A multi-motion mode underwater bionic propulsion device

Abstract

The present invention discloses an underwater bionic propulsion device with multiple motion modes, which relates to the technical field of underwater detection equipment, including a fuselage shell, a pitch adjustment mechanism, a circumferential adjustment mechanism, a rotation adjustment device, a swimming device and a control system. The fuselage shell is provided with a rear end cover, and a front cavity and a rear cavity are provided inside the fuselage shell. The pitch adjustment mechanism and the circumferential adjustment mechanism are arranged in the front cavity, and the rotation adjustment device is arranged in the rear cavity, including a mounting plate, a rotating shaft, a gear assembly and a rotating motor. There are two swimming devices, which are symmetrically arranged on the left and right sides of the rotating shaft. The swimming device includes a bionic fin ray and a pulley drive mechanism. The bionic fin ray includes a flexible lead rod, a flexible fin bone, a flexible shell, a wire pulley and a plurality of support plates. The front end of the bionic fin ray is fixedly connected to the rear end cover through a base. The bionic fin ray of the present invention is based on the swimming characteristics of biological organisms, and can realize mutual switching between multiple motion modes to adapt to the requirements of different underwater environments and complete cross-sea detection tasks.

Description

Technical Field

[0001] The invention relates to the technical field of underwater robots, and in particular to an underwater bionic propeller with multiple motion modes. Background Art

[0002] The diverse ocean exploration missions and complex and ever-changing working environments have put forward more and higher requirements on the performance of underwater vehicles. As a key component of underwater robots, the propulsion system plays a decisive role in the robot's ability to pass, adaptability and mission execution efficiency in complex marine environments. At present, underwater propulsion systems mainly include: propeller propulsion, water jet propulsion and bionic propulsion with natural biological movement characteristics.

[0003] The propeller propulsion system generates an axial force in the axial direction by rotating the propeller around the axis, and controls the steering and posture of the robot by arranging multiple fixed-axis propellers. Its advantage is that it can be directly driven by a rotary power machine, which can generate greater thrust and higher propulsion speed. However, the propeller is easily entangled by water plants or disturbed by underwater inhabitants, and it does not have the maneuverability at low speed or in a hovering state, and the propulsion efficiency is low in an unsteady flow environment. In addition, the propeller propulsion is noisy and can easily interfere with or damage the marine ecological environment. Water jet propulsion uses the reaction force of the water jet ejected by the water jet propulsion pump to provide power. Compared with ordinary propellers, water jet propulsion has better anti-cavitation performance, is not easy to vibrate, and has better silent performance. However, it is mainly used for shallow water navigation and is suitable for amphibious vehicles and ships as underwater power.

[0004] Underwater organisms have undergone a long biological evolution process, and their underwater movement methods show a high degree of adaptability to the water environment. With the continuous development of bionics research, researchers have combined the results of biological research with robotics research and developed many new underwater bionic robot systems, such as bionic robot fish, bionic jellyfish robot, bionic octopus robot, underwater snake robot, etc. However, bionic robots designed to imitate the biological characteristics of a single species may have the ultra-high performance of the bionic prototype itself, but it is difficult to adapt to the complex environment of the ocean and multi-target detection tasks. For example, the tuna-like robot has a high cruising speed, but it cannot pass through a narrow environment and is not suitable for dense underwater pipeline inspection tasks. For example, the underwater snake robot has a good adaptability in a narrow environment, but its cruising speed and maneuverability are poor, and it is not suitable for long-distance detection tasks.

[0005] Currently, most underwater bionic thrusters are designed based on the wave propulsion theory, and the propulsion modes mainly include: body-tail fin motion, wave fin motion and serpentine motion.

[0006] (1) Body-tail fin propulsion mode. This propulsion mode mainly generates propulsion force by relying on body fluctuations or tail fin swings. This type of bionic propulsion device is usually composed of two or more joints connected in series, and the propulsion mechanism is controlled to move according to a given waveform by adjusting the swing angle of each joint. This propulsion method has excellent performance when swimming at high speeds and is suitable for long-term high-speed cruising and efficient propulsion in open water environments. However, it has poor performance in terms of low-speed swimming, turning, and state maintenance in turbulent environments.

[0007] (2) Wave fin motion mode. The fin surface of underwater creatures that use wave fin motion is composed of a large number of fin rays connected to muscles and a flexible film. When moving, the fin surfaces on both sides of the underwater creature's body ripple in the water to generate control force and torque. The wave fins of a bionic propulsion device are generally composed of a plurality of rigid fin rays with a certain phase difference and a layer of flexible skin attached to the fin rays. Each fin ray swings up and down around its swing center to form the required waveform. Wave fin propulsion has high maneuverability, flexibility and anti-disturbance ability, and is suitable for moving in an environment with complex water flow and many obstacles. However, the movement speed of wave fin propulsion is generally not higher than 3 times the body length / second, so it is not suitable for high-speed swimming and is generally used as auxiliary propulsion.

[0008] (3) Sinuous propulsion mode. Sinuous motion refers to the regular bending of underwater creatures such as sea snakes through the joints of the body, generating a bending wave that propels the body to continuously change shape and move forward. The main body of this type of bionic propulsion device is usually composed of multiple identical modules, which are linked by a hinge-like structure to form a continuous chain. Each joint performs corresponding movements according to the set motion rules and works in conjunction with adjacent joints to continuously move forward in a serpentine manner. The propulsion device in the serpentine motion mode has the characteristics of high redundancy and flexible movement. It can adapt well to complex and narrow environments and has good applications in oil pipeline inspection, submarine cable inspection, underwater archaeology, underwater equipment structural maintenance and exploration of submarine mining areas. However, the serpentine motion has a slow speed and low efficiency underwater. In addition, each joint requires a drive system, which leads to excessive energy consumption and poor endurance. Therefore, the existing technology urgently needs to be further improved. Summary of the invention

[0009] In view of the above-mentioned deficiencies in the prior art, the purpose of the present invention is to propose a multi-motion mode underwater bionic thruster to solve the problem that the existing underwater thrusters can only adopt a single propulsion mode to swim underwater and cannot meet the requirements of different motion modes in environments with complex underwater terrain and many obstacles.

[0010] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0011] A multi-motion mode underwater bionic thruster comprises a fuselage shell, a pitch adjustment mechanism, a circumferential adjustment mechanism, a rotation adjustment device, a swimming device and a control system. The fuselage shell is a cylindrical shell with a closed front end and an open rear end, and is arranged longitudinally. The rear end of the fuselage shell is provided with a rear end cover for sealing the interior thereof.

[0012] A vertically arranged partition is provided in the middle of the fuselage shell, and the partition divides the interior of the fuselage shell into a front cavity and a rear cavity which are independent of each other.

[0013] The pitch adjustment mechanism and the circumferential adjustment mechanism are both arranged inside the front cavity, the circumferential adjustment mechanism is installed on the front side wall of the partition, and the pitch adjustment mechanism is longitudinally fixed to the front side of the circumferential adjustment mechanism.

[0014] The rotation adjustment device is arranged inside the rear cavity, and comprises a mounting plate, a rotating shaft, a gear assembly and a rotating motor. The rear end cover is rotationally sealed with the body shell.

[0015] The mounting plate is located between the rear end cover and the partition, and is fixedly connected to the rear end cover via a rotating shaft. The rotating motor is arranged on the rear side wall of the partition, and can drive the mounting plate and the rear end cover to rotate synchronously around the axis of the fuselage shell through a gear assembly.

[0016] There are two swimming devices, which are symmetrically arranged on the left and right sides of the rotating shaft. The swimming device includes bionic fins and a pulley drive mechanism. The bionic fins include flexible lead rods, flexible fin bones, flexible shells, wire pulleys and multiple support plates. The front end of the bionic fin is fixedly connected to the rear end cover through a base.

[0017] The flexible fin bone is sleeved on the outside of the flexible lead rod, and all the support plates are sleeved on the outer wall of the flexible fin bone at equal intervals from front to back. Except for the first one, the remaining support plates are symmetrically provided with two leads on both sides, and the flexible outer shell is sleeved on the outside of all the support plates.

[0018] The rope pulley driving mechanism is arranged on the mounting plate, and comprises lead wire retracting and releasing components which are equal in number and correspond to the lead wires one by one. Each lead wire retracting and releasing component realizes the regular fluctuation of the bionic fin rays by pulling the corresponding lead wire and deflecting the support disk where the lead wire is located.

[0019] Furthermore, the fuselage shell includes a circular cylinder and a front end cover, the front end cover is a hemispherical shell, and the outer edge of the front end cover is detachably fixed and sealed with the front end of the circular cylinder.

[0020] The partition is a circular metal plate arranged vertically and coaxially with the circular cylinder. The outer edge of the partition is fixedly and sealedly connected to the circumferential inner wall of the circular cylinder.

[0021] Furthermore, the pitch adjustment mechanism includes a mounting frame and a counterweight assembly, the counterweight assembly includes a guide rail seat, a counterweight block, a lead screw and a first servo motor, the guide rail seat is a rectangular structure, and is fixedly connected to the fuselage shell through the mounting frame, the counterweight block is arranged on one side of the guide rail seat, and its side wall is linearly slidably matched with the guide rail seat.

[0022] The lead screw passes through the inner side of the counterweight block and cooperates with the thread of the counterweight block. The two ends of the lead screw are respectively rotatably cooperated with the guide rail seat through a vertical plate. The output shaft of the first servo motor is coaxially fixedly connected to one end of the lead screw. In the working state, the first servo motor drives the counterweight block to move linearly along the length direction of the guide rail seat through the lead screw to adjust the pitch angle of the fuselage shell.

[0023] Furthermore, the circumferential adjustment mechanism includes a second mounting frame and four similar counterweight assemblies. The second mounting frame is vertically fixed on the front side wall of the partition, and the four counterweight assemblies are arranged in a cross shape on the front side of the second mounting frame.

[0024] Any two relative counterweight assemblies of the circumferential adjustment mechanism are symmetrically arranged about the axis of the fuselage shell, and each of the first servo motors of the circumferential adjustment mechanism can drive the corresponding counterweight block to move along the radial straight line of the cross-section of the fuselage shell, so that the fuselage shell rotates around its circumference.

[0025] Furthermore, the rear end cover is a circular plate body matching the inner diameter of the fuselage shell, and at least two annular sealing rings are embedded in its circumferential side wall, and the annular sealing rings are arranged at intervals along the axial direction of the rear end cover.

[0026] The rotating shaft is coaxially arranged with the fuselage shell and is rotationally matched with the fuselage shell via a bearing seat located between the rear end cover and the mounting plate.

[0027] The gear assembly includes a large gear 1 and a small gear 1. The large gear 1 is arranged at the front end of the rotating shaft, and the small gear 1 is arranged on the output shaft of the rotating motor and is externally meshed with the large gear 1. In the working state, the rotating motor drives the rotating shaft to rotate through the gear assembly.

[0028] Furthermore, the base is a disc-shaped structure and is fixedly embedded in the rear end cover, the flexible lead rod is a cylinder with a constant cross-section, the flexible fin bone adopts a spring, and the front ends of the flexible lead rod and the flexible fin bone are coaxially fixedly connected to the rear side wall of the base.

[0029] Each of the flexible lead rods has lead holes that are equal in number to the leads and correspond one to one. All the lead holes inside the same flexible lead rod are evenly arranged in a ring shape on a circle with the axis of the flexible lead rod as the center, and are arranged parallel to the axis of the flexible lead rod. Each of the lead holes is connected to the rear cavity.

[0030] Furthermore, the wire retracting and releasing components of the rope pulley driving mechanism are evenly arranged on a circle with the axis of the base as the center, and the wire retracting and releasing components include a winding wheel, a large gear 2, a small gear 2 and a second servo motor. The winding wheel is mounted on the front side of the mounting plate through the first wheel, and the large gear 2 is arranged at one end of the wheel axle of the winding wheel.

[0031] The second servo motor is fixed on the mounting plate and is located at one side of the winding wheel. The second small gear is installed at the output end of the second servo motor and meshes with the second large gear.

[0032] The mounting plate has two groups of through holes corresponding to the positions of the two bases, each group of through holes includes through holes that are equal in number to the lead holes in the same flexible lead rod and whose positions correspond one to one, and the two groups of through holes are respectively located on the inner sides of the two rope pulley driving mechanisms, and each winding wheel of the rope pulley driving mechanism corresponds one to one to each through hole on its inner side.

[0033] Furthermore, the support plate is a vertically arranged approximately elliptical flat plate with pointed ends at both ends. A center hole is opened on the support plate, and the flexible fin bone is passed through the center hole of each corresponding support plate and fixedly engaged with the inner wall thread of the center hole.

[0034] Two threading holes are symmetrically provided on the left and right sides of each support disk except the first one, and a screw is provided on the adjacent sides of each threading hole. Two wire wheels are symmetrically provided on the left and right sides of the rear side of each support disk except the last one.

[0035] One end of the two lead wires located on the same support disk is fixedly connected to the rear side wall of the support disk, and the other end passes through the threading holes on both sides of the support disk respectively, and after passing around the wire pulley at the corresponding position on the adjacent support disk on the front side, passes into two lead holes symmetrical about the axis of the flexible lead rod respectively, and passes out from the front sides of the two through holes on the mounting plate corresponding to the two lead holes, and is respectively wound around the winding wheels corresponding to the two through holes and fixedly connected to the corresponding winding wheels.

[0036] Furthermore, a group of guide holes is provided on the circumferential outer wall of the flexible lead rod located between any two adjacent support plates, and each group of guide holes includes two symmetrically arranged guide holes, which are respectively connected to the lead holes at corresponding angular positions, and the guide holes located on the same flexible lead rod are arranged in a double spiral shape and staggered in sequence.

[0037] The support plate in the middle position has two groups of steering wheels arranged in a centrally symmetrical manner. The two groups of steering wheels on the same support plate respectively correspond to the two guide holes adjacent to the rear side and in the same group in an angle-to-one manner, and each group of steering wheels includes two steering wheels arranged adjacent to each other.

[0038] The other end of the lead wire passes around the wire wheel arranged on the middle support plate, passes around the two steering wheels of the same group in the direction where the flexible lead wire rod is located, and then passes through the gap of the flexible fin bone into the guide hole corresponding to the angle of the steering wheel group, and enters the corresponding lead wire hole.

[0039] Furthermore, the flexible shell is an integrated structure consisting of a variable diameter section, a middle section and a tapered section connected in sequence, the front end of the variable diameter section is fixedly sealed to the base, and the outer edge of each support plate is fixedly connected to the inner wall of the middle section of the flexible shell.

[0040] By adopting the above technical solution, the beneficial technical effects of the present invention are:

[0041] (1) The present invention integrates the outstanding biological characteristics of various organisms into the design of the same propeller, so that the propeller can switch the motion mode according to different water environments and working properties, so that it has multiple characteristics such as high-speed cruising, good passability, and high propulsion efficiency.

[0042] (2) The underwater bionic propeller of the present invention can achieve buoyancy, diving and circumferential rotation by coordinating the balance adjustment mechanism with the movement mode of the bionic fins, making the propeller more flexible and able to work in waters of different depths while flexibly avoiding obstacles.

[0043] (3) According to the speed and direction of the incoming flow, the circumferential position of the thruster's bionic fins is adjusted to make the thruster's operation more stable, its turning more flexible, and its maneuverability better. This enables cross-environment operations and efficient execution of precision detection tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a schematic diagram of the three-dimensional structure of a multi-motion mode underwater bionic propulsion device of the present invention.

[0045] Figure 2 It is a top view of a multi-motion mode underwater bionic propulsion device of the present invention.

[0046] Figure 3 It is a partial cross-sectional view of a multi-motion mode underwater bionic propulsion device of the present invention.

[0047] Figure 4 It is a schematic diagram of the structure of the present invention after removing the right flexible shell.

[0048] Figure 5 It is a schematic diagram of the structure of the present invention after a part of the fuselage shell is removed.

[0049] Figure 6 It is a schematic diagram of the combination of the rear end cover, the rotation adjustment device and the swimming device of the present invention.

[0050] Figure 7 It is a schematic diagram of the combination of the bionic fin ray and the base of the present invention.

[0051] Figure 8 yes Figure 7 The internal structure diagram of the assembly after driving the flexible housing is shown in FIG.

[0052] Fig. 9 It is a schematic diagram of the combined structure of the flexible lead rod and the base of the present invention.

[0053] Fig.10 It is a structural schematic diagram of the first mounting plate and its related parts of the present invention.

[0054] Fig.11 It is a structural schematic diagram of the middle-level mounting plate and its related parts of the present invention.

[0055] Fig.12 It is a structural schematic diagram of the last mounting plate of the present invention and its related parts.

[0056] As shown in the figure: 1. Body shell; 11. Circular cylinder; 12. Front cover; 13. Partition; 14. Rear cover; 101. Front cavity; 102. Rear cavity; 2. Pitch adjustment mechanism; 21. Mounting frame 1; 22. Guide rail seat; 23. Counterweight; 24. Lead screw; 25. First servo motor; 26. Vertical plate; 3. Circumferential adjustment mechanism; 31. Mounting frame 2; 4. Rotation adjustment device; 41. Mounting plate; 42. Rotating shaft ; 43. Rotating motor; 44. Big gear one; 45. Small gear one; 5. Bionic fin; 51. Flexible lead rod; 511. Lead hole; 512. Guide hole; 52. Flexible fin bone; 53. Flexible shell; 54. Support plate; 55. Base; 6. Pulley drive mechanism; 61. Winding wheel; 62. Big gear two; 63. Small gear two; 64. Second servo motor; 71. Screw; 72. Wire pulley; 73. Steering wheel. DETAILED DESCRIPTION

[0057] The following embodiments of the present invention are described in further detail in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0058] Combination Figures 1 to 12 A multi-motion mode underwater bionic thruster includes a fuselage shell 1, a pitch adjustment mechanism 2, a circumferential adjustment mechanism 3, a rotation adjustment device 4, a swimming device and a control system. The fuselage shell 1 is a cylindrical shell with a closed front end and an open rear end, and is arranged longitudinally. The fuselage shell 1 includes a circular cylinder 11 and a front end cover 12. The front end cover 12 is a hemispherical shell. The outer edge of the front end cover 12 is fixedly sealed and connected to the front end of the circular cylinder 11 to form an integrated structure.

[0059] The middle part of the fuselage shell 1 is provided with a vertical partition 13, which divides the interior of the fuselage shell 1 into a front cavity 101 and a rear cavity 102 that are independent of each other. The partition 13 is a vertically arranged circular metal plate, and is arranged coaxially with the circular cylinder 11, and the outer edge of the partition 13 is fixedly and sealedly connected to the circumferential inner wall of the circular cylinder 11.

[0060] A rechargeable lithium battery pack is arranged inside the fuselage shell 1, and the lithium battery pack supplies power to various power-consuming parts of the underwater bionic thruster. The control system includes a PLC controller, an image acquisition module, a sonar, a data processing module, a posture sensor and a wireless communication module. The signal ends of all servo motors are respectively connected to the PLC controller for communication. The image acquisition module and the sonar are arranged at the front of the fuselage shell 1. The collected data is sent to the data processing module for processing, and the processing results are sent to the PLC controller. The control system of the present invention adopts the existing technology and will not be repeated here.

[0061] The rear end of the fuselage shell 1 is provided with a rear end cover 14 for sealing the interior thereof, and the partition 13 is a vertically arranged circular metal plate and is arranged coaxially with the circular cylinder 11, and the outer edge of the partition 13 is fixedly sealed and connected with the circumferential inner wall of the circular cylinder 11. The rear end cover 14 is a circular plate body matching the inner diameter of the fuselage shell 1, and at least two annular sealing rings are embedded on its circumferential side wall, and each annular sealing ring is arranged at intervals along the axial direction of the rear end cover 14.

[0062] The pitch adjustment mechanism 2 and the circumferential adjustment mechanism 3 are both arranged inside the front cavity, the circumferential adjustment mechanism 3 is mounted on the front side wall of the partition 13, and the pitch adjustment mechanism 2 is longitudinally fixed to the front side of the circumferential adjustment mechanism 3. Specifically, the pitch adjustment mechanism 2 includes a mounting frame 21 and a counterweight assembly, the counterweight assembly includes a guide rail seat 22, a counterweight block 23, a lead screw 24 and a first servo motor 25, the guide rail seat 22 is a rectangular structure, and is fixedly connected to the fuselage shell 1 through the mounting frame 21, and the counterweight block 23 is arranged on one side of the guide rail seat 22, and its side wall is linearly slidably matched with the guide rail seat 22.

[0063] The lead screw 24 passes through the inner side of the counterweight 23 and is threadedly engaged with the counterweight 23. Both ends of the lead screw 24 are rotationally engaged with the guide rail seat 22 through a vertical plate 26. The output shaft of the first servo motor 25 is coaxially fixedly connected to one end of the lead screw 24. In the working state, the first servo motor 25 drives the counterweight 23 to move linearly along the length direction of the guide rail seat 22 through the lead screw 24 to adjust the pitch angle of the fuselage shell 1.

[0064] The circumferential adjustment mechanism 3 includes a second mounting frame 31 and four similar counterweight assemblies. The second mounting frame 31 is vertically fixed to the front side wall of the partition 13, and the four counterweight assemblies are arranged in a cross shape on the front side of the second mounting frame 31.

[0065] Specifically, two of the counterweight assemblies of the circumferential adjustment mechanism 3 are arranged symmetrically left and right about the axis of the fuselage shell 1, and the other two counterweight assemblies of the circumferential adjustment mechanism 3 are arranged symmetrically up and down about the axis of the fuselage shell 1. Each of the first servo motors 25 of the circumferential adjustment mechanism 3 can drive the corresponding counterweight block 23 to move along the radial straight line of the cross-section of the fuselage shell 1, so that the fuselage shell 1 rotates around its circumference.

[0066] The rotation adjustment device 4 is arranged in the rear cavity of the fuselage shell 1, and includes a mounting plate 41, a rotating shaft 42, a gear assembly and a rotating motor 43. The outer edge of the rear end cover 14 is rotationally sealed with the fuselage shell 1.

[0067] The mounting plate 41 is located between the rear end cover 14 and the partition 13, and is fixedly connected to the rear end cover 14 as a whole through a rotating shaft 42. The rotating shaft 42 is coaxially arranged with the fuselage shell 1, and is rotatably matched with the fuselage shell 1 through a bearing seat located between the rear end cover 14 and the mounting plate 41. The rotating motor 43 is fixed to the rear side wall of the partition 13 through a motor bracket, and can drive the mounting plate 41 and the rear end cover 14 to rotate synchronously around the axis of the fuselage shell 1 through a gear assembly.

[0068] Specifically, the gear assembly includes a large gear 44 and a small gear 45. The large gear 44 is arranged at the front end of the rotating shaft 42, and the small gear 45 is arranged on the output shaft of the rotating motor 43 and is externally meshed with the large gear 44. In the working state, the rotating motor 43 drives the rotating shaft 42 to rotate through the gear assembly.

[0069] There are two swimming devices, which are symmetrically arranged on the left and right sides of the rotating shaft 42. The swimming device includes a bionic fin 5 and a pulley drive mechanism 6. The bionic fin 5 includes a flexible lead rod 51, a flexible fin bone 52, a flexible shell 53, a wire pulley 72 and six support plates 54. The front end of the bionic fin 5 is fixedly connected to the rear end cover 14 through a base 55.

[0070] The base 55 is a disc-shaped structure and is fixed to the rear end cover 14 in an embedded manner. The two bases 55 are arranged symmetrically about the center of the rear end cover 14 and are fixedly connected to the rear end cover 14 as a whole. The flexible lead rod 51 is a cylinder with a uniform cross section. The flexible fin rib 52 is a spring. The front ends of the flexible lead rod 51 and the flexible fin rib 52 are coaxially fixedly connected to the rear side wall of the base 55.

[0071] The flexible fin bone 52 is sleeved on the outside of the flexible lead rod 51, and all the support plates 54 are arranged on the spring at equal intervals from front to back. Specifically, the support plate 54 is a vertically arranged approximately elliptical flat plate, and its upper and lower ends are both pointed. A center hole 542 is opened on the support plate 54, and the flexible fin bone 52 is inserted into the center hole 542 of each corresponding support plate 54 and is fixedly engaged with the inner wall thread of the center hole 542.

[0072] Except for the first one, two leads are symmetrically provided on the left and right sides of the remaining support plates 54. The interior of each flexible lead rod 51 has lead holes 511 that are equal to the number of leads and correspond one to one. All lead holes 511 inside the same flexible lead rod 51 are evenly arranged in a ring shape on a circle with the axis of the flexible lead rod 51 as the center, and are arranged parallel to the axis of the flexible lead rod 51. Each of the lead holes 511 is communicated with the rear cavity.

[0073] Two threading holes 541 are symmetrically provided on the left and right sides of each support plate 54 except the first one, and a screw 71 is provided on the adjacent side of each threading hole 541. Two wire guide wheels 72 are symmetrically provided on the left and right sides of the rear side of each support plate 54 except the last one.

[0074] In addition, a group of guide holes 512 are provided on the circumferential outer wall of the flexible lead rod 51 located between any two adjacent support plates 54. Each group of guide holes 512 includes two symmetrically arranged guide holes 512, which are respectively connected to the lead holes 511 at corresponding angular positions. The guide holes 512 located on the same flexible lead rod 51 are arranged in a double spiral shape and staggered in sequence.

[0075] The middle support plate 54 has two groups of steering wheels 73 arranged in a centrally symmetrical manner. The two groups of steering wheels 73 on the same support plate 54 respectively correspond in angle to the two guide holes 512 adjacent to the rear side and in the same group. Each group of steering wheels 73 includes two steering wheels 73 arranged adjacent to each other.

[0076] The rope pulley driving mechanism 6 is arranged on the mounting plate 41, and includes lead wire retracting and releasing components which are equal in number and correspond to the lead wires. Each lead wire retracting and releasing component pulls the corresponding lead wire and deflects the support plate 54 where the lead wire is located, so as to realize the regular fluctuation of the bionic fin 5.

[0077] Specifically, the mounting plate 41 has two groups of through holes corresponding to the positions of the two bases, each group of through holes includes perforations that are equal in number to the lead holes 511 in the same flexible lead rod 51 and correspond one-to-one in position, and the two groups of perforations are respectively located on the inner sides of the two rope pulley driving mechanisms 6, and each winding wheel 61 of the rope pulley driving mechanism 6 corresponds one-to-one to each perforation on the inner side thereof.

[0078] The lead wire retracting and releasing components of the rope wheel driving mechanism 6 are evenly arranged on the circumference with the axis of the base 55 as the center, and the lead wire retracting and releasing components include a winding wheel 61, a large gear 2 62, a small gear 2 63 and a second servo motor 64. The winding wheel 61 is mounted on the front side of the mounting plate 41 through the first wheel, and the large gear 2 62 is arranged at one end of the wheel shaft of the winding wheel 61. The second servo motor 64 is fixed on the mounting plate 41 and is located at one side of the winding wheel 61. The small gear 2 63 is installed at the output end of the second servo motor 64 and meshes with the large gear 2 62.

[0079] The flexible shell 53 is sleeved on the outside of all the support plates 54. The flexible shell 53 is an integrated structure consisting of a variable diameter section, a middle section and a tapered section connected in sequence. The front end of the variable diameter section is fixedly sealed and connected to the base, and the outer edge of each support plate 54 is fixedly connected to the inner wall of the middle section of the flexible shell 53.

[0080] One end of the two leads located on the same support plate 54 is fixedly connected to the rear side wall of the support plate 54, and the other ends pass through the threading holes 541 on both sides of the support plate 54, and after bypassing the wire pulley 72 at the corresponding position on the front adjacent support plate 54, they pass into two lead holes 511 symmetrical about the axis of the flexible lead rod 51 in opposite directions, and pass out from the front sides of the two through holes on the mounting plate 41 corresponding to the two lead holes 511, and are respectively wound around the winding wheels 61 corresponding to the two through holes and fixedly connected to the corresponding winding wheels 61.

[0081] It is particularly important to explain that the other end of the lead wire bypasses the wire wheel 72 set on the middle support plate 54, and then bypasses the two steering wheels 73 of the same group in the direction of the flexible lead rod 51, and then passes through the gap between the flexible fin bones 52 into the guide hole 512 corresponding to the angle of the steering wheel 73 of the group, and enters the interior of the corresponding lead hole 511. The guide hole 512 adopts a chamfered structure. The function of the two steering wheels 73 of the same group is to make the insertion angle of the lead wire correspond to the angular position of the guide hole 512.

[0082] The 10 pulling wires driving the support plate are respectively arranged in 10 lead holes 511 inside the flexible lead rod 51 , and the 10 lead holes 511 are evenly arranged in the circumferential direction along the axis of the flexible lead rod 51 .

[0083] In the working state, each second servo motor 64 drives the corresponding winding wheel 61 to rotate forward or reversely through the large gear 2 62 and the small gear 2 63 according to the command signal of the PLC controller, and the lead wire wound on the winding wheel 61 is wound or released. When the winding wheel 61 is winding, the lead wire wound on the winding wheel 61 will pull the corresponding support disk 54 to move forward on the side fixedly connected to its end. The tension of the lead wire on the support disk 54 will cause the flexible fin bone 52 to generate a bending moment. At the same time, another winding wheel 61 connected to the lead wire on the corresponding side of the support disk 54 releases the wire appropriately, and cooperates with the movement of the support disk 54 to cause the flexible fin bone 52 to bend locally. The command signal of the PLC controller controls all the winding wheels 61 of the same rope pulley drive mechanism 6 to move in coordination, so that the bionic fin 5 adopts a movement mode corresponding to the underwater environment to swing regularly.

[0084] When long-distance and fast swimming is required, the propeller can adopt the body-tail fin movement mode, and the two pull lines set on the last secondary support plate 54 work alternately to make the bionic fin 5 swing left and right, thereby driving the underwater bionic propeller to swim according to the set movement mode.

[0085] When low-speed stable movement is required, the propeller adopts the wave fin movement mode, through the synchronous action of the pull wire set on one side of the even-numbered support disk 54, and the synchronous action of the pull wire set on the other side of the odd-numbered support disk 54, repeatedly alternating to form a sine wave-like movement pattern to drive the underwater bionic propeller to swim according to the set movement mode.

[0086] When it is necessary to pass through a narrow environment, the propeller adopts a serpentine motion mode, which is repeatedly alternated through the pulling action of the support plates 54 set at the fifth and sixth positions.

[0087] In the description of the present invention, unless otherwise specified, "plurality" means two or more than two; the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the mechanism or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0088] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0089] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by technicians in this technical field within the essential scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. A multi-motion mode underwater bionic propulsion device, characterized in that: It includes a fuselage shell, a pitch adjustment mechanism, a circumferential adjustment mechanism, a rotation adjustment device, a swimming device and a control system. The fuselage shell is a cylindrical shell with a closed front end and an open rear end, and is arranged longitudinally. The rear end of the fuselage shell is provided with a rear end cover to seal the interior thereof. The middle part of the fuselage shell is provided with a vertical partition, which divides the interior of the fuselage shell into a front cavity and a rear cavity which are independent of each other; The pitch adjustment mechanism and the circumferential adjustment mechanism are both arranged inside the front cavity, the circumferential adjustment mechanism is installed on the front side wall of the partition, and the pitch adjustment mechanism is longitudinally fixed to the front side of the circumferential adjustment mechanism; The rotation adjustment device is arranged inside the rear cavity, and includes a mounting plate, a rotating shaft, a gear assembly and a rotating motor, and the rear end cover is rotationally sealed with the body shell; The mounting plate is located between the rear end cover and the partition, and is fixedly connected to the rear end cover through a rotating shaft. The rotating motor is arranged on the rear side wall of the partition, and can drive the mounting plate and the rear end cover to rotate synchronously around the axis of the fuselage shell through a gear assembly. There are two swimming devices, which are symmetrically arranged on the left and right sides of the rotating shaft. The swimming devices include bionic fins and a rope pulley driving mechanism. The bionic fins include flexible lead rods, flexible fin bones, flexible shells, wire pulleys and multiple support plates. The front end of the bionic fin is fixedly connected to the rear end cover through a base. The flexible fin bone is sleeved on the outside of the flexible lead rod, and all the support plates are sleeved on the outer wall of the flexible fin bone at equal intervals from front to back. Two leads are symmetrically arranged on the left and right sides of the remaining support plates except the first one, and the flexible outer shell is sleeved on the outside of all the support plates; The rope pulley driving mechanism is arranged on the mounting plate, and comprises lead wire retracting and releasing components which are equal in number and correspond to the lead wires one by one. Each lead wire retracting and releasing component realizes the regular fluctuation of the bionic fin rays by pulling the corresponding lead wire and deflecting the support disk where the lead wire is located.

2. The multi-motion mode underwater bionic propulsion device according to claim 1, characterized in that: The fuselage shell includes a circular cylinder and a front end cover, the front end cover is a hemispherical shell, and the outer edge of the front end cover is detachably fixed and sealed with the front end of the circular cylinder; The partition is a circular metal plate arranged vertically and coaxially with the circular cylinder. The outer edge of the partition is fixedly and sealedly connected to the circumferential inner wall of the circular cylinder.

3. The multi-motion mode underwater bionic propulsion device according to claim 1, characterized in that: The pitch adjustment mechanism includes a mounting frame 1 and a counterweight assembly, the counterweight assembly includes a guide rail seat, a counterweight block, a lead screw and a first servo motor, the guide rail seat is a rectangular structure, and is fixedly connected to the fuselage shell through the mounting frame 1, the counterweight block is arranged on one side of the guide rail seat, and its side wall is linearly slidably matched with the guide rail seat; The lead screw passes through the inner side of the counterweight block and cooperates with the thread of the counterweight block. The two ends of the lead screw are respectively rotatably cooperated with the guide rail seat through a vertical plate. The output shaft of the first servo motor is coaxially fixedly connected to one end of the lead screw. In the working state, the first servo motor drives the counterweight block to move linearly along the length direction of the guide rail seat through the lead screw to adjust the pitch angle of the fuselage shell.

4. The multi-motion mode underwater bionic propulsion device according to claim 3, characterized in that: The circumferential adjustment mechanism includes a second mounting frame and four identical counterweight assemblies, wherein the second mounting frame is vertically fixed to the front side wall of the partition, and the four counterweight assemblies are arranged in a cross shape on the front side of the second mounting frame; Any two relative counterweight assemblies of the circumferential adjustment mechanism are symmetrically arranged about the axis of the fuselage shell, and each of the first servo motors of the circumferential adjustment mechanism can drive the corresponding counterweight block to move along the radial straight line of the cross-section of the fuselage shell, so that the fuselage shell rotates around its circumference.

5. The multi-motion mode underwater bionic propulsion device according to claim 1, characterized in that: The rear end cover is a circular plate body matching the inner diameter of the fuselage shell, and at least two annular sealing rings are embedded in its circumferential side wall, and the annular sealing rings are arranged at intervals along the axial direction of the rear end cover; The rotating shaft is coaxially arranged with the fuselage shell and is rotationally matched with the fuselage shell via a bearing seat located between the rear end cover and the mounting plate; The gear assembly includes a large gear 1 and a small gear 1. The large gear 1 is arranged at the front end of the rotating shaft, and the small gear 1 is arranged on the output shaft of the rotating motor and is externally meshed with the large gear 1. In the working state, the rotating motor drives the rotating shaft to rotate through the gear assembly.

6. The multi-motion mode underwater bionic propulsion device according to claim 1, characterized in that: The base is a disc-shaped structure and is fixedly embedded in the rear end cover. The flexible lead rod is a cylinder with a constant cross section. The flexible fin bone adopts a spring. The front ends of the flexible lead rod and the flexible fin bone are coaxially fixedly connected with the rear side wall of the base. Each of the flexible lead rods has lead holes that are equal in number to the leads and correspond one to one. All the lead holes inside the same flexible lead rod are evenly arranged in a ring shape on a circle with the axis of the flexible lead rod as the center, and are arranged parallel to the axis of the flexible lead rod. Each of the lead holes is connected to the rear cavity.

7. The multi-motion mode underwater bionic propulsion device according to claim 6, characterized in that: The wire-retracting and -releasing components of the rope wheel driving mechanism are evenly arranged on a circumference with the axis of the base as the center, and the wire-retracting and -releasing components include a winding wheel, a second large gear, a second small gear and a second servo motor, the winding wheel is mounted on the front side of the mounting plate through a first wheel, and the second large gear is arranged at one end of the wheel shaft of the winding wheel; The second servo motor is fixed on the mounting plate and is located on one side of the winding wheel, and the second small gear is installed at the output end of the second servo motor and meshes with the second large gear; The mounting plate has two groups of through holes corresponding to the positions of the two bases, each group of through holes includes through holes that are equal in number to the lead holes in the same flexible lead rod and whose positions correspond one to one, and the two groups of through holes are respectively located on the inner sides of the two rope pulley driving mechanisms, and each winding wheel of the rope pulley driving mechanism corresponds one to one to each through hole on its inner side.

8. The multi-motion mode underwater bionic propulsion device according to claim 7, characterized in that: The support plate is a vertically arranged approximately elliptical flat plate, with pointed ends at both ends. A central hole is provided on the support plate, and the flexible fin bone is passed through the central hole of each corresponding support plate and fixedly matched with the inner wall thread of the central hole; Two threading holes are symmetrically provided on the left and right sides of each support disk except the first one, and a screw is provided on the adjacent sides of each threading hole. Two wire guide wheels are symmetrically provided on the left and right sides of the rear side of each support disk except the last one; One end of the two lead wires located on the same support disk is fixedly connected to the rear side wall of the support disk, and the other end passes through the threading holes on both sides of the support disk respectively, and after passing around the wire pulley at the corresponding position on the adjacent support disk on the front side, passes into two lead holes symmetrical about the axis of the flexible lead rod respectively, and passes out from the front sides of the two through holes on the mounting plate corresponding to the two lead holes, and is respectively wound around the winding wheels corresponding to the two through holes and fixedly connected to the corresponding winding wheels.

9. The multi-motion mode underwater bionic propulsion device according to claim 8, characterized in that: A group of guide holes is provided on the circumferential outer wall of the portion of the flexible lead rod located between any two adjacent support plates, each group of guide holes includes two symmetrically arranged guide holes, which are respectively connected to the lead holes at corresponding angular positions, and the guide holes located on the same flexible lead rod are staggered in a double helix shape; The support plate in the middle position has two groups of steering wheels arranged in a centrally symmetrical manner, and the two groups of steering wheels on the same support plate respectively correspond to the two guide holes in the same group and adjacent to the rear side in a one-to-one angle manner, and each group of steering wheels includes two steering wheels arranged adjacent to each other; The other end of the lead wire passes around the wire wheel arranged on the middle support plate, passes around the two steering wheels of the same group in the direction where the flexible lead wire rod is located, and then passes through the gap of the flexible fin bone into the guide hole corresponding to the angle of the steering wheel group, and enters the corresponding lead wire hole.

10. The multi-motion mode underwater bionic propulsion device according to claim 1, characterized in that: The flexible shell is an integrated structure consisting of a variable diameter section, a middle section and a tapered section connected in sequence. The front end of the variable diameter section is fixedly and sealedly connected to the base, and the outer edge of each support plate is fixedly connected to the inner wall of the middle section of the flexible shell.

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