阅读说明：本技术 仿胸鳍推进航行器胸鳍驱动机构系统 (Pectoral fin driving mechanism system of bionic pectoral fin propulsion aircraft ) 是由 刘乐华 吴普国 张纪华 高士杰 潘无为 高寰宇 任行伟 邵磊 张杨 于 2021-09-01 设计创作，主要内容包括：本发明提供了一种仿胸鳍推进航行器胸鳍驱动机构系统,包括主轴、转动轴、多个传动齿轮组、固定环框、多个扭转环框、摆动电机和扭转电机；主轴为空心直杆,摆动电机驱动主轴绕摆动电机的轴线作往复转动以实现仿生胸鳍的上下拍动,主轴套设于转动轴外侧,固定环框和多个扭转环框沿主轴轴向间隔套设于主轴外侧,多个扭转环框通过多个传动齿轮组与转动轴转动连接,转动轴的一端与扭转电机连接,扭转电机驱动转动轴通过多个传动齿轮组带动多个扭转环框绕转动轴的轴线作往复转动以实现仿生胸鳍的扭转运动。应用本发明的技术方案,能够解决现有技术中仿胸鳍推进驱动机构结构复杂,环境适应性差,环框运动角度不能实现线性运动且机构可靠性低的技术问题。(The invention provides a pectoral fin driving mechanism system of a pectoral fin-imitating propulsion aircraft, which comprises a main shaft, a rotating shaft, a plurality of transmission gear sets, a fixed ring frame, a plurality of torsion ring frames, a swing motor and a torsion motor, wherein the main shaft is connected with the rotating shaft through a transmission gear set; the main shaft is a hollow straight rod, the swing motor drives the main shaft to do reciprocating rotation around the axis of the swing motor so as to realize the up-and-down flapping of the bionic pectoral fin, the main shaft is sleeved outside the rotating shaft, the fixed ring frame and the plurality of torsion ring frames are sleeved outside the main shaft at intervals along the axial direction of the main shaft, the plurality of torsion ring frames are rotatably connected with the rotating shaft through the plurality of transmission gear sets, one end of the rotating shaft is connected with the torsion motor, and the torsion motor drives the rotating shaft to drive the plurality of torsion ring frames to do reciprocating rotation around the axis of the rotating shaft through the plurality of transmission gear sets so as to realize the torsional movement of the bionic pectoral fin. By applying the technical scheme of the invention, the technical problems that the structure of the pectoral fin-imitating propulsion driving mechanism is complex, the environmental adaptability is poor, the linear motion cannot be realized by the motion angle of the ring frame, and the reliability of the mechanism is low in the prior art can be solved.)

1. A pectoral fin-imitating propulsion aircraft pectoral fin drive mechanism system, comprising: the device comprises a main shaft (10), a rotating shaft (20), a plurality of transmission gear sets (30), a fixed ring frame (40), a plurality of torsion ring frames (50), a swing motor (60) and a torsion motor (70); the main shaft (10) is a hollow straight rod, one end of the root of the main shaft (10) is connected with the swing motor (60), the swing motor (60) drives the main shaft (10) to rotate around the axis of the swing motor (60) in a reciprocating mode so as to achieve up-and-down flapping of the bionic pectoral fin, the main shaft (10) is sleeved on the outer side of the rotating shaft (20), the main shaft (10) is provided with a plurality of arc-shaped grooves and a plurality of transmission gear set mounting supports (11) which are axially arranged along the main shaft (10) at intervals, the plurality of transmission gear set mounting supports (11) are located on the outer side of the main shaft (10), the plurality of transmission gear set mounting supports (11) are used for mounting the plurality of transmission gear sets (30), the plurality of arc-shaped grooves are arranged in one-to-one correspondence with the plurality of transmission gear set mounting supports (11) and the plurality of transmission gear sets (30), and the fixed ring frame (40) and the plurality of torsional ring frames (50) are axially arranged along the main shaft (10) at intervals in a sleeved mode The bionic pectoral fin comprises a main shaft (10) and a fixed ring frame (40), wherein the fixed ring frame (40) is fixedly connected to one side, close to the swing motor (60), of the main shaft (10), the plurality of torsion ring frames (50) are rotatably connected with the rotating shaft (20) through the plurality of transmission gear sets (30), the plurality of torsion ring frames (50) and the plurality of transmission gear sets (30) are arranged in a one-to-one correspondence mode, the torsion motor (70) is located in the fixed ring frame (40), one end of the rotating shaft (20) is connected with the torsion motor (70), the torsion motor (70) drives the rotating shaft (20) to rotate around the axis of the rotating shaft (20) in a reciprocating mode, and the rotating shaft (20) drives the plurality of torsion ring frames (50) to rotate around the axis of the rotating shaft (20) in a reciprocating mode through the plurality of transmission gear sets (30) so as to achieve torsional movement of the bionic pectoral fin.

2. The pectoral fin-like propulsion aircraft pectoral fin drive mechanism system according to claim 1, wherein the transmission gear set (30) is a speed reducer comprising a plurality of gears, the torsion ring frame (50) is provided with a torsion ring frame rotation gear (51), the rotating shaft (20) is provided with a plurality of rotating shaft gears (21), and the rotating shaft (20) sequentially drives the gears in the transmission gear set (30) and the torsion ring frame rotation gear (51) through the rotating shaft gears (21) to realize the rotation of the torsion ring frame (50).

3. The pectoral fin-imitating propulsive vehicle pectoral fin driving mechanism system according to claim 2, wherein any one of the transmission gear sets (30) comprises a first gear (31), a second gear (32) and a third gear (33), the second gear (32) is meshed with the rotating shaft gear (21), the first gear (31) and the second gear (32) are coaxially connected, and the third gear (33) is meshed with the first gear (31) and the torsion ring frame rotating gear (51), respectively.

4. The pectoral fin-imitating propulsive craft pectoral fin drive mechanism system according to any one of claims 1 to 3, wherein the plurality of drive gear sets (30) have different reduction ratios.

5. The pectoral fin driving mechanism system of the pectoral fin-imitating propelling vehicle according to claim 4, wherein the pectoral fin driving mechanism system comprises six transmission gear sets (30), and the reduction ratios of the six transmission gear sets (30) are 1:6, 1:3, 1:2, 1:1.5, 1:1.2 and 1:1 in sequence from the root of the main shaft (10) to the wing tip.

6. The pectoral fin-imitating propelling vehicle pectoral fin driving mechanism system according to claim 1, wherein the pectoral fin-imitating propelling vehicle pectoral fin driving mechanism system further comprises a plurality of rolling bearings (80), the plurality of torsion ring frames (50) are rotatably connected with the main shaft (10) through the plurality of rolling bearings (80), and the plurality of torsion ring frames (50) and the plurality of rolling bearings (80) are arranged in a one-to-one correspondence.

7. The pectoral fin-propulsion craft pectoral fin drive mechanism system of any one of claims 1 to 6, wherein the stationary ring frame (40) and the plurality of torsion ring frames (50) are thin plate ring frame structures.

8. The pectoral fin-imitating propulsive craft pectoral fin drive mechanism system according to claim 1, wherein the pectoral fin-imitating propulsive craft pectoral fin drive mechanism system further comprises a skin (90), and the outlines of the stationary ring frame (40) and the plurality of torsion ring frames (50) are tangential to the skin (90).

9. The pectoral fin-like propulsion aircraft pectoral fin drive mechanism system according to claim 1, wherein the radius of the main shaft (10) is gradually reduced from the root to the wing tip, and the rotating shaft (20) is a hollow cylindrical shaft.

10. The pectoral fin-imitating propulsive vehicle pectoral fin drive mechanism system according to claim 1, wherein the swing motor (60) and the torsion motor (70) are both rotary motors.

Technical Field

The invention relates to the technical field of driving systems and structural designs of underwater bionic aircraft, in particular to a pectoral fin driving mechanism system of a bionic pectoral fin propulsion aircraft.

Background

The bionic pectoral fin propulsion aircraft is a novel aircraft simulating the appearance of a bat-ray marine organism and the motion mode of pectoral fins, has the advantages of high propulsion efficiency, low noise level, strong maneuvering capability, large glide lift-drag ratio and the like, and has a core component of a pectoral fin propulsion system. In order to simulate a pectoral fin propulsion aircraft and a pectoral fin propulsion driving mechanism, experts at home and abroad carry out extensive and deep research, so that the artificial pectoral fin propulsion aircraft and the artificial pectoral fin propulsion driving mechanism become an important direction of an underwater bionic propulsion technology.

Analysis shows that the pectoral fin motion characteristic of the marine organism manta ray is two-degree-of-freedom coupled motion, namely vertical up-and-down swing and front-and-back chordal fluctuation, and the amplitude of the fluctuation is gradually reduced from the wing tip to the wing root of the pectoral fin.

Aiming at a pectoral fin-imitating propulsion driving mechanism, units such as colleges and universities, enterprises and research institutes at home and abroad mainly adopt the following four realization forms: (1) single girder + follow-up skin: the flexible thin-skin pectoral fin is driven by a main beam to flap up and down with single degree of freedom, and fluctuation is realized passively depending on the interaction of the flexible thin wall and water flow; (2) multi-fin fitting + flexible skin: the flapping and fluctuation coupling is realized by designing the time difference between the single-fin single-degree-of-freedom up-and-down flapping and the flapping of the front and back multi-fin fins; (3) flexible cord + torsion mechanism: the upward and downward flapping of the pectoral fins is realized by the reciprocating stretching of the two ends of the rope, and the stretching mechanism is driven to twist by a motor fixed on the stretching mechanism, so that the upward and downward flapping and twisting coupling motion of the bionic pectoral fins is realized. (4) Single main shaft + reducing crankshaft + ring frame: the main shaft realizes the up-and-down flapping of the pectoral fins, and the reducing ring frame realizes the fluctuation driving of the pectoral fins. The first structure scheme is simple, but the swimming performance of the prototype is greatly influenced by the water flow environment and pectoral fin materials, the prototype cannot swim backwards, and the maneuverability and the environmental adaptability are poor; the second structure scheme is complex, and the structure and the cooperative control of the servo driving system are complex; the motion fatigue and response delay phenomena of the integral tensioning mechanism cannot be avoided in the third scheme; in the fourth scheme, the angle change exists in the motion process of the rotating shaft driving ring frame, the ring frame can not linearly move according to a set rule, the mechanism has sliding friction, the noise is difficult to reduce, the system is easy to lose, and the reliability is low.

Disclosure of Invention

The invention provides a pectoral fin driving mechanism system of a pectoral fin-imitating propulsion aircraft, which can solve the technical problems that the structure of a pectoral fin-imitating propulsion driving mechanism in the prior art is complex, the environmental adaptability is poor, the linear motion cannot be realized by the motion angle of a ring frame, and the reliability of the mechanism is low.

The invention provides a pectoral fin driving mechanism system of a pectoral fin-imitating propelling aircraft, which comprises: the device comprises a main shaft, a rotating shaft, a plurality of transmission gear sets, a fixed ring frame, a plurality of torsion ring frames, a swing motor and a torsion motor; the main shaft is a hollow straight rod, one end of the root part of the main shaft is connected with a swing motor, the swing motor drives the main shaft to do reciprocating rotation around the axis of the swing motor so as to realize the up-and-down flapping of the bionic pectoral fin, the main shaft is sleeved outside the rotating shaft, the main shaft is provided with a plurality of arc-shaped grooves and a plurality of transmission gear group mounting brackets which are arranged at intervals along the axial direction of the main shaft, the plurality of transmission gear group mounting brackets are positioned outside the main shaft and are used for mounting a plurality of transmission gear groups, the plurality of arc-shaped grooves are arranged corresponding to the plurality of transmission gear group mounting brackets and the plurality of transmission gear groups one by one, a fixed ring frame and a plurality of torsion ring frames are sleeved outside the main shaft at intervals along the axial direction of the main shaft, the fixed ring frame is fixedly connected to one side of the main shaft close to the swing motor, the plurality of torsion ring frames are rotationally connected with the rotating shaft through the plurality of transmission gear groups, and the plurality of torsion ring frames are arranged corresponding to the plurality of transmission gear groups one by one, the torsion motor is positioned in the fixed ring frame, one end of the rotating shaft is connected with the torsion motor, the torsion motor drives the rotating shaft to rotate back and forth around the axis of the rotating shaft, and the rotating shaft drives the plurality of torsion ring frames to rotate back and forth around the axis of the rotating shaft through the plurality of transmission gear sets so as to realize the torsion motion of the bionic pectoral fin.

Furthermore, the transmission gear set is a speed reduction device comprising a plurality of gears, the torsion ring frame is provided with a torsion ring frame rotating gear, the rotating shaft is provided with a plurality of rotating shaft gears, and the rotating shaft sequentially drives the gears in the transmission gear set and the torsion ring frame rotating gear through the rotating shaft gears so as to realize the rotation of the torsion ring frame.

Furthermore, any transmission gear set comprises a first gear, a second gear and a third gear, the second gear is meshed with the rotating shaft gear, the first gear and the second gear are coaxially connected, and the third gear is respectively meshed with the first gear and the torsion ring frame rotating gear.

Further, the plurality of transmission gear sets have different reduction ratios.

Furthermore, the pectoral fin driving mechanism system of the pectoral fin-imitated propulsion aircraft comprises six transmission gear sets, and the reduction ratios of the six transmission gear sets are 1:6, 1:3, 1:2, 1:1.5, 1:1.2 and 1:1 in sequence from the root of the main shaft to the wingtip.

Furthermore, the pectoral fin driving mechanism system of the pectoral fin-simulated propulsion aircraft further comprises a plurality of rolling bearings, a plurality of torsion ring frames are rotatably connected with the main shaft through the plurality of rolling bearings, and the plurality of torsion ring frames and the plurality of rolling bearings are arranged in a one-to-one correspondence manner.

Further, the fixed ring frame and the plurality of torsion ring frames are of thin plate annular frame structures.

Further, the pectoral fin driving mechanism system of the bionic pectoral fin propulsion aircraft further comprises a skin, and the outlines of the fixed ring frame and the plurality of torsion ring frames are tangent to the skin.

Furthermore, the radius of the main shaft is gradually reduced from the root to the wing tip, and the rotating shaft is a hollow cylindrical shaft.

Further, the swing motor and the torsion motor are both rotating motors.

The technical scheme of the invention provides a pectoral fin driving mechanism system of a pectoral fin-imitating propulsion aircraft, the pectoral fin driving mechanism system of the pectoral fin-imitating propulsion aircraft realizes the up-and-down flapping of bionic pectoral fins by driving a main shaft to rotate back and forth around the axis of a swing motor through the swing motor, a torsion motor drives a rotating shaft to drive a plurality of torsion ring frames to rotate back and forth around the axis of the rotating shaft through a plurality of transmission gear sets so as to realize the torsion motion of the bionic pectoral fins, the coupling motion of the flapping and the torsion of the bionic pectoral fins is realized, and the amplitude and the frequency of the flapping angle of the pectoral fins and the amplitude and the frequency of the torsion angle can be freely designed. Compared with the prior art, the technical scheme of the invention can solve the technical problems that the structure of the pectoral fin-imitating propulsion driving mechanism is complex, the environmental adaptability is poor, the linear motion cannot be realized by the motion angle of the ring frame, and the reliability of the mechanism is low in the prior art.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.

FIG. 1 illustrates a schematic structural diagram of a pectoral fin propulsion craft pectoral fin drive mechanism system provided in accordance with an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a spindle provided in accordance with an embodiment of the present invention;

fig. 3 is a schematic structural view illustrating a rotating shaft according to an embodiment of the present invention;

FIG. 4 illustrates a schematic view of the positional mounting of a drive gear set provided in accordance with a specific embodiment of the present invention;

FIG. 5 illustrates a schematic structural view of a drive gear set provided in accordance with a specific embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a retaining ring frame provided in accordance with an embodiment of the present invention;

FIG. 7 illustrates a schematic structural diagram of a torsion ring frame provided in accordance with an exemplary embodiment of the present invention;

fig. 8 shows a comparison between a pectoral fin driving mechanism system simulation diagram and a pectoral fin swing shape diagram of real fish, wherein the left side is the pectoral fin driving mechanism system simulation diagram provided according to the embodiment of the invention, and the right side is the pectoral fin swing shape diagram of the real fish.

Wherein the figures include the following reference numerals:

10. a main shaft; 11. a transmission gear set mounting bracket; 20. a rotating shaft; 21. a rotating shaft gear; 22. a steering gear; 30. a drive gear set; 31. a first gear; 32. a second gear; 33. a third gear; 40. fixing the ring frame; 50. twisting the ring frame; 51. the torsion ring frame rotates the gear; 60. a swing motor; 70. a torsion motor; 80. a rolling bearing; 90. and (4) covering the skin.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

As shown in fig. 1 to 6, according to an embodiment of the present invention, there is provided a pectoral fin propulsion aircraft pectoral fin driving mechanism system, specifically comprising: the driving device includes a main shaft 10, a rotation shaft 20, a plurality of transmission gear sets 30, a stationary ring frame 40, a plurality of torsion ring frames 50, a swing motor 60, and a torsion motor 70. The main shaft 10 is a hollow straight rod, one end of the root of the main shaft 10 is connected with a swing motor 60, the swing motor 60 drives the main shaft 10 to make reciprocating rotation around the axis of the swing motor 60 to realize the up-and-down flapping of the bionic pectoral fin, the main shaft 10 is sleeved outside a rotating shaft 20, the main shaft 10 is provided with a plurality of arc-shaped slots and a plurality of transmission gear set mounting brackets 11 which are arranged at intervals along the axial direction of the main shaft 10, the plurality of transmission gear set mounting brackets 11 are positioned outside the main shaft 10, the plurality of transmission gear set mounting brackets 11 are used for mounting a plurality of transmission gear sets 30, the plurality of arc-shaped slots are arranged corresponding to the plurality of transmission gear set mounting brackets 11 and the plurality of transmission gear sets 30 one by one, a fixed ring frame 40 and a plurality of torsion ring frames 50 are sleeved outside the main shaft 10 at intervals along the axial direction of the main shaft 10, the fixed ring frame 40 is fixedly connected to one side of the main shaft 10 close to the swing motor 60, the plurality of torsion ring frames 50 are rotatably connected with the rotating shaft 20 through the plurality of transmission gear sets 30, the plurality of torsion ring frames 50 are arranged in one-to-one correspondence with the plurality of transmission gear sets 30, the torsion motor 70 is positioned in the fixed ring frame 40, one end of the rotating shaft 20 is connected with the torsion motor 70, the torsion motor 70 drives the rotating shaft 20 to rotate back and forth around the axis of the rotating shaft 20, and the rotating shaft 20 drives the plurality of torsion ring frames 50 to rotate back and forth around the axis of the rotating shaft 20 through the plurality of transmission gear sets 30 so as to realize the torsion motion of the bionic pectoral fin.

By applying the configuration mode, the pectoral fin driving mechanism system of the pectoral fin simulating propulsion aircraft is provided, the pectoral fin simulating propulsion aircraft pectoral fin driving mechanism system drives the main shaft 10 to rotate back and forth around the axis of the swing motor 60 through the swing motor 60 so as to realize the up-and-down flapping of the bionic pectoral fin, the torsion motor 70 drives the rotating shaft 20 to drive the plurality of torsion ring frames 50 to rotate back and forth around the axis of the rotating shaft 20 through the plurality of transmission gear sets 30 so as to realize the torsion motion of the bionic pectoral fin, the flapping and torsion coupled motion of the bionic pectoral fin is realized, and the amplitude and frequency of the pectoral fin swinging angle and the amplitude and frequency of the torsion angle can be freely designed. Compared with the prior art, the technical scheme of the invention can solve the technical problems that the structure of the pectoral fin-imitating propulsion driving mechanism is complex, the environmental adaptability is poor, the linear motion cannot be realized by the motion angle of the ring frame, and the reliability of the mechanism is low in the prior art.

Further, in the present invention, in order to adapt the rotational connection between the rotating shaft 20 and the plurality of torsion ring frames 50, the transmission gear set 30 may be configured as a speed reducer including a plurality of gears, the torsion ring frame 50 has a torsion ring frame rotating gear 51, the rotating shaft 20 has a plurality of rotating shaft gears 21, and the rotating shaft 20 sequentially drives the gears in the transmission gear set 30 and the torsion ring frame rotating gear 51 through the rotating shaft gears 21 to realize the rotation of the torsion ring frame 50.

As one embodiment of the present invention, the drive gear set 30 may include two or three gears. For example, as shown in fig. 5, any one of the transmission gear sets 30 includes a first gear 31, a second gear 32, and a third gear 33, the second gear 32 is engaged with the rotation shaft gear 21, the first gear 31 and the second gear 32 are coaxially connected, and the third gear 33 is engaged with the first gear 31 and the torsion ring frame rotation gear 51, respectively.

In addition, in the invention, the ring frame is a supporting framework inside the pectoral fin-imitating propulsion driving mechanism, in order to better perform bionic simulation of the pectoral fin, the section shapes of the fixed ring frame 40 and the plurality of torsion ring frames 50 are kept the same as the section shape of the bionic pectoral fin along the spanwise direction from the root part to the wing tip direction of the main shaft 10, and the adjacent distance between the fixed ring frame 40 and the plurality of torsion ring frames 50 and the number of the plurality of torsion ring frames 50 can be set according to the actual bionic requirement. As an embodiment of the present invention, as shown in FIG. 1, the pectoral fin propulsion craft pectoral fin drive mechanism system may include six torsion ring frames 50.

Further, in the present invention, in order to better perform the bionic simulation of the pectoral fin, a plurality of transmission gear sets 30 with different reduction ratios may be configured according to different torsion angle requirements of the plurality of torsion ring frames 50. Thus, the rotating shaft 20 is driven by the torsion motor 70 to rotate the plurality of torsion ring frames 50 at different angles around the axis of the rotating shaft 20.

As an embodiment of the present invention, the torsion angles of the torsion ring frames 50 are gradually increased from the root of the main shaft 10 to the wing tip, the rotation angles of the torsion ring frames 50 correspond to the reduction ratios of the transmission gear sets 30 connected thereto, and the reduction ratios of the transmission gear sets 30 are gradually increased from the root of the main shaft 10 to the wing tip. For example, the reduction gear ratios of the plurality of transmission gear sets 30 may be 1:6, 1:3, 1:2, 1:1.5, 1:1.2, and 1:1 in order from the root of the main shaft 10 to the tip of the wing. The ratio of the radii of the first gear 31 and the second gear 32 is designed in accordance with the above-described reduction ratio.

In addition, in the present invention, in order to further reduce the weight of the pectoral fin driving mechanism system of the pectoral fin-simulated propulsion aircraft, the radius of the main shaft 10 may be configured to gradually decrease from the root to the wing tip, and the rotating shaft 20 may be a hollow cylindrical shaft.

As an embodiment of the present invention, in order to facilitate the control of the rotation angles of the plurality of torsion ring frames 50, a plurality of arc-shaped slots and a plurality of transmission gear set mounting brackets 11 may be provided along the same radial direction of the main shaft 10. The arcuate slot provides for the transfer of motion between the drive gear set 30 and the rotatable shaft 20.

Further, in the present invention, in order to realize the connection between the plurality of torsion ring frames 50 and the main shaft 10, the pectoral fin propulsion craft pectoral fin driving mechanism system further includes a plurality of rolling bearings 80, the plurality of torsion ring frames 50 are rotatably connected with the main shaft 10 through the plurality of rolling bearings 80, and the plurality of torsion ring frames 50 and the plurality of rolling bearings 80 are arranged in one-to-one correspondence.

In addition, in the present invention, in order to further reduce the weight of the pectoral fin propulsion aircraft pectoral fin driving mechanism system, the fixing ring frame 40 and the plurality of torsion ring frames 50 can be configured to be a thin plate annular frame structure.

Further, in the present invention, in order to mount the transmission gear set 30, the axis of the transmission gear set 30 may be fixed to the transmission gear set mounting bracket 11 of the main shaft 10.

In addition, in the invention, in order to realize the bionic simulation of the pectoral fin driving mechanism system of the pectoral fin propulsion aircraft, the pectoral fin driving mechanism system of the pectoral fin propulsion aircraft further comprises a skin 90, and the outlines of the fixed ring frame 40 and the plurality of torsion ring frames 50 are tangent to the skin 90. As one particular embodiment of the present invention, configurable skin 90 is a flexible skin.

Further, in the present invention, both the swing motor 60 and the torsion motor 70 may be selected as rotating motors, an output shaft of the swing motor 60 is connected to one end of the main shaft 10, a center line of the output shaft of the swing motor 60 is parallel to a cross section in a pectoral fin spanwise direction, the rotating shaft 20 has a steering gear 22, and an output shaft of the torsion motor 70 is connected to the rotating shaft 20 through the steering gear 22.

By applying the configuration mode, the pectoral fin driving mechanism system of the pectoral fin-imitating propulsion aircraft adopts a form of a single main shaft, a gear drive, an annular frame and a skin, a main shaft 10 is driven by a swing motor 60 to drive a torsion motor 70, a fixed annular frame 40 and a plurality of torsion annular frames 50 to do reciprocating rotation around the axis of the swing motor 60 so as to realize the up-and-down periodic flapping of the bionic pectoral fin, the rotation motor 70 drives a rotation shaft 20 to drive the plurality of torsion annular frames 50 to do reciprocating rotation around the axis of the rotation shaft 20 through a plurality of transmission gear sets 30 so as to realize the torsional movement of the bionic pectoral fin, and the main shaft swing and the annular frame torsion are combined to realize the coupling movement of the flapping and the torsion of the bionic pectoral fin. The pectoral fin driving mechanism system of the bionic pectoral fin propulsion aircraft can guide the design of a bionic pectoral fin motion mechanism and support the design of a bionic pectoral fin propulsion scheme.

The invention also provides a design method of the pectoral fin driving mechanism system of the simulated pectoral fin propulsion aircraft, which comprises the following specific steps.

Step one, designing a ring frame. Extracting a three-dimensional model of the underwater bionic pectoral fin and the design input of a bionic pectoral fin motion mechanism, designing a plurality of ring frames along the unfolding direction of the bionic pectoral fin, wherein one ring frame is a fixed ring frame at the root, the other ring frames are torsion ring frames, the torsion ring frames are distributed at equal intervals along the direction from the root of the pectoral fin to the wing tip, and the ring frames are internally provided with frame structures supported by thin plates.

And step two, designing a hollow main shaft. According to the section characteristics of the bionic pectoral fin along the spanwise direction, the main shaft is designed to be a reducing hollow cylinder, the connection mode of the main shaft and the swing motor is determined, the fixed connection structure of the fixed ring frame and the main shaft is designed, and the connection structure of the torsion ring frame and the main beam through the rolling bearing is designed.

And step three, designing a rotating shaft. Determining the size and the material of the rotating main shaft according to the size constraint of the external hollow main shaft and the strength requirement of the mechanism; and determining the connection mode of the rotating shaft and the torsion motor and the connection mode of the gear between the rotating shaft and the torsion ring frame.

And step four, designing a transmission gear set. And designing a reduction ratio of the gear set according to the requirements of the position of the torsion ring frame, the maximum torsion angle and the rotation angle of the rotating shaft, and designing the transmission gear set according to the requirement.

And step five, determining the swing motor and the torsion motor. And extracting the performances, the three-dimensional models and the installation positions of the motor on the prototype of the swing motor and the torsion motor according to the input of the bionic pectoral fin motion mechanism design.

And step six, designing an external skin. Determining the external pressure of the skin according to the pectoral fin imitation hydrodynamic data, determining the deformation of the skin according to the motion form of the pectoral fin, determining the material of the pectoral fin skin, finally, closely combining the skin with the ring frame, and comparing a simulation diagram of a pectoral fin driving mechanism system and a real fish pectoral fin swing shape diagram through simulation as shown in figure 8 to determine that the design of the pectoral fin imitation propulsion craft pectoral fin driving mechanism system is reasonable and feasible.

In summary, the present invention provides a pectoral fin driving mechanism system of a pectoral fin-simulated propulsion aircraft, in which a main shaft is driven by a swing motor to rotate back and forth around an axis of the swing motor so as to realize up-and-down flapping of the bionic pectoral fin, a rotation shaft is driven by a torsion motor to drive a plurality of torsion ring frames to rotate back and forth around the axis of the rotation shaft through a plurality of transmission gear sets so as to realize torsion motion of the bionic pectoral fin, so that the flapping and torsion coupled motion of the bionic pectoral fin is realized, and the amplitude and frequency of the pectoral fin swing angle and the amplitude and frequency of the torsion angle can be freely designed. Compared with the prior art, the technical scheme of the invention can solve the technical problems that the structure of the pectoral fin-imitating propulsion driving mechanism is complex, the environmental adaptability is poor, the linear motion cannot be realized by the motion angle of the ring frame, and the reliability of the mechanism is low in the prior art.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.