The bionic underwater propelling device based on the tensegrity structure comprises a head, a swing mechanism, a tail fin and a driving mechanism, the head, the swing mechanism and the tail fin are sequentially connected in the axial direction, and the driving mechanism is installed on the head; the swing mechanism comprises a joint component, a hinge shaft, a transverse pulling elastic component and a connecting rod. Comprising a plurality of joint components axially arranged at intervals; hinged shafts are arranged on the left and right sides of the joint component; the transverse pulling elastic component is connected between the hinge shafts; the connecting rods are connected with the two adjacent joint parts, the two ends of each connecting rod are connected with hinge shafts of the two joint parts respectively, and the two connecting rods of an X-shaped structure are arranged between the two joint parts; the driving mechanism comprises an axial sliding table, a linear driving gyroscope, a swing driving gyroscope and an elastic stay wire; the linear driving gyroscope drives the axial sliding table to axially move; and the elastic stay wire is connected with the side part of the joint component. The propelling device is in rigid-flexible coupling, the rigidity can be changed within a certain range, the response speed is high, the swimming speed and efficiency are high, and maneuverability is high.

    本发明公开了一种基于张拉整体结构的仿生水下推进装置,包括头部、摆动机构、尾鳍以及驱动机构,头部、摆动机构和尾鳍沿轴向依次连接,驱动机构安装于头部;摆动机构包括关节部件、铰接轴、横拉弹性部件和连杆;包括轴向间隔设置的若干关节部件;关节部件左右侧设置铰接轴;横拉弹性部件连接于铰接轴之间;连杆连接相邻的两关节部件,连杆的两端分别连接两关节部件的铰接轴,两关节部件之间设置两呈X形构造的连杆;驱动机构包括轴向滑台、直线驱动陀机、摆动驱动陀机和弹性拉线;直线驱动陀机驱动轴向滑台轴向移动;弹性拉线与关节部件的侧部连接。本推进装置刚柔耦合,可以在一定范围内改变刚度,响应速度快,游泳速度与效率高,机动性强。


    Access

    Download


    Export, share and cite



    Title :

    Bionic underwater propelling device based on tensegrity structure


    Additional title:

    一种基于张拉整体结构的仿生水下推进装置


    Contributors:
    WANG YANHUI (author) / QIAO YUXUAN (author) / CHEN JUN (author) / LIU YUHONG (author) / YANG SHAOQIONG (author) / NIU WENDONG (author) / MA WEI (author)

    Publication date :

    2023-05-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



    Bionic underwater propelling device

    SONG JIAPING / HUANG AIGEN / ZHU YANMING et al. | European Patent Office | 2022

    Free access

    Underwater bionic propelling device based on flagellum

    ZHANG DAIXIAN | European Patent Office | 2023

    Free access

    Area-controllable underwater bionic propelling device

    ZHANG SHIWU / YANG YIKUN / LIU BO et al. | European Patent Office | 2015

    Free access

    Bionic paddling propelling device and underwater robot

    XU YAOHUI / YU FURUI / HE KAI et al. | European Patent Office | 2024

    Free access

    Underwater bionic robot propelling device with damping function

    GUO LIANGSHAN | European Patent Office | 2021

    Free access