Bionic underwater propulsion device

Abstract

The present invention relates to a bionic underwater propulsion device, comprising a bionic shell, a rotating rocker arm, a linear drive element, a rotating drive element, and a bionic tail fin; the rotating rocker arm is rotatably connected in the bionic shell; the linear drive element is hingedly installed in the bionic shell, and the output end of the linear drive element is connected to one end of the rotating rocker arm to drive the rotating rocker arm to rotate; the rotating drive element is installed at the other end of the rotating rocker arm; the bionic tail fin is transmission-connected to the output end of the rotating drive element. The bionic underwater propulsion device of the present invention increases the rotational torque, improves the swing propulsion efficiency, solves the maneuverability problem under various environmental constraints during underwater operations, and the bionic tail fin makes less noise when swinging, has less useless energy loss, and has greater endurance. The present invention is applied to the field of underwater robot technology.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater robots, in particular to a bionic underwater propulsion device. Background Art

[0002] As my country prioritizes the implementation of its maritime power strategy, the application of marine equipment, particularly underwater bionic unmanned equipment, has received significant attention. Fish possess remarkable underwater locomotion, boasting advantages such as high propulsion efficiency, strong maneuverability, good concealment, and minimal impact on the surrounding environment.

[0003] Some marine animals, such as dolphins and whales, use tail fin propulsion. This propulsion mechanism occurs in the last 1 / 3 of the fish's movement, with large directional displacements mainly occurring in the back neck and tail. The tail fin performs a composite motion of swinging and translation, generating over 90% of the propulsion force. This propulsion method is efficient and fast, improving energy utilization and thus enhancing the range of underwater bionic unmanned platforms.

[0004] At present, propeller-propelled underwater unmanned platforms will generate lateral vortices, increase the consumption of useless energy, have low propulsion efficiency, high noise, and poor endurance. Summary of the Invention

[0005] (1) Technical problems to be solved

[0006] The embodiment of the present invention provides a bionic underwater propulsion device to solve the technical problems of existing propellers such as large waste power consumption, low propulsion efficiency, high noise and poor endurance.

[0007] (2) Technical solution

[0008] In order to solve the above technical problems, an embodiment of the present invention provides a bionic underwater propulsion device, comprising:

[0009] Bionic shell;

[0010] A rotating pendulum rod, the rotating pendulum rod being rotatably connected in the bionic housing;

[0011] A linear drive element, wherein the linear drive element is hingedly mounted in the bionic housing, and an output end of the linear drive element is connected to one end of the rotating rocker to drive the rotating rocker to rotate;

[0012] a rotation driving element, the rotation driving element being mounted on the other end of the rotating rocker;

[0013] A bionic tail fin is connected to the output end of the rotating drive element in a transmission manner.

[0014] Optionally, the bionic underwater propulsion device further includes a rotating shaft, which is disposed in the bionic housing, and the rotating rocker is rotatably disposed on the rotating shaft.

[0015] Optionally, two bearings are sleeved on the rotating shaft, and the rotating rocker is rotatably arranged on the rotating shaft via the two bearings.

[0016] Optionally, a fixing cover and a locking member are further provided on the rotating shaft, the rotating rocker is located between the bionic shell and the fixing cover, and the fixing cover is fixed to the rotating shaft via the locking member.

[0017] Optionally, the bionic underwater propulsion device also includes a push rod and a first connecting plate, the push rod is installed at the output end of the linear drive element, the first connecting plate is provided with at least two connecting holes, the first connecting plate is adjustably connected to one end of the rotating rocker arm through different connecting holes, and the push rod is connected to the first connecting plate.

[0018] Optionally, the bionic underwater propulsion device further includes an end cover, a second connecting plate and a latch, the second connecting plate is connected to the bionic tail fin, a latch hole is provided on the end cover, and the latch hole on the end cover is connected to the rotating drive element through the latch.

[0019] Optionally, the latch hole and the latch are respectively in a corresponding cross shape.

[0020] Optionally, the pushing stroke of the linear drive element is 8 mm to 80 mm.

[0021] (3) Beneficial effects

[0022] In summary, compared to the prior art, the bionic underwater propulsion device of the present invention utilizes a linear drive element to propel the rotating rocker, thereby driving the rotational drive element. The rotational drive element also drives the bionic tail fin, ultimately giving the bionic tail fin two rotational degrees of freedom. While satisfying the two-degree-of-freedom swing function, it also increases rotational torque and improves swing propulsion efficiency, resolving the maneuverability issues faced by various environmental constraints during underwater operations. Furthermore, the bionic tail fin exhibits low noise levels, minimal wasted energy loss, and greater endurance. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0024] Figure 1is a schematic structural diagram of a bionic underwater propulsion device according to an embodiment of the present invention;

[0025] Figure 2 2 is a schematic structural diagram of a bionic underwater propulsion device according to an embodiment of the present invention, in which the bionic tail fin swings toward one side;

[0026] Figure 3 2 is a schematic structural diagram of a bionic underwater propulsion device according to an embodiment of the present invention when the bionic tail fin is located in the middle position;

[0027] Figure 4 It is a structural schematic diagram of a bionic tail fin of a bionic underwater propulsion device in one embodiment of the present invention swinging toward the other side.

[0028] In the picture:

[0029] 1. Second connecting plate; 2. End cover; 3. Rotating shaft; 4. Locking piece; 5. Bionic shell; 6. Linear drive element; 7. Articulated shaft; 8. First connecting plate; 9. Push rod; 10. Rotating rocker arm; 11. Fixed cover; 12. Latch; 13. Rotating drive element; 14. Mounting seat; 15. Bionic tail fin. DETAILED DESCRIPTION

[0030] For ease of understanding of the present invention, the present invention will be described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is described as "fixed to" another element, it can be directly on the other element, or there can be one or more centered elements therebetween. When an element is described as "connected to" another element, it can be directly connected to the other element, or there can be one or more centered elements therebetween. The terms "vertical", "horizontal", "left", "right", "inside", "outside" and similar expressions used in this specification are for illustrative purposes only.

[0031] Unless otherwise defined, all technical and scientific terms used in this specification have the same meanings as those commonly understood by those skilled in the art to which this invention pertains. The terms used in this specification are intended only to describe specific embodiments and are not intended to limit the invention. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0032] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0033] The following detailed description of the embodiments of the present invention is provided in conjunction with the accompanying drawings and examples. The detailed description of the following embodiments and the accompanying drawings are intended to illustrate the principles of the present invention and are not intended to limit the scope of the present invention. That is, the present invention is not limited to the described embodiments and covers any modifications, replacements, and improvements to the parts, components, and connection methods without departing from the spirit of the present invention.

[0034] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0035] Please refer to Figures 1 to 4 , a bionic underwater propulsion device, comprising:

[0036] Bionic shell 5;

[0037] A rotating pendulum 10, wherein the rotating pendulum 10 is rotatably connected to the bionic housing 5;

[0038] a linear drive element 6, the linear drive element 6 being hingedly mounted in the bionic housing 5, wherein an output end of the linear drive element 6 is connected to one end of the rotating pendulum 10 to drive the rotating pendulum 10 to rotate;

[0039] A rotation driving element 13, wherein the rotation driving element 13 is installed at the other end of the rotating rocker 10;

[0040] The bionic tail fin 15 is connected to the output end of the rotary drive element 13 in a transmission manner.

[0041] In the bionic underwater propulsion device of this embodiment, the linear drive element 6 propels the rotating rocker 10, thereby driving the rotational drive element 13. The rotational drive element 13 also drives the bionic tail fin 15, ultimately giving the bionic tail fin 15 two degrees of rotational freedom. While satisfying the two-degree-of-freedom swing function, it also increases rotational torque and improves swing propulsion efficiency, resolving the maneuverability issues faced by various environmental constraints during underwater operations. Furthermore, the bionic tail fin 15 produces less noise when swinging, minimizes wasteful energy loss, and achieves greater endurance. Specifically, the linear drive element 6 is hingedly mounted within the bionic housing 5 via an articulated shaft 6. The linear drive element 6 is a linear motor. The rotational drive element 13 is an electric motor.

[0042] In one embodiment, the bionic underwater propulsion device further includes a rotating shaft 3, which is disposed within the bionic housing 5. The rotating pendulum 10 is rotatably mounted on the rotating shaft 3. Specifically, a rotating hole is provided in the middle of the rotating pendulum 10, through which the rotating pendulum 10 is rotatably mounted on the rotating shaft 3, ensuring that the rotating pendulum 10 can rotate stably and will not fall.

[0043] In one embodiment, two bearings are mounted on the rotating shaft 3, and the rotating pendulum 10 is rotatably mounted on the rotating shaft 3 via the two bearings. Specifically, the rotating shaft 3 is arranged vertically during operation, and the two bearings are symmetrically distributed on both sides of the rotating pendulum 10. This ensures that the rotating pendulum 10 can rotate flexibly and evenly, thereby achieving efficient and stable torque transmission.

[0044] In one embodiment, the rotating shaft 3 is further provided with a fixing cover 11 and a locking member 4. The rotating rocker arm 10 is located between the bionic housing 5 and the fixing cover 11. The fixing cover 11 is fixed to the rotating shaft 3 via the locking member 4. The bearing is compressed and fixed by the fixing cover 11. The locking member 4 is a nut, which secures the fixing cover 11 to the rotating shaft 3 via the locking member 4.

[0045] In one embodiment, the bionic underwater propulsion device further includes a push rod 9 and a first connecting plate 8. The push rod 9 is mounted at the output end of the linear drive element 6. The first connecting plate 8 is provided with at least two connecting holes. The first connecting plate 8 is adjustably connected to one end of the rotating pendulum 10 through different connecting holes. The push rod 9 is connected to the first connecting plate 8. The rotating pendulum 10 can be connected to different holes of the first connecting plate 8 according to the design or requirements, thereby achieving adjustment of the rotating pendulum 10.

[0046] In one embodiment, the bionic underwater propulsion device further includes an end cap 2, a first connecting plate 8, and a latch 12. The second connecting plate 1 is connected to the bionic tail fin 15. The end cap 2 is provided with a latch hole, which is connected to the rotation drive element 13 via the latch 12. The bionic tail fin 15 is mounted on the second connecting plate 1 via a mounting base 14. The bionic tail fin 15 is designed using a nylon material that mimics the shape of a fish fin, achieving efficient propulsion and swinging functions based on the bionic structure.

[0047] In one embodiment, the latch hole and the latch 12 are respectively correspondingly cross-shaped. By matching the cross-shaped latch 12 with the latch hole, the connection between the end cover 2 and the rotating drive element 13 is made more secure, so that the rotating drive element 13 can achieve torque output more stably.

[0048] In one embodiment, the pushing stroke of the linear drive element 6 is 8 mm to 80 mm, and the pushing stroke of the push rod 9 is also 8 mm to 80 mm. The push rod 9 transmits the torque to the rotary rocker 5 within the pushing stroke.

[0049] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Under the concept of the present invention, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of the different aspects of the present invention as described above. For the sake of simplicity, they are not provided in detail. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in this field should understand that it is still possible to modify the technical solutions described in the above embodiments, or to make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A bionic underwater propulsion device, characterized in that: include: Bionic shell; A rotating pendulum rod, the rotating pendulum rod being rotatably connected in the bionic housing; A linear drive element, wherein the linear drive element is hingedly mounted in the bionic housing, and an output end of the linear drive element is connected to one end of the rotating rocker to drive the rotating rocker to rotate; a rotation driving element, the rotation driving element being mounted on the other end of the rotating rocker; A bionic tail fin, the bionic tail fin being in driving connection with an output end of the rotary drive element; The invention also includes a rotating shaft, the rotating shaft is arranged in the bionic housing, the rotating pendulum is rotatably arranged on the rotating shaft, the rotating shaft is sleeved with two bearings, the rotating pendulum is rotatably arranged on the rotating shaft via the two bearings, the rotating shaft is further provided with a fixing cover and a locking member, the rotating pendulum is located between the bionic housing and the fixing cover, and the fixing cover is fixed to the rotating shaft by the locking member; It also includes a push rod and a first connecting plate, the push rod is installed on the output end of the linear drive element, the first connecting plate is provided with at least two connecting holes, the first connecting plate is adjustably connected to one end of the rotating rocker arm through different connecting holes, and the push rod is connected to the first connecting plate.

2. The bionic underwater propulsion device according to claim 1, characterized in that: It also includes an end cover, a second connecting plate and a latch, wherein the second connecting plate is connected to the bionic tail fin, and a latch hole is provided on the end cover, and the latch hole on the end cover is connected to the rotating drive element through the latch.

3. The bionic underwater propulsion device according to claim 2, characterized in that: The latch hole and the latch are respectively in a corresponding cross shape.

4. The bionic underwater propulsion device according to claim 1, characterized in that: The pushing stroke of the linear drive element is 8mm to 80mm.

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