WO2016004800A1 - 基于行星轮系的仿胸鳍推进装置 - Google Patents

基于行星轮系的仿胸鳍推进装置 Download PDF

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Publication number
WO2016004800A1
WO2016004800A1 PCT/CN2015/080454 CN2015080454W WO2016004800A1 WO 2016004800 A1 WO2016004800 A1 WO 2016004800A1 CN 2015080454 W CN2015080454 W CN 2015080454W WO 2016004800 A1 WO2016004800 A1 WO 2016004800A1
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WIPO (PCT)
Prior art keywords
support plate
pectoral fin
planetary gear
disc
fixed
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PCT/CN2015/080454
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English (en)
French (fr)
Inventor
王淑妍
王新国
朱永梅
张建
唐文献
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江苏科技大学
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Application filed by 江苏科技大学 filed Critical 江苏科技大学
Priority to US15/316,770 priority Critical patent/US9771135B2/en
Publication of WO2016004800A1 publication Critical patent/WO2016004800A1/zh

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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
    • B63H1/32—Flaps, pistons, or the like, reciprocating in propulsive direction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H1/00—Propulsive elements directly acting on water
    • B63H1/30—Propulsive elements directly acting on water of non-rotary type
    • B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H23/00—Transmitting power from propulsion power plant to propulsive elements
    • B63H23/02—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H23/00—Transmitting power from propulsion power plant to propulsive elements
    • B63H23/02—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing
    • B63H2023/0283—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing using gears having orbital motion

Definitions

  • the invention relates to a device in the field of fish-like propulsion technology, in particular to a bionic robot fish pectoral fin propulsion device.
  • the patent describes a pectoral fin flexible swinging machine fish, which is mainly The principle is to convert the rotation of the motor into the swing of the pectoral fin link by the cam roller mechanism.
  • the patent name is: a bionic robot fish pectoral fin structure
  • the main principle of this patent is to transmit the rotation to the gear shaft and bevel gear through three steering gears respectively.
  • the pectoral fin can be driven to the gear shaft, and the pectoral gear can be driven to rotate the pectoral fin.
  • Patent 1 uses a cam mechanism to realize the reciprocating swing of the pectoral fin link, which has the disadvantage that the swing amplitude cannot be adjusted after the cam has geometric parameters set, so that the pectoral fin connection The movement form of the rod is single; 2) Patent 1 uses two sets of the same cam mechanism to realize the swing of the left and right pectoral fins respectively, and it is necessary to add a gear mechanism to realize the synchronization problem of the cam; 3) Patent two pectoral fins respectively consist of two servos The positive and negative reversal is transmitted to the gear shaft, and the reciprocating flapping of the pectoral fin is driven by the rotation of the gear.
  • the reciprocating motion control of the pectoral fin depends on the steering gear; 4) the above two pectoral fin propulsion devices inevitably use the gear mechanism, so that the entire propulsion device is relatively complex. 5) In addition, the steering gear and the cam mechanism are insufficient in terms of load bearing, and the propulsion device is limited in applications where the propulsive force is large.
  • the invention aims to provide a pseudo-pectoral fin swinging robot propulsion device which is simple and compact in structure and large in carrying capacity, and is particularly suitable for space-constrained occasions.
  • a pseudo-pectoral fin propulsion device based on a planetary gear train comprising a frame, a power supply, a propulsion portion, a left and right maneuvering portion, a fixed support plate, a movable support plate, a left pectoral fin, a right pectoral fin, a fish body and a caudal fin, and the fixed support plate and
  • the movable support plates are mounted on the frame in parallel with each other, the fixed support plates are located in front of the movable support plate, and the left and right maneuvering portions are located between the fixed support plate and the movable support plate, wherein
  • the propulsion portion includes a driving servo motor, a coupling, a transmission shaft, a planet carrier, a double disc planetary wheel, a sun gear, a stud, a left pectoral fin link, a right pectoral fin link, a left rocker block, and a left rocker block.
  • the driving servo motor is fixed on the fixed support plate, and an output shaft thereof is connected to one end of the transmission shaft through a coupling, and the other end of the transmission shaft is a planet carrier is coupled; an output shaft of the planet carrier is coupled to a central portion of the double-disc planetary wheel via a bearing;
  • the planet gear includes upper and lower discs that are parallel to each other, the lower disc outer gear and the sun gear
  • the internal gears are meshed with a plurality of threaded holes uniformly distributed around the indexing circle of the upper disc;
  • the sun gear is fixed on the frame and located in front of the fixed support plate;
  • One end of the stud is installed in the threaded hole of the upper disc, and the other end is respectively hinged with the left pectoral fin link and the right pectoral fin link; the left end of the left rocker fixing rod and the right rocker fixing rod are respectively Installed on the left and right sides of the movable support plate
  • the left and right maneuvering parts include an upper dovetail rail, an upper slider, a lower dovetail rail, a lower slider, a rack and a forward and reverse servo motor with a gear on a motor shaft;
  • the upper dovetail rail and the lower dovetail The rails are respectively fixed at an upper end and a lower end of the front end surface of the movable support plate, and the upper slider and the lower slider are respectively fixedly mounted on upper and lower ends of the rear end surface of the fixed support plate, the upper dovetail guide rail and a lower dovetail rail is respectively slidably engaged with the upper slider and the lower slider;
  • the rack is fixed at a middle position of a front end surface of the movable support plate, and the forward/reverse servo motor is fixed at the
  • a rear end surface of the fixed support plate is mounted on the output shaft with a motor gear that meshes with the rack.
  • the middle portions of the two disk gears of the double-disc planetary gear of the present invention are fixedly connected to each other.
  • the bearing between the output shaft of the planet carrier of the present invention and the double-disc planetary gear includes a first deep groove ball bearing and a second deep groove ball bearing, and the second deep groove ball bearing and the first deep groove ball bearing are in contact with each other and Front and rear mounting, the rear end of the first deep groove ball bearing is constrained by the shoulder of the planet carrier.
  • the invention also includes a sleeve and a baffle, the front end of the second deep groove ball bearing being constrained by a sleeve, the upper end of the sleeve being pressed by the baffle.
  • the present invention also includes a first nut that is pressed against the sleeve by a first nut and that has a gap with the dual-disc planet gear.
  • the invention also includes a key through which the drive shaft is coupled to the planet carrier.
  • the invention also includes a sun gear support post that is fixedly coupled to the frame by the sun gear support.
  • the stud of the present invention includes a thick end and a thin end, the thick end of the stud is connected to a double disc planetary wheel, and the left pectoral fin link and the right pectoral fin are in the stud The fine ends are hinged.
  • the present invention Compared with the existing pectoral fin propulsion device, the present invention has the following advantages: 1) The use of a special K_H_V planetary gear train is converted into a reciprocating swing of two pectoral fins, and there is no problem that the two pectoral fins are not synchronized. 2) By changing the absolute distance between the left and right shaking blocks, the reciprocating swing amplitude of the pectoral fin can be changed to realize the shifting propulsion; changing the phase distance between the left and right shaking blocks to the center of the sun gear can make the two pectoral fins swing at different swing angles to achieve left and right Maneuvering. 3) As a motion conversion mechanism, the gear mechanism has greater bearing capacity than the cam mechanism, which is convenient for improving the bearing capacity of the propulsion device.
  • the planetary gear train has high space utilization and simple and compact structure, especially suitable for space-constrained occasions.
  • Planetary gear trains are easy to integrate with the speed reducer based on the completion of motion conversion, which is convenient for promotion to ship propulsion applications under high load conditions. .
  • Figure 1 is a front elevational view of a chest-like fin advancement device of the present invention.
  • Figure 2 is a cross-sectional view taken along line A-A of Figure 1;
  • Figure 3 is a partial elevational view of the left and right maneuvering portions of the chest-like fin propulsion device of the present invention.
  • FIG. 4 is a view showing the hinge structure of the pectoral fin link of the present invention.
  • Fig. 5 is a view showing the installation position of the chest-like fin propulsion device of the present invention.
  • Figure 6 is a schematic diagram of the leftward maneuvering of the chest-like fin propulsion device of the present invention.
  • inside and outside means that the direction pointing to the inside of the device is relative to the device itself.
  • the inside, and vice versa, is not specifically limited to the device mechanism of the present invention.
  • left and right means that when the reader is facing the drawing, the left side of the reader is left, and the right side of the reader is right, rather than the specific limitation of the device mechanism of the present invention. .
  • connection may be a direct connection between components or an indirect connection between components through other components.
  • front and rear as used in the present invention means that the traveling direction in the working process of the propulsion device is “front” and vice versa.
  • the present invention is a chest wheel fin propulsion device based on a planetary gear train, comprising a power source 1 , a propulsion portion 2 , a left and right maneuvering portion 3 , and a fixed support plate 4 .
  • the movable support plate 5 the left pectoral fin 6, the right pectoral fin 7, the fish body 8, and the caudal fin 9.
  • the propulsion part 2 includes a driving servo motor 201, a coupling 202, a transmission shaft 203, a key 204, a planet carrier 205, a first deep groove ball bearing 206, a second deep groove ball bearing 207, a double disc planetary wheel 208, Sleeve 209, baffle 210, first nut 211, sun gear 212, sun gear support column 213, stud 214, second nut 215, left pectoral fin link 216, right pectoral fin link 217, left rocker block 218
  • the left rocker fixing rod 219, the right rocking block 220, and the right rocker fixing rod 221; the left and right maneuvering parts 3 include: an upper dovetail rail 301, an upper slider 302, a lower dovetail rail 303, a lower slider 304, and a rack 305.
  • the fixed support plate 4 and the movable support plate 5 are distributed back and forth, and the power source 1 is fixed to the lower portion of the fixed support plate 4, and the two are fixedly connected.
  • the propulsion portion 2 is disposed on the fixed support plate 4, and the drive servo motor 201 is fixedly mounted on the inner surface of the fixed support plate 4, and the output shaft thereof passes through the fixed support plate 4 and is coupled to the transmission shaft 203 through the coupling 202, and the transmission shaft 203
  • the ball bearing 205 is connected to the planet carrier 205, and the output shaft of the planet carrier 205 is coupled to the double-disc planet gear 208.
  • the output shaft of the planet carrier 205 is provided with a first deep groove ball bearing 206 and a second deep groove ball.
  • the bearing 207 is mounted in contact with one end, and one end is restrained by the shoulder of the carrier 205, and the other end is restrained by the sleeve 209.
  • the upper end of the sleeve 209 is pressed by the baffle 210, and the baffle 210 is pressed by the first nut 211.
  • the plate 210 ensures that a gap is left between the baffle 210 and the double disc planetary wheel 208 while pressing the first deep groove ball bearing 206 and the second deep groove ball bearing 207, thereby ensuring that the double disc planetary wheel 208 can rotate.
  • the lower disc of the double disc planetary wheel 208 meshes with the sun gear 212, and the sun gear 212 is fixedly coupled to the frame by the sun gear support column 213, and the index circle of the disc on the double disc planetary wheel 208 is drilled.
  • the star wheel 208 is connected, and the left pectoral fin link 216 and the right pectoral fin link 217 are hinged at the thin end of the stud 214, as shown in FIG.
  • the studs 214 can obtain different motion paths, and the left pectoral fin link 216 and the right pectoral fin link 217 pass through the left rocker block 218 and the right rocker block 220, respectively, and the left rocker block 218 and the right rocker block 220 respectively
  • the left rocker fixing rod 219 and the right rocker fixing rod 221 on the movable supporting plate 5 are hinged.
  • the left pectoral fin 6 and the right pectoral fin 7 are respectively fixed to the left pectoral fin link 216 And the end of the right pectoral fin link 217.
  • the left and right maneuvering portions 3 are located between the fixed supporting plate 4 and the movable supporting plate 5, and the upper dovetail rail 301 and the lower dovetail rail 303 are symmetrically fixed to the upper and lower ends of the inner surface of the movable supporting plate 5, respectively, the upper slider 302 and the sliding
  • the block 304 is fixedly mounted on the inner side of the fixed support plate 4, the rack 305 is located at an intermediate position of the inner surface of the movable support plate 5 and is fixedly connected to the rack fixing plate 306, and the rack fixing plate 306 is fixedly connected to the movable support plate 5,
  • the forward/reverse servo motor 307 is fixedly mounted on the inner side of the fixed support plate 4, and its mounting requirement is that the gears on the rotating shaft of the forward/reverse servo motor 307 and the rack 305 are well meshed.
  • the double-circle planetary gear 208 and the double-disc planetary gear 208 have a division circle radius of one-half of the radius of the sun wheel 212 index circle, and the upper disc index circle of the double-disc planetary gear 208 is drilled with 12 threaded holes, threaded holes are equally spaced, and different moving paths of the studs 214 can be obtained by selecting different threaded holes.
  • the moving path of the studs 214 is reciprocated along the diameter of the sun gear 212 where it is located. , thus obtaining different swing amplitudes.
  • the chest-like fin propulsion device is installed in the middle front portion of the robot fish body 8, and pushes the entire robotic fish forward with the aid of the caudal fin 9.
  • the servo motor 201 is coupled to the transmission shaft 203 via the coupling 202 to drive the carrier 205 to rotate, and the double-disc planetary gear 208 mounted on the carrier 205 and the fixed sun gear 212 mesh to realize planetary motion.
  • the studs 214 distributed on the planet indexing circle reciprocate along the diameter of the sun gear 212 on which they are located.
  • the studs 214 drive through the left and right rockers 218 and 220, respectively.
  • the stud 214 swings back and forth with the hinged left pectoral fin link 216 and the right pectoral fin link 217, thereby causing the left pectoral fin 6 and the right pectoral fin 7 to flap up and down, thereby enabling the robotic fish to gain forward momentum.
  • the forward and reverse servomotors 307 located inside the fixed support plate 4 start to rotate after receiving the signal, and when the machine fish needs to turn to the left, the forward and reverse servomotors 307 rotate forward.
  • the gear on the shaft of the motor 307 meshes with the rack 305, and the movable supporting plate 5 fixedly connected with the rack 305 is moved to the left.
  • the left rocker 218 hinged to the movable supporting plate 5 and the right rocker are changed as shown in FIG.
  • the position of the block 220 relative to the stud 214 is such that the swing amplitude of the right pectoral fin 7 is greater than the swing amplitude of the left pectoral fin 6, so that the right pectoral fin 7 of the robot fish has a greater propulsive force than the left pectoral fin 6, thereby turning the robot fish to the left;
  • the magnitude of the turning width is determined by the number of turns of the forward/reverse servo motor 307 and the rotational speed of the drive servo motor 201.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
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Abstract

基于行星轮系的仿胸鳍推进装置，包括机架、电源（1）、推进部分（2）、左右机动部分（3）、固定支承板（4）、活动支承板（5）、左胸鳍（6）、右胸鳍（7）、鱼体（8）和尾鳍（9），固定支承板（4）和活动支承板（5）相互平行地安装在机架上，固定支承板（4）位于活动支承板（5）的前方位置，左右机动部分（3）位于固定支承板（4）和活动支承板（5）之间。克服了两个胸鳍不同步的问题，实现变速推进和左右机动，便于提高推进装置的承载能力，尤其适用于空间受限的场合。

Description

基于行星轮系的仿胸鳍推进装置 技术领域
本发明涉及一种仿鱼推进技术领域的装置，具体地说涉及一种仿生机器鱼胸鳍推进装置。
背景技术
鱼类作为自然界进化的产物，其出色的游动能力日益受到国内外学者的关注。中间/对鳍推进方式作为一种主要的推进模式，在游动的灵活度、姿态稳定性、沉浮控制及定位等方面具有明显的优势。研究中间/对鳍推进并进行机构创新设计对解决鱼体机动性、稳定性等问题具有重要意义。
经对现有技术的文献检索发现，中国专利公开号：CN 101665174，公告日：2012.02.02，专利名称：胸鳍柔性摆动机器鱼，该专利描述了一种胸鳍柔性摆动机器鱼，该机器鱼主要原理是通过凸轮滚子机构，将电机的转动转化为胸鳍连杆的摆动。中国专利公开号：CN100340452C，公告日为：2007.10.03，专利名称为：一种仿生机器鱼胸鳍结构，该专利主要原理是通过三个舵机将转动分别传到齿轮轴和锥齿轮上，传到齿轮轴上可以带动胸鳍作拍动运动，而传递到锥齿轮上可以带动胸鳍作转动运动。
上述专利利用不同原理实现了仿胸鳍推进，但也存在明显不足：1)专利一采用凸轮机构实现胸鳍连杆的往复摆动，由于凸轮存在几何参数设定后摆动幅度不可调节的缺点，使得胸鳍连杆的运动形式单一；2)专利一采用两套相同的凸轮机构分别实现左、右胸鳍的摆动，需要添加齿轮机构实现凸轮的同步性问题；3)专利二两个胸鳍分别由两个舵机正反转传递到齿轮轴，通过齿轮转动分别带动胸鳍往复拍动，胸鳍的往复运动控制要依赖舵机；4)上述两个胸鳍推进装置都不可避免地用了齿轮机构，使得整个推进装置较为复杂。5)另外舵机和凸轮机构在承载方面均有不足，对推进装置在推进力较大的应用场合受限。
发明内容
本发明旨在提供一种结构简单紧凑，承载能力大，尤其适用于空间受限场合的仿胸鳍摆动机器鱼推进装置。
为达到上述目的，本发明采用如下技术方案：
一种基于行星轮系的仿胸鳍推进装置，包括机架、电源、推进部分、左右机动部分、固定支承板、活动支承板、左胸鳍、右胸鳍、鱼体和尾鳍，所述固定支撑板和活动支撑板相互平行地安装在所述机架上，所述固定支撑板位于活动支撑板的前方位置，所述左右机动部分位于固定支撑板和活动支撑板之间，其中，
所述推进部分包括驱动伺服电机、联轴器、传动轴、行星架、双圆盘行星轮、太阳轮、双头螺柱、左胸鳍连杆、右胸鳍连杆、左摇块、左摇块固定杆、右摇块和右摇块固定杆，所述驱动伺服电机固定在所述固定支撑板上，其输出轴通过联轴器与传动轴的一端相连接，所述传动轴的另一端与行星架相连接；所述行星架的输出轴与双圆盘行星轮的中部通过轴承连接；所述行星轮包括相互平行的上圆盘和下圆盘，所述下圆盘外部齿轮与太阳轮的内部齿轮相啮合，沿所述上圆盘的分度圆周围均匀开设有多个螺纹孔；所述太阳轮固定在所述机架上并位于所诉固定支撑板的前方位置；所述双头螺柱的一端安装在所述上圆盘的螺纹孔中，另一端分别与所述左胸鳍连杆和右胸鳍连杆铰接；所述左摇块固定杆和右摇块固定杆的一端分别安装在所述活动支撑板的左右两侧，所述左摇块和右摇块分别固定在所述左摇块固定杆和右摇块固定杆的另一端上，所述左胸鳍连杆和右胸鳍连杆分别穿过所述左摇块和右摇块，并与左摇块和右摇块相互铰接；
所述左右机动部分包括上燕尾形导轨、上滑块、下燕尾形导轨、下滑块、齿条和电机轴上配有齿轮的正反转伺服电机；所述上燕尾形导轨和下燕尾形导轨分别固定在所述活动支撑板的前端面的上端和下端，所述上滑块和下滑块分别固定安装在所述固定支撑板的后端面的上端和下端，所述上燕尾形导轨和下燕尾形导轨分别与所述上滑块和下滑块之间相互滑动配合；所述齿条固定在所述活动支撑板的前端面的中部位置，所述正反转伺服电机固定在所述固定支撑板的后端面上，其输出轴上安装有和所述齿条相啮合的电机齿轮。
本发明双圆盘行星轮的两个圆盘齿轮的中部相互固定连接。
本发明行星架的输出轴与双圆盘行星轮之间的轴承包括第一深沟球轴承和第二深沟球轴承，所述第二深沟球轴承和第一深沟球轴承相互接触并前后安装，所述第一深沟球轴承的后端通过行星架的轴肩约束。
本发明还包括套筒和挡板，所述第二深沟球轴承的前端通过套筒约束，所述套筒的上端由挡板压住。
本发明还包括第一螺母，所述挡板由第一螺母压紧在所述套筒上，并与所述双圆盘行星轮之间留有间隙。
本发明还包括键，所述传动轴通过所述键与行星架连接。
本发明还包括太阳轮支撑柱，所述太阳轮通过所述太阳轮支撑住固定连接在所述机架上。
本发明的双头螺柱包括粗头端和细头端，所述双头螺柱的粗头端与双圆盘行星轮连接，所述左胸鳍连杆和右胸鳍连杆在双头螺柱的细头端铰接。
与现有的胸鳍推进装置相比较，本发明具有以下优点：1)采用一个特殊的K_H_V行星轮系转化为两个胸鳍的往复摆动，不存在两个胸鳍不同步的问题。2)通过改变左右摇块之间的绝对距离可以改变胸鳍的往复摆动幅度，实现变速推进；改变左右摇块到太阳轮中心的相距离，可以使两个胸鳍以不等摆角摆动，实现左右机动。3)齿轮机构作为运动转换机构，比凸轮机构承载能力大，便于提高推进装置的承载能力；4)行星轮系空间利用率高，结构简单紧凑，尤其适用于空间受限的场合，可推广用于微型水下设备及微型无人水下探测器等；5)行星轮系在完成运动转换基础上，很容易和减速装置进行一体化设计，便于向高承载工况下的船舶推进应用上推广。
附图说明
图1是本发明的仿胸鳍推进装置主视图。
图2是图1中A-A方向剖视图。
图3是本发明的仿胸鳍推进装置左右机动部分局部视图。
图4是本发明的胸鳍连杆铰接结构图。
图5是本发明的仿胸鳍推进装置安装位置图。
图6是本发明的仿胸鳍推进装置左向机动原理图。
具体实施方式
为使本发明实施例的目的和技术方案更加清楚，下面将结合本发明实施例的附图，对本发明实施例的技术方案进行清楚、完整地描述。显然，所描述的实施例是本发明的一部分实施例，而不是全部的实施例。基于所描述的本发明的实施例，本领域普通技术人员在无需创造性劳动的前提下所获得的所有其他实施例，都属于本发明保护的范围。
本技术领域技术人员可以理解，除非另外定义，这里使用的所有术语(包括技术术语和科学术语)具有与本发明所属领域中的普通技术人员的一般理解相同的意义。还应该理解的是，诸如通用字典中定义的那些术语应该被理解为具有与现有技术的上下文中的意义一致的意义，并且除非像这里一样定义，不会用理想化或过于正式的含义来解释。
本发明中所述的“和/或”的含义指的是各自单独存在或两者同时存在的情况均包括在内。
本发明中所述的“内、外”的含义指的是相对于设备本身而言，指向设备内部的方向为 内，反之为外，而非对本发明的装置机构的特定限定。
本发明中所述的“左、右”的含义指的是阅读者正对附图时，阅读者的左边即为左，阅读者的右边即为右，而非对本发明的装置机构的特定限定。
本发明中所述的“连接”的含义可以是部件之间的直接连接也可以是部件间通过其它部件的间接连接。
本发明中所述的“前、后”的含义是指推进装置工作过程中的行进方向为“前”，反之为“后”。
如图1、图2、图3、图4、图5所示，本发明是一种基于行星轮系的仿胸鳍推进装置，包括电源1、推进部分2、左右机动部分3、固定支承板4和活动支承板5、左胸鳍6、右胸鳍7、鱼体8、尾鳍9。其中，推进部分2包括驱动伺服电机201、联轴器202、传动轴203、键204、行星架205、第一深沟球轴承206、第二深沟球轴承207、双圆盘行星轮208、套筒209、挡板210、第一螺母211、太阳轮212、太阳轮支撑柱213、双头螺柱214、第二螺母215、左胸鳍连杆216、右胸鳍连杆217、左摇块218、左摇块固定杆219、右摇块220、右摇块固定杆221；左右机动部分3包括：上燕尾形导轨301、上滑块302、下燕尾形导轨303、下滑块304、齿条305、齿条固定板306、正反转伺服电机307(电机轴上配有齿轮)。
结合图1、图2、图3，固定支承板4和活动支承板5前后分布，电源1固定于固定支承板4的下部，并且二者固定连接。推进部分2布置在固定支承板4上，驱动伺服电机201固定安装在固定支承板4的内表面，其输出轴穿过固定支承板4并通过联轴器202与传动轴203相连，传动轴203通过键204与行星架205连接，行星架205的输出轴与双圆盘行星轮208之间为轴承连接，行星架205的输出轴上设置有第一深沟球轴承206和第二深沟球轴承207，二者接触安装，一端通过行星架205的轴肩约束，另一端通过套筒209约束，套筒209的上端由挡板210压住，挡板210由第一螺母211压紧，挡板210在压紧第一深沟球轴承206和第二深沟球轴承207的同时保证挡板210与双圆盘行星轮208之间留有间隙，从而确保双圆盘行星轮208能够自转，双圆盘行星轮208的下圆盘与太阳轮212内啮合，太阳轮212通过太阳轮支撑柱213固定连接于机架上，双圆盘行星轮208上圆盘的分度圆上钻有多个等距螺纹孔，双头螺柱214的粗头端与双圆盘行星轮208连接，左胸鳍连杆216和右胸鳍连杆217在双头螺柱214的细头端铰接，如图4所示，并且在细头端通过第二螺母215来约束，通过选择不同的螺纹孔，双头螺柱214可以得到不同的运动路径，左胸鳍连杆216和右胸鳍连杆217分别穿过左摇块218和右摇块220，左摇块218和右摇块220分别与活动支承板5上的左摇块固定杆219和右摇块固定杆221铰接。左胸鳍6和右胸鳍7分别固定于左胸鳍连杆216 和右胸鳍连杆217的末端。左右机动部分3位于固定支承板4和活动支承板5之间，上燕尾形导轨301和下燕尾形导轨303分别对称固定于活动支承板5内表面的上下两端，上滑块302和下滑块304将分别固定安装在固定支承板4的内侧，齿条305位于活动支承板5内表面的中间位置并与齿条固定板306固定连接，齿条固定板306与活动支承板5固定连接，正反转伺服电机307固定安装在固定支承板4的内侧，其安装要求为正反转伺服电机307转动轴上的齿轮和齿条305啮合良好。
所述双圆盘行星轮208，双圆盘行星轮208的分度圆半径为太阳轮212分度圆半径的二分之一，双圆盘行星轮208的上部圆盘分度圆上钻有12个螺纹孔，螺纹孔等间距分布，通过选择不同的螺纹孔，可以得到双头螺柱214的不同运动路径，双头螺柱214的运动路径为沿其所在太阳轮212的直径做往复运动，从而获得不同的摆动幅度。
如图5所示，仿胸鳍推进装置安装在机器鱼鱼体8的中前部，并且在尾鳍9的辅助作用下推动整个机器鱼前进。
具体工作过程如下：
当机器鱼直行推进的时候，伺服电机201通过联轴器202与传动轴203相连带动行星架205转动，安装在行星架205上的双圆盘行星轮208和固定太阳轮212相啮合实现行星运动，分布在行星轮分度圆上的双头螺柱214沿其所在太阳轮212的直径上做往复运动，双头螺柱214带动分别穿过左摇块218和右摇块220并与双头螺柱214以铰链连接的左胸鳍连杆216和右胸鳍连杆217做往复摆动，从而使左胸鳍6和右胸鳍7产生上下拍动，进而使机器鱼获得前进的动力。
当机器鱼行进过程中需要左右机动的时候，位于固定支承板4内侧的正反转伺服电机307接受信号后，开始转动，当机器鱼需要向左转弯时，正反转伺服电机307正向转动，电机307轴上的齿轮和齿条305啮合，带动与齿条305固定连接的活动支承板5向左运动，如图6所示改变了铰接于活动支承板5的左摇块218和右摇块220相对于双头螺柱214的位置，使右胸鳍7的摆动幅度大于左胸鳍6的摆动幅度，从而使机器鱼的右胸鳍7推进力大于左胸鳍6，进而使机器鱼向左转弯；同理，当机器鱼需要右转弯时，只需要发出电机反转的信号即可。转弯幅度的大小则由正反转伺服电机307转动的圈数和驱动伺服电机201的转速共同决定。
以上仅为本发明的实施方式，其描述较为具体和详细，但并不能因此而理解为对本发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些均属于本发明的保护范围。

Claims (8)

  1. 一种基于行星轮系的仿胸鳍推进装置，其特征在于，包括机架、电源(1)、推进部分(2)、左右机动部分(3)、固定支承板(4)、活动支承板(5)、左胸鳍(6)、右胸鳍(7)、鱼体(8)和尾鳍(9)，所述固定支撑板(4)和活动支撑板(5)相互平行地安装在所述机架上，所述固定支撑板(4)位于活动支撑板(5)的前方位置，所述左右机动部分(3)位于固定支撑板(4)和活动支撑板(5)之间，其中，
    所述推进部分(2)包括驱动伺服电机(201)、联轴器(202)、传动轴(203)、行星架(205)、双圆盘行星轮(208)、太阳轮(212)、双头螺柱(214)、左胸鳍连杆(216)、右胸鳍连杆(217)、左摇块(218)、左摇块固定杆(219)、右摇块(220)和右摇块固定杆(221)，所述驱动伺服电机(201)固定在所述固定支撑板(4)上，其输出轴通过联轴器(202)与传动轴(203)的一端相连接，所述传动轴(203)的另一端与行星架(205)相连接；所述行星架(205)的输出轴与双圆盘行星轮(208)的中部通过轴承连接；所述行星轮(208)包括相互平行的上圆盘和下圆盘，所述下圆盘外部齿轮与太阳轮(212)的内部齿轮相啮合，沿所述上圆盘的分度圆周围均匀开设有多个螺纹孔；所述太阳轮(212)固定在所述机架上并位于所诉固定支撑板(4)的前方位置；所述双头螺柱(214)的一端安装在所述上圆盘的螺纹孔中，另一端分别与所述左胸鳍连杆(216)和右胸鳍连杆(217)铰接；所述左摇块固定杆(219)和右摇块固定杆(221)的一端分别安装在所述活动支撑板(5)的左右两侧，所述左摇块(218)和右摇块(220)分别固定在所述左摇块固定杆(219)和右摇块固定杆(221)的另一端上，所述左胸鳍连杆(216)和右胸鳍连杆(217)分别穿过所述左摇块(218)和右摇块(220)，并与左摇块(218)和右摇块(220)相互铰接；
    所述左右机动部分(3)包括上燕尾形导轨(301)、上滑块(302)、下燕尾形导轨(303)、下滑块(304)、齿条(305)和电机轴上配有齿轮的正反转伺服电机(307)；所述上燕尾形导轨(301)和下燕尾形导轨(303)分别固定在所述活动支撑板(5)的前端面的上端和下端，所述上滑块(302)和下滑块(304)分别固定安装在所述固定支撑板(4)的后端面的上端和下端，所述上燕尾形导轨(301)和下燕尾形导轨(303)分别与所述上滑块(302)和下滑块(304)之间相互滑动配合；所述齿条(305)固定在所述活动支撑板(5)的前端面的中部位置，所述正反转伺服电机(307)固定在所述固定支撑板(4)的后端面上，其输出轴上安装有和所述齿条(305)相啮合的电机齿轮。
  2. 根据权利要求1所述的一种基于行星轮系的仿胸鳍推进装置，其特征在于，所述双圆盘行星轮(208)的两个圆盘齿轮的中部相互固定连接。
  3. 根据权利要求1所述的一种基于行星轮系的仿胸鳍推进装置，其特征在于，所述行星架(205)的输出轴与双圆盘行星轮(208)之间的轴承包括第一深沟球轴承(206)和第二深沟球轴承(207)，所述第二深沟球轴承(207)和第一深沟球轴承(206)相互接触并前后安装，所述第一深沟球轴承(206)的后端通过行星架(205)的轴肩约束。
  4. 根据权利要求3所述的一种基于行星轮系的仿胸鳍推进装置，其特征在于，还包括套筒(209)和挡板(210)，所述第二深沟球轴承(207)的前端通过套筒(209)约束，所述套筒(209)的上端由挡板(210)压住。
  5. 根据权利要求4所述的一种基于行星轮系的仿胸鳍推进装置，其特征在于，还包括第一螺母(211)，所述挡板(210)由第一螺母(211)压紧在所述套筒(209)上，并与所述双圆盘行星轮(208)之间留有间隙。
  6. 根据权利要求1所述的一种基于行星轮系的仿胸鳍推进装置，其特征在于，还包括键(204)，所述传动轴(203)通过所述键(204)与行星架(205)连接。
  7. 根据权利要求1所述的一种基于行星轮系的仿胸鳍推进装置，其特征在于，还包括太阳轮支撑柱(213)，所述太阳轮(212)通过所述太阳轮支撑住(213)固定连接在所述机架上。
  8. 根据权利要求1所述的一种基于行星轮系的仿胸鳍推进装置，其特征在于，所述双头螺柱(214)包括粗头端和细头端，所述双头螺柱(214)的粗头端与双圆盘行星轮(208)连接，所述左胸鳍连杆(216)和右胸鳍连杆(217)在双头螺柱(214)的细头端铰接。
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