CN110194247A - A kind of devil ray formula water surface is cruised device - Google Patents
A kind of devil ray formula water surface is cruised device Download PDFInfo
- Publication number
- CN110194247A CN110194247A CN201910463094.9A CN201910463094A CN110194247A CN 110194247 A CN110194247 A CN 110194247A CN 201910463094 A CN201910463094 A CN 201910463094A CN 110194247 A CN110194247 A CN 110194247A
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- China
- Prior art keywords
- rudder
- pedestal
- wing
- skeleton
- cruised
- 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.)
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 54
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 44
- 210000000988 bone and bone Anatomy 0.000 claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims abstract description 18
- 238000009432 framing Methods 0.000 claims description 27
- 230000001360 synchronised effect Effects 0.000 claims description 11
- 229910000831 Steel Inorganic materials 0.000 claims description 8
- 239000010959 steel Substances 0.000 claims description 8
- 239000000203 mixture Substances 0.000 claims description 3
- 210000000056 organ Anatomy 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 12
- 239000004433 Thermoplastic polyurethane Substances 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 229920002803 thermoplastic polyurethane Polymers 0.000 description 4
- 239000002131 composite material Substances 0.000 description 3
- 239000013013 elastic material Substances 0.000 description 3
- 229920001971 elastomer Polymers 0.000 description 3
- 210000003205 muscle Anatomy 0.000 description 3
- ISRUGXGCCGIOQO-UHFFFAOYSA-N Rhoden Chemical compound CNC(=O)OC1=CC=CC=C1OC(C)C ISRUGXGCCGIOQO-UHFFFAOYSA-N 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000010248 power generation Methods 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- 230000003592 biomimetic effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 239000000806 elastomer Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005188 flotation Methods 0.000 description 1
- 210000004209 hair Anatomy 0.000 description 1
- 229920003225 polyurethane elastomer Polymers 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T70/00—Maritime or waterways transport
- Y02T70/10—Measures concerning design or construction of watercraft hulls
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
Abstract
A kind of devil ray formula water surface is cruised device, is suitable for sailing device on water, solving the problems, such as existing sailing device on water, structure is complicated, mobility is poor, the service life is short, manipulation is complicated.The present invention includes hull bottom, Chuan Gai, wing, stretches flesh, pedestal, stretches skeleton, rudder system, rudder closed shroud, clump weight, counterweight motor, transmission system；Pedestal is set in hull bottom, and wing is set on the rotation seat of pedestal and can rotate at rotation seat；It is set in the corresponding recesses of pedestal after clump weight and the cooperation of counterweight motor, the rotation of clump weight enables hull bottom to be tilted a certain angle；The pull ring for stretching flesh one end clasps the bone on wing, and the pull ring of the other end is connect with the retaining ring stretched on skeleton, can make wing flapping motion when stretching skeleton lifting；Rudder system is set in the direction rudder mount of pedestal, and the rudder that rudder closed shroud is set to hull bottom rear portion is swung at hole；Transmission system is set on pedestal and connect with skeleton is stretched, and ship lid and hull bottom edge mate are arranged.
Description
Technical field
A kind of devil ray formula water surface is cruised device, suitable for the inspection machine of aquatic environment, especially suitable for water surface inspection
Sailing device on water.
Background technique
The tool that navigation unit by water is explored as a kind of pair of water environment has in heuristic process of the mankind to water environment
Important role, in recent years, the effect of navigation unit by water is more and more obvious as the mankind pay more attention to water environment,
It has broad application prospects.Traditional navigation unit by water mainly utilizes propeller to promote, and this propulsion mode limitation is
Performance is bad under low speed environments, and noise is larger, and mobility is poor.Nowadays, people need navigation unit by water to have under low speed environments
There are good mobility and stability.
Scientific research personnel passes through the study found that organism in water has been well adapted for complexity by evolution in up to ten thousand years
Marine environment.In numerous marine organisms, myliobatid class has higher propulsive efficiency during travelling, has concurrently simultaneously
Excellent maneuvering characteristics and good stability, cope with various oceanic conditions, are good bionical objects.
A kind of " based on devil ray Bio-Mimetic Propulsion Unit ", the propulsion device are disclosed in patent of invention CN108622355A
Using servo motor and control system, fluttering for flapping wing is realized.This propelling plant imitating hydrofoil is made of fin ray mechanism with drag-line,
Skeleton is easily deformable, and covering is easy damaged leak.
It is disclosed in patent of invention CN203005727U a kind of " water surface bicycle ", which uses floating body and carriage support
System realizes that foot-operated push structure imitates fish oscillating tail-fin and advances.This device is made of U-bracket and foot-operated propeller, is moved
Energy conversion effect is low, and loss is big, is unfavorable for middle and long distance navigation.
It is disclosed in patent of invention CN206493800U a kind of " water surface bicycle ", which uses bicycle structure and drift
Floating device realizes that foot-operated propulsion blade rotation is advanced.This device flotation gear is inflatable water wings, is easy breakage, safety
It can be lower.
Summary of the invention
Technical problem: the problems such as structure is complicated, mobility is poor, the service life is short for above-mentioned sailing device on water, the present invention provide
A solution.
Technical solution: a kind of devil ray formula water surface device of cruising includes hull bottom, Chuan Gai, wing, stretches flesh, pedestal, stretches bone
Frame, rudder system, rudder closed shroud, clump weight, counterweight motor, transmission system.
Pedestal is set in hull bottom, and the rotation seat that pedestal is set to after wing warp beam and hole cooperation (on 4 and forms wing energy
Around the relationship of base rotation at rotation seat, a wing is respectively arranged in left and right side alow；Hole and counterweight on clump weight
It is set in the front corresponding recesses of pedestal after the rotation axis cooperation of motor, and forms clump weight and turn under the drive of counterweight motor
The dynamic relationship for enabling hull bottom to be tilted a certain angle；The pull ring for stretching flesh one end clasps the bone on wing, the pull ring of the other end with
The retaining ring connection on skeleton is stretched, the connection of above-mentioned stretching flesh and wing, stretching skeleton, which is formed, makes wing when stretching skeleton lifting
The wing can turn around the torque relationship of dynamic seat rotation；Rudder system is set in the direction rudder mount of pedestal, rudder closed shroud
It is swung at hole with the rudder for being set to hull bottom rear portion after rudder system shaft hole matching；Transmission system be set on pedestal and with
Skeleton connection is stretched, transmission system is formed and drives the relationship for stretching skeleton lifting；Ship lid and hull bottom edge mate are arranged.
Further, wing is provided with chop bone, lower chop bone, and upper chop bone is connect with rotation seat, lower chop bone with
Stretch flesh connection.
Further, hull bottom is provided with the water segregator, flow sensor, water depth sensor of flame type.Pedestal is designed as shield
Shape.Rudder closed shroud is designed as V-type organ type shield.
Further, rudder system includes rudder, deflecting plate, pin shaft, steel cable, direction motor；Rudder is same to cross axis
Bar is connected in deflecting plate, and steel cable is connect in cross relationship one end with deflecting plate, and the rotation axis of the other end and direction motor connects
It connects and is in that opposite direction is wound in rotation axis；Direction motor is set in the rudder mount of direction, and pin shaft passes through the hole of deflecting plate
Cooperate afterwards with the pin hole in the rudder mount of direction, forms the relationship that deflecting plate is rotated around pin shaft.
Further, transmission system includes drive train, main framing, seat, driven wheel, kinematic link, skid beam, skid beam
Seat, rocking bar, direction controlling key, touch screen, generator；Main framing is set on pedestal, and it is corresponding that drive train is set to main framing
Driving wheel fixed frame on constitute the relationship that can rotate on driving wheel fixed frame of drive train；Rocking bar is through the limit on main framing
It is connect through connecting rod with drive train after axis limit, constitutes the pass that rocking bar drives drive train rotation after limit shaft rotation through connecting rod
System；Driven wheel is set on the driven wheel fixed frame of main framing and connect through kinematic link with skid beam, the synchronized band of driven wheel with
Drive train connects, and connect after the skid beam seat that skid beam is arranged on main framing with stretching skeleton, above-mentioned mechanism connects and composes drive
The synchronized band of driving wheel system drives driven wheel rotation back front driven wheel to drive skid beam to slide up and down to make to stretch skeleton through kinematic link
The relationship of lifting；Generator is fixed on the generator fixed frame of main framing and synchronized band is connect with drive train, touch screen
It is set to the front end of main framing, seat is set to the rear end of main framing, and direction controlling key is set to the upper end of rocking bar.
Further, supercapacitor battery, electronic gyroscope, supercapacitor battery and power generation are set on pedestal
Machine, direction controlling key, electronic gyroscope, touch screen are electrical connected.
Further, the bone of wing makes of Organic-inorganic composite elastic material, the human body ccp thermoplasticity of wing
Polyurethane elastomer production.
Further, it stretches the tube bank of flesh to make of thermoplastic polyurethane elastic rubber, stretches the muscle of flesh with IPMC people
The production of work thews material.
Further, pedestal and the crossbeam of transmission system and crossbeam use pentagon mortise-tenon joint, and crossbeam and vertical beam use
Dovetail mortise-tenon joint.
The utility model has the advantages that present invention employs the structural unions of Tenon and Organic-inorganic composite elastic material to make bone
Human body ccp thermoplastic polyurethane elastomer production etc. of bone, wing, therefore the configuration of the present invention is simple, durable, service life
It is long；Transmission controlling mechanism of the invention makes mechanism operation letter in such a way that planar linkage structure and motor-driven mechanism combine
It is single quick and easy flexible.
Detailed description of the invention
Fig. 1 is that a kind of this devil ray formula water surface is cruised the overall diagram of device；
Fig. 2 be a kind of this devil ray formula water surface cruise device removal ship lid after schematic diagram；
Fig. 3 is that a kind of this devil ray formula water surface is cruised the kinematic scheme of device；
Fig. 4 is that a kind of this devil ray formula water surface is cruised the rudder system figure of device；
Fig. 5 is that a kind of this devil ray formula water surface is cruised the wing schematic diagram of device；
Fig. 6 is that a kind of this devil ray formula water surface is cruised the wing cross-sectional view of device；
Fig. 7 be a kind of this devil ray formula water surface cruise device wing partial sectional view；
Fig. 8 is that a kind of this devil ray formula water surface is cruised the hull bottom schematic diagram of device；
Fig. 9 is that a kind of this devil ray formula water surface is cruised the ship lid schematic diagram of device；
Figure 10 is that a kind of this devil ray formula water surface is cruised the base schematic diagram of device；
Figure 11 is that a kind of this devil ray formula water surface is cruised the stretching skeleton schematic diagram of device；
Figure 12 is that a kind of this devil ray formula water surface is cruised the stretching flesh schematic diagram of device；
Figure 13 is that a kind of this devil ray formula water surface is cruised the stretching flesh cross-sectional view of device；
Figure 14 is that a kind of this devil ray formula water surface is cruised the rudder closed shroud schematic diagram of device；
Figure 15 is that a kind of this devil ray formula water surface is cruised the clump weight schematic diagram of device；
Figure 16 is that a kind of this devil ray formula water surface is cruised the pentagon mortise-tenon joint schematic diagram of device；
Figure 17 is that a kind of this devil ray formula water surface is cruised the dovetail Tenon connection schematic diagram of device.
1 is hull bottom in figure, and 1-1 is water segregator, and 2 be wing, and 2-1 is upper chop bone, and 2-2 is lower chop bone, and 3 be to stretch
Flesh, 4 be pedestal, and 5 be to stretch skeleton, and 6 be rudder system, and 6-1 is rudder, and 6-2 is deflecting plate, and 6-3 is pin shaft, and 6-4 is
Steel cable, 6-5 are direction motors, and 7 be drive train, and 8 be main framing, and 8-1 is limit shaft, and 9 be seat, and 10 be driven wheel, and 11 are
Kinematic link, 12 be skid beam, and 12-1 is skid beam seat, and 13 be rocking bar, and 14 be direction controlling key, and 15 be touch screen, and 16 be counterweight electricity
Machine, 17 be clump weight, and 18 be water depth sensor, and 19 be flow sensor, and 20 be generator, and 21 be rudder closed shroud, 22
It is ship lid.
Specific embodiment
A kind of devil ray formula water surface cruise device include hull bottom 1, ship lid 22, wing 2, stretch flesh 3, pedestal 4, stretch skeleton 5,
Rudder system 6, rudder closed shroud 21, clump weight 17, counterweight motor 16, transmission system.
Pedestal 4 is set in hull bottom 1, and 2 warp beam of wing is set on the rotation seat 4-1 of pedestal 4 and is formed after cooperating with hole
The relationship that wing 2 can rotate at rotation seat 4-1 around pedestal 4, alow a wing 2 is respectively arranged in 1 left and right side；Clump weight
It is set in the front corresponding recesses of pedestal 4 after the rotation axis cooperation in hole and counterweight motor 16 on 17, and forms clump weight 17
The relationship for enabling hull bottom to be tilted a certain angle is rotated under the drive of counterweight motor 16；The pull ring for stretching 3 one end of flesh clasps wing 2
On bone, the pull ring of the other end connect with the retaining ring 5-1 stretched on skeleton 5, above-mentioned stretching flesh 3 and wing 2, stretching skeleton
5 connection forms the torque relationship for stretching and wing 2 being made to can turn around dynamic seat 4-1 rotation when skeleton 5 is gone up and down；Rudder system 6 is arranged
In on the direction rudder mount 4-2 of pedestal 4, after being set to hull bottom 1 after rudder closed shroud 21 and 6 shaft hole matching of rudder system
The rudder in portion is swung at hole；Transmission system is set on pedestal 4 and connect with skeleton is stretched, and forms transmission system and drives stretching
The relationship that skeleton 5 is gone up and down；Ship lid 22 and 1 edge mate of hull bottom are arranged.
Wing 2 is provided with chop bone 2-1, lower chop bone 2-2, and upper chop bone 2-1 is connect with rotation seat 4-1, lower chop
Bone 2-2 is connect with flesh 3 is stretched.
Hull bottom 1 is provided with the water segregator 1-1, flow sensor 19, water depth sensor 18 of flame type.Pedestal 4 is designed as shield
Shape.Rudder closed shroud 21 is designed as V-type organ type shield.
Rudder system 6 includes rudder 6-1, deflecting plate 6-2, pin shaft 6-3, steel cable 6-4, direction motor 6-5；Rudder
6-1 is connected with crossing shaft in deflecting plate 6-2, and steel cable 6-4 is connect in cross relationship one end with deflecting plate 6-2, the other end and
The rotation axis connection of direction motor 6-5 is simultaneously wound in rotation axis in opposite direction；Direction motor 6-5 is set to rudder branch
On frame 4-2, pin shaft 6-3 across deflecting plate 6-2 the direction Kong Houyu rudder mount 4-2 on pin hole cooperation, formed deflecting plate 6-2 around
The relationship of pin shaft 6-3 rotation.
Transmission system includes drive train 7, main framing 8, seat 9, driven wheel 10, kinematic link 11, skid beam 12, skid beam seat
12-1, rocking bar 13, direction controlling key 14, touch screen 15, generator 20；Main framing 8 is set on pedestal 4, and drive train 7 is arranged
In the relationship that composition drive train 7 can rotate on driving wheel fixed frame on the corresponding driving wheel fixed frame of main framing 8；Rocking bar 13
It is connect through connecting rod with drive train 7 after the limit shaft 8-1 limit on main framing 8, constitutes rocking bar 13 after limit shaft 8-1 rotation
The relationship for driving drive train 7 to rotate through connecting rod；Driven wheel 10 is set on the driven wheel fixed frame of main framing 8 and connects through transmission
Bar 11 is connect with skid beam 12, and the synchronized band of driven wheel 10 is connect with drive train 7, and skid beam 12 is arranged in the skid beam on main framing 8
It is connect after seat 12-1 with stretching skeleton 5, after above-mentioned mechanism connects and composes the drive rotation of driven wheel 10 of the synchronized band of drive train 7
Driven wheel 10 drives skid beam 12 to slide up and down the relationship for making to stretch the lifting of skeleton 8 through kinematic link 11；Generator 20 is fixed
In on the generator fixed frame of main framing 8 and synchronized band is connect with drive train 7, touch screen is set to the front end of main framing 8,
Seat 9 is set to the rear end of main framing 8, and direction controlling key 14 is set to the upper end of rocking bar 13.
Supercapacitor battery, electronic gyroscope, supercapacitor battery and generator, direction controlling are set on pedestal
Key, electronic gyroscope, touch screen are electrical connected.
The bone of wing makes of Organic-inorganic composite elastic material, the human body ccp thermoplastic polyurethane elastic of wing
System is made.
The tube bank for stretching flesh makes of thermoplastic polyurethane elastic rubber, stretches the muscle IPMC artificial muscle material of flesh
Production.
Pedestal and the crossbeam of transmission system and crossbeam use pentagon mortise-tenon joint, crossbeam and vertical beam to connect using dovetail Tenon
It connects.
Working principle: 1. shake rocking bar 13 drives drive train 7 to rotate through connecting rod, and the synchronized band of 2. drive train 7 drives
Driven wheel 10 rotates, and 3. driven wheels 10 drive skid beam 12 to slide up and down in skid beam seat 12-1 through kinematic link 11,4. skid beams 12
Slide up and down driven stretch skeleton 5 lifting, 5. stretch flesh rise while, band of the clump weight 17 in counterweight motor 16
The dynamic lower rotation device that makes to cruise turns forward certain angle, and the 6. rising drawn fleshes 3 for stretching skeletons 5 pull wing 2 around rotation
Seat 4-1 rotation generates forward power to the wing water surface device that makes to cruise of flapping, 7. when stretch the decline of skeleton 5, wing restores
Clump weight 17 rotates the device recovery level that makes to cruise under the drive of counterweight motor 16 when horizontal position, and device of cruising is in inertia force
Under the action of continue to advance forward, 8. while drive train 7 rotates synchronized band drive the rotation power generation of generator 20,9. hairs
The electric energy that motor 20 generates is transferred to battery and is stored, and 10., when the device that needs to cruise turns to, press direction controlling key,
Motor 6-5 rotation in direction pulls deflecting plate 6-2 to rotate around pin shaft 6-3 through steel cable 6-4, so that rudder 6-1 rotation be driven to complete
Go to action.
Claims (7)
- The device 1. a kind of devil ray formula water surface is cruised includes hull bottom (1), ship lid (22), it is characterised in that: also comprising wing (2), drawing Extensor (3), stretches skeleton (5), rudder system (6), rudder closed shroud (21), clump weight (17), counterweight at pedestal (4) Motor (16), transmission system；Pedestal (4) is set in hull bottom (1), is set on the rotation seat (4-1) of pedestal (4) after wing (2) warp beam and hole cooperation And the relationship that wing (2) can rotate at rotation seat (4-1) around pedestal (4) is formed, alow the left and right side of (1) is respectively arranged one A wing (2)；It is corresponding that the front of pedestal (4) is set to behind hole and the cooperation of the rotation axis of counterweight motor (16) on clump weight (17) In groove, and forms clump weight (17) and rotate the relationship for enabling hull bottom to be tilted a certain angle under the drive of counterweight motor (16)； The pull ring for stretching flesh (3) one end clasps the bone on wing (2), the retaining ring (5-1) on the pull ring and stretching skeleton (5) of the other end Connection, the connection of above-mentioned stretching flesh (3) and wing (2), stretching skeleton (5), which is formed, makes wing (2) when stretching skeleton (5) lifting It can turn around the torque relationship of dynamic seat (4-1) rotation；Rudder system (6) is set in the direction rudder mount (4-2) of pedestal (4), The rudder that hull bottom (1) rear portion is set to after rudder closed shroud (21) and rudder system (6) shaft hole matching is swung at hole； Transmission system is set on pedestal (4) and connect with skeleton is stretched, and forms transmission system and drives the pass for stretching skeleton (5) lifting System；Ship lid (22) and hull bottom (1) edge mate are arranged.
- 2. a kind of devil ray formula water surface is cruised device according to claim 1, it is characterised in that: wing (2) is provided with chop Bone (2-1), lower chop bone (2-2), upper chop bone (2-1) connect with rotation seat (4-1), lower chop bone (2-2) and stretching flesh (3) Connection.
- 3. a kind of devil ray formula water surface is cruised device according to claim 1, it is characterised in that: hull bottom (1) is provided with flame type Water segregator (1-1).
- 4. a kind of devil ray formula water surface is cruised device according to claim 1, it is characterised in that: pedestal (4) is designed as peltate.
- 5. a kind of devil ray formula water surface is cruised device according to claim 1, it is characterised in that: rudder closed shroud (21) is set It is calculated as V-type organ type shield.
- 6. a kind of devil ray formula water surface is cruised device according to claim 1, it is characterised in that: rudder system (6) includes side To rudder (6-1), deflecting plate (6-2), pin shaft (6-3), steel cable (6-4), direction motor (6-5)；Rudder (6-1) with cross shaft in Deflecting plate (6-2) is connected, and steel cable (6-4) is connect in cross relationship one end with deflecting plate (6-2), the other end and direction motor The rotation axis connection of (6-5) is simultaneously wound in rotation axis in opposite direction；Direction motor (6-5) is set to direction rudder mount On (4-2), pin hole cooperation of the pin shaft (6-3) in the direction the Kong Houyu rudder mount (4-2) of deflecting plate (6-2) is formed and is turned to The relationship that plate (6-2) is rotated around pin shaft (6-3).
- 7. a kind of devil ray formula water surface is cruised device according to claim 1, it is characterised in that: transmission system includes drive train (7), main framing (8), seat (9), driven wheel (10), kinematic link (11), skid beam (12), skid beam seat (12-1), rocking bar (13), Direction controlling key (14), touch screen (15), generator (20)；Main framing (8) is set on pedestal (4), drive train (7) setting In the relationship that composition drive train (7) can rotate on driving wheel fixed frame on the corresponding driving wheel fixed frame of main framing (8)；It shakes Bar (13) is connect with drive train (7) after limit shaft (8-1) limit on main framing (8) through connecting rod, composition rocking bar (13) around The relationship of drive train (7) rotation is driven after limit shaft (8-1) rotation through connecting rod；Driven wheel (10) is set to main framing (8) It is connect on driven wheel fixed frame and through kinematic link (11) with skid beam (12), driven wheel (10) synchronized band and drive train (7) Connection, the skid beam seat (12-1) that skid beam (12) is arranged on main framing (8) are connect with stretching skeleton (5) afterwards, and above-mentioned mechanism connects It connects and constitutes drive train (7) synchronized band drive driven wheel (10) rotation back front driven wheel (10) through kinematic link (11) drive skid beam (12) relationship for making to stretch skeleton (8) lifting is slided up and down；The generator that generator (20) is fixed on main framing (8) is fixed On frame and synchronized band is connect with drive train (7), and touch screen is set to the front end of main framing (8), and seat (9) is set to main bone The rear end of frame (8), direction controlling key (14) are set to the upper end of rocking bar (13).
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| CN201910463094.9A CN110194247B (en) | 2019-05-30 | 2019-05-30 | Water surface tour device for ray of ray |
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| CN110194247B CN110194247B (en) | 2024-09-03 |
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| WO2007118571A1 (en) * | 2006-04-15 | 2007-10-25 | Festo Ag & Co. Kg | Appliance for emitting force |
| CN101654147A (en) * | 2009-09-24 | 2010-02-24 | 北京航空航天大学 | Pectoral fin push-type robotic fish of simulated cow-nosed ray |
| CN102923286A (en) * | 2012-10-30 | 2013-02-13 | 北京航空航天大学 | Intelligent material IMPC-based manta ray-simulated underwater vehicle |
| CN103144756A (en) * | 2013-02-08 | 2013-06-12 | 北京航空航天大学 | Bionic robot fish propelled by oscillating and twisting compound motion of pectoral fins |
| CN104443336A (en) * | 2013-09-15 | 2015-03-25 | 南京大五教育科技有限公司 | Pectoral fin driven water bicycle |
| US20150239539A1 (en) * | 2013-09-17 | 2015-08-27 | The Government Of The Us, As Represented By The Secretary Of The Navy | Actively Controlled Curvature Robotic Pectoral Fin |
| JP2014231351A (en) * | 2013-10-01 | 2014-12-11 | 小室 雅彦 | On-water travel tool and boat comprising the same |
| CN103950527A (en) * | 2014-05-09 | 2014-07-30 | 兰州交通大学 | Ray pectoral fin-imitated piezoelectric coupling propulsive mechanism |
| CN104015904A (en) * | 2014-05-29 | 2014-09-03 | 王跃成 | Multi-combination push type flexible bionic robotic fish |
| CN204548460U (en) * | 2015-03-31 | 2015-08-12 | 哈尔滨工程大学 | A kind of bionic fish tail propelling unit |
| CN210258768U (en) * | 2019-05-30 | 2020-04-07 | 深圳市环境科学研究院 | Eagle ray type water surface tour device |
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