WO2016045405A1 - Dispositif de propulsion de dérive d'imitation - Google Patents

Dispositif de propulsion de dérive d'imitation Download PDF

Info

Publication number
WO2016045405A1
WO2016045405A1 PCT/CN2015/080451 CN2015080451W WO2016045405A1 WO 2016045405 A1 WO2016045405 A1 WO 2016045405A1 CN 2015080451 W CN2015080451 W CN 2015080451W WO 2016045405 A1 WO2016045405 A1 WO 2016045405A1
Authority
WO
WIPO (PCT)
Prior art keywords
gear
bearing
planet carrier
planet
box
Prior art date
Application number
PCT/CN2015/080451
Other languages
English (en)
Chinese (zh)
Inventor
王淑妍
王新国
朱君
唐文献
苏世杰
Original Assignee
江苏科技大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 江苏科技大学 filed Critical 江苏科技大学
Publication of WO2016045405A1 publication Critical patent/WO2016045405A1/fr

Links

Images

Classifications

    • 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

Definitions

  • the invention belongs to the technical field of a fish-like propeller, and in particular relates to a simulated tail fin propulsion device.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • Patents 1 and 3 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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;
  • 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.
  • the left and right planet wheels have a phase difference of ⁇ /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.
  • the invention 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.
  • 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.
  • inside and outside 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.
  • 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.
  • 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.
  • 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
  • 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
  • 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.
  • the phase difference used in the present invention is ⁇ /2, that is, the V-shaped angle between the left planet carrier 303 and the right planet carrier 314 is ⁇ /2, and Different phase differences are used as needed.
  • 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.
  • 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 ⁇ /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
  • the horizontal direction of the origin of the coordinate is the X axis, as shown in Fig. 3.
  • 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
  • ⁇ is the angular velocity of the left planet carrier 303
  • the time unit of t is s.
  • 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
  • ⁇ 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:

Abstract

La présente invention concerne un propulseur de dérive d'imitation comprenant une partie transmission à engrenages gauche (1), une partie transmission à engrenages droit (2), une partie engrenage planétaire centrale (3), un arbre d'entrée principal (4), un palier (5), une tige de raccordement (6), une tige de raccordement de dérive (7) et une dérive (8) ; la partie transmission à engrenages gauche (1) et la partie transmission à engrenages droit (2) sont respectivement installées sur les côtés gauche et droit de la partie engrenage planétaire central (3) ; l'arbre d'entrée principal (4) passe de manière séquentielle à travers une boîte droite (104), une boîte de support droite (312), le palier (5), un boîte de planétaire (323) et une boîte de support gauche (301), et est installé sur la boîte de support droite (312) et la boîte de support gauche (301) respectivement par l'intermédiaire de paliers (5) ; et une roue motrice gauche (101) et une roue motrice droite (201) sont respectivement raccordées aux extrémités gauche et droite de l'arbre d'entrée principal (4). L'ensemble du propulseur présente une grande capacité de transport, une transmission stable, une structure compacte et un taux d'utilisation d'espace élevé, peut être facilement conçu d'un seul tenant avec un engrenage de réduction sur la base de l'utilisation d'un engrenage planétaire pour terminer la conversion de mouvement, et est adapté pour la propulsion de bateaux soumis à une condition de travail à charge élevée.
PCT/CN2015/080451 2014-09-28 2015-06-01 Dispositif de propulsion de dérive d'imitation WO2016045405A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201410510608.9A CN104260864B (zh) 2014-09-28 2014-09-28 一种仿尾鳍推进装置
CN201410510608.9 2014-09-28

Publications (1)

Publication Number Publication Date
WO2016045405A1 true WO2016045405A1 (fr) 2016-03-31

Family

ID=52152499

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2015/080451 WO2016045405A1 (fr) 2014-09-28 2015-06-01 Dispositif de propulsion de dérive d'imitation

Country Status (2)

Country Link
CN (1) CN104260864B (fr)
WO (1) WO2016045405A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015121995B3 (de) * 2015-12-16 2017-06-01 Deutsches Zentrum für Luft- und Raumfahrt e.V. Getriebe für eine Auftriebsfläche, Schlagantrieb und Unterwasser- oder Luftfahrzeug
CN109927867A (zh) * 2019-02-20 2019-06-25 博雅工道（北京）机器人科技有限公司 一种仿生机器鱼的鱼尾机构
CN113734397A (zh) * 2021-08-30 2021-12-03 中国科学院自动化研究所 绳牵引仿生机器鱼驱动装置及绳牵引仿生机器鱼

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104260864B (zh) * 2014-09-28 2016-06-08 江苏科技大学 一种仿尾鳍推进装置
CN114655409B (zh) * 2022-04-24 2023-02-14 青岛策海自动化科技有限公司 一种仿生鱼尾摆动装置

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6240578B2 (fr) * 1980-11-21 1987-08-28 Shinsei Industries Co
US6079348A (en) * 1997-03-24 2000-06-27 Rudolph; Stephan Diving apparatus and method for its production
CN1373308A (zh) * 2001-01-01 2002-10-09 熊介良 “门内马斯摆杆”与拍动翼推进器装置
CN2868840Y (zh) * 2005-09-26 2007-02-14 中国科学院自动化研究所 一种仿生机器鱼
CN101301926A (zh) * 2008-04-18 2008-11-12 哈尔滨工业大学 具有升潜模块和尾部模块的仿生机器鱼
US20100151751A1 (en) * 2007-04-04 2010-06-17 Thomas Jemt Propulsion Device For Propelling A Floating Watercraft, A Conversion Kit For Replacing A Propeller Where The Kit Comprises Such A Propulsion Device, A Watercraft Comprising Such A Propulsion Device And A Method For Increasing The Efficiency By Using Such A Conversion Kit
CN104260864A (zh) * 2014-09-28 2015-01-07 江苏科技大学 一种仿尾鳍推进装置
CN204110347U (zh) * 2014-09-28 2015-01-21 江苏科技大学 一种仿尾鳍推进装置

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1937907A (en) * 1932-05-12 1933-12-05 Nock Cecil John Boat propelling means
US4913669A (en) * 1988-09-06 1990-04-03 Young Ronald G Boat propulsion apparatus
CN2811163Y (zh) * 2005-04-08 2006-08-30 哈尔滨工程大学 一种仿鱼尾推进系统的机械传动装置
JP4051382B2 (ja) * 2005-05-27 2008-02-20 Ｍｈｉソリューションテクノロジーズ株式会社 魚ロボット
CN102114907B (zh) * 2011-02-21 2013-05-01 哈尔滨工业大学 可变驱动位置的柔性双驱动仿生鱼

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6240578B2 (fr) * 1980-11-21 1987-08-28 Shinsei Industries Co
US6079348A (en) * 1997-03-24 2000-06-27 Rudolph; Stephan Diving apparatus and method for its production
CN1373308A (zh) * 2001-01-01 2002-10-09 熊介良 “门内马斯摆杆”与拍动翼推进器装置
CN2868840Y (zh) * 2005-09-26 2007-02-14 中国科学院自动化研究所 一种仿生机器鱼
US20100151751A1 (en) * 2007-04-04 2010-06-17 Thomas Jemt Propulsion Device For Propelling A Floating Watercraft, A Conversion Kit For Replacing A Propeller Where The Kit Comprises Such A Propulsion Device, A Watercraft Comprising Such A Propulsion Device And A Method For Increasing The Efficiency By Using Such A Conversion Kit
CN101301926A (zh) * 2008-04-18 2008-11-12 哈尔滨工业大学 具有升潜模块和尾部模块的仿生机器鱼
CN104260864A (zh) * 2014-09-28 2015-01-07 江苏科技大学 一种仿尾鳍推进装置
CN204110347U (zh) * 2014-09-28 2015-01-21 江苏科技大学 一种仿尾鳍推进装置

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015121995B3 (de) * 2015-12-16 2017-06-01 Deutsches Zentrum für Luft- und Raumfahrt e.V. Getriebe für eine Auftriebsfläche, Schlagantrieb und Unterwasser- oder Luftfahrzeug
CN109927867A (zh) * 2019-02-20 2019-06-25 博雅工道（北京）机器人科技有限公司 一种仿生机器鱼的鱼尾机构
CN109927867B (zh) * 2019-02-20 2024-03-01 博雅工道（北京）机器人科技有限公司 一种仿生机器鱼的鱼尾机构
CN113734397A (zh) * 2021-08-30 2021-12-03 中国科学院自动化研究所 绳牵引仿生机器鱼驱动装置及绳牵引仿生机器鱼

Also Published As

Publication number Publication date
CN104260864A (zh) 2015-01-07
CN104260864B (zh) 2016-06-08

Similar Documents

Publication Publication Date Title
WO2016045405A1 (fr) Dispositif de propulsion de dérive d'imitation
CN101301926B (zh) 具有升潜模块和尾部模块的仿生机器鱼
CN113415402B (zh) 一种仿生鱼尾水下推进器
WO2016004800A1 (fr) Dispositif de propulsion de nageoire pectorale bionique basé sur un train planétaire
CN212637870U (zh) 一种以波动胸鳍为动力的单主轴单电机仿鳐鱼机器鱼
CN102039994A (zh) 一种探测用仿生刀鱼
CN108058799B (zh) 一种新型仿生机械鱼
CN104176219A (zh) 一种并联机械手臂驱动的仿生水母机器人
CN105460189A (zh) 一种水下扑翼驱动装置
CN207670636U (zh) 一种新型仿生机械鱼
CN105857557A (zh) 基于箱鲀科鱼类的双自由度仿生胸鳍推进机构
CN106516059B (zh) 一种基于往复丝杠机构的多鱼鳍推进装置
CN108839784B (zh) 金枪鱼机器人
CN111173911B (zh) 一种齿轮齿圈传动的连杆式仿生鱼尾
AU2020103022A4 (en) Autonomous Robotic Fish
CN105501420A (zh) 一种基于双尾鳍驱动的仿生机器鱼
CN110901867B (zh) 一种基于齿轮连杆机构的仿生鱼尾
CN103010438B (zh) 一种机器鱼胸鳍推进机构
CN104670449B (zh) 横开式仿生双尾桨
CN204110347U (zh) 一种仿尾鳍推进装置
CN115520356A (zh) 一种水下仿生机器人
CN1298994C (zh) 动势能发电机动力装置
Liu et al. Performance study on a novel variable area robotic fin
CN203005728U (zh) 一种新型机器鱼胸鳍推进机构
CN205221074U (zh) 一种人力外齿啮合平板桨叶推进船

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 15843539

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 15843539

Country of ref document: EP

Kind code of ref document: A1