WO2016045405A1

WO2016045405A1 - Imitation tail fin propelling device

Info

Publication number: WO2016045405A1
Application number: PCT/CN2015/080451
Authority: WO
Inventors: 王淑妍; 王新国; 朱君; 唐文献; 苏世杰
Original assignee: 江苏科技大学
Priority date: 2014-09-28
Filing date: 2015-06-01
Publication date: 2016-03-31
Also published as: CN104260864A; CN104260864B

Abstract

An imitation tail fin propeller, comprising a left gear transmission portion (1), a right gear transmission portion (2), a middle planetary gear train portion (3), a main input shaft (4), a bearing (5), a connecting rod (6), a tail fin connecting rod (7) and a tail fin (8); the left gear transmission portion (1) and the right gear transmission portion (2) are respectively installed at the left and right sides of the middle planetary gear train portion (3); the main input shaft (4) sequentially passes through a right box (104), a right support box (312), the bearing (5), a sun gear box (323) and a left support box (301), and is installed on the right support box (312) and the left support box (301) respectively via bearings (5); and a left driving wheel (101) and a right driving wheel (201) are respectively connected to the left and right ends of the main input shaft (4). The whole propeller has a large carrying capacity, a stable transmission, a compact structure and a high space utilization rate, is easy to be integrally designed with a reduction gear on the basis of employing a planetary gear train to complete motion conversion, and is suitable for propelling ships under a high-load working condition.

Description

Imitation tail fin propulsion device

Technical field

The invention belongs to the technical field of a fish-like propeller, and in particular relates to a simulated tail fin propulsion device.

Background technique

The way in which marine life advances, flexibility, maneuverability, etc., especially the propulsion efficiency is even higher than 98%, and it has the incomparable superiority of existing artificial water surface or underwater vehicle. Fishtail pendulum is an efficient propulsion mode recognized in various propulsion models of fish-like robots, which maintains high-speed cruising performance in a long-cycle motion. It is driven by a combination of motor and specific transmission. Compared with the existing drive form (hydraulic, motor, special materials such as memory alloy, etc.), it has strong driving capability and can drive large carriers. It is suitable for bionics and is fast and quick to turn. Marine life has great research value and application potential.

In the fish swimming in the fishtail mode, the propulsion can be divided into two parts: one is the tail handle part that generates the flapping and transmitting thrust, and the other is the tail fin part that generates the thrust. The tail shank performs a reciprocating linear motion, and its motion trajectory approximates a sinusoidal curve during forward swimming. During the swimming process, the front 2/3 part of the body is almost rigid, and the particularly obvious lateral displacement occurs only in the caudal fin and the narrow region (tail stalk) where the caudal fin is connected to the body. Its good streamlined body can greatly reduce the body resistance. The caudal fin produces more than 90% of the propulsive force.

The literature search of the prior art found that: (1) Chinese Patent Publication No.: CN 1256259C, Announcement Date: 2006.05.17, the patent name is: a flexible propulsion mechanism for bionic robot fish. The patent mainly describes a flexible propulsion mechanism of a bionic robot fish. The main principle of the flexible propulsion mechanism is to drive the tail fin driving wheel and the tail driving wheel to rotate respectively through two driving motors, and relax and relax by the steel wire on both sides of the fish tail. , to achieve the rotation of the caudal fin and the composite movement of the entire tail. (2) Chinese Patent Publication No.: CN 100418847C, Announcement Date: 2008.09.17, patent name: double-tailed bionic tail thruster. The patent mainly introduces a double-tailed bionic propeller. The main propulsion principle of the propeller is that the motor drives the driving sprocket pair to rotate the driven sprocket pair. The sprocket and the connecting rod and the strut constitute a crank-link mechanism. , thereby achieving the swing of the tail handle. (3) Chinese Patent Publication No.: CN 100423987 C, Announcement Date: 2008.10.08, the patent name is: a bionic robot fish. This patent mainly introduces a bionic robot fish. The principle of the fish tail fin propulsion is to use a two linear motor to drive a four-bar linkage mechanism to realize the swing of the caudal fin. (4) Chinese Patent Publication No.: CN 101301926 B, Announcement Date: 2010.10.06, patent name: Bionic robot fish with a submersible module and a tail module. This patent mainly introduces a bionic robot fish with a lifting module and a tail module. The principle of the tail fin propulsion of the robot fish is to use a sliding mechanism and a connecting rod assembly to drive the L-shaped tail shank to realize the swing of the tail shank. Another set of sliding mechanism and connecting rod assembly drives the L-shaped fin fin handle to realize the swing of the caudal fin. Finally, the advancement of the robot fish is realized.

The above patents use different driving principles and mechanisms to achieve the imitation tail fin advancement, but there are also obvious deficiencies: (1) Both patents 1 and 3 are driven by two motors, and synchronous control is required between the two motors; (2) Patent 1 In the middle, the steel wire rope itself is an elastic body, and it is difficult to accurately control the elastic deformation caused by the tension and relaxation. When the flow changes, the load on the wire rope also changes, resulting in deformation of the steel wire, thereby affecting the propulsion effect of the mechanism; Patent 2 only realizes the swing of the tail shank, and the actual propulsion efficiency is low. At the same time, the instantaneous chain speed and transmission ratio of the sprocket drive are not constant, and the propulsion stability is poor; (4) Patent 4 utilizes two sets of sliding mechanisms and connecting rods. Although the assembly drives the L-shaped parts to realize the swing of the tail-tail fins, although the requirements are met, the mechanism is too complicated and the installation requirements are high, so the practicality needs to be improved.

Summary of the invention

The object of the present invention is to provide a simulated tail fin propulsion device which is small in size, simple in structure, large in carrying capacity, and suitable for development in marine applications.

In order to achieve the above object, the present invention is achieved by the following technical solutions:

An imitation tail fin propeller includes a left gear transmission portion, a right gear transmission portion, a middle planetary gear train portion, a total input shaft, a bearing, a connecting rod, a caudal fin link and a caudal fin, wherein

The left gear transmission portion includes a left driving wheel, a left driven wheel, a left planet carrier support shaft and a left box body, and the left driven wheel is keyly connected with an input end of the left planet carrier support shaft and externally meshed with the left driving wheel;

The right gear transmission portion includes a right driving wheel, a right driven wheel, a right carrier supporting shaft and a box body, and the right driven wheel is connected with an output end of the right planet carrier supporting shaft and externally meshed with the right driving wheel;

The central planetary gear train includes a left support box, a first left bearing, a left planet carrier, a left fixed end cover, a second left bearing, a left planetary wheel, a left bearing end cover, a left baffle, a screw, and a left double Head stud, bolt, right support box, first right bearing, right planet carrier, right fixed end cover, second right bearing, right planetary wheel, right bearing end cover, right baffle, screw, right double stud a bolt and a sun gear case; the total input shaft sequentially passes through the right case, the right support case, the bearing, the sun gear case and the left support case, and is respectively mounted on the right support case by the bearing and On the left support box, the left driving wheel and the right driving wheel are respectively connected with the left end and the right end of the total input shaft;

The left planet carrier support shaft is mounted on the left support box by a first left bearing, the input end of the left planet carrier is keyed to the output end of the left planet carrier support shaft, and the left planet wheel passes a pair of second The left bearing is mounted on the output shaft of the left planet carrier, the screw is fixedly connected to the output shaft of the left planet carrier through the left baffle and the left bearing end cover, and a gap is left between the left baffle and the left bearing end cap a left planetary wheel capable of freely rotating, a gear meshing end of the left planet gear meshing with a sun gear portion of the sun gear case, the left double stud being located at a disc-shaped motion output end of the left planet gear, Its central distribution radius is The gear meshing end is indexed by a radius of the circle, and one end of the tail fin mounting rod is hinged to the thin end of the left double stud;

The right planet carrier support shaft is mounted on the right support box by a first right bearing, the input end of the right planet carrier is keyed to the output end of the right planet carrier support shaft, and the right planet gear passes a pair of second The right bearing is mounted on the output shaft of the right planet carrier, and the screw is fixedly connected to the output shaft of the right planet carrier through the right and right bearing end covers, and a gap is left between the right and right bearing end covers a right planetary wheel that is freely rotatable, a gear meshing end of the right planet gear meshing with a sun gear portion of the sun gear housing, the right double stud being located on a disc-shaped motion output end of the right planet gear, The central distribution radius is a gear engagement end indexing circle radius, one end of the connecting rod is hinged to the thin end of the right double stud, and the other end is hinged to the other end of the caudal fin mounting rod, and the caudal fin is mounted on the caudal fin mounting rod End.

Preferably, the base further includes a base, wherein the left and right boxes are respectively fixedly connected to the left support box and the right support box; and the left support box and the right support box are respectively connected to the sun wheel housing The left end and the right end are fixedly connected; the left box body, the left support box body, the right support box body and the bottom of the right box body are respectively fixedly connected to the base.

Preferably, the left planetary gear and the right planetary gear are double-disc planetary gears, one end of which is a gear meshing end, and the other end is a toothless disk-shaped motion output end;

Preferably, the disc-shaped motion output end is provided with a threaded hole for selecting different paths, and the center of the threaded hole is equally spaced on a circle having a radius equal to the radius of the indexing circle of the gear meshing end.

Preferably, the left and right planet wheels have a phase difference of π/2 when assembled.

Two planet wheels mounted on two planets with a V-angle in a special KHV planetary gear train. The two planet wheels are rounded to any diameter of the sun gear indexing circle with which they mesh. The motion relationship of the two points intersecting is a simple harmonic motion having the same phase difference from the V-angle between the planets and located on the diameter. The two simple harmonic motions respectively drive the tail shank and the caudal fin in the tail fin propulsion device, and the movements of the tail shank and the caudal fin are coupled together by a link mechanism to realize the bionic propulsion movement of the fish tail.

Compared with the existing imitation tail fin propeller, the invention has the following advantages: 1) the invention only needs one power source to realize the plane compound motion of the bionic tail fin; 2) the KHV type planetary gear train used in the invention makes the whole The propeller has large carrying capacity, stable transmission, more compact structure and higher space utilization. 3) The invention continuously uses the distance between the connecting points of the driving tail shank and the caudal fin to couple the simple harmonic motion of the tail shank and the caudal fin. The planar composite motion of the caudal fin is realized; 4) the phase difference between the simple harmonic motion of the tail shank and the caudal fin of the present invention is directly reflected on the V-shaped angle between the planet carriers, which is simple and clear, and is suitable for phase difference versus propulsion performance. Influences and other research; 5) The invention is applicable to the use of a motor through a specific mechanism bionic fishtail, and has a strong driving ability; 6) The planetary gear train used in the present invention is easy to integrate with the speed reducing device on the basis of completing the motion conversion. Designed for easy promotion to ship propulsion applications under high load conditions.

DRAWINGS

Figure 1 is a front elevational view of a caudal fin thruster of the present invention;

Figure 2 is a left side elevational view of the caudal fin thruster of the present invention;

Figure 3 is a motion diagram of the caudal fin thruster of the present invention.

detailed description

The technical solutions of the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings. It is apparent that the described embodiments are part of the embodiments of the invention, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the described embodiments of the present invention without departing from the scope of the invention are within the scope of the invention.

Those skilled in the art will appreciate that all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. It should also be understood that terms such as those defined in a general dictionary should be understood to have a meaning consistent with the meaning in the context of the prior art, and unless defined as herein, will not be idealized or overly formal. Explanation.

The meaning of "and/or" as used in the present invention means that the case where each exists alone or both are included.

The meaning of "inside and outside" as used in the present invention means that the direction toward the inside of the device is internal with respect to the device itself, and vice versa, rather than the specific definition of the device mechanism of the present invention.

The meaning of "left and right" as used in the present invention 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. .

The term "connected" as used in the present invention may be a direct connection between components or an indirect connection between components through other components.

As shown in FIG. 1 and FIG. 2, the present invention is an imitation tail fin propeller including a left gear transmission portion 1, a right gear transmission portion 2, a middle planetary gear train portion 3, a total input shaft 4, a bearing 5, and a connecting rod 6. , caudal fin link 7, caudal fin 8, base 9. The left gear transmission portion 1 includes a left driving wheel 101, a left driven wheel 102, a left carrier support shaft 103, and a left casing 104. The right gear transmission portion 2 includes a right driving wheel 201, a right driven wheel 202, and a right carrier support. The shaft 203, the right box body 204, and the middle planetary gear train portion 3 include a left support box body 301, a first left bearing 302, a left planet carrier 303, a left fixed end cover 304, a second left bearing 305, and a left planet wheel 306. Left bearing end cap 307, left baffle 308, screw 309, left stud stud 310, bolt 311, right support box 312, first right bearing 313, right planet carrier 314, right fixed end cap 315, second right Bearing 316, right planetary gear 317, right bearing end cover 318, right baffle 319, screw 320, right double stud 321 , bolt 322, sun gear housing 323.

Referring to FIG. 1 and FIG. 2, the total input shaft 4 of the nine-step stepped shape and the thin intermediate ends are passed through the right box body 204, the right support box body 312, the bearing 5, the sun gear box body 323, and the left support box body 301, and The pair of deep groove ball bearings 5 are mounted on the right support case 312 and the left support case 301, and the left drive wheel 101 and the right drive wheel 201 are respectively connected to the left and right end keys of the total input shaft 4; The wheel 102 is keyed to the input end of the left planet carrier support shaft 103 and externally meshed with the left driving wheel 101. The left planet carrier support shaft 103 is mounted on the left support box 301 via the first left bearing 302, and the left planet carrier 303 The input end is keyed to the output end of the left planet carrier support shaft 103, and the left planet gear 306 is mounted on the output shaft of the left planet carrier 303 via a pair of second left bearings 305, the screw 309 passing through the left baffle 308 and the left bearing end The cover 307 is fixedly connected to the output shaft of the left carrier 303, and a gap is left between the left flap 308 and the left bearing end cover 307, so that the left planetary gear 306 can freely rotate, and the gear meshing end of the left planetary gear 306 and the sun gear box The sun gear portion of the body 323 is meshed, and a thick and thin left double stud 310 is located on the disc-shaped motion output end of the left planet gear 306. The center distribution radius is the gear meshing end indexing circle radius, and the tail fin mounting rod 7 is hinged to the thin end of the left double stud 310; the right driven wheel 202 is keyed to the output end of the right planet carrier support shaft 203 and externally meshed with the right drive wheel 201, and the right planet carrier support shaft 203 passes the first right The bearing 313 is mounted on the right support housing 312, the right planet The input end of the frame 314 is keyed to the output end of the right planet carrier support shaft 203, and the right planetary wheel 317 is mounted on the output shaft of the right planet carrier 314 via a pair of second right bearings 316, and the screw 320 passes through the right baffle 319 and The right bearing end cap 318 is fixedly coupled to the output shaft of the right planet carrier 314, and a gap is left between the right flap 319 and the right bearing end cap 318 to allow the right planet gear 317 to freely rotate, and the gear meshing end of the right planet gear 317 is The sun gear portion of the sun gear housing 323 is partially engaged, and a thick and thin right double stud 321 is located on the disc-shaped motion output end of the right planetary gear 317, and the center distribution radius is the gear engagement end indexing circle radius, even The rod 6 is hinged to the thin end of the right stud 321; the link 6 and the caudal fin mounting rod 7 are hinged, and the caudal fin 8 is attached to the end of the caudal fin mounting rod 7.

The left case 104 and the right case 204 are fixedly coupled to the left support case 301 and the right support case 312, respectively, and the left support case 301 and the right support case 312 are respectively fixed to the left and right ends of the sun gear case 323, respectively. The left case 104, the left support case 301, the right support case 312, and the right case 204 are fixedly coupled to the base 9.

The left planetary gear 306 and the right planetary gear 317 are double-disc planetary gears, one end of which is a gear meshing end, and the other end is a toothless disc-shaped motion output end, and the disc-shaped motion output end selects different paths. There are 12 threaded holes, and the center of the threaded holes is equally spaced on a circle whose radius is equal to the radius of the indexing circle of the gear meshing end.

When the left planetary gear 306 and the right planetary gear 317 are assembled, the phase difference used in the present invention is π/2, that is, the V-shaped angle between the left planet carrier 303 and the right planet carrier 314 is π/2, and Different phase differences are used as needed.

Taking the V-angle between the planet carriers (the angle between the left and right planet carriers 303 and 314) as 90 degrees, the specific working process of the present invention is as follows:

The power is input from the total input shaft 4, which drives the left driving wheel 101 and the right driving wheel 201 to rotate, and then drives the left driven wheel 102 and the right driven wheel 202 to rotate, driving the left carrier support shaft 103 and the right carrier support shaft 203 to be the same. When the speed is rotated, the left planetary gear 306 and the right planetary gear 317 are meshed by the left planet carrier 303 and the right planet carrier 314 and the sun gear tooth portion integral with the sun gear housing 323, thereby performing planetary motion due to the planetary gear. The planetary wheel diameter is half of the diameter of the sun gear, and And the left double stud 310 and the right stud 321 are located on the same diameter on the planet indexing circle, so the two studs are simply harmonically moved on this diameter of the sun gear, and are based on The V-shaped angle between the two planetary wheels of the present invention is 90 degrees, and the simple harmonic motion of the right double-headed stud 321 lags behind the left double-headed stud 310 and the V-shaped angle of the same π/2 phase. .

The plane parallel to the end face of the gear is the XOY plane, the center of the sun gear is the coordinate origin, and the horizontal direction of the origin of the coordinate is the X axis, as shown in Fig. 3.

The equation of motion for the left double stud 310 with respect to time t is:

Where y ₁ is the displacement of the left double stud 310 along the Y axis, R is the index radius of the left planet gear 306, ω is the angular velocity of the left planet carrier 303, and the time unit of t is s.

The equation of motion of the right stud 321 is:

y ₂ =2Rcos(ωt)

Where y ₂ is the displacement of the right double stud 321 along the Y axis, R is the index circle radius of the right planet gear 17, ω is the angular velocity of the right planet carrier 314, and the time unit of t is s.

The tail fin mounting rod 7 and the connecting rod 6 hinged on the left stud stud 310 and the right stud stud 321 are connected by a hinge, so that the left and

right studs

310, 321 and the caudal fin mounting rod 7 are hinged to the connecting rod 6. A triangle is formed between the points, and the side length y' of the left and

right studs

310, 321 of the triangle is a function of periodic variation, the function and the rod length of the link mechanism and the movement law of the studs Related, the function expression is

The caudal fin mounting rod 7 produces a planar composite motion of a combination of movement and oscillation:

Finally, the bionic propulsion movement of the bionic fin of the caudal fin mounting rod is realized.

The above are only the embodiments of the present invention, and the description thereof is more specific and detailed, but is not to be construed as limiting the scope of the invention. It should be noted that a number of variations and modifications may be made by those skilled in the art without departing from the spirit and scope of the invention.

Claims

A faux tail fin propeller, comprising: a left gear transmission portion (1), a right gear transmission portion (2), a middle planetary gear train portion (3), a total input shaft (4), a bearing (5), a connection a rod (6), a caudal fin link (7) and a caudal fin (8), wherein

The left gear transmission portion (1) includes a left driving wheel (101), a left driven wheel (102), a left planet carrier support shaft (103), and a left casing (104), and the left driven wheel (102) and The input end of the left planet carrier support shaft (103) is keyed and externally engaged with the left driving wheel (101);

The right gear transmission portion (2) includes a right driving wheel (201), a right driven wheel (202), a right carrier support shaft (203) and a right box (204), a right driven wheel (202) and a right planet. The output end of the support shaft (203) is keyed and externally engaged with the right driving wheel (201);

The central planetary gear train portion (3) includes a left support box body (301), a first left bearing (302), a left planet carrier (303), a left fixed end cover (304), and a second left bearing (305). , left planetary gear (306), left bearing end cover (307), left baffle (308), screw (309), left double stud (310), bolt (311), right support box (312), First right bearing (313), right planet carrier (314), right fixed end cap (315), second right bearing (316), right planet gear (317), right bearing end cap (318), right baffle ( 319), screw (320), right double stud (321), bolt (322) and sun gear housing (323); the total input shaft (4) passes through the right box (204) in turn, right support a casing (312), a bearing (5), a sun gear casing (323) and a left supporting casing (301), and are respectively mounted on the right supporting casing (312) and the left supporting casing by the bearing (5) (301), the left driving wheel (101) and the right driving wheel (201) are respectively connected to the left end and the right end of the total input shaft (4);

The left planet carrier support shaft (103) is mounted on the left support box (301) by a first left bearing (302), the input end of the left planet carrier (303) and the left planet carrier support shaft (103) The output end key is connected, and the left planet gear (306) is mounted on the output shaft of the left planet carrier (303) through a pair of second left bearings (305), the screw (309) passing through the left baffle (308) And the left bearing end cover (307) is fixedly connected with the output shaft of the left planet carrier (303), and a gap is left between the left baffle (308) and the left bearing end cover (307) to make the left planet gear (306) Freely rotatable, the gear meshing end of the left planet gear (306) meshes with the sun gear portion of the sun gear housing (323), and the left double stud (310) is located in the circle of the left planet gear (306) The center of the disc-shaped motion output has a radius of the center of the gear meshing end, and one end of the tail fin mounting rod (7) is hinged to the thin end of the left stud (310);

The right planet carrier support shaft (203) is mounted on the right support box (312) by a first right bearing (313), the input end of the right planet carrier (314) and the right planet carrier support shaft (203) The output end key is connected, and the right planetary wheel (317) is mounted on the output shaft of the right planet carrier (314) through a pair of second right bearings (316), the screw (320) passing through the right baffle (319) And the right bearing end cover (318) is fixedly connected with the output shaft of the right planet carrier (314), and a gap is left between the right baffle (319) and the right bearing end cap (318) to make the right planetary gear (317) Freely rotatable, the gear meshing end of the right planet gear (317) meshes with the sun gear portion of the sun gear housing (323), and the right double stud (321) is located on the disc of the right planet gear (317) At the output end of the motion, the center distribution radius is the indexing circle radius of the gear meshing end, one end of the connecting rod (6) is hinged to the thin end of the right double stud (321), and the other end and the tail fin mounting rod ( The other end of 7) is hinged, and the caudal fin (8) is attached to the end of the caudal fin mounting rod 7.
A faux tail fin propeller according to claim 1, further comprising a base (9), the left case (104) and the right case (204) and the left support case (301), respectively Fixed connection with the right support box (312); the left support box (301) and the right support box (312) are fixedly connected to the left end and the right end of the sun gear box (323), respectively; 104) The bottoms of the left support box (301), the right support box (312) and the right box (204) are fixedly connected to the base (9), respectively.
The tail fin propeller according to claim 1, wherein the left planetary gear (306) and the right planetary gear (317) are double disc planetary gears, one end of which is a gear meshing end, and the other end It is a toothless disc-shaped motion output.
The tail fin pusher according to claim 3, wherein the disc-shaped motion output end is provided with 12 threaded holes for selecting different paths, and the center of the threaded holes is equally spaced at a radius equal to the gear meshing. The end is on the circle of the circle radius.
A faux-finned fin thruster according to claim 3, wherein the V-angle between the left planetary gear (306) and the right planetary gear (317) during assembly is based on the phase difference of the composite movement of the caudal fin The need to set to any angle between {0, π}.
A faux-finned fin thruster according to claim 3 or 5, characterized in that the phase difference of the left planetary gear (306) and the right planetary gear (317) during assembly is preferably π/2.