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Sine driving mechanism with adjustable amplitude of oscillation for mechanical dolphin

A propulsion mechanism and dolphin technology, which is applied in the field of sinusoidal propulsion mechanism, can solve problems such as difficult to realize the law of motion, difficult to simulate dolphin movement, etc., and achieve the effect of smooth and smooth adjustment process, improved battery life, and simplified complexity

Inactive Publication Date: 2008-03-05
PEKING UNIV
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  • Summary
  • Abstract
  • Description
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Problems solved by technology

However, since the swing amplitude of the output movement of the sine mechanism and the trajectory of the end of the moving guide rod are fixed, it is difficult to achieve a given law of motion, and it is difficult to simulate the more complex motion of dolphins using the sine mechanism

Method used

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  • Sine driving mechanism with adjustable amplitude of oscillation for mechanical dolphin
  • Sine driving mechanism with adjustable amplitude of oscillation for mechanical dolphin
  • Sine driving mechanism with adjustable amplitude of oscillation for mechanical dolphin

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Embodiment Construction

[0015] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings.

[0016] As shown in Fig. 1 and Fig. 2, the present invention includes a frame 1, and a main motor 2 and an amplitude modulation motor 3 are installed side by side on the frame 1, and the output ends of the main motor 2 and the amplitude modulation motor 3 pass through a speed reducer 4 respectively. A shaft coupling 5 is connected, and the output ends of the two shaft couplings 5 ​​are respectively connected with a main shaft 6 and a lead screw 7 . A sliding sleeve 8 with an annular groove is slidably arranged on the main shaft 6, and the output end of the main shaft is fixedly connected with a switch box 9; It is arranged in the annular groove of the sliding sleeve 8 on the main shaft 6, but does not affect the rotation of the sliding sleeve 8. An encoder 11 is respectively arranged on the main motor 2 and the amplitude modulation motor 3 . ...

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Abstract

A sine propulsion mechanism with adjustable swinging amplitude for robot dolphin is composed of machine frame, main motor, amplitude regulating motor, mainshaft with slide sleeve having ring slot, a conversion box with internal gear and external horizontal U-shaped and curved rack bars, a drive fork screwed on leading screw, a short axle inserted in vertical guide track, a horizontal slide way, and a rockerarm for controlling the tail swinging.

Description

technical field [0001] The invention relates to a sinusoidal propulsion mechanism for a robot dolphin, in particular to a sinusoidal propulsion mechanism for a robot dolphin with adjustable swing. Background technique [0002] As a bionic machine system that imitates the movement of dolphins, the robot dolphin is the product of the highly developed robotics and bionics, and the crystallization of the integration of various high-tech. Compared with traditional propeller-based underwater vehicles, robotic dolphins have the advantages of high efficiency, high maneuverability, low noise and easy concealment, making them more suitable for monitoring and searching in narrow, complex and dynamic underwater environments. , Rescue, etc. [0003] The Department of Mechanics and Engineering Science of Peking University developed the bionic robot dolphin for the first time at home and abroad. It uses a multi-joint series tail up and down swing mechanism to achieve dorso-abdominal movem...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B63H1/36
Inventor 喻俊志王龙霍继延胡永辉范瑞峰
Owner PEKING UNIV
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