CN102975837B - Line-driven multi-joint underwater vector propulsion device and bionic body thereof - Google Patents
Line-driven multi-joint underwater vector propulsion device and bionic body thereof Download PDFInfo
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- CN102975837B CN102975837B CN201210532300.5A CN201210532300A CN102975837B CN 102975837 B CN102975837 B CN 102975837B CN 201210532300 A CN201210532300 A CN 201210532300A CN 102975837 B CN102975837 B CN 102975837B
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Abstract
The invention discloses a line-driven multi-joint underwater vector propulsion device and a bionic body thereof. The propulsion device comprises a flexible hose, a plurality of vertebral skeletons and a drive line, wherein the vertebral skeletons consist of a central column and at least three fins on different planes, the flexible hose penetrates through the central holes of the central columns for serial connection of the vertebral skeletons, one end of every vertebral skeleton is provided with a concave spherical surface, the other end of every vertebral skeleton is provided with a convex spherical surface, the convex spherical surface of a previous vertebral skeleton is arranged in the convex spherical surface of a following vertebral skeleton in a matching way to form a spherical joint, every fin is provided with a line hole, and the drive line penetrates through the line holes of the fins on the same side. Since the flexible hose is adopted for serial connection of the vertebral skeletons with spherical joint elements, the drive line on different fins of the vertebral skeletons is alternately tightened or loosened to drive the vertebral skeletons to rotate around the corresponding spherical joints, thrust and turning can be realized in any direction, an underwater vehicle can be propelled, and the yaw and pitch direction of the underwater vehicle can be controlled. Moreover, the device has the advantages of fewer drivers, compact structure and easiness in control.
Description
Technical field
The bio-mechanism field that the present invention relates to use in water, the line that in particular a kind of noise is little, propulsion coefficient is high drives multi-joint Underwater vector propulsion device and bio-mechanism thereof.
Background technology
Bio-mechanism refers to the simulation structural feature of biological motion and function and the mechanism that makes.Along with the increase of the mankind at the water surface and underwater movement, the device and the mechanism that imitate fish swimming are more and more, for example fish tail propelling unit.Compare with traditional screw propeller driving, imitative fish tail propelling unit produces thrust by the reciprocally swinging of fish tail, and its hunting frequency is low, and noise is little, and propulsion coefficient is high, not only can realize propelling and can also control direction.
Existing imitative fish tail propelling unit only can realize swing or the fluctuation in plane, to imitate the swing of Scad section class fish tail or the fluctuation of eel shape class fish body, but lack, can swing to provide in space the propulsion functions of any direction thrust.
For example, prior art comprises the remote controlled multi-joint bionic machine fish of fish shape shell, some joint skeletons, battery and reception control circuit plate, and every joint skeleton consists of steering wheel, fixed mount and swing link span.The design of type can realize swing or the fluctuation of fish tail in plane although it is so, but can only control machine fish yaw direction by fish tail, and can not control machine fish pitch orientation.Meanwhile, each joint of such design needs an actuator, causes system architecture complicated, controls difficulty.
And for example, prior art comprises the robot control tail fin underwater propulsion unit of the imitative fish shape of A/D changer, central controller, actuator and elastic sheet, by controlling the reciprocally swinging of elastic sheet, for machine fish provides the control of pushing ahead with left and right turn direction.But in such design, the swing of elastic sheet is only plane rocking, can only controls left and right and turn, also uncontrollable machine fish luffing.
For another example, prior art comprises the three-dimensional motion bionic machine fish of fish body, fish tail, mass centre changing device, swing by fish tail provides thrust forward, by mass centre changing device, control swimming direction, and prior art comprises the bionic machine fish of fish housing, pectoral fin, afterbody, buoyancy adjustment part, swing by afterbody provides thrust, by driven by motor pectoral fin, is flapped and is controlled machine fish swimming direction.Although the machine fish in these two kinds of designs can be realized three-dimensional motion, its sense of motion is controlled by mass centre changing device or pectoral fin outside fish tail, compares with simple dependence fish tail controlled motion direction, has increased the complexity of system.
Known by above-mentioned analysis, in imitative fish tail underwater propulsion of the prior art mechanism, fish tail can only be realized swing or the fluctuation in plane, for machine fish provides thrust forward and controls left and right and turn, and the pitching of machine fish mostly need to be controlled by other system.Therefore, prior art still haves much room for improvement and develops.
Summary of the invention
For solving the problems of the technologies described above, the invention provides a kind of line and drive multi-joint Underwater vector propulsion device, can when advancing submarine navigation device, control its driftage and pitch orientation.
Meanwhile, the present invention also provides a kind of and uses that number of drives is few, compact conformation, is easy to the bio-mechanism controlled.
Technical scheme of the present invention is as follows: a kind of line drives multi-joint Underwater vector propulsion device, wherein: this device comprises flexible hose, vertebra and drive wire, described vertebra is comprised of at least three fins in a center mast and non-same plane, on described center mast, be provided with centre hole, described flexible hose passes with series winding more piece vertebra from described centre hole, one end of described vertebra is provided with concave spherical surface, the other end of described vertebra is provided with protruding sphere, after fitting in, the protruding sphere of last joint vertebra forms a spherical joint in the concave spherical surface of a joint vertebra, on each fin, be respectively provided with a line hole, in line hole on the fin of the same side, by a drive wire, passed, for by alternately tightening up the drive wire loosening on homonymy fin not, drive described vertebra to rotate towards different directions around corresponding spherical joint.
Described line drives multi-joint Underwater vector propulsion device, wherein: the height of same joint vertebra aft end face fin is lower than the height of its front end face fin, and the height of the adaptive last joint vertebra aft end face fin of height of a rear joint vertebra front end face fin.
Described line drives multi-joint Underwater vector propulsion device, wherein: the line hole trend on described fin moves towards consistent with the outer edge of this fin.
Described line drives multi-joint Underwater vector propulsion device, wherein: on described vertebra, the quantity of fin is set to four, and is on the cross sidewall that is distributed on described center mast.
Described line drives multi-joint Underwater vector propulsion device, and wherein: the central hole that is positioned at the protruding sphere of described vertebra one end is provided with outer exit skirt, described outer bell-mouthed tapering is consistent with the maximum inclination angle between adjacent two joint vertebras.
Described line drives multi-joint Underwater vector propulsion device, wherein: described concave spherical surface is positioned at the front end of described vertebra, described protruding sphere is positioned at the rear end of described vertebra, this propelling unit also comprises the minor details vertebra that is connected to final section vertebra rear end, described minor details vertebra is also comprised of at least three fins in a center mast and non-same plane, on each fin, be also respectively provided with a line hole, the front end of described minor details vertebra is provided with the concave spherical surface of the protruding sphere of adaptive final section vertebra, the centre hole that the rear end of described minor details vertebra is set to be communicated with this concave spherical surface passes with the described flexible hose of adaptation.
Described line drives multi-joint Underwater vector propulsion device, wherein: the height of the adaptive final section vertebra of the height aft end face fin of described minor details vertebra front end face fin, the height of described minor details vertebra aft end face fin and the sidewall of this minor details vertebra center mast flush.
Described line drives multi-joint Underwater vector propulsion device, wherein: this propelling unit also comprises the tail-hood being connected on described minor details vertebra aft end face, on described tail-hood, be provided with the adaptive tail-hood center mast that inserts described minor details vertebra centre hole and adaptive this minor details vertebra line hole to fix the tail-hood knock hole of described drive wire.
A bio-mechanism, comprises the propelling unit that is arranged on afterbody, it is characterized in that: the line that this propelling unit is set to described in above-mentioned middle any one drives multi-joint Underwater vector propulsion device.
Described bio-mechanism, wherein: this bio-mechanism comprises bionic machine fish.
Line provided by the present invention drives multi-joint Underwater vector propulsion device and bio-mechanism thereof, owing to having adopted flexible hose series winding to there is the vertebra of spherical joint key element, and by alternately tightening up the drive wire loosening on the different fins of vertebra, drive vertebra to rotate around corresponding spherical joint, can form the thrust of any direction and turn round, and then realized when advancing submarine navigation device and controlled its driftage and pitch orientation, and use that number of drives is few, compact conformation, be easy to control.
Accompanying drawing explanation
Fig. 1 is that line of the present invention drives the block diagram of multi-joint Underwater vector propulsion device under linear state.
Fig. 2 is the stereo amplification figure that line of the present invention drives multi-joint Underwater vector propulsion device vertebra embodiment used.
Fig. 3 is longitudinal cutaway view Amplified image that line of the present invention drives multi-joint Underwater vector propulsion device vertebra used.
Fig. 4 is that line of the present invention drives the longitudinal cutaway view Amplified image of multi-joint Underwater vector propulsion device sphere joint used under rotary state.
Fig. 5 is the axial cutaway view Amplified image that line of the present invention drives multi-joint Underwater vector propulsion device minor details vertebra used.
Shown in Fig. 6, Fig. 6 is the axial cutaway view Amplified image that line of the present invention drives multi-joint Underwater vector propulsion device tail-hood used.
Fig. 7 is that line of the present invention drives the block diagram of multi-joint Underwater vector propulsion device under case of bending.
Fig. 8 is that line of the present invention drives the cutaway view of multi-joint Underwater vector propulsion device under case of bending.
The specific embodiment
Below with reference to accompanying drawing, the specific embodiment of the present invention and embodiment are described in detail, described specific embodiment only, in order to explain the present invention, is not intended to limit the specific embodiment of the present invention.
As shown in Figure 1, Fig. 1 is that line of the present invention drives the block diagram of multi-joint Underwater vector propulsion device under linear state, this line drives multi-joint Underwater vector propulsion device mainly by a flexible hose 1, more piece vertebra 3-1, 3-2, 3-3, 3-4, 3-5, 3-6, 3-7, 3-8, 3-9, 3-10 and at least three drive wire 2-1, 2-2 forms, all vertebra 3-1, 3-2, 3-3, 3-4, 3-5, 3-6, 3-7, 3-8, 3-9, the structural similitude of 3-10, described flexible hose 1 is from this 10 joint vertebra 3-1, 3-2, 3-3, 3-4, 3-5, 3-6, 3-7, 3-8, 3-9, in 3-10, pass, described drive wire 2-1, 2-2 is respectively from this 10 joint vertebra 3-1, 3-2, 3-3, 3-4, 3-5, 3-6, 3-7, 3-8, 3-9, in fin on 3-10, pass, described drive wire 2-1, one end of 2-2 is for being connected to the actuator that can tighten up and loosen, described drive wire 2-1, the other end of 2-2 is fixed on the tail-hood 4 of minor details vertebra 3-10 rear end.
Shown in Fig. 2, Fig. 2 is the stereo amplification figure that line of the present invention drives multi-joint Underwater vector propulsion device vertebra embodiment used, the first segment vertebra 3-1 of take is example, described joint vertebra 3-1 can by a center mast 3-1-0 and not at least three fin 3-1-6 in same plane form, fin 3-1-6 quantity on the 3-1 of vertebra shown in Fig. 1 is four, these four fin 3-1-6 can be on the cross sidewall that is distributed on described center mast 3-1-0, described center mast 3-1-0 is cylindrical, center position at described center mast 3-1-0 is also provided with the centre hole 3-1-4 passing for described flexible hose 1.
Shown in Fig. 3, Fig. 3 is longitudinal cutaway view Amplified image that line of the present invention drives multi-joint Underwater vector propulsion device vertebra used, the first segment vertebra 3-1 of still take is example, the line hole 3-1-5 that one adaptive respective drive line passes is all set on each fin 3-1-6 of this vertebra 3-1, and described line hole 3-1-5 can be along the axial setting of the axial or described centre hole 3-1-4 of described center mast; Simultaneously, described vertebra 3-1 center mast lower end surface is provided with a concave spherical surface 3-1-2, the bottom of this concave spherical surface 3-1-2 is connected with described centre hole 3-1-4, described vertebra 3-1 center mast upper end end face is provided with a protruding bulb being surrounded by protruding sphere 3-1-1, and described centre hole 3-1-4 is communicated to the top in this protruding bulb.
Be preferably, the centre hole 3-1-4 oral area that is positioned at the protruding sphere 3-1-1 of described vertebra 3-1 one end is set to outer exit skirt 3-1-3, the tapering of described outer exit skirt 3-1-3 is consistent with the maximum inclination angle between adjacent two joint vertebras, so that this propelling unit is all described flexible hose between each adjacent vertebrae when turning to maximum angle towards any direction, form unimpeded passage, avoid affecting because of described flexible hose the alerting ability of this propelling unit.
Be preferably, the first segment vertebra 3-1 of still take is example, the Xray films of described fin 3-1-6 is at right angles trapezoidal, the outer side edges that is each fin 3-1-6 is hypotenuse setting, and line hole 3-1-5 on this fin 3-1-6 trend also can move towards consistent with the outer side edges edge tilting, when tightening up drive wire, can make thus the line hole on all vertebra homonymy fins join end to end, reduce the resistance between the line hole of dislocation, drive wire being produced, improve the alerting ability of this propelling unit.
Shown in Fig. 4, Fig. 4 is that line of the present invention drives the longitudinal cutaway view Amplified image of multi-joint Underwater vector propulsion device sphere joint used under rotary state, after fitting in, the protruding sphere 3-1-1 of last joint vertebra 3-1 forms a spherical joint in the concave spherical surface 3-2-2 of a joint vertebra 3-2, line hole (3-1-5 and 3-2-5) on the same side fin (3-1-6 and 3-2-6) can be passed by a drive wire, by alternately tightening up the drive wire loosening on homonymy fin not, drive described vertebra 3-2 towards different directions, to rotate around corresponding spherical joint relative to described vertebra 3-1, and the adjacent two maximum inclination angles that save between vertebras (3-1 and 3-2) can be determined by the gap between the same side fin (3-1-6 and 3-2-6), the state when rear end of last joint vertebra 3-1 homonymy fin 3-1-6 contacts with the front end of a rear joint vertebra 3-2 homonymy fin 3-2-6, be the maximum inclination angle between adjacent two joint vertebras (3-1 and 3-2).
Further, using the front end of described concave spherical surface 3-1-2 as described vertebra 3-1, described protruding sphere 3-1-1 is example as the rear end of described vertebra 3-1, be preferably, the height of described vertebra 3-1 aft end face fin 3-1-6 is lower than the height of this vertebra 3-1 front end face fin 3-1-6, and the height of the adaptive last joint vertebra 3-1 aft end face fin 3-1-6 of height of a rear joint vertebra 3-2 front end face fin 3-2-6, be that the fin of adjacent vertebrae diminishes after by forward direction successively, can effectively improve the alerting ability of this propelling unit.
Shown in Fig. 5, Fig. 5 is the axial cutaway view Amplified image that line of the present invention drives multi-joint Underwater vector propulsion device minor details vertebra used, this minor details vertebra 3-10 is positioned at the end of described propelling unit, described minor details vertebra 3-10 is also comprised of at least three fins in a center mast and non-same plane, on each fin, be also respectively provided with a line hole 3-10-3, the front end of described minor details vertebra 3-10 is provided with the concave spherical surface 3-10-1 of the protruding sphere of adaptive final section vertebra, the centre hole 3-10-2 that the rear end of described minor details vertebra 3-10 is set to be communicated with this concave spherical surface 3-10-1 passes with the described flexible hose of adaptation.
Be preferably, the height of the adaptive final section vertebra of the height aft end face fin of described minor details vertebra 3-10 front end face fin, the sidewall surfaces of the height of described minor details vertebra 3-10 aft end face fin and this minor details vertebra 3-10 center mast flushes substantially, can effectively improve the alerting ability of this propelling unit.
Further, shown in Fig. 6, Fig. 6 is the axial cutaway view Amplified image that line of the present invention drives multi-joint Underwater vector propulsion device tail-hood used, this propelling unit also comprises the tail-hood 4 being connected on aforementioned minor details vertebra 3-10 aft end face, the size of the size of described tail-hood 4 and described minor details vertebra 3-10 center mast aft end face is suitable, can effectively improve the alerting ability of this propelling unit.On described tail-hood 4, be provided with the tail-hood center mast 4-1 of the adaptive described minor details vertebra 3-10 centre hole 3-10-2 of insertion and adaptive this minor details vertebra 3-10 line hole 3-10-3 to fix the tail-hood knock hole 4-2 of described drive wire.
As shown in Figure 7, Fig. 7 is that line of the present invention drives the block diagram of multi-joint Underwater vector propulsion device under case of bending, with described flexible hose 1 from all vertebra 3-1, 3-2, 3-3, 3-4, 3-5, 3-6, 3-7, 3-8, 3-9, in the centre hole of 3-10, pass, by more piece vertebra 3-1, 3-2, 3-3, 3-4, 3-5, 3-6, 3-7, 3-8, 3-9, 3-10 contacts successively, and with the centre hole of tail-hood 4 shutoff minor details vertebra 3-10, finally use respectively drive wire 2-1, 2-2, 2-3, 2-4 is from these vertebras 3-1, 3-2, 3-3, 3-4, 3-5, 3-6, 3-7, 3-8, 3-9, in line hole on the fin of 3-10 the same side, pass, described drive wire 2-1, 2-2, 2-3, 2-4 one end is all fixed on described tail-hood 4, the other end is connected with actuator respectively.
When drive wire, 2-1 is tightened to maximum, and when drive wire 2-3 relax to maximum, propelling unit goes to maximum toward drive wire 2-1 direction; Otherwise 2-3 is tightened to maximum when drive wire, when drive wire 2-1 relax to maximum, propelling unit goes to maximum toward drive wire 2-3 direction; By drive wire 2-1,2-3 alternately tightens up, loosens, propelling unit can be in horizontal surface reciprocally swinging.
Similarly, shown in Fig. 8, Fig. 8 is that line of the present invention drives the cutaway view of multi-joint Underwater vector propulsion device under case of bending, when drive wire, 2-4 is tightened to maximum, when drive wire 2-2 relax to maximum, and all vertebra 3-1,3-2,3-3,3-4,3-5,3-6,3-7,3-8,3-9,3-10 rotates to drive wire 2-4 mono-side around spherical joint separately, until the fin between adjacent vertebrae contacts, propelling unit goes to maximum toward drive wire 2-4 direction, and now described flexible hose 1 is also to drive wire 2-4 curving to maximum; Otherwise 2-2 is tightened to maximum when drive wire, when drive wire 2-4 relax to maximum, propelling unit goes to maximum toward drive wire 2-2 direction; By drive wire 2-2,2-4 alternately tightens up and loosens, propelling unit can be in vertical plane surface reciprocally swinging.
And as four drive wire 2-1,2-2,2-3,2-4 cooperative alternative tightens up while loosening, and propelling unit can be at any reciprocally swinging of horizontal and vertical plane; The amplitude that propelling unit swings is by drive wire 2-1,2-2, and 2-3, the folding and unfolding degree of 2-4 determines, full swing amplitude is by described 3-1,3-2,3-3,3-4,3-5,3-6,3-7,3-8,3-9, the fin on 3-10 determines.
In the process swinging, fin on these vertebras can play the effect of patting ambient water at this vertebra when corresponding spherical joint rotates, then the rotational angle of a joint vertebra all can add up on the rotational angle of last joint vertebra, and then can be the bio-mechanism such as aircraft, bionic machine fish in water propelling thrust is forward provided, and control thus the direction of its basic exercise.Basic exercise comprises straight-line motion, turns round and upper and lower pitching in left and right.
Straight-line motion: as drive wire 2-1,2-3 in alternately tightening up the process of loosening, drive wire 2-1 tighten up degree of relaxation and 2-3 tighten up degree of relaxation when identical, propelling unit amplitude of fluctuation in horizontal surface is symmetrical; As drive wire 2-2,2-4 in alternately tightening up the process of loosening, drive wire 2-2 tighten up degree of relaxation and drive wire 2-4 tighten up degree of relaxation when identical, propelling unit amplitude of fluctuation in perpendicular is symmetrical; And as four drive wire 2-1,2-2,2-3,2-4 cooperative alternative tightens up while loosening, and can realize equally propelling unit amplitude of fluctuation in horizontal surface and vertical plane surface symmetrical.When amplitude of fluctuation is symmetrical, propelling unit can be aircraft in water thrust is forward provided, and aircraft in water is moved along a straight line.
Turn round in left and right: as drive wire 2-1,2-3 in alternately tightening up the process of loosening, drive wire 2-1 tighten up degree of relaxation and drive wire 2-3 tighten up degree of relaxation when not identical, propelling unit amplitude of fluctuation in horizontal surface is asymmetric.Now, the thrust direction that propelling unit provides departs from aircraft axis direction in water, to drive aircraft left and right in horizontal surface in water to turn round.The direction of turning round is the side that amplitude of fluctuation is less.For example, when the degree of tightening up of drive wire 2-1 be less than drive wire 2-3 tighten up degree time, aircraft just turns mono-side to drive wire 2-1, the amplitude of turning round is subject to drive wire 2-1,2-3 tightens up difference degree and determines.
Upper and lower pitching: as drive wire 2-2,2-4 in alternately tightening up the process of loosening, drive wire 2-2 tighten up degree of relaxation and drive wire 2-4 tighten up degree of relaxation when not identical, propelling unit amplitude of fluctuation in vertical plane surface is asymmetric.Now, the thrust direction that propelling unit provides departs from aircraft axis direction in water, to drive aircraft upper and lower pitching in vertical plane surface in water.Pitch orientation is the side that amplitude of fluctuation is less.For example, when the degree of tightening up of drive wire 2-2 be less than drive wire 2-4 tighten up degree time, aircraft is just dived to drive wire 2-2 mono-side, underriding amplitude is subject to drive wire 2-2,2-4 tightens up difference degree and determines.
Based on above-mentioned line, drive multi-joint Underwater vector propulsion device, the invention allows for a kind of bio-mechanism, this bio-mechanism comprises the propelling unit that is arranged on afterbody, and wherein, described propelling unit is set to the line described in above-mentioned any one embodiment and drives multi-joint Underwater vector propulsion device.
In the preferred implementation of bio-mechanism of the present invention, take bionic machine fish as example, as shown in Figure 7, described flexible hose 1 can adopt cylindrical rubber pipe to make, there is certain elasticity, can do large deformation bending, four described drive wire 2-1,2-2,2-3,2-4 can adopt finer wire to make, and comprises the 10 joint vertebra 3-1 of tail-hood 4 and minor details vertebra 3-10,3-2,3-3,3-4,3-5,3-6,3-7,3-8,3-9,3-10 all can adopt the plastic productions such as ABS.By four drive wire 2-1,2-2,2-3, the asymmetric cooperative alternative of 2-4 tightens up and loosens, and propelling unit can provide the thrust of any direction, thereby can realize turning round of any direction.
Should be understood that; the foregoing is only preferred embodiment of the present invention; be not sufficient to limit technical scheme of the present invention; for those of ordinary skills; within the spirit and principles in the present invention; can be increased and decreased according to the above description, replaced, converted or be improved, and all these increases and decreases, replace, conversion or improve after technical scheme, all should belong to the protection domain of claims of the present invention.
Claims (10)
1. a line drives multi-joint Underwater vector propulsion device, it is characterized in that: this device comprises flexible hose, vertebra and drive wire, described vertebra is comprised of at least three fins in a center mast and non-same plane, on described center mast, be provided with centre hole, described flexible hose passes with series winding more piece vertebra from described centre hole, one end of described vertebra is provided with concave spherical surface, the other end of described vertebra is provided with protruding sphere, after fitting in, the protruding sphere of last joint vertebra forms a spherical joint in the concave spherical surface of a joint vertebra, on each fin, be respectively provided with a line hole, in line hole on the fin of the same side, by a drive wire, passed, for by alternately tightening up the drive wire loosening on homonymy fin not, drive described vertebra to rotate towards different directions around corresponding spherical joint.
2. line according to claim 1 drives multi-joint Underwater vector propulsion device, it is characterized in that: the height of same joint vertebra aft end face fin is lower than the height of its front end face fin, and the height of the adaptive last joint vertebra aft end face fin of height of a rear joint vertebra front end face fin.
3. line according to claim 2 drives multi-joint Underwater vector propulsion device, it is characterized in that: the line hole trend on described fin moves towards consistent with the outer edge of this fin.
4. line according to claim 1 drives multi-joint Underwater vector propulsion device, it is characterized in that: on described vertebra, the quantity of fin is set to four, and is on the cross sidewall that is distributed on described center mast.
5. line according to claim 1 drives multi-joint Underwater vector propulsion device, it is characterized in that: the central hole that is positioned at the protruding sphere of described vertebra one end is provided with outer exit skirt, described outer bell-mouthed tapering is consistent with the maximum inclination angle between adjacent two joint vertebras.
6. line according to claim 1 drives multi-joint Underwater vector propulsion device, it is characterized in that: described concave spherical surface is positioned at the front end of described vertebra, described protruding sphere is positioned at the rear end of described vertebra, this propelling unit also comprises the minor details vertebra that is connected to final section vertebra rear end, described minor details vertebra is also comprised of at least three fins in a center mast and non-same plane, on each fin, be also respectively provided with a line hole, the front end of described minor details vertebra is provided with the concave spherical surface of the protruding sphere of adaptive final section vertebra, the centre hole that the rear end of described minor details vertebra is set to be communicated with this concave spherical surface passes with the described flexible hose of adaptation.
7. line according to claim 6 drives multi-joint Underwater vector propulsion device, it is characterized in that: the height of the adaptive final section vertebra of the height aft end face fin of described minor details vertebra front end face fin, the height of described minor details vertebra aft end face fin and the sidewall of this minor details vertebra center mast flush.
8. line according to claim 6 drives multi-joint Underwater vector propulsion device, it is characterized in that: this propelling unit also comprises the tail-hood being connected on described minor details vertebra aft end face, on described tail-hood, be provided with the adaptive tail-hood center mast that inserts described minor details vertebra centre hole and adaptive this minor details vertebra line hole to fix the tail-hood knock hole of described drive wire.
9. a bio-mechanism, comprises the propelling unit that is arranged on afterbody, it is characterized in that: the line that this propelling unit is set to as described in any one in claim 1 to 8 drives multi-joint Underwater vector propulsion device.
10. bio-mechanism according to claim 9, is characterized in that: this bio-mechanism comprises bionic machine fish.
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| CN201210532300.5A CN102975837B (en) | 2012-12-12 | 2012-12-12 | Line-driven multi-joint underwater vector propulsion device and bionic body thereof |
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| CN201210532300.5A CN102975837B (en) | 2012-12-12 | 2012-12-12 | Line-driven multi-joint underwater vector propulsion device and bionic body thereof |
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| CN114227642B (en) * | 2021-11-22 | 2023-08-22 | 杭州电子科技大学 | Bionic flexible arm and control method thereof |
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| GB126231A (en) * | 1918-09-10 | 1919-05-08 | Thomas Leask | New or Improved Means for the Propulsion of Boats and similar Vessels. |
| US6524145B1 (en) * | 2001-07-12 | 2003-02-25 | Jesse Gallegos Arzate | Swimmer propulsion device |
| CN101401988A (en) * | 2008-07-20 | 2009-04-08 | 石力元 | Life saving apparatus for persons falling into well |
| CN101456341A (en) * | 2007-12-12 | 2009-06-17 | 中国科学院自动化研究所 | Multimode bionic amphibious robot |
| CN102556311A (en) * | 2012-02-21 | 2012-07-11 | 金东� | Deformable bionic power conversion impeller by means of fin undulation and hydraulic volumetric difference |
| CN202966636U (en) * | 2012-12-12 | 2013-06-05 | 深圳市中科莲花净水科技有限公司 | Line-driving multi-joint underwater vector propelling device and bionic structure thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2011218964A (en) * | 2010-04-09 | 2011-11-04 | Hamada Bending Service Co Ltd | Rocking propulsion device, catamaran, and fish type robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB126231A (en) * | 1918-09-10 | 1919-05-08 | Thomas Leask | New or Improved Means for the Propulsion of Boats and similar Vessels. |
| US6524145B1 (en) * | 2001-07-12 | 2003-02-25 | Jesse Gallegos Arzate | Swimmer propulsion device |
| CN101456341A (en) * | 2007-12-12 | 2009-06-17 | 中国科学院自动化研究所 | Multimode bionic amphibious robot |
| CN101401988A (en) * | 2008-07-20 | 2009-04-08 | 石力元 | Life saving apparatus for persons falling into well |
| CN102556311A (en) * | 2012-02-21 | 2012-07-11 | 金东� | Deformable bionic power conversion impeller by means of fin undulation and hydraulic volumetric difference |
| CN202966636U (en) * | 2012-12-12 | 2013-06-05 | 深圳市中科莲花净水科技有限公司 | Line-driving multi-joint underwater vector propelling device and bionic structure thereof |
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