A flexible caudal fin propeller driven by a linkage mechanism

Abstract

The application discloses a flexible tail fin propeller driven by a connecting rod mechanism, which comprises a mounting plate, a tail fin oscillating mechanism, two oscillating parts and flexible tail fins, a power transmission mechanism, a direction adjusting mechanism and the like.

Description

Technical Field

[0001] This invention relates to the field of biomimetic propulsion technology, and in particular to a linkage mechanism driven flexible tail fin-like propulsion device. Background Technology

[0002] A propeller is a device that converts any form of energy into mechanical energy. Thrust is generated by rotating blades or by jets of air (water).

[0003] Current propulsion systems primarily employ propellers; however, propeller-based propulsion suffers from drawbacks such as high noise levels, large wakes, low overall efficiency, and poor maneuverability. The significant noise and wakes make it difficult for underwater vehicles to conceal themselves effectively; insufficient maneuverability hinders their navigation in complex seabed environments and makes maneuvering, such as changing direction, inconvenient.

[0004] Therefore, there is an urgent need to design a linkage mechanism to drive a flexible tail fin-like thruster to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide a linkage mechanism-driven flexible tail fin-like thruster, comprising:

[0006] Mounting plate;

[0007] A tail fin swinging mechanism, comprising a swinging part and a flexible tail fin, wherein two swinging parts are provided, both swinging parts are located on one side of the mounting plate, and the flexible tail fin is fixedly connected to the side of both swinging parts away from the mounting plate.

[0008] A power transmission mechanism, comprising a bidirectional power output section and a universal drive section, wherein the bidirectional power output section is mounted on the top of the mounting plate, and the universal drive section is fixedly connected to both ends of the bidirectional power output section, and the ends of the two universal drive sections are respectively fixedly connected to the two swing sections.

[0009] A direction adjustment mechanism is installed at the bottom of the mounting plate, and both swing parts are fixedly connected to the direction adjustment mechanism.

[0010] Preferably, the direction adjustment mechanism includes an electric telescopic rod and a connecting rod portion. The fixed end of the electric telescopic rod is hinged to the bottom end of the mounting plate, and the movable end of the electric telescopic rod is hinged to the connecting rod portion. The connecting rod portion is installed at the bottom end of the mounting plate, and both swing portions are fixedly connected to the connecting rod portion.

[0011] Preferably, the connecting rod includes a bent rod, a first connecting rod, a second connecting rod, and an L-shaped rod. The movable end of the electric telescopic rod is hinged to one end of the L-shaped rod. The bent portion of the L-shaped rod is hinged to the bottom end of the mounting plate. The middle part of the second connecting rod is fixedly connected to the end of the L-shaped rod. Both ends of the second connecting rod are hinged to the first connecting rod. The ends of both first connecting rods are hinged to one end of the bent rod. The bent portion of the bent rod is hinged to the bottom end of the mounting plate. The end of the bent rod is fixedly connected to the swinging part.

[0012] Preferably, the swinging part includes a fixing block, with L-shaped plates symmetrically arranged on both the upper and lower sides of the fixing block. A connecting plate is fixedly connected to the lower L-shaped plate, and the connecting plate is located on the side of the L-shaped plate closer to the mounting plate. The bending rod is fixedly connected to the end of the connecting plate. A bending plate is rotatably connected to the side of the fixing block away from the mounting plate. A U-shaped frame is rotatably connected to the end of the bending plate. A connecting block is hinged inside the U-shaped frame. The upper and lower ends of the two connecting blocks are respectively hinged to the two L-shaped plates. The flexible tail fin is fixedly connected to the side of the connecting block away from the mounting plate.

[0013] Preferably, the universal transmission unit includes a first rotating rod, a second rotating rod, a clamping plate, and an insert plate. One end of the first rotating rod is fixedly connected to the bidirectional power output unit. The clamping plate is hinged to the end of the first rotating rod. One end of the insert plate is inserted into the clamping plate, and the clamping plate is hinged to the insert plate. The second rotating rod is hinged to the end of the insert plate away from the first rotating rod. The end of the second rotating rod passes through the fixing block and is fixedly connected to the bending plate. The plane swept by the rotation of the first rotating rod and the clamping plate, and the plane swept by the rotation of the second rotating rod and the insert plate are both perpendicular to the plane swept by the rotation of the clamping plate and the insert plate.

[0014] Preferably, the bidirectional power output unit includes a dual-output-shaft motor, worm gears, and worms. The dual-output-shaft motor is fixedly connected to the top of the mounting plate. Worm gears are provided on both sides of the dual-output-shaft motor, and worms are provided below each of the two worm gears. The worm gears mesh with the worms, and both the worm gears and the worms are rotatably connected to the mounting plate. The two output shafts of the dual-output-shaft motor are coaxially fixedly connected to the two worms, and the two worm gears are coaxially fixedly connected to the two first rotating rods.

[0015] Preferably, the flexible tail fin has an isosceles trapezoidal structure, and an isosceles triangular notch is provided on the side of the flexible tail fin away from the mounting plate. The thickness of the flexible tail fin gradually decreases from the side closer to the mounting plate to the side farther away from the mounting plate, and the flexible tail fin is covered with a number of reinforcing ribs.

[0016] Preferably, the flexible tail fin is made of silicone, and the reinforcing ribs are made of elastic metal.

[0017] The present invention discloses the following technical effects:

[0018] The propeller of this invention is installed on the equipment that needs to be propelled. The equipment with the propeller installed is placed in the water, and the bidirectional power output unit is activated. The bidirectional power output unit transmits power to the swinging unit through the universal transmission unit. The swinging unit drives the flexible tail fin to swing back and forth to generate propulsion force, propelling the equipment forward. Compared with propeller-type propellers, this invention has less noise. When the equipment needs to adjust its forward direction, the extension and retraction of the electric telescopic rod is controlled to change the orientation of the tail fin, thereby changing the direction of the propulsion force, enabling the equipment to change direction more quickly in the water. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A one-axis view of a linkage mechanism driving a flexible tail-fin-like propeller;

[0021] Figure 2 for Figure 1 Enlarged view of A in the middle;

[0022] Figure 3 Another isometric view of a linkage mechanism driving a flexible, tail-fin-like thruster;

[0023] Figure 4 for Figure 3 Enlarged view of B in the middle;

[0024] Figure 5 Another isometric view of a linkage mechanism driving a flexible, tail-fin-like thruster;

[0025] Figure 6 for Figure 5 Enlarged view of C;

[0026] Figure 7 Top view of the flexible tail fin;

[0027] Figure 8 This is a schematic diagram of the flexible tail fin in Example 2;

[0028] The components include: 1. Mounting plate; 2. Dual output shaft motor; 3. Worm gear; 4. Worm; 5. Clamping plate; 6. Insert plate; 7. Fixing block; 8. L-shaped plate; 9. Bending plate; 10. U-shaped frame; 11. Connecting block; 12. Flexible tail fin; 13. First rotating rod; 14. Second rotating rod; 15. Connecting plate; 16. Electric telescopic rod; 17. Bending rod; 18. First connecting rod; 19. L-shaped rod; 20. Second connecting rod; 21. Reinforcing rib. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely partial embodiments of the present invention, and not embodiments of the entire invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0031] This invention provides a linkage mechanism-driven flexible tail fin-like thruster, comprising:

[0032] Mounting plate 1;

[0033] The tail fin swing mechanism includes a swing part and a flexible tail fin 12. There are two swing parts, both of which are located on one side of the mounting plate 1. The flexible tail fin 12 is fixedly connected to the side of the two swing parts away from the mounting plate 1.

[0034] The power transmission mechanism includes a bidirectional power output section and a universal drive section. The bidirectional power output section is installed on the top of the mounting plate 1. Both ends of the bidirectional power output section are fixedly connected to the universal drive section. The ends of the two universal drive sections are respectively fixedly connected to the two swing sections.

[0035] The direction adjustment mechanism is installed at the bottom of the mounting plate 1, and both swing parts are fixedly connected to the direction adjustment mechanism.

[0036] Furthermore, the direction adjustment mechanism includes an electric telescopic rod 16 and a connecting rod. The fixed end of the electric telescopic rod 16 is hinged to the bottom end of the mounting plate 1, and the movable end of the electric telescopic rod 16 is hinged to the connecting rod. The connecting rod is installed at the bottom end of the mounting plate 1, and both swing parts are fixedly connected to the connecting rod.

[0037] Furthermore, the connecting rod includes a bent rod 17, a first connecting rod 18, a second connecting rod 20, and an L-shaped rod 19. The movable end of the electric telescopic rod 16 is hinged to one end of the L-shaped rod 19. The bent part of the L-shaped rod 19 is hinged to the bottom end of the mounting plate 1. The middle part of the second connecting rod 20 is fixed to the end of the L-shaped rod 19. Both ends of the second connecting rod 20 are hinged to the first connecting rod 18. The ends of both first connecting rods 18 are hinged to one end of the bent rod 17. The bent part of the bent rod 17 is hinged to the bottom end of the mounting plate 1. The end of the bent rod 17 is fixed to the swing part.

[0038] When the electric telescopic rod 16 extends, the connection between the L-shaped rod 19 and the electric telescopic rod 16 rotates around the connection between the L-shaped rod 19 and the mounting plate 1 towards the flexible tail fin 12. At this time, one end of the second connecting rod 20 moves away from the tail fin, and the other end of the second connecting rod 20 moves towards the tail fin. Consequently, the second connecting rod 20 drives the first connecting rod 18, which is hinged to it, to move. The first connecting rod 18 drives the bent rod 17, which is hinged to it, to rotate around the connection point between the bent rod 17 and the mounting plate 1. During this process, the first connecting rod 18 and the bent rod on one side... When the angle between the first connecting rod 18 and the bent rod 17 decreases, the angle between them increases, causing the two connecting plates 15 to rotate in the same direction around their connection with the mounting plate 1. This adjusts the direction of the swinging part, thereby adjusting the orientation of the flexible tail fin 12 and consequently, the direction of the propulsion force. When the electric telescopic rod 16 shortens, the angle between the first connecting rod 18 and the bent rod 17 changes from decreasing to increasing, and vice versa. Therefore, the flexible tail fin 12 moves in the opposite direction. This invention, by setting an angle adjustment mechanism, can adjust the orientation of the flexible tail fin 12, thereby adjusting the direction of the propulsion force. Therefore, devices using this propulsion device can freely adjust their forward direction in water.

[0039] Furthermore, the swinging part includes a fixed block 7, with L-shaped plates 8 symmetrically arranged on both the upper and lower sides of the fixed block 7. A connecting plate 15 is fixedly connected to the lower L-shaped plate 8. The connecting plate 15 is located on the side of the L-shaped plate 8 closer to the mounting plate 1. The bent rod 17 is fixedly connected to the end of the connecting plate 15. A bent plate 9 is rotatably connected to the side of the fixed block 7 away from the mounting plate 1. A U-shaped frame 10 is rotatably connected to the end of the bent plate 9. A connecting block 11 is hinged inside the U-shaped frame 10. The upper and lower ends of the two connecting blocks 11 are respectively hinged to the two L-shaped plates 8. The flexible tail fin 12 is fixedly connected to the side of the connecting block 11 away from the mounting plate 1.

[0040] When the bending plate 9 rotates, it drives the U-shaped frame 10 at the end to move. Since the end of the bending plate 9 makes a circular motion, the connection between the U-shaped frame 10 and the bending plate 9 also makes a circular motion. Since the connecting block 11 is hinged to the U-shaped frame 10 and the L-shaped plate 8, the connecting block 11 swings back and forth around the connection with the L-shaped plate 8, which in turn drives the flexible tail fin 12 fixed to the connecting block 11 to swing back and forth, similar to a fish tail swinging in the water, so that the propeller can provide forward motion force in the water. At the same time, this transmission structure is quieter than gear transmission.

[0041] Furthermore, the universal drive unit includes a first rotating rod 13, a second rotating rod 14, a clamping plate 5, and an insert plate 6. One end of the first rotating rod 13 is fixedly connected to the bidirectional power output unit. The clamping plate 5 is hinged to the end of the first rotating rod 13. One end of the insert plate 6 is inserted into the clamping plate 5, and the clamping plate 5 is hinged to the insert plate 6. The second rotating rod 14 is hinged to the end of the insert plate 6 away from the first rotating rod 13. The end of the second rotating rod 14 passes through the fixing block 7 and is fixedly connected to the bending plate 9. The plane swept by the rotation of the first rotating rod 13 and the clamping plate 5, and the plane swept by the rotation of the second rotating rod 14 and the insert plate 6 are both perpendicular to the plane swept by the rotation of the clamping plate 5 and the insert plate 6.

[0042] This part of the structure is similar to a universal joint, which allows the bidirectional power output part to transmit power to the swing part when the direction adjustment mechanism adjusts the direction of the swing part.

[0043] Furthermore, the bidirectional power output unit includes a dual-output shaft motor 2, a worm gear 3, and a worm 4. The dual-output shaft motor 2 is fixedly connected to the top of the mounting plate 1. Worm gears 3 are provided on both sides of the dual-output shaft motor 2, and worm 4 is provided below each of the two worm gears 3. The worm gears 3 and worm 4 mesh with each other. Both the worm gears 3 and worm 4 are rotatably connected to the mounting plate 1. The two output shafts of the dual-output shaft motor 2 are coaxially fixedly connected to the two worm 4 respectively, and the two worm gears 3 are coaxially fixedly connected to the two first rotating rods 13 respectively.

[0044] The dual-output shaft motor 2 rotates, driving the worm gear 4 to rotate. The worm gear 4 drives the worm wheel 3 to rotate, which in turn drives the universal transmission unit to rotate, thereby driving the swinging part to move and realize the reciprocating swing of the flexible tail fin 12, providing power for the movement of the equipment using the thruster in the water.

[0045] Furthermore, in order to better mimic the tail fin structure of fish, the flexible tail fin 12 is an isosceles trapezoidal structure. An isosceles triangular notch is provided on the side of the flexible tail fin 12 away from the mounting plate 1. The thickness of the flexible tail fin 12 gradually decreases from the side closer to the mounting plate 1 to the side farther away from the mounting plate 1. Several reinforcing ribs 21 are wrapped inside the flexible tail fin 12.

[0046] Furthermore, the flexible tail fin 12 is made of silicone, and the reinforcing ribs 21 are made of elastic metal.

[0047] Usage: Install the thruster of this invention on the equipment that needs to be propelled, put the equipment with the thruster installed into the water, start the bidirectional power output unit, the bidirectional power output unit transmits to the swinging unit through the universal transmission unit, the swinging unit drives the flexible tail fin 12 to swing back and forth to generate thrust, and propel the equipment forward. When the equipment needs to adjust the forward direction, control the extension and retraction of the electric telescopic rod 16 to change the orientation of the tail fin, thereby changing the orientation of the thrust, so that the equipment can change direction more quickly in the water.

[0048] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0049] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A linkage mechanism-driven flexible tail fin-like propeller, characterized in that, include: Mounting plate (1); The tail fin swing mechanism includes a swing part and a flexible tail fin (12). There are two swing parts, both of which are located on one side of the mounting plate (1). The flexible tail fin (12) is fixed to the side of the two swing parts away from the mounting plate (1). The power transmission mechanism includes a bidirectional power output section and a universal transmission section. The bidirectional power output section is installed on the top of the mounting plate (1). The universal transmission section is fixedly connected to both ends of the bidirectional power output section. The ends of the two universal transmission sections are respectively fixedly connected to the two swing sections. A direction adjustment mechanism is installed at the bottom of the mounting plate (1), and both swing parts are fixedly connected to the direction adjustment mechanism. The direction adjustment mechanism includes an electric telescopic rod (16) and a connecting rod. The fixed end of the electric telescopic rod (16) is hinged to the bottom of the mounting plate (1), and the movable end of the electric telescopic rod (16) is hinged to the connecting rod. The connecting rod includes a bent rod (17), a first connecting rod (18), a second connecting rod (20), and an L-shaped rod (19). The movable end of the electric telescopic rod (16) is hinged to one end of the L-shaped rod (19). The bent part of the L-shaped rod (19) is hinged to the bottom end of the mounting plate (1). The middle part of the second connecting rod (20) is fixed to the end of the L-shaped rod (19). Both ends of the second connecting rod (20) are hinged to the first connecting rod (18). The ends of both first connecting rods (18) are hinged to one end of the bent rod (17). The bent part of the bent rod (17) is hinged to the bottom end of the mounting plate (1). The end of the bent rod (17) is fixed to the swing part. The swinging part includes a fixed block (7), and L-shaped plates (8) are symmetrically arranged on both the upper and lower sides of the fixed block (7). A connecting plate (15) is fixedly connected to the lower L-shaped plate (8). The connecting plate (15) is located on the side of the L-shaped plate (8) close to the mounting plate (1). The bending rod (17) is fixedly connected to the end of the connecting plate (15). A bending plate (9) is rotatably connected to the side of the fixed block (7) away from the mounting plate (1). A U-shaped frame (10) is rotatably connected to the end of the bending plate (9). A connecting block (11) is hinged inside the U-shaped frame (10). The upper and lower ends of the two connecting blocks (11) are respectively hinged to the two L-shaped plates (8). The flexible tail fin (12) is fixedly connected to the side of the connecting block (11) away from the mounting plate (1).

2. The linkage mechanism driven flexible tail fin propeller according to claim 1, characterized in that: The connecting rod is installed at the bottom of the mounting plate (1), and both swing parts are fixedly connected to the connecting rod.

3. A linkage mechanism driven flexible tail fin-like thruster according to claim 1, characterized in that: The universal drive unit includes a first rotating rod (13), a second rotating rod (14), a clamping plate (5), and an insert plate (6). One end of the first rotating rod (13) is fixedly connected to the bidirectional power output unit. The clamping plate (5) is hinged to the end of the first rotating rod (13). One end of the insert plate (6) is inserted into the clamping plate (5), and the clamping plate (5) is hinged to the insert plate (6). The second rotating rod (14) is hinged to the end of the insert plate (6) away from the first rotating rod (13). The end of the second rotating rod (14) passes through the fixing block (7) and is fixedly connected to the bending plate (9). The plane swept by the rotation of the first rotating rod (13) and the clamping plate (5), and the plane swept by the rotation of the second rotating rod (14) and the insert plate (6) are all perpendicular to the plane swept by the rotation of the clamping plate (5) and the insert plate (6).

4. A linkage mechanism driven flexible tail fin-like propeller according to claim 3, characterized in that: The bidirectional power output unit includes a dual-output shaft motor (2), a worm gear (3), and a worm (4). The dual-output shaft motor (2) is fixed to the top of the mounting plate (1). The worm gear (3) is provided on both sides of the dual-output shaft motor (2). The worm (4) is provided below the two worm gears (3). The worm gear (3) meshes with the worm (4). The worm gear (3) and the worm (4) are rotatably connected to the mounting plate (1). The two output shafts of the dual-output shaft motor (2) are coaxially fixed to the two worms (4), and the two worm gears (3) are coaxially fixed to the two first rotating rods (13).

5. A linkage mechanism driven flexible tail fin-like thruster according to claim 1, characterized in that: The flexible tail fin (12) is an isosceles trapezoidal structure. The flexible tail fin (12) has an isosceles triangular notch on the side away from the mounting plate (1). The thickness of the flexible tail fin (12) gradually decreases from the side close to the mounting plate (1) to the side away from the mounting plate (1). The flexible tail fin (12) is covered with several reinforcing ribs (21).

6. A linkage mechanism driven flexible tail fin-like thruster according to claim 5, characterized in that: The flexible tail fin (12) is made of silicone, and the reinforcing ribs (21) are made of elastic metal.

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