CN109334932A - Mixed connection driving mechanism for aquatic bio-propulsion system - Google Patents
Mixed connection driving mechanism for aquatic bio-propulsion system Download PDFInfo
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- CN109334932A CN109334932A CN201811229537.XA CN201811229537A CN109334932A CN 109334932 A CN109334932 A CN 109334932A CN 201811229537 A CN201811229537 A CN 201811229537A CN 109334932 A CN109334932 A CN 109334932A
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- steering engine
- engine module
- rotary shaft
- synchronous pulley
- joint rotary
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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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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
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Abstract
The present invention relates to the mixed connection driving mechanisms for aquatic bio-propulsion system, including the first steering engine module, first joint rotary shaft of the first steering engine module passes through the first steering engine connection frame and the second steering engine module, one end of third steering engine module connects, the second steering engine module, the other end of third steering engine module connects second joint rotary shaft commonly through the second steering engine connection frame, one end of second joint rotary shaft connects the output shaft of the second steering engine module by the first transmission mechanism, the other end of second joint rotary shaft passes through the output axis connection of the second transmission mechanism and third steering engine module；Second joint rotary shaft is fixedly connected by one end of caudal peduncle, and it further includes tail fin that the other end of caudal peduncle and third joint, which rotate axis connection, and institute's tail fin connects second joint rotary shaft by third transmission mechanism.The present invention generally waterproof construction can the surge movement of high fidelity simulation fish tail body and the pendulum motion of tail fin by increasing support frame and permeable covering in each structure peripheral.
Description
Technical field
The present invention relates to ship equipment technical fields, more particularly, to the mixed connection driving machine of aquatic bio-propulsion system
Structure.
Background technique
Bionic coatings submariner device imitates the shape and propulsion mode of marine organisms, have efficiently, it is low noise, mobility strong, hidden
Many advantages, such as covering property is good, small to underwater environment disturbance, resource exploration, environmental monitoring, military surveillance are prominent anti-etc. under water
There is boundless application prospect.However, due to the limitation of material science and control technology, current aquatic bionic submariner device
Substantially or using mechanical structure as main transmission mechanism, such as imitative fish underwater vehicle is only simple imitate mostly
The single-degree-of-freedom pendulum motion of fish tail fin, propulsive efficiency is low, and travelling speed is not high；Also part imitates fish submariner device using multiple
The concatenated mode of steering engine simulates the motor pattern that fish body fluctuation tailing fin is swung, but due to using the concatenated mode of steering engine, fish
Body tail end has biggish cross-sectional area and swings inertia, greatly limits hunting frequency, the propulsive efficiency of Bionic impeller,
And the flexibility of manipulation.
Summary of the invention
The applicant is directed to above-mentioned existing issue, has carried out Improvement, provides a kind of for aquatic bio-propulsion system
Mixed connection driving mechanism, the speed of a ship or plane of aircraft can not only be improved, moreover it is possible to improve overall hydrodynamic force propulsive efficiency.
The technical solution adopted in the present invention is as follows:
For the mixed connection driving mechanism of aquatic bio-propulsion system, including the first steering engine module, the first steering engine module
The first joint rotary shaft connect with one end of the second steering engine module, third steering engine module by the first steering engine connection frame, it is described
Second steering engine module, third steering engine module the other end commonly through the second steering engine connection frame connect second joint rotary shaft, institute
The one end for stating second joint rotary shaft connects the output shaft of the second steering engine module, the second joint rotation by the first transmission mechanism
The other end of shaft passes through the output axis connection of the second transmission mechanism and third steering engine module；The second joint rotary shaft passes through
One end of caudal peduncle is fixedly connected, and it further includes tail fin that the other end of the caudal peduncle and third joint, which rotate axis connection, and the tail fin is logical
Cross third transmission mechanism connection second joint rotary shaft.
Its further technical solution is:
First transmission mechanism includes the first synchronous pulley with the cooperation of the second steering engine module output shaft, and described first is same
Belt wheel is walked by first synchronous the second synchronous pulley of band connection, second synchronous pulley is installed on the one of second joint rotary shaft
End；
Second transmission mechanism includes the 4th synchronous pulley with the cooperation of third steering engine module output shaft, and the described 4th is same
Belt wheel is walked by the second synchronous the 5th synchronous pulley of band connection, the 5th synchronous pulley is installed on the another of second joint rotary shaft
One end；
The third transmission mechanism includes the third synchronous pulley with the cooperation of third joint rotary shaft, the third synchronous belt
Wheel is fixed with tail fin, and the third synchronous pulley passes through synchronous the 6th synchronous pulley of band connection of third, the 6th synchronous pulley
Also cooperate with second joint rotary shaft；
6th synchronous pulley is between the 5th synchronous pulley and the second synchronous pulley；
The second steering engine module and third steering engine wired in parallel, the second rudder of the first steering engine module and parallel arrangement
Machine module and third steering engine block coupled in series.
Beneficial effects of the present invention are as follows:
The configuration of the present invention is simple, easy to use, generally waterproof construction, by each structure peripheral increase support frame and
Permeable covering, can the surge movement of high fidelity simulation fish tail body and the pendulum motion of tail fin, diversified forms can be simulated
Fish locomotion.
By making the second steering engine module and third steering engine wired in parallel propulsive mechanism tail end weight saving, significantly subtracting
The rotary inertia of small tail portion can permit higher tail under the conditions of identical steering engine input power, torque and structural strength
Fin hunting frequency, to effectively improve the speed of a ship or plane of submariner device main structure；In addition the present invention can substantially reduce the cross section of caudal peduncle
Product to reduce the water body resistance that caudal peduncle part is subject in a lateral direction in progradation, and then reduces tail fin movement in cross
It does work on direction, improves overall hydrodynamic force propulsive efficiency.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is operation schematic diagram of the present invention in the case where straight line cruises state.
Fig. 3 is operation schematic diagram of the present invention under steering state.
Wherein: 1, the first steering engine module；2, the first joint rotary shaft；3, the first steering engine connection frame；4, the second steering engine module；
5, third steering engine module；6, the first synchronous pulley；7, the first synchronous belt；8, the second synchronous pulley；9, second joint rotary shaft；
10, caudal peduncle；11, third synchronous pulley；12, tail fin；13, the second steering engine connection frame；14, the 4th synchronous pulley；15, second is synchronous
Band；16, the 5th synchronous pulley；17, the 6th synchronous pulley；18, third synchronous belt；19, third joint rotary shaft.
Specific embodiment
Illustrate a specific embodiment of the invention below.
As shown in Figure 1, the mixed connection driving mechanism for aquatic bio-propulsion system includes the first steering engine module 1, the first rudder
One end of machine module 1 and the main structure of submariner device are affixed.First joint rotary shaft 2 of the first steering engine module 1 passes through the first rudder
Machine connection frame 3 is connect with one end of the second steering engine module 4, third steering engine module 5, the second steering engine module 4, third steering engine module 5
The other end commonly through the second steering engine connection frame 13 connect second joint rotary shaft 9, one end of second joint rotary shaft 9 passes through
First transmission mechanism connects the output shaft of the second steering engine module 4, and the other end of second joint rotary shaft 9 passes through the second transmission mechanism
With the output axis connection of third steering engine module 5；Second joint rotary shaft 9 is fixedly connected by one end of caudal peduncle 10, caudal peduncle 10
The other end is connect with third joint rotary shaft 19, further includes tail fin 12, and tail fin 12 connects second joint by third transmission mechanism
Rotary shaft 9.
As shown in Figure 1, above-mentioned first transmission mechanism includes the first synchronous pulley with the cooperation of 4 output shaft of the second steering engine module
6, the first synchronous pulley 6 connects the second synchronous pulley 8 by the first synchronous belt 7, and the second synchronous pulley 8 is installed on second joint rotation
One end of shaft 9.
Above-mentioned second transmission mechanism includes the 4th synchronous pulley 14 with the cooperation of 5 output shaft of third steering engine module, and the 4th is same
It walks belt wheel 14 and the 5th synchronous pulley 16 is connected by the second synchronous belt 15, the 5th synchronous pulley 16 is installed on second joint rotary shaft
9 other end.Above-mentioned third transmission mechanism includes the third synchronous pulley 11 cooperated with third joint rotary shaft 19, and third is synchronous
Belt wheel 11 and tail fin 12 are fixed, and third synchronous pulley 11 connects the 6th synchronous pulley 17 by third synchronous belt 18, and the 6th is synchronous
Belt wheel 17 also cooperates with second joint rotary shaft 9.6th synchronous pulley 17 is located at the 5th synchronous pulley 16 and the second synchronous pulley 8
Between.
Above-mentioned second steering engine module 4 is in parallel with third steering engine module 5, the second rudder of the first steering engine module 1 and parallel arrangement
Machine module 4 and third steering engine module 5 are connected.
Specific work process of the invention is as follows:
As shown in Fig. 2, the front end of the first steering engine module 1 is fixedly connected with sail body main structure, after the first steering engine module 1
The first joint rotary shaft 2 at end does oscillating traverse motion, to drive second joint rotary shaft 9 with the of the first steering engine module 1
Oscillating traverse motion is done centered on one joint rotary shaft 2；Third joint rotary shaft 19 is under the driving of the first transmission mechanism with
Oscillating traverse motion is done centered on two joint rotary shafts 9；Tail fin 12 is under the driving of second, third transmission mechanism with third joint
Oscillating traverse motion is done centered on rotary shaft 19.By the transmission in three-level joint, it can effectively increase the sweeping volume of tail fin 12, from
And higher propulsive force and propulsive efficiency can be obtained；By adjusting the initial phase of above three joint rotary shaft and maximum turn
The appearance profile in sail body endpiece motion process can be adjusted flexibly in angle, to reach better bionical effect；By adjusting upper
State the rotational angular velocity and hard-over of three joint rotary shafts, it is convenient to adjust the size of propulsive force, thus realize acceleration,
Retarded motion.
As shown in Fig. 2, the line of 1 rear and front end center line of the first steering engine module constitutes fish body center line, the rotation of the first joint
Pivot angle is formed between the maximum rotation angle of shaft 2 and minimum rotation angle, when the center line and fish body center line of the pivot angle are total
When line, the first transmission mechanism, the second transmission mechanism, third transmission mechanism driving under the combination that translates and swing of tail fin 12
Movement generates forward active force by pushing water body backward, the resultant direction and fish body centerline collineation of the active force, thus
The submariner device main structure that connect with the first steering engine module 1 is pushed to travel forward, realization straight line is cruised state.
As shown in figure 3, when the main structure of submariner device is in motor-driven steering, the pivot angle center line of the first joint rotary shaft 2
With fish body center line formed angle, the first transmission mechanism, the second transmission mechanism, third transmission mechanism driving under tail fin 12 do
Translation and the aggregate motion swung, by pushing water body to generate forward active force, the active force resultant direction and fish body backward
Center line is in a certain angle, to generate operating torque, the main structure of driving submariner device does divertical motion, realizes motor-driven steering
State.
Above description is explanation of the invention, is not intended to limit the invention, and limited range of the present invention is referring to right
It is required that the present invention can make any type of modification without prejudice to basic structure of the invention.
Claims (6)
1. being used for the mixed connection driving mechanism of aquatic bio-propulsion system, it is characterised in that: described including the first steering engine module (1)
First joint rotary shaft (2) of the first steering engine module (1) passes through the first steering engine connection frame (3) and the second steering engine module (4), third
One end of steering engine module (5) connects, the second steering engine module (4), third steering engine module (5) the other end commonly through second
Steering engine connection frame (13) connects second joint rotary shaft (9), and one end of the second joint rotary shaft (9) passes through the first driver
Structure connects the output shaft of the second steering engine module (4), the other end of the second joint rotary shaft (9) by the second transmission mechanism with
The output axis connection of third steering engine module (5)；The second joint rotary shaft (9) is fixedly connected by one end of caudal peduncle (10),
The other end of the caudal peduncle (10) is connect with third joint rotary shaft (19), further includes tail fin (12), and the tail fin (12) passes through
Third transmission mechanism connects second joint rotary shaft (9).
2. being used for the mixed connection driving mechanism of aquatic bio-propulsion system as described in claim 1, it is characterised in that: described first
Transmission mechanism includes the first synchronous pulley (6) with the cooperation of the second steering engine module (4) output shaft, first synchronous pulley (6)
The second synchronous pulley (8) are connected by the first synchronous belt (7), second synchronous pulley (8) is installed on second joint rotary shaft
(9) one end.
3. being used for the mixed connection driving mechanism of aquatic bio-propulsion system as described in claim 1, it is characterised in that: described second
Transmission mechanism includes the 4th synchronous pulley (14) with the cooperation of third steering engine module (5) output shaft, the 4th synchronous pulley
(14) the 5th synchronous pulley (16) is connected by the second synchronous belt (15), the 5th synchronous pulley (16) is installed on second joint
The other end of rotary shaft (9).
4. being used for the mixed connection driving mechanism of aquatic bio-propulsion system as described in claim 1, it is characterised in that: the third
Transmission mechanism include with third joint rotary shaft (19) cooperation third synchronous pulley (11), the third synchronous pulley (11) with
Tail fin (12) is fixed, and the third synchronous pulley (11) connects the 6th synchronous pulley (17) by third synchronous belt (18), described
6th synchronous pulley (17) also cooperates with second joint rotary shaft (9).
5. being used for the mixed connection driving mechanism of aquatic bio-propulsion system as claimed in claim 4, it is characterised in that: the described 6th
Synchronous pulley (17) is between the 5th synchronous pulley (16) and the second synchronous pulley (8).
6. being used for the mixed connection driving mechanism of aquatic bio-propulsion system as described in claim 1, it is characterised in that: described second
Steering engine module (4) is in parallel with third steering engine module (5), the second steering engine module of the first steering engine module (1) and parallel arrangement
(4) it connects with third steering engine module (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811229537.XA CN109334932B (en) | 2018-10-22 | 2018-10-22 | Series-parallel driving mechanism for underwater bionic propulsion system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811229537.XA CN109334932B (en) | 2018-10-22 | 2018-10-22 | Series-parallel driving mechanism for underwater bionic propulsion system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109334932A true CN109334932A (en) | 2019-02-15 |
| CN109334932B CN109334932B (en) | 2021-01-29 |
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ID=65310836
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811229537.XA Active CN109334932B (en) | 2018-10-22 | 2018-10-22 | Series-parallel driving mechanism for underwater bionic propulsion system |
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Cited By (4)
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| CN109927867A (en) * | 2019-02-20 | 2019-06-25 | 博雅工道（北京）机器人科技有限公司 | A kind of fish tail mechanism of bionic machine fish |
| CN112498638A (en) * | 2020-12-15 | 2021-03-16 | 哈尔滨工程大学 | High-speed swing two-joint bionic fishtail device |
| CN113148087A (en) * | 2021-05-06 | 2021-07-23 | 李云飞 | Linkage type detection robot fish |
| CN114834616A (en) * | 2022-05-19 | 2022-08-02 | 南京航空航天大学 | Dolphin-imitated unmanned underwater vehicle and driving method thereof |
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| CN205971770U (en) * | 2016-08-30 | 2017-02-22 | 江苏科技大学 | Underwater biomimetic robotic fish |
| CN107380386A (en) * | 2017-07-12 | 2017-11-24 | 河海大学 | A kind of three articulation structures of machine fish |
| CN107458565A (en) * | 2017-07-19 | 2017-12-12 | 河南大学 | A kind of flexible body Biomimetic Fish and its drive control method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109927867A (en) * | 2019-02-20 | 2019-06-25 | 博雅工道（北京）机器人科技有限公司 | A kind of fish tail mechanism of bionic machine fish |
| CN109927867B (en) * | 2019-02-20 | 2024-03-01 | 博雅工道（北京）机器人科技有限公司 | Fishtail mechanism of bionic robot fish |
| CN112498638A (en) * | 2020-12-15 | 2021-03-16 | 哈尔滨工程大学 | High-speed swing two-joint bionic fishtail device |
| CN113148087A (en) * | 2021-05-06 | 2021-07-23 | 李云飞 | Linkage type detection robot fish |
| CN113148087B (en) * | 2021-05-06 | 2024-02-06 | 李云飞 | Linkage type detection robot fish |
| CN114834616A (en) * | 2022-05-19 | 2022-08-02 | 南京航空航天大学 | Dolphin-imitated unmanned underwater vehicle and driving method thereof |
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| Publication number | Publication date |
|---|---|
| CN109334932B (en) | 2021-01-29 |
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