CN109878673B - Aquatic fish tail imitating propulsion system and using method thereof - Google Patents
Aquatic fish tail imitating propulsion system and using method thereof Download PDFInfo
- Publication number
- CN109878673B CN109878673B CN201910302374.1A CN201910302374A CN109878673B CN 109878673 B CN109878673 B CN 109878673B CN 201910302374 A CN201910302374 A CN 201910302374A CN 109878673 B CN109878673 B CN 109878673B
- Authority
- CN
- China
- Prior art keywords
- tail
- gear
- output shaft
- header
- rear half
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 17
- 241000251468 Actinopterygii Species 0.000 title claims description 53
- 230000005540 biological transmission Effects 0.000 claims abstract description 120
- 230000033001 locomotion Effects 0.000 claims abstract description 45
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 7
- 230000009467 reduction Effects 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 3
- 235000001968 nicotinic acid Nutrition 0.000 abstract description 5
- 241001481833 Coryphaena hippurus Species 0.000 abstract description 3
- 238000011161 development Methods 0.000 description 6
- 239000011664 nicotinic acid Substances 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 241000270295 Serpentes Species 0.000 description 2
- 230000009193 crawling Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009182 swimming Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Landscapes
- Toys (AREA)
Abstract
The invention provides an underwater fish-tail-imitating propulsion system and a use method thereof, wherein the system comprises the following components: the device comprises a fish-tail-imitating device and a power device, wherein the front end of the fish-tail-imitating device is arranged at the tail part of a device to be propelled, the power device is arranged at the front end of the fish-tail-imitating device, and the rotary motion of the power device is transmitted to an input shaft of the fish-tail-imitating device through a transmission mechanism; the fishtail imitation device comprises a head part, at least one middle part and a tail part, wherein fishtail imitation frameworks are arranged outside the middle part and the tail part, and under the driving of an input shaft, the head part, the at least one middle part and the tail part of the fishtail imitation device drive the fishtail imitation frameworks outside the fishtail imitation device to perform rotary motion so as to form a fishtail flapping motion. The fish-tail-imitating propulsion system and the application method thereof provided by the invention simulate the motion mode of dolphin in the sea by using bionics, so that the propulsion is more gentle, the striking with water is not strong, the noise is smaller, and the same maneuverability is better than that of the traditional propeller propulsion device.
Description
Technical Field
The invention relates to the technical field of bionics propulsion devices, in particular to an underwater fish-tail-imitating propulsion system and a use method thereof.
Background
Ocean occupies seventy percent of the entire earth, and ocean development has been a major issue for human development for decades. In the development and detection of marine resources, the application of underwater robots is also increasing, and the underwater robots are widely applied in civil and military aspects. The development of the ocean provides an advantageous development platform for the development of underwater robots.
The vast majority of underwater robots use the knowledge of bionics, and the bionic robot fish is one of important scientific research directions in the field of bionic scientific research and in the field of underwater robot scientific research.
The traditional propulsion system is not suitable for the underwater robot in the current stage, the traditional propulsion equipment is propeller propulsion, and the disadvantages of propeller propulsion are low comprehensive efficiency, corresponding serious hysteresis in instant and poor movement flexibility.
These drawbacks have a major impact on post-fabrication applications of underwater robots, such as the process of materialization of autonomous underwater robots (AUVs), unmanned underwater detectors, or Unmanned Underwater Vehicles (UUVs).
Disclosure of Invention
According to the technical problems that the traditional propulsion system is not suitable for the underwater robot in the current stage, the traditional propulsion equipment is propeller propulsion, and the propeller propulsion has the defects of low comprehensive efficiency, corresponding serious hysteresis in instant and poor movement flexibility, and the underwater fish-tail-imitating propulsion system and the application method thereof are provided. The invention mainly utilizes the head part, at least one middle part and the tail part of the fish-tail imitating device to drive the external fish-tail imitating skeleton to rotate so as to form a fish-tail flapping action, thereby combining the knowledge of bionics to imitate the movement mode of dolphin in the sea, and the underwater fish-tail imitating propelling device has the advantages of high efficiency, good maneuverability, low noise and the like.
The invention adopts the following technical means:
an in-water fish tail-imitating propulsion system comprising: the device comprises a fish-tail-imitating device and a power device, wherein the front end of the fish-tail-imitating device is arranged at the tail part of a device to be propelled, the power device is arranged at the front end of the fish-tail-imitating device, and the rotary motion of the power device is transmitted to an input shaft of the fish-tail-imitating device through a transmission mechanism; the fishtail imitation device comprises a head part, at least one middle part and a tail part, wherein fishtail imitation frameworks are arranged outside the middle part and the tail part, and under the driving of an input shaft, the head part, the at least one middle part and the tail part of the fishtail imitation device drive the fishtail imitation frameworks outside the fishtail imitation device to perform rotary motion so as to form a fishtail flapping motion.
Further, the power device comprises an electric motor and a reduction gear box, and an output shaft of the reduction gear box is connected with the input shaft in a transmission way.
Further, the header is provided with a double-layer transmission chain structure, and the upper layer transmission chain of the header comprises an input shaft, an upper input shaft connecting gear of the header, a first transmission gear of the header, a second transmission gear of the header, an upper output tooth of the header and an upper output shaft of the header;
the input shaft is connected with a central key of the upper input shaft connecting gear of the header, the upper input shaft connecting gear of the header is sequentially connected with a first transmission gear of the header, a second transmission gear of the header and upper output teeth of the header in a transmission manner, and the central key of the upper output teeth of the header is connected with an upper output shaft of the header;
the lower layer transmission chain of the header comprises an input shaft, a header lower input shaft connecting gear, a header lower transmission gear, a header lower output shaft gear and a header lower output shaft;
the input shaft is connected with a central key of the head lower input shaft connecting gear, the head lower input shaft connecting gear is sequentially connected with a head lower transmission gear and a head lower output shaft gear in a transmission manner, and the central key of the head lower output shaft gear is connected with a head lower output shaft;
the upper output shaft of the header is connected with the gear in the middle part in a transmission mode, and driving force is transmitted to a transmission chain structure in the middle part.
Further, the fish tail imitating device is provided with two middle parts, namely a first middle part and a second middle part, wherein the first middle part is provided with a double-layer transmission chain structure, and an upper transmission chain of the first middle part comprises a middle part rear half part input shaft, a middle part rear half part input shaft gear, a middle part rear half part upper transmission gear, a middle part rear half part upper output shaft gear and a middle part rear half part upper output shaft;
the upper output shaft of the header is in transmission connection with the input shaft of the middle rear half part, the input shaft of the middle rear half part is in key connection with the input shaft gear of the middle rear half part, the input shaft gear of the middle rear half part is in transmission connection with an upper transmission gear of the middle rear half part and an upper output shaft gear of the middle rear half part, and the upper output shaft of the middle rear half part is in key connection with the center of the upper output shaft gear of the middle rear half part;
the lower layer transmission chain of the first middle part comprises a first transmission gear below the rear half part of the middle part, a second transmission gear below the rear half part of the middle part, a lower output shaft gear below the rear half part of the middle part and a lower output shaft below the rear half part of the middle part;
the middle rear half input shaft is connected with the middle rear half lower first transmission gear in a key manner, the middle rear half lower first transmission gear is connected with a middle rear half lower second transmission gear and a middle rear half lower output shaft gear in a transmission manner, and the middle rear half lower output shaft gear is connected with the middle rear half lower output shaft gear in a key manner;
the upper output shaft of the rear half part of the middle part is meshed with the semi-internal gear at the front end of the second middle part and drives the second middle part to rotate relative to the tail end of the first middle part, and the lower output shaft of the rear half part of the middle part is connected with the gear in the second middle part in a transmission mode and transmits driving force to a transmission chain structure of the second middle part.
Further, the output shaft of the second middle part is meshed with the semi-internal gear of the tail part, and the tail part is driven to rotate relative to the tail end of the second middle part.
Further, the fishtail-like skeleton is a skeleton structure with flexible expansion capability.
Further, the fish-tail-imitating skeleton comprises a first fish-tail-imitating skeleton, a second fish-tail-imitating skeleton and a third fish-tail-imitating skeleton, the first fish-tail-imitating skeleton is sleeved outside the first middle part, the second fish-tail-imitating skeleton is sleeved outside the second middle part, and the third fish-tail-imitating skeleton is sleeved outside the tail part.
Further, the upper output shaft of the header is connected to the middle second half input shaft by three identical gear transmissions.
Further, the rotation speed of the output shaft on the header is twice that of the input shaft, and the rotation speed of the output shaft under the header is the same as that of the input shaft.
The invention also provides a use method of the underwater fish-tail-imitating propulsion system, when the input shaft of the fish-tail-imitating device inputs the revolving force, the upper layer transmission chain in the head part increases speed, the upper output shaft of the head part transmits the revolving force to the middle part, the lower layer transmission chain of the head part is constant in speed, the lower output shaft of the head part is meshed with the half internal gear of the middle part and drives the middle part to revolve and move, and finally the revolving force is transmitted to the tail part, and the middle part and the tail part revolve and move to form wave-shaped movement or flapping movement.
Compared with the prior art, the fish-tail-imitating propulsion system and the use method thereof have the following advantages:
1. compared with the traditional propeller propulsion device, the fish tail imitating propulsion system in water provided by the invention simulates a dolphin motion mode in the sea by using bionics, so that the propulsion is more gentle, the striking with water is not strong, the noise is smaller, and the same maneuverability is better than that of the traditional propeller propulsion device.
2. Compared with the same fish-tail-imitating propulsion device, the underwater fish-tail-imitating propulsion system provided by the invention adopts gear transmission, has the characteristics of more accurate transmission, high efficiency, compact structure, reliable operation, long service life and the like, and meanwhile, the middle part of the fish-tail-imitating device can be infinitely connected according to the setting requirement, namely, the swing can be more similar to the swing of the fish tail in the nature.
3. The fishtail-like skeleton provided by the invention is used as an outer skin structure, so that the sealing performance of the underwater fishtail-like system is better.
4. The motion law of the invention can be applied to the part imitating the fish tail, the invention can simulate the motion part which also moves through arc swing, such as crawling of a snake, and the transformation can be realized by changing the skeleton shape of the skeleton structure of the fish tail imitating device.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to the drawings without inventive effort to a person skilled in the art.
FIG. 1 is a front view of an in-water fish-tail-imitating propulsion system of the present invention.
Fig. 2 is a left side view of the fish tail imitation propulsion system of the present invention.
FIG. 3 is a top view of the fish tail-imitating propulsion system in water of the present invention.
FIG. 4 is an inner cross-sectional view of the upper half of the fish-tail-imitating propulsion system in water of the present invention.
Figure 5 is an internal cross-sectional view of the lower half of the fish tail imitation propulsion system of the present invention.
Wherein: 1. a head part, 2, a middle part, 3, a tail part, 4, a first fishtail-like framework, 5, a second fishtail-like framework, 6 and a third fishtail-like framework,
7. the input shaft 8, the input shaft on the header is connected with a gear, 9, the first transmission gear on the header, 10, the second transmission gear on the header, 11, the output shaft on the header,
12. a middle rear half part input shaft, 13, a middle rear half part input shaft gear, 14, a middle rear half part upper transmission gear, 15, a middle rear half part upper output shaft gear,
16. the gear is characterized by comprising a head lower transmission gear 17, a head lower output shaft gear 18, a head lower output shaft 19, a first transmission gear under the middle rear half part 20, a second transmission gear under the middle rear half part 21 and a middle rear half part lower output shaft gear.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be clear that the dimensions of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
In the description of the present invention, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present invention: the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present invention.
As shown in fig. 1 to 5, the present invention provides an aquatic artificial fish tail propulsion system, comprising: the fish tail simulating device comprises a fish tail simulating device and a power device, wherein the front end of the fish tail simulating device is arranged at the tail of a device to be propelled, the power device is arranged at the front end of the fish tail simulating device, and the rotary motion of the power device is transmitted to an input shaft 7 of the fish tail simulating device through a transmission mechanism; the power device comprises an electric motor and a reduction gear box, and an output shaft of the reduction gear box is in transmission connection with the input shaft 7.
In the embodiment of the present invention, the power unit is a conventional power unit in the prior art, and those skilled in the art can directly purchase the power unit, so the power unit is not specifically described.
The fishtail imitation device comprises a head part 1, at least one middle part 2 and a tail part 3, wherein fishtail imitation frameworks are arranged outside the middle part 2 and the tail part 3, and under the driving of an input shaft 7, the head part 1, the at least one middle part 2 and the tail part 3 of the fishtail imitation device drive the fishtail imitation frameworks outside the fishtail imitation devices to rotate to form a fishtail flapping motion.
In other embodiments of the present invention, the power device may be disposed at the tail or middle of the object to be propelled, and the fish tail simulating device is disposed at the tail of the object to be propelled; the rotary motion of the power device is enabled to act on the pushing shaft of the fish tail imitating device through gear connection or direct connection, the head of the fish tail imitating device can be directly and rigidly connected to the tail of a required pushing object, and the rotary motion of the pushing shaft drives the whole fish tail imitating device to perform flapping motion of the fish tail so as to push the required pushing object to advance.
In the embodiment of the present invention, the header 1 has a double-layer transmission chain structure, and the double-layer transmission chain structure requires different output rotation speeds, namely, small rotation speeds of the parts, and the rotation speed difference is the input rotation speed for transmitting the next part.
The upper layer transmission chain of the header 1 comprises an input shaft 7, an upper header input shaft connecting gear 8, an upper header first transmission gear 9, an upper header second transmission gear 10, upper header output teeth and an upper header output shaft 11; the input shaft 7 is connected with a central key of the upper input shaft connecting gear 8 of the header, the upper input shaft connecting gear 8 of the header is sequentially connected with a first transmission gear 9 of the header, a second transmission gear 10 of the header and upper output teeth of the header in a transmission way, and the central key of the upper output teeth of the header is connected with an upper output shaft 11 of the header; the lower layer transmission chain of the header 1 comprises an input shaft 7, a header lower input shaft connecting gear, a header lower transmission gear 16, a header lower output shaft gear 17 and a header lower output shaft 18; the input shaft 7 is connected with the central key of the head lower input shaft connecting gear, the head lower input shaft connecting gear is sequentially connected with a head lower transmission gear 16 and a head lower output shaft gear 17 in a transmission mode, and the central key of the head lower output shaft gear 17 is connected with a head lower output shaft 18.
Specifically, the lower output shaft 18 of the header is meshed with a half internal gear at the front end of the middle part 2, and drives the middle part 2 to rotate relative to the tail end 1 of the header, so that the swing of the middle part is realized, at this time, the output shaft 18 is provided with an external gear or is machined with external teeth and is used for being matched with the half internal gear, and the upper output shaft 11 of the header is in transmission connection with a gear in the middle part 2 and transmits driving force to a transmission chain structure in the middle part 2.
In the embodiment of the invention, the fish tail imitating device is provided with two middle parts 2, namely a first middle part and a second middle part, wherein the first middle part is provided with a double-layer transmission chain structure, and an upper transmission chain of the first middle part comprises a middle part rear half part input shaft 12, a middle part rear half part input shaft gear 13, a middle part rear half part upper transmission gear 14, a middle part rear half part upper output shaft gear 15 and a middle part rear half part upper output shaft; the upper output shaft 11 of the header is in driving connection with the input shaft 12 of the latter half of the middle part, preferably the upper output shaft 11 of the header is connected to the input shaft 12 of the latter half of the middle part by three identical gear drives.
The middle rear half input shaft 12 is in key connection with the middle rear half input shaft gear 13, the middle rear half input shaft gear 13 is in transmission connection with a middle rear half upper transmission gear 14 and a middle rear half upper output shaft gear 15, and the middle rear half upper output shaft is in central key connection with the middle rear half upper output shaft gear 15.
The lower layer transmission chain of the first middle part comprises a first transmission gear 19 under the rear half part of the middle part, a second transmission gear 20 under the rear half part of the middle part, a lower output shaft gear 21 under the rear half part of the middle part and a lower output shaft under the rear half part of the middle part; the middle rear half input shaft 12 is in key connection with the middle rear half lower first transmission gear 19, the middle rear half lower first transmission gear 19 is in transmission connection with the middle rear half lower second transmission gear 20 and the middle rear half lower output shaft gear 21, and the middle rear half lower output shaft gear 21 is in key connection with the middle rear half lower output shaft gear.
The output shaft on the rear half part of the middle part is meshed with the half internal gear at the front end of the second middle part, and drives the second middle part to rotate relative to the tail end of the first middle part, the lower output shaft of the rear half part of the middle part is in transmission connection with the gear in the second middle part and transmits driving force to the transmission chain structure of the second middle part. The output shaft of the second middle part is meshed with the semi-internal gear of the tail part 3, and drives the tail part 3 to rotate relative to the tail end of the second middle part.
In the embodiment of the invention, the fishtail-like skeleton is a skeleton structure with flexible expansion capability, and the material used for the appearance is a material with certain expansion capability.
The fishtail imitating framework comprises a first fishtail imitating framework 4, a second fishtail imitating framework 5 and a third fishtail imitating framework 6, the first fishtail imitating framework 4 is sleeved outside the first middle part, the second fishtail imitating framework 5 is sleeved outside the second middle part, and the third fishtail imitating framework 6 is sleeved outside the tail 3.
In the embodiment of the present invention, the rotation speed of the upper output shaft 11 of the header is twice that of the input shaft 7, and the rotation speed of the lower output shaft 18 of the header is the same as that of the input shaft 7. Of course, in other embodiments of the present invention, when the rotational speed of the input shaft is constant, the rotational speed difference of the output shaft may be appropriately adjusted as needed to realize the function of transmitting the rotational speed to the next stage mechanism. Preferably, the swinging speed of the next-stage mechanism is faster and faster, and the pushing effect is better.
The fish tail simulating propulsion system in water adopts the gears with the sizes equal to that of standard gears, and has no other requirements.
In the embodiment of the invention, the head part of the fish tail imitation device and the middle part of the fish tail imitation device are both provided with two layers of gear structures, one layer is used for enabling the corresponding part to rotate, and the other layer continuously transmits the rotation force downwards, wherein the rotation direction and the rotation speed ratio can be changed by changing the number and the size of the gears, and then the amplitude and the size of the motion are changed.
In the embodiment of the invention, the input shaft 7 in the head part 1 comprising the fish-tail-imitating device is connected with the output shaft of the power device, provides a turning force and fixes the whole fish-tail-imitating device behind the object to be pushed. The input shaft 7 is then connected by keys to the upper spur input shaft connecting gear 8 and the lower spur output shaft gear 17. When the transmission torque is large, spline connection is adopted; torque was transmitted for a small period of time, and the connection was made with a flat key. Through gear transmission rotary motion, the device has the advantages of accurate transmission, high efficiency, compact structure, reliable work and long service life. In this way the latter parts move more in line with the design.
The rotary motion output by the input shaft gear is transmitted to the head part 1 of the fish-tail imitation device and is divided into an upper gear transmission chain and a lower gear transmission chain, wherein the upper gear transmission chain comprises a first transmission gear 9 on the head part, a second transmission gear 10 on the head part and an upper output shaft 11 on the head part, and the lower gear transmission chain comprises a lower transmission gear 16 on the head part and a lower output shaft gear 17 on the head part. The gear ratio on the upper gear train is 24:18:12: the output shaft 7 outputs a rotation speed twice that of the input shaft on the final header 12. And the lower gear ratio is 24:24:24, the final head lower output shaft gear 17 outputs the same rotational speed as the input shaft 7. Meanwhile, the positions of the input shaft and the output shaft of the upper gear chain and the lower gear chain are ensured to be certain.
The upper output shaft and the lower output shaft which are output by the head part 1 of the fish tail imitating device are connected with the middle part 2 of the fish tail imitating device, so that the rotating speed of the lower input shaft output by the middle part 2 of the fish tail imitating device is equal to the rotating speed of the head part input shaft 7. Meanwhile, a half internal gear which is rigidly connected is arranged at the lower part of the front half part of the middle part 2 of the fish tail imitating device, and the half internal gear is in transmission connection with a gear arranged on the lower output shaft 18 of the head part, so that the middle part of the fish tail imitating device finally performs rotary motion.
The upper input shaft and the upper output shaft of the middle part 2 of the fish tail imitating device are the same, the output rotating speed is twice as high as that of the input shaft of the head part, and finally the upper input shaft and the upper output shaft are connected through three identical gears to act on the input shaft 12 of the second half part of the middle part of the fish tail imitating device. The lower half part has no half internal gear, and the lower half part mainly plays a role in transmitting motion, and meanwhile, the rotation speed is kept different from that of the upper half part, so that the motion transmission can be ensured.
The input shaft 12 at the second half of the middle part of the fish-tail-imitating device inputs the rotation speed, ensures that the rotation speeds transmitted by the upper and lower gear chains are different through the same mechanism as the head part of the fish-tail-imitating device, and finally outputs the rotation speed at the middle part 2 of the next fish-tail-imitating device or is directly connected with the tail part 3 of the fish-tail-imitating device, and meanwhile, the middle parts of the fish-tail-imitating devices are connected in the middle of the fish-tail-imitating device according to the use requirement.
The main structure of the tail 3 of the fish-tail-imitating device is basically the same as the front half part of the middle 2 of the fish-tail-imitating device, and the tail-imitating device is provided with a rigidly connected half internal gear, so that the tail-imitating device swings, and the difference is that a gear chain which continuously drives downwards does not exist.
The first one of the artificial fish tail device skeleton structures is rigidly connected to the middle part of the first one of the artificial fish tail devices, and the specific number of the artificial fish tail device skeleton structures is determined by the number of the user through the middle part of the artificial fish tail device. The shape of the framework structure of the fish tail imitating device can be changed by using the framework structure. The appearance of the fishtail-like device meets the requirement of being capable of being attached to the skeleton structure of the fishtail-like device, certain shrinkage capacity, good sealing performance and little appearance resistance are guaranteed, a specific material can be selected by a user, and a user with a large size and a small appearance can design the size and the appearance of the skeleton structure of the fishtail-like device.
When the input shaft 7 of the fish tail simulating device inputs rotary force, the upper layer transmission chain in the head part 1 increases speed, the head part upper output shaft 11 transmits the rotary force to the middle part 2, the lower layer transmission chain of the head part 2 is constant in speed, the head part lower output shaft 18 is meshed with the half internal gear of the middle part 2 and drives the middle part 2 to rotate, and finally, the rotary force is transmitted to the tail part 3, and the rotary motion of the middle part 2 and the tail part 3 forms wave-type motion or flapping motion.
When the output shaft of the power device is connected with the head input shaft 7 of the fish tail imitating device, the power device is required to output stable forward and reverse rotation movement with a certain rule, and the specific rotating speed is determined according to the required final propelling speed. The head 1 of the fish tail imitating device is rigidly connected with the object to be propelled, so that the stability of movement is ensured. Mainly adopts gear transmission rotary motion, and has the advantages of accurate transmission, high efficiency, compact structure, reliable work and long service life. The final pushing speed can be ensured to be stable and gentle.
According to the fish-tail-imitating propulsion system and the application method thereof, the rotational motion transmitted by the power device enables the rotational motion speed and the rotational motion direction on the input shaft to be effectively controlled, so that the fish-tail-imitating device can be more effectively and stably propelled, the middle part of the fish-tail-imitating device can be repeatedly connected in multiple layers according to the requirement, the number of internal gear connections and the gear ratio can be adjusted according to the required flapping radian, the application range and the popularization of the device are increased, and the main core of the system is to output the rotational motion into the wave motion or the flapping motion.
In the process of natural evolution and evolution of aquatic organisms for hundreds of millions of years, the aquatic organisms are eliminated, the motion capability in water is exerted to the greatest extent, the bionic robot fish adopts the advantages of high speed, high efficiency, high maneuverability, low noise and the like of fish swimming, and the fish propulsion is applied to the underwater robot, so that the bionic robot fish propulsion has great significance in replacing the traditional propulsion mode.
According to the fish-tail-like propulsion system and the application method thereof, when the pushing shaft of the fish-tail-like propulsion device has a turning force, the driving shaft is connected with a gear to drive the next part, so that the fish-tail-like propulsion device makes a fish-tail-like slapping action, and finally the object is pushed to advance.
According to the fishtail-like propulsion system and the application method thereof, the electric motor is connected with the head pushing shaft of the fishtail-like device through the reduction gear box, the middle part and the tail of the fishtail-like device are connected through the gear and the shaft, the skeleton structure of the fishtail-like device can support the external contour, and the external contour is provided with the outer sleeve with a certain telescopic tension, so that the fishtail-like propulsion system is attached to the external surface.
The fish-tail-imitating propulsion system and the use method thereof can also imitate other fish by changing the skeleton structure of the fish-tail-imitating device, and the main core of the fish-tail-imitating propulsion system is to output rotary motion into wave motion or flapping motion, for example: crawling of snakes, and the like. Only the outer skeleton is required to be changed into a round shape.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (9)
1. An in-water fish tail-imitating propulsion system, comprising: the device comprises a fish-tail-imitating device and a power device, wherein the front end of the fish-tail-imitating device is arranged at the tail part of a device to be propelled, the power device is arranged at the front end of the fish-tail-imitating device, and the rotary motion of the power device is transmitted to an input shaft of the fish-tail-imitating device through a transmission mechanism;
the fishtail imitation device comprises a head part, at least one middle part and a tail part, wherein fishtail imitation frameworks are arranged outside the middle part and the tail part, and the head part, the at least one middle part and the tail part of the fishtail imitation device drive the fishtail imitation frameworks outside the fishtail imitation device to rotate under the drive of an input shaft so as to form a fishtail flapping action;
the upper layer transmission chain of the header comprises an input shaft, an upper input shaft connecting gear of the header, a first transmission gear of the header, a second transmission gear of the header, an output tooth of the header and an upper output shaft of the header;
the input shaft is connected with a central key of the upper input shaft connecting gear of the header, the upper input shaft connecting gear of the header is sequentially connected with a first transmission gear of the header, a second transmission gear of the header and upper output teeth of the header in a transmission manner, and the central key of the upper output teeth of the header is connected with an upper output shaft of the header;
the lower layer transmission chain of the header comprises an input shaft, a header lower input shaft connecting gear, a header lower transmission gear, a header lower output shaft gear and a header lower output shaft;
the input shaft is connected with a central key of the head lower input shaft connecting gear, the head lower input shaft connecting gear is sequentially connected with a head lower transmission gear and a head lower output shaft gear in a transmission manner, and the central key of the head lower output shaft gear is connected with a head lower output shaft;
the upper output shaft of the header is connected with the gear in the middle part in a transmission mode, and driving force is transmitted to a transmission chain structure in the middle part.
2. The in-water fish-tail-imitating propulsion system of claim 1, wherein,
the power device comprises an electric motor and a reduction gear box, and an output shaft of the reduction gear box is in transmission connection with the input shaft.
3. The in-water fish-tail-imitating propulsion system of claim 1, wherein,
the fish tail imitation device is provided with two middle parts, namely a first middle part and a second middle part, wherein the first middle part is provided with a double-layer transmission chain structure, and an upper layer transmission chain of the first middle part comprises a middle part rear half part input shaft, a middle part rear half part input shaft gear, a middle part rear half part upper transmission gear, a middle part rear half part upper output shaft gear and a middle part rear half part upper output shaft;
the upper output shaft of the header is in transmission connection with the input shaft of the middle rear half part, the input shaft of the middle rear half part is in key connection with the input shaft gear of the middle rear half part, the input shaft gear of the middle rear half part is in transmission connection with an upper transmission gear of the middle rear half part and an upper output shaft gear of the middle rear half part, and the upper output shaft of the middle rear half part is in key connection with the center of the upper output shaft gear of the middle rear half part;
the lower layer transmission chain of the first middle part comprises a first transmission gear below the rear half part of the middle part, a second transmission gear below the rear half part of the middle part, a lower output shaft gear below the rear half part of the middle part and a lower output shaft below the rear half part of the middle part;
the middle rear half input shaft is connected with the middle rear half lower first transmission gear in a key manner, the middle rear half lower first transmission gear is connected with a middle rear half lower second transmission gear and a middle rear half lower output shaft gear in a transmission manner, and the middle rear half lower output shaft gear is connected with the middle rear half lower output shaft gear in a key manner;
the upper output shaft of the rear half part of the middle part is meshed with the semi-internal gear at the front end of the second middle part and drives the second middle part to rotate relative to the tail end of the first middle part, and the lower output shaft of the rear half part of the middle part is connected with the gear in the second middle part in a transmission mode and transmits driving force to a transmission chain structure of the second middle part.
4. A fish tail imitation propulsion system in water as claimed in claim 3, wherein,
the output shaft of the second middle part is meshed with the semi-internal gear of the tail part, and drives the tail part to rotate relative to the tail end of the second middle part.
5. The in-water fish-tail-imitating propulsion system of claim 1, wherein,
the fishtail-like skeleton is a skeleton structure with flexible expansion capability.
6. The fish-tail-imitating propulsion system according to claim 4, wherein,
the fishtail imitation skeleton comprises a first fishtail imitation skeleton, a second fishtail imitation skeleton and a third fishtail imitation skeleton, the first fishtail imitation skeleton is sleeved outside the first middle part, the second fishtail imitation skeleton is sleeved outside the second middle part, and the third fishtail imitation skeleton is sleeved outside the tail part.
7. A fish tail imitation propulsion system in water as claimed in claim 3, wherein,
the upper output shaft of the header is connected with the middle second half input shaft through three identical gears in a transmission way.
8. The in-water fish-tail-imitating propulsion system of claim 1, wherein,
the rotating speed of the upper output shaft of the header is twice that of the input shaft, and the rotating speed of the lower output shaft of the header is the same as that of the input shaft.
9. A method of using the fish tail simulating propulsion system of claim 1, wherein,
when the input shaft of the fish tail imitating device inputs the revolving force, the upper layer transmission chain in the head part accelerates, the upper output shaft of the head part transmits the revolving force to the middle part, the lower layer transmission chain of the head part is constant, the lower output shaft of the head part is meshed with the semi-internal gear of the middle part, and drives the middle part to revolve and move, and finally, the revolving force is transmitted to the tail part, and the middle part and the tail part revolve and move to form wave-type movement or flapping movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910302374.1A CN109878673B (en) | 2019-04-16 | 2019-04-16 | Aquatic fish tail imitating propulsion system and using method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910302374.1A CN109878673B (en) | 2019-04-16 | 2019-04-16 | Aquatic fish tail imitating propulsion system and using method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109878673A CN109878673A (en) | 2019-06-14 |
| CN109878673B true CN109878673B (en) | 2023-11-24 |
Family
ID=66937445
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910302374.1A Active CN109878673B (en) | 2019-04-16 | 2019-04-16 | Aquatic fish tail imitating propulsion system and using method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109878673B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110282106A (en) * | 2019-06-27 | 2019-09-27 | 浙江理工大学 | A kind of propulsion device of imitative beaver tail swing |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1801248A (en) * | 2004-12-30 | 2006-07-12 | 中国科学院自动化研究所 | Design and control method for tail motion mechanism of bionic robot fish |
| CN2811163Y (en) * | 2005-04-08 | 2006-08-30 | 哈尔滨工程大学 | Mechanical gear device for fish-tail like propelling system |
| JP2006326053A (en) * | 2005-05-27 | 2006-12-07 | Mhi Solution Technologies Co Ltd | Fish robot |
| CN101348165A (en) * | 2007-07-18 | 2009-01-21 | 中国科学院自动化研究所 | Three-dimensional motion bionic machine fish |
| CN106043644A (en) * | 2016-06-07 | 2016-10-26 | 北京大学 | Family ostraciidae fish-based double degree-of-freedom bionic caudal fin propulsion mechanism |
| CN206012921U (en) * | 2016-08-29 | 2017-03-15 | 王东方 | Submarine |
| CN107089314A (en) * | 2017-04-10 | 2017-08-25 | 安徽理工大学 | A kind of Novel bionic fishtail propulsion plant |
| CN107757849A (en) * | 2016-08-18 | 2018-03-06 | 深圳市中科莲花净水科技有限公司 | Driven combination drive is actively added to imitate fish tail underwater propulsion unit |
| CN209683974U (en) * | 2019-04-16 | 2019-11-26 | 大连海事大学 | Fish tail propulsion system is imitated in water |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AT503039B1 (en) * | 2006-02-02 | 2007-07-15 | Rudolf Lackner | WATERCRAFT |
-
2019
- 2019-04-16 CN CN201910302374.1A patent/CN109878673B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1801248A (en) * | 2004-12-30 | 2006-07-12 | 中国科学院自动化研究所 | Design and control method for tail motion mechanism of bionic robot fish |
| CN2811163Y (en) * | 2005-04-08 | 2006-08-30 | 哈尔滨工程大学 | Mechanical gear device for fish-tail like propelling system |
| JP2006326053A (en) * | 2005-05-27 | 2006-12-07 | Mhi Solution Technologies Co Ltd | Fish robot |
| CN101348165A (en) * | 2007-07-18 | 2009-01-21 | 中国科学院自动化研究所 | Three-dimensional motion bionic machine fish |
| CN106043644A (en) * | 2016-06-07 | 2016-10-26 | 北京大学 | Family ostraciidae fish-based double degree-of-freedom bionic caudal fin propulsion mechanism |
| CN107757849A (en) * | 2016-08-18 | 2018-03-06 | 深圳市中科莲花净水科技有限公司 | Driven combination drive is actively added to imitate fish tail underwater propulsion unit |
| CN206012921U (en) * | 2016-08-29 | 2017-03-15 | 王东方 | Submarine |
| CN107089314A (en) * | 2017-04-10 | 2017-08-25 | 安徽理工大学 | A kind of Novel bionic fishtail propulsion plant |
| CN209683974U (en) * | 2019-04-16 | 2019-11-26 | 大连海事大学 | Fish tail propulsion system is imitated in water |
Non-Patent Citations (2)
| Title |
|---|
| 两栖仿生机器鱼Ⅰ的建模及推进机构设计;王卫兵;喻俊志;成斌;黄中文;葛云;;石河子大学学报(自然科学版)(第01期);第98-102页 * |
| 基于直线型内摆线的两关节尾摆推进系统的设计及运动仿真;王淑妍;王新国;朱君;朱永梅;朱慧云;丁进;;机械工程学报(第15期);第27-33页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109878673A (en) | 2019-06-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205273823U (en) | Bionical machine fish based on drive of simple joint tail fin | |
| Yu et al. | Parameter optimization of simplified propulsive model for biomimetic robot fish | |
| CN101758916B (en) | Autonomous type robotic fish | |
| CN106428494B (en) | A kind of underwater vector propeller based on space parallel mechanism | |
| CN105216999B (en) | Freedom degree parallel connection type vector propulsion device and the underwater robot with the device | |
| CN108528666B (en) | Ray-imitating underwater robot | |
| CN212637870U (en) | Ray-imitating robotic fish with single main shaft and single motor and by taking fluctuating pectoral fins as power | |
| CN113086136B (en) | Compound propulsion bionic jellyfish robot | |
| CN101348165A (en) | Three-dimensional motion bionic machine fish | |
| CN105564617A (en) | Parallel type vectored propulsion mechanism and underwater robot provided with same | |
| CN109334932B (en) | Series-parallel driving mechanism for underwater bionic propulsion system | |
| CN104724269A (en) | Space engine-driven tail swing propelling plant | |
| CN109878673B (en) | Aquatic fish tail imitating propulsion system and using method thereof | |
| CN114655405A (en) | Underwater multi-degree-of-freedom motion mechanism for bionic cuttlefish | |
| AU2020103022A4 (en) | Autonomous Robotic Fish | |
| CN109911155B (en) | Bionic fin unit capable of realizing elliptical trajectory and underwater robot propelled by bionic fin unit | |
| CN107458566B (en) | Bionic robot fish | |
| CN104015899B (en) | Based on the underwater propulsion unit that the parallel swing-bar mechanism of twin-stage drives | |
| CN201102625Y (en) | Three-dimensional motion bionic machine fish | |
| CN209683974U (en) | Fish tail propulsion system is imitated in water | |
| CN111173911B (en) | Gear and gear ring transmission connecting rod type bionic fishtail | |
| CN102358410B (en) | Three-dimensional vector thrusting device for submersible | |
| CN102616357A (en) | 360-degree biomimetic fluctuation propulsion device | |
| CN115140284B (en) | Underwater robot for bionic frog | |
| Wang et al. | Bio-inspired design and realization of a novel multimode amphibious robot |
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 |