Bionic lobster propeller with single-degree-of-freedom connecting rod

Abstract

The utility model relates to a bionic lobster propeller based on a single-degree-of-freedom connecting rod, which comprises a lobster-head-shaped control cabin and a lobster-tail-shaped bionic jet propulsion unit, the lobster-head-shaped control cabin is used for integrating a power unit and providing installation support, and the rear part of the lobster-head-shaped control cabin is hinged with the lobster-tail-shaped bionic jet propulsion unit; and the shrimp-tail-shaped bionic jet propulsion unit is used for straightening energy storage and bending the reciprocating motion of jet to generate propulsion force. The bionic lobster propeller has the advantages that vortex ring jet flow is generated through bionic lobster tail movement, the hydrodynamic efficiency is remarkably improved, and the energy utilization rate is higher than that of a traditional propeller.

Description

Technical Field

[0001] This utility model relates to a biomimetic lobster propulsion device with a single degree of freedom linkage, belonging to the field of biomimetic technology. Background Technology

[0002] Over millions of years, lobsters have evolved a unique mode of locomotion. Their jet propulsion during rapid escape is characterized by high mobility, high performance, high efficiency, and low interference. When faced with danger, the jet propulsion triggered by an escape response controlled by neurons allows lobsters to quickly move away from potential threats.

[0003] Underwater robots are primarily used in maritime rescue. Given the harsh and dangerous underwater environment and the limited diving depth of humans, underwater robots have become crucial tools for ocean exploration. Beyond this, their applications are emerging in oil development, geological surveying, scientific research, aquaculture, underwater ship maintenance and cleaning, recreational diving, and urban pipeline inspection, leading to a growing market. The demand for new underwater robot propulsion systems is also becoming increasingly apparent.

[0004] Most existing traditional underwater robots use propellers for propulsion. The biomimetic crayfish-shaped underwater robot, driven by pneumatic units, has a ventral bending structure with M joints, each including a pneumatic bending soft actuator and a joint shell. Its tail fan bending and angle-changing structure includes a tail fan shell, left and right tail fans, a tail fan pneumatic bending soft actuator, and a tail fan opening and closing soft actuator. The drawbacks of this design are low energy efficiency, slow start-up speed, and high noise. Most biomimetic underwater robot propulsion systems mimic fish tail structures, but their speed needs improvement. Utility Model Content

[0005] To overcome the shortcomings of existing technologies, this utility model provides a single-degree-of-freedom linkage biomimetic lobster propulsion device. The technical solution of this utility model is as follows: a single-degree-of-freedom linkage biomimetic lobster propulsion device, comprising a lobster head-shaped control chamber and a lobster tail-shaped biomimetic jet propulsion unit. The lobster head-shaped control chamber is used to integrate the power unit and provide installation support. The rear part of the lobster head-shaped control chamber is hinged to the lobster tail-shaped biomimetic jet propulsion unit. The lobster tail-shaped biomimetic jet propulsion unit is used for the reciprocating motion of extending energy storage and bending jet to generate propulsion force.

[0006] The shrimp-tail-shaped biomimetic jet propulsion unit includes a propulsion linkage unit and several bending units. The bending units include a front bending unit, a middle first bending unit, a middle second bending unit, and a tail bending unit. The front bending unit, the middle first bending unit, the middle second bending unit, and the tail bending unit are sequentially hinged together to cover the propulsion linkage unit. The front end of the propulsion linkage unit is hinged to the front bending unit, and the rear end is hinged to the tail bending unit.

[0007] The front bending unit includes a front bending housing, the middle first bending unit includes a middle first bending housing, the middle second bending unit includes a middle second bending housing, and the tail bending unit includes a tail bending housing. A tail connecting shaft is installed inside the tail bending housing. The front part of the tail bending housing and the rear part of the middle second bending housing are connected and hinged together by a middle third connecting shaft. The front part of the middle second bending housing and the rear part of the middle first bending housing are connected and hinged together by a middle second connecting shaft. The front part of the middle first bending housing and the rear part of the front bending housing are connected and hinged together by a middle first connecting shaft. The front part of the front bending housing and the shrimp head-shaped control chamber are connected and hinged together by a front connecting shaft.

[0008] Energy storage units are installed between the front curved shell and the shrimp head-shaped control chamber, between the front curved shell and the middle first curved shell, between the middle first curved shell and the middle second curved shell, and between the middle second curved shell and the tail curved shell.

[0009] The propulsion linkage unit includes a linkage gear, a front second connecting arc-shaped rod, a front connecting plate, an S-shaped connecting rod, a middle connecting plate, a tail connecting plate, a hook-shaped rod, a rear synchronous pulley, a rear straight rod, a front synchronous pulley, a front first connecting arc-shaped rod, and a front straight rod. The middle connecting plate and the hook-shaped rod are located at the front end of the tail connecting plate. One end of the hook-shaped rod and one end of the middle connecting plate are hinged to the front end of the tail connecting plate. The front connecting plate, the S-shaped connecting rod, and the rear synchronous pulley are located at the other end of the middle connecting plate. One end of the front connecting plate is hinged to the lower part of the middle connecting plate, and the rear synchronous pulley is hinged to the upper part of the middle connecting plate. One end of the front connecting plate is hinged to the upper part of the middle connecting plate. The middle connecting plate and the rear synchronous pulley are located on opposite sides of the middle connecting plate. The other end of the hook-shaped rod is hinged to the rear synchronous pulley, and one end of the S-shaped connecting rod is hinged to the middle connecting plate. On the connecting plate; at the other end of the front connecting plate are the aforementioned front synchronous pulley, front first connecting arc rod, front second connecting arc rod, and front straight rod. The front synchronous pulley is hinged to the upper part of the front connecting plate. The other end of the S-shaped connecting rod is hinged to the front synchronous pulley. A rear straight rod is provided between the front synchronous pulley and the rear synchronous pulley, and the rear straight rod is hinged together with the front synchronous pulley and the rear synchronous pulley. One end of the front straight connecting rod is hinged to the front synchronous pulley, and the other end is hinged to the support frame inside the shrimp head-shaped control compartment. The straight end of the front first connecting arc rod is hinged to the front connecting plate, and the arc end is hinged to the support frame inside the shrimp head-shaped control compartment. The arc end of the front second connecting arc rod is hinged to the front synchronous pulley, and the other end is hinged to the axle of the linkage gear. The linkage gear is connected to the power unit for transmission and is driven by the power unit.

[0010] The tail connecting shaft passes through the tail curved housing, and adjusting nuts are installed at both ends of the tail connecting shaft. The tail connecting shaft passes through the tail of the tail connecting plate, and the tail connecting plate is rotatably engaged with the tail connecting shaft. The middle third connecting shaft passes through the connection between the tail curved housing and the middle second curved housing C, and adjusting nuts are installed at both ends of the middle third connecting shaft. The middle third connecting shaft passes through the middle connecting plate and the tail connecting plate, and the middle connecting plate and the tail connecting plate are rotatably engaged with the middle third connecting shaft. The middle second connecting shaft passes through the connection between the middle first curved housing and the middle second curved housing, and adjusting nuts are installed at both ends of the middle second connecting shaft. The middle second connecting shaft passes through... The rear synchronous pulley, the middle connecting plate, and the front connecting plate are rotatably engaged with the middle second connecting shaft. The middle first connecting shaft passes through the connection between the middle first curved shell and the front curved shell, and adjusting nuts are installed at both ends of the middle first connecting shaft. The middle first connecting shaft passes through the front synchronous pulley, the front connecting plate, and the S-shaped connecting rod, and the front synchronous pulley, the front connecting plate, and the S-shaped connecting rod are rotatably engaged with the middle first connecting shaft. The front connecting shaft passes through the front curved shell, and adjusting nuts are installed at both ends of the front connecting shaft. The front connecting shaft passes through the front second connecting arc-shaped rod and the axle of the linkage gear.

[0011] The power unit includes a servo motor and a toothed gear. The toothed gear is mounted on the output shaft of the servo motor and meshes with the linkage gear. On the toothed gear, two discontinuous tooth areas are arranged along the circumference of the toothed gear, and the two tooth areas are symmetrically arranged on the toothed gear.

[0012] The energy storage unit is a torsion spring. One end of the torsion spring between the front curved shell and the shrimp head-shaped control chamber abuts against the limiting side plate of the shrimp head-shaped control chamber, and the other end abuts against the limiting side plate of the front curved shell. One end of the torsion spring between the front curved shell and the middle first curved shell abuts against the limiting side plate of the front curved shell, and the other end abuts against the limiting side plate of the middle first curved shell. One end of the torsion spring between the middle first curved shell and the middle second curved shell abuts against the limiting side plate of the middle first curved shell, and the other end abuts against the limiting side plate of the middle second curved shell. One end of the torsion spring between the middle second curved shell and the tail curved shell abuts against the limiting side plate of the middle second curved shell, and the other end abuts against the limiting side plate of the tail curved shell.

[0013] The advantages of this utility model are:

[0014] 1. High energy efficiency and fluid optimization: By generating a vortex ring jet through the biomimetic movement of a lobster tail, the fluid dynamic efficiency is significantly improved, and the energy efficiency is higher than that of traditional propeller propellers.

[0015] 2. Low noise and high stealth: Its movement resembles that of a lobster, so it will not disturb underwater creatures and is not easily attacked. The jet propulsion method avoids the noise of high-speed mechanical rotation, and combined with the biomimetic movement pattern, it greatly reduces underwater disturbance, is less likely to disturb creatures, and enhances stealth.

[0016] 3. Explosive start-up and rapid response: The torque spring releases stored energy instantaneously, achieving millisecond-level bending jets. The start-up speed far exceeds that of conventional thrusters, meeting the high maneuverability requirements such as escape.

[0017] 4. Simplified structure and high reliability: The single-degree-of-freedom linkage mechanism (with synchronous pulley anti-dead point) drives the four-section bending unit, which can complete complex movements with only a single servo motor, reducing the number of motors and lowering the failure rate.

[0018] 5. Bionic Adaptive Cyclic Mechanism: The toothed gear design enables an autonomous cycle of "meshing and storing energy → disengaging and releasing energy → resetting and re-meshing," resulting in highly efficient and stable motion logic. After completing energy storage in advance, it can react quickly and escape upon detecting danger, exhibiting rapid start-up speed and strong explosive power. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the main structure of this utility model.

[0020] Figure 2 yes Figure 1 A schematic diagram of the explosion structure.

[0021] Figure 3 yes Figure 1 A schematic diagram showing the connection relationship between the missing tooth gear and the linkage gear.

[0022] Figure 4 This is a structural schematic diagram of the propulsion linkage unit of this utility model.

[0023] Figure 5 yes Figure 4 Top view.

[0024] Figure 6 yes Figure 4 A schematic diagram of the working state.

[0025] Figure 7 yes Figure 6 The main view.

[0026] Figure 8 This is a schematic diagram of the structure of the shrimp tail-shaped biomimetic jet propulsion unit of this utility model.

[0027] Figure 9yes Figure 8 The main view.

[0028] Figure 10 This is a schematic diagram of the torsion spring of this utility model in a compressed state.

[0029] Figure 11 This is a state diagram of the propulsion linkage unit when the toothed gear and the linkage gear of this utility model are working.

[0030] Figure 12 This is a schematic diagram of the state when the present invention generates a jet.

[0031] Figure 13 This is a state diagram of the propulsion linkage unit when the toothed gear and the linkage gear of this utility model are disconnected.

[0032] Figure 14 This is a state diagram of the propulsion linkage unit when the missing tooth gear and the linkage gear of this utility model re-mesh.

[0033] Figure 15 yes Figure 1 A sectional view. Detailed Implementation

[0034] The present invention will be further described below with reference to specific embodiments, and the advantages and features of the present invention will become clearer as a result of the description. However, these embodiments are merely exemplary and do not constitute any limitation on the scope of the present invention. Those skilled in the art should understand that modifications or substitutions can be made to the details and form of the technical solution of the present invention without departing from the spirit and scope of the present invention, but all such modifications and substitutions fall within the protection scope of the present invention.

[0035] See Figures 1 to 15 This utility model relates to a single-degree-of-freedom linkage biomimetic lobster propulsion device, comprising a lobster head-shaped control chamber and a lobster tail-shaped biomimetic jet propulsion unit. The lobster head-shaped control chamber is used to integrate the power unit and provide installation support. The rear part of the lobster head-shaped control chamber is hinged to the lobster tail-shaped biomimetic jet propulsion unit. The lobster tail-shaped biomimetic jet propulsion unit is used for the reciprocating motion of extending energy storage and bending jet to generate propulsion force.

[0036] Based on the design of the shrimp head-shaped control chamber and the shrimp tail-shaped biomimetic jet propulsion unit, the following advantages are achieved:

[0037] 1. High integration and compactness: The shrimp-head-shaped control compartment integrates the power unit and provides installation support, combining the power system with structural support, reducing the overall volume and weight of the thruster, making its structure more compact, and facilitating installation and application in limited spaces, such as in small underwater robots or other equipment that requires propulsion devices, thus better meeting space constraints.

[0038] 2. Highly efficient propulsion generation mechanism: The shrimp tail-shaped biomimetic jet propulsion unit generates propulsion through the reciprocating motion of the straightened energy storage and the curved jet. This propulsion mechanism, which mimics the movement of a lobster tail, can utilize energy more effectively and generate greater thrust. Compared with traditional propulsion devices, it can achieve faster speeds or stronger propulsion effects with the same energy consumption, thus improving propulsion efficiency.

[0039] 3. Excellent maneuverability and flexibility: By mimicking the movement of a lobster's tail, this propulsion device possesses high maneuverability. In underwater environments, it can quickly start, stop, and flexibly change direction, enabling equipment equipped with this propulsion device to move more flexibly and freely in complex underwater environments, such as narrow pipes, reef areas, or locations requiring precise control, thus enhancing the adaptability and flexibility of the equipment when performing various tasks.

[0040] The shrimp-tail-shaped biomimetic jet propulsion unit includes a propulsion linkage unit and several bending units. The bending units include a front bending unit, a middle first bending unit, a middle second bending unit, and a tail bending unit. The front bending unit, the middle first bending unit, the middle second bending unit, and the tail bending unit are sequentially hinged together to cover the propulsion linkage unit. The front end of the propulsion linkage unit is hinged to the front bending unit, and the rear end is hinged to the tail bending unit.

[0041] The front bending unit includes a front bending housing A, the middle first bending unit includes a middle first bending housing B, the middle second bending unit includes a middle second bending housing C, and the tail bending unit includes a tail bending housing D. A tail connecting shaft 20 is installed inside the tail bending housing D. The front part of the tail bending housing D is connected to the rear part of the middle second bending housing C via a middle third connecting shaft 19 and then hinged together. The front part of the middle second bending housing C is connected to the rear part of the middle first bending housing B via a middle second connecting shaft 18 and then hinged together. The front part of the middle first bending housing B is connected to the rear part of the front bending housing A via a middle first connecting shaft 17 and then hinged together. The front part of the front bending housing A is connected to the shrimp head-shaped control chamber via a front connecting shaft 16 and then hinged together.

[0042] Based on the above structural design, the following advantages are achieved:

[0043] 1. High-efficiency energy transfer and motion coordination: Through the cooperation of the propulsion linkage unit and the multi-section bending unit, the energy of the power unit can be efficiently transferred to the entire shrimp-tail-shaped biomimetic jet propulsion unit. The bending units are hinged sequentially, ensuring coordinated movement of each part during motion, guaranteeing the continuity and effectiveness of the propulsion action, thereby improving propulsion efficiency. For example, when the front and rear ends of the propulsion linkage unit are hinged to the front and rear bending units respectively, the power transmission is more direct and stable, reducing energy loss during transmission and ensuring that each bending unit can participate in the propulsion motion synchronously, enhancing the overall propulsion effect.

[0044] 2. Excellent structural stability and reliability: The sequential hinged arrangement of multiple bending units forms a structure with specific kinematic constraints, which maintains good stability during movement. The connecting shafts between the bending shells not only serve a connecting function but also withstand certain loads and torques, ensuring reliable operation of the entire propulsion unit under complex stress conditions. For example, the tail connecting shaft and the middle third connecting shaft are installed in appropriate positions, preventing loosening or failure of each bending unit during the straightening energy storage and bending jet processes. This improves the stability and reliability of the propulsion unit in long-term use and reduces the frequency of maintenance and replacement.

[0045] 3. Significant biomimetic effect and strong adaptability: This structure mimics the multi-segmented bending motion of a lobster's tail, allowing it to more closely resemble the movement of a real lobster during underwater propulsion. This biomimetic design makes the propeller more adaptable to underwater environments, generating vortices similar to those formed by a lobster's tail slapping water, improving energy efficiency while enabling flexible propulsion and steering under different water flow conditions. For example, in narrow or complex underwater environments, this biomimetic propulsion method allows the device to more easily avoid obstacles, achieve precise maneuvering, and better accomplish tasks such as underwater exploration and rescue.

[0046] Energy storage units are installed between the front curved shell A and the shrimp head-shaped control chamber, between the front curved shell A and the middle first curved shell B, between the middle first curved shell B and the middle second curved shell C, and between the middle second curved shell C and the tail curved shell D.

[0047] The energy storage unit is a torsion spring. One end of the torsion spring 21 between the front curved shell A and the shrimp head-shaped control chamber rests on the limiting side plate of the shrimp head-shaped control chamber, and the other end rests on the limiting side plate of the front curved shell A. One end of the torsion spring 22 between the front curved shell A and the middle first curved shell B rests on the limiting side plate of the front curved shell A, and the other end rests on the limiting side plate of the middle first curved shell B. One end of the torsion spring 23 between the middle first curved shell B and the middle second curved shell C rests on the limiting side plate of the middle first curved shell B, and the other end rests on the limiting side plate of the middle second curved shell C. One end of the torsion spring 24 between the middle second curved shell C and the tail curved shell D rests on the limiting side plate of the middle second curved shell C, and the other end rests on the limiting side plate of the tail curved shell D.

[0048] The design of this energy storage unit achieves the following advantages:

[0049] 1. High-efficiency energy storage and release: The energy storage unit enables efficient energy storage and release during the extension and bending of the shrimp-tail thruster. When the thruster is extended, the torsion springs are compressed and energy is stored; when the jet is bent, the torsion springs quickly release elastic potential energy and convert it into propulsive power, enabling the thruster to generate thrust rapidly, improving propulsive efficiency and explosive force, and meeting the needs of rapid start-up and acceleration.

[0050] 2. Enhanced Structural Stability and Reliability: Torsion springs installed between the curved shells not only serve as energy storage devices but also enhance the stability of the connection between adjacent shells to a certain extent. The relative movement between the shells is constrained and guided by the torsion springs, preventing excessive deformation or loosening during movement. This improves the reliability and durability of the entire shrimp tail propulsion unit under complex stress environments and reduces the risk of component damage and system failure.

[0051] 3. Simplified control system and reduced manufacturing costs: The energy storage and automatic release characteristics of the torsion spring reduce reliance on complex control systems. Compared to other thrusters that require multiple motors or complex drive mechanisms, this torsion spring energy storage method simplifies the control logic and drive mechanism to a certain extent, reduces manufacturing costs and maintenance difficulty, and improves the robustness of the system, making it more suitable for applications with high cost and reliability requirements.

[0052] The propulsion linkage unit includes a linkage gear 3, a front second connecting arc-shaped rod 4, a front connecting plate 5, an S-shaped connecting rod 6, a middle connecting plate 7, a rear connecting plate 8, a hook-shaped rod 9, a rear synchronous pulley 10, a rear straight rod 11, a front synchronous pulley 13, a front first connecting arc-shaped rod 14, and a front straight rod 15. The middle connecting plate 7 and the hook-shaped rod 9 are located at the front end of the rear connecting plate 8. One end of the hook-shaped rod 9 and one end of the middle connecting plate 7 are hinged to the front end of the rear connecting plate 8. The other end of the middle connecting plate 7 is... The system includes a front connecting plate 5, an S-shaped connecting rod 6, and a rear synchronous pulley 10. One end of the front connecting plate 5 is hinged to the lower part of the middle connecting plate 7, and the rear synchronous pulley 10 is hinged to the upper part of the middle connecting plate 7. The middle connecting plate 7 and the rear synchronous pulley 10 are located on opposite sides of the middle connecting plate 7. The other end of the hook-shaped rod 9 is hinged to the rear synchronous pulley 10, and one end of the S-shaped connecting rod 6 is hinged to the... On the front connecting plate 7; at the other end of the front connecting plate 5, the front synchronous pulley 13, the front first connecting arc rod 14, the front second connecting arc rod 4, and the front straight rod 15 are provided. The front synchronous pulley 13 is hinged to the upper part of the front connecting plate 5. The other end of the S-shaped connecting rod 6 is hinged to the front synchronous pulley 13. A rear straight rod 11 is provided between the front synchronous pulley 13 and the rear synchronous pulley 10. The rear straight rod 11 is hinged to the front synchronous pulley 13 and the rear synchronous pulley 10. The front straight connecting rod 15 is hinged at one end to the front synchronous pulley 13 and at the other end to the support frame inside the shrimp head-shaped control compartment; the straight end of the front first connecting arc rod 14 is hinged to the front connecting plate 5 and the arc end is hinged to the support frame inside the shrimp head-shaped control compartment; the arc end of the front second connecting arc rod 4 is hinged to the front synchronous pulley 13 and at the other end to the axle of the linkage gear 3, which is connected to the power unit for transmission and is driven by the power unit.

[0053] The tail connecting shaft 20 passes through the tail curved housing D, and adjusting nuts are installed at both ends of the tail connecting shaft 20. The tail connecting shaft 20 passes through the tail of the tail connecting plate 8, and the tail connecting plate 8 is rotatably engaged with the tail connecting shaft 20. The middle third connecting shaft 19 passes through the connection between the tail curved housing D and the middle second curved housing C, and adjusting nuts are installed at both ends of the middle third connecting shaft 19. The middle third connecting shaft 19 passes through the middle connecting plate 7 and the tail connecting plate 8, and the middle connecting plate 7 and the tail connecting plate 8 are rotatably engaged with the middle third connecting shaft 19. The middle second connecting shaft 18 passes through the connection between the middle first curved housing B and the middle second curved housing C, and adjusting nuts are installed at both ends of the middle second connecting shaft 18. The middle second connecting shaft 18 passes through the tail of the tail connecting plate D and the tail connecting plate 8. The rear synchronous pulley 10, the middle connecting plate 7, and the front connecting plate 5 are rotatably engaged with the middle second connecting shaft 18. The middle first connecting shaft 17 passes through the connection between the middle first curved housing B and the front curved housing A. Adjusting nuts are installed at both ends of the middle first connecting shaft 17. The middle first connecting shaft 17 passes through the front synchronous pulley 13, the front connecting plate 5, and the S-shaped connecting rod 6. The front synchronous pulley 13, the front connecting plate 5, and the S-shaped connecting rod 6 are rotatably engaged with the middle first connecting shaft 17. The front connecting shaft 16 passes through the front curved housing A. Adjusting nuts are installed at both ends of the front connecting shaft 16. The front connecting shaft 16 passes through the axle of the front second connecting arc rod 4 and the linkage gear 3.

[0054] Based on the above structural design, the following advantages are achieved:

[0055] 1. High-efficiency energy transfer and conversion: Through the coordinated action of components such as the linkage gear, the second connecting arc rod, the front connecting plate, the S-shaped connecting rod, the middle connecting plate, the tail connecting plate, the hook rod, the rear synchronous pulley, the rear straight rod, and the front synchronous pulley, the energy of the power unit is efficiently transferred to the entire propulsion unit. The hinged connections between the components and the coordination of the synchronous belt ensure the stability and efficiency of power transmission, reduce energy loss, and improve propulsion efficiency.

[0056] 2. Precise motion control: The cooperation between the S-shaped connecting rod and the middle connecting plate, as well as the synchronous movement of the front and rear synchronous wheels, ensures the precise motion trajectory of the shrimp tail propeller during the straightening energy storage and bending jet processes, thereby achieving efficient propulsion and flexible directional control.

[0057] 3. Compact and Reliable Structure: The entire propulsion linkage unit adopts a modular design, with components arranged compactly, reducing overall size and weight, and facilitating installation and maintenance. Meanwhile, the use of hinges and adjusting nuts at each connection enhances the stability and reliability of the structure, ensuring long-term stable operation in complex underwater environments.

[0058] When the power unit transmits power to the second connecting arc-shaped rod via the linkage gear, it drives the entire propulsion linkage unit to move. When straightening and energy storage are required, the power unit drives the linkage gear, which in turn drives the front connecting plate and S-shaped connecting rod via the second connecting arc-shaped rod, causing the middle connecting plate and tail connecting plate to move accordingly, ultimately straightening the shrimp tail. During this process, the torsion spring is compressed, accumulating energy. When the toothless section of the power unit's toothed gear contacts the linkage gear, the engagement of the hook-shaped rod and the rear synchronous wheel causes the middle and tail connecting plates to move in opposite directions, driving the front connecting plate and S-shaped connecting rod to move, ultimately bending the shrimp tail. Simultaneously, the energy stored in the torsion spring is released, driving the shrimp tail to bend rapidly and generating jet propulsion force. The coordination of the middle third connecting shaft, the middle second connecting shaft, and other connecting shafts, as well as the front and rear synchronous wheels, ensures synchronous movement between the bending units, avoiding the anti-parallelogram phenomenon during movement and guaranteeing the stability and coordination of the overall movement.

[0059] The power unit includes a servo motor 1 and a toothed gear 2. The toothed gear 2 is mounted on the output shaft of the servo motor 1 and meshes with the linkage gear 3. On the toothed gear 2, two discontinuous tooth areas are arranged along the circumference of the toothed gear 2, and the two tooth areas are symmetrically arranged on the toothed gear 2.

[0060] The design of this power unit achieves the following advantages:

[0061] 1. High-efficiency power transmission and switching: Through the meshing of the toothed gear and the linkage gear, the power of the servo motor can be efficiently transmitted to the propulsion linkage unit. The discontinuous tooth area symmetrically arranged on the toothed gear gives the power transmission a specific intermittency, realizing a smooth switching between the two stages of the shrimp tail propeller's extended energy storage and curved jet propulsion, thus improving propulsion efficiency.

[0062] 2. Simplified structure and reduced energy consumption: The combination of servo motor and toothed gear reduces the complexity of the transmission mechanism, making the entire power unit structure more compact and reducing the complexity and manufacturing cost of the system.

[0063] The working principle of this utility model is as follows:

[0064] Step S1, Energy Storage and Straightening Stage: Servo 1 drives the toothed gear 2 to mesh with the linkage gear 3, causing the propulsion linkage unit to move, making the shrimp-tail-shaped bionic jet propulsion unit change from a bent state to a straight state. At the same time, it compresses the eight torsion springs on both sides to store energy. At this time, the state is as follows: Figure 10 As shown, during this process, all energy storage units are compressed and stored.

[0065] Step S2, Disengagement Stage: When the toothed gear 2 rotates to the toothless zone, it disengages from the linkage gear 3; all energy storage units release energy, driving the shrimp-tail-shaped bionic jet propulsion unit to bend and contract, generating jet propulsion force, such as... Figure 12 As shown;

[0066] Step S3, Reset Preparation Stage: When the tail fan in the shrimp tail area bends to its limit position, the tail fan strikes the shrimp head-shaped control compartment; the servo motor 1 continues to rotate, causing the toothless area of ​​the toothed gear 2 to disengage from the meshing position and re-engage with the linkage gear 3, entering the next energy storage and straightening stage S1, as follows. Figure 14 As shown.

[0067] During the linear jet escape motion: its initial state is also the final state of the splashing motion, with the abdomen curved in a horizontal arc; all torque springs release their force simultaneously, and the head servo connection is disconnected until the tail fan strikes the shrimp-head shell cover. As the servo slowly rotates, the toothed gear and the linkage gear re-engage and straighten, recharging the springs. This cycle repeats, causing the tail fan to rapidly reciprocate and generate a jet.

[0068] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A single degree of freedom linkages bionic lobster thruster, characterized in that, It includes a shrimp head-shaped control chamber and a shrimp tail-shaped bionic jet propulsion unit. The shrimp head-shaped control chamber is used to integrate the power unit and provide installation support. The rear part of the shrimp head-shaped control chamber is hinged to the shrimp tail-shaped bionic jet propulsion unit. The shrimp tail-shaped bionic jet propulsion unit is used to generate propulsion force by extending and storing energy and bending the jet reciprocating motion.

2. The single degree of freedom linkages bionic lobster thruster according to claim 1, characterized in that, The shrimp-tail-shaped biomimetic jet propulsion unit includes a propulsion linkage unit and several bending units. The bending units include a front bending unit, a middle first bending unit, a middle second bending unit, and a tail bending unit. The front bending unit, the middle first bending unit, the middle second bending unit, and the tail bending unit are sequentially hinged together to cover the propulsion linkage unit. The front end of the propulsion linkage unit is hinged to the front bending unit, and the rear end is hinged to the tail bending unit.

3. The single degree of freedom linkages bionic lobster thruster according to claim 2, characterized in that, The front bending unit includes a front bending shell, the middle first bending unit includes a middle first bending shell, the middle second bending unit includes a middle second bending shell, and the tail bending unit includes a tail bending shell. A tail connecting shaft is installed inside the tail bending shell. The front part of the tail bending shell and the rear part of the middle second bending shell are connected and hinged together by a middle third connecting shaft. The front part of the middle second bending shell and the rear part of the middle first bending shell are connected and hinged together by a middle second connecting shaft. The front part of the middle first bending shell and the rear part of the front bending shell A are connected and hinged together by a middle first connecting shaft. The front part of the front bending shell A and the shrimp head-shaped control chamber are connected and hinged together by a front connecting shaft.

4. The biomimetic lobster propulsion device with a single-degree-of-freedom linkage according to claim 3, characterized in that, Energy storage units are installed between the front curved shell and the shrimp head-shaped control chamber, between the front curved shell and the middle first curved shell, between the middle first curved shell and the middle second curved shell, and between the middle second curved shell and the tail curved shell.

5. The single degree of freedom linkages bionic lobster thruster according to claim 4, characterized in that, The propulsion linkage unit includes a linkage gear, a front second connecting arc-shaped rod, a front connecting plate, an S-shaped connecting rod, a middle connecting plate, a tail connecting plate, a hook-shaped rod, a rear synchronous pulley, a rear straight rod, a front synchronous pulley, a front first connecting arc-shaped rod, and a front straight rod. The middle connecting plate and the hook-shaped rod are located at the front end of the tail connecting plate. One end of the hook-shaped rod and one end of the middle connecting plate are hinged to the front end of the tail connecting plate. The front connecting plate, the S-shaped connecting rod, and the rear synchronous pulley are located at the other end of the middle connecting plate. One end of the front connecting plate is hinged to the lower part of the middle connecting plate, and the rear synchronous pulley is hinged to the upper part of the middle connecting plate. One end of the front connecting plate is hinged to the upper part of the middle connecting plate. The middle connecting plate and the rear synchronous pulley are located on opposite sides of the middle connecting plate. The other end of the hook-shaped rod is hinged to the rear synchronous pulley, and one end of the S-shaped connecting rod is hinged to the middle connecting plate. On the connecting plate; at the other end of the front connecting plate are the aforementioned front synchronous pulley, front first connecting arc rod, front second connecting arc rod, and front straight rod. The front synchronous pulley is hinged to the upper part of the front connecting plate. The other end of the S-shaped connecting rod is hinged to the front synchronous pulley. A rear straight rod is provided between the front synchronous pulley and the rear synchronous pulley, and the rear straight rod is hinged together with the front synchronous pulley and the rear synchronous pulley. One end of the front straight connecting rod is hinged to the front synchronous pulley, and the other end is hinged to the support frame inside the shrimp head-shaped control compartment. The straight end of the front first connecting arc rod is hinged to the front connecting plate, and the arc end is hinged to the support frame inside the shrimp head-shaped control compartment. The arc end of the front second connecting arc rod is hinged to the front synchronous pulley, and the other end is hinged to the axle of the linkage gear. The linkage gear is connected to the power unit for transmission and is driven by the power unit.

6. The biomimetic lobster propulsion device with a single-degree-of-freedom linkage according to claim 5, characterized in that, The tail connecting shaft passes through the tail curved housing, and adjusting nuts are installed at both ends of the tail connecting shaft. The tail connecting shaft passes through the tail of the tail connecting plate, and the tail connecting plate is rotatably engaged with the tail connecting shaft. The middle third connecting shaft passes through the connection between the tail curved housing and the middle second curved housing, and adjusting nuts are installed at both ends of the middle third connecting shaft. The middle third connecting shaft passes through the middle connecting plate and the tail connecting plate, and the middle connecting plate and the tail connecting plate are rotatably engaged with the middle third connecting shaft. The middle second connecting shaft passes through the connection between the middle first curved housing and the middle second curved housing, and adjusting nuts are installed at both ends of the middle second connecting shaft. The middle second connecting shaft passes through... The rear synchronous pulley, the middle connecting plate, and the front connecting plate are rotatably engaged with the middle second connecting shaft. The middle first connecting shaft passes through the connection between the middle first curved shell and the front curved shell, and adjusting nuts are installed at both ends of the middle first connecting shaft. The middle first connecting shaft passes through the front synchronous pulley, the front connecting plate, and the S-shaped connecting rod, and the front synchronous pulley, the front connecting plate, and the S-shaped connecting rod are rotatably engaged with the middle first connecting shaft. The front connecting shaft passes through the front curved shell, and adjusting nuts are installed at both ends of the front connecting shaft. The front connecting shaft passes through the front second connecting arc-shaped rod and the axle of the linkage gear.

7. The biomimetic lobster propulsion device with a single-degree-of-freedom linkage according to claim 5 or 6, characterized in that, The power unit includes a servo motor and a toothed gear. The toothed gear is mounted on the output shaft of the servo motor and meshes with the linkage gear. On the toothed gear, two discontinuous tooth areas are arranged along the circumference of the toothed gear, and the two tooth areas are symmetrically arranged on the toothed gear.

8. The biomimetic lobster propulsion device with a single-degree-of-freedom linkage according to claim 6, characterized in that, The energy storage unit is a torsion spring. One end of the torsion spring between the front curved shell and the shrimp head-shaped control chamber abuts against the limiting side plate of the shrimp head-shaped control chamber, and the other end abuts against the limiting side plate of the front curved shell. One end of the torsion spring between the front curved shell and the middle first curved shell abuts against the limiting side plate of the front curved shell, and the other end abuts against the limiting side plate of the middle first curved shell. One end of the torsion spring between the middle first curved shell and the middle second curved shell abuts against the limiting side plate of the middle first curved shell, and the other end abuts against the limiting side plate of the middle second curved shell. One end of the torsion spring between the middle second curved shell and the tail curved shell abuts against the limiting side plate of the middle second curved shell, and the other end abuts against the limiting side plate of the tail curved shell.

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