CN101817398A - Breaststroke underwater advancing mechanism based on link mechanisms - Google Patents
Breaststroke underwater advancing mechanism based on link mechanisms Download PDFInfo
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- CN101817398A CN101817398A CN201010149127A CN201010149127A CN101817398A CN 101817398 A CN101817398 A CN 101817398A CN 201010149127 A CN201010149127 A CN 201010149127A CN 201010149127 A CN201010149127 A CN 201010149127A CN 101817398 A CN101817398 A CN 101817398A
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- shank
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- leg
- connecting rod
- thigh
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Abstract
The invention relates to a breaststroke underwater advancing mechanism based on link mechanisms, which comprises a body, wherein a set of symmetrical link mechanism is respectively fixed at both sides of the body; each set of link mechanism comprises a structure that a thigh connecting bar and a leg connecting bar are articulated on the body and the other end of the leg connecting bar is articulated with a leg; the other end of a thigh is articulated with the leg and the hinge joint is close to the hinge joint of the leg connecting bar and the leg; one end of a stay wire is articulated on the thigh, the other end is connected with a root of a sole, the connecting point is arranged at the inner side of the hinge joint of the leg and the sole, the whole stay wire is arranged at the inner side of the leg, and the stay wire, the thigh, the leg and the sole form a parallelogram link mechanism; one end of a foot dorsiflexing rubber band is fixed on the leg, the other end is connected with an instep of the sole, and the connecting is arranged at the inner side of the hinge joint of the leg and the sole; the middle of the sole is articulated with one end of the leg, a heel part is articulated with the stay wire, and the instep is connected with the foot dorsiflexing rubber band. The invention has simple structure and control and easy implement.
Description
Technical field
What the present invention relates to is a kind of based on propulsive mechanism in the imitative breast-stroke water of connecting rod mechanism, belongs to under-water robot Push Technology field.
Background technology
Along with increasing of marine resources detection, development activities, the under-water robot technology more and more comes into one's own, the bottleneck of restriction under-water robot development, it is exactly the underwater propulsion technology, this not only will solve sealing problem, and will solve propulsion coefficient, maximum tractive power, and the problems such as structure fusion of propelling unit and carrier.The development of under-water robot Push Technology presents 3 stages: traditional propeller Push Technology, imitative organism in water move about, the hybrid propulsion technology.
1 traditional propeller propulsion mode
The under-water robot that adopts traditional propeller to advance, a plurality of anchor shaft screw propellers of its carrier arranged around, each screw propeller can only rotate around axis, and changeable parameter is the rotating speed of screw propeller and turns to.Through the development of aircraft industry and ship industry, the propulsion coefficient of screw propeller and fltting speed all have raising.So travel on the application in spacious tranquil marine site, this combination economical and effective with cruising speed for propelling unit.Present new type propeller technology also provides new support for its development.In addition, screw propeller advances significant advantage when propelled at high velocity, but adopts the under-water robot of this propulsion mode, and its motor-driven control effort depends on fluid at the lift of controlling the mobile generation on the rudder face, therefore is difficult to realize that actv. is motor-driven under low speed.Secondly, the continuous running of screw propeller under certain speed can produce propulsive force efficiently, efficient can reach about 90%, and present underwater propeller is doing often to make screw propeller be in the mode of operation of non-omnidistance rotation when slightly motion is adjusted, because " ballism " of screw propeller motion under the unsteady fluid flow pattern, its efficient will significantly reduce.Once more, advance under the situation that noise and tail Detection Techniques improve constantly at screw propeller, noise and tail control technology that screw propeller advances remain bottleneck at present.Therefore, validity, manoevreability and noise and the control of tail of underwater propeller under low speed is restriction advances the usefulness performance when front propeller principal element.
2 imitative aquatic organism propulsion modes
The propelling research that imitative aquatic organism moves about all has more achievement on mechanism, Project Realization.Aquatic organism was through the evolution in 1 years, and its body is tending towards optimizing, and propulsion coefficient of self and manoevreability are high.This also studies original intention and purpose that aquatic organism advances just.And the propelling pattern of the aquatic organism of studying now both at home and abroad, mainly contain body pendulum-type, fin swing, long-fin undulatory formula etc.The body pendulum-type mainly concentrates on various fish, can further be refined as structures such as common eel pattern, Scad section pattern and crescent moon tail, and the subparticipation of these fish healths advances.Fin swing mainly is imitation penguin upper limbs, the four limbs of green turtle and the actions such as pectoral fin swing of fish, and the emphasis of its research is that the Pu water of multiple degree of freedom (be generally 2 or 3DOF) flexible fin face (similar oar) advances, and the motion of carrier health is not the emphasis of paying close attention to.Long-fin undulatory then is emerging research focus, the dorsal fin of main research fish and the surge movement of anal fin and propelling effect thereof, the health of the bionical object of this kind is not participated in propelling directly, main produce the propulsive force that needs as surge movement by observation experiment to the bionical object of long-fin undulatory " Nile devil " tropical fish by the flexible web structure that supports attached to the cartilage on the health, find that it is in propulsion coefficient, in fltting speed and the disturbance very excellent characteristic is arranged to flow field on every side, analysis and the phenomenon in the process of the test by relevant test figures are observed, and also part has been verified the fwd viewpoint.On the propelling mechanism and biomimetic features design of long-fin undulatory, also have many gordian techniquies to remain to launch and go deep into.
Many researchs are being done by the National University of Defense technology aspect the long-fin undulatory propelling, in the achievement in research that obtains a lot of explorations aspect mechanism, the model machine, and done a large amount of relevant underwater propulsion tests, the achievement of test results and domestic and international association area has kept synchronously, and is in a leading position in some aspects.Osaka university of Chinese University of Science and Technology and Japan has all launched research to long fin biomimetic features, and Preliminary development goes out experimental prototype.It is very promising research direction that imitative aquatic organism advances, but the difficulty that is difficult to capture in many short time is arranged at aspects such as bionical mechanism, bionical push structure designs, therefore imitative aquatic organism propel machine people fails to walk out the laboratory in a very long time and carries out practicality, it only reaches the degree of likeness in form (function, motion simulation), also has bigger gap from the target of (advance efficient, high motor-driven) alike in spirit.
Summary of the invention
The object of the present invention is to provide a kind of later-model based on propulsive mechanism in the imitative breast-stroke water of connecting rod mechanism, complete imitation frog when swimming shank course of action of " receiving, turn over, pedal, press from both sides ", make that the present invention has the propulsion coefficient height, fltting speed is fast and the advantage little to flow field disturbance on every side.
The present invention is a kind of based on propulsive mechanism in the imitative breast-stroke water of connecting rod mechanism, and structure is as follows:
Wherein, described shank is used for fixing the position of turning over the pin bungee, is arranged to zig-zag, in order to regulate the pulling force of bungee.
Wherein, backguy 5 also can be replaced by any parts of monodisplacement constraint that can provide such as the certain expansion links of extreme length.
Wherein, bungee 6 also can be by extension spring, and perhaps torsion spring etc. can provide the parts of certain countermoment to replace.
The present invention is a kind of based on propulsive mechanism in the imitative breast-stroke water of connecting rod mechanism, its advantage and effect are: the simple parts of structure design utilization of the present invention have been realized complicated breast-stroke ahead running, preliminary test shows that its propulsion coefficient is not less than propulsion mode in other bionical class water, but structure is all simple than it far away with control, be easy to realize, this makes to be had the engineering practical value by invention, and aspects such as detection under water, military investigation, new tourism ship, novel toy exploitation have well should prospect.
Description of drawings
Figure 1 shows that overall construction drawing of the present invention;
Figure 2 shows that sole shape scheme drawing of the present invention;
Motion principle figure in the imitative breast-stroke water of Fig. 3 during the propulsive mechanism kick;
Motion principle figure when propulsive mechanism is received leg in the imitative breast-stroke water of Fig. 4;
Concrete label is as follows among the figure:
1, body 2, shank connecting rod 3, thigh 4, shank
5, backguy 6, turn over pin bungee 7, sole
D
1, the action D of sole when kicking one's legs
2, the action of sole when receiving leg
G
1, pedal water track G
2, the path of motion of sole when receiving leg
Specific embodiments
Below in conjunction with accompanying drawing and embodiment technical scheme of the present invention is further specified.
Consult Fig. 1, the present invention is a kind of based on propulsive mechanism in the imitative breast-stroke water of connecting rod mechanism, comprising: body 1, body 1 can be mobile things in the water such as any ship that need advance, submarine, toy.Body only need provide two jointed shafts and two driving rotating shafts can drive described propulsive mechanism and realize the motion of self.
This propulsive mechanism is respectively to be fixed with a cover symmetrical link mechanism in body 1 both sides.Every cover connecting rod mechanism specifically comprises following structure: thigh 3 and shank connecting rod 2 are hinged on the body 1; The other end of this shank connecting rod 2 and shank 4 are hinged; The other end of this thigh 3 and shank 4 are hinged, and this hinge-point is near the hinge-point of shank connecting rod 2 with shank 4; Backguy 5, one end is hinged on the thigh 3, and the other end links to each other with sole 7 roots, and point of connection is in the inboard (near a side of body 1) of shank 4 with sole 7 hinge-points, whole backguy 5 is at medial leg, and this backguy 5 constitutes parallelogram linkage with thigh 3, shank 4 and sole 7; Turn over pin bungee 6, one ends and be fixed on the shank 4, the other end links to each other with the instep place of sole 7, and point of connection is in the outside of shank 4 with sole 7 hinge-points; Sole 7 (as shown in Figure 2), centre are hinged on an end of shank 4, and heel place and backguy 5 are hinged, instep with turn over pin bungee 6 and be connected.
Wherein, described shank 4 is used for fixing the position of turning over pin bungee 6, is arranged to zig-zag, in order to regulate the pulling force of bungee.
Wherein, backguy 5 also can be replaced by any parts of monodisplacement constraint that can provide such as the certain expansion links of extreme length.
Wherein, bungee 6 also can be by extension spring, and perhaps torsion spring etc. can provide the parts of certain countermoment to replace.
Consult Fig. 3, when the thigh 3 of body 1 both sides rotates respectively simultaneously, the trajectory of sole 7 motions and attitude are as shown in the figure, when just having imitated breaststroke, such trajectory " pedals " action with " folder ", and in the process of " pedaling " and " folder ", the direction of sole 7 and trajectory keep near normal, have guaranteed that so not only 7 pairs of water areas of sole are bigger in the process of kicking one's legs, and can be strong when " folder " water is extruded backward, thereby advance body efficiently forward.The time find also that in experiment at the latter end of kicking one's legs, just when " folder water ", whole bio-robot has significantly accelerated movement forward.
Consult Fig. 4, the ingenious part of design-calculated of the present invention just is to utilize linkage component---the backguy 5 that the monodisplacement constraint can be provided, not only realized the control of 7 pairs of water directions of sole in " pedaling ", " folder " process, and realized that sole 7 directions are different with " folder " process with " pedaling " in the receipts leg process purpose is (because if be identical, body then can one advances to move back, the original place before).As shown in Figure 4, in receiving the leg process, because backguy 5 can not provide thrust, the effect that sole 7 is subjected to current can lean against on the shank 4, thereby with shank 4 keeping parallelisms, such angle makes whole propulsive mechanism not only not produce resistance when receiving leg, and can produce thrust forward equally.At the latter end of receiving leg, because the form of the path of motion of sole 7, the effect of current can make direction and its path of motion line parallel of sole 7, so also just gets ready for the last pin that turns over, after receiving the leg release, turn over pin bungee 6 and can get back to initial position by drive sole 7.
In addition, when described propulsive mechanism has only one side to move, can offer 1 one less moments of body in the kick stage, receiving the bigger moment that the leg stage can provide a direction, in the process that single leg is pedaled, received, can offer 1 one approximate pure moments of body like this, realize that the no-radius of body 1 is turned.
Claims (4)
1. one kind based on propulsive mechanism in the imitative breast-stroke water of connecting rod mechanism, comprises body, it is characterized in that: this propulsive mechanism is respectively to be fixed with a cover symmetrical link mechanism in the body both sides; Every cover connecting rod mechanism specifically comprises following structure: thigh and shank rod hinge connection are on body; The other end and the shank of this little leg connecting rod are hinged; The other end and the shank of this thigh are hinged, and this hinge-point is near the hinge-point of little leg connecting rod and shank; Backguy, an end is hinged on the thigh, and the other end links to each other with the sole root, and point of connection is in the inboard of shank and sole hinge-point, and whole backguy is at medial leg, and this backguy constitutes parallelogram linkage with thigh, shank and sole; Turn over the pin bungee, an end is fixed on the shank, and the other end links to each other with the instep place of sole, and point of connection is in the outside of shank and sole hinge-point; Sole, centre are hinged on an end of shank, and heel place and backguy are hinged, instep with turn over the pin bungee and be connected.
2. according to claim 1 it is characterized in that: described shank is used for fixing the position of turning over the pin bungee, is arranged to zig-zag based on propulsive mechanism in the imitative breast-stroke water of connecting rod mechanism, in order to regulate the pulling force of bungee.
3. according to claim 1 based on propulsive mechanism in the imitative breast-stroke water of connecting rod mechanism, it is characterized in that: described bungee is replaceable to be extension spring or torsion spring.
4. according to claim 1 based on propulsive mechanism in the imitative breast-stroke water of connecting rod mechanism, it is characterized in that: described backguy can be replaced by the certain expansion link of extreme length.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010149127A CN101817398A (en) | 2010-04-15 | 2010-04-15 | Breaststroke underwater advancing mechanism based on link mechanisms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010149127A CN101817398A (en) | 2010-04-15 | 2010-04-15 | Breaststroke underwater advancing mechanism based on link mechanisms |
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| Publication Number | Publication Date |
|---|---|
| CN101817398A true CN101817398A (en) | 2010-09-01 |
Family
ID=42652710
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201010149127A Pending CN101817398A (en) | 2010-04-15 | 2010-04-15 | Breaststroke underwater advancing mechanism based on link mechanisms |
Country Status (1)
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|---|---|
| CN (1) | CN101817398A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102582806A (en) * | 2011-12-19 | 2012-07-18 | 北京林业大学 | Imitation frog water clamping propulsion robot for wet land underwater detection |
| CN103183122A (en) * | 2013-03-11 | 2013-07-03 | 中交二航局第三工程有限公司 | Frog type ship propulsion device |
| CN107618645A (en) * | 2017-10-21 | 2018-01-23 | 长沙展朔轩兴信息科技有限公司 | Imitative frog folder water towards wetland undersea detection promotes robot |
| CN109094762A (en) * | 2018-07-25 | 2018-12-28 | 哈尔滨工业大学 | A kind of imitative frog travelling leg using drive lacking series connection software air bending module |
| CN111251325A (en) * | 2020-04-16 | 2020-06-09 | 王源浩 | Underwater bionic robot |
| CN108748128B (en) * | 2018-06-14 | 2021-04-09 | 哈尔滨工业大学 | Frog-imitating robot hip joint |
| CN113071274A (en) * | 2021-04-23 | 2021-07-06 | 南京理工大学 | Frog-imitating amphibious robot based on hybrid mechanism |
| CN113734396A (en) * | 2021-08-29 | 2021-12-03 | 北京工业大学 | Bionic rana nigromaculata swimming robot |
Citations (8)
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|---|---|---|---|---|
| NL8700535A (en) * | 1987-03-05 | 1988-10-03 | Meijer Sjoerd | Sailing boat with auxiliary motor drive - has retractable propeller in enclosing stern casing |
| US5100352A (en) * | 1990-02-10 | 1992-03-31 | Dunstan Harry I | Apparatus for the propulsion of boats |
| CN1363789A (en) * | 2001-01-01 | 2002-08-14 | 熊介良 | 'Menneimasi pendulum arm', accurate linear driver unit and clutch |
| CN2509078Y (en) * | 2001-11-19 | 2002-09-04 | 由鹏森 | Overwater deformation play buoyant device |
| CN1373308A (en) * | 2001-01-01 | 2002-10-09 | 熊介良 | 'Menneimasi pendulum arm' and flapping-wing propeller |
| CN1378948A (en) * | 2001-12-30 | 2002-11-13 | 熊介良 | 'Menneimasi pendulum arm' and dual-paddle mechanism |
| CN2806309Y (en) * | 2005-06-29 | 2006-08-16 | 练仰贤 | Fish-shape pedalo |
| CN101585404A (en) * | 2008-05-20 | 2009-11-25 | 许允夫 | Breaststroke underwater propulsion system |
-
2010
- 2010-04-15 CN CN201010149127A patent/CN101817398A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NL8700535A (en) * | 1987-03-05 | 1988-10-03 | Meijer Sjoerd | Sailing boat with auxiliary motor drive - has retractable propeller in enclosing stern casing |
| US5100352A (en) * | 1990-02-10 | 1992-03-31 | Dunstan Harry I | Apparatus for the propulsion of boats |
| CN1363789A (en) * | 2001-01-01 | 2002-08-14 | 熊介良 | 'Menneimasi pendulum arm', accurate linear driver unit and clutch |
| CN1373308A (en) * | 2001-01-01 | 2002-10-09 | 熊介良 | 'Menneimasi pendulum arm' and flapping-wing propeller |
| CN2509078Y (en) * | 2001-11-19 | 2002-09-04 | 由鹏森 | Overwater deformation play buoyant device |
| CN1378948A (en) * | 2001-12-30 | 2002-11-13 | 熊介良 | 'Menneimasi pendulum arm' and dual-paddle mechanism |
| CN2806309Y (en) * | 2005-06-29 | 2006-08-16 | 练仰贤 | Fish-shape pedalo |
| CN101585404A (en) * | 2008-05-20 | 2009-11-25 | 许允夫 | Breaststroke underwater propulsion system |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102582806A (en) * | 2011-12-19 | 2012-07-18 | 北京林业大学 | Imitation frog water clamping propulsion robot for wet land underwater detection |
| CN102582806B (en) * | 2011-12-19 | 2014-04-09 | 北京林业大学 | Imitation frog water clamping propulsion robot for wet land underwater detection |
| CN103183122A (en) * | 2013-03-11 | 2013-07-03 | 中交二航局第三工程有限公司 | Frog type ship propulsion device |
| CN103183122B (en) * | 2013-03-11 | 2015-08-19 | 中交二航局第三工程有限公司 | Frog type ship propulsion device |
| CN107618645A (en) * | 2017-10-21 | 2018-01-23 | 长沙展朔轩兴信息科技有限公司 | Imitative frog folder water towards wetland undersea detection promotes robot |
| CN108748128B (en) * | 2018-06-14 | 2021-04-09 | 哈尔滨工业大学 | Frog-imitating robot hip joint |
| CN109094762A (en) * | 2018-07-25 | 2018-12-28 | 哈尔滨工业大学 | A kind of imitative frog travelling leg using drive lacking series connection software air bending module |
| CN111251325A (en) * | 2020-04-16 | 2020-06-09 | 王源浩 | Underwater bionic robot |
| CN113071274A (en) * | 2021-04-23 | 2021-07-06 | 南京理工大学 | Frog-imitating amphibious robot based on hybrid mechanism |
| CN113734396A (en) * | 2021-08-29 | 2021-12-03 | 北京工业大学 | Bionic rana nigromaculata swimming robot |
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Application publication date: 20100901 |