CN106005338A - Underwater propelling device based on synchronous belt transmission and crank guide rod mechanisms - Google Patents
Underwater propelling device based on synchronous belt transmission and crank guide rod mechanisms Download PDFInfo
- Publication number
- CN106005338A CN106005338A CN201610483589.4A CN201610483589A CN106005338A CN 106005338 A CN106005338 A CN 106005338A CN 201610483589 A CN201610483589 A CN 201610483589A CN 106005338 A CN106005338 A CN 106005338A
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- Prior art keywords
- fin ray
- guide rod
- crank
- ray
- level
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/37—Moving-wave propellers, i.e. wherein the propelling means comprise a flexible undulating structure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H23/00—Transmitting power from propulsion power plant to propulsive elements
- B63H23/02—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H23/00—Transmitting power from propulsion power plant to propulsive elements
- B63H23/02—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing
- B63H2023/0208—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing by means of endless flexible members
- B63H2023/0216—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing by means of endless flexible members by means of belts, or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H23/00—Transmitting power from propulsion power plant to propulsive elements
- B63H23/02—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing
- B63H2023/0291—Trolling gears, i.e. mechanical power transmissions comprising controlled slip clutches, e.g. for low speed propulsion
Abstract
The invention discloses an underwater propelling device based on synchronous belt transmission and crank guide rod mechanisms. The device aims at simulating pectoral fin spanwise swing curve and chordwise fluctuating movement of a manta ray. The device comprises three fin rays. The front fin ray drives a front fin ray crank guide rod mechanism to move through a waterproof steering engine, and a front fin ray tail rod is driven to swing. The middle fin ray is composed of a synchronous transmission mechanism, a gear speed reduction mechanism, two stages of middle fin ray crank guide rod mechanisms and a middle fin ray tail rod, wherein the synchronous belt transmission mechanism transmits power to the second-stage crank guide rod mechanism, and engine power is transmitted to the first-stage crank guide rod mechanism through the gear speed reduction mechanism, and rotation speed difference is formed between the first-stage crank guide rod mechanism and the second-stage crank guide rod mechanism. The rear fin ray is a tail rod driven by the steering engine to swing. The tail rods of the fin rays are connected through rubber pipes, and the tail rods and a machine frame are connected through rubber pipes. The drive steering engine and the transmission mechanism simulate pectoral fin swing of the manta ray in a compact mode, and underwater propelling is achieved.
Description
Technical field
The present invention relates to a kind of aquatic bionic pectoral fin propulsion plant, belong to Underwater biomimetic pusher technical field, particularly
Ground is said, is a kind of can to imitate pectoral fin in ocean to swing many fin rays multi-joint that the devil ray pectoral fin three-dimensional motion advanced deforms bionical
Pectoral fin drives skeleton.
Background technology
Fish propulsion mode in nature mainly has two kinds, and health/tail fin advances pattern and middle fin/to fin propulsion module
Formula.The machine fish of aquatic bio-propulsion technical field exploitation is also broadly divided into two big classes, and the pectoral fin of class devil ray swings propelling pattern
Belonging to middle fin/fin is advanced pattern, advance pattern relative to health/tail fin, middle fin/advance pattern to have fin is high motor-driven
Property, the feature such as high stability, high efficiency, therefore increasing researcher attempts the highest to push away under water by bionical mode
Enter the performance of device, become the new focus of underwater propeller area research.
The pectoral fin platform developed at present mainly has the pectoral fin of flexibility and rigidity two kinds, flexible pectoral fin and nature devil ray more
For close, advance better.When devil ray pectoral fin swings, exhibition is polynomial curve to cross section, and the method for matched curve is generally
Compliant mechanism, rigid mechanism, special material.The propulsive force that wherein special material and compliant mechanism produce is less, causes bionical water
The problems such as lower impeller speed is low, there is the problems such as fin ray local deformation is big, cause bionical underwater propeller outward appearance in rigid mechanism
The problems such as dissmilarity, propulsive efficiency reduction.
Summary of the invention
In order to solve the problems referred to above, on the premise of matching pectoral fin deformation polynomial curve, optimize the deformation effect of pectoral fin,
Improving the bionical similarity of pectoral fin outward appearance, the present invention proposes a kind of based on synchronous belt drive mechanism and crank guide rod mechanism push away under water
Entering device, simple in construction, application flexibly, is equipped with on underwater hiding-machine body.
The present invention based on toothed belt transmission and the underwater propulsion unit of crank guide rod mechanism, including front fin ray, middle fin ray with
Metapterygium, is arranged at equal intervals along tangential respectively.
Described middle fin ray includes that middle fin ray drives steering wheel, gear reduction, drive mechanism and middle fin ray crank guide rod machine
Structure, middle fin ray foot piece and Coupling Shaft；Wherein, the output shaft of middle fin ray driving steering wheel is coaxially connected with Coupling Shaft.Middle fin ray crank
Guide-bar mechanism includes the one-level crank guide rod mechanism being made up of one-level guide rod and one-level crank, by two grades of guide rods, two grades of crank structures
The two grades of crank guide rod mechanisms become, and middle fin ray pedestal.Wherein, in one-level crank guide rod mechanism, one-level guide rod end with in
Fin ray pedestal front end connects, and forms revolute pair.By bearing pin through the middle fin ray slide opening A along one-level guide rod axial design, bearing pin
Driving end through one-level crank front end；Connect end and two grades of crank ends are connected, make one-level crank, two grades of cranks lead with one-level
Moving sets is formed between bar.One-level crank end is enclosed within Coupling Shaft；Two grades of guide rod ends are connected with one-level guide rod front end, are formed and turn
Dynamic pair；It is connected through along between the middle fin ray slide opening B and two grades of crank front ends of two grades of guide rod axial design by bearing pin, makes two grades of songs
Moving sets is formed between handle and two grades of guide rods；Two grades of guide rod front ends are connected with middle fin ray foot piece end.
The input of described drive mechanism is arranged in Coupling Shaft, and outfan is arranged on bearing pin transmission at one-level crank front end
End；Middle fin ray drive the power of steering wheel output through being transferred to two grades of guide rods.
Described gear reduction exports to one-level crank 305b after the rotating speed reduction that middle fin ray drives steering wheel, and
One-level crank and two grades of cranks are made to form speed discrepancy in swing process.
Poor by the motion phase between each fin ray of conservative control, make the present invention based on toothed belt transmission and crank guide rod mechanism
Underwater propulsion unit, can realize by exhibition to swing and tangential wave motion couples complex three-dimensional motion.
It is an advantage of the current invention that:
1, the present invention uses anti-water rudder based on toothed belt transmission and the underwater propulsion unit of crank guide rod mechanism, driving means
Machine drives, it is possible to matching pectoral fin is opened up to deformation rule；
2, the present invention is based on toothed belt transmission and the underwater propulsion unit of crank guide rod mechanism, it is possible to be flexibly applied to bionical
In submarine navigation device, according to size and the mission requirements of aircraft, number and the span-wise length of fin ray can be selected flexibly.
3, the present invention is based on toothed belt transmission and the underwater propulsion unit of crank guide rod mechanism, and compact conformation, at fin ray
In whole motor process, without protuberance, smooth-shaped at fin ray movable joint, non-permeable one-piece casting eyelid covering can be used to be coated with.
4, the present invention uses with metapterygium based on toothed belt transmission and the underwater propulsion unit of crank guide rod mechanism, front fin ray
Different joint numbers and the fin ray of rigidity so that aircraft possesses the good ability of falling trip；
5, the present invention passes through rubber tube based on toothed belt transmission and the underwater propulsion unit of crank guide rod mechanism, adjacent fin ray
Involve, preferably matching pectoral fin motion.
Accompanying drawing explanation
Fig. 1 is present invention underwater propulsion unit based on toothed belt transmission and crank guide rod mechanism overall structure schematic diagram；
Fig. 2 is the front fin ray structural blast of present invention underwater propulsion unit based on toothed belt transmission and crank guide rod mechanism
Figure；
Fig. 3 is the middle fin ray structural blast of present invention underwater propulsion unit based on toothed belt transmission and crank guide rod mechanism
Figure；
Fig. 4 is pendulum state on the middle fin ray of present invention underwater propulsion unit based on toothed belt transmission and crank guide rod mechanism
Schematic diagram；
Fig. 5 is the middle fin ray bottom state of present invention underwater propulsion unit based on toothed belt transmission and crank guide rod mechanism
Schematic diagram.
In figure:
Fin ray 3-metapterygium in fin ray 2-before 1-
Before 4-pectoral fin connecting plate 5-connecting rod 101-, fin ray drives steering wheel
Fin ray foot piece before fin ray steering wheel 103-before 6-rubber tube 102-
Fin ray crank before fin ray steering wheel mounting seat 104a-before fin ray crank guide rod mechanism 105-before 104-
Fin ray bearing pin A before fin ray guide rod 104d-before fin ray pedestal 104c-before 104b-
Fin ray slide opening before fin ray bearing pin C 104g-before fin ray bearing pin B 104f-before 104e-
201-metapterygium drives steering wheel 202-metapterygium steering wheel 203-metapterygium foot piece
301-fin ray drives fin ray steering wheel 303-gear reduction in steering wheel 302-
Fin ray foot piece in fin ray crank guide rod mechanism 306-in 304-drive mechanism 305-
Fin ray steering wheel mounting seat 303a-the first driving gear in 307-Coupling Shaft 308-
303b-the second driving gear 303c-the first driven gear 303d-the second driven gear
303e-deboost axle 304a-driving pulley 304b-driven pulley
304c-driving belt 305a-one-level guide rod 305b-one-level crank
Fin ray pedestal in 305c-bis-grades of crank 305e-of bis-grades of guide rod 305d-
Fin ray bearing pin C in fin ray bearing pin B 305h-in fin ray bearing pin A 305g-in 305f-
Fin ray slide opening B in fin ray slide opening A 305k-in fin ray bearing pin D 305j-in 305i-
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Bionic pectoral fin fin ray device of the present invention, including front fin ray 1, middle fin ray 2 and metapterygium 3, respectively along tangential at equal intervals
Arrange, as shown in Figure 1.
Front fin ray includes that front fin ray drives steering wheel 101, front fin ray steering wheel 102 and front fin ray foot piece 103, and a set of by front
The front fin ray crank guide rod mechanism 104 that fin ray crank 104a, front fin ray pedestal 104b, front fin ray guide rod 104c are constituted, such as Fig. 2 institute
Show.Wherein, front fin ray drives steering wheel 101 to be fixed on pectoral fin connecting plate 4 by front fin ray steering wheel mounting seat 105.Front fin ray drives
Dynamic steering wheel 101 output shaft is along tangential setting, and on it, coaxial sleeve is connected to front fin ray steering wheel 102.Front fin ray crank guide rod mechanism 104
In, front fin ray pedestal 104a end is fixedly installed on pectoral fin connecting plate 4；The other end is designed with two installing holes vertically, its
In installing hole near front fin ray pedestal 104a front end be connected with front fin ray guide rod 104c end by front fin ray bearing pin A104d,
Form revolute pair；Another installing hole is connected with front fin ray crank 104d end by front fin ray bearing pin B104e, is formed and rotates
Secondary.Front fin ray crank 104d is fixed on front fin ray steering wheel 102 also by bolt.On front fin ray guide rod 104c, near front fin ray
Guide rod 104c front end has the through front fin ray guide rod 104c left and right sides, and along the front fin ray of front fin ray guide rod 104c axial design
Slide opening 104h.After passing front fin ray slide opening 104g by front fin ray bearing pin C104f, it is connected with front fin ray crank 104d front end, makes
Moving sets is formed between front fin ray crank 104d and front fin ray guide rod 104c.Front fin ray guide rod 104c front end and front fin ray foot piece 103
End is connected.Thus, driving steering wheel 101 output shaft rotation by front fin ray, before driving, fin ray crank 104d swings up and down, now
Front fin ray bearing pin C104f in front fin ray slide opening 104h can move along front fin ray slide opening 104g, fin ray guide rod before the most also driving
104c swings up and down, and then drives front fin ray foot piece 103 to swing up and down.
Described metapterygium 2 includes that metapterygium drives steering wheel 201, metapterygium steering wheel 202 and metapterygium foot piece 203, such as Fig. 1 institute
Show.Wherein, metapterygium drives steering wheel 201 to be fixed on pectoral fin connecting plate 4 by steering wheel mounting seat.Metapterygium foot piece 203 end
It is fixedly mounted on metapterygium steering wheel 20.Steering wheel 201 output shaft rotation is driven to drive metapterygium foot piece 203 from there through metapterygium
Swing up and down.
Described middle fin ray 3 includes that middle fin ray drives steering wheel 301, middle fin ray steering wheel 302, gear reduction 303, driver
Structure 304, middle fin ray crank guide rod mechanism 305, middle fin ray foot piece 306 and Coupling Shaft 307, as shown in Figure 3.Wherein, middle fin ray drives
Dynamic steering wheel 301 is fixed on pectoral fin connecting plate 4 by middle fin ray steering wheel mounting seat 308.Middle fin ray drives the output shaft of steering wheel 301
Along tangential setting, it is coaxially installed with middle fin ray steering wheel 302.The connection end of Coupling Shaft 307 is same with middle fin ray steering wheel 302
Axle is connected, and Coupling Shaft 307 is used for installing drive mechanism 304 and middle fin ray crank guide rod mechanism 305.
Above-mentioned middle fin ray crank guide rod mechanism 305 includes that the one-level being made up of one-level guide rod 305a and one-level crank 305b is bent
Handle guide-bar mechanism, the two grades of crank guide rod mechanisms being made up of two grades of guide rod 305c, two grades of crank 305d, and middle fin ray pedestal
305e.Wherein, middle fin ray pedestal 305e end is fixedly installed on pectoral fin connecting plate 4.In one-level crank guide rod mechanism, one-level is led
Bar 305a end is connected with middle fin ray pedestal 305e front end by middle fin ray bearing pin A305f, forms revolute pair.One-level guide rod 305a
On, have the through one-level guide rod 305a left and right sides near one-level guide rod 305a front position, and axial along one-level guide rod 305a
The middle fin ray slide opening A305j of design；Middle fin ray slide opening A305j, middle fin ray bearing pin B305g is passed by middle fin ray bearing pin B305g
Driving end through one-level crank 305b front end, be used for connecting drive mechanism 304；Connect end and two grades of crank 305d end phases
Even, make to be formed between one-level crank 305b, two grades of crank 305d and one-level guide rod 305a moving sets.Two grades of guide rod 305c ends pass through
Middle fin ray bearing pin C305h and one-level guide rod 305a front end is connected, and forms revolute pair.On two grades of guide rod 305c, near two grades of guide rods
305c front end has through two grades of guide rod 305c left and right sides, and along the middle fin ray slide opening of two grades of guide rod 305c axial design
B305k, is connected through between middle fin ray slide opening B305k and two grades of crank 305d front ends by middle fin ray bearing pin D305i, makes two grades of songs
Moving sets is formed between handle 305d and two grades of guide rod 305c.Two grades of guide rod 305c front ends are connected with middle fin ray foot piece 306 end.
Described drive mechanism 304 includes driving pulley 304a, driven pulley 304b and driving belt 304c, is used for middle fin
Bar drives the power of steering wheel 301 output to be transferred directly to two grades of crank guide rod mechanisms；Wherein, driving pulley and driven pulley point
Degree circular diameter is identical；Driving pulley 304a Center has rectangular through-hole, and driving pulley 304a is enclosed within by this rectangular through-hole and turns
The connecting at end in the square-section section of design and fix of spindle 307.Driven pulley 304b center is similarly designed with rectangular through-hole,
Driven pulley 304b is enclosed within the square-section section of middle fin ray bearing pin B305g driving end design by this rectangular through-hole and fixes.
It is socketed by driving belt 304c between above-mentioned driving pulley 304a and driven pulley 304b.Thus, motor is driven by middle fin ray
301 rotate, and drive Coupling Shaft 307 to rotate, and driving pulley 304a is servo-actuated, and then drives driving pulley by driving belt 304c
304a rotates, and middle fin ray bearing pin B305g is servo-actuated, drives two grades of crank 305d to swing up and down, and then makes middle fin ray bearing pin D304i edge
Middle fin ray slide opening A305j moves, and drives two grades of guide rod 305c to swing up and down, the bottom on final band disorder of internal organs fin ray foot piece 306 simultaneously
Dynamic, as shown in Figure 4.
Described gear reduction 303 includes the first driving gear 303a, the second driving gear 303b, the first driven gear
303c, the second driven gear 303d and deboost axle 303e, for driving the rotating speed of steering wheel 301 to export to one after reducing by middle fin ray
Level crank 305b, and make one-level crank 305b and two grades of crank 305D form speed discrepancy, speed discrepancy 2:1 in swing process.Its
In, the first driving gear 303a Center has rectangular through-hole, is enclosed within the square-section section of Coupling Shaft 307 by this rectangular through-hole
Go up and fix.Have rectangular through-hole on second driven gear 303d, be enclosed within one-level crank 305b tip designs by this through hole
In rectangular protrusions and fix.Having axis hole in the rectangular protrusions of one-level crank 305b end, one-level crank 305b is by this through hole
It is enclosed within Coupling Shaft 307.First driven gear 303c and the second driving gear 303b center are designed with rectangular through-hole, by this
Rectangular through-hole is respectively fitted in the square-section section of deboost axle 303e two ends design and fixes.Above-mentioned deboost axle 303e one end is passed through
Bearing is arranged on axle bed 303f, and is arranged in middle fin ray steering wheel mounting seat 308 by axle bed 303f；The other end passes through bearing
Be arranged on fin ray pedestal 305e, and make the first driven gear 303c and the second driving gear 303b respectively with the first driving tooth
Wheel 303a and the second driven gear 303d engagement.Thus, thus, drive motor 301 to rotate by middle fin ray, drive Coupling Shaft
While 307 rotate, by the transmission between the first driving gear 303a and the first driven gear 303c, deboost axle 303e is driven to turn
Dynamic, by the transmission between the second driving gear 303b and the second driven gear 303d, drive one-level crank-swinging, make middle fin ray pin
In axle B305g edge, fin ray slide opening A305j moves, and drives one-level guide rod 305a to swing, as shown in Figure 4, Figure 5 simultaneously.
In above-mentioned bionic pectoral fin fin ray device, middle fin ray foot piece 306 is designed as T-shape platy structure, front fin ray foot piece 103
With the platy structure that metapterygium foot piece 203 is designed as " Ren " type, and the most advanced and sophisticated both sides of middle fin ray foot piece 306 respectively with front fin ray foot piece
103 sides most advanced and sophisticated with metapterygium foot piece 203 are connected by rubber tube；Front fin ray foot piece 103 and metapterygium foot piece 203 most advanced and sophisticated another
Rubber is passed through with vertical and pectoral fin connecting plate connecting rod 5 end of design on the leading edge of pectoral fin connecting plate 4 and trailing edge respectively in side
Pipe is connected.After connection completes, the outer rim of whole bionic pectoral fin fin ray device is consistent with the outer rim of devil ray pectoral fin, uses non-permeable
One-piece casting eyelid covering is coated with.
To sum up, poor by the motion phase between each fin ray of conservative control, make the present invention lead based on toothed belt transmission and crank
The underwater propulsion unit of linkage, can realize by exhibition to swinging and the complex three-dimensional motion of tangential wave motion couples.
Before the present invention, fin ray 1, middle fin ray 2 are with metapterygium 3, and whole bearing pins used are all reduced by outer cover spindle set
Frictional force, realizes axially location by jump ring；And it is provided with sliding sleeve in all slide openings, take out with sliding for reducing the pin penetrated
Frictional force between hole.Front fin ray foot piece 103, middle fin ray foot piece 306 all use glass mat with metapterygium foot piece 203.
Claims (10)
1. based on toothed belt transmission and the underwater propulsion unit of crank guide rod mechanism, including front fin ray, middle fin ray and metapterygium, point
Do not arrange at equal intervals along tangential；It is characterized in that:
Described middle fin ray include middle fin ray drive steering wheel, gear reduction, drive mechanism, middle fin ray crank guide rod mechanism, in
Fin ray foot piece and Coupling Shaft；Wherein, the output shaft of middle fin ray driving steering wheel is coaxially connected with Coupling Shaft；
Described middle fin ray crank guide rod mechanism includes the one-level crank guide rod mechanism being made up of one-level guide rod and one-level crank, by two
Two grades of crank guide rod mechanisms that level guide rod, two grades of cranks are constituted, and middle fin ray pedestal；Wherein, in one-level crank guide rod mechanism,
One-level guide rod end is connected with middle fin ray pedestal front end, forms revolute pair；By bearing pin through along one-level guide rod axial design
Middle fin ray slide opening A, the driving end of bearing pin passes one-level crank front end；Connect end and two grades of crank ends be connected, make one-level crank,
Moving sets is formed between two grades of cranks and one-level guide rod；One-level crank end is enclosed within Coupling Shaft；Two grades of guide rod ends are led with one-level
Bar front end is connected, and forms revolute pair；By bearing pin through before the middle fin ray slide opening B and two grades of cranks of two grades of guide rod axial design
It is connected between end, makes to be formed between two grades of cranks and two grades of guide rods moving sets；Two grades of guide rod front ends are connected with middle fin ray foot piece end；
The input of described drive mechanism is arranged in Coupling Shaft, and outfan is arranged on bearing pin driving end at one-level crank front end
Portion；Middle fin ray drive the power of steering wheel output through being transferred to two grades of guide rods；
Described gear reduction for driving the rotating speed of steering wheel to export to one-level crank 305b after reducing by middle fin ray, and makes one
Level crank and two grades of cranks form speed discrepancy in swing process.
2. as claimed in claim 1 based on toothed belt transmission and the underwater propulsion unit of crank guide rod mechanism, it is characterised in that: institute
State drive mechanism and include driving pulley, driven pulley and driving belt；Wherein driving pulley is fixed in Coupling Shaft；Driven pulley
It is fixed on bearing pin driving end at one-level crank front end；It is socketed by driving belt between driving pulley and driven pulley.
3. as claimed in claim 2 based on toothed belt transmission and the underwater propulsion unit of crank guide rod mechanism, it is characterised in that: main
Movable belt pulley Center has rectangular through-hole, is enclosed within Coupling Shaft in the square-section section of design and fixes；Driven pulley center sets
In respect of rectangular through-hole, it is enclosed within the square-section section that at one-level crank front end, bearing pin driving end designs and fixes.
4. as claimed in claim 1 based on toothed belt transmission and the underwater propulsion unit of crank guide rod mechanism, it is characterised in that: tooth
Wheel reducing gear includes the first driving gear, the second driving gear, the first driven gear, the second driven gear and deboost axle；Its
In, the first driving gear is fixed in Coupling Shaft；Second driven gear is fixed on one-level crank end；First driven gear and
Two driving gears are fixedly sleeved at deboost axle two ends；Deboost axle one end is arranged on bearing block, the other end and middle fin ray pedestal axle
Hold connection, and make the first driven gear and the second driving gear engage with the first driving gear and the second driven gear respectively.
5. as claimed in claim 4 based on toothed belt transmission and the underwater propulsion unit of crank guide rod mechanism, it is characterised in that: the
One driving gear Center has rectangular through-hole, is enclosed within the square-section section of Coupling Shaft and fixes；Open on second driven gear
There is rectangular through-hole, be enclosed within the rectangular protrusions of one-level crank end design and fix；First driven gear and the second driving gear
Center is designed with rectangular through-hole, is respectively fitted in the square-section section of deboost axle two ends design and solid by this rectangular through-hole
Fixed.
6. as claimed in claim 1 based on toothed belt transmission and the underwater propulsion unit of crank guide rod mechanism, it is characterised in that: institute
Stating and be provided with middle fin ray steering wheel on the output shaft of fin ray driving steering wheel, Coupling Shaft is connected with steering wheel by end flange.
7. as claimed in claim 1 based on toothed belt transmission and the underwater propulsion unit of crank guide rod mechanism, it is characterised in that: front
Fin ray includes that front fin ray drives steering wheel and front fin ray foot piece, and a set of by front fin ray crank, front fin ray pedestal, front fin ray guide rod
The front fin ray crank guide rod mechanism constituted；Wherein, front fin ray guide rod end is connected with front fin ray pedestal front end, forms revolute pair；
Front fin ray crank end is connected with front fin ray pedestal front end, forms revolute pair；And front fin ray crank drives steering wheel defeated with front fin ray
Shaft is relatively fixed；It is connected with front fin ray crank front end through the front fin ray slide opening of design on front fin ray guide rod by bearing pin, makes
Moving sets is formed between front fin ray crank and front fin ray guide rod；Front fin ray guide rod front end is connected with front fin ray foot piece end.
8. as claimed in claim 1 based on toothed belt transmission and the underwater propulsion unit of crank guide rod mechanism, it is characterised in that after:
Fin ray includes that metapterygium drives steering wheel and metapterygium foot piece；Metapterygium foot piece end is relative solid with metapterygium steering wheel output between centers
Fixed.
9. as claimed in claim 1 based on toothed belt transmission and the underwater propulsion unit of crank guide rod mechanism, it is characterised in that in:
It is connected by rubber tube between fin ray foot piece with the foot piece of front fin ray and metapterygium.Make outer rim and the devil ray pectoral fin of underwater propulsion unit
Outer counter consistent.
10. as claimed in claim 1 based on toothed belt transmission and the underwater propulsion unit of crank guide rod mechanism, it is characterised in that:
In synchronous belt drive mechanism driving pulley and driven pulley reference diameter identical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610483589.4A CN106005338B (en) | 2016-06-27 | 2016-06-27 | Underwater propulsion unit based on toothed belt transmission and crank guide rod mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610483589.4A CN106005338B (en) | 2016-06-27 | 2016-06-27 | Underwater propulsion unit based on toothed belt transmission and crank guide rod mechanism |
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| CN106005338A true CN106005338A (en) | 2016-10-12 |
| CN106005338B CN106005338B (en) | 2018-02-06 |
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| CN201610483589.4A Active CN106005338B (en) | 2016-06-27 | 2016-06-27 | Underwater propulsion unit based on toothed belt transmission and crank guide rod mechanism |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110304223A (en) * | 2019-07-04 | 2019-10-08 | 中国科学院自动化研究所 | Bionic machine devil ray |
| CN110329473A (en) * | 2019-07-09 | 2019-10-15 | 北京机电工程研究所 | A kind of bionic pectoral fin motion mechanism design |
| CN110588931A (en) * | 2019-09-17 | 2019-12-20 | 西北工业大学 | Underwater bionic aircraft based on pectoral fin and propeller hybrid propulsion |
| CN110588932A (en) * | 2019-09-17 | 2019-12-20 | 西北工业大学 | Underwater bionic aircraft based on swinging pectoral fins and dorsoventral tail fin combined propulsion |
| WO2022241751A1 (en) * | 2021-05-21 | 2022-11-24 | 西湖大学 | Driving device for aircraft and aircraft |
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| CN103144756A (en) * | 2013-02-08 | 2013-06-12 | 北京航空航天大学 | Bionic robot fish propelled by oscillating and twisting compound motion of pectoral fins |
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| CN110304223B (en) * | 2019-07-04 | 2020-09-29 | 中国科学院自动化研究所 | Bionic machine bat ray |
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| CN110588931A (en) * | 2019-09-17 | 2019-12-20 | 西北工业大学 | Underwater bionic aircraft based on pectoral fin and propeller hybrid propulsion |
| CN110588932A (en) * | 2019-09-17 | 2019-12-20 | 西北工业大学 | Underwater bionic aircraft based on swinging pectoral fins and dorsoventral tail fin combined propulsion |
| CN110588931B (en) * | 2019-09-17 | 2020-11-06 | 西北工业大学 | Underwater bionic aircraft based on pectoral fin and propeller hybrid propulsion |
| WO2022241751A1 (en) * | 2021-05-21 | 2022-11-24 | 西湖大学 | Driving device for aircraft and aircraft |
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