CN115871904A - Underwater bionic power propulsion device based on magnetic field - Google Patents
Underwater bionic power propulsion device based on magnetic field Download PDFInfo
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Abstract
The invention relates to an underwater bionic power propulsion device based on a magnetic field, and belongs to the technical field of underwater automatic aircrafts. The device comprises a hollow magnetic device base, a magnetic device shell, a ball core fixing piece, a ball core rotor and a magnetic driving assembly; a ball core fixing piece is arranged at the joint of the magnetic device base and the fish body and is abutted against a movable ball core rotor arranged in the magnetic device base; a magnetic driving assembly which interacts with the inner surface of the magnetic device base and the outer surface of the ball core rotor to drive the ball core rotor to rotate in two degrees of freedom is arranged between the inner surface of the magnetic device base and the outer surface of the ball core rotor; the two-degree-of-freedom rotation is around a Y axis and a Z axis; the periphery of the magnetic device base is wrapped with a magnetic device shell connected with the ball core rotor. The magnetic field-based power transmission system has the advantages of compact and simple structure and high integration, effectively simulates a bionic fish double-joint swimming model in water, and provides a new mode for a tail fin swinging mode.
Description
Technical Field
The invention relates to an underwater bionic power propulsion device based on a magnetic field, and belongs to the technical field of underwater automatic aircrafts.
Background
The underwater unmanned vehicle is an important component of modern naval equipment, and is one of the fields of new concepts and wide application of new technologies in naval equipment. The underwater unmanned aerial vehicle is listed in the national development strategy planning, so that the key technologies of water surface and underwater are continuously overcome, and the key direction for promoting the diversified development of the unmanned aerial vehicle is the key direction of scientific research. In order to simulate the tail swing motion of carangid fishes more truly, scholars at home and abroad further improve the fidelity of the tail fin from the angles of multiple joints, flexibility and the like, and further improve the propelling performance of the tail fin, however, the flexible and multiple-joint tail fin bionic propulsion with high fidelity puts forward higher requirements no matter from the aspects of design, manufacture and control, is particularly difficult for an underwater power propelling device, and is not beneficial to fundamentally solving the bionic propelling performance of an underwater propeller. From the existing literature search, the following are found: (1) Chinese patent publication No.: CN114537629a, patent name: the tail fin based on the composite link mechanism propels the self-swimming bionic robot fish, and the robot fish can complete the compound motion of transverse movement and swinging of the tail handle through the composite link mechanism, so that the flexibility and the simulation degree of the bionic robot fish are improved. (2) Chinese patent publication No.: CN113232805A, the patent installs flexible fluctuation fins on both sides of the fish body, and drives the flexible fluctuation fins to generate up-and-down fluctuation through a swing end, so as to improve the steady state propelling speed of the fish body. (3) Chinese patent publication No.: CN113232807a, patent name: the patent discloses a bionic robot fish with multiple propulsion modes, which realizes three motion modes of tail fin propulsion, propeller propulsion and hybrid propulsion through structures such as a left propeller, a right propeller, a tail fin propeller and the like, and improves the motion efficiency of the bionic robot fish. However, the above patents only optimize the robotic fish from the mechanical structure, and the flexibility and simulation efficiency of the robotic fish are still insufficient; therefore, there is still a need in the art to design a highly efficient swimming model with high maneuverability, flexibility and fault tolerance for spatial swinging of the tail fin.
Disclosure of Invention
The invention aims to solve the technical problem of designing a tail fin space swinging high-efficiency swimming model with high maneuverability, flexibility and fault tolerance in order to meet the requirements in the background technology.
In order to solve the problems, the technical scheme adopted by the invention is to provide a magnetic field-based two-degree-of-freedom swinging device for the tail fins of the carangid department, which is arranged between a fish body and the tail fins of the carangid department and comprises a hollow magnetic device base, a magnetic device shell, a ball core fixing piece, a ball core rotor and a magnetic driving assembly; a ball core fixing piece is arranged at the joint of the magnetic device base and the fish body and is abutted against a movable ball core rotor arranged in the magnetic device base; a magnetic driving assembly which interacts with the inner surface of the magnetic device base and the outer surface of the ball core rotor to drive the ball core rotor to rotate in two degrees of freedom is arranged between the inner surface of the magnetic device base and the outer surface of the ball core rotor; the rotation center of the spherical core rotor is taken as an original point, the direction from the head of the fish to the tail of the fish is the X-axis direction, the direction from the left side to the right side of the fish body is the Y-axis direction, the direction perpendicular to the X-axis and the Y-axis is the Z-axis direction, and the two-degree-of-freedom rotation is rotation around the Y-axis and the Z-axis; the periphery of the magnetic device base is wrapped with a magnetic device shell connected with the ball core rotor.
Preferably, a ball core fixing piece is arranged along the X axis, and a spherical abutting surface is arranged at the abutting position of the ball core fixing piece and the ball core rotor.
Preferably, the ball core rotor comprises a spherical body and a connecting handle, the connecting handle is along the X axis, one end of the connecting handle is connected with the spherical body, and the other end of the connecting handle is connected with the carangidae tail fin.
Preferably, the magnetic drive assembly comprises a coil, a permanent magnet and a stator; the inner surface of the magnetic device base cavity is provided with a stator, the stator is sleeved with a coil, and the outer surface of the spherical body of the spherical core rotor is provided with a permanent magnet.
Preferably, the outer surface of the spherical body of the ball core rotor is provided with a groove for mounting a permanent magnet.
Preferably, the center of the permanent magnet is arranged on a plane formed by a Y axis and a Z axis of the spherical body passing through the origin of the spherical body.
Preferably, the number of the permanent magnets is 6, and the 6 permanent magnets are arranged around the origin of the spherical body; the magnetic pole directions of the adjacent permanent magnets are opposite.
Preferably, the stators are respectively arranged on a plane formed by an X axis/a Y axis of the spherical body passing through the origin of the spherical body and a plane formed by an X axis/a Z axis of the spherical body passing through the origin of the spherical body; the stators are symmetrically distributed around the spherical body up and down and left and right; two rows of symmetrical stators taking the X axis as a symmetry axis are arranged on a plane formed by the X axis/Y axis of the spherical body, each row of stators comprises 3 stators, a connecting line of the centers of two middle stators passes through the origin of the spherical body, the connecting line is arranged on a plane where 6 permanent magnets are arranged, and the stators on the two sides of the middle stators are symmetrically distributed; two rows of symmetrical stators taking the X axis as a symmetry axis are arranged on a plane formed by the X axis/Z axis of the spherical body, each row of stators comprises 3 stators, a connecting line between the centers of two middle stators passes through the origin of the spherical body, the connecting line is arranged on the plane where 6 permanent magnets are arranged, and the stators on the two sides of the middle stators are symmetrically distributed.
Preferably, the periphery of the two-degree-of-freedom swinging device is wrapped with an elastic waterproof latex film which does not influence the movement of the swinging device.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention provides a power transmission system based on a magnetic field concept, which meets the motion and control of the double-freedom-degree swinging of a tail fin by a compact and simple structural design with high integration degree.
2. The invention adopts the Kax curve streamline design, and effectively reduces the resistance effect of the bionic mechanical fish when swimming in water.
3. Through the combined control of the motor with two degrees of freedom and the steering engine, the model of the bionic fish swimming in the water with two joints is effectively simulated, so that the bionic fish swims more truly.
4. Through the research of the invention, the swimming model innovation drives the transmission system innovation, a new thought is provided for the tail fin swinging mode, and the method is expected to have wide application prospect in the field of underwater unmanned bionic propulsion and has good theoretical significance and engineering application value.
Drawings
FIG. 1 is an overall three-dimensional shape diagram of a biomimetic robotic fish of the present invention;
FIG. 2 is an exploded view of the internal parts of the fish body according to the present invention;
FIG. 3 is an exploded view of the two degree of freedom magnetic device of the present invention;
FIG. 4 is an internal structure view of the two-degree-of-freedom magnetic device of the present invention;
FIG. 5 is a view of a wobble tail fin attachment of the present invention;
FIG. 6 is an exploded view of a portion of the tail fin dual-degree-of-freedom swinging device of the present invention;
reference numerals are as follows: 1. fish shells; 2. under the fish shell; 3, M8 nuts; 4, M8 bolts; 5. a screw; 6, a magnetic device base; 7, M4 bolt; 8, M4 nuts; 9. a magnetic device housing; 10. a waterproof latex film; 11. a coupler; 12. a rudder mount; 13. a steering engine; 14. an output disc of the steering engine; 15. a tail fin connecting frame; 16. a carangid tail fin; 17. sealing gaskets; 18. a control panel; 19. a battery; 20. a bread board; 21. connecting the bosses; 22. a coil; 23. a permanent magnet; 24. a stator; 25. a core securing member; 26. a ball core rotor; 27. a magnetic device shell fixing piece; 28. a connecting handle; 29. a spherical body; 111. a fish body shell; 222. a two-degree-of-freedom magnetic device; 333. swinging the tail fin;
Detailed Description
In order to make the invention more comprehensible, preferred embodiments are described in detail below with reference to the accompanying drawings:
as shown in fig. 1-6, the invention provides a magnetic field-based two-degree-of-freedom swinging device for a carangid tail fin, which is arranged between a fish body and the carangid tail fin 16 and comprises a hollow magnetic device base 6, a magnetic device shell 9, a ball core fixing piece 25, a ball core rotor 26 and a magnetic driving assembly; a ball core fixing piece 25 is arranged at the joint of the magnetic device base 6 and the fish body, and the ball core fixing piece 25 is abutted with a movable ball core rotor 26 arranged in the magnetic device base 6; a magnetic driving assembly which interacts with the inner surface of the magnetic device base 6 and the outer surface of the ball core rotor 26 to drive the ball core rotor 26 to rotate in two degrees of freedom is arranged between the inner surface of the magnetic device base 6 and the outer surface of the ball core rotor 26; the rotation center of the spherical core rotor 26 is used as an original point, the direction from the fish head to the fish tail is an X-axis direction, the direction from the left side to the right side of the fish body is a Y-axis direction, the direction perpendicular to the X-axis and the Y-axis is a Z-axis direction, and the two-degree-of-freedom rotation is rotation around the Y-axis and the Z-axis; the periphery of the magnetic device base 6 is wrapped with a magnetic device shell 9 connected with the ball core rotor 26. A ball core fixing piece 25 is arranged along the X axis, and a spherical abutting surface is arranged at the abutting position of the ball core fixing piece 25 and the ball core rotor 26. The ball core rotor 26 comprises a spherical body 29 and a connecting handle 28, the connecting handle 28 is along the X axis, one end of the connecting handle 28 is connected with the spherical body 29, and the other end is connected with the carangid tail fin 16. The magnetic driving assembly comprises a coil 22, a permanent magnet 23 and a stator 24; the inner surface of the cavity of the magnetic device base 6 is provided with a stator 24, the stator 24 is sleeved with a coil 22, and the outer surface of the spherical surface 29 of the spherical core rotor 26 is provided with a permanent magnet 23. The outer surface of the spherical body 29 of the ball core rotor 26 is provided with grooves for mounting the permanent magnets 23. The center of the permanent magnet 23 is located on the plane formed by the Y-axis and the Z-axis of the spherical body passing through the origin of the spherical body 29. 6 permanent magnets 23 are arranged, and the 6 permanent magnets 23 are arranged around the origin of the spherical body 29; the adjacent permanent magnets 23 have opposite magnetic pole directions.
The stator 24 is respectively arranged on a plane formed by an X axis/Y axis of the spherical body passing through the origin of the spherical body and a plane formed by an X axis/Z axis of the spherical body passing through the origin of the spherical body; the stators 24 are distributed around the spherical body 29 in a vertically and horizontally symmetrical manner; two rows of symmetrical stators taking the X axis as a symmetry axis are arranged on a plane formed by the X axis/Y axis of the spherical body, each row of stators comprises 3 stators, a connecting line of the centers of two middle stators passes through the origin of the spherical body, the connecting line is arranged on a plane where 6 permanent magnets are arranged, and the stators on the two sides of the middle stators are symmetrically distributed; two rows of symmetrical stators which take the X axis as a symmetry axis are arranged on a plane formed by the X axis/Z axis of the spherical body, each row of stators comprises 3 stators, a connecting line between the centers of two middle stators passes through the origin of the spherical body and is arranged on the plane where 6 permanent magnets are arranged, and the stators on the two sides of the middle stators are symmetrically distributed. The periphery of the two-degree-of-freedom swinging device is wrapped with an elastic waterproof latex film 10 which does not influence the movement of the swinging device.
The technical scheme adopted by the invention is that the transmission of the tail fin is controlled by the combination of the two-degree-of-freedom magnetic device and the steering engine, so that the tail fin can swing up and down and left and right in two degrees of freedom to achieve three motion modes of floating, submerging and steering. The design part comprises streamline design of the fish body, sealing design, structural design of a two-degree-of-freedom magnetic device and combined design of a steering engine and a tail fin.
The streamline design of the fish body aims at reducing the resistance influence of the bionic mechanical fish swimming in water, and the streamline form design method comprises a curve combination method, a Kakes method, a source sink method and a discrete fitting method. The method selects the Kax curve streamline design, the Kax curve equation is obtained by multiplying a linear equation with a certain slope and an elliptic equation, and the obtained Kax curve is subjected to modeling of a two-dimensional flow field, grid division and simulation calculation under different boundary conditions to obtain a proper revolving body shape.
The sealing design comprises a fish body and a two-degree-of-freedom magnetic device, the fish body is waterproof, the fish body is mainly matched with grooves of the two parts below the fish body, a sealing gasket is installed at the position of a groove gap, a better sealing effect is achieved, and finally the fish body is fixed with the two parts below the fish body through bolt connection. The sealing design of the two-degree-of-freedom magnetic device is that the deformable flexible material waterproof latex film is wrapped and fixed end to achieve the sealing effect, the deformable material has large elasticity, can generate large deformation under the action of small external force, and can recover to the original shape after the external force is removed.
The structural design of the two-degree-of-freedom magnetic device comprises a spherical core rotor, the number and arrangement mode of stators and the installation position of a permanent magnet. The ball core rotor adopts a hollow groove type rotor structure, 6 permanent magnets which are uniformly arranged along the circumference are arranged in a hollow groove, and the magnetic pole directions of every two adjacent permanent magnets are opposite. The stator coils are uniformly distributed in 4 rows in a circular manner on the inner ring surface of the double-freedom-degree magnetic device, 3 stators are arranged in each row, and 12 stators are arranged in total.
The combined design of the steering engine 13 and the tail fin comprises two parts, namely the steering engine 13, a two-degree-of-freedom magnetic device and the tail fin 16, which are connected with a rudder frame 12. Two ends of the coupler 11 are respectively connected with the cell rotor and the steering engine 13 in the two-degree-of-freedom magnetic device, so that the steering engine 13 and the cell rotor keep synchronous motion. The tail fin 16 is connected with the rudder frame 12 through screws, so that the tail fin can perform swinging motion with a certain amplitude; (the steering engine 13 and the tail fin are combined into the prior art)
Examples
The invention provides a magnetic field-based tail fin two-degree-of-freedom swinging device, which comprises a fish body shell 111, a two-degree-of-freedom magnetic device 222 and a swinging tail fin 333, and can realize the motion of the tail fin with two degrees of freedom, namely up and down, left and right.
As shown in fig. 1 and 2, the fish body shell 111 includes a fish shell upper 1, a fish shell lower 2, a control panel 18, a battery 19, a bread board 20, an M8 nut 3, an M8 screw 4, a sealing gasket 17 and a connecting boss 21, and the curve of the fish body is in a cassis curve streamline design, that is, a linear equation with a certain slope is multiplied by an elliptic equation to obtain a proper revolving body shape through simulation calculation. Install seal gasket 17 on the fish shell 1, 2 within a definite time under the fish shell to fix through connecting boss 21, in order to reach waterproof and preliminary cooperation effect. The M8 threaded holes are respectively formed in the left side, the right side and the head of the fish shell upper 1 and the fish shell lower 2, the fish body shell 111 is tightly matched through the connection of the M8 bolt 4 and the M8 nut 3, the M4 threaded holes are uniformly distributed in the circumference at the tail end of the fish body shell 111, and the two-degree-of-freedom magnetic device 222 is fixed to the tail of the fish body shell 111 through the screw 5. The central position of the tail end of the fish body shell 111 is provided with a hole structure, so that the two-degree-of-freedom magnetic device 222 and the steering engine 13 can be conveniently connected through a lead. The fish body shell 111 is internally provided with a control panel 18, a battery 19 and a bread board 20 so as to carry out combined control on the two-degree-of-freedom magnetic device 222 and the steering engine 13.
As shown in fig. 3 and 4, the two-degree-of-freedom magnetic device 222 includes a magnetic device base 6, an M4 bolt 7, an M4 nut 8, a magnetic device housing 9, a coil 22, a permanent magnet 23, a stator 24, a ball core fixing member 25, a ball core rotor 26, a magnetic device housing fixing member 27, and the like, and a hole is formed in the bottom end of the magnetic device base 6, and has the same size as the hole in the end of the fish body housing 111, thereby facilitating the introduction of a connection wire. The bottom of the magnetic device base 6 is provided with holes which are arranged in the same way as the tail end of the fish body, and the magnetic device base is fixed with the fish body shell 111 through screws 5. The ball core fixing piece 25 is fixed in the hole groove of the magnetic device base 6, and the ball core rotor 26 is in contact fit with the spherical surface of the upper surface of the ball core fixing piece 25, so that the ball core rotor 26 can perform steering movement. The stators 24 are arranged on the inner arc surface of the inner cavity of the magnetic device base 6, and the 12 stators 24 are uniformly arranged along the circumference in 4 rows and 3 rows,
the stator 24 is respectively arranged on a plane formed by an X axis/Y axis of the spherical body passing through the origin of the spherical body and a plane formed by an X axis/Z axis of the spherical body passing through the origin of the spherical body; the stators 24 are distributed around the spherical body 29 in a vertically and horizontally symmetrical manner; two rows of symmetrical stators taking the X axis as a symmetry axis are arranged on a plane formed by the X axis/the Y axis of the spherical body, each row of stators comprises 3 stators, a connecting line of the centers of two middle stators passes through the origin of the spherical body, the connecting line is arranged on a plane where 6 permanent magnets are arranged, and the stators on two sides of the middle stators are symmetrically distributed; two rows of symmetrical stators which take the X axis as a symmetry axis are arranged on a plane formed by the X axis/Z axis of the spherical body, each row of stators comprises 3 stators, a connecting line between the centers of two middle stators passes through the origin of the spherical body and is arranged on the plane where 6 permanent magnets are arranged, and the stators on the two sides of the middle stators are symmetrically distributed.
One stator of each column forms one row with the stators of the other columns (arranged substantially on the same cross-section), for a total of 3 rows.
On each stator 24, a coil 22 is mounted, and the position of the coil 22 and the stator 24 is kept fixed. The permanent magnets 23 are installed in grooves on the outer surface of the ball core rotor 26, six permanent magnets 23 are arranged in a circumferential array, the second row in the middle of the stator coils is located on the same reference plane, and the stator coils of the first row and the third row are symmetrically distributed relative to the reference plane. The two magnetic device shells 9 are connected with the M4 nut 8 through the M4 bolt 7 to form a steerable shell capable of wrapping the spherical structure of the magnetic device base 6, the top ends of the magnetic device shells 9 and the connecting handle 28 of the ball core rotor 26 are fixed in position through the magnetic device shell fixing piece 27, the ball core rotor 26 and the magnetic device shells 9 are kept in the same motion state, and the magnetic device base 6 is in a fixed state. The waterproof latex film 10 is installed on the periphery of the two-degree-of-freedom magnetic device 222, the waterproof latex film 10 is large in elasticity and can generate large deformation under the action of small external force, and the waterproof latex film can recover to the original shape after the external force is removed, so that the two-degree-of-freedom magnetic device 222 is suitable for performing effective waterproof function.
As shown in fig. 5, the swing tail fin 333 comprises a coupler 11, a steering engine frame 12, a steering engine 13, a steering engine output disc 14, a tail fin connecting frame 15 and a carangid tail fin 16, wherein the tail end of the ball core rotor 26 is connected with the coupler 11 through a connecting handle 28, the coupler 11 is fixed with the steering engine frame 12, and the ball core rotor 26 and the steering engine frame 12 are kept in the same motion swing amplitude; the steering engine 13 is fixed on the steering engine frame 12, the tail end of the steering engine is provided with the steering engine output disc 14, the steering engine output disc is connected with the tail fin connecting frame 15 through the screw 5 and fixed with the tail fin connecting frame 15, and then the tail fin 16 of the carangid department is fixed through the tail fin connecting frame 15 so that the carangid department tail fin 16 can swing.
The specific working process of the invention is as follows:
as shown in fig. 6, a control module is installed inside the fish body shell 111, and can output signals to control the movement of the two-degree-of-freedom magnetic device 222 and the swing tail fin 333.
The two-degree-of-freedom magnetic device 222 can complete the motion of two degrees of freedom, namely up and down, left and right, and has the working principle that a single or a plurality of stator coils in the motor are electrified to generate an electrified magnetic field which is superposed with the magnetic field of the permanent magnet 23 to generate a stronger magnetic field effect, and because the stator coils are in a fixed state and the permanent magnet 23 is in a movable state, the permanent magnet 23 is acted by Lorentz force to generate torque, so that the ball core rotor 26 deflects towards the torque direction, and meanwhile, the carangidae tail fin 16 can perform reciprocating swing under the control of the steering engine 13;
when the ball core rotor 26 in the two-degree-of-freedom magnetic device 222 rotates around the Y axis on the X axis/Z axis plane and one end of the connecting handle 28 close to the fish tail is downward, the current input to the stator coil is kept stable, and the position of the ball core rotor 26 is kept unchanged, while the fish body floats up due to the reciprocating motion of the carangid tail fin 16; when the ball core rotor 26 rotates around the Y axis on the X axis/Z axis plane and one end of the connecting handle 28 close to the fish tail is upward, the fish body performs a diving motion; similarly, when the core rotor 26 of the two-degree-of-freedom magnetic device 222 rotates around the Z-axis in the X-axis/Y-axis plane, the fish body will make a left-turn or right-turn motion.
While the invention has been described with respect to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention. Those skilled in the art can make various changes, modifications and equivalent arrangements, which are equivalent to the embodiments of the present invention, without departing from the spirit and scope of the present invention, and which may be made by utilizing the techniques disclosed above; meanwhile, any changes, modifications and variations of the above-described embodiments, which are equivalent to those of the technical spirit of the present invention, are within the scope of the technical solution of the present invention.
Claims (9)
1. A magnetic field-based two-degree-of-freedom swinging device for tail fins of carangid departments is arranged between a fish body and the tail fins of the carangid departments and is characterized by comprising a hollow magnetic device base, a magnetic device shell, a ball core fixing piece, a ball core rotor and a magnetic driving assembly; a ball core fixing piece is arranged at the joint of the magnetic device base and the fish body and is abutted against a movable ball core rotor arranged in the magnetic device base; a magnetic driving assembly which interacts with the inner surface of the magnetic device base and the outer surface of the ball core rotor to drive the ball core rotor to rotate in two degrees of freedom is arranged between the inner surface of the magnetic device base and the outer surface of the ball core rotor; the rotation center of the spherical core rotor is taken as an original point, the direction from the head of the fish to the tail of the fish is the X-axis direction, the direction from the left side to the right side of the fish body is the Y-axis direction, the direction perpendicular to the X-axis and the Y-axis is the Z-axis direction, and the two-degree-of-freedom rotation is rotation around the Y-axis and the Z-axis; the periphery of the magnetic device base is wrapped with a magnetic device shell connected with the ball core rotor.
2. The device for swinging carangid tail fin in two degrees of freedom based on the magnetic field as claimed in claim 1, wherein a ball core fixing piece is arranged along the X axis, and a spherical abutting surface is arranged at the abutting position of the ball core fixing piece and the ball core rotor.
3. The device for swinging carangid tail fin in two degrees of freedom based on the magnetic field according to claim 1, wherein the ball core rotor comprises a spherical body and a connecting handle, the connecting handle is along an X axis, one end of the connecting handle is connected with the spherical body, and the other end of the connecting handle is connected with the carangid tail fin.
4. The device for swinging carangid tail fin in two degrees of freedom based on the magnetic field as claimed in claim 3, wherein the magnetic driving assembly comprises a coil, a permanent magnet and a stator; the inner surface of the magnetic device base cavity is provided with a stator, the stator is sleeved with a coil, and the outer surface of the spherical body of the spherical core rotor is provided with a permanent magnet.
5. The carangid tail fin two-degree-of-freedom swinging device based on the magnetic field as claimed in claim 4, wherein the outer surface of the spherical body of the ball core rotor is provided with a groove for mounting a permanent magnet.
6. The device for swinging carangid tail fin in two degrees of freedom based on the magnetic field as claimed in claim 4, wherein the center of the permanent magnet is arranged on a plane formed by a Y axis and a Z axis of the spherical body passing through the origin of the spherical body.
7. The device for swinging the carangid tail fin in two degrees of freedom based on the magnetic field as claimed in claim 6, wherein the number of the permanent magnets is 6, and the 6 permanent magnets are arranged around the origin of the spherical body; the magnetic pole directions of the adjacent permanent magnets are opposite.
8. The device for swinging carangid tail fin in two degrees of freedom based on the magnetic field as claimed in claim 7, wherein the stators are respectively arranged on a plane formed by an X axis/Y axis of the spherical body passing through the origin of the spherical body and a plane formed by an X axis/Z axis of the spherical body passing through the origin of the spherical body; the stators are symmetrically distributed around the spherical body up and down and left and right; two rows of symmetrical stators taking the X axis as a symmetry axis are arranged on a plane formed by the X axis/Y axis of the spherical body, each row of stators comprises 3 stators, a connecting line of the centers of two middle stators passes through the origin of the spherical body, the connecting line is arranged on a plane where 6 permanent magnets are arranged, and the stators on the two sides of the middle stators are symmetrically distributed; two rows of symmetrical stators taking the X axis as a symmetry axis are arranged on a plane formed by the X axis/Z axis of the spherical body, each row of stators comprises 3 stators, a connecting line between the centers of two middle stators passes through the origin of the spherical body, the connecting line is arranged on the plane where 6 permanent magnets are arranged, and the stators on the two sides of the middle stators are symmetrically distributed.
9. The magnetic field-based carangid tail fin two-degree-of-freedom swinging device according to claim 1, wherein the periphery of the two-degree-of-freedom swinging device is wrapped with an elastic waterproof latex film which does not influence the movement of the swinging device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310097003.0A CN115871904B (en) | 2023-02-07 | Underwater bionic power propulsion device based on magnetic field |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310097003.0A CN115871904B (en) | 2023-02-07 | Underwater bionic power propulsion device based on magnetic field |
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| Publication Number | Publication Date |
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| CN115871904A true CN115871904A (en) | 2023-03-31 |
| CN115871904B CN115871904B (en) | 2024-07-30 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN107161305A (en) * | 2017-06-14 | 2017-09-15 | 兰州交通大学 | A kind of Three Degree Of Freedom imitates Scad sections autonomous machine fish |
| CN111319741A (en) * | 2020-03-31 | 2020-06-23 | 东华大学 | Bionic robot fish driving device |
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