CN102963515A - Line drive flexible fishtail-like underwater propulsion unit and bionic mechanism thereof - Google Patents
Line drive flexible fishtail-like underwater propulsion unit and bionic mechanism thereof Download PDFInfo
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- CN102963515A CN102963515A CN2012105078272A CN201210507827A CN102963515A CN 102963515 A CN102963515 A CN 102963515A CN 2012105078272 A CN2012105078272 A CN 2012105078272A CN 201210507827 A CN201210507827 A CN 201210507827A CN 102963515 A CN102963515 A CN 102963515A
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Abstract
The invention discloses a line drive flexible fishtail-like underwater propulsion unit and a bionic mechanism thereof. The propulsion unit comprises a flexible frame, a fishtail-shaped clamping plate, double-hole vertebral plates, single-hole vertebral plates and drive wires. The flexible frame sequentially penetrates through the double-hole vertebral plates and the single-hole vertebral plates and clamps and fixes the double-hole vertebral plates and the single-hole vertebral plates on the fishtail-shaped clamping plate; the double-hole vertebral plates are positioned at the first half section of the fishtail-shaped clamping plate; each of two sides of each double-hole vertebral plate is provided with two wire holes; the single-hole vertebral plates are positioned at the second half section of the fishtail-shaped clamping plate; and each of two sides of each single-hole vertebral plate is respectively provided with one wire hole. The single-hole vertebral plates and the double-hole vertebral plates, which are perpendicularly inserted into the fishtail-shaped clamping plate at transverse intervals are connected in series by the flexible frame, the double-hole vertebral plates are controlled by four drive wires and the single-hole vertebral plates are controlled by two outside drive wires, so that the line drive flexible fishtail-like underwater propulsion unit not only can simulate the C-shaped swing formed by movement of carangidae fishes, but also can simulate the S-shaped fluctuation formed by movement of eels; a net lateral force can be generated by controlling the tightening quantity of the drive wires so as to realize the heading deflection and more really simulate the movement of fishes; and the line drive flexible fishtail-like underwater propulsion unit has a simple and compact structure, is easy to control and has high propulsion efficiency.
Description
Technical field
The bio-mechanism field that the present invention relates in water, use, but in particular a kind of real simulation fish swimming and line simple in structure, that propulsion coefficient is high drive flexible imitative fish tail underwater propulsion unit and bio-mechanism thereof.
Background technology
Bio-mechanism refers to the simulation structural feature of biological motion and function and the mechanism that makes.Along with the increase of the mankind at the water surface and underwater movement, device and the mechanism of imitation fish swimming are more and more, for example the fish tail propelling unit.Compare with traditional screw propeller driving, imitative fish tail propelling unit produces thrust by the reciprocally swinging of fish tail, and its hunting frequency is low, and noise is little, and propulsion coefficient is high, not only can realize advancing and can also control direction.
And during Fish Swimming Traces, more typical two kinds of mode of motion comprise the swing of Scad section class fish tail and the fluctuation of eel shape class fish body.But existing imitative fish tail underwater propulsion unit can't the real simulation fish swimming when actuator is few, actuator system architecture of many times again complicated, the control difficulty is larger.
For example, commonly used imitative fish tail mechanism utilizes the traditional mechanisms such as crank block or eccentric wheel that rotatablely moving of motor is converted into crank motion, thus the reciprocally swinging of simulation fish tail.But this class propelling unit often only can realize a swing, can not the real simulation fish swimming.
And for example, the machine fish that a plurality of motors of available technology adopting are in series, control the motion of skeleton by the coordinated movement of various economic factors of these motors, but each joint needs an independent actuator, its driver train and control difficulty are more complicated with the increase of joint number, simultaneously, the friction in each joint has also consumed large energy in this class design.
For another example, the bionic machine fish that adopts charge valve, air bag and flexible joint etc. to make drives flexible joint by charge valve and swings, and utilizes air bag to carry out lifting, but such design needs joint of a driver control equally.
And, adopt in addition flexible structure to serve as fish tail in the prior art, loosening fish tail both sides steel wire by the motor coordination tension makes the fish tail reciprocally swinging realize the bionic machine fish that promotes, but the steel wire in such design is attached to the both sides of fish tail by spacing guide hole, afterbody has eddy effect, the required pulling force of motor strengthens, and is difficult to realize propelled at high velocity.
Therefore, prior art still haves much room for improvement and develops.
Summary of the invention
For solving the problems of the technologies described above, the invention provides a kind of line and drive flexible imitative fish tail underwater propulsion unit, comparablely simulate more truly fish swimming, and simple in structure, propulsion coefficient is high.
Simultaneously, the present invention also provide a kind of and use that number of drives is few, compact conformation, the bio-mechanism that is easy to control.
Technical scheme of the present invention is as follows: a kind of line drives flexible imitative fish tail underwater propulsion unit, wherein: this propelling unit comprises flexible back bone, fish tail type clamp, diplopore vertebra sheet, single hole vertebra sheet and drive wire, laterally be arranged at intervals with the vertebra film perforation of adaptive described diplopore vertebra sheet and the vertical insertion of single hole vertebra sheet on the described fish tail type clamp, described diplopore vertebra sheet is positioned at the first half section of described fish tail type clamp, described single hole vertebra sheet is positioned at the second half section of described fish tail type clamp, described flexible back bone passes described diplopore vertebra sheet and single hole vertebra sheet successively, and it is fixed on described fish tail type clamp, the both sides of described diplopore vertebra sheet are respectively arranged with the line hole that two adaptive described drive wires pass, and the both sides of described single hole vertebra sheet are respectively arranged with the line hole that an adaptive described drive wire passes.
Described line drives flexible imitative fish tail underwater propulsion unit, wherein: the length of a rear joint diplopore vertebra sheet is successively less than the length of last joint diplopore vertebra sheet, the length of a rear joint single hole vertebra sheet is successively less than the length of last joint single hole vertebra sheet, and the length of first segment single hole vertebra sheet is less than the length of final section diplopore vertebra sheet.
Described line drives flexible imitative fish tail underwater propulsion unit, wherein: the distance between the rear joint out conductor hole, diplopore vertebra sheet both sides is successively less than the distance between the out conductor hole, last joint diplopore vertebra sheet both sides, distance between the rear joint inside cord hole, diplopore vertebra sheet both sides is successively less than the distance between the inside cord hole, last joint diplopore vertebra sheet both sides, distance between the rear joint hole, single hole vertebra sheet two sideline is successively less than the distance between the hole, last joint single hole vertebra sheet two sideline, and the distance between the hole, first segment single hole vertebra sheet two sideline is less than the distance between the out conductor hole, final section diplopore vertebra sheet both sides.
Described line drives flexible imitative fish tail underwater propulsion unit, wherein: the up and down both sides of described diplopore vertebra sheet and single hole vertebra sheet are provided with the boss of protuberate, and the center of described diplopore vertebra sheet and single hole vertebra sheet is provided with the skeleton grooves that adaptive described flexible back bone passes.
Described line drives flexible imitative fish tail underwater propulsion unit, wherein: skeleton grooves and boss on described diplopore vertebra sheet and the single hole vertebra sheet all depart from left and right sides line of centers setting, horizontal throw between described skeleton grooves and the boss equals the thickness of described fish tail type clamp, and the horizontal throw between the medial surface of described boss and the left and right sides line of centers equals 1/2nd of described fish tail type clamp thickness.
Described line drives flexible imitative fish tail underwater propulsion unit, and wherein: the equal ovalize sheet of described diplopore vertebra sheet and single hole vertebra sheet, the line hole on described diplopore vertebra sheet and the single hole vertebra sheet all are symmetricly set on the major axis of ellipse as axis of symmetry take the minor axis of ellipse.
Described line drives flexible imitative fish tail underwater propulsion unit, wherein: the vertebra film perforation on the described fish tail type clamp uniformly-spaced be arranged in parallel along the length direction level of this fish tail type clamp, the length of described vertebra film perforation is suitable with the width of corresponding diplopore vertebra sheet or single hole vertebra sheet, the width of described vertebra film perforation is suitable with the thickness of corresponding diplopore vertebra sheet or single hole vertebra sheet, and the length direction of the length direction of described vertebra film perforation and described fish tail type clamp is perpendicular.
Described line drives flexible imitative fish tail underwater propulsion unit, wherein: the drive wire that passes successively inside cord hole, described diplopore vertebra sheet both sides is set to be wrapped in same drive wire on the actuator, and the drive wire that passes successively described out conductor hole, diplopore vertebra sheet both sides and hole, described single hole vertebra sheet two sideline is set to be wrapped in same drive wire on another actuator.
A kind of bio-mechanism comprises the propelling unit that is arranged on afterbody, wherein: this propelling unit be set to above-mentioned in each described line drive flexible imitative fish tail underwater propulsion unit.
Described bio-mechanism, wherein: this bio-mechanism comprises bionic machine fish.
Line provided by the present invention drives flexible imitative fish tail underwater propulsion unit and bio-mechanism thereof, vertically insert diplopore vertebra sheet and the single hole vertebra sheet of fish tail type clamp owing to adopted flexible back bone series connection lateral separation, be positioned at the diplopore vertebra sheet of first half section by four drive wire controls, and be positioned at the single hole vertebra sheet of second half section by two drive wires control in the outside, the C type that not only can simulate when making Scad section class and moving about swings, and the S type fluctuation shape can simulate the eel class and move about the time, also can give birth to the deflection that net lateral force is realized the course by the volume production of tightening up of control drive wire, simulated comparatively truly fish swimming, and simple and compact for structure, be easy to control, propulsion coefficient is also high.
Description of drawings
Fig. 1 is that the flexible imitative fish tail underwater propulsion unit of line driving of the present invention is in the block diagram under the linear state.
Fig. 2 is that the flexible imitative fish tail underwater propulsion unit drive wire of line driving of the present invention is connected planar view with the actuator rotating disk.
Fig. 3 is the planar view that line of the present invention drives the flexible imitative used fish tail type of fish tail underwater propulsion unit clamp.
Fig. 4 is the stereo amplification figure that line of the present invention drives the flexible imitative used diplopore vertebra of fish tail underwater propulsion unit sheet.
Fig. 5 is the stereo amplification figure that line of the present invention drives the flexible imitative used single hole vertebra of fish tail underwater propulsion unit sheet.
Fig. 6 is the cutaway view that is connected that line of the present invention drives the flexible imitative used diplopore vertebra of fish tail underwater propulsion unit sheet and fish tail type clamp.
Fig. 7 is the local B place enlarged drawing that line of the present invention drives flexible imitative fish tail underwater propulsion unit Fig. 6.
Fig. 8 is that the flexible imitative fish tail underwater propulsion unit of line driving of the present invention is in the birds-eye view under the linear state.
Fig. 9 is that the flexible imitative fish tail underwater propulsion unit of line driving of the present invention is in the birds-eye view under the C shape case of bending.
Figure 10 is that the flexible imitative fish tail underwater propulsion unit of line driving of the present invention is in the birds-eye view under the C shape case of bending.
Figure 11 is that the flexible imitative fish tail underwater propulsion unit of line driving of the present invention is in the birds-eye view under the S shape case of bending.
The specific embodiment
Below with reference to accompanying drawing, the specific embodiment of the present invention and embodiment are described in detail, described specific embodiment is not for limiting the specific embodiment of the present invention only in order to explain the present invention.
As shown in Figure 1, Fig. 1 is that the flexible imitative fish tail underwater propulsion unit of line driving of the present invention is in the block diagram under the linear state, and this line drives the flexible fish tail underwater propulsion unit of imitating mainly by a flexible back bone 1, fish tail type clamp 2, more piece diplopore vertebra sheet 3-1,3-2,3-3,3-4,3-5,3-6,3-7,3-8,3-9,3-10, more piece single hole vertebra sheet 4-1,4-2,4-3,4-4,4-5,4-6,4-7,4-8,4-9,4-10 and four drive wire 5-1,5-2,6-1,6-2 forms, be provided with adaptive described diplopore vertebra sheet 3-1 on the described fish tail type clamp 1,3-2,3-3,3-4,3-5,3-6,3-7,3-8,3-9,3-10 and single hole vertebra sheet 4-1,4-2,4-3,4-4,4-5,4-6,4-7,4-8,4-9, the vertical vertebra film perforation that inserts of 4-10, described diplopore vertebra sheet 3-1,3-2,3-3,3-4,3-5,3-6,3-7,3-8,3-9,3-10 inserts the first half of described fish tail type clamp 1, described single hole vertebra sheet 4-1,4-2,4-3,4-4,4-5,4-6,4-7,4-8,4-9,4-10 insert the latter half of described fish tail type clamp 1, described diplopore vertebra sheet 3-1,3-2,3-3,3-4,3-5,3-6,3-7,3-8,3-9,3-10 and single hole vertebra sheet 4-1,4-2,4-3,4-4,4-5,4-6,4-7,4-8,4-9 is respectively arranged with the skeleton grooves that adaptive described flexible back bone 1 passes on the 4-10, described flexible back bone 1 passes described diplopore vertebra sheet 3-1,3-2 successively, 3-3,3-4,3-5,3-6,3-7,3-8,3-9,3-10 and described single hole vertebra sheet 4-1,4-2,4-3,4-4,4-5,4-6,4-7,4-8,4-9, the skeleton grooves on the 4-10 fixes it on described fish tail type clamp 2.
Described diplopore vertebra sheet 3-1,3-2,3-3,3-4,3-5,3-6,3-7,3-8,3-9, the right and left of 3-10 are respectively arranged with two line holes, described single hole vertebra sheet 4-1,4-2,4-3,4-4,4-5,4-6,4-7,4-8,4-9, the right and left of 4-10 are respectively arranged with a line hole, described drive wire 5-1, the tail end of 5-2 pass respectively described diplopore vertebra sheet 3-1,3-2,3-3 successively, 3-4,3-5,3-6,3-7,3-8,3-9, line hole and the described single hole vertebra sheet 4-1 in the 3-10 outside, 4-2,4-3,4-4,4-5,4-6,4-7,4-8, the line hole of 4-9 both sides is connected on the final section single hole vertebra sheet 4-10, and described drive wire 6-1,6-2 pass respectively described diplopore vertebra sheet 3-1 successively, 3-2,3-3,3-4,3-5,3-6,3-7,3-8, the line hole of 3-9 inboard is connected on the final section diplopore vertebra sheet 3-10, and described drive wire 5-1 and 5-2 (or 6-1 and 6-2) are used for being connected to the actuator that can spur back and forth this drive wire.
In conjunction with shown in Figure 2, Fig. 2 is that the flexible imitative fish tail underwater propulsion unit drive wire of line driving of the present invention is connected planar view with the actuator rotating disk, and described drive wire 5-1 and 5-2 can be set to same drive wire that is socketed on the actuator rotating disk 7; Same, also can described drive wire 6-1 and 6-2 be set to same drive wire that is socketed on another actuator rotating disk.
In conjunction with shown in Figure 3, Fig. 3 is the planar view that line of the present invention drives the flexible imitative used fish tail type of fish tail underwater propulsion unit clamp, and the profile of described fish tail type clamp 2 is similar to fish tail, and it is crescent that afterbody is, uniformly-spaced be arranged with a plurality of vertebra film perforation 2-1 in parallel along its length direction level on the described fish tail type clamp 2, be used for respectively and the vertebra of diplopore described in Fig. 1 sheet 3-1,3-2,3-3,3-4,3-5,3-6,3-7,3-8,3-9,3-10 and described single hole vertebra sheet 4-1,4-2,4-3,4-4,4-5,4-6,4-7,4-8,4-9, the perpendicular insertion engaging of 4-10, the length of this vertebra film perforation 2-1 and corresponding diplopore vertebra sheet 3-1,3-2,3-3,3-4,3-5,3-6,3-7,3-8,3-9,3-10 or single hole vertebra sheet 4-1,4-2,4-3,4-4,4-5,4-6,4-7,4-8,4-9, the width of 4-10 is suitable, the width of this vertebra film perforation 2-1 and corresponding diplopore vertebra sheet 3-1,3-2,3-3,3-4,3-5,3-6,3-7,3-8,3-9,3-10 or single hole vertebra sheet 4-1,4-2,4-3,4-4,4-5,4-6,4-7,4-8,4-9, the thickness of 4-10 is suitable, and the length direction of this vertebra film perforation 2-1 and the length direction of described fish tail type clamp 2 are perpendicular.
In conjunction with shown in Figure 4, Fig. 4 is the stereo amplification figure that line of the present invention drives the flexible imitative used diplopore vertebra of fish tail underwater propulsion unit sheet, concrete, take first segment diplopore vertebra sheet 3-1 as example, but the integral body of described diplopore vertebra sheet 3-1 is the ovalize sheet in shape, and aforementioned two line hole 3-1-1 and the 3-1-2 that is positioned on described diplopore vertebra sheet 3-1 the right and left is symmetricly set on this oval major axis take this oval minor axis as axis of symmetry; The aforementioned skeleton grooves 3-1-3 that is positioned on the described diplopore vertebra sheet 3-1 is arranged on the midway location of described diplopore vertebra sheet 3-1 along this oval short-axis direction, described diplopore vertebra sheet 3-1 up and down also is respectively arranged with the boss 3-1-4 that exceeds sidewall surfaces on the sidewall on both sides, is used for cooperating the flexible back bone that inserts described skeleton grooves 3-1-3 that this diplopore vertebra sheet 3-1 is fixed on fish tail type clamp in the corresponding vertebra film perforation.
In conjunction with shown in Figure 5, Fig. 5 is the stereo amplification figure that line of the present invention drives the flexible imitative used single hole vertebra of fish tail underwater propulsion unit sheet, concrete, take first segment single hole vertebra sheet 4-1 as example, but the integral body of described single hole vertebra sheet 4-1 is also ovalize sheet in shape, and the aforementioned single line hole 4-1-1 that is positioned on described single hole vertebra sheet 4-1 the right and left is symmetricly set on the oval major axis take the minor axis of ellipse as axis of symmetry; The aforementioned skeleton grooves 4-1-2 that is positioned on the described single hole vertebra sheet 4-1 is arranged on the midway location place of described single hole vertebra sheet 4-1 along this oval short-axis direction, described single hole vertebra sheet 4-1 up and down also is respectively arranged with the boss 4-1-3 that exceeds sidewall surfaces on the sidewall on both sides, is used for cooperating the flexible back bone that inserts described skeleton grooves 4-1-2 that this single hole vertebra sheet 4-1 is fixed on fish tail type clamp in the corresponding vertebra film perforation.
In conjunction with shown in Figure 6, Fig. 6 is the cutaway view that is connected that line of the present invention drives the flexible imitative used diplopore vertebra of fish tail underwater propulsion unit sheet and fish tail type clamp, still take first segment diplopore vertebra sheet 3-1 as example, described diplopore vertebra sheet 3-1 is inserted on the described fish tail type clamp 2 in the corresponding vertebra film perforation, and with in the skeleton grooves on the described diplopore vertebra sheet 3-1 of described flexible back bone 1 insertion, by the boss on described flexible back bone 1 and the described diplopore vertebra sheet 3-1 described diplopore vertebra sheet 3-1 is fixed on described fish tail type clamp 2.Described single hole vertebra sheet also fixes in this way, does not repeat them here.
Concrete, in conjunction with shown in Figure 7, Fig. 7 is the local B place enlarged drawing that line of the present invention drives flexible imitative fish tail underwater propulsion unit Fig. 6, be in for the mid-depth that guarantees described fish tail type clamp 2 on the ellipse short shaft of described diplopore vertebra sheet 3-1, skeleton grooves 3-1-3 on the described diplopore vertebra sheet 3-1 and boss 3-1-3 all depart from the left and right sides line of centers setting of described diplopore vertebra sheet 3-1, horizontal throw between described skeleton grooves 3-1-3 and the boss 3-1-3 equals the thickness of described fish tail type clamp 2, and the horizontal throw between described boss 3-1-3 medial surface and the described diplopore vertebra sheet 3-1 left and right sides line of centers (being ellipse short shaft) equals 1/2nd of described fish tail type clamp 2 thickness, thus after assembling, boss 3-1-3 medial surface on the described diplopore vertebra sheet 3-1 contacts with a side of described fish tail type clamp 2, and the opposite side of described fish tail type clamp 2 contacts with the medial surface of described flexible back bone 1.Described single hole vertebra sheet also fixes in this way, does not repeat them here.
Drive in the preferred implementation of flexible imitative fish tail underwater propulsion unit at line of the present invention, as shown in Figure 8, Fig. 8 is that the flexible imitative fish tail underwater propulsion unit of line driving of the present invention is in the birds-eye view under the linear state, all diplopore vertebra sheet 3-1,3-2,3-3,3-4,3-5,3-6,3-7,3-8,3-9,3-10 and single hole vertebra sheet 4-1,4-2,4-3,4-4,4-5,4-6,4-7,4-8,4-9, the lateral separation is vertical successively inserts on the described fish tail type clamp 2 in the corresponding vertebra film perforation for 4-10, is inserting described diplopore vertebra sheet 3-1,3-2,3-3,3-4,3-5,3-6,3-7,3-8,3-9,3-10 and described single hole vertebra sheet 4-1,4-2,4-3,4-4,4-5,4-6,4-7,4-8,4-9 can cooperate described flexible back bone single from these successively in the time of 4-10, pass in the skeleton grooves on the diplopore vertebra sheet, single to cooperate these, boss on the diplopore vertebra sheet fixes it on described fish tail type clamp 2.
Be preferably, the length than last joint diplopore vertebra sheet is little successively for the length (being the size of transverse direction) of a rear joint diplopore vertebra sheet, improves thus the alerting ability of propelling unit first half section; Be symmetricly set on the distance between the out conductor hole, described diplopore vertebra sheet both sides, and be symmetricly set on all corresponding shortenings of distance between the inside cord hole, described diplopore vertebra sheet both sides, described drive wire 5-1 thus, the first half section of 5-2 and described drive wire 6-1,6-2 distributes in described fish tail type clamp 2 bilateral symmetry, and with described fish tail type clamp 2 between become an acute angle, loosen driving fish tail skeleton first half section and deform by tightening up of drive wire, so play advance and controlling party to effect.
Be preferably, the length than last joint single hole vertebra sheet is little successively for the length (being the size of transverse direction) of a rear joint single hole vertebra sheet, and, the length of first segment single hole vertebra sheet (being the size of transverse direction) less than the length of final section diplopore vertebra sheet, improves the alerting ability of propelling unit second half section thus; Be symmetricly set on the also corresponding shortening of distance between the hole, described single hole vertebra sheet two sideline, be symmetricly set on distance between the hole, first segment single hole vertebra sheet two sideline less than the distance that is symmetricly set between the out conductor hole, final section diplopore vertebra sheet both sides, described drive wire 5-1 thus, the second half section of 5-2 distributes in described fish tail type clamp 2 bilateral symmetry, and with described fish tail type clamp 2 between become an acute angle, loosen to drive the fish tail skeleton second half section and deform by tightening up of drive wire, so play advance and controlling party to effect.
In conjunction with as shown in Figure 9, Fig. 9 is that line of the present invention drives flexible imitative fish tail underwater propulsion unit and is in birds-eye view under the C shape case of bending, and when its rotating disk 7 left-hand revolution of the driver drives among Fig. 2, described drive wire 5-1 is relaxed, and described drive wire 5-2 is tightened up.Described drive wire 5-1,5-2 are a pair of, and described drive wire 6-1,6-2 are a pair of, and every a pair of drive wire can be finished folding and unfolding by one or two actuator.
In distortion example shown in Figure 9, described drive wire 5-2,6-2 is all tightened up, described drive wire 5-1,6-1 is relaxed, and the degree of tightening up of wherein said drive wire 5-2 is tightened up degree greater than described drive wire 6-2; The degree of relaxation of described drive wire 5-1 is greater than described drive wire 6-1 degree of relaxation.
In conjunction with as shown in figure 10, Figure 10 is that the flexible imitative fish tail underwater propulsion unit of line driving of the present invention is in the birds-eye view under the C shape case of bending, folding and unfolding along with drive wire, described flexible back bone 1 and fish tail type clamp 2 occur bending and deformation under the pulling of drive wire, deformation direction is that 6-2 tightens up a side towards described drive wire 5-2.Under the crank motion of actuator, the drive wire of flexible back bone 1 both sides alternately loosens and tightens up, and drives flexible back bone 1 and fish tail type clamp 2 cyclic bendings and swings the swing that produces thus Scad section class fish tail.
In conjunction with as shown in figure 11, Figure 11 is that the flexible imitative fish tail underwater propulsion unit of line driving of the present invention is in the birds-eye view under the S shape case of bending, described drive wire 5-2 tightens up, drive wire 5-1 loosens, under the drive of diplopore vertebra sheet group 3-X, the first half section of described flexible back bone 1 and fish tail type clamp 2 is to described drive wire 5-2 curving.Sweep is the interior first half section of distribution limit of diplopore vertebra sheet group 3-X, and outside this scope, the second half section state of described flexible back bone 1 and fish tail type clamp 2 is not subjected to drive wire 5-1, the 5-2 impact.
Meanwhile, described drive wire 6-1,6-2 carry out folding and unfolding on this basis, and its length variations is: in the first half segment limit that diplopore vertebra sheet group 3-X distributes, the first half segment length of the elongation of the first half segment length of described drive wire 6-1, drive wire 6-2 shortens; In the second half section scope that described single hole vertebra sheet group 4-X distributes, the second half section length elongation of the second half section contraction in length of described drive wire 6-1, drive wire 6-2.
When described drive wire 6-1 length when elongation in described flexible back bone 1 scope, loosen drive wire 6-1 by actuator; When described drive wire 6-1 during contraction in length, tightens up described drive wire 6-1 by actuator in described flexible back bone 1 scope.The folding and unfolding of described drive wire 6-2 is opposite with described drive wire 6-1.
In the second half section scope that described single hole vertebra sheet group 4-X distributes, described flexible back bone 1 and fish tail type clamp 2 are crooked to the direction of described drive wire 6-1 contraction in length.Described flexible back bone 1 and fish tail type clamp 2 produce a S shape under the drive wire pulling compound bending.Under the actuator crank motion, the drive wire of described flexible back bone 1 both sides alternately loosens and tightens up, and drives the distortion of flexible back bone 1 and fish tail type clamp 2 cyclic bendings, the fluctuation that produces thus eel shape class fish body.
In addition, line drives flexible imitative fish tail underwater propulsion unit and not only can for the bio-mechanisms such as aircraft in the water provide thrust, can also control its sense of motion.The specific embodiment is: when drive wire the amount of tightening up when loosening of alternately tightening up in fish tail type clamp both sides equates, the fish tail skeleton is made plane symmetry and is swung, in an oscillation period, the net lateral force that propelling unit produces is zero, and the bio-mechanism such as aircraft moves along a straight line in the water; And the amount of tightening up when clamp both sides drive wire alternately loosens is when unequal, the swing planar of fish tail skeleton is asymmetric, in an oscillation period, the net lateral force that propelling unit produces is towards the little side of the amount of tightening up, and this side force promoted in water the bio-mechanism such as aircraft and turned to the large lateral deviation of tight amount this moment.
Should be understood that; the above only is preferred embodiment of the present invention; be not sufficient to limit technical scheme of the present invention; for those of ordinary skills; within the spirit and principles in the present invention; can be increased and decreased according to the above description, replacement, conversion or improvement, and all these increases and decreases, replacement, conversion or improve after technical scheme, all should belong to the protection domain of claims of the present invention.
Claims (10)
1. a line drives flexible imitative fish tail underwater propulsion unit, it is characterized in that: this propelling unit comprises flexible back bone, fish tail type clamp, diplopore vertebra sheet, single hole vertebra sheet and drive wire, laterally be arranged at intervals with the vertebra film perforation of adaptive described diplopore vertebra sheet and the vertical insertion of single hole vertebra sheet on the described fish tail type clamp, described diplopore vertebra sheet is positioned at the first half section of described fish tail type clamp, described single hole vertebra sheet is positioned at the second half section of described fish tail type clamp, described flexible back bone passes described diplopore vertebra sheet and single hole vertebra sheet successively, and it is fixed on described fish tail type clamp, the both sides of described diplopore vertebra sheet are respectively arranged with the line hole that two adaptive described drive wires pass, and the both sides of described single hole vertebra sheet are respectively arranged with the line hole that an adaptive described drive wire passes.
2. line according to claim 1 drives flexible imitative fish tail underwater propulsion unit, it is characterized in that: the length of a rear joint diplopore vertebra sheet is successively less than the length of last joint diplopore vertebra sheet, the length of a rear joint single hole vertebra sheet is successively less than the length of last joint single hole vertebra sheet, and the length of first segment single hole vertebra sheet is less than the length of final section diplopore vertebra sheet.
3. line according to claim 1 drives flexible imitative fish tail underwater propulsion unit, it is characterized in that: the distance between the rear joint out conductor hole, diplopore vertebra sheet both sides is successively less than the distance between the out conductor hole, last joint diplopore vertebra sheet both sides, distance between the rear joint inside cord hole, diplopore vertebra sheet both sides is successively less than the distance between the inside cord hole, last joint diplopore vertebra sheet both sides, distance between the rear joint hole, single hole vertebra sheet two sideline is successively less than the distance between the hole, last joint single hole vertebra sheet two sideline, and the distance between the hole, first segment single hole vertebra sheet two sideline is less than the distance between the out conductor hole, final section diplopore vertebra sheet both sides.
4. line according to claim 1 drives flexible imitative fish tail underwater propulsion unit, it is characterized in that: the up and down both sides of described diplopore vertebra sheet and single hole vertebra sheet are provided with the boss of protuberate, and the center of described diplopore vertebra sheet and single hole vertebra sheet is provided with the skeleton grooves that adaptive described flexible back bone passes.
5. line according to claim 4 drives flexible imitative fish tail underwater propulsion unit, it is characterized in that: skeleton grooves and boss on described diplopore vertebra sheet and the single hole vertebra sheet all depart from left and right sides line of centers setting, horizontal throw between described skeleton grooves and the boss equals the thickness of described fish tail type clamp, and the horizontal throw between the medial surface of described boss and the left and right sides line of centers equals 1/2nd of described fish tail type clamp thickness.
6. line according to claim 1 drives flexible imitative fish tail underwater propulsion unit, it is characterized in that: the equal ovalize sheet of described diplopore vertebra sheet and single hole vertebra sheet, the line hole on described diplopore vertebra sheet and the single hole vertebra sheet all are symmetricly set on the major axis of ellipse as axis of symmetry take the minor axis of ellipse.
7. line according to claim 1 drives flexible imitative fish tail underwater propulsion unit, it is characterized in that: the vertebra film perforation on the described fish tail type clamp uniformly-spaced be arranged in parallel along the length direction level of this fish tail type clamp, the length of described vertebra film perforation is suitable with the width of corresponding diplopore vertebra sheet or single hole vertebra sheet, the width of described vertebra film perforation is suitable with the thickness of corresponding diplopore vertebra sheet or single hole vertebra sheet, and the length direction of the length direction of described vertebra film perforation and described fish tail type clamp is perpendicular.
8. line according to claim 1 drives flexible imitative fish tail underwater propulsion unit, it is characterized in that: the drive wire that passes successively inside cord hole, described diplopore vertebra sheet both sides is set to be wrapped in same drive wire on the actuator, and the drive wire that passes successively described out conductor hole, diplopore vertebra sheet both sides and hole, described single hole vertebra sheet two sideline is set to be wrapped in same drive wire on another actuator.
9. a bio-mechanism comprises the propelling unit that is arranged on afterbody, it is characterized in that: this propelling unit is set to drive flexible imitative fish tail underwater propulsion unit such as each described line in the claim 1 to 8.
10. bio-mechanism according to claim 9, it is characterized in that: this bio-mechanism comprises bionic machine fish.
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| CN108622356A (en) * | 2018-04-09 | 2018-10-09 | 西北工业大学 | A kind of aquatic bionic Computation of Flexible Flapping-Wing propulsion device |
| CN108622356B (en) * | 2018-04-09 | 2019-06-21 | 西北工业大学 | A kind of aquatic bionic Computation of Flexible Flapping-Wing propulsion device |
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| CN109572969A (en) * | 2018-12-10 | 2019-04-05 | 叶青 | A kind of fish-tail propeller |
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| CN109515670A (en) * | 2018-12-17 | 2019-03-26 | 贵州理工学院 | A kind of flexible bionic machine fish design method and machine fish by rope redundant drive |
| CN110395372A (en) * | 2019-07-26 | 2019-11-01 | 青岛海洋科学与技术国家实验室发展中心 | Fin ray, wing and submarine navigation device |
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