Porpoising dolphin propulsion mechanism based on clutch transformation

Abstract

The invention discloses a porpoising dolphin propulsion mechanism based on clutch transformation. The porpoising dolphin propulsion mechanism based on clutch transformation comprises a frame, an internal shaft, an external shaft, a ball screw internal and external shaft clutching mechanism, an eccentric amplitude adjusting mechanism and a sine swinging mechanism, wherein the internal shaft is arranged on the frame; the eccentric amplitude adjusting mechanism is connected with the internal shaft and the external shaft; and the sine swinging mechanism is connected with the eccentric amplitude adjusting mechanism. According to the porpoising dolphin propulsion mechanism based on the clutch transformation, engaged and disengaged states between splines of the internal shaft and the external shaft are realized by using a screw at the bottom of the frame; and the two states are correspondingly an amplitude adjusting state and a sine swinging state. The amplitude is adjusted when the splines of the internal shaft and the external shaft are separated. One set of crank slide block mechanism is positioned at the right end of the frame to realize the sine swinging of a swinging rod. Accordingto the porpoising dolphin propulsion mechanism based on the clutch transformation, by using the internal and external shaft clutching mechanism based on spline clutching, the amplitude adjustment andswinging use the same direct current servo motor as a power source so that the structure is much compacter; and by using a cam pair, stepless electric amplitude amplitude is realized.

Description

technical field [0001] The invention relates to a diving propulsion mechanism, in particular to a diving dolphin propulsion mechanism based on clutch transformation. Background technique [0002] The research on bionic robot dolphins can not only provide experimental bodies for the study of the hydrodynamics, swimming mechanism and motion control methods of dolphins, but also have the advantages of low noise, high efficiency and low energy consumption compared with traditional propeller propellers. , In addition, in the field of underwater robots, dolphins have more excellent performance than fish in terms of swimming performance, water jumping, drag reduction mechanism, and sonar detection. [0003] Peking University and the Institute of Automation of the Chinese Academy of Sciences have successively developed several generations of bionic robot dolphins. The first generation of dolphins uses a series, multi-joint up and down swing mechanism to achieve dorsal and abdominal ...

AI Technical Summary

Problems solved by technology

However, this mechanism can only achieve amplitude modulation by manually replacing the crank, and the adjustable parameters of the mechanism are few, which greatly reduces the flexibility and maneuverability of the robot dolphin swimming

[0004] It can be seen that scholars at home and abroad have conducted a lot of research on bionic robot dolphins, but they are mainly concentrated underwater, and few scholars have studied the water movement of bionic robot dolphins

Images