CN105836084A - Bionic underwater propeller and control method thereof - Google Patents
Bionic underwater propeller and control method thereof Download PDFInfo
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- CN105836084A CN105836084A CN201610340649.7A CN201610340649A CN105836084A CN 105836084 A CN105836084 A CN 105836084A CN 201610340649 A CN201610340649 A CN 201610340649A CN 105836084 A CN105836084 A CN 105836084A
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- bionic
- bionical
- control circuit
- fish head
- underwater propeller
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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
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
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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
- B63H1/37—Moving-wave propellers, i.e. wherein the propelling means comprise a flexible undulating structure
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- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
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Abstract
The invention discloses a bionic underwater propeller and a control method thereof. The bionic underwater propeller comprises a bionic underwater propeller comprises a bionic fish head, a plurality of water striking fins uniformly distributed at the outer side surface of the rear end of the bionic fish head, and a wireless controller, wherein each water striking fin comprises two bionic joints and one tail fin which are sequentially and respectively connected; the bionic fish head comprises a shell and a control circuit board arranged in the shell; the bionic joint is connected with the control circuit board; the control circuit board is connected with the wireless controller; the tail fin is of a crescent structure with rigid decrease progressively. According to the bionic underwater propeller, the wireless controller transmits a signal to the control circuit board; the bionic joints are controlled to drive the tail fins to perform undulate movement or flapping movement by virtue of the control circuit board, so that undulate propulsion or jet flow propulsion and free switching of two modes are realized, not only can a complicated underwater environment and new underwater task requirements which are put forwards continually be met, but also the problems of a left-and-right shaking and an imbalance are prevented in a propulsion process, and the bionic underwater propeller is stable and reliable.
Description
Technical field
The present invention relates to bionics techniques field, be specifically related to a kind of bionical underwater propeller and control method thereof.
Background technology
The travelling performance that aquatic organism is remarkable, attracts numerous scientific research personnel the most always and does around it
Research, it is desirable to by the travelling technical ability that simulation aquatic organism is superb, the various underwater units designed for the mankind carry
Propeller for excellent performance.Undulatory propulsion and flux driving are the travelling patterns that aquatic animal is commonly used,
Being aquatic animal survives in complicated water environment, goes through very long evolution and the motion differed from one another that formed
Ability.Undulatory propulsion has efficiently, high maneuverability, the advantage little to ambient vibration；Flux driving has wink
Between accelerate the advantage fast, environmental suitability is strong.
In recent years, Chinese scholars all expands phase in terms of undulatory propulsion and bionical jet propulsion under imitative fish and water
The research closed, and have developed substantial amounts of bionic underwater robot model.But, current research work is most
It is confined to the simple imitation to monomer aquatic animal or single propelling pattern, can only complete under given conditions
Limited task, it is impossible to meet complicated underwater environment and the underwater job task requirement constantly proposed.
Summary of the invention
The invention provides a kind of bionical underwater propeller and control method thereof, to solve prior art exists
Propelling pattern single, the scope of application is limited to, it is impossible to meet complicated underwater environment and underwater operation is appointed
The problem of business.
In order to solve above-mentioned technical problem, the technical scheme is that a kind of bionical underwater propeller, bag
Include bionical fish head, be uniformly distributed in several fins of striking waters of described bionical fish head rear end lateral surface, and wireless
Controller, each described in fin of striking waters include that two bionic joints and a tail fin are sequentially connected with and form, described imitative
Raw fish head includes a housing and the control circuit plate being located in described housing, described bionic joint and described control
Circuit board connects, and described control circuit plate is connected with described wireless controller, and described tail fin is degressive-rate
Month dental structure.
Further, described bionical fish head also includes the support frame being located in described housing, is located at described
Set of cells on support frame frame and some infrared sensors, before described bionical fish head is located at by described infrared sensor
End, and it is connected to described control circuit plate, described control circuit plate is located in described support frame.
Further, described support frame includes the vertical supporting plate being located at described bionical fish head rear inside face
And the horizontal supporting plate being connected with described vertical supporting plate, described set of cells be fixedly arranged on described vertical supporting plate and
On cross-brace plate,
Further, the lower section of each described infrared ray sensor is provided with a hold-down support, described hold-down support
It is fixedly arranged in described support frame.
Further, described bionic joint include steering wheel, the upper and lower being sheathed on described steering wheel respectively and
Close-fitting upper shell and lower house, be located at the first side plate above described upper shell, be movably arranged at described
The second side plate below lower house, two ends connect respectively described first side plate and the fork of the second side plate and
Be located at the cover plate between described first side plate and upper shell, the output shaft of described steering wheel be sequentially connected with a rotating disk and
One projecting shaft, described rotating disk is located in described upper shell, and described projecting shaft sequentially passes through described upper shell and lid
Fixing with described first side plate after plate and be connected, described upper shell and lower house use metal material to make, institute
One of them side stating lower house is connected to described bionical fish head rear end lateral surface or the pendulum of adjacent bionic joint
Bar, described tail fin is connected on the fork of adjacent described bionic joint.
Further, the inside of described upper shell and described cover plate is equipped with lead to suitable with described projecting shaft
Hole, described projecting shaft and described upper shell are provided with waterproof washer between the through hole of described cover plate side.
Further, described in the strike waters quantity of fin be 3 or 4, each described in strike waters fin by a backing plate
It is fixed on the rear end lateral surface of described bionical fish head.
The present invention also provides for the control method of a kind of bionical underwater propeller, is sent by wireless controller and controls
Signal, to control circuit plate, is joined by the rotation of steering wheel output shaft in the control circuit plate described bionic joint of control
Number, thus control the rotation of corresponding fork, make described tail fin do surge movement or motion of flapping, to realize ripple
Dynamic propelling or flux driving.
Further, the rotational parameters of described steering wheel output shaft includes rotation direction, rotational angular velocity and rotation
Angle.
Further, described tail fin does surge movement particularly as follows: the fork in the first bionic joint is the most bionical
The rear end face of fish head swings up and down with setpoint frequency and amplitude, and the fork in the second bionic joint is imitative relative to first
Raw joint swings up and down with setpoint frequency and amplitude；Described tail fin does motion of flapping particularly as follows: the first bionical pass
The rear end face of the most bionical fish head of fork in joint swings up and down with setpoint frequency and amplitude, the second bionic joint
In fork static relative to the first bionic joint.
A kind of bionical underwater propeller of the present invention and control method thereof, described propeller includes bionical fish head, all
Even several fins of striking waters being distributed in described bionical fish head rear end lateral surface, and wireless controller, Mei Gesuo
Stating fin of striking waters and include that two bionic joints and a tail fin are sequentially connected with and form, described bionical fish head includes a shell
Body and the control circuit plate being located in described housing, described bionic joint is connected with described control circuit plate, institute
Stating control circuit plate to be connected with described wireless controller, described tail fin is degressive-rate crescent structure.Logical
Crossing and arrange several fins of striking waters on the lateral surface of bionical fish head rear end, each fin of striking waters includes that at least two is bionical
Joint and a tail fin are sequentially connected with and form, and wireless controller sends a signal to control circuit plate, by controlling
Circuit board control biomimetics joint drives tail fin to carry out surge movement or motion of flapping, it is achieved undulatory propulsion or jet
Advance and freely switching between both of which, be possible not only to meet complicated underwater environment and constantly propose
Underwater job task requirement, and do not have during advancing and roll and unbalance asking
Topic, reliable and stable；In addition by tail fin being arranged to degressive-rate moon dental structure, improve pushing away of tail fin
Enter power and angle of rake ability to model.
Accompanying drawing explanation
Fig. 1 is the axonometric chart of the bionical underwater propeller of the present invention；
Fig. 2 is the structural representation of the bionical underwater propeller of the present invention；
Fig. 3 is the structural representation of bionic joint in the bionical underwater propeller of the present invention；
Fig. 4 is the explosive view of bionic joint in the bionical underwater propeller of the present invention.
Shown in figure: 1, bionical fish head；11, housing；12, support frame；121, vertical supporting plate；
122, horizontal supporting plate；2, strike waters fin；21, bionic joint；21a, the first bionic joint；21b,
Two bionic joints；210, waterproof washer；211, steering wheel；2111, output shaft；2112, horizontal projection；212、
Upper shell；2121, the first level connection joint portion；213, lower house；2131, horizontal bench；2132, second
Level connection joint portion；2133, circular connecting rod；214, the first side plate；215, the second side plate；216, fork；
217, cover plate；218, rotating disk；2181, circular bayonet socket；219, projecting shaft；22, tail fin；3, wireless
Controller；4, backing plate；5, set of cells；6, infrared sensor；7, hold-down support.
Detailed description of the invention
The present invention is described in detail below in conjunction with the accompanying drawings:
As shown in Figure 1-2, the invention provides a kind of bionical underwater propeller, including bionical fish head 1, uniformly
It is distributed in several fins 2 of striking waters of described bionical fish head 1 rear end lateral surface, and wireless controller 3, each
Described fin 2 of striking waters includes that two bionic joints 21 and a tail fin 22 are sequentially connected with and form, described Biomimetic Fish
1 includes a housing 11 and the control circuit plate (not marking in figure) being located in described housing 11, described imitative
Raw joint 21 is connected with described control circuit plate, and described control circuit plate is connected with described wireless controller 3,
Described tail fin 22 is in degressive-rate moon dental structure.Preferably, the quantity of fin 2 of striking waters described in is 3 or 4
Individual, described in strike waters fin 2 be fixed on the rear end lateral surface of described bionical fish head 1 by a backing plate 4.Specifically
, the quantity of fin 2 of striking waters in the present embodiment is 4, uniform along the edge of bionical fish head 1 rear end lateral surface
Distribution, each described in fin 2 of striking waters depended on by the first bionic joint 21a and the second bionic joint 21b and tail fin 22
Secondary being formed by connecting, control circuit plate is provided with wireless receiver for receiving the control instruction of wireless controller,
And control the first bionic joint 21a and the rotating manner of the second bionic joint 21b by control instruction, thus
Drive tail fin 22 to do surge movement or motion of flapping, the most also can realize the actions such as turning and braking, to realize
Undulatory propulsion pattern or flux driving pattern, and freely switching between the two, be possible not only to meet complexity
Underwater environment and the underwater job task requirement that constantly proposes, and will not go out during promoting
Now roll and unbalance problem, reliable and stable；Tail fin 22 is arranged to degressive-rate moon dental structure,
Improve the bionical effect of tail fin 22, the i.e. structure with reality Fish tail to be more nearly, design more science,
Further increase angle of rake ability to model.
Preferably, described bionical fish head 1 also includes the support frame 12 being located in described housing 11, is located at institute
Stating the set of cells 5 in support frame 12 and some infrared sensors 6, described infrared sensor 6 is located at described
The front end of bionical fish head 1, and it is connected to described control circuit plate, described support is located at by described control circuit plate
On framework 12, set of cells 5 is used for being powered control circuit plate,.As it is shown in figure 1, in the present embodiment,
Infrared sensor 6 is provided with 3, corresponding with the aperture position of bionical fish head 1 front end respectively, is used for detecting
Preceding object thing, the most just sends signal and feeds back to control circuit plate, and by controlling electricity
Road plate sends the signal to wireless controller 3, and wireless controller 3 fin 2 that controls to strike waters rotates and makes bionical fish head 1
Turn to assigned direction with avoiding obstacles.
Preferably, described support frame 12 includes the vertical supporting being located at described bionical fish head 1 rear inside face
Plate 121 and the horizontal supporting plate 122 being connected with described vertical supporting plate 121, described set of cells 5 is fixedly arranged on institute
State on vertical supporting plate 121 and horizontal supporting plate 122.Concrete, horizontal supporting plate 122 is connected to described
The centre position of vertical supporting plate 121, set of cells 5 is provided with two groups, is respectively arranged on horizontal supporting plate 122
Both sides, and one end and vertical supporting plate 121 is fixing is connected.
Preferably, the lower section of each described infrared ray sensor 6 is provided with a hold-down support 7, described hold-down support
7 are fixedly arranged in described support frame 12, and hold-down support 7 is located at horizontal supporting plate 122 near bionical fish head 1
The side of front end, for being fixed infrared ray sensor 6.
As it is shown on figure 3, described bionic joint 21 includes steering wheel 211, is sheathed on described steering wheel 211 respectively
Upper and lower and close-fitting upper shell 212 and lower house 213, it is located at above described upper shell 212
First side plate 214, be movably arranged at the second side plate 215 below described lower house 213, two ends connect institute respectively
State the first side plate 214 and the fork 216 of the second side plate 215 and be located at described first side plate 214 and upper casing
Cover plate 217 between body 212, the output shaft 2111 of described steering wheel 211 is sequentially connected with a rotating disk 218 and
Projecting shaft 219, described rotating disk 218 is located in described upper shell 212, and described projecting shaft 219 sequentially passes through institute
Fix with described first side plate 214 after stating upper shell 212 and cover plate 217 and be connected, described upper shell 212
Using metal material to make with lower house 213, one of them side of described lower house 213 is connected to described
Bionical fish head 1 rear end lateral surface or the fork 219 of adjacent bionic joint 21, described tail fin 22 is connected to adjacent
On the fork 219 of described bionic joint 21.Concrete, described upper shell 212 is relative with lower house 213
Side is respectively equipped with the cavity suitable with described steering wheel 211, and described steering wheel 211 is limited in what both surrounded
In cavity, upper shell 212 is i.e. provided with the cavity suitable with steering wheel 211 upper part, in lower house 213
Being provided with the cavity suitable with steering wheel 211 lower part, steering wheel 211 is limited in upper shell 212 and lower house 213
Cavity in, it is achieved the effect of sealing.Preferably, below described lower house 213, it is convexly equipped with circular connecting rod 2133,
Described circular connecting rod 2133 is flexibly connected with described second side plate 215.Concrete, described steering wheel 211 defeated
Shaft 2111 is connected with one end of rotating disk 218, and the other end of described rotating disk 218 is solid with projecting shaft 219
Fixed connection, in the present embodiment, projecting shaft 219 is suitable with the shape of rotating disk 218 near one end of rotating disk 218,
Both connect by screw is fixing, are provided with suitable with described projecting shaft 219 in described first side plate 214
Through hole, described projecting shaft 219 is fixing with described first side plate 214 to be connected, and sets in described second side plate 215
There are the through hole suitable with described circular connecting rod 2133, described circular connecting rod 2133 and described second side plate 215
Being flexibly connected, the second side plate 215 can rotate between circular connecting rod 2133, the first side plate 214 and the second side
Being connected with fork 216 between plate 215, steering wheel 211 is connected with control circuit plate, and sends according to control circuit plate
Control signal by output shaft 2111, turning moment is transferred to projecting shaft 11, drive rotating disk 218 and stretch out
Axle 219 rotates, thus drives the first side plate 214 to rotate, the first side plate 214 rotational band movable pendulum bar 216 He
Second side plate 215 rotates, thus drives the bionic joint 21 or the tail fin 22 that are connected with fork 216 to fluctuate
Motion or motion of flapping, to realize undulatory propulsion or flux driving, and turn or Brake lamp action.
Preferably, described steering wheel 211 is respectively equipped with horizontal projection 2112 on two sides along its length,
It is respectively equipped with and described horizontal projection on two sides along its length in the cavity of described lower house 213
2112 suitable horizontal bench 2131, described horizontal projection 2112 rides upon in described horizontal bench 2131,
And connect by screw is fixing between the two, steering wheel 211 is carried out by lower house 213 by horizontal bench 2131
Gentle support, connects, to rudder by screw is fixing between horizontal projection 2112 and horizontal bench 2131 simultaneously
Machine 211 is effectively fixed, it is to avoid the relative lower house 213 of steering wheel 211 is moved；Preferably, described
It is equipped with space, i.e. upper shell 212 between the inwall of steering wheel 211 and described upper shell 212 and lower house 213
Size with lower house 213 internal cavities is more than the size of steering wheel 211, and i.e. the bottom of steering wheel 211 is at upper casing
Unsettled setting in body 212 and lower house 213, to reduce steering wheel 211 and upper shell 212 and lower house 213
Between contact area, improve upper shell 212 and the damping effect of lower house 213, improve rudder
The sealing property of machine 211.
As shown in Figure 4, the opposite side of described upper shell 212 and lower house 213 along its length two
Being respectively equipped with the first level connection joint portion 2121 and the second level connection joint portion 2132 on side, described first level is even
Meet portion 2121 and the second level connection joint portion 2132 removably connect, i.e. upper shell 212 along its length two
Individual side is provided with the first level connection joint portion 2121, and lower house 213 two sides along its length are provided with
Second level connection joint portion 2132, removable between the first level connection joint portion 2121 and the second level connection joint portion 2132
Unload connection, in the present embodiment, be bolted, be easy for installation and removal, easy accessibility, it is simple to rudder
Machine 211 and miscellaneous part carry out Measuring error, improve degree easy to use.
Preferably, one of them side along its length, described second level connection joint portion 2132 is provided with some
Screwed hole, in the present embodiment, the quantity of screwed hole is 3, for bionical fish head 1 rear end lateral surface or its
Effectively connect between his bionic joint 21.
Preferably, described rotating disk 218 is circular near the side projection one of the output shaft 2111 of described steering wheel 211
Bayonet socket 2181, described output shaft 2111 stretches in described circular bayonet socket 2181, and both are connected, as logical
Crossing interlocking card to be attached, rotating disk 218 rotates with the rotation of output shaft 2111, thus drives projecting shaft
219 rotate.
Continuing referring to Fig. 2, the inside of described upper shell 212 and described cover plate 217 is equipped with stretches out with described
The through hole that axle 219 is suitable, described projecting shaft 219 and described upper shell 212 are near described cover plate 217 1
Waterproof washer 210 it is arranged with, it is preferred that described waterproof washer 210 uses soft rubber material between the through hole of side
Make, for the through hole of upper shell 212 is sealed, it is to avoid projecting shaft 219 when rotating with through hole it
Between produce gap and cause into water, reduce the sealing effectiveness to steering wheel 211.
The present invention also provides for the control method of a kind of bionical underwater propeller, sends control by wireless controller 3
Signal processed is to control circuit plate, by steering wheel 211 output shaft in the control circuit plate described bionic joint 21 of control
The rotational parameters of 2111, thus control the rotation of corresponding fork 216, make described tail fin 22 do surge movement or
Flap motion, to realize undulatory propulsion or flux driving, and turn or the action such as braking.Preferably, rudder
The rotational parameters of machine 211 output shaft 2111 includes the angle of rotation direction, rotational angular velocity and rotation.Specifically
, steering wheel 211 is connected with control circuit plate, the control signal sent according to control circuit, passes through output shaft
Turning moment is transferred to projecting shaft 11 by 2111, drives rotating disk 218 and projecting shaft 219 to rotate, thus drives
First side plate 214 rotates, and the first side plate 214 rotational band movable pendulum bar 216 and the second side plate 215 rotate, from
And drive the bionic joint 21 being connected with fork 216 or tail fin 22 to do surge movement or motion of flapping, with reality
Existing undulatory propulsion or flux driving.Described tail fin 22 does surge movement particularly as follows: in the first bionic joint 21a
The rear end face of the most bionical fish head of fork 216 1 swing up and down with setpoint frequency and amplitude, the second bionical pass
The relative first bionic joint 21a of fork 216 in joint 21b swings up and down with setpoint frequency and amplitude；Described
Tail fin 22 does the motion of flapping particularly as follows: the most bionical fish head of fork 216 1 in the first bionic joint 21a
Rear end face swings up and down with setpoint frequency and amplitude, the fork 216 relative first in the second bionic joint 21b
Bionic joint 21a is static.When needs realize undulatory propulsion, the rotational parameters of the first bionic joint 21a is:
Rotation direction is: 0.5 second clockwise, 0.5 second counterclockwise, rotate angular velocity be:Rotate
Angle is 60 degree, and the rotational parameters of the second bionic joint 21b is (relative to the first bionic joint 21a): the side of rotation
Xiang Wei: 0.5 second clockwise, 0.5 second counterclockwise, rotate angular velocity be:The angle rotated is
60 degree, when needs realize flux driving, the rotation direction of the first bionic joint 21a is: clockwise 0.5
Second, 1 second counterclockwise, the angular velocity of rotation was: open-angle speed isAngle of throat speed is
The angle rotated is 60 degree, for the situation of in the present embodiment 4 fins 2 of striking waters, when i.e. carrying out flux driving,
The time that four tail fins 22 open is the twice being retracted to the time together.Wag the tail song according further to Fish fluctuation
Line, during undulatory propulsion, it is poor that the first bionic joint 21a and the second bionic joint 21b has rotation phase, this
In be set toAdditionally, the rotation direction of the tail fin 22 of Relative distribution during in order to make undulatory propulsion and flux driving
On the contrary, the rotation phase difference between two tail fins 22 being i.e. oppositely arranged is π.
In sum, a kind of bionical underwater propeller of the present invention and control method thereof, described propeller includes imitating
Raw fish head 1, it is uniformly distributed in several fins 2 of striking waters of described bionical fish head 1 rear end lateral surface, and wireless
Controller 3, each described in fin 2 of striking waters include that at least two bionic joint 21 and a tail fin 22 are sequentially connected with
Forming, described bionic joint 21 and the wireless connections of described wireless controller 3, described tail fin 22 is passed in thickness
The moon dental structure subtracted.By arranging several fins 2 of striking waters on the lateral surface of bionical fish head 1 rear end, each strike waters
Fin 2 includes that at least two bionic joint 21 and a tail fin 22 are sequentially connected with and form, by wireless controller 3
Tail fin 22 is driven to carry out surge movement or motion of flapping with control circuit plate control biomimetics joint 21, it is achieved ripple
Freely switching between dynamic propelling or flux driving and both of which, is possible not only to meet complicated ring under water
Border and the underwater job task requirement constantly proposed, and during advancing, do not have left and right shake
Shake and unbalance problem, reliable and stable；In addition by tail fin 22 being arranged to degressive-rate moon dental structure,
Improve the propulsive force of tail fin 22 and angle of rake ability to model.
Although in description being illustrated embodiments of the present invention, but these embodiments are intended only as
Prompting, should not limit protection scope of the present invention.Carry out various province without departing from the spirit and scope of the present invention
Slightly, replace and change should be included in protection scope of the present invention.
Claims (10)
1. a bionical underwater propeller, it is characterized in that, including bionical fish head, several fins of striking waters of being uniformly distributed in described bionical fish head rear end lateral surface, and wireless controller, fin of striking waters described in each includes that two bionic joints and a tail fin are sequentially connected with and form, described bionical fish head includes a housing and the control circuit plate being located in described housing, described bionic joint is connected with described control circuit plate, described control circuit plate is connected with described wireless controller, and described tail fin is degressive-rate moon dental structure.
Bionical underwater propeller the most according to claim 1, it is characterized in that, described bionical fish head also includes the support frame being located in described housing, the set of cells being located in described support frame and some infrared sensors, the front end of described bionical fish head is located at by described infrared sensor, and it being connected to described control circuit plate, described control circuit plate is located in described support frame.
Bionical underwater propeller the most according to claim 2, it is characterized in that, described support frame includes the vertical supporting plate being located at described bionical fish head rear inside face and the horizontal supporting plate being connected with described vertical supporting plate, and described set of cells is fixedly arranged on described vertical supporting plate and horizontal supporting plate.
Bionical underwater propeller the most according to claim 3, it is characterised in that the lower section of each described infrared ray sensor is provided with a hold-down support, described hold-down support is fixedly arranged in described support frame.
nullBionical underwater propeller the most according to claim 1，It is characterized in that，Described bionic joint includes steering wheel、It is sheathed on the upper and lower of described steering wheel and close-fitting upper shell and lower house respectively、It is located at the first side plate above described upper shell、It is movably arranged at the second side plate below described lower house、Two ends connect described first side plate and the fork of the second side plate respectively、And it is located at the cover plate between described first side plate and upper shell，The output shaft of described steering wheel is sequentially connected with a rotating disk and a projecting shaft，Described rotating disk is located in described upper shell，Described projecting shaft is fixing with described first side plate after sequentially passing through described upper shell and cover plate to be connected，Described upper shell and lower house use metal material to make，One of them side of described lower house is connected to described bionical fish head rear end lateral surface or the fork of adjacent bionic joint，Described tail fin is connected on the fork of adjacent described bionic joint.
Bionical underwater propeller the most according to claim 5, it is characterized in that, the inside of described upper shell and described cover plate is equipped with the through hole suitable with described projecting shaft, described projecting shaft and described upper shell and is provided with waterproof washer between the through hole of described cover plate side.
Bionical underwater propeller the most according to claim 1, it is characterised in that described in the strike waters quantity of fin be 3 or 4, each described in fin of striking waters be fixed on the rear end lateral surface of described bionical fish head by a backing plate.
8. the control method of a bionical underwater propeller, it is characterized in that, control circuit plate is sent a control signal to by wireless controller, by the rotational parameters of steering wheel output shaft in the control circuit plate described bionic joint of control, thus control the rotation of corresponding fork, described tail fin is made to do surge movement or motion of flapping, to realize undulatory propulsion or flux driving.
Bionical underwater propeller the most according to claim 8, it is characterised in that the rotational parameters of described steering wheel output shaft includes the angle of rotation direction, rotational angular velocity and rotation.
Bionical underwater propeller the most according to claim 9, it is characterized in that, described tail fin does surge movement particularly as follows: the rear end face of the most bionical fish head of fork in the first bionic joint swings up and down with setpoint frequency and amplitude, and the fork in the second bionic joint swings up and down with setpoint frequency and amplitude relative to the first bionic joint；Described tail fin does motion of flapping particularly as follows: the rear end face of the most bionical fish head of fork in the first bionic joint swings up and down with setpoint frequency and amplitude, and the fork in the second bionic joint is static relative to the first bionic joint.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106628074A (en) * | 2017-01-23 | 2017-05-10 | 中电科海洋信息技术研究院有限公司 | Bionic fish head and bionic fish |
| CN110884635A (en) * | 2019-09-03 | 2020-03-17 | 浙江理工大学 | Underwater flapping propulsion device |
| CN113479306A (en) * | 2021-08-03 | 2021-10-08 | 景兴建 | Bionic underwater robot with buoyancy adjusting device |
| CN114162296A (en) * | 2021-11-25 | 2022-03-11 | 北京机电工程研究所 | Underwater vehicle propelling and control integrated device, underwater vehicle and navigation control method thereof |
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