CN106005338B - Underwater propulsion unit based on toothed belt transmission and crank guide rod mechanism - Google Patents
Underwater propulsion unit based on toothed belt transmission and crank guide rod mechanism Download PDFInfo
- Publication number
- CN106005338B CN106005338B CN201610483589.4A CN201610483589A CN106005338B CN 106005338 B CN106005338 B CN 106005338B CN 201610483589 A CN201610483589 A CN 201610483589A CN 106005338 B CN106005338 B CN 106005338B
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- guide rod
- fin ray
- crank
- level
- ray
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Classifications
-
- 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
-
- 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 present invention discloses a kind of underwater propulsion unit based on toothed belt transmission and crank guide rod mechanism, it is therefore intended that the pectoral fin for imitating devil ray is opened up to swing curve and tangential surge movement, including 3 fin rays；Wherein preceding fin ray is moved by fin ray crank guide rod mechanism before waterproof servo driving, and fin ray foot piece is swung before drive.Middle fin ray is made up of fin ray crank guide rod mechanism in synchronous belt drive mechanism, gear reduction, two-stage and middle fin ray foot piece；Power is transferred to two level crank guide rod mechanism by synchronous belt drive mechanism, and engine power is transferred to one-level crank guide rod mechanism by gear reduction；Make to form speed discrepancy between one-level crank guide rod mechanism and two level guide-bar mechanism.Metapterygium is the foot piece swung by servo driving.Connected between the foot piece of above-mentioned each fin ray and between foot piece and frame by rubber tube.Above-mentioned driving steering wheel is imitated devil ray pectoral fin in the form of compact structure with transmission mechanism and swung, and realizes underwater propulsion.
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 that a kind of more fin ray multi-joints that can imitate the devil ray pectoral fin three-dimensional motion deformation that pectoral fin in ocean swings propulsion are bionical
Pectoral fin drives skeleton.
Background technology
Fish propulsion mode in nature mainly has two kinds, and body/tail fin promotes 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 major classes, and the pectoral fin of class devil ray swings propulsion pattern
Belong to middle fin/pattern is promoted to fin, pattern is promoted relative to body/tail fin, middle fin/promote pattern to have to fin is high motor-driven
Property, high stability, high efficiency the features such as, therefore increasing researcher attempts to push away under water come very high by bionical mode
Enter the performance of device, turn into the new focus of underwater propeller area research.
The pectoral fin platform developed at present is main flexible and rigid two kinds, and the pectoral fin of flexible pectoral fin and nature devil ray is more
It is close, promotes better.It is polynomial curve that devil ray pectoral fin is opened up to section when swinging, and the method for matched curve is generally
Compliant mechanism, rigid mechanism, special material.Wherein propulsive force caused by special material and compliant mechanism is smaller, causes bionical water
There is the problems such as fin ray local deformation is big in problem, the rigid mechanisms such as lower impeller speed is low, cause bionical underwater propeller outward appearance
The problems such as dissimilar, propulsive efficiency reduces.
The content of the invention
In order to solve the above problems, on the premise of fitting pectoral fin deformation polynomial curve, optimize the deformation effect of pectoral fin,
The bionical similarity of pectoral fin outward appearance is improved, present invention proposition is a kind of to be pushed away based on synchronous belt drive mechanism and the underwater of crank guide rod mechanism
Enter device, it is simple in construction, using flexible, it is equipped with underwater hiding-machine body.
The underwater propulsion unit based on toothed belt transmission and crank guide rod mechanism of the invention, including preceding fin ray, middle fin ray with
Metapterygium, set at equal intervals along tangential respectively.
The middle fin ray includes middle fin ray driving steering wheel, gear reduction, transmission 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 and Coupling Shaft are coaxially connected.Middle fin ray crank
One-level crank guide rod mechanism that guide-bar mechanism includes being made up of one-level guide rod and one-level crank, by two level guide rod, two level crank structure
Into two level crank guide rod mechanism, and middle fin ray pedestal.Wherein, in one-level crank guide rod mechanism, one-level guide rod end is with
Fin ray pedestal front end connects, and forms revolute pair.Middle fin ray slide opening A along one-level guide rod axial design, bearing pin are passed through by bearing pin
Driving end pass through one-level crank front end；Connection end is connected with two level crank end, leads one-level crank, two level crank and one-level
Prismatic pair is formed between bar.One-level crank end is enclosed in Coupling Shaft；Two level guide rod end is connected with one-level guide rod front end, is formed and turned
Dynamic pair；The middle fin ray slide opening B along two level guide rod axial design is passed through to make two level bent with being connected between two level crank front end by bearing pin
Prismatic pair is formed between handle and two level guide rod；Two level guide rod front end is connected with middle fin ray foot piece end.
The input of the transmission mechanism is arranged in Coupling Shaft, and output end is arranged on bearing pin transmission at one-level crank front end
End；By the power of middle fin ray driving steering wheel output through being transferred to two level guide rod.
The gear reduction is used to drive the rotating speed of steering wheel to export to one-level crank 305b after reducing middle fin ray, and
One-level crank is set to form speed discrepancy in swing process with two level crank.
By rationally controlling the motion phase between each fin ray poor, the present invention is set to be based on toothed belt transmission and crank guide rod mechanism
Underwater propulsion unit, can be achieved from exhibition to swinging and the complex three-dimensional that forms of tangential wave motion couples moves.
The advantage of the invention is that：
1st, the underwater propulsion unit of the invention based on toothed belt transmission and crank guide rod mechanism, drive device use anti-water rudder
Machine drives, and can be fitted pectoral fin and open up to deformation rule；
2nd, the underwater propulsion unit of the invention based on toothed belt transmission and crank guide rod mechanism, can be flexibly applied to bionical
In submarine navigation device, according to the size and mission requirements of ROV, the number and span-wise length of fin ray can be flexibly selected.
3rd, the underwater propulsion unit of the invention based on toothed belt transmission and crank guide rod mechanism, it is compact-sized, in fin ray
In whole motion process, without protuberance at fin ray movable joint, smooth-shaped, non-permeable one-piece casting covering cladding can be used.
4th, the underwater propulsion unit of the invention based on toothed belt transmission and crank guide rod mechanism, preceding fin ray use with metapterygium
The fin ray of different joint numbers and rigidity so that ROV possesses the good ability of falling trip；
5th, the underwater propulsion unit of the invention based on toothed belt transmission and crank guide rod mechanism, adjacent fin ray pass through rubber tube
Involve, be preferably fitted pectoral fin motion.
Brief description of the drawings
Fig. 1 is the underwater propulsion unit overall structure diagram of the invention based on toothed belt transmission and crank guide rod mechanism；
Fig. 2 is the preceding fin ray structural blast of the underwater propulsion unit of the invention based on toothed belt transmission and crank guide rod mechanism
Figure；
Fig. 3 is the middle fin ray structural blast of the underwater propulsion unit of the invention based on toothed belt transmission and crank guide rod mechanism
Figure；
Fig. 4 is pendulum state on the middle fin ray of the underwater propulsion unit of the invention based on toothed belt transmission and crank guide rod mechanism
Schematic diagram；
Fig. 5 is the middle fin ray bottom state of the underwater propulsion unit of the invention based on toothed belt transmission and crank guide rod mechanism
Schematic diagram.
In figure：
Fin ray in fin ray 2- metapterygiums 3- before 1-
Fin ray drives steering wheel before 4- pectoral fin connecting plate 5- connecting rods 101-
Fin ray foot piece before fin ray steering wheel 103- before 6- rubber tubes 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- metapterygiums drive steering wheel 202- metapterygium steering wheel 203- metapterygium foot pieces
Fin ray steering wheel 303- gear reductions in fin ray driving steering wheel 302- in 301-
Fin ray foot piece in fin ray crank guide rod mechanism 306- in 304- transmission mechanisms 305-
Fin ray steering wheel mounting seat the first driving gears of 303a- in 307- Coupling Shafts 308-
303b- the second driving gear 303c- the first driven gear the second driven gears of 303d-
303e- deboost axle 304a- driving pulley 304b- driven pulleys
304c- driving belt 305a- one-level guide rod 305b- one-level cranks
Fin ray pedestal in 305c- two level guide rod 305d- two level cranks 305e-
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-
Embodiment
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 preceding fin ray 1, metapterygium 2 and middle fin ray 3, respectively along it is tangential at equal intervals
Set, as shown in Figure 1.
Preceding fin ray 1 includes preceding fin ray driving steering wheel 101, preceding fin ray steering wheel 102 and preceding fin ray foot piece 103, and it is a set of by
The preceding fin ray crank guide rod mechanism 104 that preceding fin ray crank 104a, preceding fin ray pedestal 104b, preceding fin ray guide rod 104c are formed, such as Fig. 2
It is shown.Wherein, preceding fin ray driving steering wheel 101 is fixed on pectoral fin connecting plate 4 by preceding fin ray steering wheel mounting seat 105.Preceding fin ray
The output shaft of steering wheel 101 is driven along tangential setting, fin ray steering wheel 102 before being coaxially socketed with thereon.Preceding fin ray crank guide rod mechanism 104
In, preceding fin ray pedestal 104b ends are fixedly installed on pectoral fin connecting plate 4；The other end is designed with two mounting holes vertically, its
In be connected close to the mounting holes of preceding fin ray pedestal 104b front ends by preceding fin ray bearing pin A104d with preceding fin ray guide rod 104c ends,
Form revolute pair；Another mounting hole is connected by preceding fin ray bearing pin B104e with preceding fin ray crank 104a ends, is formed and rotated
It is secondary.Before preceding fin ray crank 104d is also secured by bolts on fin ray steering wheel 102.On preceding fin ray guide rod 104c, close to preceding fin ray
Guide rod 104c front ends are provided with before insertion at left and right sides of fin ray guide rod 104c, and along the preceding fin ray of preceding fin ray guide rod 104c axial designs
Slide opening 104g.After passing through preceding fin ray slide opening 104g by preceding fin ray bearing pin C104f, it is connected with preceding fin ray crank 104a front ends, makes
Prismatic pair is formed between preceding fin ray crank 104a and preceding fin ray guide rod 104c.Preceding fin ray guide rod 104c front ends and preceding fin ray foot piece 103
End is connected.Thus, the output shaft rotation of steering wheel 101 is driven by preceding fin ray, fin ray crank 104a is swung up and down before drive, now
Preceding fin ray bearing pin C104f in preceding fin ray slide opening 104g can move along preceding fin ray slide opening 104g, while fin ray guide rod also before drive
104c is swung up and down, and then fin ray foot piece 103 is swung up and down before drive.
The metapterygium 2 includes metapterygium driving steering wheel 201, metapterygium steering wheel 202 and metapterygium foot piece 203, such as Fig. 1 institutes
Show.Wherein, metapterygium driving steering wheel 201 is fixed on pectoral fin connecting plate 4 by steering wheel mounting seat.The end of metapterygium foot piece 203
It is fixedly mounted on metapterygium steering wheel 202.Metapterygium foot piece is driven from there through metapterygium driving steering wheel 201 output shaft rotation
203 swing up and down.
The middle fin ray 3 includes middle fin ray driving 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.The output shaft of middle fin ray driving steering wheel 301
Along tangential setting, middle fin ray steering wheel 302 is coaxially installed with thereon.The connection end of Coupling Shaft 307 and middle fin ray steering wheel 302 are same
Axle is connected, and Coupling Shaft 307 is used for installing transmission mechanism 304 and middle fin ray crank guide rod mechanism 305.
The one-level that above-mentioned middle fin ray crank guide rod mechanism 305 includes being made up of one-level guide rod 305a and one-level crank 305b is bent
Handle guide-bar mechanism, the two level crank guide rod mechanism being made up of two level guide rod 305c, two level crank 305d, and middle fin ray pedestal
305e.Wherein, middle fin ray pedestal 305e ends are fixedly installed on pectoral fin connecting plate 4.In one-level crank guide rod mechanism, one-level is led
Bar 305a ends are connected by middle fin ray bearing pin A305f with middle fin ray pedestal 305e front ends, form revolute pair.One-level guide rod 305a
On, it is provided with close to one-level guide rod 305a front positions at left and right sides of insertion one-level guide rod 305a, and it is 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 are passed through by middle fin ray bearing pin B305g
Driving end pass through one-level crank 305b front ends, for connecting transmission mechanism 304；Connection end and two level crank 305d ends phase
Even, make to form prismatic pair between one-level crank 305b, two level crank 305d and one-level guide rod 305a.Two level guide rod 305c ends pass through
Middle fin ray bearing pin C305h is connected with one-level guide rod 305a front ends, forms revolute pair.On two level guide rod 305c, close to two level guide rod
305c front ends are provided with left and right sides of insertion two level guide rod 305c, and along the middle fin ray slide opening of two level guide rod 305c axial designs
B305k, by middle fin ray bearing pin D305i through being connected between middle fin ray slide opening B305k and two level crank 305d front ends, make two level bent
Prismatic pair is formed between handle 305d and two level guide rod 305c.Two level guide rod 305c front ends are connected with the middle end of fin ray foot piece 306.
The transmission mechanism 304 includes driving pulley 304a, driven pulley 304b and driving belt 304c, for by middle fin
The power that bar driving steering wheel 301 exports is transferred directly to two level crank guide rod mechanism；Wherein, point of driving pulley and driven pulley
It is identical to spend circular diameter；Driving pulley 304a Centers have rectangular through-hole, and driving pulley 304a is enclosed on by the rectangular through-hole to be turned
It is in the square-section section designed at the connection end of spindle 307 and fixed.Driven pulley 304b centers are similarly designed with rectangular through-hole,
Driven pulley 304b is enclosed in the square-section section of middle fin ray bearing pin B305g driving ends design and fixed by the rectangular through-hole.
It is socketed between above-mentioned driving pulley 304a and driven pulley 304b by driving belt 304c.Thus, middle fin ray motor is passed through
301 are rotated, and drive Coupling Shaft 307 to rotate, and driving pulley 304a is servo-actuated, and then drive driving pulley by driving belt 304c
304a is rotated, and middle fin ray bearing pin B305g is servo-actuated, and drives two level crank 305d to swing up and down, and then make middle fin ray bearing pin D304i edges
Middle fin ray slide opening A305j movements, while drive two level guide rod 305c to swing up and down, the bottom on fin ray foot piece 306 in final drive
It is dynamic, as shown in Figure 4.
The 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, the rotating speed for middle fin ray to be driven to steering wheel 301 are exported to one after reducing
Level crank 305b, and one-level crank 305b and two level crank 305D is formed speed discrepancy, speed discrepancy 2 in swing process:1.Its
In, the first driving gear 303a Centers have rectangular through-hole, and the square-section section of Coupling Shaft 307 is enclosed on by the rectangular through-hole
Go up and fix.Rectangular through-hole is provided with second driven gear 303d, one-level crank 305b tip designs are enclosed on by the through hole
It is in rectangular protrusions and fixed.Axis hole is provided with the rectangular protrusions of one-level crank 305b ends, one-level crank 305b passes through the through hole
It is enclosed in Coupling Shaft 307.Rectangular through-hole is designed with first driven gear 303c and the second driving gear 303b centers, by this
Rectangular through-hole is respectively fitted in the square-section section of deboost axle 303e both ends design and fixed.Above-mentioned deboost axle 303e one end passes through
Bearing is arranged on axle bed 303f, and is arranged on by axle bed 303f in middle fin ray steering wheel mounting seat 308；The other end passes through bearing
On middle fin ray pedestal 305e, and make the first driven gear 303c and the second driving gear 303b respectively with the first driving tooth
Take turns 303a and the second driven gear 303d engagements.Thus, thus, rotated by middle fin ray motor 301, drive Coupling Shaft
While 307 rotation, pass through the transmission between the first driving gear 303a and the first driven gear 303c, drive deboost axle 303e to turn
It is dynamic, by the transmission between the second driving gear 303b and the second driven gear 303d, one-level crank-swinging is driven, makes middle fin ray pin
Axle B305g moves along middle fin ray slide opening A305j, while drives one-level guide rod 305a to swing, as shown in Figure 4, Figure 5.
In above-mentioned bionic pectoral fin fin ray device, middle fin ray foot piece 306 is designed as T-shape platy structure, preceding fin ray foot piece 103
Be designed as the platy structure of " Ren " type with metapterygium foot piece 203, and 306 sophisticated both sides of middle fin ray foot piece respectively with preceding fin ray foot piece
103 are connected with 203 sophisticated side of metapterygium foot piece by rubber tube 6；The preceding tip of fin ray foot piece 103 and metapterygium foot piece 203 is another
Side is vertical with what is designed in the leading edge and trailing edge of pectoral fin connecting plate 4 respectively to pass through rubber with the end of the connecting rod of pectoral fin connecting plate 45
Leather hose 6 is connected.After the completion of connection, the outer rim of whole bionic pectoral fin fin ray device is consistent with the outer rim of devil ray pectoral fin, and use is non-
Permeable one-piece casting covering cladding.
To sum up, by rationally controlling the motion phase between each fin ray poor, the present invention is made to be led based on toothed belt transmission and crank
The underwater propulsion unit of linkage, it can be achieved to be moved from exhibition to the complex three-dimensional swung and tangential wave motion couples form.
Before the present invention in fin ray 1, middle fin ray 3 and metapterygium 2, whole bearing pins used pass through outside socked shaft and cover reduction
Frictional force, axially position is realized by jump ring；And sliding sleeve is provided with all slide openings, taken out for reducing penetrated pin with sliding
Frictional force between hole.Preceding fin ray foot piece 103, middle fin ray foot piece 306 and metapterygium foot piece 203 use glass mat.
Claims (10)
1. the underwater propulsion unit based on toothed belt transmission and crank guide rod mechanism, including preceding fin ray, middle fin ray and metapterygium, point
Do not set at equal intervals along tangential；It is characterized in that：
The middle fin ray include middle fin ray driving steering wheel, gear reduction, transmission 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 and Coupling Shaft are coaxially connected；
One-level crank guide rod mechanism that the middle fin ray crank guide rod mechanism includes being made up of one-level guide rod and one-level crank, by two
The two level crank guide rod mechanism that level guide rod, two level crank are formed, 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；Passed through by bearing pin along one-level guide rod axial design
Middle fin ray slide opening A, the driving end of bearing pin pass through one-level crank front end；Bearing pin connection end is connected with two level crank end, makes one-level
Prismatic pair is formed between crank, two level crank and one-level guide rod；One-level crank end is enclosed in Coupling Shaft；Two level guide rod end and one
Level guide rod front end is connected, and forms revolute pair；Passed through by bearing pin bent along the middle fin ray slide opening B and two level of two level guide rod axial design
Handle front end is connected, and makes to form prismatic pair between two level crank and two level guide rod；Two level guide rod front end is connected with middle fin ray foot piece end；
The input of the transmission mechanism is arranged in Coupling Shaft, and output end is arranged on bearing pin driving end at one-level crank front end
Portion；The power of middle fin ray driving steering wheel output is transferred to two level guide rod；
The gear reduction is used to drive the rotating speed of steering wheel to export to one-level crank after reducing middle fin ray, and makes one-level bent
Handle forms speed discrepancy with two level crank in swing process.
2. the underwater propulsion unit based on toothed belt transmission and crank guide rod mechanism as claimed in claim 1, it is characterised in that：Institute
Stating transmission mechanism includes 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 between driving pulley and driven pulley by driving belt.
3. the underwater propulsion unit based on toothed belt transmission and crank guide rod mechanism as claimed in claim 2, it is characterised in that：It is main
Movable belt pulley Center has rectangular through-hole, is enclosed in the square-section section designed in Coupling Shaft and fixed；Driven pulley center is set
In respect of rectangular through-hole, it is enclosed in the square-section section that bearing pin driving end designs at one-level crank front end and fixed.
4. the underwater propulsion unit based on toothed belt transmission and crank guide rod mechanism as claimed in claim 1, 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 both ends；Deboost axle one end is arranged on bearing block, the other end and middle fin ray pedestal axle
Connection is held, and the first driven gear and the second driving gear is engaged respectively with the first driving gear and the second driven gear.
5. the underwater propulsion unit based on toothed belt transmission and crank guide rod mechanism as claimed in claim 4, it is characterised in that：The
One driving gear Center has rectangular through-hole, is enclosed in the square-section section of Coupling Shaft and fixed；Opened on second driven gear
There is rectangular through-hole, be enclosed in the rectangular protrusions of one-level crank end design and fixed；First driven gear and the second driving gear
Rectangular through-hole is designed with center, is respectively fitted over by the rectangular through-hole in the square-section section designed at deboost axle both ends and solid
It is fixed.
6. the underwater propulsion unit based on toothed belt transmission and crank guide rod mechanism as claimed in claim 1, it is characterised in that：Institute
State and middle fin ray steering wheel is installed on the output shaft of fin ray driving steering wheel, Coupling Shaft is connected by end flange with steering wheel.
7. the underwater propulsion unit based on toothed belt transmission and crank guide rod mechanism as claimed in claim 1, it is characterised in that：Before
Fin ray includes preceding fin ray driving steering wheel and preceding fin ray foot piece, and a set of by preceding fin ray crank, preceding fin ray pedestal, preceding fin ray guide rod
The preceding fin ray crank guide rod mechanism formed；Wherein, preceding fin ray guide rod end is connected with preceding fin ray pedestal front end, forms revolute pair；
Preceding fin ray crank end is connected with preceding fin ray pedestal front end, forms revolute pair；And preceding fin ray crank and preceding fin ray driving steering wheel are defeated
Shaft is relatively fixed；Pass through the preceding fin ray slide opening designed on preceding fin ray guide rod to be connected with preceding fin ray crank front end by bearing pin, make
Prismatic pair is formed between preceding fin ray crank and preceding fin ray guide rod；Preceding fin ray guide rod front end is connected with preceding fin ray foot piece end.
8. the underwater propulsion unit based on toothed belt transmission and crank guide rod mechanism as claimed in claim 1, it is characterised in that：Afterwards
Fin ray includes metapterygium driving steering wheel and metapterygium foot piece；Metapterygium foot piece end is relative with metapterygium driving steering wheel output between centers
It is fixed.
9. the underwater propulsion unit based on toothed belt transmission and crank guide rod mechanism as claimed in claim 1, it is characterised in that：In
Fin ray foot piece is connected between the foot piece of preceding fin ray and metapterygium by rubber tube, makes the outer rim and devil ray pectoral fin of underwater propulsion unit
Outer counter it is consistent.
10. the underwater propulsion unit based on toothed belt transmission and crank guide rod mechanism as claimed in claim 1, it is characterised in that：
Driving pulley is identical with the reference diameter of driven pulley in synchronous belt drive mechanism.
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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| Publication Number | Publication Date |
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| CN106005338A CN106005338A (en) | 2016-10-12 |
| CN106005338B true 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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| CN110304223B (en) * | 2019-07-04 | 2020-09-29 | 中国科学院自动化研究所 | Bionic machine bat ray |
| CN110329473B (en) * | 2019-07-09 | 2020-09-22 | 北京机电工程研究所 | Bionic pectoral fin motion design method |
| CN110588932B (en) * | 2019-09-17 | 2020-11-06 | 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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| CN103144756B (en) * | 2013-02-08 | 2015-07-01 | 北京航空航天大学 | Bionic robot fish propelled by oscillating and twisting compound motion of pectoral fins |
| CN103213664A (en) * | 2013-04-22 | 2013-07-24 | 北京航空航天大学 | Dual-drive bionic pectoral fin framework |
| CN103213665B (en) * | 2013-05-09 | 2015-08-19 | 中国科学院自动化研究所 | A kind of biomimetic long-fin undulatory propulsion robotic fish |
| US9045211B2 (en) * | 2013-09-17 | 2015-06-02 | The United States Of America, As Represented By The Secretary Of The Navy | Actively controlled curvature robotic pectoral fin |
| CN105173042B (en) * | 2015-08-28 | 2017-07-14 | 北京航空航天大学 | Underwater propulsion unit based on planet circular system and synchronous belt drive mechanism |
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2016
- 2016-06-27 CN CN201610483589.4A patent/CN106005338B/en active Active
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