Bionic fishtail based on gear connecting rod mechanism

Abstract

The invention discloses a bionic fishtail based on a gear connecting rod mechanism. The bionic fishtail comprises a driving part, a rod piece, a gear, a connecting piece and a hinge hole; the drivingpart comprises a waterproof motor, a worm gear and a worm; the rod piece comprises a crank, a first-stage rocker upper part, a first-stage rocker lower part, a second-stage rocker upper part, a second-stage rocker lower part, a connecting rod, a tail fin connecting piece and a tail fin; the connecting piece comprises a fish body support, a fixed rotating shaft and a movable rotating shaft; the waterproof motor is fixed on the fish body support at the tail end of the bionic fish body, the waterproof motor is connected with the worm, and the worm is matched with the worm gear; power is providedfor the whole mechanism through the waterproof motor; swing of the first-stage rocker is achieved, a relative rotation angle between the crank and the first-stage rocker is generated through a gear transmission ratio; relative swing of the second-stage rocker relative to the first-stage rocker is achieved, relative swing of the third-stage rocker relative to the second-stage rocker is achieved through the gear transmission ratio, and the functions of variable-speed linear swimming and variable-curvature steering are achieved by controlling the speed and amplitude of left-right swing and single-side swing controlled by the waterproof motor.

Description

technical field [0001] The invention relates to a bionic fishtail, in particular to a bionic fishtail based on a gear linkage mechanism. The invention can be used on an underwater bionic robot and belongs to the field of underwater detection device technology and mechanical design. Background technique [0002] Bionic fish is gradually being widely used in military reconnaissance, underwater environment detection, seabed tracking and other fields because of its advantages such as high propulsion efficiency, strong maneuverability, and good concealment. Fish in nature mainly use the body and tail fins as the main propellers, and use the reaction force generated by the body swinging from side to side to beat the water to push the whole body forward. swimming. The power of the bionic fish to advance and turn comes from the swing of the tail of the body and the tail fin. At present, the swing is mainly realized by the swing of the steering gear, mechanical reciprocating mechani...

AI Technical Summary

Problems solved by technology

[0003] Aiming at the above-mentioned prior art, the technical problem to be solved by the present invention is to provide a transmission with high precision, high reliability, good continuity of swing, and accurate swing, easy to establish a mathematical model of the swing mechanism, convenient for design and control, The simple-structured bionic fishtail based on the gear-link mechanism solves the problem that the existing bionic fishtail swing device has many driving motors, asymmetric tail swing left and right, complex structure, small swing torque, few swingable joints, and low swing range. Can not be changed, the continuity of the swing is poor, etc.

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