CN115432153A - Simulated bat ray flexible pectoral fin waterproof flapping mechanism - Google Patents
Simulated bat ray flexible pectoral fin waterproof flapping mechanism Download PDFInfo
- Publication number
- CN115432153A CN115432153A CN202210674911.7A CN202210674911A CN115432153A CN 115432153 A CN115432153 A CN 115432153A CN 202210674911 A CN202210674911 A CN 202210674911A CN 115432153 A CN115432153 A CN 115432153A
- Authority
- CN
- China
- Prior art keywords
- waterproof
- flapping
- pectoral fin
- flexible
- fin
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
-
- 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
-
- 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
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
-
- 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
- B63H23/02—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Toys (AREA)
Abstract
The invention relates to a simulated bat ray flexible pectoral fin waterproof flapping mechanism, belonging to the field of bionic aircrafts; the bionic aircraft body comprises a main driving motor assembly, a passive waterproof flapping assembly, a flexible pectoral fin assembly and a main body sealed cabin, wherein the main driving motor assembly is arranged in the main body sealed cabin of the bionic aircraft body, and the passive waterproof flapping assembly is arranged in the flexible pectoral fin assemblies at two sides of the bionic aircraft; the passive waterproof flapping assemblies on the two sides are driven by the main driving motor assembly, so that flexible pectoral fin flapping is realized. The driving synchronous belt wheel and the driven synchronous belt wheel are transmitted through the synchronous belt, and the installation precision requirement and the integral assembly requirement of the waterproof sealing shell are low. Through the waterproof transmission of steering wheel, realize that power exports the outside flexible pectoral fin in the cabin body from the cabin body is inside, adopt waterproof steering wheel. The pectoral fins are made of flexible materials and have hollow structures, so that the load of internal resistance to the fin rays due to passive deformation of the pectoral fins can be reduced, the load of a steering engine is reduced, the internal consumption of the whole motion system is reduced, and the efficiency of power output is improved.
Description
Technical Field
The invention belongs to the field of bionic aircrafts, and particularly relates to a simulated bat flexible pectoral fin waterproof flapping mechanism.
Background
Most of the traditional underwater vehicles are in a revolving body type appearance and are propelled by a propeller. The operation is stable, the propulsion speed is high, but the navigation attitude is difficult to flexibly change, and the obstacle avoidance performance is not good. As a novel underwater vehicle, the bionic ray underwater vehicle based on pectoral fin propulsion has the advantages of good movement mobility, high biological bionic property, strong concealment and the like.
In the prior art, a waterproof steering engine is directly adopted for the bionic ray underwater vehicle, but the steering engine is high in requirement and cannot work in a seawater environment or a large depth, and the steering engine cannot adjust the transmission coefficient of the steering engine and a fin line to play the performance of the steering engine in an optimal mode in a mode that the steering engine directly drives the fin line. Because of waterproof steering wheel is adorned outward, steering wheel power cord and signal line will advance main cabin connection control panel, need do waterproof alone, unfavorable dismouting, and outside connecting wire joint is corroded bad by the sea water easily simultaneously, and conventional joint is not prevented the direct short circuit of sea water and can not be used like the banana head, and the joint of customization is bulky, and the price is expensive, more occupies activity pectoral fin space, unfavorable shape-preserving. The maintenance cost of the corresponding waterproof steering engine is higher.
In the prior art, the pectoral fins of the bionic aircraft are still supported by a framework, and a large amount of water exists in the pectoral fins. When flapping, the water in the pectoral fin cavity hinders the pectoral fin flapping due to inertia, and the pectoral fin skin can not be in shape keeping, the biological appearance imitativeness is insufficient, the flapping efficiency is also reduced,
in the prior art, the fin rays and the silica gel are fixedly poured or integrally wrapped to be in non-movable fit, the internal resistance of deformation of the integral pectoral fin needs to be overcome during phase-difference motion between the fin rays, and the internal consumption of the system is serious.
Disclosure of Invention
The technical problem to be solved is as follows:
in order to avoid the defects of the prior art, the invention provides a simulated bat ray flexible pectoral fin waterproof flapping mechanism which comprises a driving assembly, a flapping assembly and a pectoral fin, wherein a driving module is arranged in a sealed cabin, and a transmission module is arranged in a waterproof sealed shell, so that the waterproof problem of the control and driving part of a simulated bat ray aircraft is solved; the pectoral fins are made of flexible materials and are designed in a hollow structure, the load of internal resistance force of passive deformation of the pectoral fins on the fin lines can be reduced, the load of the steering engine is reduced, the internal consumption of the whole motion system is reduced, and the power output efficiency is improved.
The technical scheme of the invention is as follows: a simulated bat ray flexible pectoral fin waterproof flapping mechanism comprises a main driving motor assembly, a passive waterproof flapping assembly, a flexible pectoral fin assembly and a main body sealed cabin, wherein the main driving motor assembly is arranged in the main body sealed cabin of a bionic aircraft body, and the passive waterproof flapping assembly is arranged in the flexible pectoral fin assemblies at two sides of the bionic aircraft;
the passive waterproof flapping assemblies on the two sides are driven by the main driving motor assembly, so that flexible pectoral fin flapping is realized.
The further technical scheme of the invention is as follows: the main driving motor assembly comprises a power source, a bracket and a driving synchronous belt pulley, and a plurality of groups of power sources are respectively arranged in the main sealed cabin through the bracket; the plurality of driving synchronous pulleys are respectively mounted on the output shafts of the power sources.
The invention further adopts the technical scheme that: the power source is a steering engine or a motor.
The invention further adopts the technical scheme that: the flexible pectoral fin assembly comprises a pectoral fin fixing block and flexible pectoral fins, and the two symmetrically arranged flexible pectoral fins are respectively arranged on two side walls of the bionic aircraft body through the pectoral fin fixing block; the flexible pectoral fin is of a hollow structure.
The further technical scheme of the invention is as follows: the spanwise wing type of the flexible pectoral fin is an NACA wing type, the maximum thickness-to-chord ratio coefficient range is 2% -10%, and the internal resistance of passive deformation of the pectoral fin during phase difference flapping can be reduced.
The further technical scheme of the invention is as follows: the flexible pectoral fin is made of flexible materials in a pouring mode, and silica gel, rubber and TPU are adopted.
The invention further adopts the technical scheme that: the flexible material is added with a hollow microbead material for reducing the density of the material.
The invention further adopts the technical scheme that: the density of the flexible material is 1.0g/cm 2 -1.05g/cm 2 Close to the density of the water body.
The invention further adopts the technical scheme that: the plurality of groups of passive waterproof flapping assemblies are uniformly distributed on two sides of the main body sealed cabin along the axial direction and correspond to the plurality of power sources of the main body sealed cabin one by one;
the passive waterproof flapping assembly comprises a fin ray, an output rotating shaft, a passive synchronous belt wheel and a waterproof sealing shell, and the waterproof sealing shell is fixed on the side wall of the main sealed cabin; one end of the output rotating shaft is hermetically arranged in the waterproof sealing shell, the other end of the output rotating shaft is fixedly connected with the root of the fin ray, and the driven synchronous belt wheel is fixed on the output rotating shaft;
the driving synchronous belt wheel and the driven synchronous belt wheel are connected through a synchronous belt, the driving synchronous belt wheel, the synchronous belt, the driven synchronous belt wheel and the output rotating shaft are sequentially driven to rotate by a power source, then the fin rays are driven to swing, and flexible pectoral fin flapping is achieved through swinging of different phase differences among different fin rays.
The invention further adopts the technical scheme that: the waterproof sealing shell is a hollow semi-cylindrical shell, one end of the waterproof sealing shell is provided with a through hole, and the inner end of the through hole is coaxially provided with a waterproof end cover; the waterproof end cover is provided with a central hole;
the part of the output rotating shaft extending into the waterproof sealing shell is rotationally connected with the waterproof sealing shell and the central hole of the waterproof end cover through rolling bearings;
a sealing ring is arranged between the inner wall of the central hole of the waterproof end cover and the output rotating shaft and used for dynamic sealing between the waterproof end cover and the output rotating shaft; and a sealing ring is arranged between the peripheral surface of the waterproof end cover and the waterproof sealing shell and used for static sealing between the waterproof end cover and the waterproof sealing shell.
The further technical scheme of the invention is as follows: and two sides of the driven synchronous belt wheel are provided with check rings for axial positioning.
Advantageous effects
The invention has the beneficial effects that:
1. the invention has the advantages that other parts except the output shaft are arranged in the waterproof shell, no waterproof requirement is required on the device, the disassembly and the assembly are convenient, the interchangeability is good, and the problem of seawater fault does not exist.
2. The steering wheel appearance is opposite sex, and the bat appearance is flat, and the steering wheel is adorned outward and can occupy bigger pectoral fin area among the prior art, when flapping very big angle (amplitude) when the pectoral fin is flapping, the steering wheel can not follow pectoral fin synchronous rotation, can destroy the pectoral fin appearance, and imitative nature can not fine keep. The transmission output shell of the invention has a regular (semicircular) shape, can still maintain the shape of the pectoral fin at about +/-80 degrees (original 45 degrees), and has better bionic property.
3. The invention adopts clearance movable assembly, is more beneficial to phase difference motion between fin rays, effectively reduces the internal consumption of the system, improves the power output efficiency of the steering engine, and simultaneously avoids the problem of overheating fault of the steering engine caused by long-term high power.
4. Compared with the traditional cloth such as spandex, the physical characteristics of the flexible material adopted by the pectoral fin are closer to the real biological structure in material touch and appearance, can serve as the function of muscles, and have stronger bionic property. The hardness of the flexible material can be selected from the range of 0-70 degrees, preferably 0-30 degrees. Compared with the traditional cloth, the flexible material has lower water resistance, and the waterproof wing profile has good shape, can better convert flapping power into thrust, and has higher efficiency.
5. Compare steering wheel direct drive fin line, through the transmission coefficient who changes the band pulley, can realize steering wheel and different phases of fin line and speed for improve flapping moment of torsion or flapping speed limit, reduce the user demand to the steering wheel. After the large-size steering engine is placed in the cabin, the occupation ratio of the flapping part of the pectoral fins relative to the whole machine is larger, the thickness of the root part of the pectoral fins is reduced, the amplitude of single pectoral fin flapping is larger, the power of the single flapping is improved, and the shape-preserving design of the appearance of the pectoral fins is facilitated.
6. The driving synchronous belt wheel and the driven synchronous belt wheel are transmitted through the synchronous belt, and the installation precision requirement and the integral assembly requirement of the waterproof sealing shell are low. Through the waterproof transmission of steering wheel, realize that power exports the outside flexible pectoral fin in the cabin body from the cabin body is inside to need not to adopt waterproof steering wheel, reduce the use cost of steering wheel.
Drawings
FIG. 1 a flexible pectoral fin waterproof flapping mechanism;
FIG. 2 is a main drive motor assembly;
FIG. 3 is a passive waterproof flapping assembly;
FIG. 4 a flexible pectoral fin assembly;
FIG. 5 is a top cross-sectional view of the pectoral fin;
FIG. 6 is a cross-sectional view of the pectoral fin in a spanwise direction;
FIG. 7 shows a drive path for the components;
description of reference numerals: 1. the main driving motor component 2, the passive waterproof flapping component 3, the flexible pectoral fin component 4 and the main body sealed cabin; 1-1 steering engine 1-2 steering engine support 1-3 driving synchronous belt pulley; 2-1 fin, 2-2 fin connecting pieces, 2-3 waterproof end covers, 2-4 sealing rings, 2-5 rolling bearings, 2-6 sealing rings, 2-7 output rotating shafts, 2-8 check rings, 2-9 passive synchronous pulleys, 2-10 check rings, 2-11 shaft check rings, 2-12 rolling bearings and 2-13 waterproof sealing shells; 3-1 parts of pectoral fin fixing blocks and 3-2 parts of flexible pectoral fins.
Detailed Description
The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
The simulated manta ray flexible pectoral fin waterproof flapping mechanism comprises a main driving motor component 1, a passive waterproof flapping component 2, a flexible pectoral fin component 3 and a main body sealed cabin 4, wherein the main driving motor component 1 is arranged in the main body sealed cabin 4 of a trunk of a bionic aircraft, and the passive waterproof flapping component 2 is arranged in the flexible pectoral fin components 3 on two sides of the bionic aircraft; the passive waterproof flapping assemblies 2 on two sides are driven by the main driving motor assembly 1, so that flexible pectoral fin flapping is realized.
The main driving motor component 2 comprises a steering engine or a motor, a bracket and a driving synchronous belt pulley, and a plurality of groups of power sources are respectively arranged in the main sealed cabin through the bracket; the plurality of driving synchronous pulleys are respectively mounted on the output shafts of the power sources.
The flexible pectoral fin assembly 3 comprises a pectoral fin fixing block 31-and a flexible pectoral fin 3-2, and the two symmetrically arranged flexible pectoral fins 3-2 are respectively arranged on two side walls of the trunk of the bionic aircraft through the pectoral fin fixing block 3-1; the flexible pectoral fins 3-2 are of hollow structures, when different fin lines move in a phase difference mode, the fin lines can slide relatively in the pectoral fins, the passive deformation amount of the pectoral fins is reduced, the load of internal resistance of the passive deformation of the pectoral fins on the fin lines is reduced, the load of a steering engine is reduced, the internal consumption of the whole motion system is reduced, and the power output efficiency is improved.
The flexible pectoral fins 3-2 are poured by flexible materials, and silica gel, rubber and TPU are adopted. The hollow microsphere material is added into the flexible material and used for reducing the density of the material. The density of the flexible material is 1.0g/cm 2 -1.05g/cm 2 The density of the water body is close, so that the pectoral fins are in a suspended state in the water, the attitude keeping of the aircraft in a static state is facilitated, the static load of the steering engine is reduced, and the gliding is facilitated.
The plurality of groups of passive waterproof flapping assemblies 2 are uniformly distributed on two sides of the main body sealed cabin 4 along the axial direction and correspond to the plurality of motors or steering engines of the main body sealed cabin 4 one by one;
the passive waterproof flapping component 2 comprises a fin ray 2-1, an output rotating shaft 2-7, a passive synchronous belt wheel 2-9 and a waterproof sealing shell 2-13, and the waterproof sealing shell 2-13 is fixed on the side wall of the main body sealed cabin 4; one end of the output rotating shaft 2-7 is hermetically arranged in the waterproof sealing shell 2-13, the other end of the output rotating shaft is fixedly connected with the root of the fin ray 2-1, and the driven synchronous belt wheel 2-9 is fixed on the output rotating shaft; the driving synchronous belt wheels 1-3 and the driven synchronous belt wheels 2-9 are connected through synchronous belts, the driving synchronous belt wheels 1-3, the synchronous belts, the driven synchronous belt wheels 2-9 and the output rotating shafts 2-7 are sequentially driven to rotate by a motor or a steering engine, the fin strips 2-1 are driven to swing, and flexible pectoral fin flapping is achieved through swinging of different phase differences among the different fin strips 2-7.
Preferably, the waterproof sealing shell 2-13 is a hollow semi-cylindrical shell, one end of which is provided with a through hole, and the inner end of the through hole is coaxially provided with a waterproof end cover; the waterproof end cover is provided with a central hole; the part of the output rotating shaft 2-7 extending into the waterproof sealing shell is rotationally connected with the waterproof sealing shell and the central hole of the waterproof end cover through rolling bearings; a sealing ring is arranged between the inner wall of the central hole of the waterproof end cover and the output rotating shaft and used for dynamic sealing between the inner wall of the central hole of the waterproof end cover and the output rotating shaft; and a sealing ring is arranged between the peripheral surface of the waterproof end cover and the waterproof sealing shell and is used for static sealing between the waterproof end cover and the waterproof sealing shell.
Preferably, retaining rings are arranged on two sides of the driven synchronous pulley and used for axially positioning the driven synchronous pulley.
Example (b):
referring to fig. 1, the connection mode of the whole structure is as follows: each flexible pectoral fin 3-2 is composed of a plurality of groups of active-passive flapping mechanisms, and 3 groups of flapping components are shown in figure 1. Each group of main driving motor assemblies 1 are fixedly arranged in the main body sealed cabin body 4 through steering engine supports 1-2, and a main driving synchronous belt pulley 1-3 of each group of main driving motor assemblies 1 is connected with a driven synchronous belt pulley 2-9 of a driven waterproof flapping assembly 2 through a synchronous belt. The passive waterproof flapping assembly is fixedly arranged on the side wall of the main sealed cabin through a mounting hole of the waterproof sealed cabin. The flexible pectoral fin component 3 is sleeved with the passive waterproof flapping component and is fixedly arranged on the side wall of the cabin body.
Referring to fig. 2, the connection mode of the main driving motor assembly is as follows: a steering engine or a servo motor 1-1 is fixedly arranged on a steering engine bracket 1-2, and a driving synchronous belt pulley 1-3 is arranged on an output shaft of the steering engine 1-1. The main drive clicking component is fixedly installed in the main sealing cabin through the steering engine bracket, and the steering engine output shaft rotates to drive the main drive synchronous belt pulley to rotate.
Referring to fig. 3, the passive waterproof flapping assembly is connected in a manner that: the fin 2-1 is fixedly arranged on the fin connecting piece 2-2, the fin connecting piece 2-2 is fixedly arranged on the output rotating shaft 2-7, the sealing ring 2-6 is arranged on the output rotating shaft 2-7 and used for dynamic sealing of relative rotating motion of the output rotating shaft 2-7 and the waterproof end cover 2-3, and the rolling bearing 2-5 and the rolling bearing 2-12 are respectively arranged on the waterproof end cover 2-3 and the waterproof sealing shell 2-13 and used for supporting the output rotating shaft 2-7 to rotate. The waterproof end cover 2-3 is fixedly arranged on the waterproof sealing shell 2-13 through a screw hole on the end face, and the sealing ring 2-4 is arranged on the waterproof end cover 2-3 and used for guaranteeing static sealing between the waterproof end cover and the waterproof sealing shell. The driven synchronous wheels 2-9 are arranged on the output rotating shaft and are axially fixed through the set screws, the check rings 2-8 and the check rings 2-10 are used for axially positioning the driven synchronous wheels 2-9, and the shaft check rings 2-11 are used for axially fixing the check rings 2-10.
Referring to fig. 4, connection description: the flexible pectoral fin is poured by flexible materials, preferably materials such as silica gel, rubber, TPU and the like, and hollow microsphere materials can be added into the flexible materials to reduce the material density, preferably adjusted to 1.0g/cm 2 -1.05g/cm 2 The water density is close, so that the pectoral fins are in a suspended state in water, the attitude keeping of the aircraft in a static state is facilitated, the static load of the steering engine is reduced, and the gliding is facilitated. The flexible pectoral fin is fixedly arranged on the pectoral fin fixing block, and the pectoral fin fixing block passes through the fin strip 2-1 and is fixedly arranged on the main body sealed cabin.
Referring to fig. 5, the flexible pectoral fins 3-2 are in movable clearance fit with the fin lines 2-1, the pectoral fins are preferably of a hollow structure at the fin line positions, when different fin lines do phase difference motion, the fin lines can slide relatively in the pectoral fins, the passive deformation amount of the pectoral fins is reduced, the load of internal resistance of the passive deformation of the pectoral fins on the fin lines is reduced, the load of a steering engine is reduced, the internal consumption of the whole motion system is reduced, and the efficiency of power output is improved.
Referring to fig. 6, the pectoral fin spanwise wing type is preferably an NACA wing type, and in order to reduce the internal resistance of passive deformation when the pectoral fin phase difference flutters, the maximum thickness-chord ratio coefficient range of the movable pectoral fin is 2% -10%, preferably 3% -5%, taking the maximum chord length 400mm of the pectoral fin as an example, and the maximum thickness of the movable part at the root part is 10mm.
Referring to fig. 7, an output shaft of a steering engine or a servo motor 1-1 in a main body sealed cabin rotates to drive a main driving synchronous pulley 1-3, a driven synchronous pulley 2-9 in a waterproof sealed shell is driven through a synchronous belt, an output rotating shaft 2-7 is driven, a fin ray 2-1 on a fin ray connecting piece 2-2 is driven, and the fin ray 2-1 swings. The flexible pectoral fin flapping is realized through the swinging of different phase differences among different fin rays. Different flapping frame amplitudes and flapping frequencies of the fin rays 2-1 can be realized by controlling the speed of the steering engine or the servo motor 1-1 and the rotation angle. Different phase difference flapping of the flexible pectoral fins can be realized by controlling the phase difference values among different groups of steering engines.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (10)
1. The utility model provides a waterproof flapping mechanism of flexible pectoral fin of imitative bat ray which characterized in that: the bionic aircraft body comprises a main driving motor assembly, a passive waterproof flapping assembly, a flexible pectoral fin assembly and a main body sealed cabin, wherein the main driving motor assembly is arranged in the main body sealed cabin of the bionic aircraft body, and the passive waterproof flapping assembly is arranged in the flexible pectoral fin assemblies at two sides of the bionic aircraft;
the passive waterproof flapping assemblies on the two sides are driven by the main driving motor assembly, so that flexible pectoral fin flapping is realized.
2. The simulated bat ray flexible pectoral fin waterproof flapping mechanism of claim 1, wherein: the main driving motor assembly comprises a power source, a bracket and a driving synchronous belt pulley, and a plurality of groups of power sources are respectively arranged in the main sealed cabin through the bracket; the plurality of driving synchronous pulleys are respectively mounted on the output shafts of the power sources.
3. The simulated bat ray flexible pectoral fin waterproof flapping mechanism of claim 2, wherein: the power source is a steering engine or a motor.
4. The simulated bat ray flexible pectoral fin waterproof flapping mechanism of claim 1, wherein: the flexible pectoral fin assembly comprises a pectoral fin fixing block and flexible pectoral fins, and the two symmetrically arranged flexible pectoral fins are respectively arranged on two side walls of the bionic aircraft body through the pectoral fin fixing block; the flexible pectoral fin is of a hollow structure.
5. The simulated bat ray flexible pectoral fin waterproof flapping mechanism of claim 4, wherein: the spanwise wing type of the flexible pectoral fin is an NACA wing type, the maximum thickness-to-chord ratio coefficient range is 2% -10%, and the internal resistance of passive deformation of the pectoral fin during phase difference flapping can be reduced.
6. The simulated bat ray flexible pectoral fin waterproof flapping mechanism of claim 4, wherein: the flexible pectoral fin is poured by flexible materials, and silica gel, rubber and TPU are adopted.
7. The simulated bat ray flexible pectoral fin waterproof flapping mechanism of claim 6, wherein: the flexible material is added with a hollow microbead material for reducing the density of the material.
8. The simulated bat ray flexible pectoral fin waterproof flapping mechanism of claim 7, wherein: the density of the flexible material is 1.0g/cm 2 -1.05g/cm 2 Close to the density of the water body.
9. The simulated bat ray flexible pectoral fin waterproof flapping mechanism of any one of claims 1 to 8, wherein: the plurality of groups of passive waterproof flapping assemblies are uniformly distributed on two sides of the main body sealed cabin along the axial direction and correspond to the plurality of power sources of the main body sealed cabin one by one;
the passive waterproof flapping component comprises a fin ray, an output rotating shaft, a passive synchronous belt wheel and a waterproof sealing shell, and the waterproof sealing shell is fixed on the side wall of the main sealed cabin; one end of the output rotating shaft is hermetically arranged in the waterproof sealing shell, the other end of the output rotating shaft is fixedly connected with the root of the fin, and the driven synchronous belt wheel is fixed on the output rotating shaft;
the driving synchronous belt wheel and the driven synchronous belt wheel are connected through a synchronous belt, the driving synchronous belt wheel, the synchronous belt, the driven synchronous belt wheel and the output rotating shaft are sequentially driven by a power source to rotate, fin rays are driven to swing, and flexible pectoral fin flapping is achieved through swinging of different phase differences among different fin rays.
10. The simulated bat ray flexible pectoral fin waterproof flapping mechanism of claim 9, wherein: the waterproof sealing shell is a hollow semi-cylindrical shell, one end of the waterproof sealing shell is provided with a through hole, and the inner end of the through hole is coaxially provided with a waterproof end cover; the waterproof end cover is provided with a central hole;
the part of the output rotating shaft extending into the waterproof sealing shell is rotationally connected with the waterproof sealing shell and the central hole of the waterproof end cover through rolling bearings;
a sealing ring is arranged between the inner wall of the central hole of the waterproof end cover and the output rotating shaft and used for dynamic sealing between the inner wall of the central hole of the waterproof end cover and the output rotating shaft; and a sealing ring is arranged between the peripheral surface of the waterproof end cover and the waterproof sealing shell and used for static sealing between the waterproof end cover and the waterproof sealing shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210674911.7A CN115432153A (en) | 2022-06-14 | 2022-06-14 | Simulated bat ray flexible pectoral fin waterproof flapping mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210674911.7A CN115432153A (en) | 2022-06-14 | 2022-06-14 | Simulated bat ray flexible pectoral fin waterproof flapping mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115432153A true CN115432153A (en) | 2022-12-06 |
Family
ID=84241195
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210674911.7A Pending CN115432153A (en) | 2022-06-14 | 2022-06-14 | Simulated bat ray flexible pectoral fin waterproof flapping mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115432153A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116062143A (en) * | 2023-03-09 | 2023-05-05 | 中国人民解放军国防科技大学 | Bionic fluctuation propulsion device and fluctuation control method |
-
2022
- 2022-06-14 CN CN202210674911.7A patent/CN115432153A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116062143A (en) * | 2023-03-09 | 2023-05-05 | 中国人民解放军国防科技大学 | Bionic fluctuation propulsion device and fluctuation control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204802082U (en) | Land, water and air no. 3 four coaxial rotor crafts of dwelling | |
| CN103786879A (en) | Variable-pitch aircraft | |
| CN108608408B (en) | Multi-degree-of-freedom bionic jellyfish robot | |
| CN109334932B (en) | Series-parallel driving mechanism for underwater bionic propulsion system | |
| CN105173042A (en) | Underwater propelling device based on planetary gear train and synchronous belt transmission mechanism | |
| CN115871903B (en) | Underwater vehicle imitating growing fin | |
| CN112660397B (en) | Multi-rotor omnidirectional aircraft and control method thereof | |
| CN115432153A (en) | Simulated bat ray flexible pectoral fin waterproof flapping mechanism | |
| CN212195888U (en) | Dual-rotor unmanned aerial vehicle | |
| CN211253015U (en) | Electric main rotor wing control device of unmanned helicopter | |
| CN219192543U (en) | Ducted unmanned aerial vehicle screw pitch-changing mechanism | |
| CN103434627A (en) | Automatic control mechanism of rocker sliding block type cycloid paddle | |
| CN110937093A (en) | Underwater equipment vector propeller | |
| CN114368464B (en) | Triangle-shaped structure nacelle advancing device | |
| CN215904722U (en) | Bionic water-treading variable-pitch water surface propeller | |
| CN210027886U (en) | Helicopter main rotor system and helicopter | |
| CN113815851A (en) | Rotor wing direction-changing propelling device, helicopter and control method | |
| CN210310839U (en) | Pectoral fin structure of bionic robot fish | |
| CN210027885U (en) | Adjustable variable pitch mechanism of helicopter and helicopter | |
| CN113815852A (en) | Rotor vector direction changing device, coaxial rotor, single-rotor helicopter and control method | |
| CN203638099U (en) | Pitch-changeable aircraft | |
| CN209600767U (en) | A kind of vector propeller of underwater robot | |
| CN219428404U (en) | Unmanned aerial vehicle tail oar controlling means | |
| CN111572764A (en) | Side-tipping longitudinal-row double-propeller electric helicopter | |
| CN220843038U (en) | Unmanned aerial vehicle tail oar controlling means |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |