Underwater propulsion device based on two-stage parallel-connection type oscillating bar mechanism drive

Abstract

The invention discloses an underwater propulsion device based on two-stage parallel-connection type oscillating bar mechanism drive. The underwater propulsion device comprises three drive joints, an oscillating water wing, two stages of movement skeletons and a steering engine assembly. The two stages of movement skeletons are the same in structure, each movement skeleton is provided with oscillating connecting plates and oscillating plates, the oscillating connecting plates can slide in the front-rear direction and rotate in the circumferential direction relative to the oscillating plates, and the oscillating water wing is fixedly arranged on the outer side surface of the movement skeleton at the tip end. The front drive joint and the middle drive joint are sliding rods, and the sliding rods are hinged to the oscillating connecting plate in the movement skeleton at the tail end and the oscillating connecting plate in the movement skeleton at the tip end respectively. The rear drive joints are oscillating bars, and the oscillating bars are connected with the oscillating plates in the two stages of movement skeletons. The three drive joints are driven by three steering engines to enable the oscillating water wing to conduct heaving motion and pitching motion simultaneously so as to achieve complex three-dimensional movement. The underwater propulsion device has the advantages that the underwater propulsion device is driven by the independent steering engine module and can control the oscillating frequency, the oscillating amplitude, the phase difference angle and other parameters flexibly.

Description

technical field [0001] The invention relates to a structure of an underwater propulsion device, which belongs to the technical field of underwater submersibles, and specifically relates to an underwater propulsion device capable of realizing pitching and heaving movements. Background technique [0002] The earth's oceans are vast, and there are huge reserves of marine mineral resources and species resources. Therefore, the development and utilization of marine resources has become the focus of attention of all countries in the world. Underwater robots have broad application prospects and huge potential value in marine environment research, marine mineral exploration, marine biological research and other civilian fields and marine military strategy, which has attracted more attention. [0003] As one of the key technologies of underwater robots, underwater propulsion technology has always been the focus of research institutions at home and abroad. Traditional underwater robo...

AI Technical Summary

Problems solved by technology

For example, there is always a rotational velocity component perpendicular to the forward direction in the wake, and this part of the energy consumed in the fluid cannot produce effective thrust, and it is difficult to further improve the propulsion efficiency; the fluid disturbance is obvious; low-speed maneuverability is poor, etc.

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