The invention relates to a parallel space tail swing propelling device and belongs to the technical field of automatic underwater vehicles. The device comprises a rugby-body-shaped shell, a fishtail space orienting device, a gravity center adjusting mechanism, a tail plane reciprocating motion mechanism and a control system; the fishtail space orienting device is used for orienting a fishtail swinging plane by outputting three position points under the action of a parallel mechanism; the gravity center adjusting mechanism adjusts the gravity center of a fish body in real time under the combined action of a push rod and a ball pair, so that the gravity center of a robotic fish is kept basically unchanged when the tail of the robotic fish moves spatially; and the tail plane reciprocating motion mechanism achieves the swinging/flapping of a tail fin through the cooperative motion of a gear pair and a four-bar mechanism. The parallel space tail swing propelling device can achieve free switching of swimming modes, but not limited to, a carangidae mode and a dolphin mode; the mechanism principle and structural composition of the device are simple; and the device is suitable for a power device of an underwater automatic vehicle.
本发明涉及一种并联式空间尾摆推进装置,属于水下自动航行器技术领域;包括橄榄球体状的壳体、鱼尾空间定向装置、重心调节机构、尾部平面往复运动机构和控制系统;鱼尾空间定向装置在并联机构的作用下,通过输出三个位置点实现鱼尾摆动平面的定向;重心调节机构在推杆和球副的共同作用下,实时调节鱼体重心,实现机器鱼在尾部做空间运动时仍保持重心基本不变;尾部平面往复运动机构采用齿轮副和四杆机构协同运动实现尾鳍的摆动/拍动。本发明可以实现且不局限于实现鯵科模式、海豚模式游动等游动模式的自由切换,机构原理与结构组成简单,适用于水下自动航行器的动力装置。
Parallel space tail swing propelling device
一种并联式空间尾摆推进装置
2020-06-23
Patent
Electronic Resource
Chinese
IPC: | B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING |
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