Telescopic bionic tail fin
By using a retractable bionic tail fin design and a motor-driven steel wire and spring system to adjust the tail length, the problem of low propulsion efficiency in traditional underwater submersibles and stiffness in bionic robotic fish has been solved, thus improving sensitivity and propulsion performance.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- HARBIN ENG UNIV
- Filing Date
- 2023-08-02
- Publication Date
- 2026-06-05
AI Technical Summary
Traditional underwater vehicle propulsion methods are inefficient and noisy, while biomimetic robotic fish move stiffly, have low sensitivity, and are difficult to adapt to complex underwater environments.
Design a retractable bionic tail fin with a tail shank. Adjust the tail shank length using a motor-driven steel wire and spring system to improve the sensitivity and efficiency of the tail fin's propulsion performance.
It improves the robotic fish's movement sensitivity and propulsion performance, adapts to different underwater environments, and improves resistance and propulsion during swimming.
Smart Images
Figure CN117246496B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of bionics technology, and in particular to a retractable bionic tail fin. Background Technology
[0002] Traditional underwater vehicles primarily rely on propellers for propulsion, which suffers from low efficiency, low energy utilization, and high noise levels, making them ill-suited for complex underwater environments. In contrast, fish, with their unique body structure and locomotion, can swim efficiently, for extended periods, and at high speeds in complex underwater environments, providing excellent inspiration for the design of underwater biomimetic robotic fish.
[0003] Currently, most robotic fish rely primarily on tail movement for propulsion, and biomimetic underwater robotic fish with varying shapes have been developed, finding increasingly wider applications. Changes in the shape of the fish's tail tip significantly impact tail fin propulsion performance. Biomimetic underwater robotic fish with different shapes, while employing relatively fixed propulsion methods, exhibit differences in propulsion performance and other aspects, possessing inherent advantages and disadvantages. However, compared to real fish, their movements are relatively stiff, with low sensitivity, and significant shortcomings in swimming performance, requiring further optimization and improvement. Summary of the Invention
[0004] The purpose of this invention is to provide a retractable biomimetic tail fin, which improves the sensitivity of tail wagging motion and further enhances the propulsive performance of the tail fin by adjusting the length of the tail fin.
[0005] To achieve the above objectives, embodiments of this application provide a retractable biomimetic tail fin, comprising: a fish tail shell, a tail peduncle, and a biomimetic tail fin;
[0006] A circular partition is installed on the inner side of the first end of the fish tail shell, and an installation ring is provided on the outer side of the outer end face of the circular partition. The circular partition and the fish tail shell form a receiving cavity.
[0007] The cavity contains a motor, a rotating shaft, a winding wheel, a steel wire, a slider, and a spring. The motor is located near the circular partition and is connected to the rotating shaft, which is in turn connected to the winding wheel.
[0008] One end of the steel wire is connected to the winding wheel, and the other end of the steel wire is fixedly connected to the slider, which is located near the second end of the fish tail shell;
[0009] The first end of the spring is connected to the slider, and the second end of the spring is fixedly connected to the inner side of the second end of the fish tail shell. A water-stop ring is provided at the second end of the fish tail shell.
[0010] One end of the tail shank penetrates the second end of the fish tail shell through the water-stop ring at the second end of the fish tail shell, passes through the central axis of the spring, and is fixedly connected to the slider;
[0011] The other end of the caudal peduncle is at least partially connected to the biomimetic caudal fin outside the second end of the fish tail shell.
[0012] In some embodiments, the fish tail shell is shaped like a flared mouth, with the diameter of the fish tail shell gradually decreasing from the first end to the second end, and the outer surface being arc-shaped.
[0013] In some embodiments, the rotating shaft and the winding wheel are distributed perpendicular to the axis of the fish tail shell, and the steel wire, the slider, the tail shank, the spring, and the water-stop ring are distributed sequentially along the axis of the fish tail shell from near the first end of the fish tail shell to the second end of the fish tail shell. The rotating shaft, the winding wheel, the slider, and the water-stop ring are parallel to each other and perpendicular to the tail shank, the spring, and the steel wire.
[0014] In some embodiments, the water-stop ring is embedded in the outer side of the second end of the fish tail shell.
[0015] In some embodiments, the diameter of the slider is larger than the diameter of the tailstock.
[0016] In some embodiments, the rotation of the motor can drive the rotating shaft and the winding wheel to rotate, pull the steel wire, and the spring and the steel wire cause the slider to move axially to adjust the length of the tail shank exposed outside the second end of the fish tail shell.
[0017] In some embodiments, the thickness of the second end of the fish tail shell near the water-stop ring is greater than the thickness of other parts of the fish tail shell.
[0018] In some embodiments, the diameter of the tailstock and the diameter of the spring are close, and the steel wire is fixedly connected to the center of the slider.
[0019] In some embodiments, the mounting ring can be used to connect to the tail of a biomimetic mechanical fish.
[0020] The beneficial effects of this invention are: the tension of the steel wire on the slider can be arbitrarily adjusted by the motor, and the slider is balanced by the spring tension, enabling adjustment of different tail lengths during movement. Compared with traditional bionic robotic fish, this greatly improves the sensitivity of the robotic fish's movement, enhances resistance and propulsion performance, and allows for adjustment of movement during swimming. It is applicable to most underwater environments and related experimental research on the proximal tail fin structure. A mounting ring is designed at the front end of the tail shell, which can be fixedly installed on the tail of the bionic fish, improving its versatility for application in different devices. Attached Figure Description
[0021] The accompanying drawings illustrate, by way of example and not limitation, the various embodiments discussed herein.
[0022] Figure 1 A schematic diagram of a retractable biomimetic tail fin;
[0023] Figure 2 This is a cross-sectional schematic diagram of a retractable biomimetic tail fin.
[0024] Symbol explanation:
[0025] 1-Fish tail shell; 2-Caudal peduncle; 3-Bionic caudal fin; 4-Circular partition; 5-Mounting ring; 6-Motor; 7-Shaft; 8-Winding reel; 9-Steel wire; 10-Slider; 11-Spring; 12-Water stop ring. Detailed Implementation
[0026] In order to gain a more detailed understanding of the features and technical content of the embodiments of this application, the implementation of the embodiments of this application will be described in detail below with reference to the accompanying drawings. The accompanying drawings are for reference and illustration only and are not intended to limit the embodiments of this application.
[0027] In the embodiments described in this application, it should be noted that, unless otherwise stated and limited, the term "connection" should be interpreted broadly. For example, it can be an electrical connection, or a connection between two internal components. It can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above term according to the specific circumstances.
[0028] It should be noted that the terms "first," "second," and "third" used in the embodiments of this application are merely used to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first," "second," and "third" can be interchanged in a specific order or sequence where permitted. It should be understood that the objects distinguished by "first," "second," and "third" can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in an order other than those illustrated or described herein.
[0029] like Figure 1 and Figure 2 As shown in the figure, this application provides a retractable bionic tail fin, including: a fish tail shell 1, a tail peduncle 2, and a bionic tail fin 3.
[0030] A circular partition 4 is installed on the inner side of the first end of the fish tail shell 1, and an installation ring 5 is provided on the outer side of the outer end face of the circular partition 4. The circular partition 4 and the fish tail shell 1 form a receiving cavity.
[0031] In some embodiments, the first end of the fish tail shell 1 is the front end of the fish tail shell 1, and the second end of the fish tail shell 1 is the rear end of the fish tail shell 1.
[0032] The cavity contains a motor 6, a rotating shaft 7, a winding wheel 8, a steel wire 9, a slider 10, and a spring 11. The motor 6 is positioned near the circular partition 4. The motor 6 is connected to the rotating shaft 7, and the rotating shaft 7 is connected to the winding wheel 8.
[0033] One end of the steel wire 9 is connected to the winding wheel 8, and the other end of the steel wire 9 is fixedly connected to the slider 10. The slider 10 is located near the second end of the fish tail housing 1.
[0034] The first end of the spring 11 is connected to the slider 10, and the second end of the spring 11 is fixedly connected to the inner side of the second end of the fish tail shell 1. A water-stop ring 12 is provided at the second end of the fish tail shell 1.
[0035] One end of the tail shank 2 passes through the water-stop ring 12 at the second end of the fish tail shell 1, passes through the central axis of the spring 11, and is fixedly connected to the slider 10.
[0036] The other end of the caudal peduncle 2 is at least partially connected to the biomimetic caudal fin 3 outside the second end of the fish tail shell 1.
[0037] In some embodiments, the fish tail shell 1 is shaped like a flared mouth, with the diameter of the fish tail shell 1 gradually decreasing from the first end to the second end, and the outer surface being arc-shaped.
[0038] In some embodiments, the rotating shaft 7 and the winding wheel 8 are distributed perpendicular to the axis of the fish tail shell 1. The steel wire 9, the slider 10, the tail shank 2, the spring 11, and the water-stop ring 12 are distributed sequentially along the axis of the fish tail shell 1 from the first end near the first end of the fish tail shell 1 to the second end of the fish tail shell 1. The rotating shaft 7 and the winding wheel 8 are parallel to the slider 10 and the water-stop ring 12, and perpendicular to the tail shank 2, the spring 11, and the steel wire 9.
[0039] In some embodiments, the water-stop ring 12 is embedded in the outer side of the second end of the fish tail shell 1.
[0040] In some embodiments, the diameter of slider 10 is larger than the diameter of tail shank 2.
[0041] In some embodiments, the rotation of the motor 6 can drive the rotating shaft 7 and the winding wheel 8 to rotate, pulling the steel wire 9. The spring 11 and the steel wire 9 cause the slider 10 to move axially to adjust the length of the tail shank 2 exposed outside the second end of the fish tail shell 1.
[0042] In some embodiments, the thickness of the second end of the fish tail shell 1 near the water-stop ring 12 is greater than the thickness of other parts of the fish tail shell 1.
[0043] In some embodiments, the diameter of the tailstock 2 is close to the diameter of the spring 11, and the steel wire 9 is fixedly connected to the center of the slider 10.
[0044] In some embodiments, the mounting ring 5 can be used to connect the tail of the bionic mechanical fish.
[0045] like Figures 1-2 As shown, a retractable bionic tail fin includes a fish tail shell 1, a tail fin 2, and a bionic tail fin 3. A circular partition 4 is installed at the front end of the fish tail shell 1. A mounting ring 5 is connected to the outer side of the front of the circular partition 4. A motor 6 is fixedly installed behind the circular partition 4. The motor 6 is connected to a rotating shaft 7. The rotating shaft 7 is connected to a winding wheel 8. The front end of a steel wire 9 is connected to the winding wheel 8. The rear end of the steel wire 9 is fixedly connected to a slider 10. The rear end of the slider 10 is fixedly connected to the front end of the tail fin 2. A spring 11 is sleeved on the tail fin 2. The front end of the spring 11 is connected to the rear end of the slider 10. The rear end of the spring 11 is fixedly connected to the rear end of the fish tail shell 1. A water-stop ring 12 is installed at the rear end of the fish tail shell 1. The rear end of the tail fin 2 passes through the water-stop ring 12 at the rear end of the fish tail shell 1 and is connected to the front end of the bionic tail fin 3 outside the fish tail shell 1.
[0046] like Figures 1-2 As shown, the fish tail shell 1 is approximately conical in shape. The diameter of the plane near the bionic tail fin 2 is small and matches the diameter of the tail peduncle 2. The side has a certain curvature. One water-stop ring 12 is embedded in the outer rear end to maintain the smooth lines of the entire device, reduce the device's resistance, and ensure the device's water tightness.
[0047] like Figure 2 As shown, inside the fishtail shell, the rotating shaft and winding wheel are distributed perpendicular to the axis. Behind them, the steel wire, slider, tail shank, spring, and water-stop ring are distributed sequentially from front to back along the central axis. The rotating shaft and winding wheel are parallel to the slider and water-stop ring, and perpendicular to the tail shank, spring, and steel wire. The steel wire is fixedly connected to the midpoint of the front plane of the slider. The slider diameter is larger than the tail shank diameter, and the diameter of the spring fixedly connected to the rear of the slider is close to the tail shank diameter. The thickness of the fishtail shell near the water-stop ring at the rear end is increased. These measures facilitate the fixation of the spring and ensure that during movement, the spring and steel wire provide the slider with a pulling force in the opposite direction and parallel to the tail shank, further ensuring the watertightness of the entire device and the horizontal movement of the tail shank.
[0048] like Figures 1-2 As shown, a motor drives a rotating shaft and a winding wheel to rotate, pulling a steel wire and subjecting a slider to a horizontal tension. A spring connected to the slider provides a horizontal counter-tension, ensuring the slider remains stationary at a designated position. This allows the tailstock, fixedly connected to the slider, to move horizontally or maintain its position under the slider's pull. The length of the tailstock protruding from the tail shell can be adjusted as needed during movement. During movement, the tailstock can extend to any length or retract completely into the tail shell. When installed on a biomimetic robotic fish, this device significantly improves the fish's movement sensitivity, reduces drag on the tail fin, and enhances its propulsion performance.
[0049] like Figures 1-2 As shown, the mounting ring connected to the front face of the circular partition at the front end of the fish tail shell can be connected to the tail of the bionic mechanical fish, and can be applied to most existing underwater bionic mechanical fish.
[0050] The technical solutions described in the embodiments of this application can be combined arbitrarily without conflict.
[0051] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.
Claims
1. A retractable biomimetic caudal fin, characterized in that, include: Fish tail shell, caudal peduncle, and biomimetic tail fin; A circular partition is installed on the inner side of the first end of the fish tail shell, and an installation ring is provided on the outer side of the outer end face of the circular partition. The circular partition and the fish tail shell form a receiving cavity. The cavity contains a motor, a rotating shaft, a winding wheel, a steel wire, a slider, and a spring. The motor is located near the circular partition and is connected to the rotating shaft, which is in turn connected to the winding wheel. One end of the steel wire is connected to the winding wheel, and the other end of the steel wire is fixedly connected to the slider, which is located near the second end of the fish tail shell; The first end of the spring is connected to the slider, and the second end of the spring is fixedly connected to the inner side of the second end of the fish tail shell. A water-stop ring is provided at the second end of the fish tail shell. One end of the tail shank penetrates the second end of the fish tail shell through the water-stop ring at the second end of the fish tail shell, passes through the central axis of the spring, and is fixedly connected to the slider; The other end of the caudal peduncle is at least partially connected to the biomimetic caudal fin outside the second end of the fish tail shell; The rotating shaft and the winding wheel are distributed perpendicular to the axis of the fish tail shell. The steel wire, the slider, the tail shank, the spring, and the water-stop ring are distributed sequentially along the axis of the fish tail shell from the first end near the first end of the fish tail shell to the second end of the fish tail shell. The rotating shaft, the winding wheel, the slider, and the water-stop ring are parallel to each other and perpendicular to the tail shank, the spring, and the steel wire. The diameter of the slider is larger than the diameter of the tailstock; The rotation of the motor can drive the rotating shaft and the winding wheel to rotate, pull the steel wire, and the spring and the steel wire cause the slider to move axially to adjust the length of the tail shank exposed outside the second end of the fish tail shell; The diameter of the tailstock is close to the diameter of the spring, and the steel wire is fixedly connected to the center of the slider.
2. The retractable biomimetic caudal fin according to claim 1, characterized in that, The fish tail shell is shaped like a trumpet, with the diameter of the shell gradually decreasing from the first end to the second end, and the outer surface is arc-shaped.
3. The retractable biomimetic tail fin according to claim 1, characterized in that, The water-stop ring is embedded in the outer side of the second end of the fish tail shell.
4. The retractable biomimetic caudal fin according to claim 1, characterized in that, The thickness of the second end of the fish tail shell near the water-stop ring is greater than the thickness of other parts of the fish tail shell.
5. The retractable biomimetic caudal fin according to claim 1, characterized in that, The mounting ring can be used to connect the tail of the bionic mechanical fish.