Line drive flexible fishtail-like underwater propulsion unit and bionic mechanism thereof

Abstract

The invention discloses a line drive flexible fishtail-like underwater propulsion unit and a bionic mechanism thereof. The propulsion unit comprises a flexible frame, a fishtail-shaped clamping plate, double-hole vertebral plates, single-hole vertebral plates and drive wires. The flexible frame sequentially penetrates through the double-hole vertebral plates and the single-hole vertebral plates and clamps and fixes the double-hole vertebral plates and the single-hole vertebral plates on the fishtail-shaped clamping plate; the double-hole vertebral plates are positioned at the first half section of the fishtail-shaped clamping plate; each of two sides of each double-hole vertebral plate is provided with two wire holes; the single-hole vertebral plates are positioned at the second half section of the fishtail-shaped clamping plate; and each of two sides of each single-hole vertebral plate is respectively provided with one wire hole. The single-hole vertebral plates and the double-hole vertebral plates, which are perpendicularly inserted into the fishtail-shaped clamping plate at transverse intervals are connected in series by the flexible frame, the double-hole vertebral plates are controlled by four drive wires and the single-hole vertebral plates are controlled by two outside drive wires, so that the line drive flexible fishtail-like underwater propulsion unit not only can simulate the C-shaped swing formed by movement of carangidae fishes, but also can simulate the S-shaped fluctuation formed by movement of eels; a net lateral force can be generated by controlling the tightening quantity of the drive wires so as to realize the heading deflection and more really simulate the movement of fishes; and the line drive flexible fishtail-like underwater propulsion unit has a simple and compact structure, is easy to control and has high propulsion efficiency.

Description

technical field [0001] The invention relates to the field of bionic mechanisms used in water, in particular to a line-driven flexible fishtail underwater propulsion device and a bionic mechanism that can truly simulate fish swimming and has a simple structure and high propulsion efficiency. Background technique [0002] Bionic mechanism refers to the mechanism made by simulating the structural form and function of biological movement. With the increase of human activities on the water surface and underwater, there are more and more devices and mechanisms that imitate fish swimming, such as fish tail propulsion devices. Compared with the traditional propeller drive, the imitation fishtail propulsion device generates thrust through the reciprocating swing of the fishtail. Its swing frequency is low, the noise is low, and the propulsion efficiency is high. It can not only realize propulsion but also control the direction. [0003] When fish swim, the two typical movements incl...

AI Technical Summary

Problems solved by technology

[0007] And, in the prior art, there is also a bionic robot fish that uses a flexible structure as the fish tail, and the motor coordinates to tighten and loosen the steel wires on both sides of the fish tail to make the fish tail swing back and forth to realize the push. The holes are attached to both sides of the fish tail, and the tail has an eddy current effect, which increases the pulling force required by the motor, making it difficult to achieve high-speed propulsion

[0008] Therefore, prior art still needs to improve and develop

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