CN111572742B - Underwater robot fish-imitating propelling mechanism - Google Patents
Underwater robot fish-imitating propelling mechanism Download PDFInfo
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- CN111572742B CN111572742B CN202010448447.0A CN202010448447A CN111572742B CN 111572742 B CN111572742 B CN 111572742B CN 202010448447 A CN202010448447 A CN 202010448447A CN 111572742 B CN111572742 B CN 111572742B
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- 230000005540 biological transmission Effects 0.000 claims abstract description 187
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- 241000283153 Cetacea Species 0.000 claims description 3
- 241001481833 Coryphaena hippurus Species 0.000 claims 1
- 239000011664 nicotinic acid Substances 0.000 abstract description 9
- 241000251468 Actinopterygii Species 0.000 abstract description 8
- 238000007789 sealing Methods 0.000 description 15
- 239000003638 chemical reducing agent Substances 0.000 description 13
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- 239000000725 suspension Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
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Abstract
The invention relates to the technical field of underwater robots, in particular to a fish-imitating propulsion mechanism of an underwater robot, and aims to solve the problems that a bionic fish propulsion mechanism with a plurality of joint modules connected in series in the prior art is large in rotational inertia, low in motion efficiency, poor in reliability and short in service life. The invention provides a fish-imitating propelling mechanism of an underwater robot, which comprises a driving unit, a waist joint unit, a tail joint unit and a tail fin which are connected in sequence, wherein the driving unit comprises a waist joint power device and a tail joint power device, transmission mechanisms are respectively arranged in the waist joint unit and the tail joint unit, and the waist joint power device and the tail joint power device respectively drive the waist joint unit and the tail fin to swing in a reciprocating manner through the transmission mechanisms.
Description
Technical Field
The invention relates to the technical field of underwater robots, in particular to a fish-imitating propelling mechanism of an underwater robot.
Background
In the prior art, most of traditional underwater robots are propelled by using propellers or pump jet, and have the defects of poor maneuverability, high noise and low concealment. The overall comprehensive performance of the fish swimming in water is good, the characteristics of good maneuverability, low noise, high efficiency and the like are favored by researchers, and the bionic robot fish is taken as a product combining the high development of bionics and electromechanics, thereby providing a new approach and a technical means for the development and application of a high-performance underwater vehicle.
However, most of the existing bionic fish propulsion mechanisms adopt a multi-joint module series connection driving mode, each joint module is internally provided with a power device, and an output shaft of the power device drives the next joint module to move through a transmission mechanism. Because each joint module is internally provided with a power device, the joint modules have large moment of inertia, stiff movement and low movement efficiency in the movement process.
In the prior art, the underwater robot controls the motion of each joint by means of the power device inside each joint, but the underwater robot is difficult to control a plurality of power devices inside the underwater robot at the same time, most of the existing multi-joint module bionic fish propulsion mechanisms realize reciprocating swing by means of forward and reverse rotation of a motor, and meanwhile, the working performance and reliability of the underwater robot are greatly reduced by means of frequent forward and reverse rotation of the motor, and the service life of the underwater robot is shortened.
Disclosure of Invention
In order to solve the problems in the prior art, namely to solve the problems of large rotational inertia, stiff motion, low motion efficiency, poor reliability and short service life of the bionic fish propulsion mechanism with multiple serially-connected joint modules in the prior art, the invention provides an underwater robot bionic fish propulsion mechanism, which comprises a driving unit, a waist joint unit, a tail joint unit and a tail fin, wherein the driving unit, the waist joint unit, the tail joint unit and the tail fin are sequentially connected;
the driving unit comprises a waist joint power device and a tail joint power device, the waist joint power device and the tail joint power device are respectively connected with the waist joint unit through a first transmission mechanism and a second transmission mechanism, and connecting ends of the waist joint power device and the tail joint power device are coaxially arranged;
the waist joint unit comprises a waist joint forecabin module and a waist joint rear cabin module, a third transmission mechanism is arranged in the waist joint forecabin module, a fourth transmission mechanism is arranged in the waist joint rear cabin module, and a fifth transmission mechanism is arranged in the tail joint unit;
the first transmission mechanism is connected with a first connecting end of the third transmission mechanism, the second transmission mechanism is connected with a second connecting end of the third transmission mechanism, and the first connecting end and the second connecting end are coaxially arranged; the fourth transmission mechanism, the fifth transmission mechanism and the tail fin are sequentially connected to one end of the third transmission mechanism, which is far away from the two connecting ends;
under the driving of the waist joint power device, the first transmission mechanism converts the rotary motion of the waist joint power device into reciprocating motion, and transmits the reciprocating motion to the waist joint rear cabin module through the third transmission mechanism and the fourth transmission mechanism in sequence, so that the waist joint rear cabin module can swing back and forth relative to the waist joint front cabin module;
under the driving of the tail joint power device, the second transmission mechanism converts the rotary motion of the tail joint power device into reciprocating motion, and the reciprocating motion is transmitted to the tail fin through the third transmission mechanism, the fourth transmission mechanism and the fifth transmission mechanism in sequence, so that the tail fin can swing back and forth relative to the tail joint module.
In some preferred embodiments, the first transmission mechanism and the second transmission mechanism are crank and rocker mechanisms.
In some preferred embodiments, the third transmission mechanism includes a gear transmission structure, the gear transmission structure includes a plurality of externally engaged gear pairs and a plurality of transmission shafts, and the plurality of transmission shafts includes a first transmission shaft connected to the first transmission mechanism and a second transmission shaft connected to the second transmission mechanism.
In some preferred technical solutions, the first transmission shaft is a hollow shaft, and the second transmission shaft is installed in the hollow of the first transmission shaft and is arranged coaxially with the first transmission shaft.
In some preferred technical solutions, the first transmission shaft is provided with a tapered end, and the tapered end is the first connection end.
In some preferred technical solutions, the gear pair is a bevel gear pair, and the bevel gear pair is disposed at an end of the first transmission shaft departing from the tapered end.
In some preferred technical solutions, the fourth transmission mechanism includes a connection shaft, a first connection member and a second connection member, the first connection member and the second connection member are respectively disposed at two ends of the connection shaft, and the connection shaft is respectively connected with the first external structure and the second external structure through the first connection member and the second connection member.
In some preferred technical solutions, the first connecting piece and the second connecting piece are both revolute pairs and have two rotating ends, and the first connecting piece and the second connecting piece may be universal joints or spherical hinges.
In some preferred embodiments, the fifth transmission mechanism includes a gear transmission mechanism.
In some preferred technical solutions, the gear transmission structure is a bevel gear structure.
In some preferred technical solutions, the tail fin is a whale dolphin-like tail fin.
The invention has the beneficial effects that:
compared with the fish-imitating propelling mechanism driven by a plurality of joint modules in series, the fish-imitating propelling mechanism of the underwater robot reduces the rotational inertia among joints, improves the motion efficiency and flexibility and realizes a more vivid bionic effect.
The fish-imitating propelling mechanism of the underwater robot provided by the invention realizes multi-joint reciprocating motion by adopting the multi-transmission mechanism, reduces the loss of the service life of the motor without depending on frequent reversing of the motor, greatly improves the working performance and reliability of the propelling mechanism and has stronger practicability.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 is a schematic overall structure diagram of a preferred embodiment of the fish-simulating propulsion mechanism of the underwater robot of the present invention;
fig. 2 is a schematic structural diagram of a driving unit in a preferred embodiment of the underwater robot fish-imitating propulsion mechanism of the invention.
FIG. 3 is a sectional view of a waist joint forecabin module in a preferred embodiment of the underwater robotic fish-imitating propulsion mechanism of the invention;
FIG. 4 is a schematic structural diagram of a waist joint rear cabin module in a preferred embodiment of the underwater robot fish-imitating propulsion mechanism of the invention;
fig. 5 is a first structural schematic diagram of a tail joint unit in a preferred embodiment of the underwater robot fish-imitating propulsion mechanism of the invention.
Fig. 6 is a schematic structural diagram of a tail joint unit in a preferred embodiment of the underwater robot fish-imitating propulsion mechanism of the invention.
List of reference numerals:
1-drive unit, 2-lumbar joint forecabin module, 3-lumbar joint rear cabin module, 4-tail joint unit, 5-lumbar joint motor, 6-lumbar joint reducer, 7-lumbar motor mount, 8-mount plate, 9-tail joint motor, 10-tail joint reducer, 11-tail motor mount, 12-lumbar joint crank, 13-lumbar joint connecting rod, 14-lumbar joint rocker, 15-tail joint crank, 16-tail joint connecting rod, 17-tail joint rocker, 18-lumbar joint float material, 19-lumbar joint first gearbox, 20-lumbar joint second gearbox, 21-lumbar joint first gearbox first sealing cover, 22-lumbar joint first gearbox second sealing cover, 23-lumbar joint second gearbox first sealing cover, 24-a waist joint second gearbox second sealing cover, 25-a waist joint connecting cabin, 26-a first bevel gear set, 27-a second bevel gear set, 28-a third bevel gear set, 29-a first transmission shaft, 30-a second transmission shaft, 31-a third transmission shaft, 32-a fourth transmission shaft, 33-a fifth transmission shaft, 34-a waist cabin sealing cover, 35-a waist cabin body, 36-a first universal joint, 37-a second universal joint, 38-a sixth transmission shaft, 39-a tail joint cabin body, 40-a tail joint sealing cover, 41-a tail fin, 42-a fourth bevel gear set, 43-a seventh transmission shaft, 44-an eighth transmission shaft and 45-a tail handle.
Detailed Description
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and are not intended to limit the scope of the present invention.
The invention discloses a fish-imitating propelling mechanism of an underwater robot, which comprises a driving unit, a waist joint unit, a tail joint unit and a tail fin, wherein the driving unit, the waist joint unit, the tail joint unit and the tail fin are sequentially connected;
the driving unit comprises a waist joint power device and a tail joint power device, the waist joint power device and the tail joint power device are respectively connected with the waist joint unit through a first transmission mechanism and a second transmission mechanism, and connecting ends of the waist joint power device and the tail joint power device are coaxially arranged;
the waist joint unit comprises a waist joint forecabin module and a waist joint rear cabin module, a third transmission mechanism is arranged in the waist joint forecabin module, a fourth transmission mechanism is arranged in the waist joint rear cabin module, and a fifth transmission mechanism is arranged in the tail joint unit;
the first transmission mechanism is connected with a first connecting end of the third transmission mechanism, the second transmission mechanism is connected with a second connecting end of the third transmission mechanism, and the first connecting end and the second connecting end are coaxially arranged; the fourth transmission mechanism, the fifth transmission mechanism and the tail fin are sequentially connected to one end of the third transmission mechanism, which is far away from the two connecting ends;
under the driving of the waist joint power device, the first transmission mechanism converts the rotary motion of the waist joint power device into reciprocating motion, and transmits the reciprocating motion to the waist joint rear cabin module through the third transmission mechanism and the fourth transmission mechanism in sequence, so that the waist joint rear cabin module can swing back and forth relative to the waist joint front cabin module;
under the driving of the tail joint power device, the second transmission mechanism converts the rotary motion of the tail joint power device into reciprocating motion, and the reciprocating motion is transmitted to the tail fin through the third transmission mechanism, the fourth transmission mechanism and the fifth transmission mechanism in sequence, so that the tail fin can swing back and forth relative to the tail joint module.
In order to more clearly explain the fish-imitating propelling mechanism of the underwater robot, a preferred embodiment of the invention is described in detail below with reference to the attached drawings.
As a preferred embodiment of the present invention, as shown in fig. 1, the underwater fish-imitating propulsion mechanism of the present invention includes a driving unit 1, a waist joint unit, a tail joint unit 4, and a tail fin 41, wherein the waist joint unit includes a waist joint front cabin module 2 and a waist joint rear cabin module 3, the driving unit 1, the waist joint front cabin module 2, the waist joint rear cabin module 3, the tail joint unit 4, and the tail fin 41 are sequentially connected, the waist joint front cabin module 2, the waist joint rear cabin module 3, and the tail joint unit 4 are in a streamline shape, and the overall size is sequentially reduced to enhance maneuverability and reduce the resistance when the underwater fish-imitating propulsion mechanism of the robot propels forward. The tail fin 41 is a whale dolphin-like tail fin, and the tail fin 41 adopts a streamline structure and an arc-shaped tail line structure, so that the propelling force, the maneuverability and the flexibility of the invention can be enhanced.
Further, as shown in fig. 1 and 2, the driving unit 1 mainly includes a waist joint power device and a tail joint power device, specifically, the waist joint power device includes a waist joint motor 5 and a waist joint reducer 6; the tail joint power device comprises a tail joint motor 9 and a tail joint speed reducer 10; further, the driving unit 1 of the present invention further includes a waist motor mounting base 7, a mounting plate 8, a tail motor mounting base 11, a first transmission mechanism, and a second transmission mechanism. Wherein, the output shaft of waist joint motor 5 is connected with waist joint speed reducer 6, and waist joint speed reducer 6 passes through waist motor mount pad 7 to be fixed on mounting panel 8, and tail joint motor 9 output shaft is connected with tail joint speed reducer 10, and tail joint speed reducer 10 passes through tail motor mount pad 11 to be fixed on mounting panel 8, and the output of waist joint power device is waist joint speed reducer 6's output shaft, and the output of tail joint power device is tail joint speed reducer 10's output shaft. It can be understood that the manner that the waist joint power device and the tail joint power device both adopt the motor connected with the speed reducer in the embodiment is only a preferred example of the power device of the present invention, and those skilled in the art can flexibly set the specific structures of the waist joint power device and the tail joint power device according to actual situations.
In some preferred embodiments, the first transmission mechanism and the second transmission mechanism are both crank and rocker mechanisms, and the first transmission mechanism and the second transmission mechanism are respectively used for converting the rotary motion of the waist joint power device and the tail joint power device into reciprocating motion. The output end of the waist joint power device and the output end of the tail joint power device are respectively connected with the waist joint unit through a first transmission mechanism and a second transmission mechanism, and the connecting ends of the first transmission mechanism and the second transmission mechanism are coaxially arranged. Preferably, the first transmission mechanism comprises a waist joint crank 12, a waist joint connecting rod 13 and a waist joint rocker 14, one end of the waist joint crank 12 is connected with an output shaft of the waist joint speed reducer 6, the other end of the waist joint crank is connected with the waist joint connecting rod 13, and the waist joint connecting rod 13 is connected with the waist joint rocker 14 to drive the waist joint rocker 14 to swing in a reciprocating manner. Similarly, the second transmission mechanism comprises a tail joint crank 15, a tail joint connecting rod 16 and a tail joint rocker 17. One end of a tail joint crank 15 is connected with an output shaft of the tail joint speed reducer 10, the other end of the tail joint crank is connected with a tail joint connecting rod 16, the tail joint connecting rod 16 is connected with a tail joint rocker 17 to drive the tail joint rocker 17 to swing in a reciprocating mode, one end, deviating from the waist joint connecting rod 13, of the waist joint rocker 14 and one end, deviating from the tail joint connecting rod 16, of the tail joint rocker 17 are connected with a waist joint forecabin module, and the connecting ends of the waist joint rocker 14 and the tail joint.
As shown in fig. 3, the waist joint forecabin module 2 mainly comprises a waist joint floating body material 18, a waist joint first gear box 19, a waist joint second gear box 20, a waist joint first gear box first sealing cover 21, a waist joint first gear box first sealing cover 22, a waist joint second gear box first sealing cover 23, a waist joint second gear box second sealing cover 24, a waist joint connecting cabin 25 and a third transmission mechanism. The waist joint forecabin module 2 is connected with the waist joint rear cabin module 3 through a third transmission mechanism. The third transmission mechanism comprises a gear transmission structure, and the gear transmission structure comprises a plurality of externally meshed gear pairs and a plurality of transmission shafts.
Specifically, in the present embodiment, the plurality of externally meshing gear pairs are bevel gear pairs including a first bevel gear set 26, a second bevel gear set 27, a third bevel gear set 28, a first drive shaft 29, a second drive shaft 30, a third drive shaft 31, a fourth drive shaft 32, and a fifth drive shaft 33. Wherein: the first transmission shaft 29 is a hollow shaft and is provided with a tapered end, the input end of which is connected with the waist joint rocker 14 through a tapered end, and the tapered end of which is used as a first connection end of the third transmission mechanism and the first transmission mechanism. The output end of the first transmission shaft drives the third transmission shaft 31 to realize positive and negative rotation through the first bevel gear set 26, the first transmission shaft 29 and the third transmission shaft 31 are both connected with the first bevel gear set 26 through splines, large torque can be transmitted by adopting the design, and the service life is prolonged. The third transmission shaft 31 is a hollow shaft, the input end of the third transmission shaft is transmitted by the first transmission shaft 29 through the bevel gear set 26, the output end of the third transmission shaft is connected with the first sealing cover 23 of the waist joint second gear box through a spline, and then the third transmission shaft can drive the waist joint second gear box 20 to realize positive and negative rotation through the first sealing cover 23 of the waist joint second gear box, the second gear box is connected with the waist joint connecting cabin 25, so that the waist joint connecting cabin 25 is driven to realize reciprocating swing, and the waist joint front cabin module 2 is connected with the waist joint rear cabin module 3 through the waist joint connecting cabin 25.
The second transmission shaft 30 is installed in the hollow of the first transmission shaft 29 and is coaxially disposed with the first transmission shaft 29. The input end of the second transmission shaft 30 is connected with the tail joint rocker 17 through a spline, and the input end of the second transmission shaft serves as a second connecting end of the third transmission mechanism and the first transmission mechanism, namely the first connecting end and the second connecting end are coaxially arranged. Further, the output end of the second transmission shaft 30 drives the fourth transmission shaft 32 to rotate forward and backward through the second bevel gear set 27, and the fourth transmission shaft 32 is installed in the hollow of the third transmission shaft 31 and is arranged coaxially with the third transmission shaft 31. Second drive shaft 30 and fourth drive shaft 32 are both splined to second bevel gear set 27. The output end of the fourth transmission shaft 32 drives the fifth transmission shaft 33 to rotate forward and backward through the third bevel gear set 28, the fifth transmission shaft 33 is disposed inside the waist joint connecting cabin 25, preferably, in this embodiment, the waist joint connecting cabin 25 is a cylinder with a hollow inside, and the fifth transmission shaft 33 and the waist joint connecting cabin 25 are disposed coaxially. The waist joint connection cabin 25 can also be used to transmit the force of the tail joint power device to the waist joint rear cabin module 3 when connecting the waist joint front cabin module and the waist joint rear cabin module. The floating body material can realize the integration of structure, heat insulation, energy absorption and buoyancy, can provide buoyancy for the floating body material, plays a role in buoyancy compensation, realizes the suspension positioning of the device, realizes unpowered floating and submerging, increases effective load and reduces the external dimension.
Referring to fig. 4, the waist joint rear cabin module 3 mainly includes a waist cabin sealing cover 34, a waist cabin body 35 and a fourth transmission mechanism. The waist joint rear cabin module 3 is connected with the tail joint unit 4 through a fourth transmission mechanism. Specifically, the fourth transmission mechanism comprises a connecting shaft, a first connecting piece and a second connecting piece, the first connecting piece and the second connecting piece are respectively arranged at two ends of the connecting shaft, and the connecting shaft is respectively connected with the first external structure and the second external structure through the first connecting piece and the second connecting piece. The first connecting piece and the second connecting piece are revolute pairs and are provided with two rotating ends, and the first connecting piece and the second connecting piece can be universal joints or spherical hinges. In this embodiment, it is preferable that the first connecting member and the second connecting member are both universal joints, the first external structure is a waist joint forecabin module, and the second external structure is a tail joint unit. Further, the fourth transmission mechanism mainly includes a first universal joint 36, a second universal joint 37, and a sixth transmission shaft 38. The sixth transmission shaft 38 is the above-mentioned connection shaft, one end of the sixth transmission shaft 38 is connected to the fifth transmission shaft 33 in the waist joint forecabin module through the first universal joint 36, the other end is connected to the tail joint unit through the second universal joint 37, and the fourth transmission mechanism is used for transmitting the power of the tail joint motor to the tail joint unit. In the preferred embodiment of the invention, the sealing cover is preferably sealed by an O-shaped ring, and the dynamic seal is sealed by a flooding plug.
As shown in fig. 5 and 6, the tail joint unit 4 mainly includes a tail joint cabin 39, a tail joint sealing cover 40, and a fifth transmission mechanism. The tail joint unit 4 is connected to the tail fin 41 via a fifth transmission mechanism. In particular, the fifth transmission mechanism is mainly a gear transmission mechanism, and in the present embodiment, the gear transmission mechanism is a bevel gear transmission. Specifically, it includes a fourth bevel gear set 42, a seventh drive shaft 43, an eighth drive shaft 44, and a tail shank 45. The input end of the seventh transmission shaft 43 is connected with the sixth transmission shaft 38 in the waist joint rear cabin module through the second universal joint 37, the output end of the seventh transmission shaft drives the eighth transmission shaft 44 to realize positive and negative rotation through the fourth bevel gear set 42, and the seventh transmission shaft 43 and the eighth transmission shaft 44 are both connected with the fourth bevel gear set 42 through splines, so that the mechanical strength is improved, and larger torque can be transmitted. The output end of the eighth transmission shaft 44 is connected with the tail handle 45 through the conical surface, one end of the tail handle 45 is sleeved on the conical surface of the eighth transmission shaft 44, the other end of the tail handle 45 is rigidly connected with the tail fin 41, and the eighth transmission shaft 44 drives the tail fin 41 to swing back and forth.
The swing amplitude of the tail fin is larger than that of the waist joint rear cabin module, because the mass of the waist joint unit is larger than that of the tail joint unit, if the swing amplitude of the waist joint unit is large, more power is needed to drive the waist joint unit to swing. In order to save power and driving cost, the connecting cabin 25 for connecting the waist joint rear cabin module and the waist joint front cabin module is designed to have a swing amplitude smaller than that of a tail handle in a tail fin. In a preferred embodiment of the invention, the waist joint swings ± 18 ° and the tail joint swings ± 36 °. The person skilled in the art can flexibly set the lengths of the connecting cabin and the tail handle or the rotating speed of the power device according to the actual structure so as to adjust the swing amplitude of the tail fin and the waist joint, so that the invention can still be quickly propelled under the condition of minimum driving force.
The waist joint power device and the tail joint power device are controlled by the controller respectively based on various data of the waist joint unit, the tail joint unit and the tail fin. The data includes length of each unit, oscillation frequency, propulsion speed, etc. In some preferred embodiments, the first transmission mechanism and the second transmission mechanism are both crank rocker mechanisms, and the crank rotation speeds, the rocker swing periods and the swing frequencies of the two crank rocker mechanisms are consistent. The controller controls the tail joint power device to enable the tail fin to swing at a certain angle firstly, and then controls the waist joint power device to enable the swing phase of the tail fin to lag behind the swing phase of the waist joint rear cabin module, namely the swing of the waist joint rear cabin module and the tail fin has phase difference.
In the invention, the joints among the devices and equipment in the driving unit, the waist joint forecabin module, the waist joint rear cabin module, the tail joint unit and the tail fin are sealed by adopting the mutual matching of static seal and dynamic seal.
When the waist joint power device is used, the first transmission mechanism of the driving unit 1 converts the rotary motion of the waist joint power device into reciprocating motion, and the reciprocating motion is transmitted to the waist joint rear cabin module 3 through the third transmission mechanism and the fourth transmission mechanism in sequence so as to enable the waist joint rear cabin module to do reciprocating swing relative to the waist joint front cabin module 2.
The second transmission mechanism of the driving unit 1 converts the rotary motion of the tail joint power device into reciprocating motion, and transmits the reciprocating motion to the tail fin through the third transmission mechanism, the fourth transmission mechanism and the fifth transmission mechanism in sequence, so that the tail fin can swing back and forth relative to the tail joint module.
It should be noted that the internal structure of the invention can be adjusted at will, if fig. 1 is a side view of the underwater robot bionic robot fish, when fig. 3 is a front view of the waist joint front cabin module 2 of the invention, the waist joint power device can drive the waist joint rear cabin module 3 of the invention to swing back and forth relative to the back midline of the waist joint front cabin module 2. If fig. 3 is a top view of the waist joint forecabin module 2 of the present invention, the waist joint power device can drive the waist joint forecabin module 3 of the present invention to swing up and down reciprocally relative to the waist joint forecabin module 2, so that the change of the internal arrangement of the third transmission mechanism of the present invention can flexibly adjust the swing direction of the waist joint forecabin module relative to the waist joint forecabin module, and therefore, the reciprocating swing direction of the waist joint forecabin module of the present invention can be flexibly set by a person skilled in the art. The arrangement of the waist joint power device and the tail joint power device illustrated in fig. 1 is only illustrative and is not a limitation on the structure of the present invention.
In the technical solution in the embodiment of the present application, at least the following technical effects and advantages are provided:
compared with the fish-imitating propelling mechanism driven by a plurality of joint modules in series, the fish-imitating propelling mechanism of the underwater robot reduces the rotational inertia among joints, improves the motion efficiency and flexibility and realizes a more vivid bionic effect.
The fish-imitating propelling mechanism of the underwater robot provided by the invention realizes multi-joint reciprocating motion by adopting the multi-transmission mechanism, reduces the loss of the service life of the motor without depending on frequent reversing of the motor, greatly improves the working performance and reliability of the propelling mechanism and has stronger practicability.
While the invention has been described with reference to a preferred embodiment, various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention, and particularly, features shown in the various embodiments may be combined in any suitable manner without departing from the scope of the invention. It is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
In the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like, which indicate directions or positional relationships, are based on the directions or positional relationships shown in the drawings, which are for convenience of description only, and do not indicate or imply that the devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The terms "comprises," "comprising," or any other similar term are intended to cover a non-exclusive inclusion, such that a process, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, article, or apparatus.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
Claims (7)
1. A fish-imitating propulsion mechanism of an underwater robot is characterized by comprising a driving unit, a waist joint unit, a tail joint unit and a tail fin which are connected in sequence;
the driving unit comprises a waist joint power device and a tail joint power device, the waist joint power device and the tail joint power device are respectively connected with the waist joint unit through a first transmission mechanism and a second transmission mechanism, and connecting ends of the waist joint power device and the tail joint power device are coaxially arranged;
the waist joint unit comprises a waist joint forecabin module and a waist joint rear cabin module, a third transmission mechanism is arranged in the waist joint forecabin module, a fourth transmission mechanism is arranged in the waist joint rear cabin module, and a fifth transmission mechanism is arranged in the tail joint unit;
the first transmission mechanism is connected with a first connecting end of the third transmission mechanism, the second transmission mechanism is connected with a second connecting end of the third transmission mechanism, and the first connecting end and the second connecting end are coaxially arranged; the fourth transmission mechanism, the fifth transmission mechanism and the tail fin are sequentially connected to one end of the third transmission mechanism, which is far away from the two connecting ends;
the third transmission mechanism comprises a gear transmission structure, the gear transmission structure comprises a plurality of gear pairs and a plurality of transmission shafts, the plurality of transmission shafts comprise a first transmission shaft connected with the first transmission mechanism and a second transmission shaft connected with the second transmission mechanism, the first transmission shaft is a hollow shaft, and the second transmission shaft is arranged in the hollow of the first transmission shaft and is coaxially arranged with the first transmission shaft; the fourth transmission mechanism comprises a connecting shaft, a first connecting piece and a second connecting piece, the first connecting piece and the second connecting piece are respectively arranged at two ends of the connecting shaft, the connecting shaft is connected with the waist joint forecabin module through the first connecting piece, the connecting shaft is connected with the tail joint unit through the second connecting piece, and the first connecting piece and the second connecting piece are revolute pairs and are provided with two rotating ends;
under the driving of the waist joint power device, the first transmission mechanism converts the rotary motion of the waist joint power device into reciprocating motion, and transmits the reciprocating motion to the waist joint rear cabin module through the third transmission mechanism so as to enable the waist joint rear cabin module to swing back and forth relative to the waist joint front cabin module;
under the driving of the tail joint power device, the second transmission mechanism converts the rotary motion of the tail joint power device into reciprocating motion, and the reciprocating motion is transmitted to the tail fin through the third transmission mechanism, the fourth transmission mechanism and the fifth transmission mechanism in sequence, so that the tail fin can swing back and forth relative to the tail joint unit.
2. The underwater robotic fish-imitating propulsion mechanism according to claim 1, wherein the first transmission mechanism and the second transmission mechanism are crank-rocker mechanisms.
3. The underwater robotic fish-imitating propulsion mechanism according to claim 2, wherein the first transmission shaft is provided with a tapered end, the tapered end being the first connection end.
4. The underwater robotic fish-imitating propulsion mechanism according to claim 3, wherein the gear pair is a bevel gear pair disposed at an end of the first transmission shaft facing away from the tapered end.
5. The underwater robotic fish-imitating propulsion mechanism according to claim 1, wherein the first and second connections are universal joints or ball joints.
6. The underwater robotic fish-imitating propulsion mechanism according to claim 1, wherein said fifth transmission mechanism includes a bevel gear arrangement.
7. The underwater robotic fish-imitating propulsion mechanism according to claim 1, wherein the tail fin is an imitated whale dolphin tail fin.
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| CN113703464B (en) * | 2021-08-03 | 2023-11-10 | 中国人民解放军陆军工程大学 | Ball jacking control method for 2D simulated fish |
| CN113772052B (en) * | 2021-08-30 | 2022-09-27 | 中国科学院自动化研究所 | Bionic robot fish driving device and bionic robot fish body |
| CN115892415B (en) * | 2022-11-09 | 2024-05-28 | 中国科学院自动化研究所 | Bionic fish tail propeller based on damping elastic composite mechanism |
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