CN204956891U - Flexible structure that impels of bionical fish tail dual drive - Google Patents
Flexible structure that impels of bionical fish tail dual drive Download PDFInfo
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- CN204956891U CN204956891U CN201520583928.7U CN201520583928U CN204956891U CN 204956891 U CN204956891 U CN 204956891U CN 201520583928 U CN201520583928 U CN 201520583928U CN 204956891 U CN204956891 U CN 204956891U
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Abstract
The utility model discloses a flexible structure that impels of bionical fish tail dual drive, including first motor, second motor, gear wheel swing arm, third motor, spring steel sheet, half month form tail fin, hull and computer controller, computer controller installs the left end at the hull, first motor, second motor, third motor and gear wheel swing arm are all installed on the floor of the right -hand member of hull, install the primary shaft, secondary shaft and third axle in the gear wheel swing arm, the third motor is connected through a gear drive with the second gear, pinion swing arm and half month form tail fin pass through spring steel sheet fixed connection, computer controller and power, first motor, second motor and the 3rd motor electrically connected. The utility model discloses a two joint degrees of freedom of bi -motor separately -driven can be by two step motor respectively by computer chip programming control, bowing and back end whip action when realization emulation fish moves about with gear wheel swing arm and pinion swing arm.
Description
Technical field
The utility model belongs to underwater propulsion unit technical field, is specifically related to the flexible push structure of a kind of bionic fish tail Dual Drive.
Background technology
The current water surface and submarine navigation device adopt propeller arrangement substantially, and volume mass is large, energy consumption is high, efficiency is low, produce larger noise and trailing vortex.The mammiferous mode of motion such as fish and cetacean is the crystallization of biological evolution history, has high-effect, high-speed, the flexible various advantage of low noise.The water surface and submarine navigation device will adopt the key of bionic fish tail underwater propulsion technology to be accomplish high efficiency, low energy consumption, structure simple possible.
Imitative fish tail advances and has various ways at present, such as denomination of invention is the flexible propulsive mechanism (application number 200410053660.2) of bionic machine fish, and this patent adopts two motors to strain respectively and the steel rope that loosens fishtail fin both sides swings to the flexibility controlling fish tail.Shortcoming is that action is lack of standardization, is difficult to accurate control, can not be used for relatively large structure.
Denomination of invention is a kind of mechanical drive (application 200520020571.8) of imitative fish tail propulsion system, this patent adopts motor to drive worm couple, then movable eccentric wheel, sliding frame, pull bar is with, L-type fork is driven to swing, fix half gear forces again driving gear set to drive fork to rotate simultaneously, fork end has spring leaf and tail fin, forms the flexibility with 3 degree of freedom hinge axis and swings.
The shortcoming of this structure is that rigidity action is single stiff, and can not turn to, action has limitation, can not imitate the mode of freely moving about of fish;
Denomination of invention is electromagnetic drive multi-joint bionic fishtail propulsion device (application number 200710072620.6), and this patent adopts longitudinal aggregate, horizontal aggregate, and is divided into more piece, and adapter shaft connects,
The shortcoming of this structure is that flexibility is had a surplus, and rigidity is not enough, is difficult to practical application.
Summary of the invention
The purpose of this utility model is to provide a kind of bionic fish tail Dual Drive flexible push structure, to solve the problem proposed in above-mentioned background technology.
For achieving the above object, the utility model provides following technical scheme: the flexible push structure of a kind of bionic fish tail Dual Drive, comprises the first motor, second electrical motor, big gear wheel swing arm, 3rd motor, spring plate, first quarter moon shape tail fin, hull and computer controller, described computer controller is arranged on the left end of hull, and the centre of described hull is provided with power supply, described first motor, second motor, 3rd motor and big gear wheel swing arm are installed on the floor of the right-hand member of hull, and described big gear wheel swing arm is provided with the first axle, second axle and the 3rd axle, described first axle is provided with the second gear, described second axle is provided with the 3rd gear, described 3rd axle is provided with miniature gears swing arm, described 3rd motor is connected by the first gear transmission with the second gear, described second gear is connected by the 3rd gear transmission with miniature gears swing arm, and described miniature gears swing arm is fixedly connected with by spring plate with first quarter moon shape tail fin, described computer controller and power supply, first motor, second motor and the 3rd motor are electrically connected.
Preferably, described miniature gears swing arm, the second gear and the 3rd gear are installed in big gear wheel swing arm.
Preferably, left end and the spring plate of described miniature gears swing arm are bolted to connection, and spring plate and first quarter moon shape tail fin are bolted to connection.
Compared with prior art, the beneficial effects of the utility model are: the flexible propulsive mechanism of this bionic fish tail Dual Drive, double-motor is adopted to drive two joint degree of freedom respectively, by two stepping motors respectively by computer chip programming Control, bowing and whipping action when emulating fish swimming can be realized with big gear wheel swing arm and miniature gears swing arm; Under difference moves about speed, the angle of bowing with whipping can be changed, reach best travelling efficiency; Use a drive motor beam warp gear pair to the exportable strong impetus of waist axle, use another drive motor by the mechanical gear group transferring power on waist axle to tailing axle, this three axle types of attachment through bottom plating can realize good water-stop effect, reach the possibility realizing engineering.
Accompanying drawing explanation
Fig. 1 is birds-eye view of the present utility model;
Fig. 2 is front elevation of the present utility model;
Fig. 3 is the mounting structure schematic diagram of the 3rd motor of the present utility model.
In figure: 1, the first motor, the 2, second electrical motor, the 3, first axle, 4, big gear wheel swing arm, the 5, the 3rd motor, the 6, first gear, 7, the second gear, the 8, the 3rd gear, 9, miniature gears swing arm, 10, the second axle, the 11, the 3rd axle, 12, spring plate, 13, first quarter moon shape tail fin, 14, hull, 15, computer controller, 16, power supply.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the utility model embodiment, be clearly and completely described the technical scheme in the utility model embodiment, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.
Refer to Fig. 1, the utility model provides a kind of bionic fish tail Dual Drive flexible push structure, comprise the first motor 1, second electrical motor 2, big gear wheel swing arm 4, 3rd motor 5, spring plate 12, first quarter moon shape tail fin 13, hull 14 and computer controller 15, computer controller 15 is arranged on the left end of hull 14, the centre of hull 14 is provided with power supply 16, first motor 1, second motor 2, 3rd motor 5 and big gear wheel swing arm 4 are installed on the floor of the right-hand member of hull 14, big gear wheel swing arm 4 is provided with the first axle 3, second axle 10 and the 3rd axle 11, first axle 3 is provided with the second gear 7, second axle 10 is provided with the 3rd gear 8, 3rd axle 11 is provided with miniature gears swing arm 9, miniature gears swing arm 9, second gear 7 and the 3rd gear 8 are installed in big gear wheel swing arm 4, 3rd motor 5 and the second gear 7 are in transmission connection by the first gear 6, second gear 7 is in transmission connection by the 3rd gear 8 with miniature gears swing arm 9, miniature gears swing arm 9 is fixedly connected with by spring plate 12 with first quarter moon shape tail fin 13, left end and the spring plate 12 of miniature gears swing arm 9 are bolted to connection, spring plate 12 and first quarter moon shape tail fin 13 are bolted to connection, computer controller 15 and power supply 16, first motor 1, second motor 2 and the 3rd motor 5 are electrically connected.
Principle of work: during use, by the first motor 1, second motor 2 and the 3rd motor 5 with the use of, the first gear 6 and big gear wheel swing arm 4 is driven to rotate, thus drive the second gear 7 to rotate, second gear 7 drives miniature gears swing arm 9 to swing by the 3rd gear 8, thus drives first quarter moon shape tail fin 13 to swing by spring plate 12 to promote hull 14 and advance.
Although illustrate and described embodiment of the present utility model, for the ordinary skill in the art, be appreciated that and can carry out multiple change, amendment, replacement and modification to these embodiments when not departing from principle of the present utility model and spirit, scope of the present utility model is by claims and equivalents thereof.
Claims (3)
1. the flexible push structure of bionic fish tail Dual Drive, comprise the first motor (1), second electrical motor (2), big gear wheel swing arm (4), 3rd motor (5), spring plate (12), first quarter moon shape tail fin (13), hull (14) and computer controller (15), it is characterized in that: described computer controller (15) is arranged on the left end of hull (14), the centre of described hull (14) is provided with power supply (16), described first motor (1), second motor (2), 3rd motor (5) and big gear wheel swing arm (4) are installed on the floor of the right-hand member of hull (14), described big gear wheel swing arm (4) is provided with the first axle (3), second axle (10) and the 3rd axle (11), described first axle (3) is provided with the second gear (7), described second axle (10) is provided with the 3rd gear (8), described 3rd axle (11) is provided with miniature gears swing arm (9), described 3rd motor (5) and the second gear (7) are in transmission connection by the first gear (6), described second gear (7) and miniature gears swing arm (9) are in transmission connection by the 3rd gear (8), described miniature gears swing arm (9) is fixedly connected with by spring plate (12) with first quarter moon shape tail fin (13), described computer controller (15) and power supply (16), first motor (1), second motor (2) and the 3rd motor (5) are electrically connected.
2. the flexible push structure of a kind of bionic fish tail Dual Drive according to claim 1, is characterized in that: described miniature gears swing arm (9), the second gear (7) and the 3rd gear (8) are installed in big gear wheel swing arm (4).
3. the flexible push structure of a kind of bionic fish tail Dual Drive according to claim 1, it is characterized in that: left end and the spring plate (12) of described miniature gears swing arm (9) are bolted to connection, spring plate (12) and first quarter moon shape tail fin (13) are bolted to connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520583928.7U CN204956891U (en) | 2015-08-06 | 2015-08-06 | Flexible structure that impels of bionical fish tail dual drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520583928.7U CN204956891U (en) | 2015-08-06 | 2015-08-06 | Flexible structure that impels of bionical fish tail dual drive |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204956891U true CN204956891U (en) | 2016-01-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520583928.7U Expired - Fee Related CN204956891U (en) | 2015-08-06 | 2015-08-06 | Flexible structure that impels of bionical fish tail dual drive |
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| CN (1) | CN204956891U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106275337A (en) * | 2016-08-24 | 2017-01-04 | 合肥凌翔信息科技有限公司 | A kind of Biomimetic Fish carrying out habitata |
| CN107161307A (en) * | 2017-05-12 | 2017-09-15 | 上海湖益科贸有限公司 | A kind of torsion spring string Biomimetic Fish tail-rotor suitable for ships and light boats |
| CN107521615A (en) * | 2017-08-23 | 2017-12-29 | 上海船舶研究设计院（中国船舶工业集团公司第六0四研究院） | A kind of high handling and the bow and high-performance ship of sea-keeping |
| CN109334932A (en) * | 2018-10-22 | 2019-02-15 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Mixed connection driving mechanism for aquatic bio-propulsion system |
| CN110282106A (en) * | 2019-06-27 | 2019-09-27 | 浙江理工大学 | A kind of propulsion device of imitative beaver tail swing |
| CN110588933A (en) * | 2019-08-28 | 2019-12-20 | 哈尔滨工业大学（威海） | Self-adaptive attack angle swing wing propeller and design method |
| CN110901867A (en) * | 2019-12-03 | 2020-03-24 | 哈尔滨工程大学 | Bionic fishtail based on gear connecting rod mechanism |
| CN112078769A (en) * | 2020-08-31 | 2020-12-15 | 天津大学 | Bionic propulsion device imitating seal tail structure and motion |
-
2015
- 2015-08-06 CN CN201520583928.7U patent/CN204956891U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106275337A (en) * | 2016-08-24 | 2017-01-04 | 合肥凌翔信息科技有限公司 | A kind of Biomimetic Fish carrying out habitata |
| CN106275337B (en) * | 2016-08-24 | 2018-01-19 | 合肥凌翔信息科技有限公司 | A kind of Biomimetic Fish for carrying out habitata |
| CN107161307A (en) * | 2017-05-12 | 2017-09-15 | 上海湖益科贸有限公司 | A kind of torsion spring string Biomimetic Fish tail-rotor suitable for ships and light boats |
| CN107521615A (en) * | 2017-08-23 | 2017-12-29 | 上海船舶研究设计院（中国船舶工业集团公司第六0四研究院） | A kind of high handling and the bow and high-performance ship of sea-keeping |
| CN109334932A (en) * | 2018-10-22 | 2019-02-15 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Mixed connection driving mechanism for aquatic bio-propulsion system |
| CN110282106A (en) * | 2019-06-27 | 2019-09-27 | 浙江理工大学 | A kind of propulsion device of imitative beaver tail swing |
| CN110588933A (en) * | 2019-08-28 | 2019-12-20 | 哈尔滨工业大学（威海） | Self-adaptive attack angle swing wing propeller and design method |
| CN110588933B (en) * | 2019-08-28 | 2021-07-27 | 哈尔滨工业大学（威海） | Self-adaptive attack angle swing wing propeller and design method |
| CN110901867A (en) * | 2019-12-03 | 2020-03-24 | 哈尔滨工程大学 | Bionic fishtail based on gear connecting rod mechanism |
| CN112078769A (en) * | 2020-08-31 | 2020-12-15 | 天津大学 | Bionic propulsion device imitating seal tail structure and motion |
| CN112078769B (en) * | 2020-08-31 | 2022-03-18 | 天津大学 | Bionic propulsion device imitating seal tail structure and motion |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160113 Termination date: 20160806 |
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| CF01 | Termination of patent right due to non-payment of annual fee |