CN109533249A - A kind of biomimetic type submarine navigation device flapping wing propulsion device - Google Patents
A kind of biomimetic type submarine navigation device flapping wing propulsion device Download PDFInfo
- Publication number
- CN109533249A CN109533249A CN201811411536.7A CN201811411536A CN109533249A CN 109533249 A CN109533249 A CN 109533249A CN 201811411536 A CN201811411536 A CN 201811411536A CN 109533249 A CN109533249 A CN 109533249A
- Authority
- CN
- China
- Prior art keywords
- rocking bar
- screw
- connecting rod
- wing skeleton
- navigation device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
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
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
- B63H25/08—Steering gear
- B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
- B63H25/34—Transmitting of movement of engine to rudder, e.g. using quadrants, brakes
-
- 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
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a kind of biomimetic type submarine navigation device flapping wing propulsion devices, it is installed on submarine navigation device, including driving motor component, driving gear set, ball-screw, steering engine, rotation axis, adaptive drive lacking flexible wing skeleton, single sliding block double rocker mechanism and fixing seat, the driving motor component, ball-screw and fixing seat are connect with submarine navigation device main body respectively, the driving motor component is by motor, retarder and encoder composition, the ball-screw is by lead screw, feed screw nut and screw rod fixing seat composition, the output shaft of the retarder and the driving gear of driving gear set connect；The driven wheel of driving gear set and the lead screw of ball-screw connect, and the motor drives lead screw to rotate by driving gear set.Two parts of nose-plane and rear end wing are arranged in the device overall structure.There are two freedom degrees for whole device tool, and the movements such as submarine navigation device propulsion, turning, floating and dive may be implemented.
Description
Technical field
The present invention relates to the propulsion devices of submarine navigation device, and more specifically, it relates to a kind of biomimetic type submarine navigation devices
Flapping wing propulsion device.
Background technique
In recent years, it deepens continuously with the mankind to ocean exploration, submarine navigation device plays increasingly important role.
This makes us have higher requirement for the various aspects of performance of submarine navigation device.Currently, most of submarine navigation device uses
The mode that propeller promotes is traditional due to the problems such as propulsive efficiency under its low-speed situations is low, noise is big, flexibility is insufficient
Propulsion mode is increasingly difficult to meet the diversified requirement of submarine navigation device task.And the flapping wing of the marine organisms such as green turtle, devil ray
Evolution of the motion mode Jing Guo available for countless years has many advantages, such as that propulsive efficiency is high, stability is strong, mobility and maneuverability are good, especially
The propulsion being suitble under marine environment.Therefore, by furtheing investigate the flapping wing promotion tactics of marine organisms, it is a kind of suitable to design
Flapping wing mechanism, this has great importance for the propulsive performance for improving submarine navigation device.
Currently, substantially there are two types of types for aquatic bionic flapping wing propulsive mechanism.The first adds covering using fin ray
Form results in the need for making using the rotary motion of motor control fin ray since the fin ray of its unilateral wing is generally no less than three
With multiple groups motor, which increase the development difficulties of wing control system, also not strong simultaneously for the adaptability of environment；Second
It is using the driving method of Mechanism Combinations together such as crank rockers, this kind of flapping wing mechanism control and analysis of mechanism are relatively simple,
But the practical flapping motion of marine organisms can not be imitated well, sport efficiency is not greatly improved.Therefore,
A kind of simple, the adaptable flapping wing propulsion device of structure of R and D becomes the important research of current submarine navigation device development
One of direction.
Summary of the invention
Purpose of the invention is to overcome the shortcomings in the prior art, provides a kind of biomimetic type submarine navigation device flapping wing and pushes away
Into device, which, for bionical object, copies devil ray pectoral fin during the motion close to body with the movement of devil ray pectoral fin
The different feature of the propulsive force that the pectoral fin of body portion is different with the pectoral fin characteristics of motion far from body part, generates, propulsion device
Two parts of nose-plane and rear end wing are arranged in overall structure.There are two freedom degrees for whole device tool, may be implemented to navigate under water
Row device is promoted, turned, floating and the movements such as dive.
The purpose of the present invention is what is be achieved through the following technical solutions:
A kind of biomimetic type submarine navigation device flapping wing propulsion device is installed on submarine navigation device, including driving motor component, biography
Moving gear group, ball-screw, steering engine, rotation axis, adaptive drive lacking flexible wing skeleton, single sliding block double rocker mechanism and fixation
Seat, the driving motor component, ball-screw and fixing seat are connect with submarine navigation device main body respectively, the driving motor component
It is made of motor, retarder and encoder, the ball-screw is made of lead screw, feed screw nut and screw rod fixing seat, described to subtract
The output shaft of fast device and the driving gear of driving gear set connect；The driven wheel of driving gear set and the lead screw of ball-screw connect
It connects, the motor drives lead screw to rotate by driving gear set；
The single sliding block double rocker mechanism by sliding block, shifting axle, first connecting rod, second connecting rod, third connecting rod, fixing axle,
First rocking bar, second shake to be connected with each other with third rocking bar and form；
Steering engine, first bearing seat and second bearing seat are also connected on second rocking bar, the rotation axis is by the first rotation
Shaft, the second rotary shaft and third rotary shaft composition；First rotary shaft is mounted on first bearing seat and second bearing by bearing
On seat, the second rotary shaft is fixed on the first rotary shaft tail portion, and third rotary shaft is installed on 3rd bearing seat by bearing, and described
Three bearing blocks are fixed on third rocking bar；
The adaptive drive lacking flexible wing skeleton includes the first flexible wing skeleton, the second flexible wing skeleton, the
Three flexible wing skeletons, the 4th flexible wing skeleton, the 5th flexible wing skeleton and the 6th flexible wing skeleton, each flexible machine
Wing skeleton is made of wing skeleton, fixing seat of hinge and spring steel plate.
Further, the sliding block and shifting axle are affixed, one end of the first connecting rod and second connecting rod by bearing with
Shifting axle is connected, and the other end of first connecting rod is connected with one end of the second rocking bar, the other end of second connecting rod and the first rocking bar
One end is connected, and the intermediate ends of the other end of the first rocking bar and the second rocking bar are connected with fixing axle by bearing, and fixing axle is installed on
In fixing seat；One end of the third connecting rod is connected with the intermediate ends of the first rocking bar, the third connecting rod other end and the second rocking bar
The other end is connected with one end of third rocking bar and intermediate ends respectively, constitutes a closed loop；Sliding block and shifting axle are fixed on ball wire
The feed screw nut of thick stick drives the second rocking bar and third rocking bar flapping motion by the linear motion of nut.
Further, one end of first rotary shaft is connected with steering engine output shaft, the first rotary shaft other end and second
Rotary shaft is connected, and the first flexible wing skeleton and the second flexible wing skeleton are installed on the first rotary shaft middle position, the
Three flexible wing skeletons and the installation of the 4th flexible wing skeleton and the second rotating shaft terminal position；The 5th flexible wing skeleton
Third rotating shaft terminal position is installed on the 6th flexible wing skeleton.
Further, the first connecting rod, second connecting rod, third connecting rod and the first rocking bar be straight-bar, the second rocking bar and
Third rocking bar is curved bar, and bending angle is any angle greater than zero degree less than 180 degree.
Compared with prior art, the beneficial effects brought by the technical solution of the present invention are as follows:
1. the present invention uses two degrees of freedom executing agency, single unit system has two freedom of movement and rotational motion of flapping
Degree；By driving motor component independent control, rotational motion makes flapping wing mechanism control by steering engine independent control for the movement of flapping of flapping wing
The development difficulty of program reduces, and overall dimensions are small, movement is flexible.
2. the execution part of movement of flapping of the invention uses double rocking lever structure, wing is divided into nose-plane and backend machine
Two parts of the wing, during the motion, the nose-plane part amplitude of flapping close to fuselage are smaller, the rear end wing far from fuselage
Amplitude of partially flapping is larger.Divided wing design makes wing motion be more in line with the actual characteristics of motion of devil ray pectoral fin, and reduction is flutterred
The wing resistance of motion improves propulsive force.
3. the drive part of movement of flapping of the invention uses slide block structure, overall space size is smaller, can will drive
Dynamic electric machine assembly, driving gear set, ball-screw this set of driving device are placed in the outside of submarine navigation device fuselage, constitute one
Whole flapping wing device unit is covered, the submarine navigation device of different sizes and shape is suitble to.Simultaneously can also according to the actual situation, it will
Driving device is placed in fuselage, reduces the integral installation size of submarine navigation device flapping wing part.
4. wing skeleton of the invention uses adaptive drive lacking flexible wing skeleton, it can be flapped according to flapping wing and move speed
The difference of degree, amplitude and direction of flapping, make wing it is adaptive towards different directions different rotation angle, reduce flapping wing and be moved through
Resistance in journey increases propulsive force.
5. propulsion device of the present invention has production and processing simple, convenient control of motion, high reliability and low noise etc. are excellent
Point, aircraft, which promotes etc., under water is of great significance in various fields and broad application prospect.
Detailed description of the invention
Fig. 1 is the general structure schematic diagram of apparatus of the present invention；
Fig. 2 is partial structure diagram of flapping in Fig. 1；
Fig. 3 is the adaptive drive lacking flexible wing skeleton part-structure figure of flapping wing propulsion device shown in Fig. 1.
Appended drawing reference: 1, driving motor component, 2, driving gear set, 3, ball-screw, 4, sliding block, 5, single sliding block double rocking lever
Mechanism, 6, steering engine, 7, first bearing seat, the 8, first flexible wing skeleton, the 9, first rotary shaft, the 10, second flexible wing skeleton,
11, second bearing seat, 12, third flexible wing skeleton, the 13, second rotary shaft, the 14, the 4th flexible wing skeleton, the 15, the 5th is soft
Property wing skeleton, 16, third rotary shaft, 17,3rd bearing seat, the 18, the 6th flexible wing skeleton, 19, shifting axle, 20, first
Connecting rod, 21, second connecting rod, 22, fixing axle, 23, fixing seat, the 24, first rocking bar, 25, third connecting rod, the 26, second rocking bar, 27,
Third rocking bar, the 28, first fixed wing skeleton, the 29, first flexible hinge fixing seat, the 30, first spring steel plate, the 31, second bullet
Spring steel disc, the 32, second flexible hinge fixing seat, the 33, second fixed wing skeleton, 34, the fixed wing skeleton of third
Specific embodiment
For that can further appreciate that the contents of the present invention, feature and effect, the following examples are hereby given, and cooperates attached drawing detailed
It is described as follows:
If attached drawing 1 is to shown in Fig. 3, it is a kind of two degrees of freedom that the embodiment of the present invention, which is the imitative underwater flapping wing propulsion device of devil ray,
Flapping wing driving device, driving motor component 1, ball-screw 3 and fixing seat 23 are separately mounted in submarine navigation device main body.Driving
The output shaft of electric machine assembly 1 is connected with the driving gear of driving gear set 2, the lead screw of ball-screw 3 and driving gear set 2 from
Moving gear is connected.Sliding block 4 and shifting axle 19 are consolidated, and connect with the nut of ball-screw 3.First connecting rod 20 and second connects
One end of bar 21 is connected by bearing with shifting axle 19, and the other end of first connecting rod 20 is connected with the second rocking bar 26, second connecting rod
21 other end is connected with the first rocking bar 24, and the intermediate ends and fixing axle 22 of the other end of the first rocking bar 24 and the second rocking bar 26 are logical
It crosses bearing to be connected, fixing axle 22 is mounted in fixing seat 23.One end of third connecting rod 25 is connected with 24 intermediate ends of the first rocking bar, the
The other end of 25 other end of three-link and the second rocking bar 26 is connected with one end of third rocking bar 27 and intermediate ends respectively, constitutes one
Closed loop.
Steering engine 6, first bearing seat 7 and second bearing seat 11 are fixed on the second rocking bar 26, and the first rotary shaft 9 passes through bearing
It is mounted in first bearing seat 7 and second bearing seat 11,9 one end of the first rotary shaft is connected with 6 output shaft of steering engine, the first rotary shaft
9 other ends are connected with the second rotary shaft 13.First flexible wing skeleton 8 and the second flexible wing skeleton 10 are mounted on the first rotation
9 middle position of axis, third flexible wing skeleton 12 and the 4th flexible wing skeleton 14 are mounted on 13 end positions of the second rotary shaft.
3rd bearing seat 17 is fixed on third rocking bar 27, and third rotary shaft 16 is mounted on 3rd bearing seat 17 by bearing.5th
Flexible wing skeleton 15 and the 6th flexible wing skeleton 18 are mounted on 16 end positions of third rotary shaft.
Fig. 3 is the detailed figure of the second flexible wing skeleton 10, remaining flexible wing skeleton structure and the second flexible machine ptergoid bone
10 structure of frame is similar.Second flexible wing skeleton 10 is solid by the fixed wing skeleton 33 of the first fixation wing skeleton 28, second, third
Determine wing skeleton 34, the first flexible hinge fixing seat 29, the second flexible hinge fixing seat 32, the first spring steel plate 30 and the second bullet
Spring steel disc 31 forms.First fixed wing skeleton 28 is fixed in the first rotary shaft 9, the first flexible hinge fixing seat 29 and first
Fixed wing skeleton 28 is connected, and the second flexible hinge fixing seat 32 is connected with the second fixed wing skeleton 33, the first spring steel plate
30 and second spring steel disc 31 be symmetrically mounted in the first flexible hinge fixing seat 29 and the second flexible hinge fixing seat 32.Remaining
Flexible hinge arrangement is consistent with its.
The motion process of entire mechanism are as follows: motor drives lead screw rotation by driving gear set, and ball-screw is by motor
Rotary motion is converted into the linear motion of nut, drives the sliding block of single sliding block double rocker mechanism 5 to move along a straight line by nut.
Sliding block drives the second rocking bar flapping motion by first connecting rod, realizes the movement of flapping of nose-plane；Sliding block passes through second connecting rod
Third rocking bar flapping motion is driven with third connecting rod, realizes the movement of flapping of rear end wing.Steering engine drives rotary shaft rotation, realizes
The crankmotion of flexible wing skeleton.Can by control motor and steering engine direction of rotation, rotation angle and speed come
The direction of motion, amplitude peak and the frequency of movement for controlling entire flapping wing mechanism flapping mechanism and rotating mechanism pass through control electricity
The adjustment of machine and the steering engine equation of motion may be implemented to be similar to the bionical actual characteristics of motion of object devil ray pectoral fin.
The present invention is not limited to embodiments described above.Above the description of specific embodiment is intended to describe and say
Bright technical solution of the present invention, the above mentioned embodiment is only schematical, is not restrictive.This is not being departed from
In the case of invention objective and scope of the claimed protection, those skilled in the art may be used also under the inspiration of the present invention
The specific transformation of many forms is made, within these are all belonged to the scope of protection of the present invention.
Claims (4)
1. a kind of biomimetic type submarine navigation device flapping wing propulsion device, is installed on submarine navigation device, which is characterized in that including driving electricity
Thermomechanical components, driving gear set, ball-screw, steering engine, rotation axis, adaptive drive lacking flexible wing skeleton, single sliding block double rocking lever
Mechanism and fixing seat, the driving motor component, ball-screw and fixing seat are connect with submarine navigation device main body respectively, the drive
Dynamic electric machine assembly is made of motor, retarder and encoder, and the ball-screw is by lead screw, feed screw nut and screw rod fixing seat group
At the output shaft of the retarder and the driving gear of driving gear set connect；The driven wheel and ball-screw of driving gear set
Lead screw connection, the motor by driving gear set drive lead screw rotation；
The single sliding block double rocker mechanism is by sliding block, shifting axle, first connecting rod, second connecting rod, third connecting rod, fixing axle, first
Rocking bar, second shake to be connected with each other with third rocking bar and form；
Be also connected with steering engine, first bearing seat and second bearing seat on second rocking bar, the rotation axis by the first rotary shaft,
Second rotary shaft and third rotary shaft composition；First rotary shaft is mounted in first bearing seat and second bearing seat by bearing,
Second rotary shaft is fixed on the first rotary shaft tail portion, and third rotary shaft is installed on 3rd bearing seat, the third axis by bearing
It holds seat and is fixed on third rocking bar；
The adaptive drive lacking flexible wing skeleton is soft including the first flexible wing skeleton, the second flexible wing skeleton, third
Property wing skeleton, the 4th flexible wing skeleton, the 5th flexible wing skeleton and the 6th flexible wing skeleton, each flexible machine ptergoid bone
Frame is made of wing skeleton, fixing seat of hinge and spring steel plate.
2. a kind of biomimetic type submarine navigation device flapping wing propulsion device according to claim 1, which is characterized in that the sliding block and
Shifting axle is affixed, and one end of the first connecting rod and second connecting rod is connected by bearing with shifting axle, the other end of first connecting rod
Be connected with one end of the second rocking bar, the other end of second connecting rod is connected with one end of the first rocking bar, the other end of the first rocking bar and
The intermediate ends of second rocking bar are connected with fixing axle by bearing, and fixing axle is installed in fixing seat；One end of the third connecting rod
Be connected with the intermediate ends of the first rocking bar, the other end of the third connecting rod other end and the second rocking bar respectively with one end of third rocking bar and
Intermediate ends are connected, and constitute a closed loop；Sliding block and shifting axle are fixed on the feed screw nut of ball-screw, are transported by the straight line of nut
The second rocking bar of dynamic driving and third rocking bar flapping motion.
3. a kind of biomimetic type submarine navigation device flapping wing propulsion device according to claim 1, which is characterized in that first rotation
One end of shaft is connected with steering engine output shaft, and the first rotary shaft other end is connected with the second rotary shaft, first flexible wing
Skeleton and the second flexible wing skeleton are installed on the first rotary shaft middle position, third flexible wing skeleton and the 4th flexible wing
Skeleton installation and the second rotating shaft terminal position；The 5th flexible wing skeleton and the 6th flexible wing skeleton are installed on third
Rotating shaft terminal position.
4. a kind of biomimetic type submarine navigation device flapping wing propulsion device according to claim 1, which is characterized in that described first
Connecting rod, second connecting rod, third connecting rod and the first rocking bar are straight-bar, and the second rocking bar and third rocking bar are curved bar, and bending angle is
Any angle greater than zero degree less than 180 degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811411536.7A CN109533249B (en) | 2018-11-24 | 2018-11-24 | Bionic flapping wing propulsion device of underwater vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811411536.7A CN109533249B (en) | 2018-11-24 | 2018-11-24 | Bionic flapping wing propulsion device of underwater vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109533249A true CN109533249A (en) | 2019-03-29 |
| CN109533249B CN109533249B (en) | 2020-08-18 |
Family
ID=65849585
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811411536.7A Active CN109533249B (en) | 2018-11-24 | 2018-11-24 | Bionic flapping wing propulsion device of underwater vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109533249B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110015391A (en) * | 2019-05-08 | 2019-07-16 | 大连理工大学 | A kind of devil ray mode underwater fish apparatus and system |
| CN110203360A (en) * | 2019-06-21 | 2019-09-06 | 青岛海洋科学与技术国家实验室发展中心 | Silk driving flexible variable swing device and submarine navigation device |
| CN110395372A (en) * | 2019-07-26 | 2019-11-01 | 青岛海洋科学与技术国家实验室发展中心 | Fin ray, wing and submarine navigation device |
| CN110775237A (en) * | 2019-11-22 | 2020-02-11 | 西北工业大学 | Small underwater bionic flapping wing driving device |
| CN110979606A (en) * | 2019-12-04 | 2020-04-10 | 天津大学 | Folding and unfolding type flapping wing mechanism of underwater vehicle |
| CN110979607A (en) * | 2019-12-04 | 2020-04-10 | 天津大学 | Flexible wire driving module type variable wing device |
| CN113341693A (en) * | 2021-06-08 | 2021-09-03 | 西北工业大学 | Course control method based on asymmetric phase difference and amplitude of flapping wings |
| CN114789785A (en) * | 2022-03-29 | 2022-07-26 | 西湖大学 | Aircraft |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012168224A2 (en) * | 2011-06-06 | 2012-12-13 | Motonautic Ug | Contraction motor and paddle blade with such a contraction motor |
| CN103144755A (en) * | 2013-02-08 | 2013-06-12 | 北京航空航天大学 | Bionic cow-nosed ray oscillating pectoral fin driven by wires of large-deformation flexible mechanism |
| CN103213664A (en) * | 2013-04-22 | 2013-07-24 | 北京航空航天大学 | Dual-drive bionic pectoral fin framework |
| CN103612755A (en) * | 2013-11-20 | 2014-03-05 | 中国民航大学 | Bionic flapping-wing machine with double-section main wings |
| DE202014001817U1 (en) * | 2014-02-26 | 2014-04-07 | Helmut Stoffels | Fins drive on any floats |
| CN104943839A (en) * | 2015-07-16 | 2015-09-30 | 北京航空航天大学 | Novel modular bionic underwater robot based on full-flexible pectoral fins |
| CN105416568A (en) * | 2015-12-09 | 2016-03-23 | 上海游族智能科技有限公司 | Self-adaptive gusty-wind-resistant bent wing |
| CN105460189A (en) * | 2015-11-27 | 2016-04-06 | 天津大学 | Underwater flapping wing driving device |
| CN106672185A (en) * | 2016-08-11 | 2017-05-17 | 西北工业大学 | Flexible flapping wing driving device for small underwater vehicle |
| CN107472529A (en) * | 2017-09-12 | 2017-12-15 | 南通大学 | A kind of flapping wing aircraft of interior wing twisting |
| CN107804446A (en) * | 2017-09-26 | 2018-03-16 | 西北工业大学 | Three Degree Of Freedom for submarine navigation device imitates Weis-Fogh mechanism and its kinematics control method |
| CN108622356A (en) * | 2018-04-09 | 2018-10-09 | 西北工业大学 | A kind of aquatic bionic Computation of Flexible Flapping-Wing propulsion device |
| CN207985157U (en) * | 2018-01-19 | 2018-10-19 | 天津大学 | A kind of flexible change rear underwater glider wing |
| CN108860595A (en) * | 2018-04-12 | 2018-11-23 | 南京航空航天大学 | It is a kind of to imitate dove aircraft with the flapping wing passively reversed |
| CN108945430A (en) * | 2018-07-16 | 2018-12-07 | 武汉科技大学 | A kind of-bionic flapping-wing flying vehicle of active twist combination drive of fluttering-fold |
-
2018
- 2018-11-24 CN CN201811411536.7A patent/CN109533249B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012168224A2 (en) * | 2011-06-06 | 2012-12-13 | Motonautic Ug | Contraction motor and paddle blade with such a contraction motor |
| CN103144755A (en) * | 2013-02-08 | 2013-06-12 | 北京航空航天大学 | Bionic cow-nosed ray oscillating pectoral fin driven by wires of large-deformation flexible mechanism |
| CN103213664A (en) * | 2013-04-22 | 2013-07-24 | 北京航空航天大学 | Dual-drive bionic pectoral fin framework |
| CN103612755A (en) * | 2013-11-20 | 2014-03-05 | 中国民航大学 | Bionic flapping-wing machine with double-section main wings |
| DE202014001817U1 (en) * | 2014-02-26 | 2014-04-07 | Helmut Stoffels | Fins drive on any floats |
| CN104943839A (en) * | 2015-07-16 | 2015-09-30 | 北京航空航天大学 | Novel modular bionic underwater robot based on full-flexible pectoral fins |
| CN105460189A (en) * | 2015-11-27 | 2016-04-06 | 天津大学 | Underwater flapping wing driving device |
| CN105416568A (en) * | 2015-12-09 | 2016-03-23 | 上海游族智能科技有限公司 | Self-adaptive gusty-wind-resistant bent wing |
| CN106672185A (en) * | 2016-08-11 | 2017-05-17 | 西北工业大学 | Flexible flapping wing driving device for small underwater vehicle |
| CN107472529A (en) * | 2017-09-12 | 2017-12-15 | 南通大学 | A kind of flapping wing aircraft of interior wing twisting |
| CN107804446A (en) * | 2017-09-26 | 2018-03-16 | 西北工业大学 | Three Degree Of Freedom for submarine navigation device imitates Weis-Fogh mechanism and its kinematics control method |
| CN207985157U (en) * | 2018-01-19 | 2018-10-19 | 天津大学 | A kind of flexible change rear underwater glider wing |
| CN108622356A (en) * | 2018-04-09 | 2018-10-09 | 西北工业大学 | A kind of aquatic bionic Computation of Flexible Flapping-Wing propulsion device |
| CN108860595A (en) * | 2018-04-12 | 2018-11-23 | 南京航空航天大学 | It is a kind of to imitate dove aircraft with the flapping wing passively reversed |
| CN108945430A (en) * | 2018-07-16 | 2018-12-07 | 武汉科技大学 | A kind of-bionic flapping-wing flying vehicle of active twist combination drive of fluttering-fold |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110015391A (en) * | 2019-05-08 | 2019-07-16 | 大连理工大学 | A kind of devil ray mode underwater fish apparatus and system |
| CN110015391B (en) * | 2019-05-08 | 2023-11-17 | 大连理工大学 | Device and system for underwater robot fish in ray mode |
| CN110203360A (en) * | 2019-06-21 | 2019-09-06 | 青岛海洋科学与技术国家实验室发展中心 | Silk driving flexible variable swing device and submarine navigation device |
| CN110395372A (en) * | 2019-07-26 | 2019-11-01 | 青岛海洋科学与技术国家实验室发展中心 | Fin ray, wing and submarine navigation device |
| CN110775237A (en) * | 2019-11-22 | 2020-02-11 | 西北工业大学 | Small underwater bionic flapping wing driving device |
| CN110979606A (en) * | 2019-12-04 | 2020-04-10 | 天津大学 | Folding and unfolding type flapping wing mechanism of underwater vehicle |
| CN110979607A (en) * | 2019-12-04 | 2020-04-10 | 天津大学 | Flexible wire driving module type variable wing device |
| CN113341693A (en) * | 2021-06-08 | 2021-09-03 | 西北工业大学 | Course control method based on asymmetric phase difference and amplitude of flapping wings |
| CN113341693B (en) * | 2021-06-08 | 2022-07-26 | 西北工业大学 | Course control method based on asymmetric phase difference and amplitude of flapping wings |
| CN114789785A (en) * | 2022-03-29 | 2022-07-26 | 西湖大学 | Aircraft |
| CN114789785B (en) * | 2022-03-29 | 2024-04-16 | 西湖大学 | Aircraft |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109533249B (en) | 2020-08-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109533249A (en) | A kind of biomimetic type submarine navigation device flapping wing propulsion device | |
| CN100506639C (en) | Turning, rotating propeller of underwater robot with six degrees of freedom | |
| CN109760810B (en) | Dolphin pectoral fin butterfly stroke type flapping mechanism capable of realizing elliptic orbit | |
| CN103171750B (en) | A kind of direction adjusting apparatus and its control method of under-water self-navigation device | |
| CN205819522U (en) | Staggered form Grazing condition bionic fish tail propulsive mechanism based on linkage | |
| CN105460189B (en) | A kind of flapping wing drive device under water | |
| CN106005323A (en) | Bionic underwater glider and propelling method thereof | |
| CN106364648B (en) | A kind of controllable aquatic bio-propulsion device of rigidity | |
| CN102079371B (en) | Bionic robofish propelled by vibration of lateral fins | |
| CN110127015A (en) | It is a kind of singly to drive fluctuation fin propulsion device and bionic underwater vehicle | |
| CN108058799B (en) | Novel bionic mechanical fish | |
| CN205872441U (en) | Variable -pitch propeller oar | |
| CN109334932A (en) | Mixed connection driving mechanism for aquatic bio-propulsion system | |
| CN108528666A (en) | A kind of bionical ray underwater robot | |
| CN206841691U (en) | A kind of machine fish two degrees of freedom pectoral fin propulsive mechanism | |
| CN109720526A (en) | A kind of pendulous device of imitative whale tail | |
| CN106516059B (en) | A kind of more fin propulsion devices based on reciprocal screw mechanism | |
| CN209719883U (en) | A kind of pendulous device of imitative whale tail | |
| CN206278247U (en) | A kind of many fin propulsion plants based on reciprocal screw mechanism | |
| CN106005338A (en) | Underwater propelling device based on synchronous belt transmission and crank guide rod mechanisms | |
| CN105173042A (en) | Underwater propelling device based on planetary gear train and synchronous belt transmission mechanism | |
| CN201189955Y (en) | Driving system of stern with changeable axle position | |
| CN103318394A (en) | Pharyngeal-jaw bionic pectoral fin with active fin face deformation function | |
| CN109911155A (en) | The underwater robot that the bionical fin unit of elliptical orbit can be achieved and promoted using it | |
| CN206125384U (en) | Controllable bionical advancing device under water of rigidity |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |