, leaving the other skin bag to move forward. By controlling the amount of water inflow, the overall ups and downs are achieved. In short, the robotic bionic jellyfish can achieve a variety of operating states:
(1) forward, fast forward;
(2) retreat;
(3) ups and downs , Rapid ups and downs:
(4) Left turn, left sharp turn:
(5) Right turn, right sharp turn;
(6) Forward and Synchronous operation of ups and downs;
(7) Synchronous operation of forward and turning;
(8) Synchronous operation of turns, ups and downs.
The propulsion device of the present invention does not use propellers in the water, nor does it use the usual water-jet propulsion method with noisy transmission systems. Instead, it uses a brand-new pressurized water system with no noise in both power and transmission systems. Propulsion mode; at the same time, the hydrodynamic noise of the water flow vortex at the nozzle of the present invention will not be higher than the inherent noise in seawater; therefore, the machine bionic jellyfish can be truly noise-free, and the present invention has complete functions, simple structure, and high work efficiency. It has the advantages of high cost, low price and easy maintenance.
Brief Description of the Drawings
Fig. 1a is a front view of the robotic bionic jellyfish of the present invention;
Fig. 2a is a top view of the robotic bionic jellyfish of the present invention; Fig. 3a is The right side view of the robotic bionic jellyfish of the present invention; Figure 4a is another state diagram of the robotic bionic jellyfish of the present invention.
Specific Embodiments
The present invention will be further described below in conjunction with the drawings and specific embodiments:
With reference to Figures 1a-4, this embodiment is composed of It consists of power system, transmission system, water spray system and fixed frame. In the attached figure, electromagnet devices 3, 13, 15 and 22 form the power system. The electromagnet device can use ready-made electromagnets and their matching batteries; baffles l, 4, 12, 16 and return springs 2, 14 form a transmission system. The baffles 1, 4, 12, 16 can be circular or oval, and their materials can be polytetrafluoroethylene, steel plates, etc., and the return springs 2, 14 can be selected. Ready-made spring; skin bag 6, ll, water inlet pipes 18, 19, water inlet solenoid valves 17, 20, water outlet pipes 7, 10, 23, 26, water outlet solenoid valves 8, 9, 24, 25 form a water spray system, skin bag 6. The material of 1 1 can be made of rubber with high elasticity. Its front is round or oval and the side is oval. The inlet pipes 18 and 19 and the outlet pipes 7, 10, 23 and 26 can be made of ready-made plastic pipes. Thin-walled steel pipes, etc., the water inlet solenoid valves 17, 20 and the water outlet solenoid valves 8, 9, 24, 25 can use ready-made solenoid valves: the fixed beams 5, 2l form a fixed frame, and the fixed beams 5, 21 can be made of I-beam ; The electromagnet devices 3, 13, 15, and 22 are respectively embedded in the center of the baffles 4, 12, 16, and 1 after being sealed, and they must be sealed at the connection after being fixed: the baffles 1 and 4 are respectively fixed on the bladder 6, F The baffles 12 and 16 are respectively fixed on the upper and lower parts of the skin bag 1l, and are arranged symmetrically up and down, and must be sealed at the joints after being fixed; they are fixed to the left and right The beams 2l and 5 are fixed frames, and the bladders 6 and 11 are symmetrically fixed up and down on the fixed frames through respective baffles 4 and 16; both ends of the return spring 2 are fixed with the baffles 1 and 4 respectively, and the two ends of the return spring 14 are respectively fixed with the baffles 1 and 4. The plates 12 and 16 are fixed; the water inlet pipes 18 and 19 are respectively fixed on the front ends of the skin bags 6 and 11, the water outlet pipes 7 and 23 are symmetrically fixed on the lower rear end of the skin bag 6, and the water outlet pipes 10 and 26 are symmetrically fixed on the skin bag 11 At the rear end, the opening and closing of the water inlet can be controlled by the water inlet solenoid valves 17 and 20, and the opening and closing of the water outlet can be controlled by the water outlet 121 solenoid valves 8, 9, 24, and 25. During operation, the water 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. Water enters through the water inlet I=1 solenoid valve 19 and fills the bladder 6; in the process, water H is released. The solenoid valves 9 and 25 are closed, the electromagnets 13 and 15 attract each other, squeeze the bladder ll, and the water is discharged from the outlet I-7 9, 25, so that when the bladder 6 is filled with water, the bladder 1 is drained, and conversely when the bladder 1 is filled with water, the bladder 6 is drained ; In this way, skin 6 and skin 11 run alternately. Pushing the machine bionic jellyfish forward as a whole, this process is a continuous forward working state; during the advancement process, if the outlet solenoid valve 8 or 9 is closed, the overall right turn can be achieved, and if the outlet solenoid valves 8 and 9 are closed at the same time, the overall right turn can be achieved; If the water outlet I:1 solenoid valve 24 or 25 is closed, the overall left turn can be realized; if the water outlet solenoid valves 24 and 25 are closed at the same time, the overall left sharp turn can be realized: the overall ups and downs movement can be realized by controlling the water inflow of the bladders 6 and 11.
Figure 1a and Figure 4a respectively show the two alternating operating states of the skin bag 6 and the skin bag 11 during movement.
If the bladders 6 and 1l work simultaneously, that is, they absorb water and spray water at the same time, the jellyfish can obtain a larger instantaneous propulsion force. This state is called the pulse forward state: one of the bladders can also be allowed to work to push the whole Moving forward, another skin bag can achieve the overall sinking and floating movement by controlling the amount of water inflow.
Among them, the electromagnet provides power and drives the two bladders respectively through the baffle; in the continuous forward working state, the two bladders alternately absorb water and drain water, pushing the whole forward. If one of the left ones is closed during the advancement process, The water outlet solenoid valve can achieve an overall right turn. If the two water outlet solenoid valves on the left are closed at the same time, an overall sharp right turn can be achieved: vice versa. It can realize the overall left turn and sharp left turn: by controlling the water inflow of the two skin bags, the overall ups and downs movement can be achieved.
If the two bladders work synchronously, that is, they absorb water and spray water at the same time, a larger instantaneous thrust can be obtained. This state is called the pulse forward state: it is also possible to only let one of the bladders work to push the whole forward, and let the other bladder pass the control The water inflow realizes the overall ups and downs. This device can be combined in multiple groups to form stable uniform speed and powerful water jet propulsion. The power source can also be changed for propulsion of ordinary ships.