Parallel space tail swing propelling device
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 mecha...
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| creator | GUO DONGXIANG MA DEZHUANG YUAN ZHUOJUN WANG SHUYAN |
| description | 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, |
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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. 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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. 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| subjects | MARINE PROPULSION OR STEERING PERFORMING OPERATIONS RELATED EQUIPMENT SHIPS OR OTHER WATERBORNE VESSELS TRANSPORTING |
| title | Parallel space tail swing propelling device |
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