CN117550048A - Bionic propeller and multi-source driving underwater operation platform - Google Patents

Abstract

The invention discloses a bionic propeller and a multi-source driving underwater operation platform, wherein the propeller comprises a frame, two bionic propulsion units and a driving unit, the bionic propulsion units comprise a plurality of swinging assemblies and a fluctuation fin, each swinging assembly comprises a swinging rod, a first driving arm and a first cam, the plurality of first cams are arranged along the circumferential direction of a driving rod in an equal phase difference manner, a first through hole is formed in each first cam, part of the inner wall surface of each first through hole is expanded outwards to form a sector area, and when the driving rod rotates forwards, a convex block on the driving rod is abutted against the first side wall of the sector area; when the driving rod rotates reversely, the convex blocks are abutted with the second side wall of the sector area after idling so as to compensate the phase difference among the first cams and drive the first swing rods to approach to the same plane; the multi-source driving underwater operation platform comprises a propeller, and a plurality of groups of propeller propulsion units are arranged on the propeller. The invention has reasonable structure, small occupation of the accommodation space of the fluctuation fin, small volume of the propeller and suitability for various operation environments.

Description

Bionic propeller and multi-source driving underwater operation platform

Technical Field

The invention relates to the technical field of underwater robots, in particular to a bionic propeller and a multi-source driving underwater operation platform.

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 civil and military fields such as 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 pair fin propulsion mode is more suitable for being applied to the underwater robot, the underwater robot is driven to move through sinusoidal fluctuation of the fin under an ideal simulation state, the fluctuation fin is generally soft and lamellar and has certain structural strength, a structure capable of realizing stretching of the fluctuation fin storage box is arranged in the prior art, the size of the breadth of the propeller can be effectively reduced, the propeller is convenient to float upwards or submerge, the existing fluctuation fin is stored in a working state when being stored, a propeller shell which is thick enough is needed to be stored, and the structure is not beneficial to being miniaturized.

In addition, in the face of complex and changeable underwater environments, a single propulsion mode is often difficult to meet the use requirement.

Disclosure of Invention

The invention discloses a bionic propeller and a multi-source driving underwater operation platform, which solve the technical problems of large occupation of a storage space of a fluctuation fin and unfavorable realization of small size of the propeller in the prior art, and have the technical advantages of reasonable structure, small occupation of the storage space of the fluctuation fin and small size of the propeller, and the adopted technical scheme is as follows:

the bionic propulsion unit comprises a support rod, a driving rod, a plurality of swinging assemblies and a fluctuation fin, wherein the driving rod is arranged in parallel with the support rod, the swinging assemblies and the fluctuation fin are arranged in an equal phase difference mode along the circumferential direction of the driving rod, the swinging assemblies comprise swinging rods, first driving arms and first cams, the first ends of the first driving arms are sleeved on the support rod, the first ends of the swinging rods are fixedly connected with the first driving arms, the second ends of the swinging rods clamp the fluctuation fin, the first cams are sleeved on the driving rod and can be abutted to the second ends of the first driving arms, a plurality of first cams in the bionic propulsion unit are arranged along the equal phase difference mode along the circumferential direction of the driving rod, first through holes through which the driving rod passes are formed in the first cams, part of inner wall surfaces of the first through holes are outwards expanded to form sector areas, the corresponding positions of the driving rods are provided with axially extending lugs, the driving units can respectively transmit rotary motion to the two driving rods, and when the first cams are sleeved on the driving rods and can be abutted to the second ends of the first driving arms, and the first cams are abutted to the first driving arms, and the first driving units are in the reciprocating motion of the bionic propulsion unit and the first driving units, and the first driving units are in the sector areas, and the first driving units are in the reciprocating motion synchronous rotation; when the driving unit drives the driving rod to reversely rotate, the convex blocks are abutted against the second side wall of the sector area after idling so as to compensate phase differences among the plurality of first cams and drive the plurality of first swing rods to approach to the same plane.

On the basis of the technical scheme, the bionic propulsion unit further comprises a plurality of supporting plates, the supporting rods and the driving rods penetrate through the plurality of supporting plates, the swinging assemblies are uniformly arranged along the axial direction of the bionic propulsion unit, the swinging assemblies further comprise second driving arms and second cams, the second cams and the first cams are identical in structure and are respectively arranged on two sides of the supporting plates, the first ends of the second driving arms are sleeved on the supporting rods and fixedly connected with the first driving arms at corresponding positions, the second cams are sleeved on the driving rods and can be abutted against the second ends of the second driving arms, and the second cams and the first cams are arranged in a conjugate mode so as to stably drive the swinging rods to swing up and down in a reciprocating mode.

On the basis of the technical scheme, the second end of the first driving arm is sleeved with a first sleeve, the first sleeve is abutted with the outer peripheral surface of the first cam to keep the position of the first cam, the second end of the second driving arm is sleeved with a second sleeve, and the second sleeve is abutted with the outer peripheral surface of the second cam to keep the position of the second cam.

On the basis of the technical scheme, the frame is provided with a first sliding rail extending axially, the first sliding rail is provided with a first sliding block capable of sliding along the first sliding rail, and the bionic propulsion unit further comprises a support, a ratchet wheel assembly, a control rod and a traction rope;

the support is arranged on the rack in a sliding manner left and right, and the supporting rod, the driving rod and the driving unit are arranged on the support;

the ratchet wheel assembly comprises an inner disc, a braking claw, an elastic piece and an outer disc, wherein the inner disc is sleeved on a driving rod and fixedly connected with the driving rod, the outer disc is sleeved outside the inner disc and rotatably connected with the inner disc, a first end of the braking claw is embedded on the outer wall surface of the inner disc and hinged with the inner disc, a second end of the braking claw extends to the outer disc, the elastic piece is fixedly arranged on the inner disc and upwards supports the second end of the braking claw, a plurality of fixed claws capable of being meshed with the braking claw are arranged on the outer disc inwards, when the driving rod rotates forwards, the second end of the braking claw can swing to scratch the fixed claws, and when the driving rod rotates reversely, the braking claw is meshed with the fixed claws to drive the outer disc to rotate synchronously;

one end of the control rod is hinged with the support, and the other end of the control rod is hinged with the first sliding block;

one end of the traction rope is wrapped on the outer wall surface of the outer disc, the other end of the traction rope is connected with the first sliding block, and when the outer disc and the driving rod reversely rotate, the first sliding block can be driven to axially slide along the first sliding rail, and the two bionic propulsion units are arranged.

On the basis of the technical scheme, the outer disc of the ratchet wheel assembly in one bionic propulsion unit comprises a plurality of circumferentially arranged fixed claws, and the outer disc of the ratchet wheel assembly in the other bionic propulsion unit at least comprises a fixed claw.

On the basis of the technical scheme, the two bionic propulsion units are arranged in a central symmetry manner, and grooves for accommodating traction ropes are formed in the outer edge surfaces of the outer disc and the pulleys; the frame is also rotationally connected with two pulleys, the two pulleys are respectively close to the two ratchet wheel assemblies, and the pulleys are designed to guide the traction rope to drive the first sliding block to slide along the first sliding rail in a state parallel to the first sliding rail.

On the basis of the technical scheme, two U-shaped pieces with downward openings are arranged in parallel on the frame, a first sliding rail extending axially is formed between the U-shaped pieces, the top surfaces of the U-shaped pieces are connected through two check blocks, the two check blocks are close to two ends of the first sliding rail, the check blocks, the two U-shaped pieces and connecting plates at the end parts of the U-shaped pieces are jointly enclosed to form a containing cavity for containing a first sliding block, the first sliding block comprises a bottom plate and two opposite vertical plates, the outer edge surfaces of the vertical plates are in smooth transition, the vertical plates are connected with the bottom plate in an up-down movable mode through springs, clamping blocks are hinged between the vertical plates, and pulling ropes of the bionic propulsion units are respectively connected with the two ends of the clamping blocks.

On the basis of the technical scheme, the rack is further provided with a long hole corresponding to the first sliding rail, and when the vertical plate is in upward collision with the stop block and is displaced downward, the vertical plate can be accommodated in the long hole.

On the basis of the technical scheme, the control rod further comprises two second sliding blocks which are respectively arranged on two sides of the first sliding rail, two symmetrical second sliding rails are arranged on the frames on two sides of the first sliding rail, and the second sliding blocks penetrate through long holes on the control rod and the second sliding rails so as to improve the running stability of the control rod.

On the basis of the technical scheme, the sliding rod is fixedly arranged on the frame, the sliding rod penetrates through the support and is in sliding connection with the support, the frame outer cover is provided with a shell, and the shell is provided with a long groove for the fluctuation fin to extend out and shrink.

A multi-source driven underwater work platform comprising a propeller as described above, a first propeller propulsion unit and a second propeller propulsion unit;

the first propeller propulsion units are uniformly arranged on the frame, and the axis of the first propeller propulsion units is perpendicular to the axis of the driving rod so as to drive the operation platform to float or dive;

the second propeller propulsion units are multiple and are uniformly arranged on the frame, and the axes of the second propeller propulsion units are parallel to the driving rods so as to drive the working platform to advance back and forth or turn.

Advantageous effects

The invention has reasonable structure, the two bionic propulsion units are arranged in parallel, the swinging rods are driven to swing up and down in a mode of matching the cams and the driving arms, wherein the through holes on the cams for the driving rods to pass through comprise sector areas, so that the phase difference among a plurality of cams can be compensated, and when the driving rods drive the cams to rotate reversely, the corresponding plurality of swinging rods approach to the same plane, so that the storage space of the fluctuation fin can be effectively reduced, and the miniaturization of the propeller is realized.

The invention has simple structure, precisely controls the movement stroke of the swing rod by carefully setting the profile curve of the cam, greatly improves the liftable space of the ideal sine wave swing of the swing rod, is beneficial to realizing the sine wave fluctuation of the flexible plate, effectively improves the bionic effect, greatly reduces disturbance compared with the driving mode of the propeller in the prior art, and is beneficial to meeting various operation requirements. In addition, the device also comprises two cams which are arranged in a conjugate way, the two cams are respectively arranged at two sides of the supporting plate, and two driving arms matched with the two cams can be respectively arranged at two sides of the supporting rod, so that the device not only can limit the rotation of the two cams, but also has good stability, and can prevent the supporting rod from driving the swinging rod to radially jump.

The invention has ingenious design, the driving rod is also sleeved with the ratchet wheel component, the ratchet wheel component comprises an inner disc, a braking claw, an elastic piece and an outer disc, when the driving rod drives the inner disc to rotate positively, the outer disc is static, when the driving rod drives the inner disc to rotate reversely, the outer disc follows and drives the first sliding block to slide in the first sliding rail so as to store or stretch the two-by-two bionic propulsion units, the switching between working and non-working states can be conveniently realized, and meanwhile, the two fluctuation fins can be stored from a sine state to a flake state. In addition, under the storage or unfolding state of the two bionic propulsion units, the first sliding block can be clamped into the accommodating cavities at the two ends of the first sliding rail, so that the position of the first sliding block can be locked, the two bionic propulsion units are prevented from sliding along the sliding rod due to the influence of factors such as surrounding water flow fluctuation, and the running stability of the propeller is further reduced; in addition, the first sliding block structure is reasonable in design, comprises a bottom plate and two vertical plates, clamping blocks between the two vertical plates are respectively connected with traction ropes of the two bionic propulsion units, when the propeller is switched between working and non-working states, the ratchet wheel assembly can flexibly transfer through the traction ropes, action points with stress concentration are avoided, and the operation reliability and the service life of the propeller are improved.

In this application, two bionical propulsion unit are relatively independent, can drive respectively, through controlling two actuating lever differential motions, can conveniently realize propeller direction control. In addition, in order to adapt to complex and changeable underwater environment, the multi-source driving underwater operation platform adopts a mode of combining bionic propulsion and a propeller propulsion unit, has wide application range and is beneficial to popularization and application.

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 is a schematic perspective view of a propeller in a housed state;

FIG. 2 is a schematic diagram of the top view of FIG. 1;

FIG. 3 is a schematic perspective view of the swing assembly of FIG. 1 sleeved on a driving rod;

FIG. 4 is a schematic exploded view of the two ratchet assemblies of FIG. 1;

FIG. 5 is a schematic view of an exploded view of the ratchet assembly of the left biomimetic propulsion unit of FIG. 4;

FIG. 6 is a schematic diagram of an exploded view of the ratchet assembly of the right biomimetic propulsion unit of FIG. 4;

FIG. 7 is a schematic perspective view of the propeller in an extended state;

FIG. 8 is a schematic view of the top view of FIG. 7;

FIG. 9 is a schematic view of the first slider assembled in the first slide rail;

FIG. 10 is a schematic view of an exploded construction of a first slider;

FIG. 11 is a schematic view of a multi-source driven underwater work platform;

fig. 12 is a schematic view of the structure of fig. 11 with a part of the housing removed.

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.

The bionic propeller shown in fig. 1-10 comprises a frame 1, two bionic propulsion units 2 and a driving unit, wherein the two bionic propulsion units 2 axially extend on the frame 1 and are arranged in parallel, and the two bionic propulsion units 2 are identical in structure and are arranged in a central symmetry mode.

As shown in fig. 1, the bionic propulsion unit 2 includes a support 26, a support rod 21, a driving rod 22 parallel to the support rod 21, a plurality of swinging assemblies 23 and a fluctuation fin, where a plurality of support plates 27 are fixedly connected to the support 26, in this embodiment, the support rod 21 is divided into a plurality of sections, each section of support rod 21 passes through the support plate and is fixedly connected to the support plate, the driving rod 22 is parallel to the support rod 21, and the driving rod 22 passes through the support plate and is rotationally connected to the support plate, and a bearing is sleeved at the rotational connection position of the driving rod 22.

As shown in fig. 1, a slide bar 5 is fixedly arranged on the frame 1, the slide bar 5 is arranged below the support 26, the slide bar 5 passes through the support 26 and is in sliding connection with the support 26, when the two supports 26 slide along the slide bar 5, the two bionic propulsion units 2 can be close to or far away from each other, in addition, the frame 1 further comprises a shell 10, a long groove for extending and shrinking the fluctuation fin is arranged on the shell 10, and the fluctuation fin can be conveniently extended and contracted by the storage box.

As shown in fig. 1 and 3, the swinging component 23 includes a swinging rod 231, a first driving arm 232, a first cam 233, a second driving arm 234 and a second cam 235, where the first cam 233 and the second cam 235 are respectively disposed on two sides of the supporting plate, a plurality of swinging components 23 are uniformly disposed along the axial direction of the bionic propulsion unit 2, and a plurality of swinging components 23 are disposed along the circumferential direction of the driving rod 22 with equal phase differences, so that the plurality of swinging rods 231 swing in a sine wave.

As shown in fig. 3, the first ends of the swing rod 231, the first driving arm 232 and the second driving arm 234 are fixedly arranged on a first shaft rod, the first shaft rod passes through the supporting rod 21 and is rotationally connected with the supporting rod 21 through a bearing, so that the first driving arm 232, the second driving arm 234 and the swing rod 231 synchronously act, the swing rod 231 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 this embodiment, the first cam 233 and the second cam 235 are separately disposed at two sides of the support plate 27 and are disposed in a conjugate manner, wherein the outer circumferential surface of the first cam 233 is abutted to the second end of the first driving arm 232, and 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 separately disposed at two sides of the driving rod 22, so that not only the rotation of the two cams can be limited, but also the swing rod 231 can be stably driven to reciprocate up and down to generate power, and the swing rod 231 is prevented from being driven by the support rod 21 to radially jump. The second end of the first driving arm 232 is fitted with a first sleeve 237, the first sleeve 237 abuts against the outer circumferential surface of the first cam 233 to maintain the position of the first cam 233, and the second end of the second driving arm 234 is fitted with a second sleeve abutting against the outer circumferential surface of the second cam 235 to maintain the position of the second cam 235.

As shown in fig. 3, the first cam 233 is provided with a first through hole 2331 through which the driving rod 22 passes, and a part of the inner wall surface of the first through hole 2331 is expanded outwards to form a fan-shaped area, wherein the first through hole 2331 extends axially and forms a second through hole 2351 on the second cam 235, and the corresponding position of the driving rod 22 is provided with an axially extending bump which extends axially along the driving rod 22.

In this embodiment, as shown in fig. 1 or 7, the driving unit includes a first motor 100 and a second motor 200, the first motor 100 is fixed on a support 26 through a motor base, and can transmit the rotation motion to a driving rod 22 through a gear set, the second motor 200 is fixed on another support 26 through a motor base, and can transmit the rotation motion to another driving rod 22 through a gear set, and the two bionic propulsion units 2 are respectively driven. The swinging state of the swinging rods 231 in the two bionic propulsion units 2 can be accurately controlled, and reversing and other operations can be realized. In the operating state, 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 in a reciprocating manner. In addition, the second end of the swing link 231 is provided with a chuck for clamping the fluctuation fin, and in this embodiment, the swing assemblies 23 are arranged along the circumferential direction of the driving rod 22 with equal phase differences, so that the plurality of swing links 231 jointly drive the fluctuation fin to swing in a sine wave manner so as to simulate the fluctuation of the fish fin, as shown in fig. 7, the fluctuation condition of the fluctuation fin can be reflected by the following mathematical model:

wherein x is the abscissa of the fluctuation fin node, y is the ordinate, lambda is the wavelength, f is the fluctuation frequency, lfin is the length of the fluctuation fin, hfin is the width of the fluctuation fin, θmax is the swing amplitude, θ is the swing angle, and t is the time; am is a swing change function, and the swing change condition can be flexibly adjusted by selecting a direct proportion function, a quadratic function, a sine function and the like.

In this embodiment, the chuck includes two clamping arms of relative setting, be equipped with a plurality of connecting holes that are used for connecting the fluctuation fin of axial range on the clamping arm, not only chuck and fluctuation fin detachably are connected, but also adjustable clamping position, and the flexibility is good, and convenient maintenance and change fluctuation fin or pendulum rod.

As shown in fig. 3 and 7, when the first motor 100 drives the driving rod 22 to rotate forward, the bump abuts against the first side wall of the sector area, and drives the swing rod 231 to swing up and down in a reciprocating manner synchronously, so that the swing rod is in a normal working state; when the first motor 100 drives the driving rod 22 to rotate reversely, the protruding block is abutted against the second side wall of the sector area after idling so as to compensate the phase difference between the first cams 233, and drive the swing rods 231 to approach to the same plane, so that the wavy fin can be conveniently stored in the non-working state, and the size is small.

In addition, in order to further house or stretch the two bionic propulsion units 2 in the width direction of the propeller, as shown in fig. 1 and 7, a first sliding rail 3 extending in the axial direction is provided on the frame 1, a first sliding block 4 capable of sliding along the first sliding rail 3 is provided on the first sliding rail 3, specifically, two U-shaped pieces 31 with downward openings are arranged on the frame 1 in parallel, the two U-shaped pieces 31 are fixedly connected with the frame 1 downwards, and a first sliding rail 3 extending in the axial direction is formed between the two U-shaped pieces 31, as shown in fig. 8, the top surfaces of the two U-shaped pieces 31 are connected through two stop blocks 32, the two stop blocks 32 are arranged near two ends of the first sliding rail 3, and the stop blocks 32, the two U-shaped pieces 31 and connecting plates at the ends of the U-shaped pieces 31 enclose together to form a containing cavity for containing the first sliding block 4.

As shown in fig. 9, the first slider 4 includes a bottom plate 41 and two opposite vertical plates 42, the outer edge surfaces of the two vertical plates 42 are in smooth transition, the vertical plates 42 are connected with the bottom plate 41 by springs in an up-down movable manner, clamping blocks 43 are hinged between the two vertical plates 42, in this embodiment, the clamping blocks 43 are approximately W-shaped, and threading holes are formed at two ends of the clamping blocks 43 in the width direction. The frame 1 is further provided with a long hole corresponding to the first sliding rail 3, and when the vertical plate 42 is in upward collision with the stop block 32 and is displaced downward, the vertical plate 42 can be accommodated in the long hole.

As shown in fig. 7 and 8, each biomimetic propulsion unit 2 further comprises a ratchet assembly 24, a control rod 25 and a traction rope 7;

as shown in fig. 4 to 6, the ratchet assembly 24 includes an inner disc 241, a braking claw 243, an elastic member 244 and an outer disc 242, wherein the inner disc 241 is sleeved on the driving rod 22 and fixedly connected with the driving rod 22, the driving rod 22 can transmit the rotation motion to the inner disc 241, and the outer disc 242 is sleeved outside the inner disc 241 and rotatably connected with the inner disc 241; the outer edge surface of the inner disc 241 is hinged with a brake claw 243, specifically, the inner edge surface of the inner disc 241 is provided with two concave cavities, the first end of the brake claw 243 is hinged with the bottom surface of the concave cavity, in this embodiment, the elastic piece 244 comprises a spring, the second end of the brake claw 243 extends towards the outer disc 242, and the second end of the brake claw 43 is connected with the bottom surface of the concave cavity downwards through the spring; the inner annular surface of the outer disc 242 facing the inner disc 241 is provided with a fixed jaw engageable with the detent 243.

In this embodiment, the inner surface of the outer disc 242 of the ratchet assembly 24 in the left bionic propulsion unit 2 corresponding to the first motor 100 comprises a plurality of circumferentially arranged fixed pawls which are oppositely engageable with the braking pawls 243 as shown in fig. 5. The inner circumferential surface of the outer disc 242 of the ratchet assembly 24 in the right bionic propulsion unit 1 corresponding to the second motor 200 includes a fixed jaw, as shown in fig. 6, taking the ratchet assembly 24 in the left bionic propulsion unit 2 corresponding to the first motor 100 as an example, when the driving rod 22 rotates forward (anticlockwise), the second end of the braking jaw 243 swings to pass through the fixed jaw, and when the driving rod 22 rotates reversely (clockwise), the braking jaw 243 is engaged with the fixed jaw in opposite directions to drive the outer disc 242 to rotate synchronously.

As shown in fig. 7-10, one end of the control rod 25 is hinged with the support 26, and the other end of the control rod 25 is hinged with the bottom plate 41 of the first slider 4; in addition, the device further comprises two second sliding blocks 9 which are respectively arranged at two sides of the first sliding rail 3, two symmetrical second sliding rails 8 are arranged on the machine frame 1 at two sides of the first sliding rail 3, long holes which extend axially are formed in the control rod 25, and the second sliding blocks 9 penetrate through the long holes in the control rod 25 and the second sliding rails 8 so as to improve the running stability of the control rod.

One end of the traction rope 7 is wrapped on the outer wall surface of the outer disc 242, the other end of the traction rope 7 is connected with the first end of the clamping block 43, the traction rope 7 in the other bionic propulsion unit 2 is connected with the second end of the clamping block 43, and the first sliding block 4 is pulled to slide back and forth through the traction rope 7, so that the impact resistance is improved, the occurrence of stress concentration in the impact process is avoided, and the running stability is improved; when the first motor 100 drives the driving rod 22 to rotate reversely, the fluctuation fin is restored to a substantially horizontal state, and simultaneously, when the outer disc 242 and the driving rod 11 rotate reversely, the first sliding block 4 is driven to slide along the first sliding rail 3 axially so as to accommodate the two bionic propulsion units 1.

Accordingly, when the second motor 200 drives the driving rod 22 to reversely rotate in the other bionic propulsion unit 2, the two bionic propulsion units 2 are unfolded.

As shown in fig. 7 and 8, two pulleys 6 are rotatably connected to the frame 1, the two pulleys 6 are respectively disposed near the two ratchet assemblies 24, the pulleys 6 are designed to guide the traction rope 7 to drive the first slider 4 to slide along the first sliding rail 3 in a state parallel to the first sliding rail 3, and grooves for accommodating the traction rope 7 are formed on the outer disc 242 and the outer edge surface of the pulleys 6.

Working process

The pusher being switched from contracted to extended state

As shown in fig. 1 and 2, the second motor 200 controls the driving rod 22 in the right bionic propulsion unit 2 to rotate anticlockwise, the driving rod 22 drives the outer disc 242 in the right ratchet assembly 24 to rotate anticlockwise, at this time, the outer disc 242 winds the haulage rope, as shown in fig. 8, the haulage rope 7 drives the first slider 4 to slide backwards along the first sliding rail 3, and then the two control rods 25 are opened, when the first slider 4 slides to be close to the stop block 32, the vertical plate 42 abuts against the stop block 32 and moves downwards, after passing through the stop block 32, the vertical plate 42 moves upwards to restore to the initial position, at this time, the first slider 4 is clamped into the accommodating cavity at the rear end of the first sliding rail 3, and the two control rods 25 are opened at 180 degrees and are positioned at dead points.

The propeller advances forward

As shown in fig. 7 or 8, the second motor 200 controls the driving rod 22 in the right bionic thruster unit 2 to rotate clockwise, at this time, the outer disc 242 in the ratchet assembly 24 is relatively stationary, and the driving rod 22 drives the plurality of swing rods 231 to swing up and down, so that the wave fin swings in a substantially sinusoidal state. The first motor 100 controls the driving rod 22 in the left bionic propeller 2 to rotate anticlockwise, at this time, the outer disc 242 in the ratchet assembly 24 is relatively static, and the driving rod 22 drives the plurality of swing rods 231 to swing up and down in a reciprocating manner, so that the fluctuation fins swing in a substantially sinusoidal state.

The pusher being switched from the extended state to the contracted state

As shown in fig. 7 or 8, the first motor 100 controls the driving rod 22 in the left bionic propulsion unit 2 to rotate clockwise, the inner disc 241 in the ratchet assembly 24 rotates synchronously, the outer disc 242 rotates synchronously clockwise, the outer disc 242 winds the hauling rope, the hauling rope 7 drives the first sliding block 4 to slide forward along the first sliding rail 3, and further the two control rods 25 are folded, when the first sliding block 4 slides to be close to the stop block 32, the vertical plate 42 abuts against the stop block 32 and moves downwards, after passing through the stop block 32, the vertical plate 42 moves upwards to restore to the initial position, at this time, the first sliding block 4 is clamped into the accommodating cavity at the front end of the first sliding rail 3, and the two control rods 25 are in a folded state, and the two bionic propulsion units 2 shrink.

When the first motor 100 controls the driving rod 22 to rotate clockwise, the driving rod 22 is in contact with the other side wall of the sector area after idling due to the arrangement of the sector area on the first through hole 2331 on the cam, the fluctuation fin is restored to a flat state, and at the moment, the two bionic propulsion units 2 complete the contraction and approaching actions.

Meanwhile, the second motor 200 controls the driving rod 22 of the right bionic thruster unit 2 of the driving rod 22 to rotate anticlockwise, and due to the arrangement of the sector area on the first through hole 2331 on the cam, the driving rod 22 is abutted with the other side wall of the sector area after idling, and the fluctuation fins are restored to a flat state, so that the two fluctuation fins can be stored in the shell 10 in a relatively flat state. At the same time, the outer disc 242 of the bionic propulsion unit 2 is relatively stationary, and the inner disc 241 follows the driving rod 22.

A multi-source driven underwater work platform as shown in fig. 11 and 12, comprising a propeller as described above, a first propeller propulsion unit 400 and a second propeller propulsion unit 300; in this embodiment, the first propeller propulsion unit 400 and the second propeller propulsion unit 300 have the same structure, and are the prior art (https:// baike. Sogou. Com/v11003435. Htm.

In this embodiment, two first propeller propulsion units 400 are uniformly arranged on the frame 1, and the axis of each first propeller propulsion unit 400 is perpendicular to the axis of the driving rod 22 and passes through the central axis of the frame 1, so as to drive the operation platform to float or dive, specifically, the mounting seat 301 of each first propeller propulsion unit 400 is fixedly connected with the housing 10 and is arranged in the housing 10, and an opening corresponding to the first propeller propulsion unit 400 is formed in the housing 10;

the number of the second propeller propulsion units 300 is 4 and the second propeller propulsion units 300 are uniformly arranged on the frame, specifically, the second propeller propulsion units 300 are respectively arranged at two ends of the two bionic propulsion units 2, specifically, the axis of the second propeller propulsion units 300 is parallel to the driving rod 22 so as to drive the operation platform to advance or turn back and forth; the second propeller propulsion unit 300 further comprises a rack 304, a gear 303 and a turnover motor, the shield 301 is fixedly connected to the mounting seat 302, the mounting seat 302 is rotatably connected to the shell 10, the turnover motor is fixedly arranged on the shell 10 and can drive the mounting seat 302 to rotate, one end of the mounting seat 302 is fixedly connected with the gear 303 in a coaxial manner, the rack 304 is fixedly arranged on the support 26 and is meshed with the gear 303, and an opening for the second propeller propulsion unit 300 to be turned and stored in the shell 10 is formed in a corresponding position of the shell 10.

Thus, when the two bionic propulsion units 2 shrink, the second propeller propulsion unit 300 is driven by the rack-and-pinion mechanism to extend out of the casing 10; when the two bionic propulsion units 2 extend, the second propeller propulsion unit 300 is retracted inwards of the casing 10 through the gear-rack mechanism, so that the propulsion mode is switched, and the other propulsion units are prevented from increasing the water resistance of the operation platform.

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 (11)

1. The bionic propeller is characterized by comprising a frame (1), two bionic propulsion units (2) and a driving unit, wherein the two bionic propulsion units (2) are axially arranged in parallel on the frame (1), each bionic propulsion unit (2) comprises a supporting rod (21), a driving rod (22), a plurality of swinging assemblies (23) and a fluctuation fin, the driving rods (22) are arranged in parallel with the supporting rod (21), the swinging assemblies (23) are arranged in equal phase difference along the circumferential direction of the driving rod (22), each swinging assembly (23) comprises a swinging rod (231), a first driving arm (232) and a first cam (233), the first ends of the first driving arms (232) are sleeved on the supporting rod (231), the first ends of the swinging rods (231) are fixedly connected with the first driving arms (232), the second ends of the swinging rods (231) are clamped and are sleeved on the driving rods (22) and can be abutted with the second ends of the first driving arms (232), the first cams (233) are arranged in a plurality of sector-shaped areas (233) extending towards the circumferential direction of the driving rods (22) along the corresponding axial direction of the first driving rods (233), the first sector-shaped cams (233) are arranged in the corresponding sector-shaped areas (233) and extend outwards to form through corresponding axial areas (2333), the driving unit can respectively transmit the rotation motion to the two driving rods (22), and when the driving unit drives the driving rods (22) in the bionic propulsion unit (2) to rotate forwards, the convex blocks are abutted with the first side wall of the sector area to drive the first swing rod (231) to swing synchronously up and down in a reciprocating manner; when the driving unit drives the driving rod (22) to reversely rotate, the convex blocks are abutted against the second side wall of the sector area after idling so as to compensate the phase difference among the plurality of first cams (233) and drive the plurality of first swinging rods (231) to approach to the same plane.

2. The bionic propeller according to claim 1, wherein the bionic propulsion unit (2) further comprises a plurality of support plates (27), the support rods (21) and the driving rods (22) penetrate through the plurality of support plates (27), the plurality of swinging assemblies (23) are uniformly arranged along the axial direction of the bionic propulsion unit (2), the swinging assemblies (23) further comprise second driving arms (234) and second cams (235), the second cams (235) and the first cams are identical in structure and are respectively arranged on two sides of the support plates (27), the first ends of the second driving arms (234) are sleeved on the support rods (21) and fixedly connected with the first driving arms (232) at corresponding positions, the second cams (235) are sleeved on the driving rods (22) and can be abutted with the second ends of the second driving arms (234), and the second cams (235) and the first cams (233) are arranged in a conjugate mode so as to stably drive the swinging rods (231) to swing up and down.

3. The bionic propeller according to claim 2, wherein the second end of the first driving arm (232) is sleeved with a first sleeve (237), the first sleeve (237) abuts against the outer circumferential surface of the first cam (233) to maintain the position of the first cam (233), and the second end of the second driving arm (234) is sleeved with a second sleeve, the second sleeve abuts against the outer circumferential surface of the second cam (235) to maintain the position of the second cam (235).

4. A bionic propeller according to any one of claims 1-3, wherein the frame (1) is provided with a first sliding rail (3) extending axially, the first sliding rail (3) is provided with a first sliding block (4) capable of sliding along the first sliding rail (3), and the bionic propelling unit (2) further comprises a support (26), a ratchet assembly (24), a control rod (25) and a traction rope (7);

the support (26) is arranged on the frame (1) in a left-right sliding manner, and the support rod (21), the driving rod (22) and the driving unit are arranged on the support (26);

the ratchet wheel assembly (24) comprises an inner disc (241), a braking claw (243), an elastic piece (244) and an outer disc (242), wherein the inner disc (241) is sleeved on the driving rod (22) and fixedly connected with the driving rod (22), the outer disc (242) is sleeved outside the inner disc (241) and rotatably connected with the inner disc (241), a first end of the braking claw (243) is embedded on the outer wall surface of the inner disc (241) and hinged with the inner disc (241), a second end of the braking claw (243) extends out of the disc (242), the elastic piece (244) is fixedly arranged on the inner disc (241) and upwards supports a second end of the braking claw (243), a fixed claw capable of being meshed with the braking claw (243) is arranged on the inner annular surface of the outer disc (242), and when the driving rod (22) rotates forwards, the second end of the braking claw (243) can swing to pass through the fixed claw, and when the driving rod (22) rotates reversely, the braking claw (243) is driven to rotate synchronously with the fixed claw (243);

one end of the control rod (25) is hinged with the support (26), and the other end of the control rod (25) is hinged with the first sliding block (4);

one end of the traction rope (7) is wrapped on the outer wall surface of the outer disc (242), the other end of the traction rope (7) is connected with the first sliding block (4), and when the outer disc (242) and the driving rod (22) reversely rotate, the first sliding block (4) can be driven to axially slide along the first sliding rail (3), and the two bionic propulsion units (2) can be driven to axially slide.

5. The biomimetic pusher according to claim 4, wherein the outer disc (242) of the ratchet assembly (24) in one of the biomimetic pusher units (2) comprises a plurality of circumferentially arranged stationary jaws, and the outer disc (242) of the ratchet assembly (24) in the other of the biomimetic pusher units (2) comprises at least one stationary jaw.

6. The bionic propulsion device according to claim 5, characterized in that the two bionic propulsion units (2) are arranged in a central symmetry, and the outer disc (242) and the outer edge surface of the pulley (6) are provided with grooves for accommodating traction ropes (7); the machine frame (1) is further rotationally connected with two pulleys (6), the two pulleys (6) are respectively close to two ratchet wheel assemblies (24), and the pulleys (6) are designed to guide the traction rope (7) to drive the first sliding block (4) to slide along the first sliding rail (3) in a state parallel to the first sliding rail (3).

7. The bionic propeller according to claim 5 or 6, wherein two U-shaped pieces (31) with downward openings are arranged on the frame (1) side by side, a first sliding rail (3) extending axially is formed between the two U-shaped pieces (31), the top surfaces of the two U-shaped pieces (31) are connected through two stop blocks (32), the two stop blocks (32) are arranged near two ends of the first sliding rail (3), the stop blocks (32), the two U-shaped pieces (32) and connecting plates at the ends of the U-shaped pieces (32) are jointly enclosed to form a containing cavity for containing the first sliding block (4), the first sliding block (4) comprises a bottom plate (41) and two opposite vertical plates (42), the outer edge surfaces of the two vertical plates (42) are in smooth transition, the vertical plates (42) are connected with the bottom plate (41) in an up-down movable mode through springs, clamping blocks (43) are hinged between the two vertical plates (42), and the pulling ropes (7) of the two bionic propelling units are respectively connected with the two ends of the clamping blocks (42).

8. The bionic propeller according to claim 7, wherein the frame (1) is further provided with a long hole corresponding to the first sliding rail (3), and the long hole can accommodate the vertical plate (42) when the vertical plate (42) is pushed up against the stop block (32) and is displaced downward.

9. The bionic propeller according to claim 7, further comprising two second sliding blocks (9) respectively arranged at two sides of the first sliding rail (3), wherein two symmetrical second sliding rails (8) are arranged on the frame (1) at two sides of the first sliding rail (3), and the second sliding blocks (9) pass through long holes on the control rod (25) and the second sliding rails (9) so as to improve the running stability of the control rod (25).

10. The bionic propeller according to claim 8 or 9, wherein a sliding rod (5) is fixedly arranged on the frame (1), the sliding rod (5) penetrates through the support (26) and is in sliding connection with the support (26), the frame (1) further comprises a shell (10), and a long groove for the fluctuation fin to extend and shrink is formed in the shell (10).

11. A multi-source driven underwater work platform comprising a propeller as claimed in claims 1, 2, 3, 5, 6, 8, 9, a first propeller propulsion unit (400) and a second propeller propulsion unit (300);

the first propeller propulsion units (400) are arranged on the frame (1) uniformly, and the axes of the first propeller propulsion units (400) are perpendicular to the axes of the driving rods (22) so as to drive the operation platform to float or dive;

the second propeller propulsion units (300) are multiple and are uniformly arranged on the frame (1), and the axes of the second propeller propulsion units (300) are parallel to the driving rods (22) so as to drive the working platform to advance or steer forwards and backwards.