An underwater propeller that mimics the movements of a squid's wrist

Abstract

The present invention discloses an underwater propeller that mimics the movement of a squid's arm, belonging to the field of bionic robotics. The underwater propeller comprises a frame body; a drive mechanism fixedly mounted on the frame body; a screw transmission module slidably mounted on the frame body; an input end of the screw transmission module is drivably connected to the drive mechanism; a pushing mechanism fixedly connected to a side of the frame body away from the drive mechanism, and the pushing mechanism is drivably connected to the output end of the screw transmission module; the drive mechanism drives the screw transmission module to rotate; the screw transmission module converts the rotation into linear motion to drive the pushing mechanism to reciprocate; and the pushing mechanism interacts with the water flow to generate thrust. The device is simple to operate, low in cost, convenient and fast, saves time and effort, and reduces labor and material waste.

Description

Technical Field

[0001] The invention relates to the technical field of bionic robots, and in particular to an underwater propeller that imitates the movement of a squid's wrist. Background Art

[0002] At present, the vast majority of drones use propeller-type propulsion. However, in some special application environments, higher-speed propellers interfere too much with the water environment. At the same time, when drones are used to monitor aquatic organisms, ordinary propellers can easily disturb the aquatic organisms. Summary of the Invention

[0003] In order to solve the above problems, the present invention adopts the following technical solutions:

[0004] An underwater propulsion device that imitates the movement of a squid's wrist, comprising:

[0005] Framework body;

[0006] A driving mechanism, wherein the driving mechanism is fixedly mounted on the frame body;

[0007] A screw transmission module, the screw transmission module is mounted on the frame body; the input end of the screw transmission module is drivingly connected to the driving mechanism;

[0008] A pushing mechanism, the pushing mechanism being fixedly connected to a side of the frame body away from the driving mechanism, and the pushing mechanism being drivingly connected to an output end of the screw transmission module;

[0009] The driving mechanism drives the screw transmission module to rotate; the screw transmission module converts the rotation into linear motion to drive the pushing mechanism to perform reciprocating motion; the pushing mechanism reacts with the water flow to generate thrust.

[0010] Furthermore, the frame body is also provided with a displacement limiting device, which is fixed on the frame body to limit the advancement distance of the screw transmission module.

[0011] Furthermore, an elastic coupling is provided between the input end of the screw transmission module and the driving mechanism.

[0012] Furthermore, it also includes a wrist main rod, the first end of which is fixedly connected to the output end of the screw transmission module, and the second end is drivingly connected to the pushing mechanism.

[0013] Furthermore, the pushing mechanism includes:

[0014] A skeleton base, the skeleton base being fixedly connected to a side of the frame body away from the screw drive module; a through hole is provided in the center of the skeleton base for the wrist main rod to pass through;

[0015] A fixing seat, wherein the second end of the wrist main rod passes through the through hole and is fixedly connected to the fixing seat; the fixing seat is provided with a plurality of bearings evenly distributed around the circumference of the axis, and the fixing seat is fixedly connected to the outer ring of the bearing;

[0016] Multiple groups of connecting rods, each of the multiple groups of connecting rods is arranged in a one-to-one correspondence with the multiple bearings, and the first ends of the connecting rods are fixedly connected to the inner rings of the bearings via fixing rods;

[0017] a wrist frame, wherein a first end of the wrist frame is rotatably connected to the frame base, and a second end of the wrist frame is rotatably connected to the second end of the connecting rod;

[0018] A plurality of elastic tail wings are arranged in a one-to-one correspondence with the wrist frame, and the elastic tail wings are hinged to the second end of the wrist frame.

[0019] Furthermore, a silicone film is installed on the wrist frame.

[0020] Furthermore, the elastic tail wing is a flexible structure.

[0021] Furthermore, the driving mechanism is a waterproof motor.

[0022] Furthermore, there are six connecting rods and six elastic tail wings.

[0023] Furthermore, the driving mechanism is mounted on the frame body via elastic fixed supports.

[0024] Beneficial effects:

[0025] The device is simple to operate, low in cost, convenient and quick, saves time and effort, and reduces manpower and material losses.

[0026] The device is installed with a fixing piece through a screw connected to the waterproof motor, making the overall structure more stable.

[0027] The device imitates the movement of a squid with a propeller, which is less likely to disturb aquatic organisms during use, thereby improving its use value. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 The figure is a schematic structural diagram of an underwater propeller that imitates the movement of a squid's arm according to the present invention.

[0029] Figure 2 This is an overall appearance diagram of an underwater propeller that imitates the movement of a squid's arm according to the present invention.

[0030] Among them, 1. Waterproof motor; 2. Elastic fixed support; 3. Displacement limiting device; 4. Screw transmission module; 5. Skeleton base; 6. Silicone film; 7. Wrist skeleton; 8. PVC elastic tail wing; 9. Connecting rod; 10. Bearing; 11. Fixing pin; 12. Screw front end fixing part; 13. Aluminum alloy frame; 14. Screw rear end fixing part; 15. Elastic coupling. DETAILED DESCRIPTION

[0031] Example 1

[0032] refer to Figure 1-Figure 2 , an underwater propulsion device that mimics the movement of a squid's wrist, comprising:

[0033] Framework body;

[0034] A driving mechanism, wherein the driving mechanism is fixedly mounted on the frame body;

[0035] In this embodiment, the driving mechanism is mounted on the frame body via an elastic fixed support 2;

[0036] In this embodiment, the driving mechanism is a waterproof motor 1, which is a 12V, 10,000 rpm waterproof motor.

[0037] The screw transmission module 4 is mounted on the frame body; the input end of the screw transmission module 4 is connected to the driving mechanism;

[0038] In this embodiment, the screw transmission module 4 is fixed to the frame body via a screw rear end fixing member 14 .

[0039] The pushing mechanism is fixedly connected to the side of the frame body away from the driving mechanism, and is drivingly connected to the output end of the screw transmission module 4;

[0040] The driving mechanism drives the screw transmission module 4 to rotate; the screw transmission module 4 converts the rotation into linear motion to drive the pushing mechanism to do reciprocating motion; the pushing mechanism and the water flow generate thrust.

[0041] In this embodiment, the screw transmission module 4 includes a sliding seat that slides relative to the frame body. A nut is provided on the sliding seat. The nut and the screw are threaded together. The screw is fixedly connected to the output shaft of the waterproof motor 1 to convert the rotational motion of the waterproof motor 1 into linear motion of the sliding seat. The side of the sliding seat away from the driving mechanism is fixedly connected to the pushing mechanism to drive the pushing mechanism to perform reciprocating motion; the pushing mechanism and the water flow act to generate thrust.

[0042] Example 2

[0043] This embodiment is further configured on the basis of the embodiment 1. In this embodiment, the frame body is further provided with a displacement limiting device 3 , which is fixed on the frame body to limit the advancement distance of the screw transmission module 4 .

[0044] In this embodiment, an elastic coupling 15 is provided between the input end of the screw transmission module 4 and the driving mechanism.

[0045] In this embodiment, the underwater thruster further includes a wrist main rod, a first end of which is fixedly connected to the output end of the screw transmission module 4, and a second end of which is drivingly connected to the pushing mechanism.

[0046] In this embodiment, the pushing mechanism includes:

[0047] The skeleton base 5 is fixedly connected to the side of the frame body away from the screw drive module 4; a through hole is provided in the center of the skeleton base 5 to allow the wrist main rod to pass through;

[0048] In this embodiment, the screw drive module 4 is mounted on the skeleton base 5 via the screw front end fixing piece 12 .

[0049] The second end of the wrist main rod is fixedly connected to the fixed seat after passing through the through hole. A plurality of bearings 10 evenly distributed around the axis are provided on the fixed seat, and the fixed seat is fixedly connected to the outer ring of the bearing 10.

[0050] Multiple groups of connecting rods 9 are provided in one-to-one correspondence with multiple bearings 10, and the first ends of the connecting rods 9 are fixedly connected to the inner rings of the bearings 10 via fixing rods;

[0051] a wrist skeleton 7, wherein a first end of the wrist skeleton 7 is rotatably connected to the skeleton base 5, and a second end of the wrist skeleton 7 is rotatably connected to the second end of the connecting rod 9;

[0052] Preferably, the first end of the wrist skeleton 7 is rotatably connected to the skeleton base 5 via a fixing pin 11 .

[0053] A plurality of elastic tail wings are provided in one-to-one correspondence with the wrist frame 7, and the elastic tail wings are hinged to the second end of the wrist frame 7;

[0054] The connecting rod 9 drives the wrist frame 7 to rotate, which in turn drives the PVC elastic tail wing 8 to open and close, interacting with the water flow to generate thrust.

[0055] In this embodiment, the elastic tail is a flexible structure;

[0056] Preferably, the elastic tail wing is a PVC elastic tail wing 8.

[0057] In this embodiment, a silicone film 6 is provided on the wrist skeleton 7 .

[0058] Preferably, there are six connecting rods 9 and six elastic tail wings 8 .

[0059] In this embodiment, the frame body is an aluminum alloy frame 13, and the aluminum alloy frame 13 is formed by splicing four long aluminum alloy profiles and eight short aluminum alloy profiles.

[0060] During specific implementation, the screw in the screw transmission module 4 causes the screw nut to translate backward, pushing the wrist main rod to move, thereby driving the six groups of connecting rods 9 to move. Through the movement of the six groups of connecting rods 9, the six bionic squid arms are pulled backward and retracted forward to realize the opening and closing of the bionic squid arms.

[0061] Working principle of the present invention:

[0062] First, when working, the waterproof motor 1 starts to operate and output power after being energized, and the power is transmitted to the screw transmission module 4 through the elastic coupling 15. The screw transmission module 4 converts the input rotation into linear motion and transmits the linear motion to the connecting rod 9. The connecting rod 9 drives the six wrist skeletons 7 to rotate, and then drives the six PVC elastic tail wings 8 to open and close, interacting with the water flow to generate thrust.

[0063] The above are merely preferred embodiments of the present invention and do not limit the technical scope of the present invention. Therefore, any minor modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. An underwater propeller that imitates the movement of a squid's wrist, characterized in that: include: Framework body; A driving mechanism, wherein the driving mechanism is fixedly mounted on the frame body; A screw transmission module, the screw transmission module is installed on the frame body; The input end of the screw transmission module is drivingly connected to the driving mechanism; A pushing mechanism, the pushing mechanism being fixedly connected to a side of the frame body away from the driving mechanism, and the pushing mechanism being drivingly connected to an output end of the screw transmission module; The driving mechanism drives the screw transmission module to rotate; the screw transmission module converts the rotation into linear motion to drive the pushing mechanism to perform reciprocating motion; the pushing mechanism interacts with the water flow to generate thrust; It also includes a wrist main rod, a first end of which is fixedly connected to the output end of the screw transmission module, and a second end of which is drivingly connected to the pushing mechanism; The driving mechanism includes: A skeleton base, the skeleton base being fixedly connected to a side of the frame body away from the screw drive module; a through hole is provided in the center of the skeleton base for the wrist main rod to pass through; A fixing seat, wherein the second end of the wrist main rod passes through the through hole and is fixedly connected to the fixing seat; the fixing seat is provided with a plurality of bearings evenly distributed around the circumference of the axis, and the fixing seat is fixedly connected to the outer ring of the bearing; Multiple groups of connecting rods, each of the multiple groups of connecting rods is arranged in a one-to-one correspondence with the multiple bearings, and the first ends of the connecting rods are fixedly connected to the inner rings of the bearings via fixing rods; a wrist frame, wherein a first end of the wrist frame is rotatably connected to the frame base, and a second end of the wrist frame is rotatably connected to the second end of the connecting rod; A plurality of elastic tail wings, each of the plurality of elastic tail wings being arranged in a one-to-one correspondence with the wrist frame, and each elastic tail wing being hinged to the second end of the wrist frame; The screw in the screw drive module causes the lead screw nut to translate backward, pushing the wrist main rod to move, thereby driving the connecting rod to move. Through the movement of the connecting rod, the elastic tail of the bionic squid arm is pulled backward and retracted forward to realize the opening and closing of the bionic squid arm. A silicone film is installed on the wrist skeleton; The elastic tail wing is a PVC elastic tail wing.

2. The underwater propeller according to claim 1, characterized in that: The frame body is further provided with a displacement limiting device, which is fixed on the frame body to limit the advancement distance of the screw transmission module.

3. The underwater propeller according to claim 1, characterized in that: An elastic coupling is provided between the input end of the screw transmission module and the driving mechanism.

4. The underwater propeller according to claim 1, characterized in that: The elastic tail wing is a flexible structure.

5. The underwater propeller according to claim 1, characterized in that: The driving mechanism is a waterproof motor.

6. The underwater propeller according to claim 1, characterized in that: There are six connecting rods and six elastic tail wings.

7. The underwater propeller according to claim 1, characterized in that: The driving mechanism is mounted on the frame body through elastic fixing supports.

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