The invention discloses a flexible bionic pelvis propelling mechanism and a seal tail simulating driving device, and belongs to the technical field of underwater vehicles. The flexible bionic pelvis propelling mechanism comprises bionic vertebrae, a rebound shaft piece and a pelvis driving line; the plurality of bionic vertebrae are axially arranged, and two adjacent bionic vertebrae form a revolute pair; the springback shaft piece is connected between two adjacent bionic vertebrae, the springback shaft piece and the bionic vertebrae form an axial spine, and the springback shaft piece provides springback force tending to the axial direction for the axial spine; the pelvis driving line is connected to the bionic vertebra at the tail end, extends to the front of the bionic pelvis unit and applies traction force located on the side of the springback shaft piece to the bionic vertebra at the tail end. According to the flexible bionic pelvis propelling mechanism, the self structure and the action principle of underwater advancing highly imitate a seal body, and compared with an existing conventional mechanical transmission underwater vehicle, the flexible bionic pelvis propelling mechanism is efficient and moves smoothly and flexibly.

    本发明公开了一种柔性仿生骨盆推进机构以及仿海豹尾部驱动装置,属于水下航行器技术领域,柔性仿生骨盆推进机构包括仿生椎骨、回弹轴件、骨盆驱动线;若干仿生椎骨轴向设置,且相邻的两仿生椎骨构成转动副;回弹轴件连接于相邻的两仿生椎骨之间,回弹轴件与仿生椎骨构成轴向脊柱,回弹轴件为轴向脊柱提供趋于轴向的回弹力;骨盆驱动线的连接于尾端的仿生椎骨,骨盆驱动线延伸至仿生骨盆单元的前方且对尾端的仿生椎骨施加位于回弹轴件侧方的牵拉力。本发明所提出的柔性仿生骨盆推进机构的自身构造、水下行进的动作原理高度仿海豹躯体,相比现有常规机械传动水下航行器,高效、动作柔顺、灵活。


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    Title :

    Flexible bionic pelvis propelling mechanism and seal tail imitating driving device


    Additional title:

    一种柔性仿生骨盆推进机构以及仿海豹尾部驱动装置


    Contributors:
    LIU YUHONG (author) / WANG ZHIJIE (author) / WANG SHUXIN (author) / WANG YANHUI (author) / LI HOUCUN (author) / YANG SHAOQIONG (author) / NIU WENDONG (author)

    Publication date :

    2023-08-29


    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



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