The invention relates to a machine squid adopting multi-tail cooperative vector propulsion, which comprises a head shell used for mounting a driving mechanism and connected with a plurality of tail units; the plurality of tail units all adopt sine propulsion connecting rod mechanisms and are symmetrically distributed by taking the central axis of the head shell as the center; the driving mechanism comprises a first motor and a base, the first motor drives the base to do axial reciprocating motion, and the base is correspondingly connected with the multiple tail units through multiple sets of clutch mechanisms; the clutch mechanism comprises a second motor and an adjusting disc, the output of the second motor is connected with the adjusting disc through a driving shaft, and the body of the second motor is connected with the sine propelling connecting rod mechanism through an adjusting shaft; the adjusting disc is in sliding fit with the sliding groove in the surface of the base, a connecting rod sliding block assembly is arranged in the adjusting disc, the input end of the adjusting disc is connected with the driving shaft, and the output end can stretch out of the adjusting disc to lock the adjusting disc in the sliding groove. According to the invention, multi-tail collaborative vector propulsion of the machine squids is realized, and the machine squids can steer and advance at any angle, so that the underwater maneuvering performance is improved.

    本发明涉及一种采用多尾协同矢量推进的机器鱿鱼,包括:头部壳体,用于安装驱动机构并与多个尾部单元连接;多个尾部单元,均采用正弦推进连杆机构,以头部壳体中心轴线为中心对称分布;驱动机构,包括第一电机和基座,第一电机驱动基座做轴向往复运动,基座通过多组离合机构分别与多个尾部单元对应连接;离合机构,包括第二电机和调节盘,第二电机的输出通过主动轴与调节盘连接,第二电机的本体通过调节轴与正弦推进连杆机构连接;调节盘与基座表面滑槽滑动配合,调节盘内设有连杆滑块组件,其输入端与主动轴连接,输出端可伸出调节盘将其锁紧在滑槽内。本发明实现机器鱿鱼多尾协同矢量推进同时能向任意角度转向前进,提升了其水下机动性能。


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    Title :

    Machine squid adopting multi-tail collaborative vector propulsion


    Additional title:

    一种采用多尾协同矢量推进的机器鱿鱼


    Contributors:
    XIA DAN (author) / LI ZHIHAN (author) / ZHOU ZILONG (author) / SHI YUNDE (author) / WANG XINGSONG (author)

    Publication date :

    2022-03-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING



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