Sea lion front fin simulating device capable of actively deforming
By designing an active deformable sea lion front fin device, using a multi-joint skeleton structure and a bionic flexible outer skin, the existing bionic front fin device has been solved in terms of bionic accuracy, flexibility and control capabilities, and a more efficient and stable water Pushing effect.
Patent Information
- Application Number
- CN202411582621.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-07
- Publication Date
- 2025-02-11
AI Technical Summary
The existing bionic front fin propulsion device has shortcomings in bionic accuracy, flexibility, control ability and practical application effects, especially the active deformation ability of the sea lion front fin, resulting in insufficient propulsion efficiency and stability in complex underwater environments.
A front fin device that can be automatically deformed is designed, using a multi-joint skeleton structure, a bionic flexible outer skin and a driving unit. Through the planar connecting rod structure and driving link design of the joint skeleton mechanism, the active deformation of the fin-shaped surface is achieved. and multi-dimensional flexible movement.
The device can more accurately imitate the motion mode of the sea lion's front fin, improve propulsion efficiency and thrust output, enhance adaptability and stability in complex underwater environments, and meet the complex task needs of high efficiency and low noise.
Smart Images
Figure CN119408680A_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the technical field of underwater navigation equipment, and in particular relates to an actively deformable sea lion-like front fin device. Background Art
[0002] As an important carrier for exploring the ocean, underwater robots have been widely used in scientific research, military and other fields. With the continuous deepening of ocean exploration, mission objectives and operating environments have gradually become more complex and changeable, which puts higher requirements on the propulsion system of underwater robots, including stronger propulsion capabilities and higher propulsion stability. At present, the mainstream underwater robot propulsion technology still mainly relies on propeller propulsion devices. Although propellers can provide stable and reliable thrust, they still have certain limitations in propulsion efficiency, noise control and wake disturbance, and it is difficult to meet the increasingly diverse needs of ocean exploration missions. These technical bottlenecks limit the flexibility and concealment of underwater robots, especially in complex mission environments with high efficiency and low noise, and their performance is not ideal.
[0003] After millions of years of evolution, organisms in nature have gradually evolved unique physiological structures and ways of survival that are adapted to the environment. Marine organisms have shown significant advantages in propulsion efficiency and movement ability, which provides a valuable reference template for the design of bionic underwater robot propulsion systems. Among many marine organisms, sea lions, as underwater pinnipeds, are known for their excellent swimming ability. The front fin propulsion system of sea lions not only has low transportation costs, but also has high swimming efficiency. This is mainly due to its unique front fin movement mode and corresponding flexible structure design, which enables the front fins of sea lions to generate effective thrust throughout the entire movement cycle. This propulsion method of sea lions provides inspiration for the optimization and design of underwater robot propulsion systems, and helps to develop more efficient and low-noise bionic propulsion devices to cope with complex ocean exploration tasks.
[0004] At present, some progress has been made in the research of sea lion-like propulsion devices, and their propulsion devices have achieved certain results in imitating the trajectory of the fin tip. However, the research focus is mostly on the imitation of the forelimbs, and the active deformation ability of the front fins themselves is often ignored. The front fins of sea lions play a unique and important function in the process of swimming, which can significantly improve the overall swimming efficiency. There are relatively few studies and results on bionic front fins, and there are still many technical gaps and problems to be solved in this field. The movement of the front fins of sea lions is not just a simple swing or flapping movement. It can achieve efficient thrust through multi-dimensional flexible movement during swimming. This complex movement includes compound movements such as bending, twisting, and rotation of the front fins, which can adapt to different water flow conditions and propulsion requirements. However, the current research on bionic fin units often ignores the influence of their internal bones, joints, and muscles on propulsion, and simplifies them. They are mainly based on pure rigid fins or pure flexible fins, which are difficult to match the movement mode of their bionic objects themselves, limiting the efficiency and stability of their bionic propulsion devices. At the same time, the front fins of sea lions are extremely flexible and can achieve effective deformation during movement to adapt to the ever-changing water flow environment. This flexibility not only helps the front fin to continuously generate thrust throughout the propulsion cycle, but also improves the flexibility and stability of movement. However, current bionic devices lack sufficient flexibility when moving in water, making it difficult to achieve deformation functions similar to those of sea lion front fins. The limitations of this material and structural design greatly limit the motion performance and propulsion efficiency of the bionic front fin propulsion system. Although there have been a small number of research results on bionic devices that imitate the movement of the front fins of organisms such as turtles, research on propulsion technology for sea lion front fins is almost blank. Due to the significant differences in morphology and movement patterns between the front fins of sea lions and turtles, the existing bionic devices are far from meeting the technical requirements of imitating the front fins of sea lions in terms of structure and function.
[0005] In summary, the current bionic front fin propulsion device still has many deficiencies and technical gaps in terms of bionic accuracy, device flexibility, control ability, and practical application effects. Further research should focus on the unique biological characteristics of the sea lion front fin, combining advanced material science, flexible structure design, and complex dynamics control technology to develop an efficient, flexible, and stable bionic front fin propulsion system. This is of great significance for improving the movement ability and execution efficiency of underwater robots in complex marine environments. Summary of the invention
[0006] In view of the problems existing in the prior art, the present invention provides an actively deformable sea lion front fin device which solves the problems of current bionic front fin propulsion devices such as insufficient bionic precision, limited flexibility, poor adaptability to complex underwater environments, and a gap in sea lion front fin bionic technology.
[0007] The present invention is implemented as follows: an actively deformable sea lion front fin device is characterized in that it includes N joint skeleton mechanisms, a driving connecting rod, a supporting shell, a bionic flexible skin and a driving unit; the joint skeleton mechanism includes a shank rod, a support rod, a crank, a first fixed pin shaft, a second fixed pin shaft and a sliding pin shaft to form a planar connecting rod mechanism; one end of the shank rod is connected to one end of the support rod through a first fixed pin shaft, the other end of the support rod is connected to one end of the crank through a second fixed pin shaft, the other end of the crank shaft is connected to a movable pin shaft, and the movable pin shaft is connected to a movable pin shaft through a second fixed pin shaft. The tibial rod is installed on the tibial rod in a sliding manner along the tibial rod; the other end of the tibial rod of the joint skeleton mechanism is fixedly connected to the support rod of another joint skeleton mechanism; the sliding pins of two adjacent joint skeleton mechanisms are connected with a driving connecting rod; the supporting shell is fixedly installed on the tibial rod of the joint skeleton mechanism and forms a supporting surface body located on both sides of the circumference of the first fixed pin shaft; the bionic flexible outer skin is installed on the supporting surface body and supported by the supporting shell to form a fin-shaped surface; the driving unit is connected to the tibial rod of one of the joint skeleton mechanisms and drives the tibial rod to swing around the first fixed pin shaft.
[0008] In the above technical solution, preferably, it includes a tibia-shaped base, and the tibia-shaped base sequentially connects the three joint skeleton mechanisms along the span direction, and the three joint skeleton mechanisms are sequentially a first joint skeleton mechanism, a second joint skeleton mechanism and a third joint skeleton mechanism along the fin-shaped span direction, and the support rod of the first joint skeleton mechanism is fixed to the tibia-shaped base.
[0009] In the above technical solution, preferably, the driving unit is a waterproof servo fixed to the shin-shaped base, the first fixed pin of the first joint skeleton mechanism is transmission-connected to the output shaft of the waterproof servo, and the first fixed pin of the first joint skeleton mechanism is connected to the shin rod by a key.
[0010] In the above technical solution, preferably, the shin-shaped base and the support rod of the first joint skeleton mechanism form an integrated connecting rod component; the shin rod of the first joint skeleton mechanism and the support rod of the second section skeleton mechanism form an integrated connecting rod component; the shin rod of the second section skeleton mechanism and the support rod of the third joint skeleton mechanism form an integrated connecting rod component.
[0011] In the above technical solution, preferably, the shank is provided with a linear sliding hole extending along the length direction of the shank, and the sliding pin is fitted in and in the linear sliding hole.
[0012] In the above technical solution, preferably, the support rod forms a bilaterally symmetrical U-shaped frame rod structure, a slit is provided in the middle of the shank rod, and both ends of the crank are respectively mounted in the U-shaped opening and the slit of the U-shaped frame rod structure.
[0013] In the above technical solution, preferably, the first fixed pin, the second fixed pin and the sliding pin of the joint skeleton mechanism form three vertices of a planar triangular connecting rod structure.
[0014] In the above technical solution, preferably, the upper edge and the lower edge of the supporting shell are provided with arc-shaped openings, and a clearance opening is formed between the arc-shaped openings extending between two adjacent supporting shells.
[0015] This application proposes an actively deformable sea lion front flipper-like device that can more accurately imitate the movement pattern of a sea lion's front flipper through an innovative structural design, and has significant performance advantages and functional effects. The following are the main advantages and effects of the device:
[0016] Active deformation is achieved to improve propulsion efficiency and thrust output: The device has the ability to actively deform in the span direction, so that it can better adapt to different water flows and propulsion stages. In the propulsion stage based on resistance, the thrust is increased by increasing the flow area; in the propulsion stage based on lift, the flow area is reduced to reduce water resistance and achieve low-resistance propulsion. Compared with traditional fixed-shape propulsion devices, this bionic device can flexibly adjust the flow area, thereby greatly improving the propulsion efficiency and propulsion capacity, meeting the propulsion needs of complex underwater environments.
[0017] Hydrodynamic advantages brought by the flexible outer skin: The bionic flexible outer skin of the device uses flexible materials and biomimetic design to achieve a flexible fin tip, flexible trailing edge and flexible epidermis structure similar to the skin of the sea lion's front fin. This flexible hydrodynamic outer skin can automatically adjust the angle of attack, maintain the best hydrodynamic characteristics throughout the entire movement cycle, increase the thrust component, and ensure the thrust output of the entire cycle. The flexible outer skin can also buffer the impact of water flow on the device, making it more stable during underwater movement and reducing the vibration caused by water flow disturbance, thereby improving the overall propulsion efficiency and movement stability.
[0018] High bionics and flexibility of the multi-joint skeleton structure: The device uses a transmission mechanism with a three-joint skeleton as the core, and simulates the movement of the sea lion's front flippers through multiple flexible joints. The rotation angles of these joints can reach the extreme range of motion of the sea lion's front flippers, allowing the device to achieve multi-dimensional flexible movement similar to the sea lion's front flippers. This highly bionic movement mode enables the device to perform complex propulsion operations underwater, adapt to the needs of different propulsion modes, and has extremely strong flexibility and control.
[0019] Structural advantages of combining rigidity and flexibility: The rigid support shell of the device is combined with the flexible outer skin, integrating the high strength of the rigid structure and the hydrodynamic advantages of the flexible structure. The rigid structural support frame and shell increase the contact area of the device, giving the device strong structural support and anti-deformation ability. At the same time, the multi-section design of the rigid support realizes nearly flexible movement. This rigid-flexible structural design allows the device to have both the stability and controllability of the rigid structure, while giving full play to the advantages of the flexible structure in hydrodynamics, greatly improving the overall propulsion efficiency and device life.
[0020] Modular design and high integration enhance applicability: This device adopts a modular design concept, and all drive and transmission components are integrated inside the device, which facilitates the integrated layout of the whole machine and simplifies the installation and maintenance of the device. The design of the root connecting plate makes the device highly portable, and it can be used as an accessory for different underwater flapping-wing propulsion systems to achieve rapid replacement and multi-system integration, adapting to the needs of various underwater operation tasks. At the same time, the modular design facilitates subsequent development and adjustment, and the structural parameters and number of joints can be flexibly adjusted according to different task requirements and bionic requirements, thereby meeting the requirements of different propulsion performance and motion characteristics.
[0021] Flexible development and application potential: The structural parameters and number of joints of this device are highly adjustable and can be optimized according to different design goals such as bionics, motion performance, and propulsion efficiency. Users can adjust the motion angle, angle range, and flexibility of the flexible skin of each joint according to the specific application scenario to achieve a more efficient bionic design and expand the applicability of the device in different underwater environments. For example, in a high-velocity environment, the motion characteristics of each joint can be adjusted to ensure stable propulsion, and in a low-velocity or complex terrain, the flexibility and adaptability can be improved through a flexible structure, thereby enhancing the overall propulsion performance and environmental adaptability of the device.
[0022] In summary, the actively deformable sea lion-like front fin device not only improves the propulsion efficiency and movement ability of underwater robots through innovative multi-joint skeleton structure, rigid-flexible bionic skin design and modular integration concept, but also has a wide range of application potential. Its high degree of bionics, flexible adjustment ability and strong hydrodynamic performance make it show significant advantages in the field of underwater robot propulsion, and can be widely used in various marine tasks such as scientific research, military and exploration. BRIEF DESCRIPTION OF THE DRAWINGS
[0023] Figure 1 It is a schematic diagram of the overall appearance of the present invention;
[0024] Figure 2-1 to Figure 2-2 It is a schematic diagram of the general assembly of the present invention;
[0025] Figure 3 is a full cross-sectional view of the bionic flexible outer skin of the present invention;
[0026] Figure 4 This is a schematic diagram of the three-joint skeleton of the present invention;
[0027] Figure 5 It is an exploded schematic diagram of the drive unit of the present invention;
[0028] Figure 6 It is a structural schematic diagram of the supporting shell of the present invention;
[0029] Figure 7-1 to Figure 7-4 It is a schematic structural diagram of the L-shaped rods and the tip swing rod of each mechanism unit described in the present invention. DETAILED DESCRIPTION
[0030] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.
[0031] The present invention provides an actively deformable sea lion-like front fin device. The present invention significantly improves the propulsion efficiency, stability and environmental adaptability of underwater robots by realizing spanwise active deformation, flexible outer skin hydrodynamic characteristics, multi-joint high bionic structure, rigid-flexible design, high integration and modular design, and has wide application potential. In order to further illustrate the structure of the present invention, the detailed description is as follows in conjunction with the accompanying drawings:
[0032] See also Figure 1 As shown in Figure 2, an actively deformable sea lion-like front fin device includes a tibia-shaped base, N joint skeleton mechanisms, a driving connecting rod, a supporting shell, a bionic flexible skin and a driving unit. The tibia-shaped base is a root fixing component of the sea lion-like front fin device, and the N joint skeleton mechanisms are sequentially connected in series on the tibia-shaped base along the span direction of the front fin. In this embodiment, specifically, the tibia-shaped base sequentially connects three of the joint skeleton mechanisms along the span direction, and the three joint skeleton mechanisms are sequentially the first joint skeleton mechanism, the second joint skeleton mechanism and the third joint skeleton mechanism along the fin-shaped span direction, and the support rod of the first joint skeleton mechanism is fixed to the tibia-shaped base.
[0033] The joint skeleton mechanism is the basic action unit of the device, and the joint skeleton mechanism includes a shank rod, a support rod, a crank, a first fixed pin, a second fixed pin and a sliding pin to form a planar connecting rod mechanism. The first fixed pin, the second fixed pin and the sliding pin of the joint skeleton mechanism form the three vertices of the planar triangular connecting rod structure.
[0034] One end of the shin rod is connected to one end of the support rod through a first fixed pin, the other end of the support rod is connected to one end of the crank through a second fixed pin, and the other end of the crank is connected to a movable pin, and the movable pin is installed on the shin rod by sliding along the shin rod. The other end of the shin rod of the joint skeleton mechanism is fixedly connected to the support rod of another joint skeleton mechanism; the sliding pins of two adjacent joint skeleton mechanisms are connected to a driving connecting rod. In this embodiment, the shin-shaped base and the support rod of the first joint skeleton mechanism form an integrated connecting rod component to form an L-shaped rod; the shin rod of the first joint skeleton mechanism and the support rod of the second section skeleton mechanism form an integrated connecting rod component to form an L-shaped rod; the shin rod of the second section skeleton mechanism and the support rod of the third joint skeleton mechanism form an integrated connecting rod component to form an L-shaped rod. The shin rod is provided with a linear sliding hole extending along the length direction of the shin rod, and the sliding pin is fitted in the linear sliding hole and in the linear sliding hole. The support rod forms a bilaterally symmetrical U-shaped frame rod structure, a slot is provided in the middle of the shank rod, and two ends of the crank are respectively mounted in the U-shaped opening and the slot of the U-shaped frame rod structure.
[0035] In this embodiment, specifically, the three-joint skeleton 3 formed inside the device is composed of a shank-shaped base 3-1, an L-shaped rod 3-2, an L-shaped rod 3-4, an L-shaped rod 3-6, an L-shaped rod 3-9, a crank 3-3, a crank 3-5, a crank 3-8, a driving connecting rod 3-7, a driving connecting rod 3-12, a sliding pin shaft 3-10, a sliding pin shaft 3-11, and a sliding pin shaft 3-13.
[0036] like Figure 7-1 to Figure 7-4 The specific details of the components of the shin-shaped base, L-shaped rod 3-2, L-shaped rod 3-6, L-shaped rod 3-4, and tip swing rod 3-9 are shown. The shin-shaped base includes a first mechanism unit frame 3-1a, an axial hole 3-1b, a swing rod 3-1c, an axial hole 3-1d, an axial hole 3-1e, and a threaded hole 3-1f. The L-shaped rod 3-2 includes a second mechanism unit frame 3-2a, an axial hole 3-2b, a swing rod 3-2c, a slide groove 3-2d, a keyway hole 3-2e, an axial hole 3-2f, a threaded hole 3-2g, and a rectangular groove 3-2h. The L-shaped component 3-4 includes an axial hole 3-4a, an axial hole 3-4b, a swing rod 3-4c, a slide groove 3-4d, an axial hole 3-4e, a third mechanism unit frame 3-4f, and a threaded hole 3-4g. The L-shaped member 3-6 includes an axis hole 3-6a, an axis hole 3-6b, a swing rod 3-6c, a slide groove 3-6d, an axis hole 3-6e, a third mechanism unit frame 3-6f, and a threaded hole 3-6g. The tip swing rod 3-9 includes a threaded hole 3-9a, a rectangular groove 3-9b, a slide groove 3-9c, and an axis hole 3-9d.
[0037] like Figure 3 to Figure 7-4As shown, the shank-shaped base 3-1 is fixedly connected to the root connecting plate 4-7 through the threaded hole on the bottom surface, serving as the frame of the three-joint skeleton mechanism 3. The axes of the shaft hole 3-1b and the shaft hole 3-2e are collinear, and the L-shaped rod 3-2 rotates along the axis relative to the shank-shaped base 3-1, and the two walls are inside the U-shaped opening. The shaft hole 3-1e forms a revolute pair with one end of the crank 3-3, which is inside the U-shaped opening to limit its axial movement, and is separated by a copper sleeve washer to prevent contact wear of the rotating surface. The other end of the crank 3-3 forms a revolving pair with the pin 3-13, which is restricted to rotate in the rectangular groove 3-2h, and the pin 3-13 slides along the slide groove 3-2d; the shaft hole 3-6e and the shaft hole 3-4e are coaxial with the shaft hole 3-2b, and the L-shaped rods 3-4, 3-6 and the L-shaped rod 3-2 form a revolving pair. The L-shaped rods 3-4, 3-6 are symmetrically installed on both sides of the L-shaped structure 3-2, and the step-shaped bosses are installed inward to increase the rigidity of the mechanism and evenly distribute the load. The shaft hole 3-2f forms a revolving pair with one end of the crank 3-5, which is located inside the U-shaped opening to limit its axial movement. The other end of the crank 3-5 forms a revolving pair with the pin 3-11, and the pin 3-11 slides in the slide groove 3-4d and the slide groove 3-6d at the same time; the shaft holes 3-4b, 3-6b and the shaft hole 3-9d form a revolving pair coaxially, and the tip rocker 3-9 can swing between the two L-shaped rods on this axis. The shaft holes 3-4a, 3-6a and one end of the crank 3-8 form a revolving pair, which are separated by a copper sleeve gasket to avoid contact wear of the rotating surfaces. The other end of the crank 3-8 forms a revolving pair with the pin 3-10, which moves in the rectangular groove 3-9b, and the pin 3-10 slides in the slide groove 3-9c. The two ends of the freedom adjustment rod 3-12 form a rotation pair with the pin 3-13 and the pin 3-11, so that the distance between the two pins is always the length of the rod; the two ends of the freedom adjustment rod 3-7 form a rotation pair with the pin 3-10 and the pin 3-11, so that the distance between the two pins is always the length of the rod.
[0038] like Figure 7-1 As shown, the shank-shaped base is a bilaterally symmetrical structure, with a U-shaped opening at the tip to avoid interference with other moving rods. It is composed of a first mechanism unit frame 3-1a and a swing rod 3-1c, and the axis angle between the frame 3-1a and the swing rod 3-1c is 43.40 degrees and is integrally formed. Figure 7-2 , 7-3As shown in 7-4, the L-shaped rod 3-2 is a bilaterally symmetrical structure, with a U-shaped opening at the tip, and is composed of a second mechanism unit frame 3-2a and a swing rod 3-2c, and the axis angle between the frame 3-2a and the swing rod 3-2c is 45 degrees and they are integrally formed. The swing rod 3-2c is provided with a rectangular groove 3-2h and a slide groove 3-2d, and the pin 3-13 passes through the slide groove and slides therein. The L-shaped rod 3-6 and the L-shaped rod 3-4 have the same structural features, and are both thin plate mounting structures with stepped bosses. The swing rod 3-4c and the swing rod 3-6c are provided with slide grooves 3-4d and 3-6d, and the pin 3-11 passes through the slide groove and rolls and slides therein. The tip swing rod 3-9 is provided with a rectangular groove 3-9b and a slide groove 3-9c, and the pin 3-10 passes through the slide groove and slides therein.
[0039] The support shell is fixedly mounted on the shank of the joint skeleton mechanism and forms a support surface body located on both sides of the first fixed pin in the circumferential direction. The upper edge and the lower edge of the support shell are provided with arc openings, and a clearance opening is formed between the arc openings extending between two adjacent support shells. Specifically, the support shell 2 is divided into four parts, each part is composed of two front and rear shells cut along the symmetry plane, which are divided into the posterior shell 2-4 of the radial segment and the anterior shell 2-8 of the radial segment, the posterior shell 2-3 of the metacarpal segment and the anterior shell 2-7 of the metacarpal segment, the posterior shell 2-2 of the first phalanx segment and the posterior shell 2-6 of the first phalanx segment, the posterior shell 2-1 of the second phalanx segment and the posterior shell 2-5 of the second phalanx segment, and the front and rear shells are both distributed with through holes, which are shown as 2-1a, 2-2a, 2-3a, and 2-4a. The front and rear shells are provided with through grooves and chordal grooves for placing other components, and each shell segment has arc openings on the top and bottom to avoid interference with other parts.
[0040] The bionic flexible outer skin is installed on the support surface and supported by the support shell to form a fin-shaped surface. The bionic flexible outer skin wraps all the structures of the device, providing the entire device with a hydrodynamic shape similar to the front fin of a sea lion. Each section of the bionic flexible outer skin shape is NACA0030, and the chord length of the airfoil of each section is the same as that of a sea lion, and has the same shape profile as a fur sea lion. The bionic flexible outer skin is integrally injection-molded by silicone rubber, and has a cavity inside. The shape of the cavity is the same as that of the support shell, and is bonded to the support shell. The bionic flexible outer skin includes a flexible fin tip and a flexible trailing edge portion, which can generate hydrodynamic forces similar to the skin of a sea lion.
[0041] The driving unit is connected to the shank rod of one of the joint skeleton mechanisms and drives the shank rod to swing around the first fixed pin. In the present embodiment, the driving unit is a waterproof servo fixed to the shank-shaped base, the first fixed pin of the first joint skeleton mechanism is drivingly connected to the output shaft of the waterproof servo, and the first fixed pin of the first joint skeleton mechanism is connected to the shank rod by a key. Specifically, the above-mentioned transmission structure is composed of an output pulley 4-1, a synchronous belt 4-2, an input pulley 4-3, a transmission shaft 4-4, a motor mounting frame 4-5, a waterproof servo 4-6, a root connecting plate 4-7, a coupling 4-8, and a transmission shaft 4-9. Specifically, as Figure 5 The structure shown is a mechanism drive unit. The root connecting plate 4-7 is a plate-like structure with a concentric cylindrical boss. The concentric cylindrical boss has a keyway, and the entire device can be connected to other devices as an accessory. Through holes are distributed on the plate surface, and the axis distance of the concentric cylindrical boss is 30% of the front edge of the root section of the bionic flexible skin. The motor mounting frame 4-5 is hollow, and threaded holes are distributed on its top and side surfaces. The waterproof steering gear 4-6 and the root connecting plate 4-7 are fixedly connected to the motor mounting frame 4-5 by the top threaded holes and the side threaded holes. The waterproof steering gear 4-6 is connected to the input pulley 4-3 by the coupling 4-8 and the transmission shaft 4-9. The input pulley 4-3 drives the output pulley 4-1 to rotate through the synchronous belt 4-2. The transmission shaft 4-9 passes through the shaft hole 3-1d, but does not form a fit. The bearings at both ends of 3-1 form a double-pivot axial fixation. The output pulley 4-1 is driven by the transmission shaft 4-4, which is provided with a keyway. The transmission shaft is the first pin shaft of the first joint skeleton mechanism and is key-connected with the shaft hole 3-2e. The L-shaped rod 3-2 serves as the prime mover of the three-joint skeleton mechanism 3.
[0042] In this embodiment, the specific execution method of the mechanism movement is: the waterproof servo 4-6 drives the input pulley 4-3 to rotate through the coupling and the transmission shaft, and transmits the power to the output pulley 4-1 through the synchronous belt 4-2. The output pulley is rigidly connected to the transmission shaft 4-4 by a tightening bolt. The transmission shaft 4-4 and the shaft hole 3-2e are coaxial. The flat key transmission, the L-shaped rod 3-2 is used as the prime mover of the three-joint skeleton mechanism, which generates the rocker 3-1c, the rocker 3-2c, the rocker 3-6c, the rocker 3-4c, and the tip rocker 3-9 to rotate in the same direction, driving the support shell 2 fixed thereto by bolts, and the bionic flexible skin 1 covered on the support shell is deformed to simulate the adduction-abduction movement of the sea lion's front flipper. Since the degree of freedom of the mechanism is 1, the determined movement of each joint can be obtained.
[0043] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.
Claims
1. An actively deformable sea lion-like front flipper device, characterized in that: It includes N joint skeleton mechanisms, driving connecting rods, supporting shells, bionic flexible skins and driving units; The joint skeleton mechanism comprises a shank rod, a support rod, a crank, a first fixed pin, a second fixed pin and a sliding pin to form a planar connecting rod mechanism; one end of the shank rod is connected to one end of the support rod via a first fixed pin, the other end of the support rod is connected to one end of the crank via a second fixed pin, the other end of the crank is connected to a movable pin, and the movable pin is installed on the shank rod by sliding along the shank rod; the other end of the shank rod of the joint skeleton mechanism is fixedly connected to a support rod of another joint skeleton mechanism; a driving connecting rod is connected between the sliding pins of two adjacent joint skeleton mechanisms; The support shell is fixedly mounted on the shank rod of the joint skeleton mechanism and forms a support surface body located on both sides of the circumference of the first fixed pin shaft; the bionic flexible outer skin is installed on the support surface body and supported by the support shell to form a fin-shaped surface; the driving unit is connected to the shank rod of one of the joint skeleton mechanisms and drives the shank rod to swing around the first fixed pin shaft.
2. The actively deformable sea lion-like front fin device according to claim 1, characterized in that: It comprises a shin-shaped base, which connects three joint skeleton mechanisms in series in the span direction. The three joint skeleton mechanisms are a first joint skeleton mechanism, a second joint skeleton mechanism and a third joint skeleton mechanism in the fin-shaped span direction. The support rod of the first joint skeleton mechanism is fixed to the shin-shaped base.
3. The actively deformable sea lion-like front fin device according to claim 2, characterized in that: The driving unit is a waterproof steering gear fixed to the shank-shaped base, the first fixed pin of the first joint skeleton mechanism is drivingly connected to the output shaft of the waterproof steering gear, and the first fixed pin of the first joint skeleton mechanism is connected to the shank rod through a key.
4. The actively deformable sea lion-like front fin device according to claim 2, characterized in that: The shin-shaped base and the support rod of the first joint skeleton mechanism form an integrated connecting rod component; the shin rod of the first joint skeleton mechanism and the support rod of the second section skeleton mechanism form an integrated connecting rod component; the shin rod of the second section skeleton mechanism and the support rod of the third joint skeleton mechanism form an integrated connecting rod component.
5. The actively deformable sea lion-like front fin device according to claim 1 or 4, characterized in that: The shank is provided with a linear slide hole extending along the length direction of the shank, and the sliding pin is fitted in and in the linear slide hole.
6. The actively deformable sea lion-like front fin device according to claim 5, characterized in that: The support rod forms a bilaterally symmetrical U-shaped frame rod structure, a slot is provided in the middle of the shank rod, and two ends of the crank are respectively fitted in the U-shaped opening and the slot of the U-shaped frame rod structure.
7. The actively deformable sea lion-like front fin device according to claim 6, characterized in that: The first fixed pin, the second fixed pin and the sliding pin of the joint skeleton mechanism form three vertices of a planar triangular connecting rod structure.
8. The actively deformable sea lion-like front fin device according to claim 1, characterized in that: The upper side edge and the lower side edge of the support shell are provided with arc-shaped openings, and a clearance opening is formed between the arc-shaped openings extending between two adjacent support shells.