CN114212225A - Machine squid propelled by adopting multi-tail cooperative vector - Google Patents
Machine squid propelled by adopting multi-tail cooperative vector Download PDFInfo
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- CN114212225A CN114212225A CN202111514047.6A CN202111514047A CN114212225A CN 114212225 A CN114212225 A CN 114212225A CN 202111514047 A CN202111514047 A CN 202111514047A CN 114212225 A CN114212225 A CN 114212225A
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- tail
- connecting rod
- squid
- motor
- machine
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/08—Propulsion
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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
- B63H23/00—Transmitting power from propulsion power plant to propulsive elements
- B63H23/22—Transmitting power from propulsion power plant to propulsive elements with non-mechanical gearing
- B63H23/24—Transmitting power from propulsion power plant to propulsive elements with non-mechanical gearing electric
Abstract
The invention relates to a machine squid propelled by adopting multi-tail cooperative vectors, which comprises: a head housing for mounting a drive mechanism and connected to the plurality of tail units; the tail units are all provided with sine propelling connecting rod mechanisms and are symmetrically distributed by taking the central axis of the head shell as the center; the driving mechanism comprises a first motor and a base, the first motor drives the base to do axial reciprocating motion, and the base is correspondingly connected with the tail units through a plurality of groups of clutch mechanisms; the clutch mechanism comprises a second motor and an adjusting disc, the output of the second motor is connected with the adjusting disc through a driving shaft, and the body of the second motor is connected with the sinusoidal propulsion link mechanism through an adjusting shaft; the adjusting disk is in sliding fit with the sliding groove in the surface of the base, a connecting rod sliding block assembly is arranged in the adjusting disk, the input end of the connecting rod sliding block assembly is connected with the driving shaft, and the output end of the connecting rod sliding block assembly can extend out of the adjusting disk to lock the adjusting disk in the sliding groove. The invention realizes the multi-tail cooperative vector propulsion of the machine squid and can turn to advance to any angle at the same time, thereby improving the underwater maneuvering performance of the machine squid.
Description
Technical Field
The invention relates to the technical field of bionic robots, in particular to a machine squid propelled by adopting multi-tail cooperative vectors.
Background
Autonomous Underwater Vehicles (AUVs) have rapidly developed the need to exploit ocean resources. The fish-imitating robot with the fins can imitate the motion of a fish body, can make a positive reaction on attached fluid, realizes a stable and efficient propelling function, and is considered to be an optimal path for being applied to the unmanned underwater vehicle.
In the prior art, a robot capable of accurately simulating squid does not exist, and the main reason is that the multi-tentacle swing structure of the squid is complex. Theoretical research shows that the multi-tentacles of the squid-like robot can realize rich movement mechanisms through permutation and combination and have the characteristic of high maneuverability. The flexible maneuvering characteristic is shown in the complex water area environment, particularly in rugged water channels, and a great deal of convenience is provided for underwater exploration, military operation, ocean resource utilization and the like. The high-mobility mechanical squid can be widely applied to high-mobility marine operation occasions, replaces workers to complete underwater operation, and effectively improves the operation safety. Therefore, an underwater robot which can accurately simulate multiple tentacles of the squid and can realize high-mobility propulsion is urgently needed to be designed.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a machine squid propelled by a plurality of tails in a coordinated vector mode so as to realize the underwater propelling function of a squid robot, and sine driving is utilized to accurately simulate the tentacle swing of the underwater squid.
The technical scheme adopted by the invention is as follows:
a machine squid employing multi-tailed coordinated vector propulsion, comprising:
the head shell is used for installing the driving mechanism and is also used for being connected with the tail units; the tail units are connected to the rear end of the head shell and symmetrically distributed by taking the central axis of the head shell as a center;
the tail unit adopts a sine propelling connecting rod mechanism;
the driving mechanism is arranged in the head shell and comprises a first motor and a base, the first motor is used for driving the base to do reciprocating motion along the axial direction of the head shell, and the base is respectively and correspondingly connected with the tail units through a plurality of groups of clutch mechanisms;
the clutch mechanism comprises a second motor and an adjusting disc, the output of the second motor is connected with the adjusting disc through a driving shaft, and the body of the second motor is connected with the sinusoidal propulsion link mechanism through an adjusting shaft; the adjusting disc is in sliding fit with a sliding groove which is axially arranged on the surface of the base, a connecting rod sliding block assembly is arranged in the adjusting disc, the input end of the connecting rod sliding block assembly is connected with the driving shaft, and the output end of the connecting rod sliding block assembly can extend out of the adjusting disc to be locked in the sliding groove;
the clutch mechanisms are symmetrically distributed by taking the central axis of the base as a center.
The further technical scheme is as follows:
the connecting rod sliding block assembly structurally comprises a group of sliding pieces arranged at intervals, and a driving rod is arranged between the sliding pieces arranged at intervals; the middle part of the driving rod is connected with the driving shaft as an output end, two ends of the driving rod are correspondingly hinged with the sliding parts on two sides through driven rods respectively, a limiting end is arranged on the outer side of the sliding part, and the limiting end can extend out of the adjusting disc as the output end and is matched with a limiting hole in the sliding groove.
The limiting holes of the sliding groove are provided with a plurality of groups at intervals along the length direction of the sliding groove.
The tail unit comprises a front section shell and a rear section shell, a front connecting rod is arranged in the front section shell, and a rear connecting rod is arranged in the rear section shell;
the front end of the front connecting rod is hinged with the head shell;
the rear end of the front connecting rod is hinged with the front end of the rear connecting rod; the front end of the rear connecting rod extends upwards in an inclined mode to form a supporting section;
the middle part of the front connecting rod is hinged with one end of a rocker, the other end of the rocker is hinged with the adjusting shaft, and the middle part of the rocker is hinged with the end part of the supporting section through a connecting rod.
The tail unit also comprises a tail plate which is of a fishtail structure and is connected with the rear end of the rear section shell or integrally formed.
The head part shell is internally and fixedly provided with a restraint shaft, the rear end of the base is in sliding connection with the restraint shaft, and the front end of the base is connected with the output of the first motor through a crank connecting rod mechanism.
The head shell is internally provided with a front end plate for fixing the first motor, and the rear end of the head shell is provided with a rear end plate for connecting with the tail unit; the front end plate and the rear end plate are fixedly connected through a connecting piece; the adjusting shaft penetrates through the rear end plate.
The main body of the head shell is cylindrical, the head of the head shell is conical, and wing plates are arranged on two sides of the upper surface of the head shell.
The second motor is symmetrically arranged in the head shell, and a body of the second motor is fixedly connected with the adjusting shaft through an L-shaped motor seat.
The invention has the following beneficial effects:
1. the invention only uses a single driving motor to realize the integrated synchronous motion of a plurality of execution modules, thereby improving the efficiency and ensuring the consistency of the motion rules.
2. The invention realizes sinusoidal motion by utilizing the multi-link mechanism, combines the clutch mechanism, can accurately simulate the traveling wave-shaped swing of the squid tentacles, and has stronger propulsion performance and maneuvering effect.
Drawings
Fig. 1 is a schematic perspective view of a squid with a four-tail machine according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a partially exploded structure of a squid with a four-tail machine in the embodiment of the invention.
Fig. 3 is an exploded view of a clutch mechanism of a squid with a four-tail machine according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of an adjusting disk according to an embodiment of the present invention.
FIG. 5 is a cross-sectional view of an adjustment dial in accordance with an embodiment of the present invention.
Fig. 6 is a schematic view of a rear mounting structure of a single tail unit with a front shell hidden according to an embodiment of the present invention.
Fig. 7 is a schematic view of the internal structure of a two-tail machine squid according to an embodiment of the invention.
Fig. 8 is a schematic view of an expanded state of straight motion of a squid with a four-tail machine in the embodiment of the invention.
Fig. 9 is a schematic view of the contracted state of the straight motion of the squid with the four-tail machine in the embodiment of the invention.
Fig. 10 is a schematic diagram of an expanded state of a right yawing motion of a four-tailed machine squid according to an embodiment of the invention.
Fig. 11 is a schematic diagram of a contracted state of a right yaw movement of a four-tail machine squid according to an embodiment of the invention.
Fig. 12 is a schematic diagram of an expanded state of a four-tailed machine squid moving leftwards in a yawing manner according to the embodiment of the invention.
Fig. 13 is a schematic diagram of the retracted state of the four-tailed robotic squid moving in a left yaw manner according to the embodiment of the invention.
Fig. 14 is a schematic diagram of an expansion state of the floating movement of the squid with the four-tail machine in the embodiment of the invention.
Fig. 15 is a schematic diagram of the contraction state of the floating movement of the squid with the four-tail machine in the embodiment of the invention.
FIG. 16 is a schematic view of the expanded state of the diving motion of the squid with the four-tail machine in the embodiment of the invention
Fig. 17 is a schematic view of the retracted state of the four-tailed machine squid submergence movement in the embodiment of the invention.
Fig. 18 is a schematic structural view of a three-tail machine squid in the embodiment of the invention.
Fig. 19 is a schematic structural view of a five-tail machine squid in the embodiment of the invention.
Fig. 20 is a schematic structural view of a six-tailed machine squid according to an embodiment of the present invention.
In the figure: 1. a tail unit; 2. an adjustment shaft; 3. a head housing; 4. a wing plate; 5. a base; 6. a first motor; 7. a second motor; 8. an adjusting disk; 9. a chute; 10. a constraint shaft; 11. a slider; 12. a driving lever; 13. a driven lever; 14. a limiting hole; 15. a drive shaft; 16. a motor base; 17. a front link; 18. a rocker; 19. a connecting rod; 20. a rear connecting rod; 21. a front end plate; 22. a rear end plate; 23. a support link; 24. a crank member; 25. a link member; 101. a front section housing; 102. a rear section housing; 103. a tail plate; 111. a limiting end; 112. a guide post; 201. a support section; 501. a guide hole; 801. a guide groove; 802. a notch.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1-5, the machine squid adopting multi-tail cooperative vector propulsion of the embodiment comprises:
a head housing 3, as shown in fig. 1, for mounting a driving mechanism and also for connecting with a plurality of tail units 1;
a plurality of tail units 1, as shown in fig. 1, connected to the rear end of the head housing 3, symmetrically distributed centering on the central axis of the head housing 3; the tail unit 1 adopts a sine propelling connecting rod mechanism;
the driving mechanism is arranged in the head shell 3 and comprises a first motor 6 and a base 5 as shown in fig. 2, the first motor 6 is used for driving the base 5 to do reciprocating motion along the axial direction of the head shell 3, and the base 5 is respectively and correspondingly connected with the tail units 1 through a plurality of groups of clutch mechanisms;
the clutch mechanism comprises a second motor 7 and an adjusting disc 8, as shown in fig. 3, the output of the second motor 7 is connected with the adjusting disc 8 through a driving shaft 15, and the body of the second motor 7 is connected with the sinusoidal propulsion link mechanism through an adjusting shaft 2; the adjusting disk 8 is in sliding fit with a sliding chute 9 which is axially arranged on the surface of the base 5, a connecting rod sliding block assembly is arranged in the adjusting disk 8, the input end of the connecting rod sliding block assembly is connected with a driving shaft 15, and the output end of the connecting rod sliding block assembly can extend out of the adjusting disk 8 to be locked in the sliding chute 9;
specifically, the clutch mechanisms are symmetrically distributed with the central axis of the base 5 as the center.
Specifically, as shown in fig. 3, sliding grooves 9 are uniformly distributed on a circumference of the surface of the base 5, the sliding grooves 9 are axially arranged, and limiting holes 14 are formed in side walls of the sliding grooves 9.
As shown in fig. 4 and 5, the connecting rod slider assembly structurally comprises a group of spaced sliders 11, and a driving rod 12 is arranged between the spaced sliders 11;
the middle part of the driving rod 12 is used as an input end to be connected with the driving shaft 15, two ends of the driving rod 12 are correspondingly hinged with the sliding parts 11 on two sides through driven rods 13 respectively, the outer side of each sliding part 11 is provided with a limiting end 111 which is used as an output end, the adjusting disc 8 is provided with a notch 802 for the limiting end 111 to extend out, and the limiting end 111 is matched with a limiting hole 14 on the sliding chute 9 after extending out.
Specifically, the adjusting disk 8 is in the shape of a hollow disk, a translation space of the sliding parts 11 is formed in the adjusting disk, the driving rod 12 is located between the two sliding parts 11 to form a space, a hole connected with the driving shaft 15 is formed in the middle of the driving rod 12, two ends of the driving rod are connected with one end of a driven rod 13 respectively, and the other end of the driven rod 13 is hinged to the middle of the inner side of each sliding part 11 respectively. Under the action of the driving shaft 15, the driving rod 12 rotates left and right, and the two ends of the driving rod respectively drive the sliding parts 11 to move through the driven rods 13, so that the two sliding parts 11 move towards each other or move in opposite directions.
When the two sliding parts move in opposite directions, the sliding parts 11 approach each other, the limiting ends 111 on the outer sides retract, so that the adjusting disc 8 can slide along the sliding groove 9, and when the base 5 moves axially, the adjusting disc 8, the driving shaft 15, the second motor 6 and the adjusting shaft 2 do not move along with the two sliding parts, and at the moment, the tail unit does not swing relative to the head shell 1;
during reverse movement, the sliding members 11 are far away from each other, the limiting ends 111 at the outer sides extend out of the notches 802 at the two sides of the adjusting disc 8 and are inserted into the limiting holes 14 in the side wall of the sliding groove 9 shown in fig. 3, so that the adjusting disc 8 cannot slide along the sliding groove 9, when the base 5 performs axial movement, the adjusting disc 8, the driving shaft 15, the second motor 6 and the adjusting shaft 2 shown in fig. 3 move along with the axial movement, at the moment, the tail unit swings relative to the head shell 1, and the sinusoidal traveling wave propelling movement of each tail unit 1 is realized.
In order to ensure the moving direction of the two sliding members 11, the surface of the adjusting disk 8 is further provided with a guide groove 801, the sliding member 11 is provided with a guide post 112 matched with the guide groove 801, and the guide groove 801 provides guidance for the sliding member 11 through the guide post 112.
As shown in fig. 3, a plurality of sets of the stopper holes 14 of the respective slide grooves 9 are provided at intervals along the longitudinal direction of the slide grooves 9. The length of the adjusting shaft 2 extending into the head housing 1, that is, the matching height with the base 5, can be changed by matching the limiting end 111 of the sliding member 11 with different limiting holes 14, so as to change the phase of each tail unit 1 during sinusoidal traveling wave motion.
As shown in fig. 6, the tail unit 1 includes a front casing 101 and a rear casing 102, a front connecting rod 17 is disposed in the front casing 101, and a rear connecting rod 20 is disposed in the rear casing 102;
the front end of the front connecting rod 17 is hinged with the head shell 3;
the rear end of the front connecting rod 17 is hinged with the front end of the rear connecting rod 20; the front end of the rear connecting rod 20 extends upwards to form a supporting section 201;
the middle part of the front connecting rod 17 is hinged with one end of a rocker 18, the other end of the rocker 18 is hinged with the adjusting shaft 2, and the middle part of the rocker 18 is hinged with the end part of the supporting section 201 through a connecting rod 19.
Specifically, the front casing 101 and the front link 17, and the rear casing 102 and the rear link 20 are respectively locked and connected by fasteners.
Specifically, the tail unit 1 further includes a tail plate 103, which is in a fishtail structure and is connected to or integrally formed with the rear end of the rear housing 102.
Specifically, the tail units of this embodiment are provided with 4 tail units, as shown in fig. 3, the base 5 is a rectangular structure with a square cross section, the four sides of the base are equally distributed with sliding grooves 9, each sliding groove 9 is slidably connected with an adjusting disc 8, and the second motor 7 is used for controlling the clutch between the adjusting discs 8 and the sliding grooves 9, so as to realize the parallel control of the tail units 1.
All tail units work in parallel, so that the number of the tail units participating in sinusoidal traveling wave propelling movement at the same time can be changed, and further, the underwater arbitrary angle movement of the squid machine is realized. When the tail unit does sinusoidal motion simultaneously, the squid machine can the sharp propulsion, and when one or more tail units do sinusoidal motion at other tail units and do not work, the machine squid can turn to a certain angle. This makes this application have extremely high maneuverability under water.
As shown in fig. 7, the squid structure of the machine is a squid structure (hidden part of the head shell) with two tail units 1, a restraining shaft 10 is fixedly arranged in the head shell 3 along the central axis thereof, the rear end of the base 5 is slidably connected with the restraining shaft 10, and the front end of the base 5 is connected with the output of the first motor 6 through a crank-link mechanism.
Specifically, as shown in fig. 7, the crank link mechanism includes a crank member 24 and a link member 25, one end of the crank member 24 is connected to the output of the first motor 7, the other end is connected to one end of the link member 25, the other end of the link member 25 is connected to the base 5, and the base 5 is axially reciprocated along the head housing 3 by the crank link mechanism. It will be appreciated by those skilled in the art that the base 5 is provided with a guide hole 501 slidably fitted with the restraining shaft as shown in fig. 3, and the restraining shaft 10 is a key shaft which is keyed to the guide hole 501 so as to move only axially and not to move rotationally. Specifically, the second motor 7 is symmetrically arranged in the head housing 3, and the second motor 7 is fixedly connected with the adjusting shaft 2 through an L-shaped motor base 16.
Specifically, as shown in fig. 7, a front end plate 21 is disposed in the head housing 3 and used for fixing the first motor 6, and a rear end plate 22 is disposed at the rear end of the head housing 3 and used for connecting with the tail unit 1; the front end plate and the rear end plate are fixedly connected through a support connecting rod 23; the adjusting shaft 2 is inserted into the rear end plate 22.
Specifically, as shown in fig. 7, the head housing 3 has a cylindrical body and a tapered head, and wings 4 are provided on both sides of the upper surface of the head housing 3.
The utility model provides an all afterbody units of underwater machine squid work in parallel can be through the control of second motor, and the quantity of the afterbody unit of participating in sinusoidal travelling wave propulsion motion simultaneously is adjusted, and then realizes the arbitrary angle motion of machine squid under water.
As shown in fig. 8-17, the four-tail propelling machine squid (with four tail units of ABCD) is taken as an example to illustrate the movement principle:
as shown in fig. 8 and 9, when A, B, C, D the four tail units are all connected to the base through the clutch mechanism, i.e. the four adjusting discs and the corresponding chutes are all locked, the four tail units will make sinusoidal travelling wave propelling movement at the same time under the driving of the first motor, so as to generate forward thrust. Fig. 8 and 9 are schematic diagrams of the tail unit corresponding to the base in the states of axial backward movement and axial forward movement driven by the first motor in the expanded state and the contracted state, respectively.
As shown in fig. 10 and 11, when A, D both tail units are bent to the right and disconnected from the base, that is, the adjustment plate and the corresponding slide slot can slide relatively, and B, C both tail units are connected to the base and make a sinusoidal motion, the machine squid can yaw to the right. Fig. 10 and 11 are schematic diagrams of the tail unit corresponding to the base in the states of axial backward movement and axial forward movement driven by the first motor in the expanded state and the contracted state, respectively.
As shown in fig. 12 and 13, when A, D both tail units bend to the left and are disconnected from the base, that is, the adjusting disk and the corresponding chute can slide relatively, and B, C both tail units are connected with the clutch base and do sinusoidal motion, the machine squid can yaw to the left; fig. 12 and 13 are schematic diagrams of the tail unit corresponding to the base in the states of axial backward movement and axial forward movement driven by the first motor in the expanded state and the contracted state, respectively.
As shown in fig. 14 and 15, when B, C both tail units are bent upward and disconnected from the base, that is, the adjustment disc and the corresponding chute can slide relatively, and A, D both tail units are connected to the base and perform sinusoidal motion, the machine squid can be tilted upward; fig. 14 and 15 are schematic diagrams of the tail unit corresponding to the base in the states of axial backward movement and axial forward movement driven by the first motor in the expanded state and the contracted state, respectively.
As shown in fig. 16 and 17, when B, C the two tail units are bent downwards and disconnected from the base, i.e. the adjusting disc and the corresponding sliding slot can slide relatively, and A, D the two tail units are connected with the base and do sinusoidal motion, the machine squid can dive. Fig. 16 and 17 are schematic diagrams of the tail unit corresponding to the base in the states of axial backward movement and axial forward movement driven by the first motor in the expanded state and the contracted state, respectively.
As in fig. 8-17, the left half is a front view (hiding part of the head housing) and the right half is a rear view.
As shown in fig. 18-20, there are schematic structural views of three-tail, five-tail and six-tail machine squid (hidden part of head shell). Within the scope of space and motor load capacity, the number of whiskers (tail units) can be freely adjusted, thereby realizing complex space movement to achieve optimal propulsion effect. The tail units are distributed around the central axis of the head shell in a central symmetry mode.
The driving mechanism drives the base and the clutch mechanism to do linear motion so as to drive the multi-connecting-rod sine propulsion mechanism to do sine motion, and the second motor of the clutch mechanism can control each tail to be in locking connection with the base or to loosen and slide, so that each tail is controlled to swing. The motion form of each tail part is reasonably planned to realize multi-tail cooperative vector propulsion, so that the machine squid can turn to and advance to any angle while finishing underwater three-dimensional swimming, and the underwater maneuvering performance is greatly improved.
The above embodiments are merely illustrative of the technical concept and structural features of the present invention, and are intended to be implemented by those skilled in the art, but the present invention is not limited thereto, and any equivalent changes or modifications made according to the spirit of the present invention should fall within the scope of the present invention.
Claims (9)
1. A machine squid employing multi-tailed coordinated vector propulsion, comprising:
a head housing (3) for mounting a drive mechanism and for connecting to a plurality of tail units (1);
a plurality of tail units (1) connected to the rear end of the head housing (3) and symmetrically distributed with the central axis of the head housing (3) as the center; the tail unit (1) adopts a sine propelling connecting rod mechanism;
the driving mechanism is arranged in the head shell (3) and comprises a first motor (6) and a base (5), the first motor (6) is used for driving the base (5) to do reciprocating motion along the axial direction of the head shell (3), and the base (5) is correspondingly connected with the tail units (1) through a plurality of groups of clutch mechanisms;
the clutch mechanism comprises a second motor (7) and an adjusting disc (8), the output of the second motor (7) is connected with the adjusting disc (8) through a driving shaft (15), and the body of the second motor (7) is connected with the sinusoidal propulsion link mechanism through an adjusting shaft (2); the adjusting disc (8) is in sliding fit with a sliding groove (9) which is axially arranged on the surface of the base (5), a connecting rod sliding block assembly is arranged in the adjusting disc (8), the input end of the connecting rod sliding block assembly is connected with the driving shaft (15), and the output end of the connecting rod sliding block assembly can extend out of the adjusting disc (8) to be locked in the sliding groove (9);
the clutch mechanisms are symmetrically distributed by taking the central axis of the base (5) as a center.
2. The machine squid adopting multi-tail cooperative vector propulsion as claimed in claim 1, wherein the structure of the connecting rod slider assembly comprises a group of sliders (11) arranged at intervals, and a driving rod (12) is arranged between the sliders (11) arranged at intervals;
the middle part of driving lever (12) as the output with driving shaft (15) are connected, the both ends of driving lever (12) are respectively through a driven lever (13) and both sides slider (11) correspond articulated, the outside of slider (11) is equipped with spacing end (111), spacing end (111) are as the output, can stretch out adjusting disk (8), and with spacing hole (14) on spout (9) cooperate.
3. The machine squid adopting multi-tail cooperative vector propulsion as claimed in claim 2, wherein the limiting holes (14) of the sliding groove (9) are provided with a plurality of groups at intervals along the length direction of the sliding groove (9).
4. A machine squid with multi-tail cooperative vector propulsion according to claim 1, characterized in that the tail unit (1) comprises a front section shell (101) and a rear section shell (102), a front connecting rod (17) is arranged in the front section shell (101), and a rear connecting rod (20) is arranged in the rear section shell (102);
the front end of the front connecting rod (17) is hinged with the head shell (3);
the rear end of the front connecting rod (17) is hinged with the front end of the rear connecting rod (20); the front end of the rear connecting rod (20) extends upwards in an inclined way to form a supporting section (201);
the middle part of the front connecting rod (17) is hinged with one end of a rocker (18), the other end of the rocker (18) is hinged with the adjusting shaft (2), and the middle part of the rocker (18) is hinged with the end part of the supporting section (201) through a connecting rod (19).
5. A machine squid with multi-tail cooperative vector propulsion according to claim 4, characterized in that the tail unit (1) further comprises a tail plate (103) in a fishtail structure and connected to or integrally formed with the rear end of the rear housing (102).
6. The machine squid adopting multi-tail cooperative vector propulsion as claimed in claim 1, wherein the head shell (3) is fixedly provided with a restraint shaft (10), the rear end of the base (5) is slidably connected with the restraint shaft (10), and the front end of the base (5) is connected with the output of the first motor (6) through a crank-link mechanism.
7. A machine squid with multi-tail cooperative vector propulsion according to claim 1, characterized in that a front end plate (21) is arranged in the head housing (3) for fixing the first motor (6), and a rear end plate (22) is arranged at the rear end of the head housing (3) for connecting with the tail unit (1); the front end plate and the rear end plate are fixedly connected through a connecting piece; the adjusting shaft (2) is arranged in the rear end plate (22) in a penetrating mode.
8. A machine squid with multi-tail cooperative vector propulsion according to claim 7, characterized in that the main body of the head shell (3) is cylindrical, the head of the head shell is conical, and the two sides of the upper surface of the head shell (3) are provided with wings (4).
9. The machine squid adopting multi-tail cooperative vector propulsion as claimed in claim 1, wherein the second motor (7) is symmetrically arranged in the head shell (3), and the body of the second motor (7) is fixedly connected with the adjusting shaft (2) through an L-shaped motor base (16).
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| CN202111514047.6A CN114212225B (en) | 2021-12-03 | 2021-12-03 | Machine squid propelled by adopting multi-tail cooperative vector |
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| CN202111514047.6A CN114212225B (en) | 2021-12-03 | 2021-12-03 | Machine squid propelled by adopting multi-tail cooperative vector |
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| CN114212225B CN114212225B (en) | 2022-12-23 |
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| CN109760811A (en) * | 2019-03-11 | 2019-05-17 | 上海海洋大学 | One kind being based on the bionical squid of aquarium ornamental type |
| CN110077566A (en) * | 2019-05-17 | 2019-08-02 | 东南大学 | Multi-joint link-type tail structure and the bionic machine fish promoted using it |
| CN110683028A (en) * | 2019-09-30 | 2020-01-14 | 上海海洋大学 | Underwater propelling device imitating squid tentacles |
| CN113525645A (en) * | 2021-07-07 | 2021-10-22 | 华南理工大学 | Bionic underwater robot based on squid |
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| CN206255173U (en) * | 2016-12-05 | 2017-06-16 | 上海海洋大学 | A kind of bionic mechanical squid |
| CN107738268A (en) * | 2017-11-20 | 2018-02-27 | 河北工业大学 | A kind of stiffness variable flexible joint based on leverage |
| CN109760811A (en) * | 2019-03-11 | 2019-05-17 | 上海海洋大学 | One kind being based on the bionical squid of aquarium ornamental type |
| CN110077566A (en) * | 2019-05-17 | 2019-08-02 | 东南大学 | Multi-joint link-type tail structure and the bionic machine fish promoted using it |
| CN110683028A (en) * | 2019-09-30 | 2020-01-14 | 上海海洋大学 | Underwater propelling device imitating squid tentacles |
| CN113525645A (en) * | 2021-07-07 | 2021-10-22 | 华南理工大学 | Bionic underwater robot based on squid |
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