CN102963515B - 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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- CN102963515B CN102963515B CN201210507827.2A CN201210507827A CN102963515B CN 102963515 B CN102963515 B CN 102963515B CN 201210507827 A CN201210507827 A CN 201210507827A CN 102963515 B CN102963515 B CN 102963515B
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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 to use in water, in particular a kind of can real simulation fish swimming and line simple in structure, 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, the device and the mechanism that imitate fish swimming are more and more, for example 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 propelling 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 cannot real simulation fish swimming when actuator is few, actuator system architecture of many times again complicated, to control difficulty larger.
For example, conventional 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 real simulation fish swimming.
And for example, the machine fish that a plurality of motors of available technology adopting are in series, by the coordinated movement of various economic factors of these motors, control the motion of skeleton, but each joint needs an independent actuator, its driver train and control difficulty are more complicated with the increase of joint number, meanwhile, in this class design, the friction in each joint has also consumed large energy.
For another example, the bionic machine fish that adopts charge valve, air bag and flexible joint etc. to make, drives flexible joint to swing by charge valve, utilizes air bag to carry out lifting, but such design needs joint of a driver control equally.
And, in prior art, adopt in addition flexible structure to serve as fish tail, by motor coordination, strain and loosen fish tail both sides steel wire and make fish tail reciprocally swinging realize the bionic machine fish of promotion, 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.
Meanwhile, the present invention also provides a kind of and uses that number of drives is few, compact conformation, is easy to the bio-mechanism controlled.
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, on described fish tail type clamp, be laterally arranged at intervals with the vertebra film perforation of adaptive described diplopore vertebra sheet and the vertical insertion of single hole vertebra sheet, 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 is successively through described diplopore vertebra sheet and single hole vertebra sheet, and fixed on described fish tail type clamp, the both sides of described diplopore vertebra sheet are respectively arranged with the line hole that two described drive wires of adaptation pass, the both sides of described single hole vertebra sheet are respectively arranged with the line hole that a described drive wire of adaptation passes.
Described line drives flexible imitative fish tail underwater propulsion unit, wherein: the length of a rear joint diplopore vertebra sheet is less than the length of last joint diplopore vertebra sheet successively, the length of a rear joint single hole vertebra sheet is less than the length of last joint single hole vertebra sheet successively, 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 a rear joint out conductor hole, diplopore vertebra sheet both sides is less than the distance between out conductor hole, last joint diplopore vertebra sheet both sides successively, distance between a rear joint inside cord hole, diplopore vertebra sheet both sides is less than the distance between inside cord hole, last joint diplopore vertebra sheet both sides successively, distance between rear joint single hole vertebra sheet two holes, sideline is less than the distance between last joint single hole vertebra sheet two holes, sideline successively, distance between first segment single hole vertebra sheet two holes, sideline is less than the distance between out conductor hole, final section diplopore vertebra sheet both sides.
Described line drives flexible imitative fish tail underwater propulsion unit, wherein: the both sides up and down 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 single hole vertebra sheet all depart from left and right line of centers setting, horizontal throw between described skeleton grooves and boss equals the thickness of described fish tail type clamp, and the horizontal throw between the medial surface of described boss and left and right line of centers equals 1/2nd of described fish tail type clamp thickness.
Described line drives flexible imitative fish tail underwater propulsion unit, wherein: the equal ovalize sheet of described diplopore vertebra sheet and single hole vertebra sheet, oval minor axis all be take on axis of symmetry is symmetricly set on oval major axis in the line hole on described diplopore vertebra sheet and single hole vertebra sheet.
Described line drives flexible imitative fish tail underwater propulsion unit, wherein: the vertebra film perforation on 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 through inside cord hole, described diplopore vertebra sheet both sides is set to be wrapped in same drive wire on an actuator successively, the drive wire through out conductor hole, described diplopore vertebra sheet both sides and described single hole vertebra sheet two holes, sideline is set to be wrapped in same drive wire on another actuator successively.
A bio-mechanism, comprises the propelling unit that is arranged on afterbody, wherein: the line that this propelling unit is set to described in above-mentioned middle any one drives 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, owing to having adopted flexible back bone series connection lateral separation, vertically insert diplopore vertebra sheet and the single hole vertebra sheet of fish tail type clamp, by four drive wires, control the diplopore vertebra sheet that is positioned at first half section, and control by two drive wires in outside the single hole vertebra sheet that is positioned at the second half section, the C type that not only can simulate when making Scad section class and moving about swings, and the fluctuation of the S type can simulate eel fish swimming time shape, also can realize the deflection in course by controlling the tightening amount generation net lateral force of drive wire, simulated comparatively truly fish swimming, and simple and compact for structure, be easy to control, propulsion coefficient is also high.
Accompanying drawing explanation
Fig. 1 is that line of the present invention drives the block diagram of flexible imitative fish tail underwater propulsion unit under linear state.
Fig. 2 is that line of the present invention drives flexible imitative fish tail underwater propulsion unit drive wire to be connected planar view with actuator rotating disk.
Fig. 3 is the planar view that line of the present invention drives flexible imitative fish tail underwater propulsion unit fish tail type used clamp.
Fig. 4 is the stereo amplification figure that line of the present invention drives flexible imitative fish tail underwater propulsion unit diplopore vertebra used sheet.
Fig. 5 is the stereo amplification figure that line of the present invention drives flexible imitative fish tail underwater propulsion unit single hole vertebra used sheet.
Fig. 6 is the cutaway view that is connected that line of the present invention drives flexible imitative fish tail underwater propulsion unit diplopore vertebra used 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 line of the present invention drives the birds-eye view of flexible imitative fish tail underwater propulsion unit under linear state.
Fig. 9 is that the line that the embodiment of the present invention provides drives flexible imitative fish tail underwater propulsion unit C shape curved three dimensional structural representation.
Figure 10 is the birds-eye view of Fig. 9.
Figure 11 is that line of the present invention drives the birds-eye view of flexible imitative fish tail underwater propulsion unit under 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 only, in order to explain the present invention, is not intended to limit the specific embodiment of the present invention.
As shown in Figure 1, Fig. 1 is that line of the present invention drives the block diagram of flexible imitative fish tail underwater propulsion unit under linear state, this line drives flexible imitative fish tail underwater propulsion unit 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, on described fish tail type clamp 1, be provided with adaptive 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, the vertical vertebra film perforation inserting 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 inserts 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, on 4-10, be respectively arranged with the skeleton grooves that adaptive described flexible back bone 1 passes, described flexible back bone 1 is successively through 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, skeleton grooves on 4-10, fixed 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 is 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 is respectively arranged with a line hole, described drive wire 5-1, the tail end of 5-2 is respectively successively through described diplopore vertebra sheet 3-1, 3-2, 3-3, 3-4, 3-5, 3-6, 3-7, 3-8, 3-9, line hole and the described single hole vertebra sheet 4-1 in 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 final section single hole vertebra sheet 4-10, described drive wire 6-1, 6-2 is respectively successively through described diplopore vertebra sheet 3-1, 3-2, 3-3, 3-4, 3-5, 3-6, 3-7, 3-8, the line hole of 3-9 inner side is connected on final section diplopore vertebra sheet 3-10, described drive wire 5-1 and 5-2 (or 6-1 and 6-2) are for being connected to the actuator that can pull back and forth this drive wire.
Shown in Fig. 2, Fig. 2 is that line of the present invention drives flexible imitative fish tail underwater propulsion unit drive wire to be connected planar view with actuator rotating disk, and described drive wire 5-1 and 5-2 can be set to the same drive wire being socketed on actuator rotating disk 7; Same, also can described drive wire 6-1 and 6-2 be set to the same drive wire being socketed on another actuator rotating disk.
Shown in Fig. 3, Fig. 3 is the planar view that line of the present invention drives flexible imitative fish tail underwater propulsion unit fish tail type used clamp, the profile of described fish tail type clamp 2 is similar to fish tail, it is crescent that afterbody is, on described fish tail type clamp 2, level is uniformly-spaced arranged with a plurality of vertebra film perforation 2-1 in parallel along its length, for respectively with 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, the length direction of this vertebra film perforation 2-1 and the length direction of described fish tail type clamp 2 are perpendicular.
Shown in Fig. 4, Fig. 4 is the stereo amplification figure that line of the present invention drives flexible imitative fish tail underwater propulsion unit diplopore vertebra used sheet, concrete, the first segment diplopore vertebra sheet 3-1 of take is example, the integral body of described diplopore vertebra sheet 3-1 in shape can ovalize sheet, and aforementioned two line hole 3-1-1 on described diplopore vertebra sheet 3-1 the right and left and the 3-1-2 of being positioned at be take this oval minor axis and be symmetricly set on this oval major axis as axis of symmetry; The aforementioned skeleton grooves 3-1-3 being positioned on 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, on the sidewall on the upper and lower both sides of described diplopore vertebra sheet 3-1, be also respectively arranged with the boss 3-1-4 that exceeds sidewall surfaces, for coordinating 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 corresponding vertebra film perforation.
Shown in Fig. 5, Fig. 5 is the stereo amplification figure that line of the present invention drives flexible imitative fish tail underwater propulsion unit single hole vertebra used sheet, concrete, the first segment single hole vertebra sheet 4-1 of take is example, the integral body of described single hole vertebra sheet 4-1 in shape also can ovalize sheet, and the aforementioned single line hole 4-1-1 being positioned on described single hole vertebra sheet 4-1 the right and left be take oval minor axis on axis of symmetry is symmetricly set on oval major axis; The aforementioned skeleton grooves 4-1-2 being positioned on 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, on the sidewall on the upper and lower both sides of described single hole vertebra sheet 4-1, be also respectively arranged with the boss 4-1-3 that exceeds sidewall surfaces, for coordinating 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 corresponding vertebra film perforation.
Shown in Fig. 6, Fig. 6 is the cutaway view that is connected that line of the present invention drives flexible imitative fish tail underwater propulsion unit diplopore vertebra used sheet and fish tail type clamp, the first segment diplopore vertebra sheet 3-1 of still take is example, described diplopore vertebra sheet 3-1 is inserted on described fish tail type clamp 2 in corresponding vertebra film perforation, and in the skeleton grooves that described flexible back bone 1 is inserted on described diplopore vertebra sheet 3-1, by the boss on described flexible back bone 1 and 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, shown in Fig. 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, on the mid-depth that guarantees described fish tail type clamp 2 ellipse short shaft in described diplopore vertebra sheet 3-1, skeleton grooves 3-1-3 on described diplopore vertebra sheet 3-1 and boss 3-1-3 all depart from the left and right line of centers setting of described diplopore vertebra sheet 3-1, horizontal throw between described skeleton grooves 3-1-3 and 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 described diplopore vertebra sheet 3-1 left and right 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 described diplopore vertebra sheet 3-1 contacts with a side of described fish tail type clamp 2, 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.
At line of the present invention, drive in the preferred implementation of flexible imitative fish tail underwater propulsion unit, as shown in Figure 8, Fig. 8 is that line of the present invention drives the birds-eye view of flexible imitative fish tail underwater propulsion unit under 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, lateral separation is vertical successively inserts on described fish tail type clamp 2 in corresponding vertebra film perforation for 4-10, 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, in the time of 4-10, can coordinate described flexible back bone single from these successively, in skeleton grooves on diplopore vertebra sheet, pass, single to coordinate these, boss on diplopore vertebra sheet is fixed on described fish tail type clamp 2.
Be preferably, the length (being the size of transverse direction) of a rear joint diplopore vertebra sheet is less than the length of last joint diplopore vertebra sheet successively, improves thus the alerting ability of propelling unit first half section; Be symmetricly set on the distance between out conductor hole, described diplopore vertebra sheet both sides, and be symmetricly set on all corresponding shortenings of distance between 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, by tightening up of drive wire, loosen and drive fish tail skeleton first half section to deform, so play advance and controlling party to effect.
Be preferably, the length (being the size of transverse direction) of a rear joint single hole vertebra sheet is less than the length of last joint single hole vertebra sheet successively, and, the length of first segment single hole vertebra sheet (being the size of transverse direction) is less than the length of final section diplopore vertebra sheet, improves thus the alerting ability of propelling unit second half section; Be symmetricly set on the also corresponding shortening of distance between described single hole vertebra sheet two holes, sideline, the distance being symmetricly set between first segment single hole vertebra sheet two holes, sideline is less than the distance being symmetricly set between 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, by tightening up of drive wire, loosen and drive the fish tail skeleton second half section to deform, 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 the three-dimensional structure schematic diagram of flexible imitative fish tail underwater propulsion unit under C shape case of bending, during its rotating disk 7 left-hand revolution of the driver drives in 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 is a pair of, described drive wire 6-1,6-2 is a pair of, every a pair of drive wire can complete folding and unfolding by one or two actuator.
In the distortion example shown in Fig. 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 greater than described drive wire 6-2 and tightens up degree; 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 line of the present invention drives the birds-eye view of flexible imitative fish tail underwater propulsion unit under 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 to swing, the swing that produces thus Scad section class fish tail.
In conjunction with as shown in figure 11, Figure 11 is that line of the present invention drives the birds-eye view of flexible imitative fish tail underwater propulsion unit under 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 first half section in the 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 subject to drive wire 5-1,5-2 impact.
Meanwhile, described drive wire 6-1,6-2 carries out folding and unfolding on this basis, and its length variations is: in the first half segment limit distributing at diplopore vertebra sheet group 3-X, the first half segment length of described drive wire 6-1 is extended, the first half segment length of drive wire 6-2 shortens; Within the scope of the second half section distributing at described single hole vertebra sheet group 4-X, the second half section length of the second half section contraction in length of described drive wire 6-1, drive wire 6-2 is extended.
When described drive wire 6-1 length in described flexible back bone 1 scope is extended, by actuator, loosen drive wire 6-1; 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 contrary with described drive wire 6-1.
Within the scope of the second half section distributing at described single hole vertebra sheet group 4-X, 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 pull the compound bending of a S shape of lower generation at drive wire.Under actuator crank motion, the drive wire of described flexible back bone 1 both sides alternately loosens and tightens up, and drives flexible back bone 1 and the 2 cyclic bending distortion of fish tail type clamp, the fluctuation that produces thus eel shape class fish body.
In addition, line drives flexible imitative fish tail underwater propulsion unit not only can, for the bio-mechanisms such as aircraft in water provide thrust, can also control its sense of motion.The specific embodiment is: when fish tail type clamp both sides drive wire alternately tightens up tightening amount while loosening while equating, 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 in water, the bio-mechanism such as aircraft moves along a straight line; And tightening amount 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 tightening amount, and now this side force promotes in water the bio-mechanisms such as aircraft and turns to the large lateral deviation of tight amount.
Should be understood that; the foregoing is only 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, replaced, converted or be improved, and all these increases and decreases, replace, 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, on described fish tail type clamp, be laterally arranged at intervals with the vertebra film perforation of adaptive described diplopore vertebra sheet and the vertical insertion of single hole vertebra sheet, 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 is successively through described diplopore vertebra sheet and single hole vertebra sheet, and fixed on described fish tail type clamp, the both sides of described diplopore vertebra sheet are respectively arranged with the line hole that two described drive wires of adaptation pass, the both sides of described single hole vertebra sheet are respectively arranged with the line hole that a described drive wire of adaptation 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 less than the length of last joint diplopore vertebra sheet successively, the length of a rear joint single hole vertebra sheet is less than the length of last joint single hole vertebra sheet successively, 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 a rear joint out conductor hole, diplopore vertebra sheet both sides is less than the distance between out conductor hole, last joint diplopore vertebra sheet both sides successively, distance between a rear joint inside cord hole, diplopore vertebra sheet both sides is less than the distance between inside cord hole, last joint diplopore vertebra sheet both sides successively, distance between rear joint single hole vertebra sheet two holes, sideline is less than the distance between last joint single hole vertebra sheet two holes, sideline successively, distance between first segment single hole vertebra sheet two holes, sideline is less than the distance between 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 both sides up and down 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 single hole vertebra sheet all depart from left and right line of centers setting, horizontal throw between described skeleton grooves and boss equals the thickness of described fish tail type clamp, and the horizontal throw between the medial surface of described boss and left and right 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, oval minor axis all be take on axis of symmetry is symmetricly set on oval major axis in the line hole on described diplopore vertebra sheet and single hole vertebra sheet.
7. line according to claim 1 drives flexible imitative fish tail underwater propulsion unit, it is characterized in that: the vertebra film perforation on 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 through inside cord hole, described diplopore vertebra sheet both sides is set to be wrapped in same drive wire on an actuator successively, the drive wire through out conductor hole, described diplopore vertebra sheet both sides and described single hole vertebra sheet two holes, sideline is set to be wrapped in same drive wire on another actuator successively.
9. a bio-mechanism, comprises the propelling unit that is arranged on afterbody, it is characterized in that: the line that this propelling unit is set to as described in any one in claim 1 to 8 drives flexible imitative fish tail underwater propulsion unit.
10. bio-mechanism according to claim 9, is characterized in that: this bio-mechanism comprises bionic machine fish.
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| CN102815388B (en) * | 2012-08-27 | 2014-10-29 | 深圳市中科莲花净水科技有限公司 | Line-drive polyarticular fishtail underwater propulsion device and bionic mechanism thereof |
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