CN112498639A

CN112498639A - Bionic fishtail paddle

Info

Publication number: CN112498639A
Application number: CN202011645654.1A
Authority: CN
Inventors: 夏秀芬; 张瑞彬
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-12-31
Filing date: 2020-12-31
Publication date: 2021-03-16
Anticipated expiration: 2040-12-31
Also published as: CN112498639B

Abstract

The bionic fishtail paddle provided by the invention utilizes the bending characteristic of the corrugated pipe to combine with the swing joint, the supporting device and the driving device, so that the corrugated pipe can realize reciprocating swing under the driving of the power device. The swing joint in the technical scheme has a structure similar to that of a vertebra, and is bent by utilizing the wavy bulges of the corrugated pipe, so that a bearing structure does not exist, and the operation reliability of the device is greatly improved. As the manufacturing process of the corrugated pipe is mature and widely applied, the bionic fishtail paddle based on the corrugated pipe has the advantages of low manufacturing cost, simple structure and high reliability.

Description

Bionic fishtail paddle

Technical Field

The invention relates to a diving propulsion device, in particular to a bionic fishtail paddle. Wherein the submergence is comprised of a partially submerged surface propulsion device and a fully submerged propulsion device.

Background

The bionic fishtail propelling device is more and more popular in the field of mechanical propulsion due to flexible control and high driving efficiency. In the current driving mode of the bionic fish tail rotor, the structure is simpler and the reliability is high in a mode of line traction, so that the bionic fish tail rotor has a higher market prospect.

The underwater propulsion device for the multi-joint bionic fishtail and the bionic mechanism thereof driven by the line with the notice number CN 102815388 adopt multi-joint rigid body vertebrae, are mutually locked by hinge holes and bolts arranged at the two ends of each vertebra, are connected with each vertebra by combining a fishtail type clamping plate to form a chain structure, and then utilize the coordinated control of the driving line to ensure that the fishtail type clamping plate realizes the reciprocating swing of the fishtail so as to generate thrust. Although this structure can imitate the swimming posture of fish, the complex rigid body vertebra connection mode reduces the reliability, the number of closed vertebra is increased if the swimming posture similar to fish is realized, thereby increasing the manufacturing difficulty, and the manufacturing cost is also increased obviously along with the increase of the number of the vertebra.

Disclosure of Invention

In order to solve the problems, the invention provides a bionic fishtail paddle, and the bending structure of the bionic fishtail paddle adopts the technical scheme of a corrugated pipe. The corrugated pipe is a tubular object with wavy and convex appearance and is divided into a full-sealing corrugated pipe and a non-full-sealing corrugated pipe. The corrugated pipe with a full-sealing structure mostly adopts a pressure forming process to generate a corrugated structure on the surface of the pipeline. The corrugated pipe with non-complete sealing structure is produced through winding the belt spirally to form a pipe, meshing the belt with the ends in the width direction to form one spiral structure, and forming corrugated structure with wavy lugs in the end parts in the width direction. The two corrugated pipes can be bent within a certain range by utilizing the corrugated structure, the pipe with the structure can bear larger pressure along the longitudinal direction of the pipe, the transverse direction of the corrugated pipe can be freely bent within a certain range, and the corrugated pipe has certain rigidity when exceeding the range and can play a good limiting role. The pipeline can be bent freely, so that the structures of similar shafts and bearings such as a hinge hole, a pin and the like are omitted, the reliability is improved, and the manufacturing difficulty is greatly reduced. When the number of structures similar to the vertebrae needs to be increased, the length of the corrugated pipe is only required to be increased, so that the number of the corrugated structures is increased, and the cost is lower.

In order to achieve the technical purpose, the invention adopts the following technical scheme:

a bionic fishtail paddle, which is characterized by comprising: the corrugated pipe is a tubular body with a plurality of corrugated structures, the swing joints are a plurality of split structures arranged along the length direction of the corrugated pipe, the supporting device is arranged on the swing joints and provides a supporting force for the connected swing joints through connecting the swing joints so as to prevent the corrugated pipe from bending in the direction, and the driving device is arranged on the swing joints and provides a driving force for swinging the swing joints through connecting the swing joints so as to bend the corrugated pipe in the direction.

The bionic fish tail oar is characterized by further comprising tail fins and a mounting seat, wherein the tail fins are arranged at one end of the corrugated pipe, and the mounting seat is arranged at the other end of the corrugated pipe.

The corrugated pipe is formed by spirally winding a strip-shaped body to form a tubular body, engaging the width-direction ends of the strip-shaped body with each other to form a corrugated structure, specifically, one end of the width-direction end of the strip-shaped body is provided in a hook shape, and the other end is provided in a barb shape, and engaging the two with each other by using the spiral structure.

The driving device is composed of two groups of control mechanisms which are respectively arranged on the left side and the right side of the swing joint, and the power device is utilized to change the distance between the left side and the right side of any two adjacent swing joints so as to realize the left-right swing of the corrugated pipe under the action of the power device.

The control mechanism is composed of a driving wire, the driving wire is arranged along the length direction of the corrugated pipe and penetrates through the corresponding swing joint, one end of the driving wire is arranged near the tail fin, and the other end of the driving wire is connected with a power device for generating driving force.

The swing joint is arranged on a corrugated structure in the corrugated pipe or on a corrugated structure outside the corrugated pipe.

The supporting device is composed of dorsal fins, the plurality of swing joints are connected into a bendable whole through the dorsal fins, and the dorsal fin structure is utilized to provide supporting force for the mutually connected swing joints, so that the two adjacent swing joints do not displace in the direction.

The supporting device is composed of supporting lines arranged between adjacent swing joints, and the supporting lines are arranged along the length direction of the corrugated pipe, so that the adjacent two swing joints do not displace in the direction.

The tail fin or the mounting seat is at least fixed with two adjacent corrugated structures near the corrugated pipe port.

The bionic fishtail paddle provided by the invention utilizes the bending characteristic of the corrugated pipe to combine with the swing joint, the supporting device and the driving device, so that the corrugated pipe can realize reciprocating swing under the driving of the power device. Most of bionic fish tail propellers in the prior art are bent by using a shaft and a bearing structure, and impact load generated during quick swinging is not favorable for reliable operation of the bearing. In the technical scheme of the invention, the swing joint has a structure similar to that of a vertebra, and the corrugated bulges of the corrugated pipe are bent without a bearing structure, so that the operation reliability of the device is greatly improved. As the manufacturing process of the corrugated pipe is mature and widely applied, the bionic fishtail paddle based on the corrugated pipe has the advantages of low manufacturing cost, simple structure and high reliability.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the present invention is further described below with reference to the accompanying drawings and the embodiments. It is obvious that the drawings described below are only a part of the embodiments of the invention, and that for a person skilled in the art, without inventive effort, other drawings can be derived from them, which are also within the scope of protection of the invention.

Fig. 1 is a schematic structural view of a bionic fishtail paddle with a swing joint arranged in a corrugated pipe in the scheme of the invention.

Figure 2 is a sectional top view along the plane of two support lines according to one embodiment of the present invention.

FIG. 3 is a perspective view of the internal structure of the present invention taken along the plane of two driving wires.

Fig. 4 is a schematic diagram of a in fig. 2.

Fig. 5 is a schematic diagram of the structure B in fig. 3.

FIG. 6 is a schematic structural view of a bionic fishtail paddle with a secondary swing joint arranged outside a corrugated pipe in the scheme of the invention.

The meaning of the reference symbols in the figures: 1-mounting seat, 2-corrugated pipe, 3-tail fin, 4-driving wire, 5-mounting hole, 6-swing joint, 7-supporting wire, 8-fixing column and 9-dorsal fin.

Detailed Description

Since the bending of the fully sealed bellows is based on the elastic deformation of the material at the bellows structure, its service life is severely affected under alternating load conditions due to the limitations of current material technology. A corrugated tube, which is not a full sealing structure, is manufactured by spirally winding a strip-shaped body to form a tubular body, engaging width-directional ends of the strip-shaped body with each other to constitute a spiral structure, and specifically, one end of the width-directional end of the strip-shaped body is provided in a hook shape and the other end is provided in a barb shape, and engaging the both with each other by the spiral structure to form a wave-shaped protrusion structure. Two adjacent corrugated structures as shown in fig. 4 and 5 are mutually meshed through hook-shaped and barb-shaped structures in cross section, and the two structures are relatively slid when the corrugated pipe is bent, so that the corrugated pipe has stronger capacity of dealing with alternating load when the corrugated pipe swings back and forth. Because the working condition of the bionic fish tail oar is submerged or partially submerged, the water as a cooling material can effectively reduce the heat generated by the sliding friction of each corrugated structure when the corrugated pipe swings back and forth, and the problem that the hook-shaped structure is deformed due to the friction heating does not exist. The water near the position where the hook-shaped structure and the barb-shaped structure are contacted with each other can be used as a lubricant to further reduce the friction coefficient, so that the bionic fish tail oar can reliably run underwater for a long time. Therefore, the present invention is further explained by using the bellows with a non-complete sealing structure as a preferred embodiment with reference to the attached drawings and examples.

Example one

As shown in fig. 1, 2, and 3, the present embodiment is an embodiment in which the pendulum joint 6 is disposed inside the bellows 2. In the figure, a mounting seat 1 is arranged at the top of a corrugated pipe 2, and a tail fin 3 is mainly of a sheet structure and arranged at the bottom of the corrugated pipe 2. The whole bionic fishtail paddle is integrally fixed on the ship body through the mounting seat 1 and the mounting hole 5 arranged on the mounting seat 1 in combination with a bolt structure. The bionic fishtail paddle can swing left and right by the driving wire 4 arranged in the corrugated pipe 2 and the mounting seat 1.

As shown in fig. 2, not only the drive wire 4 but also the support wire 7 and the pendulum joint 6 are provided inside the bellows 2 and the mount 1. The swing joint 6, the mounting base 1 and the tail fin 3 are fixed at a designated position in the corrugated pipe 2 by utilizing a corrugated structure matched with the wavy protruding structure of the corrugated pipe 2 and combining bolts or adhesives, and at least two wavy protruding structures of the corrugated pipe 2 are fixed on the swing joint 6, the mounting base 1 and the tail fin 3 as shown in the figure. As shown, four knuckles 6, in combination with mount 1 and tail fin 3, divide bellows 2 into five bendable sections. Two support wires 7 lock the distance between the left and right sides of each bendable section in the plane of the tail fin 3 of the sheet structure, so that the left and right swinging of the corrugated pipe 2 in the plane is limited. The drive line 4 is arranged in a plane perpendicular to the plane of the tail fin 3 and passing through the central axis of the corrugated tube 2. Fig. 4 is a detail view of the area marked as a in fig. 2, as shown in the figure, the heads and the tails of two supporting wires 7 are respectively arranged at the corresponding sides of the mounting seat 1 and the swing joint 6, and the distance between the left side and the right side of the mounting seat 1 and the swing joint 6 is fixed by the aid of the supporting wires 7 which are bendable but not stretchable, so that the degree of freedom of the threaded pipe 2 in the plane during swinging is limited. As shown in fig. 4, in the detail of the spiral structure constituting the corrugated tube 2, the position indicated by 2 in the figure is a hook structure at the end in the width direction of the strip-shaped body on the inner wall of the tube, and a barb structure at the end in the width direction of the strip-shaped body on the outer wall of the tube, and as shown in the figure, the hook structure can slide up and down within a certain range in the barb structure, and the support wires 7 function to further limit the sliding range in the plane where the two support wires 7 are located.

Fig. 3 is a sectional structure perspective view of a plane where two driving wires 4 are located along the central axis of the corrugated tube 2 and perpendicular to the plane where the tail fin 3 is located. As shown the plane of the two drive wires 4 is perpendicular to the plane of the two support wires 7. The function of the two drive wires 4 is to cause the bellows 2 to swing controlled side-to-side in its plane. The heads of the two driving wires 4 are arranged at the left side and the right side in the structure that the tail fin 3 is connected with the corrugated pipe 2, the tail parts of the driving wires 4 extend out of the outer side of the mounting seat 1 to be connected into a power device, and the power device is utilized to realize the alternate stretching of the two driving wires 4, so that the corrugated pipe 2 in the five bendable sections is driven to swing under control.

Fig. 5 is a detail view of the area marked B in fig. 3, in which fixing posts 8 are disposed below the driving lines 4, the diameter of the fixing posts 8 is larger than that of the driving lines 4, and the fixing posts are disposed in a direction perpendicular to the plane of the two driving lines 4. A groove structure corresponding to the fixing posts 8 and the driving wire 4 is provided in the connection portion of the tail fin 3 and the bellows 2, thereby fixing the structure of the fixing posts 8 and the driving wire 4 near the tail fin 3. In the detail of the spiral structure constituting the corrugated tube 2 shown in fig. 5, the position indicated by reference numeral 2 in the drawing is a hook structure at the end in the width direction of the strip on the inner wall of the tube, and a barb structure at the end in the width direction of the strip on the outer wall of the tube, and the hook structure can slide up and down within a certain range within the barb structure as shown in the drawing. When the drive line 4 on the left side is stretched, the tail fin 3 bends to the left side with the increase of the stretching degree, so that the space between the hook structure and the barb structure is compressed, and finally the whole tail fin 3 bends to the left. In order to transmit the tensile force of the power device to the tail fin 3, through holes with a diameter larger than that of the driving wire 4 are arranged at corresponding positions of the swing joints 6 through which the driving wire 4 passes. When the power device stretches the driving wire 4, the acting force is transmitted to the tail fin 3 through the swing joints 6, the force of the driving wire 4 is transmitted to each swing joint 6 by utilizing the through holes arranged in the swing joints 6, and finally the tail fin 3 and each swing joint 6 are orderly bent under the action of the driving device so as to generate tail swing action similar to the swimming of fish in water. When the driving lines 4 on the left side and the right side are alternately stretched under the action of the power device, the whole bionic fish tail rotor can make continuous actions similar to the swimming of fish in water, and the ship body is pushed to move.

Example two

The pendulum joint 6 is arranged outside the bellows pipe as shown in fig. 6, the support means of which is constituted by a dorsal fin 9. The mounting base 1 and the four swing joints 6 are connected into a bendable whole through the dorsal fins 9 and finally connected with the tail fins 3 to form a group of flaky paddling devices. The plate-like dorsal fins 9 allow the flexible bellows 2 between the pendulum segments 6 to bend only in a direction perpendicular to the plane of the dorsal fins 9. The main differences between this embodiment and the first embodiment are: the installation seat 1, the swing joint 6, the tail fin 3 and the driving wire 4 are arranged on the outer side of the pipeline of the corrugated pipe 2, through holes with the diameters larger than the driving wire 4 are formed in the installation seat 1, the swing joint 6 and the tail fin 3 at the corresponding positions where the driving wire 4 is located, sliding of the driving wire 4 in the structure is facilitated, acting force generated when the driving wire 4 is stretched by the power device is finally transmitted to the positions close to the tail fin 3, and force of the driving wire 4 is transmitted to each swing joint 6 through the through holes formed in the swing joint 6. The fixing posts 8 arranged at the bottom of the driving wire 4 as shown in the figure are fixed with the tail fin 3 by the grooves arranged at the corresponding positions of the tail fin 3. Finally, the tail fin 3 and each swing joint 6 are orderly bent under the action of the driving device so as to generate tail swinging motion similar to the swimming of fish in water. The supporting line 7 of the first embodiment is omitted and replaced by the dorsal fin 9, the structure is simpler, the added dorsal fin 9 not only supports the whole structure of the corrugated pipe 2, but also is beneficial to assisting the tail fin 3 to increase the acting area of water during paddling, and therefore the working efficiency is improved.

Claims

1. A bionic fishtail paddle, which is characterized by comprising: the corrugated pipe is a tubular body with a plurality of corrugated structures, the swing joints are a plurality of split structures arranged along the length direction of the corrugated pipe, the supporting device is arranged on the swing joints and provides a supporting force for the connected swing joints through connecting the swing joints so as to prevent the corrugated pipe from bending in the direction, and the driving device is arranged on the swing joints and provides a driving force for swinging the swing joints through connecting the swing joints so as to bend the corrugated pipe in the direction.

2. The bionic fish tail oar according to claim 1, further comprising a tail fin and a mounting seat, wherein the tail fin is arranged at one end of the corrugated pipe, and the mounting seat is arranged at the other end of the corrugated pipe.

3. The biomimetic fishtail according to claim 1, wherein the corrugated tube is a corrugated tube formed by spirally winding a ribbon-shaped body, the widthwise ends of the ribbon-shaped body are engaged with each other to form a corrugated structure, and specifically, one end of the widthwise end of the ribbon-shaped body is provided in a hook shape, and the other end is provided in a barb shape, and the both are engaged with each other by the spiral structure.

4. The bionic fishtail paddle of claim 1, wherein the driving device comprises two sets of control mechanisms respectively arranged on the left side and the right side of the swing joint, and the distance between the left side and the right side of any two adjacent swing joints is changed by the power device, so that the corrugated pipe can swing left and right under the action of the power device.

5. A bionic fish tail oar according to claim 4, wherein the control mechanism is formed by a drive wire which is arranged along the length of the bellows and passes through the corresponding pendulum joint, one end of the drive wire is arranged near the tail fin, and the other end of the drive wire is connected with a power device which generates driving force.

6. The bionic fishtail paddle of claim 1, wherein the pendulum joint is arranged on a corrugated structure inside the corrugated pipe or on a corrugated structure outside the corrugated pipe.

7. The bionic fish-tail oar according to claim 1, wherein the supporting device is composed of a dorsal fin, the plurality of pendulum nodes are connected into a bendable whole through the dorsal fin, and the dorsal fin structure is used for providing supporting force for the mutually connected pendulum nodes, so that two adjacent pendulum nodes do not displace in the direction.

8. The bionic fishtail paddle of claim 1, wherein the support means is formed by support lines disposed between adjacent pendulum nodes, the support lines being disposed along the length of the bellows such that no displacement occurs between adjacent pendulum nodes in the direction.

9. A biomimetic fish tail paddle according to claim 2, wherein the tail fin or mount holds at least two adjacent corrugations near the end of the bellows.