Bionic fishtail dual-drive device and bionic fishtail structure

Abstract

The invention discloses a bionic fishtail dual-drive device and a bionic fishtail structure. The bionic fishtail dual-drive device comprises a first drive assembly, a second drive assembly and a differential assembly. The differential assembly includes: a first input shaft and a second input shaft; the differential mechanism comprises a first half axle gear, a second half axle gear and a differential mechanism shell, a planetary gear shaft is installed in the differential mechanism shell, and a first planetary gear and a second planetary gear are installed at the two ends of the planetary gear shaft respectively; the driving gear and the driven gear are meshed with each other, the driving gear is installed on the first input shaft, and the driving gear is connected with the differential mechanism shell; and the driven gear is mounted on the output shaft. According to the bionic fishtail structure, the dual-drive device is adopted, the first input shaft and the second input shaft are connected with the first half axle gear and the second half axle gear correspondingly, so that the first planetary gear and the second planetary gear are driven to rotate, the differential mechanism shell is further driven to rotate, the driving gear is connected with the differential mechanism shell, and the driven gear is connected with the output shaft; therefore, a stable speed is output through the dual-drive assembly, the problem that the driving torque of a single motor is insufficient is solved, and meanwhile the problem that the driving speeds of dual motors are not coordinated is solved.

Description

technical field [0001] The invention relates to the technical field of underwater bionic fish, in particular to a bionic fish tail double driving device and a bionic fish tail structure. Background technique [0002] The development of underwater bionics and computer science has made the research of underwater bionic fish more frequent, and the research on the propulsion mode of fish has become the basis of bionic fish. The propulsion mode of fish is mainly MPF propulsion (pectoral fin or pelvic fin). push), BCF push mode (caudal fin push), in which the caudal fin push mode can have a larger thrust and achieve high-speed swimming. In order to achieve the durability, flexibility and movement diversity of the bionic fish, if the structure is too complex, the weight is too heavy, so that it cannot simulate the complex movements of fish such as dolphins that float and sink underwater. [0003] At present, the power drive of the underwater bionic fish tail is mainly driven by a ...

AI Technical Summary

Problems solved by technology

In order to achieve the durability, flexibility and movement diversity of bionic fish, if the structure is too complex, resulting in too heavy weight, it is impossible to simulate the complex movements of dolphins and other fish such as floating and sinking underwater.

[0003] At present, the power drive of the underwater bionic fishtail is mainly driven by a single motor. The single motor drive leads to the problem of insufficient torque in the water and the inability to increase the swing frequency when the tail fin swings. Therefore, it is usually improved by replacing the motor with high torque and high power. Tail fin swing frequency, but this method will also increase the size of the motor at the same time, resulting in an increase in the size of the fish body, which has a great impact on the flexibility of the robot fish, which is difficult to do in the existing technology To a motor with sufficient power and small enough volume

[0004] There are also some underwater bionic fish tails powered by dual-motor drive mode. However, the two motors will inevitably have problems of uncoordinated motor speed and poor stability, which will hinder the flexibility and movement diversity of bionic fish.

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