JP3746671B2 - Underwater propulsion equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an underwater propulsion device, and more particularly, to an underwater propulsion device used for fishing boats, work boats, diving research vessels, diving work vessels, and the like.
[0002]
[Prior art]
As a conventional underwater propulsion device, a screw propeller 51 is used in a diving research ship 52 as shown in FIG.
[0003]
[Problems to be solved by the invention]
The screw propeller 51 generates a thrust only in the rotation axis direction. Therefore, auxiliary devices such as the rudder 53 and the side thruster 54 are required for the direction control of the diving research ship 52, and the performance of the direction control and the position holding control is limited compared to the straight traveling performance.
[0004]
In addition, the screw propeller 51 and the side thruster 54 may be caught in the vicinity during rotation, and are restricted in use from the safety aspect.
The conventional screw propulsion device in a submersible research vessel disturbs the investigation by disturbing the mud on the seabed or generating noise. In addition, there is a problem that it cannot be operated for a long time due to the small energy.
[0005]
An underwater propulsion device that can stably perform propulsion and steering is desired.
An underwater propulsion device that can stably perform direction control and position holding control is desired.
An underwater propulsion device that can efficiently obtain propulsive force is desired.
There is a demand for an underwater propulsion device that can be steered freely as well as propelled.
An underwater propulsion device that can freely perform direction control and position holding control is desired.
An underwater propulsion device excellent in silence is desired.
[0006]
In addition, the following underwater vehicle is described in Unexamined-Japanese-Patent No. 11-152085 which concerns on this application. That is, in the underwater vehicle, multiple sets of wings that vibrate in series by reciprocating rotation of the rotation shaft fixed to the leading edge are equipped in series. As a result, the thrust is obtained and steering is also performed by controlling the vibration center of each blade, and the ups and downs are controlled by pouring and draining the tank.
[0007]
An object of the present invention is to provide an underwater propulsion device that can stably perform propulsion and steering.
Another object of the present invention is to provide an underwater propulsion device capable of stably performing direction control and position holding control.
Still another object of the present invention is to provide an underwater propulsion device that can efficiently obtain a propulsive force.
Still another object of the present invention is to provide an underwater propulsion device that can freely perform steering as well as propulsion.
Still another object of the present invention is to provide an underwater propulsion device that can freely perform direction control and position holding control.
Still another object of the present invention is to provide an underwater propulsion device having excellent quietness.
[0008]
[Means for Solving the Problems]
Means for solving the problem is expressed as follows. The technical matters corresponding to the claims in the expression are appended with parentheses (), numbers, symbols, and the like. The number, symbol, etc. clarifies the coincidence / correspondence between the technical matters corresponding to the claims and the technical matters of at least one of the forms / implementations. It is not intended to show that the technical matter is limited to the technical matter of the embodiment.
[0009]
The underwater propulsion device (100) of the present invention includes a plurality of vibration units (1) that generate propulsive force in parallel on the rear side of the device body so as to reciprocate repeatedly. In the underwater propulsion device (100) of the present invention, an elastic vibrating blade control technique is used. The underwater propulsion device (100) of the present invention can be a submarine (an unmanned underwater vehicle) itself.
[0010]
In the underwater propulsion device (100) according to the present invention, each of the plurality of vibration units (1, 1) includes a plurality of vibration bodies (1a, 1b) that can be controlled independently from each other. is there.
[0011]
In the underwater propulsion device (100) of the present invention, each of the plurality of vibrators (1a, 1b) provided in series has elasticity, and the plurality of vibrators (1a, 1b) provided in series. Among these, one said vibrating body (1b) located in the back side of the said apparatus main body has a high elasticity modulus compared with the said other vibrating body (1a).
[0012]
In the underwater propulsion device (100) of the present invention, the plurality of vibration units (1, 1) are used for a propelled object (61) that is propelled by the underwater propulsion device (100) by the underwater propulsion device (100). Provided in positions separated from each other on a direction (X) propelled by the propelled object (61) when being pushed, or on an imaginary line generally perpendicular to the propulsion direction when the underwater propulsion device (100) itself propels. It has been.
[0013]
In the underwater propulsion device (100) of the present invention, the main body, the first vibrating body (1a) and the second rotating shaft (5) that vibrate when the first rotating shaft (4) reciprocates are reciprocated. A second vibrating body (1b) that vibrates by rotating is provided in series, and a first vibrating portion (1) provided on the rear side of the apparatus main body and a third rotating shaft (4) are provided. The apparatus comprises a third vibrating body (1a) that vibrates by reciprocating rotation and a fourth vibrating body (1b) that vibrates by reciprocating rotation of the fourth rotating shaft (5). A second vibrating part (1) provided in parallel with the first vibrating part (1) on the rear side of the main body, and the first to fourth rotating shafts (4, 4, 5, 5). First to fourth actuators (14, 14, 15, 15) and first to fourth rotation shafts (4, 4, 5, 5). The first to fourth vibrating bodies (1a, 1a, 1b, 1b) associated with the reciprocating rotation of the first to fourth rotating shafts (4, 4, 5, 5) to control each other in a coordinated manner. A vibration body command generator (12) that outputs a control signal (12c) for setting the amplitude, frequency, vibration center, and phase between the first to fourth vibration bodies (1a, 1a, 1b, 1b). And an angle servo that generates signals (13a, 13a, 13b, 13b) for controlling each of the first to fourth actuators (14, 14, 15, 15) based on the control signal (12c). And a driver (13).
[0014]
In the underwater propulsion device (100) of the present invention, a tank (7) capable of pouring and draining to control the floating and sinking of the device main body, and an injection and drainage control mechanism (17) for controlling the pouring and draining of the tank (7). And.
[0015]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of an underwater propulsion device of the present invention will be described with reference to the accompanying drawings.
[0016]
Fig.1 (a) is a side view which shows the submersible propulsion apparatus of this embodiment, FIG.1 (b) is a top view which shows the submersible propulsion apparatus, FIG.1 (c) shows the submersible propulsion apparatus. It is a front view. FIG. 6 is a side view schematically showing a state where the underwater propulsion device of the present embodiment is attached to a ship. FIG. 7 is a plan view schematically showing a state in which the underwater propulsion device of this embodiment is attached to a submersible craft.
Although not shown, the underwater propulsion apparatus of the present embodiment is not only used in a form attached to another propelled object as shown in FIG. 6 and FIG. It can function as a submersible research ship.
[0017]
As shown in FIGS. 1 (a) to 1 (c), the underwater propulsion device 100 according to the present embodiment includes two underwater cruising portions 2 and 2 and a bed portion that connects the two underwater cruising portions 2 and 2. 41. The two underwater navigation units 2 and 2 have the same configuration. Each of the underwater navigation unit 2 and the bed unit 41 has an outer shape that is a smooth curve so as to reduce resistance in water. The underwater cruising portion 2 is formed in a substantially elliptical shape that is vertically long in a front view, and is formed in a generally elliptical shape that is horizontally long in a side view and a plan view. The bed portion 41 is formed in a substantially oval shape that is horizontally long in a side view, and is formed in a generally rectangular shape that is horizontally long in a front view and a plan view.
[0018]
As shown in FIG. 6, the underwater propulsion device 100 is attached to a fishing boat 61 and propels the fishing boat 61 or performs direction control or position holding control of the fishing boat 61. Further, as shown in FIG. 7, the underwater propulsion device 100 is attached to the submersible craft 62 and propels the submersible craft 62 or performs direction control or position holding control of the submersible craft 62.
[0019]
6 and 7, arrows X indicate one direction propelled by the fishing boat 61 or the submersible craft 62, respectively. The two underwater cruising sections 2 and 2 are provided in the bed section 41 at positions separated from each other on a virtual line (not shown) generally orthogonal to the one direction X propelled by the fishing boat 61 or the submersible craft 62. .
[0020]
As shown in FIG. 7, the two underwater cruising sections 2 and 2 are designed so that the separation distance is larger than the width dimension (the dimension in the vertical direction in the figure) of the rear part of the submersible craft 62. Although not shown in FIG. 6, the two underwater cruising sections 2 and 2 can be designed such that the separation distance is larger than the width dimension of the rear part of the fishing boat 61 (dimension in the direction perpendicular to the paper surface).
[0021]
As shown in FIGS. 6 and 7, the underwater propulsion device 100 is attached to a fishing boat 61 or a submersible craft 62 at a bed portion 41. As shown in FIG. 7, the bed portion 41 of the underwater propulsion device 100 attached to the submersible craft 62 is provided with two lamps 42 and 42 for illuminating the water.
[0022]
Next, the configuration of the underwater navigation unit 2 will be described. As described above, since the configurations of the two underwater navigation units 2 and 2 are the same, only one of the underwater navigation units 2 will be described below, and the description of the other underwater navigation unit 2 will be omitted. .
[0023]
As shown in FIG. 1A, FIG. 1B, FIG. 2 and FIG. 3, two sets of wings (also referred to as vibrating wings) 1a and 1b are provided in series at the tail of the underwater navigation section 2. ing. The two sets of blades 1a and 1b provided in series are collectively shown as a blade (also referred to as a vibrating blade) 1. Each of the two sets of blades 1a and 1b is a metal plate in order to satisfy the strength and thinness. Of the two sets of blades 1a and 1b, the blade 1b located at the rear has a larger elastic modulus than the blade 1a. Rotating shafts 4 and 5 capable of reciprocating rotation are attached to the front edge portions of the vibrating blades 1a and 1b, respectively, in order to vibrate (oscillate) the vibrating blades 1a and 1b.
[0024]
Inside the underwater navigation section 2, there is provided a vibrating blade control device 6 provided with rotating shaft actuators 14 and 15 (see FIG. 4) for reciprocatingly rotating the rotating shafts 4 and 5. The required power of the vibration blade control device 6 is supplied from the battery 16.
In this case, the battery 16 can be rechargeable. In that case, a non-contact charging method can be used because of waterproof processing, and an electromagnetic induction charger can be used.
Furthermore, the underwater propulsion device 100 includes an underwater wireless communication control unit (not shown), and can communicate with the underwater propulsion device 100 that is an underwater vehicle directly from the water and perform simple communication in the middle of the water. it can.
2 and 3, the battery 16 is configured to be provided in each of the two underwater cruising units 2 and 2, but instead of this configuration, a single battery 16 is provided at the center of the bed unit 41. Can be provided.
[0025]
As shown in FIG. 4, the vibrating blade control device 6 includes an angle servo driver 13 and a vibrating blade command generator 12 in addition to the rotary shaft actuators 14 and 15. The angle servo driver 13 operates the respective rotary shaft actuators 14 and 15 so that the rotary shafts 4 and 5 of the vibrating blades 1a and 1b are cooperatively controlled. The vibrating blade command generator 12 transmits a control signal 12c to the angle servo driver 13 so that the amplitude, frequency, phase and vibration center of each vibrating blade 1a, 1b can be controlled.
[0026]
As shown in FIG. 2, the front portion of the underwater traveling portion 2 is covered with a rigid or flexible front outer skin 2b. A portion corresponding to the vibrating blade 1a in the underwater cruising portion 2 is covered with a flexible outer skin 2c such as a soft fiber reinforced plastic (FRP) coating material. The outer skin 2c is connected to the front outer skin 2b at a required portion 2a. Similarly, a portion corresponding to the vibrating blade 1b in the underwater cruising portion 2 is covered with a flexible outer skin 2d such as a soft fiber-reinforced plastic (FRP) coating material.
Here, instead of the above, silicone resin and vinyl chloride can be used in combination for the front skin 2b, skin 2c, and skin 2d in terms of waterproofness and workability.
[0027]
In the underwater navigation section 2, the outer skins 2c and 2d covering the vibrating blades 1a and 1b are formed of a flexible material so that the tail portion thereof can be flexibly bent with the operation of the vibrating blades 1a and 1b. Yes. Here, the outer skin 2d covering the vibrating blade 1b is made of a material having higher flexibility than the outer skin 2c covering the vibrating blade 1a, and the vibrating blade 1b has a higher elastic modulus than the vibrating blade 1a. It corresponds to.
[0028]
In the underwater navigation section 2 of the present embodiment, when the vibrating blades 1a and 1b are operated, the vibrating blade 1b on the distal end side has higher elasticity and the outer skin 2d has higher flexibility. Therefore, the vibrating blade 1b on the tip side bends like a whip and vibrates more rapidly. As a result, the driving force can be obtained more efficiently.
[0029]
The underwater navigation unit 2 is provided with a tank 7 capable of pouring and draining for controlling the ups and downs of the underwater propulsion device 100. As shown in FIG. 3, the underwater navigation section 2 controls the piping including the pump 8 and the switching valves 9 and 10 as well as the pump 8 and the switching valves 9 and 10 as a pouring / draining control mechanism of the tank 7. A buoyancy control device 17 that controls the buoyancy of the tank 7 is provided.
2 and 3, the tank 7, its drainage control mechanism, and the buoyancy adjustment device 17 are provided in each of the two underwater cruising units 2 and 2, but instead of this configuration, the bed A single tank 7, its pouring / draining control mechanism, and a buoyancy adjusting device 17 can be provided at the center of the portion 41.
[0030]
As shown in FIGS. 2 and 5, a vibrating blade controller 28 is provided inside the bed portion 41. The vibrating blade controller 28 is connected to the respective vibrating blade control devices 6 and 6 of the two underwater navigation units 2 and 2. The oscillating wing controller 28 controls the oscillating wings 1 and 1 of the two left and right underwater navigation sections 2 and 2 respectively.
[0031]
The vibrating blade controller 28 outputs a steering command 12a and a sensor input 12b to the vibrating blade command generators 12 and 12 of the two vibrating blade controllers 6 and 6 (see FIG. 4).
[0032]
Next, a method for controlling the vibrating blades 1 and 2 of the two left and right underwater navigation units 2 and 2 by the vibrating blade controller 28 will be described below.
[0033]
(1) The thrust that is the operation amount is represented by the thrust that is applied to the center of gravity of the underwater propulsion device 100.
(2) The thrust is distributed to the left and right vibrating blades 1 and 1 so as to be the sum of the thrusts that apply the thrust of (1) above to the connection point of the pair of left and right vibrating blades 1 and 1 with the underwater propulsion device main body.
(3) At the time of steering, a difference is generated between the thrusts of the left and right vibrating blades 1 and 1 so that the underwater propulsion device 100 is turned in a desired direction.
[0034]
After the thrust is distributed to the vibrating blades 1 and 1 of the two left and right underwater navigation units 2 and 2 as described above, generation of vibrating blade commands for controlling the vibrating blades 1a and 1b in the respective underwater navigation units 2 is generated. Derivation of the operation amount of the vessel 12 and control by the buoyancy control device 17 will be described below.
[0035]
(1) The power distributed to the underwater navigation unit 2 is decomposed into a horizontal component and a vertical component.
(2) The magnitude of the horizontal component force is controlled by the amplitude and frequency of the reciprocating rotation of the rotating shafts 4 and 5. Further, the direction of the force in the front-rear direction (forward / reverse) is controlled by the phase between the rotary shafts 4 and 5. The direction of the horizontal component force for steering is controlled by the amount by which the vibration center of the vibrating blades 1a and 1b is decentered from the center line 11 of the underwater navigation section 2.
(3) The rotational speed and amplitude of the left and right vibrating blades 1a, 1a, 1b, and 1b are obtained from the horizontal thrust applied to the left and right vibrating blades 1 and 1 distributed as described above, and each rotating shaft is obtained. Each oscillating blade control device 6 is controlled so that the angles around 4, 4, 5, and 5 have the above-described rotation speed and amplitude.
(4) Regarding the magnitude of the force of the vertical component, the amount of water in the tank 7 is controlled by the buoyancy control device 17 via the pump 8 and the switching valves 9 and 10, and thus the buoyancy adjustment is performed. .
[0036]
The oscillating blade command generator 12 receives a steering command (propulsive force, turning angle, buoyancy, etc.) 12a and sensor input (speed, etc.) 12b, and the amplitude and frequency of each of the rotary shafts 4 and 5 having a reference waveform as a sine wave. The movement of the vibrating blades 1a and 1b is defined by outputting the phase between the rotating shafts 4 and 5 and the center of vibration.
[0037]
Here, the center of vibration refers to an angle formed by the center line 11 of the underwater navigation section 2 and the center position of the swing angle of the vibrating blades 1a and 1b.
[0038]
The angle servo driver 13 converts the output of the vibrating blade command generator 12 into angle signals 13a and 13b of the vibrating blades 1a and 1b, and controls the rotary shaft actuators 14 and 15.
[0039]
Next, control methods of the vibrating blade control device 6, the vibrating blade controller 28, and the buoyancy control device 17 will be described below.
[0040]
(1) Learning (preparation) of the vibrating blade command generator 12
The optimum amplitude, frequency, and phase difference of the oscillating blade 1 for each underwater navigation section 2 (relative speed when there is a flow) and propulsive force are obtained by the following means.
(A) The underwater navigation unit 2 (or the underwater propulsion device 100) is fixed in a water tank, and a strain gauge is attached to measure thrust.
(B) A constant flow is given to the water tank, and the vibrating blades 1a and 1b are operated so that thrust is generated. Here, the flow velocity of the flow is processed as the velocity of the underwater navigation unit 2.
(C) A combination of amplitude, frequency, and phase difference of the vibrating blades 1a and 1b that minimizes the total power consumption of the rotary shaft actuators 14 and 15 with a specific thrust is obtained by the steepest descent method.
(D) Perform (b) and (c) by combining several types of speed and thrust, and collect the data in the form of a two-dimensional table of speed and thrust.
[0041]
(2) Control Method of Vibrating Blade Control Device 6 After the learning of the vibrating blade command generator 12 is ended by the above procedure, the vibrating blade control device 6 controls the vibrating blades 1a and 1b by the following procedure.
(A) The vibratory blade command generator 12 is input with the propulsive force of the steering command (radio command from the outside) 12a and the speed of the sensor input (input from the speedometer attached to the underwater cruising unit 2) 12b, By interpolating the table learned in (1) above, the amplitude, frequency and phase difference of the vibrating blades 1a and 1b are output (see reference numeral 12c).
(B) The oscillating blade command generator 12 inputs the turning angle of the operation command 12a, multiplies the coefficient, and outputs it as the vibration center (see reference numeral 12c). The coefficient is a coefficient that normalizes the maximum value of the vibration center with the maximum value of the turning angle signal.
(C) The angle servo driver 13 is an output (see reference numeral 12c) of the vibration blade command generator 12, and the amplitude (maximum angle) is A, the frequency (angular frequency) is ω, the phase is α, and the vibration center is K. When the time is t, the angle signals 13a and 13b of the rotary shaft actuators 14 and 15 are output from the following equations.
Angle signal of the rotation axis actuator 14 = Asin (ωt) + K.
Angle signal of the rotation axis actuator 15 = Asin (ωt + α) + K.
(D) The rotary shaft actuators 14 and 15 vibrate the blades 1a and 1b according to the angle signals 13a and 13b obtained in (c) above.
[0042]
(3) Control method of vibrating blade controller 28 (a) The steering blade controller 28 controls the underwater propulsion device 100 with the direction and magnitude of the thrust that can be output from the vibrating blades 1 and 1 as constraints. The force and moment applied to the device are distributed to the left and right vibrating blades 1 and 1 by non-linear programming.
(B) The swing pattern for generating the force distributed to the vibrating blades 1 and 1 in (a) is obtained from the data created in (1).
(C) The swing pattern obtained in (b) is updated for each reciprocation, and the vibrating blades 1a, 1a, 1b, and 1b are controlled.
[0043]
(4) Control Method of Buoyancy Control Device 17 The buoyancy control device 17 adjusts the buoyancy by the following procedure.
(A) The steering command buoyancy is broken down into the direction and magnitude of the buoyancy.
(B) Depending on the direction of buoyancy, the drainage valve 9 is opened and the water supply valve 10 is closed when ascending, and the water supply valve 10 is opened and the drainage valve 9 is closed during sedimentation.
(C) The output of the feed water / drainage pump 8 is adjusted according to the magnitude of the buoyancy.
(D) When the flow rate at the inlet of the floating bag becomes 0 (full or empty), the water supply / drainage pump 8 is stopped.
[0044]
In the above-described underwater traveling unit 2 with a vibrating blade, three-dimensional control of propulsion, rotation, and ups and downs is possible. That is, since a plurality of blades 1a and 1b that vibrate by reciprocating rotation of the rotation shafts 4 and 5 fixed to the front edge portion are provided in series, the amplitude, frequency, vibration center, and phase of each blade 1a and 1b are provided. By the cooperative control, the plurality of sets of wings 1a and 1b are swayed flexibly like a fish tail as a whole to generate and steer a required thrust. Therefore, there is no risk of entrainment unlike the conventional screw propeller 51, and quietness is excellent as compared with the screw propeller 51.
In the underwater propulsion device 100 according to the present embodiment, the number of the vibrating blades 1a and 1b is set to 2 for one underwater traveling unit 2, but it goes without saying that the number may be three or more.
[0045]
In the underwater propulsion device 100, the rotation shafts 4 and 5 are arranged in the vertical (vertical) direction. Instead of the configuration, the rotation shafts 4 and 5 are arranged in the horizontal (horizontal) direction. Then, the plurality of sets of wings 1a and 1b operate like a submersible of a submarine or a fin of the fish on both sides of the fish, and the diving depth can be changed.
[0046]
Furthermore, in the underwater propulsion device 100 of the present embodiment, since the tank 7 that can be controlled particularly for pouring and draining is provided, the tank 7 adjusts the buoyancy like a fish float, so that the underwater propulsion device 100 can smoothly control the rise and fall. To be done.
[0047]
Furthermore, according to the underwater propulsion device 100 of the present embodiment, the two underwater traveling sections 2 having the above-described configuration are provided in parallel in the horizontal direction. In other words, the two vibrating blades 1, 1 are imaginary lines (not shown, in FIG. 7) that are generally orthogonal to one direction X (leftward in FIG. 7) propelled by the fishing boat 61 or submersible craft 62 (propelled object). They are provided at positions separated from each other on an imaginary straight line extending in the vertical direction.
Therefore, stable propulsion, steering, direction control, and position holding functions can be realized as compared with the case where there is only one underwater navigation unit 2, and the bed unit 41 is stabilized. When only the single underwater traveling part 2 is provided, when the vibrating blades 1a and 1b are operated, the underwater propulsion device may rotate, and stability cannot be obtained. In particular, if the underwater propulsion device 100 of the present embodiment is used for the fishing boat 61, the position holding function that makes use of the stability and the quietness are effective.
As described above with reference to FIG. 7, the two vibrating blades 1, 1 are installed so as to have a separation distance larger than the width of the rear part of the submersible 62 (propelled object) on the imaginary line. By doing so, the effect of the stability is increased.
In the underwater propulsion device 100 of the present embodiment, the number of the vibrating blades 1 is two, but it goes without saying that it can be a plurality of three or more.
[0048]
In this case, the stability effect obtained by providing the plurality of underwater cruising parts 2 and 2 in parallel is that two sets of vibrating blades 1a in which the respective underwater cruising parts 2 are provided in series. Even if it has 1b instead of having 1b, it can play.
In addition, the propulsive force is improved by providing the plurality of underwater cruising sections 2 and 2.
[0049]
Furthermore, in the underwater propulsion device 100 of the present embodiment, when the vibrating blades 1a and 1b are operated, the vibrating blade 1b on the distal end side has a higher elastic modulus and the outer skin 2d is higher than the outer skin 2c. Since it has flexibility, the vibration blade 1b on the tip side bends like a whip and vibrates more rapidly. As a result, the driving force can be obtained more efficiently.
[0050]
【The invention's effect】
According to the underwater propulsion device of the present invention, more stable direction control and position holding control are realized.
[Brief description of the drawings]
FIG. 1 schematically shows an embodiment of the underwater propulsion device of the present invention, FIG. 1 (a) is a side view thereof, FIG. 1 (b) is a plan view thereof, and FIG. It is the front view.
FIG. 2 is a plan view schematically showing an internal configuration of an embodiment of the underwater propulsion device of the present invention.
FIG. 3 is a side view schematically showing an internal configuration of an embodiment of the underwater propulsion device of the present invention.
FIG. 4 is a block diagram schematically showing a control system of two sets of wings connected in series in an embodiment of the underwater propulsion device of the present invention.
FIG. 5 is a block diagram schematically showing a control system for a pair of left and right wings of an embodiment of the underwater propulsion device of the present invention.
FIG. 6 is a side view schematically showing a state in which one embodiment of the underwater propulsion device of the present invention is applied to a fishing boat.
FIG. 7 is a plan view schematically showing a state where an embodiment of the underwater propulsion device of the present invention is applied to a submersible craft.
FIG. 8 is a side view showing a conventional underwater vehicle.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Wing 1a Wing 1b Wing 2 Underwater navigation part 2a Part 2b Front outer skin 2c Outer skin 2d Outer skin 4 Rotating shaft 5 Rotating shaft 6 Vibrating wing control device 7 Tank 8 Pump (water supply / drainage pump)
9 Switching valve (drain valve)
10 Switching valve (water supply valve)
12 Vibrating blade command generator 12a Steering command 12b Sensor input 12c Control signal 13 Angle servo driver 13a Angle signal 13b Angle signal 14 Rotating shaft actuator 15 Rotating shaft actuator 16 Battery 17 Buoyancy control device 28 Vibrating blade controller 41 Bed unit 42 Lamp 51 Screw propeller 52 Submersible research vessel 53 Rudder 54 Side thruster 61 Fishing boat 62 Submersible boat 100 Underwater propulsion device X Propulsion direction

Claims (3)

The device body,
A first vibration body that vibrates when the first rotation shaft reciprocates and a second vibration body that vibrates when the second rotation shaft reciprocates are provided in series. A first vibrating portion provided on the side;
A third vibration body that vibrates when the third rotation shaft reciprocates and a fourth vibration body that vibrates when the fourth rotation shaft reciprocates are provided in series. A second vibrating part provided in parallel with the first vibrating part on the side,
First to fourth actuators for respectively rotating the first to fourth rotation shafts ;
With
The first to fourth rotating shafts are fixed to the front edge portions of the first to fourth vibrating bodies, respectively.
The first vibrating body, the second vibrating body, the third vibrating body, and the fourth vibrating body have elasticity,
The second vibrating body is located on the rear side of the apparatus main body with respect to the first vibrating body, and has a higher elastic modulus than the first vibrating body,
The submersible propulsion apparatus, wherein the fourth vibrating body is located on the rear side of the apparatus main body with respect to the third vibrating body and has a higher elastic modulus than the third vibrating body .   The underwater propulsion device according to claim 1,
  In order to coordinately control the first to fourth rotation shafts, the amplitude, frequency, vibration center, and vibration center of each of the first to fourth vibration bodies associated with the reciprocating rotation of the first to fourth rotation shafts A vibrator command generator for outputting a control signal for setting a phase between the first to fourth vibrators;
  An angle servo driver that generates a signal for controlling each of the first to fourth actuators based on the control signal;
Underwater propulsion device with In the underwater propulsion device according to any one of claims 1 and 2 ,
Furthermore,
A tank that can be poured and drained to control the rise and fall of the device body;
An underwater propulsion device including an injection / drainage control mechanism for controlling the injection / drainage of the tank.

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