A connecting rod type bionic fishtail driven by gear and ring gear

Abstract

The invention discloses a link-type bionic fishtail driven by a gear ring gear. The waterproof steering gear drives the upper rocker and the lower rocker to swing left and right to provide power for the whole set of mechanisms. Through the transmission of the ring gear and the large gear The relative rotation angle between the left crank and the first-stage rocker is generated by the ratio, and the second-stage rocker is pulled by the left connecting rod to realize the relative swing of the second-stage rocker relative to the first-stage rocker, which is generated by the transmission ratio of the ring gear and the pinion. Determine the relative angle between the right crank and the first rocker, and then pull the tail fin connecting piece through the right connecting rod to realize the relative swing of the tail fin connecting piece relative to the second rocker. The amplitude and the speed and amplitude of unilateral swing can realize variable speed linear swimming and variable curvature steering. The present invention solves the problems of many driving motors, asymmetric left and right swing of the tail, complex structure, small swing moment, few swingable joints, unchangeable swing amplitude and poor swing continuity existing in the existing bionic fishtail.

Description

technical field [0001] The invention relates to a bionic fishtail, in particular to a link type bionic fishtail driven by a gear ring gear, belonging 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. Most fish in nature use the body and tail fin as the main propeller, and use the reaction force generated by the body swinging from side to side to beat the water to push the overall swimming, and form a propulsion wave propagating backward through the fluctuation of the body and the swing of the tail fin, so as to achieve fast and efficient 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 sw...

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 link-type bionic fishtail driven by a gear and ring gear, which solves the problem that the existing bionic fishtail swing device has many driving motors and the tail does not swing left and right. Symmetrical, complex structure, small swing moment, few swingable joints, unchangeable swing amplitude, poor swing continuity, etc.

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