The invention discloses an underwater propelling device based on a planetary gear train and a synchronous belt transmission mechanism and aims to imitate a pectoral fin swing curve and chordwise undulatory motion of manta rays. The underwater propelling device comprises three fin rays, wherein each fin ray is driven by a waterproof steering gear. Each of the front fin ray, the middle fin ray and the rear fin ray is composed of transmission rods and a tail rod; and the quantity of the transmission rods is determined by the size of pectoral fins. Power transmission between the driving steering engines and the transmission rods at the tail ends as well as among all transmission rods is realized through a set of planetary gear train mechanism and the synchronous belt transmission mechanism mounted in the transmission rods; and the underwater propelling device can imitate the pectoral fin swing curve of manta rays in a compact structure form. In addition, a rotational joint is arranged between the transmission rod positioned at the pointed end in the middle fin ray and the tail rod, so that the tail rod has chordwise rotational freedom; and adjacent fin rays are connected through springs, so that the rotational joint of the tail rod of the middle fin ray can be driven by the tensile force of the springs to rotate to improve chordwise motion ability of the pointed ends of the pectoral fins during the motion process.


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    Title :

    Underwater propelling device based on planetary gear train and synchronous belt transmission mechanism


    Contributors:
    CAI YUERI (author) / GONG ZHAO (author) / BI SHUSHENG (author) / MA HONGWEI (author) / CHEN LINGKUN (author)

    Publication date :

    2015-12-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING



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