CN102806985B - Bionic robot fish ship propulsion structure - Google Patents
Bionic robot fish ship propulsion structure Download PDFInfo
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- CN102806985B CN102806985B CN201110143726.7A CN201110143726A CN102806985B CN 102806985 B CN102806985 B CN 102806985B CN 201110143726 A CN201110143726 A CN 201110143726A CN 102806985 B CN102806985 B CN 102806985B
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Abstract
The invention relates to a structure of a ship, in particular to the innovation of the propulsion way of ship navigation. A bionic robot fish ship propulsion structure comprises bionic robot fishes, and is characterized in that the bionic robot fishes are arranged at the bottom of an external ship body. The bionic robot fishes on the left and the right sides are steering bionic robot fishes (1), and the remainders in the middle are propulsion bionic robot fishes (2). Each propulsion bionic robot fish (2) adopts a propulsion structure of which the fish tail (a) part can swing to and fro from side to side; and the middle of the propulsion bionic robot fish (2) is provided with two vertically hollow connectors (b) which are connected with the ship body. Each steering bionic robot fish (1) adopts a propeller (e) structure which is arranged at the tail part of the propulsion bionic robot fish (2) can rotate 360 degrees, the middle of the steering bionic robot fish (1) is provided with a connector (b) which is connected with the ship body, and the tail part the steering bionic robot fish (1) is multi-jointed and does not swing. The bionic robot fish ship propulsion structure overturns the conventional propeller propulsion way, adopts a fishtail swinging imitation way for propelling, and has the characteristics of multiple underwater propulsions, low noise, environment protection, no harm to marine organism and the like.
Description
Technical field
A kind of structure that the present invention relates to boats and ships, particularly relates to the innovation of the propulsion mode of ship's navigation.
Background technology
The mammiferous mode of moving about such as fish and cetacean has at a high speed, efficient, flexibly, the feature such as low noise, both can under lasting trip speed, keep low energy consumption, high efficiency, also can under pulling force trip speed or outburst trip speed, realize high maneuverability.The suitable swing that relies on tail and fin, on the one hand, the propulsion coefficient of moving about of common fish can reach more than 80%, and the propulsion coefficient of carangiform fish surpasses 90%, and common angle of rake average effiiciency only has 40～50%; On the other hand, dolphin can be followed ship with the speed of 20 joints easily and be cruised, and the speed of yellowfin yaito tuna can reach 40 joints, approaches 80 kilometers per hour; And barracuda more can be started and take prey by force rapidly with the acceleration/accel of 20g.Fish attract the movement mechanism of biologist's researching fish in hydrogymnastic perfection, robot scholar wishes to produce the artificial machine fish the same with true fish.Bionic underwater robot technology has become one of important research direction in recent years, it is based on bionics principle, by the research to fish swimming mechanism, utilize physical construction, electronic machine and functional material to block and send out manipulation and the propulsion mode that imitates fish, and be applied to under-water robot.To the research of under-water robot, mainly divide two aspects, the one, the research to machine fish itself, is mainly that its propelling and swing mode are studied; The 2nd, the hydrodynamic force research to machine fish.
The propelling of machine fish and swing mode are studied to existing larger achievement, for example: the bionic machine fish of oscillating type flexible joint (application number: 200520068383.2), Waving bionic robot fish (application number: 200610051785.0), mechanical drive (the application number: 200520020571.8) of imitative fish tail propulsion system, the propulsion source of these devices is motor, need to use kinematic mechanism, therefore bring the problems such as vibration, noise mechanical wear, simultaneously the problem of inevitable sealing.Also having a kind of technology is electromagnetic drive multi-joint bionic fishtail propulsion device (application number: 200710072620.6), this propelling unit does not need motor, and the electromagnetic field that adopts permanent magnet to produce makes fish tail swing, it have simple in structure, noise is low, it is little to shake, and does not need the advantages such as dynamic seal.
Another one direction to machine fish research is Study on hydrodynamic performance; situation for Yi Yucan section model and the propelling of crescent moon tail; wavy swing mainly concentrates on rear body; then body section is dwindled formation caudal peduncle gradually; then connect the tail fin that length is larger; wave amplitude acutely increases. and the disassembling method based on linearized theory can not be processed; experimental technique is mainly used in research. the experiment of the swing that the relevant hydrofoils such as Traintafyllow (two-dimentional wing section) that typical work is MIT are done; show that propulsion coefficient can approach 90% under the parameter combinations such as certain frequency, amplitude; They also produce trailing vortex with the tail of simulation fish body before flapping foil with object, shown that swing tail fin can utilize these vortexs, further improve thrust and propulsion coefficient, make people improve major step to the understanding of the efficient propelling mechanism of fish.
For sharply exciting, as the fish that outburst starts, turns fast, also there have been people's Method of flow visualizations by DPIV method in 1999 such as some research Wolfgang, shown the interaction that is attended by body whirlpool and tail fin while producing fast reserve.
The Barrett of MIT in 1996 etc. are studied swinging the drag reduction of fish body, and they have carried out towing experiment to 6 of an experiment use of development voluntarily by degree bionic machine fish in tank.Tested effect that resistance reduces for the suffered impact of variation of five parameters (being phase angle, wavelength, shock angle, tail width, Strouhal number), prove that resistance reduces two factor sensitivities, one is that the velocity of wave motion of health is over kinematic velocity U; Another is (0.12-0.35) motion within the specific limits of Strouhal number.Under certain condition, resistance maximum can reduce approximately 70%.They use digital simulation stream field to carry out emulation simultaneously, obtain many useful effect, and to fish body, move about experiment and the theoretical investigation of mechanism has very important meaning.
Boats and ships use conventional screw propeller as propulsion mode conventionally, there is the shortcomings such as energy consumption is high, combined efficiency is low, noise is large in conventional screw propeller, the boats and ships of traveling comfort being had relatively high expectations for luxury liner etc., such defect is particularly outstanding, make the propulsion mode of boats and ships be badly in need of improving, how the pioneering technology of Biomimetic Fish being applied on boats and ships, is pendulum challenging problem in face of boats and ships scientific worker.
Summary of the invention
The object of the invention is bionical pioneering technology to be applied on boats and ships, a kind of ship propulsion structure of bionic machine fish is provided, to increase the propulsive force of boats and ships in water, accelerate scanning frequency, reduce and saving energy consumption.
For realizing above object, the present invention is achieved through the following technical solutions:
Bionic robot fish ship propulsion structure, comprises that by front portion be bunker, and middle part is connected system, and afterbody is the bionic machine fish that multi-joint fish tail propulsion system three parts form, and it is characterized in that;
The bottom of hull outside, a plurality of bionic machine fishs of alignment arrangements.
Further, described a plurality of bionic machine fishs, be wherein positioned at the left and right sides for turning to bionic machine fish, all the other in the middle of being positioned at are pushing bionic machine fish.
Further, the bottom alignment arrangements of hull is greater than 8 bionic machine fishs outside, is wherein positioned at the left and right sides, and each 1 of front and back, add up to 4 for turning to bionic machine fish, all the other be positioned at centre be greater than 4 be pushing bionic machine fish.
Further again, described pushing bionic machine fish is the push structure that fish tail part can the left and right sides swings back and forth, and middle part has the connector of two upper and lower hollows to be connected with hull;
The described bionic machine fish that turns to is that middle part has the connector of a upper and lower hollow to be connected with hull at the propeller arrangement of the afterbody configuration 360 deg rotating displaying of pushing bionic machine fish, and afterbody multi-joint does not swing.
Further again, each pushing bionic machine fish is positioned at the network intersection point of outer hull bottom, and the front and back angle of rhombus is 40 to 20 degree, and the length of side of rhombus is 1-3 pushing bionic machine fish length.
Further again, the length that turns to bionic machine fish is 0.5-0.8 times of pushing bionic machine fish length.
Further again, the length of described pushing bionic machine fish is 55 meters, and the widest part width is 12.5 meters, and highest point height is 9 meters;
Described to turn to the length of bionic machine fish be 27 meters, and the widest part width is 6 meters, and highest point height is 4.5 meters.
Further again, described in turn to the outside of bionic machine fish to have telescopic stabilizer.
Adopt technical solution of the present invention Bionic robot fish ship propulsion structure, a plurality of pushing bionic machine fishs are by fish tail as propulsion system, and the swing by fish tail provides onward impulse for boats and ships; The bionic machine fish afterbody that turns to of both sides is equipped with screw propeller, can 360 degree revolution, can be for boats and ships sternway, turn to power is provided; Each bionic machine fish and the water surface are with upper hull connecting bridge, each pushing bionic machine fish has two hollow connectors to be connected with hull, each turns to bionic machine fish to have a hollow connector to be connected with hull, can guarantee walking about up and down of connection line and personnel, has guaranteed rigidity intensity simultaneously; The bionic machine shoal of fish drives available intelligent control system to control, and for driving fish tail swing, and sends control command according to the wave pressure of the bright inductor reception and registration of fish body surface, makes the swing of the shoal of fish without any confusion.
The consistent size of pushing bionic machine fish fish body, both sides turn to the consistent size of bionic machine fish fish body, turn to length dimension, the volume of bionic machine fish fish body to be less than the fish body of pushing bionic machine fish, the total displacement of all bionic machine fish fish bodies is enough to provide the hull more than water surface required buoyancy.
A plurality of pushing bionic machine fishs are in staggered distribution with the form of rhombus style, by the geometrical length of the present invention's restriction, apart from configuration, according to research and test, show, such being distributed with is beneficial to the resistance that reduces the bionic machine shoal of fish, improves propulsion coefficient.
The fish tail of pushing bionic machine fish is bionic fish tail, by articulated structure, formed, each joint segments portion can fill magnet, pole change by permanent magnet swings it, end is crescent tail fin, and front 2/3 part is rigid body, the inner permanent magnet that drives fish tail swing of placing, can with reference to electromagnetic drive multi-joint bionic fishtail propulsion device (application number: 200710072620.6), thereby make the amplitude of fluctuation of fish tail and frequency adjusted.Turn to the inside of bionic machine fish, there is telescopic stabilizer in the outside that is configured to a plurality of shoal of fish of the present invention side of living in, inside has the motor that drives screw propeller, when boats and ships need good balance, stabilizer stretches out, and when boats and ships navigate by water in tranquil marine site, stabilizer is recoverable.
The present invention is according to the bionics principle of shoal of fish drag reduction, boats and ships lower apron is adopted to many bodies fish propulsion mode, this shoal of fish of many bodies under water propulsion system, the bionic machine fish that turns to that comprises lower apron pushing bionic machine fish and both sides, fish body links with upper hull by rigid hollow link structure and the water surface, by being positioned at the water surface, with the shoal of fish control-driven system of upper deck, driving and controls moving about of the shoal of fish.Computer Control Technology of today has been a very ripe possible technique according to navigation needs and sea condition control pushing bionic machine fish with turning to the action of bionic machine fish.
The invention has the beneficial effects as follows: the present invention has overturned traditional propeller propulsion mode, utilize fish tail swing emulating mode to advance, former studies achievement is carried out carrying out on combination foundation innovative design, make it can be used for large ship, there is high efficiency, noise is low, environmental protection, to marine life without features such as harm, that traditional propeller is incomparable, the ship type that can be used for traveling comfort to have relatively high expectations is as passenger boat, luxury liner etc., the feature that this technology possesses skills and innovates, filled up this area technological gap both domestic and external, for greatly developing from now on the application of bionic machine fish in propulsion of ship, start and provide the foundation.
Accompanying drawing explanation
Fig. 1 is a kind of embodiment of Bionic robot fish ship propulsion structure of the present invention, the birds-eye view that a plurality of bionic machine fishs of bottom alignment arrangements of hull configure under water outside, show and to turn to the state that stabilizer is launched outside bionic machine fish, and shown the form of grid configuration;
Fig. 2 is the birds-eye view of pushing bionic machine fish in one embodiment of the invention;
Fig. 3 is the front view of pushing bionic machine fish in one embodiment of the invention, is also level observation figure;
Fig. 4 turns to the birds-eye view of bionic machine fish in one embodiment of the invention;
Fig. 5 is a kind of embodiment of Bionic robot fish ship propulsion structure of the present invention, and the birds-eye view that a plurality of bionic machine fishs of bottom alignment arrangements of hull configure under water outside shows pushing bionic machine fish tail swing momentary status;
Fig. 6 is a kind of embodiment of Bionic robot fish ship propulsion structure of the present invention, and the birds-eye view that a plurality of bionic machine fishs of bottom alignment arrangements of hull configure under water outside shows and turns to bionic machine fish to be to the state of a sideway swivel.
In figure, the 1st, turn to bionic machine fish, the 2nd, pushing bionic machine fish, the 3rd, stabilizer, a is fish tail, and b is connector, and c is middle part, and d is anterior, and e is screw propeller, and α is the front and back angle of network, and L is the length of side of network.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention is described in greater detail:
Bionic robot fish ship propulsion structure, comprises that by anterior d be bunker, and middle part c is connected system, and afterbody a is the bionic machine fish that multi-joint fish tail propulsion system three parts form,
The bottom of hull outside, a plurality of bionic machine fishs of alignment arrangements.
Described a plurality of bionic machine fish, be wherein positioned at the left and right sides for turning to bionic machine fish 1, all the other in the middle of being positioned at are pushing bionic machine fish 2.
The bottom alignment arrangements of hull is greater than 8 bionic machine fishs outside, is wherein positioned at the left and right sides, and each 1 of front and back, add up to 4 for turning to bionic machine fish 1, all the other be positioned at centre be greater than 4 be pushing bionic machine fish 2.
The push structure that described pushing bionic machine fish 2 can the left and right sides swings back and forth for fish tail a part, middle part has the connector b of two upper and lower hollows to be connected with hull;
The described bionic machine fish 1 that turns to is that middle part has the connector b of a upper and lower hollow to be connected with hull in the screw propeller e structure of the afterbody configuration 360 deg rotating displaying of pushing bionic machine fish 2, and afterbody multi-joint does not swing, and can be rigid body.
Each pushing bionic machine fish 2 is positioned at the network intersection point of outer hull bottom, and the front and back angle α of rhombus is 40 to 20 degree, and the length of side L of rhombus is 1-3 pushing bionic machine fish 2 length.
The length that turns to bionic machine fish 1 is 0.5-0.8 times of pushing bionic machine fish 2 length.
The length of described pushing bionic machine fish 2 is 55 meters, and the widest part width is 12.5 meters, and highest point height is 9 meters;
Described to turn to the length of bionic machine fish 1 be 27 meters, and the widest part width is 6 meters, and highest point height is 4.5 meters.
There is telescopic stabilizer 3 in the described outside of bionic machine fish 1 that turns to.
Embodiment by reference to the accompanying drawings, Bionic robot fish ship propulsion structure is comprised of a plurality of single fish bodies, pushing bionic machine fish 2 is the large fish body of totally 10 same sizes, length is 55 meters, the widest part width is 12.5 meters, is highly up to 9 meters, the front portion of machine fish body start 2/3 for rigid body, in the middle of middle part, by hollow connecting structure, be connected with main body, afterbody is swingable structure.Turn to bionic machine fish 1 for totally 4 of small fish bodies, yardstick is identical, and length is 27 meters, and the widest part width is 6 meters, and small fish body is up to 4.5 meters.Small fish body is rigid body, built-in scalable stabilizer, and afterbody, with screw propeller, is connected with main body by hollow connecting structure, can turn round by 360 degree; The large fish body of pushing bionic machine fish and turn to nearly 30,000 tons of bionic machine fish small fish body total displacement.
Between the large fish body of pushing bionic machine fish 2, be in staggered distribution, longitudinal separation is 31 meters, and distance is 9 meters between left and right; Turn to bionic machine fish 1 small fish body to be positioned at the both sides of pushing bionic machine fish 2 large fish bodies; Small fish body fore-and-aft cearance is 46 meters; Between pushing bionic machine fish 2 and small fish body, transverse pitch is 2.5 meters.According to research, show, such being distributed with is beneficial to and reduces fish body resistance, improves propulsion coefficient.
The front connector of bionic machine fish and main body waterborne, is hollow rigid structure, and length is 10 meters, width is 7 meters, be highly 2 meters of left and right, profile is done streamlining according to current, to reduce resistance, the rear connector of bionic machine fish and main body waterborne, section sub-circular, diameter reaches 8 meters, is highly 2 meters of left and right, there are enough space current supply cables two connector inside, and ventilation and people are current.
The ifm diagram that accompanying drawing 5 is fish tail swing, when the large fish body of half pushing bionic machine fish 2 swings left, another medium-sized fish body swings to the right, thus the whole shoal of fish, whole piece boats and ships travel forward.
Accompanying drawing 6, when boats and ships need to turn to, pushing bionic machine fish 2 keeps static, turns to bionic machine fish 1 to take connector as axle rotates, and turns to after required angle, starts screw propeller, thereby main body is turned to or reverse end for end.
Claims (6)
1. Bionic robot fish ship propulsion structure, comprises that by anterior (d) be bunker, and middle part (c) is connected system, and afterbody (a) is the bionic machine fish that multi-joint fish tail propulsion system three parts form, and it is characterized in that;
The bottom of hull outside, a plurality of bionic machine fishs of alignment arrangements;
Described a plurality of bionic machine fish, be wherein positioned at the left and right sides for turning to bionic machine fish (1), all the other in the middle of being positioned at are pushing bionic machine fish (2);
The push structure that described pushing bionic machine fish (2) can the left and right sides swings back and forth for fish tail (a) part, middle part has the connector (b) of two upper and lower hollows to be connected with hull;
The described bionic machine fish (1) that turns to is that middle part has the connector (b) of a upper and lower hollow to be connected with hull in screw propeller (e) structure of the afterbody configuration 360 deg rotating displaying of pushing bionic machine fish (2), and afterbody multi-joint does not swing.
2. Bionic robot fish ship propulsion structure according to claim 1, it is characterized in that the bottom alignment arrangements of hull is greater than 8 bionic machine fishs outside, wherein be positioned at the left and right sides, each 1 of front and back, add up to 4 for turning to bionic machine fish (1), all the other be greater than in the middle of being positioned at 4 be pushing bionic machine fish (2).
3. according to Bionic robot fish ship propulsion structure described in claim 1 or 2, it is characterized in that each pushing bionic machine fish (2) is positioned at the network intersection point of outer hull bottom, the front and back angle (α) of rhombus is 40 to 20 degree, and the length of side of rhombus (L) is 1-3 pushing bionic machine fishs (2) length.
4. according to Bionic robot fish ship propulsion structure described in claim 1 or 2, the length that it is characterized in that turning to bionic machine fish (1) is 0.5-0.8 times of pushing bionic machine fish (2) length.
5. according to Bionic robot fish ship propulsion structure described in claim 1 or 2, it is characterized in that:
The length of described pushing bionic machine fish (2) is 55 meters, and the widest part width is 12.5 meters, and highest point height is 9 meters;
Described to turn to the length of bionic machine fish (1) be 27 meters, and the widest part width is 6 meters, and highest point height is 4.5 meters.
6. according to Bionic robot fish ship propulsion structure described in claim 1 or 2, described in it is characterized in that, turn to the inside of bionic machine fish (1) to have telescopic stabilizer (3).
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103546182A (en) * | 2013-09-26 | 2014-01-29 | 广州中国科学院先进技术研究所 | Underwater sensor network and node device thereof |
| CN104477358A (en) * | 2014-10-27 | 2015-04-01 | 哈尔滨工业大学 | Jellyfish swimming type serial bionic underwater propulsion device |
| CN113479311A (en) * | 2021-08-26 | 2021-10-08 | 北京丰润铭科贸有限责任公司 | Bionic fish printing type automatic suspension ship power device |
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