Underwater propelling device based on planetary gear train and synchronous belt transmission mechanism

Abstract

The invention discloses an underwater propelling device based on a planetary gear train and a synchronous belt transmission mechanism and aims to imitate a pectoral fin swing curve and chordwise undulatory motion of manta rays. The underwater propelling device comprises three fin rays, wherein each fin ray is driven by a waterproof steering gear. Each of the front fin ray, the middle fin ray and the rear fin ray is composed of transmission rods and a tail rod; and the quantity of the transmission rods is determined by the size of pectoral fins. Power transmission between the driving steering engines and the transmission rods at the tail ends as well as among all transmission rods is realized through a set of planetary gear train mechanism and the synchronous belt transmission mechanism mounted in the transmission rods; and the underwater propelling device can imitate the pectoral fin swing curve of manta rays in a compact structure form. In addition, a rotational joint is arranged between the transmission rod positioned at the pointed end in the middle fin ray and the tail rod, so that the tail rod has chordwise rotational freedom; and adjacent fin rays are connected through springs, so that the rotational joint of the tail rod of the middle fin ray can be driven by the tensile force of the springs to rotate to improve chordwise motion ability of the pointed ends of the pectoral fins during the motion process.

Description

technical field [0001] The invention relates to an underwater bionic pectoral fin propulsion device, belonging to the technical field of underwater submersibles, specifically, a multi-fin ray multi-joint bionic pectoral fin drive capable of imitating the three-dimensional movement and deformation of the manta ray pectoral fin swinging and propelling in the ocean skeleton. Background technique [0002] After hundreds of millions of years of natural selection, fish have evolved nearly perfect swimming skills, especially in speed, mobility, efficiency, low noise and many other aspects. However, compared with fish, the underwater propeller propellers developed by humans perform poorly in many aspects such as speed, maneuverability, and efficiency. Therefore, more and more researchers are trying to improve the performance of underwater thrusters through bionic methods, so underwater bionic robots have also received more and more attention. [0003] The propulsion methods of fis...

AI Technical Summary

Problems solved by technology

The driving force generated by smart materials and flexible mechanisms is small, resulting in problems such as low swimming speed of bionic robotic fish, while most rigid mechanisms have raised fin rays, resulting in unsightly, rough pectoral fins and low driving efficiency.

Images