Bionic caudal fin underwater propeller based on hydraulic artificial muscles

Abstract

The invention discloses a bionic caudal fin underwater propeller based on hydraulic artificial muscles. The bionic caudal fin underwater propeller comprises more than two swinging devices, a caudal fin and a hydraulic control unit, wherein each swinging device comprises a T-shaped bracket and two artificial muscles which are symmetrically arranged on the T-shaped bracket; each artificial muscle comprises a telescopic assembly; each telescopic assembly is provided with an elastic hydraulic cavity and a connector which is connected with the elastic hydraulic cavity and the hydraulic control unit, and can linearly stretch and shrink through the liquid filling and drainage of the elastic hydraulic cavity; the T-shaped brackets of all the swinging devices are hinged end to end in sequence; one end of each telescopic assembly is hinged to the corresponding T-shaped bracket, and the other end of each telescopic assembly is hinged to the T-shaped bracket of the next swinging device; when one of the artificial muscles of each swinging device is in a stretching state in the same movement period, the other artificial muscle is in a shrinkage state, and the caudal fin is connected with the last swinging device. The bionic caudal fin underwater propeller has the advantages of simple structure, low cost, high efficiency, easiness in modeling and control, and the like.

Description

technical field [0001] The invention mainly relates to the field of bionic underwater thrusters, in particular to a bionic caudal fin underwater thruster based on hydraulic artificial muscles. Background technique [0002] At present, many scientific research institutions at home and abroad carry out research on the propulsion of underwater organisms such as tuna, sharks, and dolphins, and have developed some robotic fish, fish-like robots, or bionic underwater propellers. A large number of experiments have shown that the underwater thruster imitating the fish body-caudal fin (BCF) propulsion method has the characteristics of high efficiency, small fluid disturbance, and good maneuverability. However, there are still some defects in these devices. For example, each joint in the device is driven by a motor, and the reciprocating swing is realized by a cam swing mechanism. It has large energy loss, low efficiency, low swing frequency, and rigid and inflexible movements. It is ...

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Problems solved by technology

However, there are still some defects in these devices. For example, each joint in the device is driven by a motor, and the reciprocating swing is realized by a cam swing mechanism. It has large energy loss, low efficiency, low swing frequency, and rigid and inflexible movements. It is difficult to get out of the experiment. room and apply it in actual engineering practice

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