CN205668636U - A kind of bionical underwater propeller - Google Patents

Abstract

The utility model discloses a bionic underwater propeller, which comprises a bionic fish head, a plurality of water hitting fins evenly distributed on the outer surface of the rear end of the bionic fish head, and a wireless controller, each of the water hitting fins includes two The bionic joint and a caudal fin are connected in sequence. The bionic fish head includes a shell and a control circuit board arranged in the shell. The bionic joint is connected with the control circuit board, and the control circuit board is connected with the control circuit board. The wireless controller is connected, and the tail fin is a crescent structure with decreasing stiffness. In the utility model, the wireless controller sends a signal to the control circuit board, and the bionic joint is controlled by the control circuit board to drive the caudal fin to perform fluctuating motion or flapping motion, so as to realize wave propulsion or jet propulsion and free switching between the two modes, which not only can It meets the complex underwater environment and the new underwater operation task requirements, and there will be no left-right shaking and imbalance problems during the propulsion process, and it is stable and reliable.

Description

A bionic underwater propeller

technical field

The utility model relates to the field of bionic technology, in particular to a bionic underwater propeller.

Background technique

The excellent swimming performance of underwater creatures has long attracted many researchers to do research on it. It is hoped that by simulating the superb swimming skills of underwater creatures, it can provide excellent propellers for various underwater devices designed by humans. . Wave propulsion and jet propulsion are swimming modes commonly used by aquatic animals, and they are the distinctive movement abilities of aquatic animals that have survived in complex water environments and formed after long evolution. Wave propulsion has the advantages of high efficiency, high maneuverability, and less environmental vibration; jet propulsion has the advantages of fast instantaneous acceleration and strong environmental adaptability.

In recent years, scholars at home and abroad have carried out related research on fish-like underwater wave propulsion and bionic jet propulsion, and developed a large number of bionic underwater robot models. However, most of the current research work is limited to the simple imitation of a single aquatic animal or a single propulsion mode, which can only complete limited tasks under specific conditions, and cannot meet the complex underwater environment and new underwater operation tasks that are constantly proposed. Require.

Utility model content

The utility model provides a bionic underwater propeller to solve the problems in the prior art that the propulsion mode is single, the scope of application is limited, and the complex underwater environment and new underwater operation tasks cannot be satisfied.

In order to solve the above-mentioned technical problems, the technical solution of the utility model is: a bionic underwater propeller, including a bionic fish head, several water-beating fins evenly distributed on the outer surface of the rear end of the bionic fish head, and a wireless controller, Each of the water hitting fins includes two bionic joints and a tail fin connected in sequence, the bionic fish head includes a housing and a control circuit board located in the housing, the bionic joints and the control circuit Board connection, the control circuit board is connected with the wireless controller, and the tail fin is a crescent structure with decreasing stiffness.

Further, the bionic fish head also includes a supporting frame arranged in the housing, a battery pack arranged on the supporting frame and several infrared sensors, the infrared sensors are arranged at the front end of the bionic fish head, and connected to the control circuit board, and the control circuit board is arranged on the supporting frame.

Further, the support frame includes a vertical support plate arranged on the inner surface of the rear end of the bionic fish head and a horizontal support plate connected with the vertical support plate, and the battery pack is fixed on the vertical support plate boards and lateral support boards.

Further, a fixed support is provided under each infrared sensor, and the fixed support is fixed on the support frame.

Further, the bionic joint includes a steering gear, an upper shell and a lower shell that are respectively sleeved on the upper and lower parts of the steering gear and are closely matched, a first side plate arranged above the upper shell, a movable The second side plate arranged under the lower shell, the swing rod whose two ends are respectively connected to the first side plate and the second side plate, and the cover arranged between the first side plate and the upper shell plate, the output shaft of the steering gear is sequentially connected to a turntable and an extension shaft, the turntable is arranged in the upper casing, and the extension shaft passes through the upper casing and the cover plate in turn and connects with the second One side plate is fixedly connected, the upper shell and the lower shell are made of metal materials, and one side of the lower shell is connected to the outer surface of the rear end of the bionic fish head or the swing rod of the adjacent bionic joint, The caudal fin is connected to a swing bar adjacent to the bionic joint.

Further, the inside of the upper case and the cover plate are provided with a through hole adapted to the extension shaft, and the extension shaft is connected to the side of the upper case close to the cover plate. A waterproof gasket is provided between the through holes.

Further, the number of the water-beating fins is 3 or 4, and each of the water-beating fins is fixed on the outer surface of the rear end of the bionic fish head through a backing plate.

The utility model also provides a control method of the bionic underwater thruster, which sends a control signal to the control circuit board through the wireless controller, and controls the rotation parameters of the output shaft of the steering gear in the bionic joint through the control circuit board, thereby controlling the corresponding pendulum The rotation of the rod makes the caudal fin do wave motion or flap motion, so as to realize wave propulsion or jet propulsion.

Further, the rotation parameters of the steering gear output shaft include rotation direction, rotation speed and rotation angle.

Further, the fluctuating movement of the caudal fin is specifically: the pendulum in the first bionic joint swings up and down relative to the rear end surface of the bionic fish head at a set frequency and amplitude, and the pendulum in the second bionic joint vibrates relative to the first bionic joint. Set the frequency and amplitude to swing up and down; the clapping movement of the tail fin is specifically: the pendulum in the first bionic joint swings up and down with the set frequency and amplitude relative to the rear end surface of the bionic fish head, and the pendulum in the second bionic joint It is still relative to the first bionic joint.

The utility model is a bionic underwater propeller, the propeller includes a bionic fish head, several water-beating fins evenly distributed on the outer surface of the rear end of the bionic fish head, and a wireless controller, each of the water-beating fins includes Two bionic joints and a caudal fin are connected in sequence, and the bionic fish head includes a shell and a control circuit board arranged in the shell, the bionic joint is connected with the control circuit board, and the control circuit The board is connected with the wireless controller, and the tail fin is a crescent-shaped structure with decreasing stiffness. By setting several water-beating fins on the outer surface of the rear end of the bionic fish head, each water-beating fin includes at least two bionic joints and a caudal fin connected in sequence, and the wireless controller sends signals to the control circuit board, which is controlled by the control circuit board The bionic joint drives the caudal fin to perform undulating motion or flapping motion, realizing undulating propulsion or jet propulsion and free switching between the two modes, which can not only meet the complex underwater environment and the constantly proposed new underwater operation task requirements, but also in the propulsion During the process, there will be no left-right shaking and imbalance problems, and it is stable and reliable; in addition, by setting the tail fin as a crescent structure with decreasing stiffness, the propulsion force of the tail fin and the imitation ability of the propeller are improved.

Description of drawings

Fig. 1 is the perspective view of the utility model bionic underwater thruster;

Fig. 2 is the structural representation of the utility model bionic underwater thruster;

Fig. 3 is the structural representation of the bionic joint in the bionic underwater propeller of the utility model;

Fig. 4 is an exploded view of the bionic joint in the bionic underwater thruster of the utility model.

As shown in the figure: 1. Bionic fish head; 11. Shell; 12. Support frame; 121. Vertical support plate; 122. Horizontal support plate; 21b, second bionic joint; 210, waterproof gasket; 211, steering gear; 2111, output shaft; 2112, horizontal protrusion; 212, upper shell; 2121, first horizontal connection part; 213, lower shell; , horizontal step; 2132, second horizontal connection; 2133, circular connecting rod; 214, first side plate; 215, second side plate; 216, swing rod; 217, cover plate; 218, turntable; 2181, circle 219, extension shaft; 22, tail fin; 3, wireless controller; 4, backing plate; 5, battery pack; 6, infrared sensor; 7, fixed support.

detailed description

Below in conjunction with accompanying drawing, the utility model is described in detail:

As shown in Figure 1-2, the utility model provides a bionic underwater propeller, including a bionic fish head 1, a number of fins 2 evenly distributed on the outer surface of the rear end of the bionic fish head 1, and a wireless control Each of the water hitting fins 2 includes two bionic joints 21 and a tail fin 22 connected in sequence, and the bionic fish head 1 includes a shell 11 and a control circuit board arranged in the shell 11 (not shown in the figure), the bionic joint 21 is connected to the control circuit board, the control circuit board is connected to the wireless controller 3, and the tail fin 22 is a crescent structure with decreasing stiffness. Preferably, the number of the water-beating fins 2 is 3 or 4, and the water-beating fins 2 are fixed on the outer surface of the rear end of the bionic fish head 1 through a backing plate 4 . Specifically, in this embodiment, the number of water hitting fins 2 is four, which are evenly distributed along the edge of the outer surface of the rear end of the bionic fish head 1, and each of the water hitting fins 2 consists of a first bionic joint 21a, a second bionic joint 21b and The caudal fins 22 are connected sequentially, and the control circuit board is provided with a wireless receiver for receiving control commands from the wireless controller, and through the control commands, the rotation modes of the first bionic joint 21a and the second bionic joint 21b are controlled, thereby driving the caudal fin 22 to perform Wave movement or flapping movement, of course, can also realize actions such as turning and braking, so as to realize wave propulsion mode or jet propulsion mode, and free switching between the two, which can not only meet the complex underwater environment and constantly proposed new Underwater operation task requirements, and in the process of pushing, there will be no problems of left and right shaking and imbalance, stable and reliable; the tail fin 22 is set as a crescent structure with decreasing stiffness, which improves the bionic effect of the tail fin 22, that is, it is similar to the real fish tail The structure is closer, the design is more scientific, and the imitation ability of the thruster is further improved.

Preferably, the bionic fish head 1 also includes a supporting frame 12 arranged in the housing 11, a battery pack 5 arranged on the supporting frame 12, and several infrared sensors 6, and the infrared sensors 6 are arranged on the The front end of the bionic fish head 1 is connected to the control circuit board, the control circuit board is arranged on the support frame 12, and the battery pack 5 is used to supply power to the control circuit board. As shown in Figure 1, in this embodiment, there are three infrared sensors 6, which correspond to the opening positions of the front end of the bionic fish head 1 respectively, and are used to detect obstacles ahead, and when an obstacle is detected, a signal is sent back to Control the circuit board, and send a signal to the wireless controller 3 through the control circuit board, and the wireless controller 3 controls the rotation of the water fin 2 to make the bionic fish head 1 turn in a designated direction to avoid obstacles.

Preferably, the support frame 12 includes a vertical support plate 121 arranged on the inner surface of the rear end of the bionic fish head 1 and a horizontal support plate 122 connected to the vertical support plate 121, and the battery pack 5 is fixed on the vertical support plate 121 and the horizontal support plate 122 . Specifically, the horizontal support plate 122 is connected to the middle position of the vertical support plate 121 , and the battery pack 5 has two groups, which are respectively arranged on both sides of the horizontal support plate 122 , and one end is fixedly connected to the vertical support plate 121 .

Preferably, a fixed support 7 is provided below each of the infrared sensors 6, the fixed support 7 is fixed on the support frame 12, and the fixed support 7 is arranged on the horizontal support plate 122 close to the bionic fish head 1 One side of the front end is used to fix the infrared sensor 6 .

As shown in FIG. 3 , the bionic joint 21 includes a steering gear 211 , an upper shell 212 and a lower shell 213 that are respectively sheathed on the upper and lower parts of the steering gear 211 and closely fit, and are arranged on the upper shell. The first side plate 214 above 212, the second side plate 215 that is movably located below the lower housing 213, the swing rod 216 that connects the first side plate 214 and the second side plate 215 at both ends, and the device The cover plate 217 between the first side plate 214 and the upper casing 212, the output shaft 2111 of the steering gear 211 is connected to a turntable 218 and an extension shaft 219 in sequence, and the turntable 218 is arranged on the upper casing Inside the body 212, the extension shaft 219 passes through the upper case 212 and the cover plate 217 in turn and is fixedly connected with the first side plate 214. The upper case 212 and the lower case 213 are made of metal materials. One of the side surfaces of the lower housing 213 is connected to the outer surface of the rear end of the bionic fish head 1 or the swing rod 219 of the adjacent bionic joint 21, and the tail fin 22 is connected to the swing rod 219 of the adjacent bionic joint 21. on rod 219. Specifically, the opposite sides of the upper casing 212 and the lower casing 213 are respectively provided with cavities adapted to the steering gear 211, and the steering gear 211 is limited in the cavity surrounded by the two, That is, the upper housing 212 is provided with a cavity matching the upper part of the steering gear 211, the lower housing 213 is provided with a cavity matching the lower part of the steering gear 211, and the steering gear 211 is limited to the upper housing 212. And in the cavity of the lower casing 213, the effect of sealing is realized. Preferably, a circular connecting rod 2133 protrudes from the bottom of the lower casing 213 , and the circular connecting rod 2133 is movably connected with the second side plate 215 . Specifically, the output shaft 2111 of the steering gear 211 is linked to one end of the turntable 218, and the other end of the turntable 218 is fixedly connected to the extension shaft 219. In this embodiment, the end of the extension shaft 219 close to the turntable 218 is connected to the turntable 218 are matched in shape, and the two are fixedly connected by screws. The first side plate 214 is provided with a through hole that is compatible with the extension shaft 219, and the extension shaft 219 is connected to the first side. The plate 214 is fixedly connected, and the second side plate 215 is provided with a through hole suitable for the circular connecting rod 2133, and the circular connecting rod 2133 is movably connected with the second side plate 215, and the second Side plate 215 can rotate around circular connecting rod 2133, is connected with fork 216 between first side plate 214 and second side plate 215, steering gear 211 is connected with control circuit board, and according to the control that control circuit board sends The signal transmits the rotational torque to the extension shaft 11 through the output shaft 2111, which drives the turntable 218 and the extension shaft 219 to rotate, thereby driving the first side plate 214 to rotate, and the rotation of the first side plate 214 drives the swing rod 216 and the second side plate 215 to rotate , so as to drive the bionic joint 21 or tail fin 22 connected with the pendulum 216 to perform wave motion or clap motion, so as to realize wave propulsion or jet propulsion, as well as turn or brake light action.

Preferably, the steering gear 211 is provided with horizontal protrusions 2112 on the two sides along the length direction, and the cavity of the lower housing 213 is respectively provided with the horizontal protrusions 2112 on the two sides along the length direction. The horizontal platform 2131 that is compatible with the raised 2112, the horizontal protrusion 2112 is built on the horizontal platform 2131, and the two are fixedly connected by screws, and the lower housing 213 stably supports the steering gear 211 through the horizontal platform 2131 At the same time, the horizontal protrusion 2112 and the horizontal step 2131 are fixedly connected by screws to effectively fix the steering gear 211 to prevent the steering gear 211 from moving relative to the lower casing 213; preferably, the steering gear 211 and the upper casing Between the inner walls of the body 212 and the lower housing 213, a gap is provided, that is, the size of the inner cavity of the upper housing 212 and the lower housing 213 is greater than the size of the steering gear 211, that is, the bottom of the steering gear 211 is between the upper housing 212 and the lower housing 213. The lower casing 213 is suspended in the air to reduce the contact area between the steering gear 211 and the upper casing 212 and the lower casing 213, which improves the shock absorption effect of the upper casing 212 and the lower casing 213, and improves the impact on the rudder. Machine 211 sealing performance.

As shown in FIG. 4 , a first horizontal connecting portion 2121 and a second horizontal connecting portion 2132 are respectively provided on two sides of the upper casing 212 and the lower casing 213 along the lengthwise direction. The horizontal connecting portion 2121 and the second horizontal connecting portion 2132 are detachably connected, that is, the upper housing 212 is provided with the first horizontal connecting portion 2121 on both sides along the length direction, and the lower housing 213 is provided with the first horizontal connecting portion 2121 on the two sides along the length direction. There is a second horizontal connection part 2132, and the detachable connection between the first horizontal connection part 2121 and the second horizontal connection part 2132. In this embodiment, it is connected by bolts, which is convenient for installation and disassembly. and other components for inspection and maintenance, which improves the convenience of use.

Preferably, one side of the second horizontal connecting portion 2132 along the length direction is provided with several threaded holes. The bionic joints 21 are effectively connected.

Preferably, a circular bayonet 2181 protrudes from the side of the turntable 218 close to the output shaft 2111 of the steering gear 211, and the output shaft 2111 extends into the circular bayonet 2181, and the two are connected in linkage. If it is connected by an interlocking card, the turntable 218 rotates with the rotation of the output shaft 2111 , thereby driving the extension shaft 219 to rotate.

Please continue to refer to FIG. 2 , the interior of the upper housing 212 and the cover plate 217 are provided with a through hole that is compatible with the extension shaft 219 , and the extension shaft 219 is connected to the upper housing 212 A waterproof gasket 210 is set between the through holes on the side close to the cover plate 217. Preferably, the waterproof gasket 210 is made of soft rubber material and is used to seal the through hole of the upper casing 212 to avoid stretching. When the output shaft 219 rotates, there is a gap between it and the through hole to cause water ingress, which reduces the sealing effect on the steering gear 211 .

The utility model also provides a control method of the bionic underwater propeller, in which the control signal is sent to the control circuit board through the wireless controller 3, and the rotation parameters of the output shaft 2111 of the steering gear 211 in the bionic joint 21 are controlled through the control circuit board, Thereby controlling the rotation of the corresponding pendulum 216 to make the tail fin 22 perform a fluctuating motion or a flapping motion, so as to realize motions such as wave propulsion or jet propulsion, as well as turning or braking. Preferably, the rotation parameters of the output shaft 2111 of the steering gear 211 include rotation direction, rotation speed and rotation angle. Specifically, the steering gear 211 is connected to the control circuit board, and according to the control signal sent by the control circuit board, the rotational torque is transmitted to the extension shaft 11 through the output shaft 2111, driving the turntable 218 and the extension shaft 219 to rotate, thereby driving the first side The plate 214 rotates, and the rotation of the first side plate 214 drives the swing bar 216 and the second side plate 215 to rotate, thereby driving the bionic joint 21 or the tail fin 22 connected with the swing bar 216 to perform wave motion or flapping motion, so as to realize wave propulsion or jet flow advance. The fluctuating movement of the caudal fin 22 is specifically: the swing rod 216 in the first bionic joint 21a swings up and down relative to the rear end surface of the bionic fish head 1 at a set frequency and amplitude, and the swing rod 216 in the second bionic joint 21b swings up and down relative to the first bionic joint 21b. The bionic joint 21a swings up and down with a set frequency and amplitude; the flapping motion of the tail fin 22 is specifically: the swing rod 216 in the first bionic joint 21a swings up and down with a set frequency and amplitude relative to the rear end surface of the bionic fish head 1, The pendulum 216 in the second bionic joint 21b is stationary relative to the first bionic joint 21a. When wave propulsion needs to be realized, the rotation parameters of the first bionic joint 21a are: the rotation direction is: clockwise for 0.5 seconds, counterclockwise for 0.5 seconds, and the rotation angular velocity is: The angle of rotation is 60 degrees, and the rotation parameters of the second bionic joint 21b are (relative to the first bionic joint 21a): the rotation direction is: clockwise for 0.5 seconds, counterclockwise for 0.5 seconds, and the angular velocity of rotation is: The angle of rotation is 60 degrees. When jet propulsion needs to be realized, the rotation direction of the first bionic joint 21a is: clockwise for 0.5 seconds, counterclockwise for 1 second, and the angular velocity of rotation is: the angular velocity of opening is The contraction angular velocity is The angle of rotation is 60 degrees. For the situation of the four water-beating fins 2 in the present embodiment, that is, when jet propulsion is carried out, the time for the four tail fins 22 to open is twice the time for shrinking together. In addition, according to the tail-wagging curve of fish waves, when the waves propel, the first bionic joint 21a and the second bionic joint 21b have a rotational phase difference, here set as In addition, in order to make the direction of rotation of the relatively distributed tail fins 22 opposite during wave propulsion and jet propulsion, that is, the rotational phase difference between the two oppositely arranged tail fins 22 is π.

In summary, the utility model is a bionic underwater propeller, the propeller includes a bionic fish head 1, several water-beating fins 2 evenly distributed on the outer surface of the rear end of the bionic fish head 1, and a wireless controller 3. Each of the water hitting fins 2 includes at least two bionic joints 21 and a caudal fin 22 connected in sequence, the bionic joints 21 are wirelessly connected to the wireless controller 3, and the caudal fin 22 is a crescent with decreasing thickness structure. By setting several water-beating fins 2 on the outer surface of the rear end of the bionic fish head 1, each water-beating fin 2 includes at least two bionic joints 21 and a caudal fin 22 connected in sequence, controlled by a wireless controller 3 and a control circuit board The bionic joint 21 drives the caudal fin 22 to perform undulating motion or flapping motion to realize undulating propulsion or jet propulsion and free switching between the two modes, which can not only meet the complex underwater environment and the constantly proposed new underwater operation task requirements, but also In the process of propulsion, there will be no problems of left and right shaking and imbalance, and it is stable and reliable; in addition, by setting the tail fin 22 as a crescent structure with decreasing stiffness, the propulsion force of the tail fin 22 and the imitation ability of the propeller are improved.

Although the description has described the embodiments of the present utility model, these embodiments are only used as hints and should not limit the scope of protection of the present utility model. Various omissions, substitutions and changes within the scope not departing from the gist of the utility model shall be included in the protection scope of the utility model.

Claims (7)

1. A bionic underwater propeller, characterized in that it comprises a bionic fish head, some water-beating fins evenly distributed on the outer surface of the rear end of the bionic fish head, and a wireless controller, each of which includes two water-beating fins A bionic joint and a caudal fin are connected in sequence, the bionic fish head includes a shell and a control circuit board arranged in the shell, the bionic joint is connected with the control circuit board, and the control circuit board Connected with the wireless controller, the tail fin has a crescent structure with decreasing stiffness. 2. The bionic underwater propeller according to claim 1, wherein the bionic fish head also includes a supporting frame arranged in the housing, a battery pack arranged on the supporting frame and several infrared sensors , the infrared sensor is arranged at the front end of the bionic fish head, and is connected to the control circuit board, and the control circuit board is arranged on the support frame. 3. The bionic underwater propeller according to claim 2, wherein the support frame includes a vertical support plate arranged on the inner surface of the rear end of the bionic fish head and a vertical support plate connected to the vertical support plate. A horizontal support plate, the battery pack is fixed on the vertical support plate and the horizontal support plate. 4. The bionic underwater propeller according to claim 3, wherein a fixed support is provided below each infrared sensor, and the fixed support is fixed on the support frame. 5. The bionic underwater propeller according to claim 1, wherein the bionic joint comprises a steering gear, an upper shell and a lower shell that are respectively sleeved on the upper and lower parts of the steering gear and tightly fitted , a first side plate arranged above the upper shell, a second side plate movably arranged under the lower shell, a swing rod connecting the first side plate and the second side plate at both ends, and The cover plate arranged between the first side plate and the upper casing, the output shaft of the steering gear is sequentially connected to a turntable and an extension shaft, the turntable is arranged in the upper casing, and the extension shaft After passing through the upper shell and the cover plate in sequence, it is fixedly connected with the first side plate. The upper shell and the lower shell are made of metal materials, and one side of the lower shell is connected to the The lateral surface of the rear end of the bionic fish head or the pendulum of the adjacent bionic joint, the caudal fin is connected to the pendulum of the adjacent bionic joint. 6. The bionic underwater propeller according to claim 5, characterized in that, the interior of the upper casing and the cover plate are provided with a through hole matching the extension shaft, and the extension shaft A waterproof gasket is provided between the output shaft and the through hole on the side of the upper casing close to the cover plate. 7. The bionic underwater propeller according to claim 1, wherein the number of said water-beating fins is 3 or 4, and each said water-beating fin is fixed on the bottom of said bionic fish head by a backing plate. on the outer side of the rear end.