CN111976932B - Dolphin-like propelling mechanism - Google Patents
Dolphin-like propelling mechanism Download PDFInfo
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- CN111976932B CN111976932B CN202010842669.0A CN202010842669A CN111976932B CN 111976932 B CN111976932 B CN 111976932B CN 202010842669 A CN202010842669 A CN 202010842669A CN 111976932 B CN111976932 B CN 111976932B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 146
- 230000033001 locomotion Effects 0.000 claims abstract description 49
- 239000011664 nicotinic acid Substances 0.000 claims abstract description 10
- 230000005540 biological transmission Effects 0.000 claims description 108
- 230000007704 transition Effects 0.000 claims description 19
- 241001481833 Coryphaena hippurus Species 0.000 claims description 18
- 230000009977 dual effect Effects 0.000 claims description 2
- 241000251468 Actinopterygii Species 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 239000000463 material Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003592 biomimetic effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
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- 230000003014 reinforcing effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
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Abstract
The invention belongs to the technical field of robots, particularly relates to a dolphin-like propulsion mechanism, and aims to solve the problems of large rotational inertia of joint modules, low motion efficiency, poor motion flexibility, poor reliability and short service life of a bionic fish propulsion mechanism with multiple joint modules connected in series in the prior art. The invention provides a dolphin-like propulsion mechanism, which comprises a waist tail base module, a waist front cabin module, a waist rear cabin module and a tail module which are sequentially connected, wherein the front end and the rear end of the waist rear cabin module are respectively hinged with the waist front cabin module and the tail module; the invention converts the rotary motion of the power device into reciprocating motion through the first driving device; and the reciprocating motion is transmitted to the waist rear cabin module and the tail module through a second driving device and a third driving device respectively. The invention has the advantages of small rotational inertia of each joint module, flexible movement, high propulsion efficiency, strong reliability, long service life and strong practicability.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a dolphin-like propulsion mechanism.
Background
As a main carrier for exploring and developing the ocean, the underwater robot has important civil and military values. However, most of existing underwater robots adopt a propeller or pump jet propulsion mode, and have the defects of poor maneuverability, high noise and low concealment. The fish evolves excellent physiological structure and extraordinary movement performance in a long natural selection process, has the characteristics of flexible movement, strong maneuverability and low disturbance to water flow, and the research of the bionic robot fish provides important technical support for the development and application of a high-performance underwater robot.
However, most of the existing robotic fish-imitating propulsion mechanisms adopt a multi-joint module series connection driving mode, a power device is arranged in each joint module, 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 rotational inertia in the joint movement process is increased, and the movement efficiency and the movement flexibility are reduced. Meanwhile, most of the existing multi-joint module bionic robot fish propulsion mechanisms realize reciprocating swing through forward and reverse rotation of a motor, although the mechanical structure is simple, the working performance and reliability of the propulsion mechanism are seriously influenced by frequent forward and reverse rotation of the motor, and the service life is shortened.
Disclosure of Invention
In order to solve the problems in the prior art, namely to solve the problems of large rotational inertia of joint modules, low motion efficiency, poor motion flexibility, poor reliability and short service life of a bionic fish propulsion mechanism with multiple joint modules connected in series in the prior art, the invention provides a dolphin-like propulsion mechanism, which comprises a body, wherein the body comprises a waist tail base module, a waist front cabin module, a waist rear cabin module and a tail module which are sequentially connected, and the front end and the rear end of the waist rear cabin module are respectively hinged with the waist front cabin module and the tail module;
a driving unit and a power unit are arranged in the body, the power unit comprises a power device and a flywheel device, and a first output shaft and a second output shaft of the power device are respectively connected with the flywheel device and the driving unit;
the driving unit comprises a first driving device, a second output shaft of the power device is connected with an input end of the first driving device, a first output end and a second output end of the first driving device are coaxially arranged in the waist tail base module in a back-to-back manner, and the first output end and the second output end of the first driving device are respectively used for converting the rotary motion of the power device into reciprocating motion;
the first output end of the first driving device is connected with the waist rear cabin module so that the waist rear cabin module swings back and forth around the hinged part of the waist rear cabin module and the waist front cabin module;
the second output end of the first driving device is connected with the tail module so that the tail module can swing back and forth around the hinged part of the tail module and the waist rear cabin module.
In some preferred technical solutions, the first driving device is disposed inside the waist tail base module, and the waist tail base module includes a base, and the base is disposed perpendicular to an output shaft of the power device;
the first driving device comprises a first transmission mechanism and a waist tail main shaft, the first transmission mechanism comprises a bevel gear component, the bevel gear component comprises a first bevel gear and a second bevel gear which are meshed with each other, the first bevel gear is connected with a second output shaft of the power device, the second bevel gear is arranged on the base through a first fixing component and is connected with the waist tail main shaft, the first transmission mechanism is used for driving the waist tail main shaft to rotate around the waist tail main shaft in the axial direction, and the first output end and the second output end of the first driving device are respectively arranged at the two ends of the waist tail main shaft.
In some preferred technical solutions, the first transmission mechanism further includes a sprocket assembly and a tensioning mechanism, and the second bevel gear is connected with the waist-tail spindle through the sprocket assembly;
the middle part of the outer surface of the waist tail main shaft is provided with a clamping part, and the chain wheel assembly comprises a chain wheel and a chain matched with the chain wheel and the clamping part;
the waist tail spindle is arranged on the base through a second fixing component which is arranged right above the first fixing component, and the chain wheel is coaxially arranged on one side of the second bevel gear through the first fixing component;
the tensioning mechanism comprises a tensioning wheel and a tensioning driving mechanism, and the tensioning driving mechanism maintains the tightness of the chain by changing the horizontal position of the tensioning wheel relative to the waist tail spindle.
In some preferred technical solutions, the first driving device further includes a second transmission mechanism and a third transmission mechanism, an input end of the second transmission mechanism is connected with a first output end of the first driving device, an input end of the third transmission mechanism is connected with a second output end of the first driving device, the second transmission mechanism and the third transmission mechanism both include a crank and rocker mechanism, and the second transmission mechanism and the third transmission mechanism are used for converting the rotary motion of the waist tail spindle into a reciprocating motion.
In some preferred technical solutions, the driving unit further includes a second driving device, the first output end of the first driving device is connected with the lumbar rear cabin module through the second driving device, and the second driving device is configured to transmit reciprocating motion to the lumbar rear cabin module.
In some preferred technical solutions, the driving unit further includes a third driving device, the second output end of the first driving device is connected to the tail module through the third driving device, and the third driving device is configured to transmit a reciprocating motion to the tail module.
In some preferred technical solutions, the third driving device includes a link mechanism, the link mechanism includes a first rocker and a second rocker arranged in parallel, and a first connecting rod and a second connecting rod arranged in parallel, and the first rocker, the first connecting rod, the second rocker and the second connecting rod are sequentially hinged end to form a parallelogram;
the middle part of the first rocker is connected with the second output end of the first driving device, the middle part of the second rocker is provided with a first assembling part, the transmission shaft of the tail module is provided with a second assembling part, and the second rocker is arranged on the second assembling part through the first assembling part;
the rotating surfaces of the first rocker and the second rocker are respectively vertical to the second output end of the first driving device and the axial direction of the transmission shaft of the tail module;
the second output end of the first driving device drives the first rocker to rotate in a reciprocating mode within a certain angle, and the tail module is driven to rotate in a reciprocating mode within a certain angle through the second rocker.
In some preferred embodiments, the linkage is disposed at an angle relative to a dorsal midline of the propulsion mechanism.
In some preferred technical solutions, the tail module further includes a fourth driving device, the fourth driving device includes a swing rod, transition blocks and tail fins, the two transition blocks are respectively disposed at two ends of a transmission shaft of the tail module, the swing rod is an L-shaped member, one end of each of the two swing rods is connected to the transmission shaft through the transition block, and the other end of each of the two swing rods is connected to the tail fins;
the swinging arms with the link of transition piece is provided with a plurality of along transmission shaft circumference evenly distributed's arc track, be provided with on the transition piece with arc track one-to-one complex a plurality of slip rotation portion works as during the transmission shaft reciprocating rotation under the drive of transmission shaft, slip rotation portion can reciprocating sliding in the arc track, in order to drive tail fin reciprocating swing.
In some preferred embodiments, the power plant includes a dual output shaft motor.
The invention has the beneficial effects that:
according to the dolphin-imitated propulsion mechanism, the power device is arranged outside the joint module, and the joint module is moved through the transmission mechanism, so that the rotational inertia of each joint module is reduced, the movement efficiency and flexibility are improved, and a more vivid bionic effect is realized.
The dolphin-like propulsion mechanism disclosed by the invention realizes the movement of the two joints of the waist and the tail by only using one power device, and has a more compact overall structure and improved space utilization rate compared with the way that the two power devices drive the two joints of the waist and the tail to move.
The dolphin-imitated propulsion mechanism provided by the invention realizes reciprocating motion of each joint of the propulsion mechanism through the driving device, does not need to depend on frequent reversing of a motor, greatly improves the working performance and reliability of the propulsion mechanism, and prolongs the service life.
The dolphin-imitated propulsion mechanism realizes the joint reciprocating motion through the plane connecting rod mechanism, can realize the transmission of long-distance motion, can transmit larger torque at the same time, 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 view of the overall structure of a dolphin-like propulsion mechanism according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an external structure of a waist tail base module according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a first transmission mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an internal structure of a waist tail base module according to an embodiment of the present invention;
FIG. 5 is a sectional view of the internal structure of the lumbar forward cabin module in accordance with an embodiment of the present invention;
FIG. 6 is a schematic view of the external structure of a lumbar rear cabin module according to an embodiment of the present invention;
FIG. 7 is a schematic view of the internal structure of a waist front module housing according to an embodiment of the present invention;
FIG. 8 is a schematic illustration of a sixth drive mechanism in accordance with an embodiment of the present invention;
FIG. 9 is a cross-sectional view of the internal structure of the rear module in accordance with one embodiment of the present invention;
FIG. 10 is a block diagram of a tail module according to an embodiment of the present invention;
FIG. 11 is a first schematic structural view of a dolphin-like propulsion mechanism according to an embodiment of the present invention;
FIG. 12 is a schematic structural view of a dolphin-like propulsion mechanism according to an embodiment of the present invention;
list of reference numerals:
1-lumbar base module, 2-lumbar front module, 3-lumbar rear module, 4-tail module, 5-lumbar base front compartment, 6-lumbar base rear compartment, 7-base, 8-lumbar tail motor, 9-lumbar tail motor mount, 10-flywheel means, 11-bevel gear assembly, 12-sprocket, 13-chain, 14-tension pulley, 15-lumbar tail spindle, 16-lumbar crank, 17-lumbar link, 18-lumbar rocker, 19-tail crank, 20-tail link, 21-tail rocker, 22-lumbar float material, 23-lumbar joint housing seal cover, 24-first drive shaft, 25-first drive shaft support, 26-lumbar swing housing, 27-a swing sleeve, 28-a second transmission shaft, 29-a second transmission shaft supporting seat, 30-a waist cabin body, 31-a first rocker, 32-a second rocker, 33-a third rocker, 34-a first connecting rod, 35-a second connecting rod, 36-a tail shell, 37-a tail floating body material, 38-a tail fin, 39-a third transmission shaft, 40-a third transmission shaft supporting seat, 41-a transition block, 42-a tail handle, 43-an arc track, 44-a waist front cabin module shell and 45-a limiting groove.
Detailed Description
In order to make the embodiments, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. 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 dolphin-like propulsion mechanism, which comprises a body, wherein the body comprises a waist tail base module, a waist front cabin module, a waist rear cabin module and a tail module which are sequentially connected, and the front end and the rear end of the waist rear cabin module are respectively hinged with the waist front cabin module;
a driving unit and a power unit are arranged in the body, the power unit comprises a power device and a flywheel device, and a first output shaft and a second output shaft of the power device are respectively connected with the flywheel device and the driving unit;
the driving unit comprises a first driving device, a second output shaft of the power device is connected with an input end of the first driving device, a first output end and a second output end of the first driving device are coaxially arranged in the waist tail base module in a back-to-back manner, and the first output end and the second output end of the first driving device are respectively used for converting the rotary motion of the power device into reciprocating motion;
the first output end of the first driving device is connected with the waist rear cabin module so that the waist rear cabin module swings around the hinged part of the waist rear cabin module and the waist front cabin module in a reciprocating manner;
the second output end of the first driving device is connected with the tail module so that the tail module can swing back and forth around the hinged part of the tail module and the waist rear cabin module.
For a clearer explanation of the simulated dolphin propulsion mechanism of the present invention, a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.
As a preferred embodiment of the invention, the dolphin-like propulsion mechanism of the invention is shown in figure 1, and comprises a body, the body shell is designed like a dolphin and comprises a waist tail base module 1, a waist front cabin module 2, a waist rear cabin module 3 and a tail module 4 which are connected in sequence, wherein the front end and the rear end of the waist rear cabin module 3 are respectively hinged with the waist front cabin module 2 and the tail module 4; namely, the waist tail base module 1 is fixedly connected with the waist forecabin module 2, the waist forecabin module 2 is hinged with the waist rear cabin module 3, and the waist rear cabin module 3 is hinged with the tail module 4. The waist tail base module 1, the waist front cabin module 2, the waist rear cabin module 3 and the tail module 4 are sealed by adopting O-shaped rings for static sealing, and the movable sealing is sealed by adopting a universal plug. The body is streamline along the length direction, the volume of the body is reduced in sequence to reduce the water resistance in the propelling process, and meanwhile, the shell of the invention ensures that the buoyancy is basically consistent with the gravity.
A driving unit and a power unit are arranged in the body, wherein the power unit comprises a power device and a flywheel device 10, in the preferred embodiment of the invention, the power device comprises two output shafts, wherein a first output shaft of the power device is connected with the flywheel device 10, and a second output shaft of the power device is connected with the driving unit; preferably, the power device comprises a motor with double output shafts, and the two output shafts of the motor are arranged in a back-to-back manner, so that the internal weight of the dolphin-like propulsion mechanism is favorably and uniformly distributed, the dolphin-like propulsion mechanism is more stable, and the dolphin-like propulsion mechanism is not easy to tip over.
Referring to fig. 4, the power device includes a waist tail motor 8, which is installed inside the waist tail base module 1 through a waist tail motor mounting seat 9, and the waist tail motor mounting seat 9 enables an output shaft of the waist tail motor 8 to be arranged along the length direction of the dolphin-like propulsion mechanism. The first output shaft of the waist tail motor 8 is connected with a flywheel device 10, referring to fig. 4 and fig. 2, the flywheel device 10 is fixed with the shell of the waist tail base module 1 through a mounting frame, and is arranged at the bottom of the waist tail base module 1 to ensure that the floating center is above the center of gravity, so that the dolphin-like propulsion mechanism is more stable and is not easy to overturn. The flywheel device 10 is used for reducing the speed fluctuation of the waist tail motor 8 in the current working mode and reducing the influence of load change on the waist tail motor 8. And a second output shaft of the waist tail motor 8 is connected with the driving unit.
The driving unit comprises a first driving device, a second driving device and a third driving device. Specifically, a second output shaft of the power device is connected with an input end of a first driving device, the first driving device is provided with two output ends, specifically, a first output end and a second output end of the first driving device are coaxially arranged in the waist tail base module 1 in a back-to-back manner, and the first output end and the second output end of the first driving device are respectively used for converting the rotary motion of the power device into reciprocating motion; a first output end of the first driving device is connected with the waist rear cabin module through a second driving device so that the waist rear cabin module 3 swings back and forth around a hinged part of the waist rear cabin module and the waist front cabin module 2; the second output end of the first driving device is connected with the tail module 4 through a third driving device, so that the tail module 4 swings back and forth around the hinge part of the tail module 4 and the lumbar backseat module 3.
Specifically, the first driving device is arranged inside the waist tail base module 1, the waist tail base module 1 comprises a base 7, the base 7 is arranged perpendicular to an output shaft of the power device, the output shaft of the power device comprises a first output shaft and a second output shaft, and the first output shaft and the second output shaft are parallel.
Further, the first driving device includes a first transmission mechanism and a waist tail spindle 15, and a first output end and a second output end of the first driving device are respectively provided at two ends of the waist tail spindle 15. Specifically, the first transmission mechanism includes a bevel gear assembly 11, the bevel gear assembly 11 includes a first bevel gear and a second bevel gear that are engaged with each other, the first bevel gear is connected with the second output shaft of the waist tail motor 8, the second bevel gear is disposed on the base 7 through a first fixing member, the second bevel gear is connected with the waist tail spindle 15, and the first transmission mechanism is configured to drive the waist tail spindle 15 to rotate around its own axial direction.
Further, the first transmission mechanism further comprises a chain wheel assembly, and the second bevel gear is connected with the waist tail main shaft 15 through the chain wheel assembly; the chain wheel assembly comprises a chain wheel 12 and a chain 13, a clamping part is arranged in the middle of the outer surface of the waist tail main shaft 15, and the chain 13 is matched with the chain wheel 12 and the clamping part of the waist tail main shaft 15. The waist tail spindle 15 is arranged on the base 7 through a second fixing component which is arranged right above the first fixing component, and the chain wheel 12 is coaxially arranged on one side of the second bevel gear through the first fixing component; the rotation surfaces of the chain wheel 12 and the waist tail spindle 15 are respectively arranged perpendicular to the axial direction of a second output shaft of the power device through a first fixing component and a second fixing component. Preferably, the first transmission mechanism further includes a tensioning mechanism, the tensioning mechanism includes a tensioning wheel 14 and a tensioning driving mechanism, in a normal state, the tensioning wheel 14 is located outside the chain 13 and is in close contact with the chain 13, so that the chain is bent towards the waist tail spindle, the tensioning driving mechanism maintains the tightness of the chain 13 by changing the horizontal position of the tensioning wheel 14 relative to the waist tail spindle 15, that is, the tensioning wheel 14 is driven to be far away from the chain 13, so that the chain 13 can be loosened, and the tensioning wheel 14 is driven to be close to the chain 13, so that the chain 13 can be tensioned. A second output shaft of the waist-tail motor 8 drives a chain wheel 12 to rotate through a bevel gear component 11, and the chain wheel 12 drives a waist-tail spindle 15 to rotate through a chain 13. The first transmission mechanism converts the first direction rotary motion of the second output shaft of the power device into the second direction rotary motion through the matching of the bevel gear component and the chain wheel component. Wherein the first direction is the length direction of the shell of the simulated dolphin propulsion mechanism, namely the back midline direction; the second direction is perpendicular to the back midline of the simulated dolphin propulsion mechanism.
In some preferred embodiments of the present invention, the first driving device further includes a second transmission mechanism and a third transmission mechanism, an input end of the second transmission mechanism is connected to the first output end of the first driving device, i.e. the first output end of the waist tail spindle 15; the input end of the third transmission mechanism is connected with the second output end of the first driving device, namely the second output end of the waist tail spindle 15; the second transmission mechanism and the third transmission mechanism comprise crank rocker mechanisms, and the second transmission mechanism and the third transmission mechanism are used for converting the rotary motion of the waist tail spindle 15 into reciprocating motion. The second output of the first driving device may be directly connected to the tail module or indirectly connected to the tail module, specifically, when the second output of the first driving device may be connected to the waist forecabin module through a connecting member and then connected to the tail module, specifically, the second output of the waist tail spindle 15 may be indirectly connected to the tail module 4 through the swing sleeve 27.
Specifically, referring to fig. 4, the second transmission mechanism includes a waist crank 16, a waist connecting rod 17, and a waist rocker 18, wherein one end of the waist crank 16 is connected to the first output end of the waist tail spindle 15, the other end of the waist crank is connected to the waist connecting rod 17, and the waist connecting rod 17 is connected to the waist rocker 18 to drive the waist rocker 18 to swing back and forth. The third transmission mechanism comprises a tail crank 19, a tail connecting rod 20 and a tail rocker 21. One end of the tail crank 19 is connected with the second output end of the waist tail spindle 15, the other end of the tail crank is connected with a tail connecting rod 20, and the tail connecting rod 20 is connected with a tail rocker 21 to drive the tail rocker 21 to swing in a reciprocating mode. The base 7 is provided with a first through hole and a second through hole which are both arranged below the waist tail spindle 15, and the waist rocker 18 and the tail rocker 21 respectively penetrate through the first through hole and the second through hole and do reciprocating motion relative to the height direction of the dolphin-like mechanism body.
Furthermore, the two ends of the waist tail spindle 15 of the invention are respectively provided with an expansion sleeve, the two ends of the waist tail spindle 15 are respectively connected with the cranks (the waist crank 16 and the tail crank 19) through the expansion sleeves, and the cranks sleeved outside the expansion sleeves can rotate relative to the expansion sleeves by adjusting the tightness of the expansion sleeves, so that the rotation angle of the cranks relative to the waist tail spindle 15, namely the relative angles of the waist crank 16 and the tail crank 19, is adjusted, and the phase relation is adjusted. The transmission relation between the expansion sleeve and the crank can be adjusted by adjusting the tightness of the expansion sleeve screw; when the screw is loosened, the expansion sleeve and the crank sleeved outside the expansion sleeve can rotate relatively, and when the screw is tightened, the expansion sleeve and the crank sleeved outside the expansion sleeve are tightly matched, so that relative rotation cannot occur. The angles between the cranks (the waist crank 16 and the tail crank 19) at the two sides of the waist tail spindle 15 are different, so that the bionic dolphin propulsion mechanism has different phase differences and different motion output curves.
The second driving device of the present invention is disposed inside the lumbar forward cabin module 2, and the second driving device is used for transmitting the reciprocating motion of the first end of the first driving device to the lumbar backward cabin module 3. Specifically, referring to fig. 5, the waist forward cabin module 2 includes a waist float material 22, a waist joint housing seal cover 23, and a fourth transmission mechanism. Wherein, second drive arrangement includes fourth drive mechanism, and fourth drive mechanism mainly includes first transmission shaft 24, first transmission shaft supporting seat 25, waist swing casing 26 and swing sleeve 27, and first transmission shaft 24 passes through first transmission shaft supporting seat 25 to be installed in base 7, and first transmission shaft 24 and waist tail main shaft 15 parallel arrangement, and first transmission shaft 24 deviates from waist tail main shaft 15 and sets up in base 7. One end of the first transmission shaft 24 is connected with the waist rocker 18 of the second transmission mechanism through a spline, the other end of the first transmission shaft is connected with the waist swinging shell 26 through a spline, one end of the swinging sleeve 27 is connected with the waist swinging shell 26, and the other end of the swinging sleeve is connected with the waist rear cabin module 3, so that the waist rear cabin module 3 is driven to swing up and down. It can be understood that, the waist and tail spindle 15 rotates for a circle, i.e. swings for a period, so that the waist and tail spindle 15 can be provided with an angle sensor, and the swing angles of the waist and rear module 3 and the tail module 4 at the current moment can be known by detecting the rotation angle of the waist and tail spindle 15, i.e. the posture of the dolphin-like propulsion mechanism at the current moment.
Further, referring to fig. 7, a structure diagram of the waist front cabin module shell 44 of the present invention is shown in fig. 7, a swing groove 45 is disposed at an end of the waist front cabin module shell 44 close to the waist rear cabin module 3, a swing amplitude of the swing sleeve 27 is smaller than the swing groove 45, and the swing groove 45 can be used to assist in limiting a reciprocating movement, i.e., a swing amplitude, of the swing sleeve 27, so as to prevent an excessive motion angle of the bionic dolphin mechanism of the present invention from affecting mobility. Meanwhile, the waist front cabin module shell 44 and the waist rear section module shell are provided with arc structures at the ends close to each other, and the two arc structures are mutually matched and concentrically arranged, so that the two shells are in sliding fit with each other.
Referring to fig. 11 and 12, the second output end of the first driving device of the present invention is connected to the tail module 4 through a third driving device for transmitting the reciprocating motion to the tail module 4.
In a preferred embodiment of the invention, the lumbar rear cabin module 3 mainly comprises a lumbar cabin body 30 and a third drive arrangement. The third driving device comprises a fifth transmission mechanism and a sixth transmission mechanism, as shown in fig. 5, the fifth transmission mechanism comprises a second transmission shaft 28 and a second transmission shaft supporting seat 29; the second transmission shaft 28 is installed in the second transmission shaft supporting seat 29, one end of the second transmission shaft 28 is connected with the tail rocker 21 of the third transmission mechanism through a spline, and the other end of the second transmission shaft 28 is connected with the sixth transmission mechanism, so that the power of the waist tail motor 8 is transmitted to the waist rear cabin module 3. The sixth transmission mechanism is a link mechanism, the link mechanism can be obliquely arranged relative to the back midline of the simulated dolphin propulsion mechanism or arranged along the back midline of the simulated dolphin propulsion mechanism, when the link mechanism is obliquely arranged relative to the back midline of the simulated dolphin propulsion mechanism, the sixth transmission mechanism and the tail rocker 21 are arranged at the same end, and the length of the link mechanism is adjustable so as to adjust the swinging phase difference of the tail module relative to the waist rear cabin module. When the link mechanism is disposed along the dorsal midline of the biomimetic dolphin propulsion mechanism of the present invention, referring to fig. 11 and 12, the sixth transmission mechanism passes through the swing sleeve 27 and has an extension end, which is connected to the tail module.
Specifically, the link mechanism comprises a first rocker 31 and a second rocker 32 which are arranged in parallel, and a first connecting rod 34 and a second connecting rod 35 which are arranged in parallel, wherein the first rocker 31, the first connecting rod 34, the second rocker 32 and the second connecting rod 35 are sequentially hinged end to form a parallelogram; in a preferred embodiment of the invention, the first link 34 and the second link 35 each pass through the oscillating sleeve 27, i.e. they can oscillate synchronously with the oscillating sleeve 27. In some preferred embodiments, the linkage mechanism further includes a third rocking bar 33 having both ends connected to the middle portions of the first link 34 and the second link 35, respectively, so as to improve the strength and stability of the parallelogram linkage mechanism.
Further, a first connecting portion is arranged in the middle of the first rocker 31, a second connecting portion is arranged on the second transmission shaft 28, the first rocker 31 is mounted on the second connecting portion through the first connecting portion, a first mounting portion is arranged in the middle of the second rocker 32, a second mounting portion is arranged on the transmission shaft of the tail module 4, and the second rocker 32 is mounted on the second mounting portion through the first mounting portion; the rotation surfaces of the first rocker 31 and the second rocker 32 are respectively perpendicular to the second output end of the first driving device and the axial direction of the transmission shaft of the tail module 4.
The second output end of the first driving device drives the first rocker 31 to rotate back and forth within a certain angle, so as to drive the tail module 4 to rotate back and forth within a certain angle through the second rocker 32. Specifically, the middle of the first rocker 31 is connected with the second transmission shaft 28 in the fifth transmission mechanism through a spline, two sides of the first rocker 31 are connected with the first connecting rod 34 and the second connecting rod 35 so as to drive the second rocker 32 to swing, and the middle of the second rocker 32 is connected with the transmission shaft of the tail module 4 through a spline so as to transmit the power of the waist tail motor to the tail module.
The tail module 4 comprises a tail shell 36, a tail floating body material 37, a fourth driving device and a tail fin 38, wherein the fourth driving device comprises a seventh transmission mechanism, the seventh transmission mechanism mainly comprises a third transmission shaft 39, a third transmission shaft supporting seat 40, a transition block 41, a swing rod 42, a swing rod and a tail fin, the swing rod is connected with the tail fin 38, the third transmission shaft 39 is installed in the third transmission shaft supporting seat 40, the middle section of the third transmission shaft 39 is connected with a second rocker 32 of the sixth transmission mechanism through a spline, two ends of the third transmission shaft 39 are respectively connected with the two transition blocks 41 through splines, the transition blocks 41 are connected with the swing rod 42 through a conical surface, and the swing rod 42 is connected with the tail fin 38, so that the tail fin 38 is driven to realize reciprocating swing.
Preferably, the swing levers 42 are L-shaped members, and one ends of the two swing levers 42 are connected with the third transmission shaft 39 through the transition block 41, and the other ends are connected with the tail fins 38; the connecting end of the swing rod 42 and the transition block 41 is provided with a plurality of arc-shaped rails 43 which are uniformly distributed along the circumferential direction of the third transmission shaft 39 and have consistent concave surfaces, the transition block 41 is provided with a plurality of sliding rotating parts which are matched with the arc-shaped rails 43 in a one-to-one correspondence manner, and when the third transmission shaft 39 rotates in a reciprocating manner, the sliding rotating parts of the transition block 41 can slide in the arc-shaped rails 43 in a reciprocating manner under the driving of the third transmission shaft 39 so as to drive the tail fin 38 to swing in a reciprocating manner. The arc-shaped track 43 can adjust the relative position of the swing rod 42 and the transition block 41, so that the relative position of the tail fin 38 and the waist rear cabin module 3 is adjusted, and the tail fin 38 adopts a dolphin-like tail fin to generate larger propelling force.
It can be understood that the connecting rods in the waist tail base module 1, the waist front cabin module 2, the waist rear cabin module 3 and the tail module 4 are reduced in weight by means of grooves, and the strength is improved by means of reinforcing ribs.
In the technical solution in the embodiment of the present application, at least the following technical effects and advantages are provided:
according to the dolphin-imitated propulsion mechanism, the power device is arranged outside the joint module, and the joint module is moved through the transmission mechanism, so that the rotational inertia of each joint module is reduced, the movement efficiency and flexibility are improved, and a more vivid bionic effect is realized.
The dolphin-like propulsion mechanism disclosed by the invention realizes the movement of the two joints of the waist and the tail by only using one power device, and has a more compact overall structure and improved space utilization rate compared with the way that the two power devices drive the two joints of the waist and the tail to move.
The dolphin-imitated propulsion mechanism provided by the invention realizes reciprocating motion of each joint of the propulsion mechanism through the driving device, does not need to depend on frequent reversing of a motor, greatly improves the working performance and reliability of the propulsion mechanism, and prolongs the service life.
The dolphin-imitated propulsion mechanism realizes the joint reciprocating motion through the plane connecting rod mechanism, can realize the transmission of long-distance motion, can transmit larger torque at the same time, and has stronger practicability.
It should be noted that in the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicating the directions or positional relationships are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element 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 dolphin-like propulsion mechanism is characterized by comprising a body, wherein the body comprises a waist tail base module, a waist front cabin module, a waist rear cabin module and a tail module which are sequentially connected, and the front end and the rear end of the waist rear cabin module are respectively hinged with the waist front cabin module and the tail module;
a driving unit and a power unit are arranged in the body, the power unit comprises a power device and a flywheel device, a first output shaft and a second output shaft of the power device are respectively connected with the flywheel device and the driving unit, and the flywheel device is arranged at the bottom of the waist tail base module;
the driving unit comprises a first driving device, a second output shaft of the power device is connected with an input end of the first driving device, a first output end and a second output end of the first driving device are coaxially arranged in the waist tail base module in a back-to-back manner, and the first output end and the second output end of the first driving device are respectively used for converting the rotary motion of the power device into reciprocating motion;
the first output end of the first driving device is connected with the waist rear cabin module so that the waist rear cabin module swings back and forth around the hinged part of the waist rear cabin module and the waist front cabin module;
the second output end of the first driving device is connected with the tail module so that the tail module swings back and forth around a hinged part of the tail module and the waist rear cabin module;
the first driving device is arranged inside the waist tail base module, the waist tail base module comprises a base, and the base is perpendicular to an output shaft of the power device;
the first driving device comprises a first transmission mechanism and a waist tail spindle, the first transmission mechanism comprises a bevel gear component, the bevel gear component comprises a first bevel gear and a second bevel gear which are meshed with each other, the first bevel gear is connected with a second output shaft of the power device, the second bevel gear is arranged on the base through a first fixing component and connected with the waist tail spindle, the first transmission mechanism is used for driving the waist tail spindle to rotate around the waist tail spindle in the axial direction, and the two ends of the waist tail spindle are respectively a first output end and a second output end of the first driving device; the waist tail main shaft rotates for a circle, namely swings for a period, the waist tail main shaft is provided with an angle sensor, and the swinging angles of the waist rear cabin module and the tail module at the current moment, namely the posture of the dolphin-like propulsion mechanism at the current moment, can be obtained by detecting the rotating angle of the waist tail main shaft;
the driving unit further comprises a second driving device, a third driving device and a fourth driving device, wherein the third driving device comprises a connecting rod mechanism, and the connecting rod mechanism is obliquely arranged relative to the back midline of the bionic dolphin propelling mechanism or is arranged along the back midline of the bionic dolphin propelling mechanism; the connecting rod mechanism comprises a first rocker and a second rocker which are arranged in parallel, and a first connecting rod and a second connecting rod which are arranged in parallel, wherein the first rocker, the first connecting rod, the second rocker and the second connecting rod are sequentially hinged end to form a parallelogram;
the middle part of the first rocker is connected with the second output end of the first driving device, the middle part of the second rocker is provided with a first assembling part, the transmission shaft of the tail module is provided with a second assembling part, and the second rocker is arranged on the second assembling part through the first assembling part;
the rotating surfaces of the first rocker and the second rocker are respectively vertical to the second output end of the first driving device and the axial direction of the transmission shaft of the tail module;
the second output end of the first driving device drives the first rocker to rotate in a reciprocating manner within a certain angle, so that the second rocker drives the tail module to rotate in a reciprocating manner within a certain angle;
the fourth driving device further comprises swing rods, transition blocks and tail fins, the two transition blocks are respectively arranged at two ends of a transmission shaft of the tail module, the swing rods are L-shaped components, one ends of the two swing rods are connected with the transmission shaft through the transition blocks, and the other ends of the two swing rods are connected with the tail fins;
the swinging arms with the link of transition piece is provided with a plurality of along transmission shaft circumference evenly distributed's arc track, be provided with on the transition piece with arc track one-to-one complex a plurality of slip rotation portion works as during the transmission shaft reciprocating rotation under the drive of transmission shaft, slip rotation portion can reciprocating sliding in the arc track, in order to drive tail fin reciprocating swing.
2. The imitation dolphin propulsion mechanism of claim 1, wherein the first transmission further comprises a sprocket assembly and a tensioning mechanism, the second bevel gear being connected to the waist tail spindle through the sprocket assembly;
the middle part of the outer surface of the waist tail main shaft is provided with a clamping part, and the chain wheel assembly comprises a chain wheel and a chain matched with the chain wheel and the clamping part;
the waist tail spindle is arranged on the base through a second fixing component which is arranged right above the first fixing component, and the chain wheel is coaxially arranged on one side of the second bevel gear through the first fixing component;
the tensioning mechanism comprises a tensioning wheel and a tensioning driving mechanism, and the tensioning driving mechanism maintains the tightness of the chain by changing the horizontal position of the tensioning wheel relative to the waist tail spindle.
3. The simulated dolphin propulsion mechanism of claim 1, wherein the first driving device further comprises a second transmission mechanism and a third transmission mechanism, an input end of the second transmission mechanism is connected with a first output end of the first driving device, an input end of the third transmission mechanism is connected with a second output end of the first driving device, the second transmission mechanism and the third transmission mechanism both comprise crank-rocker mechanisms, and the second transmission mechanism and the third transmission mechanism are used for converting the rotary motion of the waist tail spindle into reciprocating motion.
4. The imitation dolphin propulsion mechanism of claim 1, wherein the drive unit further comprises a second drive means, a first output of the first drive means being connected to the lumbar rear compartment module through the second drive means, the second drive means being for transmitting a reciprocating motion to the lumbar rear compartment module.
5. The imitation dolphin propulsion mechanism of claim 1, wherein the drive unit further includes a third drive, a second output of the first drive being connected to the tail module through the third drive, the third drive being for transmitting reciprocating motion to the tail module.
6. The simulated dolphin propulsion mechanism of claim 5, wherein said linkage is inclined relative to a dorsal midline of the propulsion mechanism.
7. The imitation dolphin propulsion mechanism of claim 1, wherein the power plant includes a dual output shaft motor.
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| 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 |
| CN114439898B (en) * | 2022-01-12 | 2023-12-19 | 哈尔滨工程大学 | Wave fin toothless transmission mechanism and system |
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