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

Abstract

The invention discloses an underwater propulsion device based on a planetary gear train and a synchronous belt transmission mechanism, the purpose of which is to imitate the spanwise swing curve and the chordwise wave movement of the pectoral fin of a manta ray, including three fin rays, each of which is composed of a Waterproof steering gear drive. Among them, the front fin rays, middle fin rays and rear fin rays are all composed of transmission rods and tail rods, and the number of transmission rods is determined by the size of the pectoral fins. The above-mentioned driving steering gear and the transmission rod at the end, as well as between each transmission rod, realize power transmission through a set of planetary gear train mechanism and a synchronous belt transmission mechanism installed inside the transmission rod, which can fit the pectoral fin swing of manta rays in a compact structure. curve. In addition, a rotating joint is provided between the transmission rod at the tip of the middle fin ray and the tail rod, so that the tail rod has a degree of freedom of rotation in the chord direction. The revolving joint of the tail bar of the fin ray rotates to enhance the chord motion of the pectoral fin tip.

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.

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