CN116729606A - Low-disturbance MPF bionic fluctuation propeller - Google Patents
Low-disturbance MPF bionic fluctuation propeller Download PDFInfo
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- CN116729606A CN116729606A CN202311020296.9A CN202311020296A CN116729606A CN 116729606 A CN116729606 A CN 116729606A CN 202311020296 A CN202311020296 A CN 202311020296A CN 116729606 A CN116729606 A CN 116729606A
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 76
- 230000033001 locomotion Effects 0.000 claims abstract description 13
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- 238000000429 assembly Methods 0.000 claims abstract description 12
- 230000002093 peripheral effect Effects 0.000 claims description 6
- 230000021615 conjugation Effects 0.000 claims description 2
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 230000001360 synchronised effect Effects 0.000 claims 1
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- 230000008859 change Effects 0.000 description 3
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- 238000013459 approach Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
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- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
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Classifications
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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
- B63H1/37—Moving-wave propellers, i.e. wherein the propelling means comprise a flexible undulating structure
Abstract
The invention discloses a low-disturbance MPF bionic fluctuation propeller, which relates to the technical field of underwater robots and comprises a frame, two bionic propulsion units and a driving unit, wherein the two bionic propulsion units are axially arranged on the frame in parallel, each bionic propulsion unit comprises a supporting rod, a driving rod and a plurality of swinging assemblies, each swinging assembly comprises a swinging rod, a first driving arm and a first cam, the first ends of the swinging rods and the first driving arms are sleeved on the supporting rods, the first cams are sleeved on the driving rods and can be abutted with the second ends of the first driving arms, the driving unit is arranged on the frame and can transmit rotary motion to the two driving rods, and when the driving rods rotate, the first swinging rods and the first driving arms synchronously rotate to enable the swinging rods to swing up and down in a reciprocating manner. The utility model has reasonable structure and good bionic fluctuation effect.
Description
Technical Field
The invention relates to the technical field of underwater robots, in particular to a low-disturbance MPF bionic fluctuation propeller.
Background
The underwater robot is an important carrier for an ocean development platform and underwater activities, and has wide application prospect and great potential value in the fields of ocean environment research, ocean mineral exploration and the like. The traditional underwater vehicle adopts a propeller propulsion mode, the propeller has mature technology and reliable application, can meet various requirements on underwater propulsion, but has low working efficiency and poor stability under the working condition of low-speed posture adjustment, can generate larger noise and obvious wake in the propulsion process, has large disturbance, and greatly limits the application scene and technical progress of the propeller. Fish have excellent maneuverability in water, considerable propulsion efficiency and excellent concealment, so research on novel propulsion modes is focused now.
The fish propulsion modes are divided into two main types, body and/or cuddar propulsion modes (BCF) and central Fin and/or Paired Fin propulsion Modes (MPF) according to the propulsion organs. The fish in BCF mode account for about 85% of the total fish and MPF mode accounts for about 15%. Overall, BCF mode can achieve higher swimming speeds than MPF mode, which has great advantages in terms of mobility, stability, etc. compared to BCF mode. Thus, the MPF propulsion mode is more suitable for application on an underwater work robot.
The bionic fin propulsion mode is more suitable for being applied to an underwater robot, in the prior art, a propulsion unit for driving the bionic fin to fluctuate often adopts structures such as a crank rocker mechanism, a crank sliding block, a plurality of connecting rods or eccentric wheels, and the like, so that fluctuation can be simply realized, but the bionic fin has larger difference from sinusoidal fluctuation of the bionic fin in an ideal state, the propulsion effect is not ideal, and in addition, the bionic effect is difficult to promote in a fine structure mode.
Disclosure of Invention
The invention discloses a low-disturbance MPF bionic fluctuation propeller, which solves the technical problems of complex structure and poor bionic fluctuation effect of the existing bionic pair fin propulsion mechanism and has the technical effects of reasonable structure and good bionic fluctuation effect. The technical scheme adopted is as follows:
a low-disturbance MPF bionic fluctuation propeller comprises a frame, two bionic propulsion units and a driving unit, wherein the two bionic propulsion units are axially arranged on the frame in parallel. The bionic propulsion unit comprises a supporting rod, a driving rod and a plurality of swinging assemblies, wherein the driving rod and the swinging assemblies are arranged in parallel with the supporting rod, each swinging assembly comprises a swinging rod, a first driving arm and a first cam, the first ends of the swinging rods and the first driving arms are sleeved on the supporting rod, the first cams are sleeved on the driving rod and can be abutted against the second ends of the first driving arms, the driving unit is arranged on the frame and can transmit rotary motion to the two driving rods so as to drive the first cams to rotate, the first ends of the swinging rods are fixedly connected with the first driving arms, the second ends of the swinging rods are provided with clamping heads for clamping flexible plates, and when the driving rods rotate, the first driving arms drive the first swinging rods to reciprocate up and down synchronously.
On the basis of the technical scheme, the swinging assembly further comprises a second driving arm and a second cam, the first end of the second driving arm is sleeved on the supporting rod, the second cam is sleeved on the driving rod and can be abutted to the second end of the second driving arm, and the second cam and the first cam are arranged in a conjugation mode to stably drive the swinging rod to swing up and down in a reciprocating mode to generate power.
On the basis of the technical scheme, a plurality of swinging assemblies are arranged along the circumferential direction of the driving rod in an equal phase difference mode.
On the basis of the technical scheme, the second end of the first driving arm is rotationally connected with the first roller, a first groove for accommodating the first roller is formed in the corresponding position of the outer peripheral surface of the first cam, the second end of the second driving arm is rotationally connected with the second roller, and a second groove for accommodating the second roller is formed in the corresponding position of the outer peripheral surface of the second cam.
On the basis of the technical scheme, the swing assemblies are uniformly distributed along the axial direction of the bionic propulsion unit, and the first ends of the first driving arm and the second driving arm are sleeved outside the supporting rod and fixedly connected with the supporting rod.
On the basis of the technical scheme, the rack is provided with the sliding rail which extends vertically, the sliding rail is provided with the sliding block which can slide up and down along the sliding rail, the bionic propulsion unit further comprises a support, a ratchet wheel and a control rod, the support is arranged on the rack in a left-right sliding mode, two ends of the support rod and the driving rod are arranged on the support, the driving rod can transmit rotary motion to the ratchet wheel, two ends of the control rod are hinged with the support and the sliding block respectively, a pawl which can be matched with the ratchet wheel is arranged on the control rod which is close to the ratchet wheel, when the driving rod drives the ratchet wheel to rotate forward, the pawl drives the control rod to rotate when the driving rod drives the ratchet wheel to rotate reversely, so that the support slides left and right, and the bionic propulsion unit stretches or contracts.
On the basis of the technical scheme, the ratchet wheels are arranged below the support and are rotationally connected with the support, the sliding rail comprises long holes which axially extend on the bottom plate of the frame, the ratchet wheels arranged on the same side of the driving rod in the bionic propulsion unit are oppositely arranged in a rotating mode, two ratchet wheels are symmetrically arranged on two sides of each support, and the swinging assemblies in the bionic propulsion unit are symmetrically arranged in a center.
On the basis of the technical scheme, the driving unit comprises a first motor and a second motor, and the first motor and the second motor can respectively transmit rotary motion to the two driving rods.
On the basis of the technical scheme, the frame comprises two axially extending side plates, at least one sliding rod is connected between the two side plates, and the sliding rod penetrates through the support and is in sliding connection with the support.
On the basis of the technical scheme, the clamping head comprises two clamping arms which are oppositely arranged, a plurality of connecting holes which are axially arranged and used for connecting the flexible plate are formed in the clamping arms, and the swing rod drives the flexible plate to swing so as to simulate the fluctuation of the fin.
Advantageous effects
The invention has reasonable structure, the two bionic propulsion units are arranged in parallel, the swing rod is driven to swing up and down in a mode of matching the cam and the driving arm, the structure is simple, the failure rate is low, the movement stroke of the swing rod can be precisely controlled by carefully setting the profile curve of the cam, in addition, the liftable space of the ideal sine wave swing of the swing rod is greatly improved, the sine wave fluctuation of the flexible plate is favorably realized, the bionic effect is effectively improved, and compared with the driving mode of the propeller in the prior art, the disturbance can be greatly reduced, and the invention is favorable for meeting various operation requirements. In addition, the device also comprises two cams which are arranged in a conjugate way, and two driving arms which are matched with the two cams can be arranged on two sides of the supporting rod respectively, so that the device not only can limit the rotation of the two cams, but also has good stability, and the supporting rod is prevented from driving the swinging rod to radially jump.
The invention has ingenious design, the ratchet wheels are arranged on the two sides below the support, the two driving rods can drive the ratchet wheels to rotate through the transmission component, and then the control rods can be driven to rotate so as to control the two bionic propulsion units to approach or depart from each other, when the driving rod on one side reversely rotates, the two support seats can be driven to depart from each other through the cooperation of the ratchet wheels and the pawl, and when the driving rod on the other side reversely rotates, the two support seats can be driven to approach each other through the cooperation of the ratchet wheels and the pawl, so that the two motors drive the propeller to advance or retreat and simultaneously shrink or stretch the two bionic propulsion units, the switching between working and non-working states can be conveniently realized, the driving structure is greatly simplified, the operation reliability is improved, and the use and maintenance cost is reduced. According to the invention, the two bionic propulsion units are respectively driven, and the direction control of the propeller can be conveniently realized by controlling the differential motion of the two driving rods.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is apparent that the drawings in the following description are only one embodiment of the present invention, and that other embodiments of the drawings may be derived from the drawings provided without inventive effort for a person skilled in the art.
Fig. 1: schematic perspective structure of example 1;
fig. 2: fig. 1 is a schematic perspective view of the frame removed;
fig. 3: FIG. 2 is a schematic diagram of a top view;
fig. 4: fig. 2 is a schematic perspective view of a bottom view;
fig. 5: the three-dimensional structure of the swinging component is shown as a first schematic diagram;
fig. 6: a second schematic diagram of the three-dimensional structure of the swing assembly;
fig. 7: a three-dimensional structure schematic diagram of the flexible board driven by a plurality of swing rods;
fig. 8: example 2 schematic structural schematic plan view
Fig. 9: schematic perspective structure of example 2;
Detailed Description
The following description and the drawings sufficiently illustrate specific embodiments herein to enable those skilled in the art to practice them. Portions and features of some embodiments may be included in, or substituted for, those of others. The scope of the embodiments herein includes the full scope of the claims, as well as all available equivalents of the claims. The terms "first," "second," and the like herein are used merely to distinguish one element from another element and do not require or imply any actual relationship or order between the elements. Indeed the first element could also be termed a second element and vice versa. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a structure, apparatus, or device that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such structure, apparatus, or device. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a structure, apparatus or device comprising the element. Various embodiments are described herein in a progressive manner, each embodiment focusing on differences from other embodiments, and identical and similar parts between the various embodiments are sufficient to be seen with each other.
The terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like herein refer to an orientation or positional relationship based on that shown in the drawings, merely for ease of description herein and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operate in a particular orientation, and thus are not to be construed as limiting the invention. In the description herein, unless otherwise specified and limited, the terms "mounted," "connected," and "coupled" are to be construed broadly, and may be, for example, mechanically or electrically coupled, may be in communication with each other within two elements, may be directly coupled, or may be indirectly coupled through an intermediary, as would be apparent to one of ordinary skill in the art.
Herein, unless otherwise indicated, the term "plurality" means two or more.
Herein, the character "/" indicates that the front and rear objects are an or relationship. For example, A/B represents: a or B.
Herein, the term "and/or" is an association relation describing an object, meaning that three relations may exist. For example, a and/or B, represent: a or B, or, A and B.
Example 1
The low-disturbance MPF bionic fluctuation propeller as shown in figures 1-6 comprises a frame 1, two bionic propulsion units 2 and a driving unit, wherein the two bionic propulsion units 2 are axially arranged on the frame 1 in parallel.
The bionic propulsion unit 2 comprises a support 26, a support rod 21, a driving rod 22, a plurality of swinging assemblies 23, a ratchet wheel 24 and a control rod 25, as shown in fig. 2, the support 26 comprises two vertical plates which are vertically arranged, two ends of the support rod 21 penetrate through the vertical plates and are rotationally connected with the vertical plates, bearings are sleeved at the rotational connection positions of the support rods, the driving rod 22 and the support rod 21 are arranged in parallel, the driving rod 22 penetrates through the vertical plates and is rotationally connected with the vertical plates, and bearings are sleeved at the rotational connection positions of the driving rod 22.
The swinging components 23 comprise swinging rods 231, a first driving arm 232, a first cam 233, a second driving arm 234 and a second cam 235, a plurality of swinging components 23 are uniformly arranged along the axial direction of the bionic propulsion unit 2, and a plurality of swinging components 23 are arranged along the circumferential direction of the driving rod 22 with equal phase differences, so that the swinging rods 231 swing in a sine wave mode.
As shown in fig. 5 and 6, the first ends of the swing rod 231, the first driving arm 232 and the second driving arm 234 are sleeved on the supporting rod 21 and are fixedly connected with the supporting rod 21, so that when the first driving arm 232 and the second driving arm 234 drive the supporting rod 21 to rotate, the supporting rod 21 has good rotation stability, and the uncooled movement condition caused by the position or shape error of part of driving arms can be compensated. In other embodiments of the present invention, the strut 21 may also be fixedly connected to the riser through the riser, and the first ends of the swing rod 231, the first driving arm 232 and the second driving arm 234 are sleeved on the strut 21 and are rotatably connected to the strut 21, so that the flexibility is better.
The first cam 233 and the second cam 235 are sleeved on the driving rod 22 and are fixedly connected with the driving rod 22, the second cam 235 and the first cam 233 are arranged in a conjugate manner, namely, when the driving rod 22 rotates, the outer circumferential surface of the first cam 233 is abutted to the second end of the first driving arm 232, and meanwhile, the outer circumferential surface of the second cam 235 is abutted to the second end of the second driving arm 234, as shown in fig. 3, the first driving arm 232 and the second driving arm 234 are respectively arranged on two sides of the driving rod 22, not only can the rotation of the two cams be limited, but also the power generated by the up-and-down reciprocating swing of the swinging rod 231 can be stably driven, and the swinging rod 231 is prevented from being driven by the supporting rod 21 to radially jump.
In this embodiment, as shown in fig. 2, the driving unit includes a first motor 100 and a second motor 200, where the first motor is fixed on the frame 1 through a motor base, and can transfer rotary motion to a driving rod 22 through a gear set, and the second motor is fixed on the frame 1 through a motor base, and can transfer rotary motion to another driving rod 22 through a gear set, so that the two bionic propulsion units 2 are driven respectively, which is favorable for precisely controlling the swing state of the swing rod 231 in the two bionic propulsion units 2, and is favorable for implementing operations such as reversing. When the driving lever 22 rotates, the swing link 231, the first driving arm 232 and the second driving arm 234 rotate synchronously, so that the swing link 231 swings up and down reciprocally. In addition, the second end of the swing rod 231 is provided with a chuck for clamping the flexible board, and the swing assemblies 23 are arranged along the circumferential direction of the driving rod 22 with equal phase differences, so that the swing rods commonly drive the flexible board to swing in a sine wave mode so as to simulate the fluctuation of the fin, and as shown in fig. 5, the fluctuation condition of the flexible board can be reflected by the following mathematical model:
wherein x is the abscissa of the fluctuating fin node, y is the ordinate, lambda is the wavelength, f is the fluctuating frequency, L fin To fluctuate fin length, h fin To fluctuate fin width, θ max The swing amplitude is theta, the swing angle is theta, and the time is t; a is that m For the swing change function, for example, a direct proportion function, a quadratic function, a sine function and the like can be selected for flexibly adjusting the swing change condition.
In this embodiment, the chuck includes two centre gripping arms of relative setting, be equipped with a plurality of connecting holes that are used for connecting the flexible board of axial range on the centre gripping arm, not only chuck and flexible board detachably are connected, but also adjustable clamping position, and the flexibility is good, and convenient maintenance and change flexible board or pendulum rod.
As shown in fig. 5 and 6, the second end of the first driving arm 232 is rotatably connected with a first roller, a first groove for accommodating the first roller is disposed at a corresponding position on the outer peripheral surface of the first cam 233, the second end of the second driving arm 234 is rotatably connected with a second roller, and a second groove for accommodating the second roller is disposed at a corresponding position on the outer peripheral surface of the second cam 235, so that the operation stability is good.
As shown in fig. 4, two sliding rails 3 are disposed on the frame 1, in this embodiment, two elongated holes extending axially on the bottom plate of the frame 1 form the sliding rails 3, the axes of the two sliding rails 3 are collinear with the symmetry line of the two bionic propulsion units 2, and sliding blocks 4 capable of sliding back and forth along the sliding rails 3 are embedded in the sliding rails 3.
As shown in fig. 1, the frame 1 is provided with two slide bars 5, and the slide bars 5 vertically pass through the support 26 and are slidably connected with the support 26, so that the two bionic propulsion units 2 can slide left and right relative to the frame 1. The ratchet wheel 24 is disposed below the support 26 and is rotatably connected to the support 26, and the driving rod 22 can transmit the rotational motion to the ratchet wheel through a bevel gear set.
Specifically, a first end of a control rod 25 of the bionic propulsion unit 2 is rotatably connected with a base 26 thereof, a second end of the control rod 25 is rotatably connected with a sliding block 4, in addition, a pawl which can be matched with a ratchet wheel 24 is rotatably connected at a position close to the first end of the control rod 25 through a torsion spring, so that when the driving rod 22 drives the ratchet wheel 24 to rotate forwards, the propeller advances forwards and the pawl follows up, when the driving rod 22 drives the ratchet wheel 24 to rotate reversely, the ratchet wheel 24 drives the control rod 25 to rotate through the pawl, and then the support 26 is driven to slide left and right along the sliding rod, and the bionic propulsion unit 2 can be stretched or contracted.
In this embodiment, as shown in fig. 4, the ratchet wheels 24 disposed on the same sides of the two supports 26 are disposed in opposite directions, two ratchet wheels 24 are symmetrically sleeved at two ends of each support 26, and the swinging assemblies in the two bionic propulsion units 2 are disposed in a central symmetry manner, so that the fluctuation of the fin can be better simulated.
Working process
The pusher being switched from contracted to extended state
As shown in fig. 2 to 4, the second motor controls the driving rod 22 in the right bionic propulsion unit 2 to rotate anticlockwise, drives the ratchet 24 in the right bionic propulsion unit 2 to rotate clockwise, and then the pawl follows up, conversely, the second motor controls the driving rod 22 in the right bionic propulsion unit 2 to rotate clockwise, drives the ratchet 24 in the right bionic propulsion unit 2 to rotate anticlockwise through the bevel gear set, and then drives the control rod 25 of the right bionic propulsion unit 2 to rotate anticlockwise around the first end of the control rod, and further drives the sliding block at the front end of the frame 1 to slide forwards, and further the bionic propulsion units 2 at the left side and the right side are separated to stretch the two bionic propulsion units 2, and when the axes of the two control rods 25 are parallel, the dead point position is reached, namely the limit position at which the two bionic propulsion units 2 are separated.
The propeller advances forward
As shown in fig. 2 to 4, the second motor and the first motor respectively control the driving rod 22 in the two bionic propulsion units 2 to rotate clockwise, and the pawl is in a follow-up state, so that the plurality of swing rods 231 in the two bionic propulsion units 2 swing up and down in a reciprocating manner, and further the flexible board swings in a substantially sine state.
The pusher being switched from the extended state to the contracted state
As shown in fig. 2-4, the first motor controls the driving rod 22 in the left bionic propulsion unit 2 to rotate anticlockwise, drives the ratchet 24 of the left bionic propulsion unit 2 to rotate anticlockwise, and drives the control rod of the left bionic propulsion unit 2 to rotate clockwise around the driving rod 22 through cooperation of the ratchet 24 and the pawl, so that the sliding block 4 at the front end of the rack 2 is driven to slide backwards, and the bionic propulsion units 2 at the left side and the right side are close to each other, so that the two bionic propulsion units are contracted, and the flexibility is good, and the transportation and the storage are convenient.
Example 2
Embodiment 2 differs from embodiment 1 in that, as shown in fig. 8 and 9, the ratchet 24 is sleeved on the driving rod 22 and rotates synchronously with the driving rod 22, and the slide rail 3 is vertically arranged.
The present invention has been described above by way of example, but the present invention is not limited to the above-described embodiments, and any modifications or variations based on the present invention fall within the scope of the present invention.
Claims (10)
1. The utility model provides a low-disturbance MPF bionic wave propeller, its characterized in that, includes frame (1), two bionic propulsion unit (2) and drive unit, two bionic propulsion unit (2) are located on frame (1) axially side by side, bionic propulsion unit (2) include branch (21), drive lever (22) and a plurality of swing subassembly (23) with branch (21) parallel arrangement, swing subassembly (23) include pendulum rod (231), first actuating arm (232) and first cam (233), the first end cover of first actuating arm (232) is established on branch (21), first cam (233) cover is established on drive lever (22) and can be with first actuating arm (232) second end butt, drive unit locates on frame (1) and can transmit rotary motion to two drive levers (22) to drive first cam (233) rotatory, the first end and first actuating arm (232) rigid coupling of pendulum rod (231), the second end of pendulum rod (231) is equipped with and is used for the centre gripping to be used for the centre gripping flexible board, when first actuating arm (232) are rotatory, first actuating arm (231) is synchronous under the swing.
2. The low-disturbance MPF bionic wave propeller according to claim 1, wherein the swinging component (23) further comprises a second driving arm (234) and a second cam (235), the first end of the second driving arm (234) is sleeved on the supporting rod (21), the second cam (235) is sleeved on the driving rod (22) and can be abutted to the second end of the second driving arm (234), and the second cam (235) and the first cam (233) are arranged in a conjugation mode to stably drive the swinging rod (231) to swing up and down to generate power.
3. The low-disturbance MPF bionic wave propeller according to claim 2, characterized in that several of the swinging assemblies (23) are equally phased along the circumferential direction of the driving rod (22).
4. A low-disturbance MPF bionic wave propeller according to claim 3, wherein the second end of the first driving arm (232) is rotatably connected with a first roller, a first groove for accommodating the first roller is provided at a corresponding position of the outer peripheral surface of the first cam (233), the second end of the second driving arm (234) is rotatably connected with a second roller, and a second groove for accommodating the second roller is provided at a corresponding position of the outer peripheral surface of the second cam (235).
5. The low-disturbance MPF bionic wave propeller according to claim 2, wherein the plurality of swinging assemblies (23) are uniformly arranged along the axial direction of the bionic propelling unit (23), and the first ends of the first driving arm (232) and the second driving arm (234) are sleeved outside the supporting rod (21) and fixedly connected with the supporting rod (21).
6. The low-disturbance MPF bionic wave propeller according to any of claims 1-4, wherein the frame (1) is provided with a sliding rail (3), the sliding rail (3) is provided with a sliding block (4) capable of sliding along the sliding rail (3) axially, the bionic pushing unit (2) further comprises a support (26), a ratchet wheel (24) and a control rod (25), the support (26) is arranged on the frame (1) in a left-right sliding manner, two ends of the support (21) and the driving rod (22) are arranged on the support (26), the driving rod (22) can transmit rotary motion to the ratchet wheel (24), two ends of the control rod (25) are hinged with the support (26) and the sliding block (4) respectively, the control rod (25) close to the ratchet wheel (24) is provided with a pawl capable of matching with the ratchet wheel (24), when the driving rod (22) drives the ratchet wheel (24) to rotate in the forward direction, the pawl is driven by the pawl, when the driving rod (22) drives the ratchet wheel (24) to rotate in the reverse direction, the control rod (22) can enable the ratchet wheel (24) to rotate in the left direction or the right direction, and the bionic pushing unit (2) to shrink.
7. The low-disturbance MPF bionic wave propeller according to claim 6, wherein the ratchet wheels (24) are arranged below the support (26) and are rotatably connected with the support (26), the sliding rail (3) comprises long holes extending axially on the bottom plate of the frame (1), the ratchet wheels (24) arranged on the same side of the support (26) in the two bionic propelling units (2) are oppositely arranged in a rotation mode, two ratchet wheels (24) are symmetrically arranged on two sides of each support (26), and the swinging assemblies (23) in the two bionic propelling units (2) are symmetrically arranged in a center mode.
8. The low-disturbance MPF bionic wave propeller of claim 7, wherein the driving unit comprises a first motor and a second motor, wherein the first motor and the second motor are fixedly arranged on the frame and can respectively transmit the rotation motion to the two driving rods.
9. The low-disturbance MPF bionic wave propeller according to claim 7 or 8, wherein the frame (1) comprises two axially extending side plates, at least one sliding rod (5) is connected between the two side plates, and the sliding rod (5) passes through the support (26) and is slidably connected with the support (26).
10. The low-disturbance MPF bionic wave propeller according to claim 6, wherein the clamping head comprises two clamping arms which are arranged oppositely, a plurality of connecting holes which are axially arranged and used for connecting the flexible board are arranged on the clamping arms, and the swing rod (231) can drive the flexible board to swing so as to simulate the fluctuation of the fin.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311020296.9A CN116729606B (en) | 2023-08-15 | 2023-08-15 | Low-disturbance MPF bionic fluctuation propeller |
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| CN202311020296.9A CN116729606B (en) | 2023-08-15 | 2023-08-15 | Low-disturbance MPF bionic fluctuation propeller |
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| CN116729606B CN116729606B (en) | 2023-11-10 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117284460A (en) * | 2023-11-22 | 2023-12-26 | 太原理工大学 | Wave-type propulsion device for unmanned underwater vehicle |
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| CN117284460B (en) * | 2023-11-22 | 2024-04-05 | 太原理工大学 | Wave-type propulsion device for unmanned underwater vehicle |
| CN117550048A (en) * | 2024-01-11 | 2024-02-13 | 中国海洋大学 | Bionic propeller and multi-source driving underwater operation platform |
| CN117550048B (en) * | 2024-01-11 | 2024-03-29 | 中国海洋大学 | Bionic propeller and multi-source driving underwater operation platform |
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