A bionic fish tail propulsion and steering device

Abstract

The present invention relates to a bionic robot. The purpose is to provide a bionic fish tail propulsion steering device, which should be able to achieve power movement and steering movement at the same time, and has the characteristics of reliable operation and flexible operation. The technical solution is: a bionic fish tail propulsion steering device, characterized in that: the device includes a frame, a steering gear and a motor fixed on the frame, a bogie rotatably positioned on the frame, a fish tail rotatably positioned on the bogie, a first transmission mechanism that transmits the steering gear power to drive the bogie to swing, a second transmission mechanism that transmits the motor power to drive the fish tail to swing, and a controller connecting the steering gear and the motor; the first transmission mechanism includes a rocker rotatably positioned on the frame and driven by the steering gear, and a connecting rod with two ends rotatably positioned on the rocker and the bogie; the frame, the bogie, the rocker, and the connecting rod form a hinged four-bar mechanism.

Description

Technical Field

[0001] The invention relates to a bionic robot, in particular to a bionic fish tail propulsion and steering device. Background Art

[0002] In recent years, as bionic technology has become increasingly mature, research on bionic robots has increased, and more and more people have begun to focus on the research of bionic fish robots.

[0003] As we all know, fish gain forward speed by swinging their tails while swimming. Therefore, the characteristics of fish tail structures have become the starting point for the design of various submersibles. Although the swing of existing bionic fish tail mechanisms is achieved through a variety of driving methods, there are many limiting factors in the final implementation. Therefore, in order to improve the feasibility of the bionic fish tail propulsion device, it is necessary to invent a bionic fish tail propulsion and steering device that focuses more on the mechanical structure. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies in the above-mentioned background technology and to provide a bionic fish tail propulsion steering device, which should be able to achieve power movement and steering movement at the same time and has the characteristics of reliable operation and flexible operation.

[0005] The technical solution of the present invention is:

[0006] A bionic fish tail propulsion steering device, characterized in that: the device comprises a frame, a steering gear and a motor fixed on the frame, a bogie rotatably positioned on the frame, a fish tail rotatably positioned on the bogie, a first transmission mechanism for transmitting steering gear power to drive the bogie to swing, a second transmission mechanism for transmitting motor power to drive the fish tail to swing, and a controller connecting the steering gear and the motor;

[0007] The first transmission mechanism comprises a rocker rotatably positioned on the frame and driven by the steering gear, and a connecting rod rotatably positioned on the rocker and the bogie at both ends; the frame, bogie, rocker and connecting rod form a hinged four-bar mechanism;

[0008] The second transmission mechanism includes a front drive shaft rotatably positioned on the frame and driven by a motor, a rear drive shaft rotatably positioned on the bogie and connected to the front drive shaft through a universal joint, a U-shaped frame rotatably positioned on the fishtail, and a steering crank having one end fixed to the rear drive shaft and the other end hinged to the U-shaped frame.

[0009] The fishtail is fixed on the fishtail rotating shaft, a bracket is fixed on the bogie, and two ends of the fishtail rotating shaft are rotatably positioned on the bogie and the bracket respectively.

[0010] The rotation axis of the bogie, the axis of the fishtail shaft, and the axes of the rotating components in the first transmission mechanism are parallel to each other.

[0011] The rotation center of the universal joint is located on the rotation axis of the bogie; the rotation axis of the rear transmission shaft is perpendicular to the rotation axis of the fishtail shaft.

[0012] The U-shaped frame is hinged to the fishtail shaft through a horizontal pin, and its rotation axis is perpendicular to the axis of the fishtail shaft and perpendicular to the hinge axis between the steering crank and the U-shaped frame.

[0013] The rotation axis of the rear transmission shaft, the articulation axis between the steering crank and the U-shaped frame, and the rotation axis of the U-shaped frame intersect at the same point on the axis of the fishtail shaft.

[0014] The angle between the rotation axis of the rear transmission shaft and the articulation axis between the steering crank and the U-shaped frame is less than 90 degrees.

[0015] The rear transmission shaft is rotatably positioned on the bracket.

[0016] The beneficial effects of the present invention are:

[0017] The present invention adopts a servo and a motor as driving power, and drives the tail to swing through two transmission mechanisms (the evolution mechanism of the connecting rod mechanism), while realizing power movement and steering movement, thereby having the ability to move quickly underwater. It not only has a simple structure and reliable transmission performance, but also a more flexible propulsion method for the entire device. It also has the advantages of small size, low cost, high reliability, strong controllability, strong functions, and easy installation on underwater robots. It is very suitable for experimental research on fish tail swing and for promotion and use in small underwater equipment or small unmanned underwater detectors. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional structural schematic diagram of the present invention.

[0019] Figure 2 It is a partial structural schematic diagram of the present invention (a schematic diagram of the rotation state of the steering crank).

[0020] Figure 3 It is a three-dimensional structural schematic diagram of the steering crank of the present invention.

[0021] Figure 4 It is a schematic diagram of the three-dimensional structure of the support of the present invention.

[0022] Figure 5 It is a three-dimensional structural schematic diagram of the universal joint cross axis of the present invention.

[0023] Figure 6 It is a schematic diagram of the main structure of the fishtail shaft of the present invention.

[0024] Figure 7 It is a schematic diagram of the main structure of the rocker of the present invention. DETAILED DESCRIPTION

[0025] The present invention will be further described below in conjunction with the accompanying drawings, but the present invention is not limited to the following embodiments.

[0026] like Figure 1 The bionic fish tail propulsion steering device shown includes a frame 1, a steering gear 2, a motor 3, a bogie 11, a fish tail 9, a first transmission mechanism, a second transmission mechanism, and a controller.

[0027] The steering gear and the motor are fixed on the frame, the bogie shaft 13 is fixed on the bogie, the bogie is rotatably positioned on the frame through the bogie shaft, the fishtail shaft 8 is fixed on the fishtail, and the fishtail is rotatably positioned on the bogie through the fishtail shaft. The rotation axis of the bogie (the axis of the bogie shaft) and the rotation axis of the fishtail (the axis of the fishtail shaft) are parallel to each other.

[0028] The first transmission mechanism is used to transmit the power of the steering gear to drive the bogie to swing. In the first transmission mechanism, the rocker 15 is rotatably positioned on the frame and fixed to the rotating shaft of the steering gear, and the two ends of the connecting rod 14 are rotatably positioned on the rocker and the bogie respectively. The rocker is L-shaped (including a vertical rod body 15.1 and a horizontal rod body 15.2), the vertical rod body of the rocker is rotatably positioned on the frame and fixed to the rotating shaft of the steering gear, and one end of the connecting rod is rotatably positioned on the horizontal rod body of the rocker. The rotation axis of the rocker (the axis of the vertical rod body of the rocker), the rotation axis of the connecting rod and the rotation axis of the bogie are parallel to each other, and the frame, the bogie, the rocker and the connecting rod form a hinged four-bar mechanism (preferably a parallelogram mechanism). When the steering gear is working, the rotating shaft of the steering gear drives the rocker to rotate forward and reverse, and the rocker then drives the bogie to swing left and right through the connecting rod.

[0029] The second transmission mechanism is used to transmit the power of the motor to drive the fishtail to swing on the bogie. In the second transmission mechanism, the front transmission shaft 4, the universal joint 5, the rear transmission shaft 6, the steering crank 12, and the U-shaped frame 10 are connected between the motor and the fishtail in sequence. The bracket 7 is fixed on the bogie, and the bracket is L-shaped (including a vertical frame body 7.1 and a horizontal frame body 7.2). The vertical frame body of the bracket is vertically fixed on the bogie, and the vertical frame body of the bracket is provided with a bracket boss 7.3. The front transmission shaft is rotatably positioned on the frame through a support (omitted in the figure) and fixed to the rotating shaft of the motor, and the rear transmission shaft is rotatably positioned on the bracket boss. The universal joint connects the front transmission shaft and the rear transmission shaft, and the universal joint includes a cross shaft 5.1, a front yoke rotatably positioned on the cross shaft and fixed to the front transmission shaft, and a rear yoke rotatably positioned on the cross shaft and fixed to the rear transmission shaft, and the rotation axis between the front yoke and the cross shaft and the rotation axis between the rear yoke and the cross shaft are perpendicular to each other. The fishtail shaft is provided with a fishtail shaft boss 8.1, the fishtail is fixed to the fishtail shaft boss, and the two ends of the fishtail shaft are rotatably positioned on the horizontal frame body of the bracket and the bogie respectively. The U-shaped frame is rotatably positioned on the fishtail shaft boss, and the U-shaped frame is hinged to the fishtail shaft boss through a horizontal pin. The steering crank includes a steering shaft 12.1 and a crank 12.2, the steering shaft is coaxially fixed to the rear transmission shaft, and one end of the crank is rotatably hinged to the U-shaped frame; the axis of the steering shaft (the rotation axis of the rear transmission shaft) intersects with the hinge axis of the crank (the hinge axis between the steering crank and the U-shaped frame) and the angle between them is less than 90 degrees (preferably 45 degrees).

[0030] The rotation center of the universal joint is located on the rotation axis of the bogie (the axis of the bogie shaft). The rotation axis of the rear drive shaft passes through the rotation axis of the fishtail (the axis of the fishtail shaft) and the rotation axis of the bogie (the axis of the bogie shaft) at the same time. The rotation axis of the rear drive shaft and the rotation axis of the U-frame are both perpendicular to the rotation axis of the fishtail (the axis of the fishtail shaft). The rotation axis of the U-frame is perpendicular to the articulation axis between the steering crank (crank) and the U-frame. The rotation axis of the rear drive shaft, the articulation axis between the steering crank (crank) and the U-frame, and the rotation axis of the U-frame simultaneously intersect at the same point on the rotation axis of the fishtail (the axis of the fishtail shaft).

[0031] When the motor is working, the rotating shaft of the motor drives the front transmission shaft, the rear transmission shaft and the steering crank to rotate simultaneously, and the steering crank drives the U-shaped frame to rotate in a circle around the fishtail rotating shaft, and finally drives the fishtail to swing left and right on the bogie.

[0032] The controller is connected to the motor and the steering gear respectively. The controller can be a PLC controller. The motor is a waterproof motor, and the steering gear is a waterproof steering gear. The frame is also equipped with a power supply (omitted in the figure) for connecting the motor and the steering gear.

[0033] The working process of the bionic fish tail propulsion and steering device is described in detail below:

[0034] 1. Forward: The controller controls the motor and the steering gear to work. The steering gear drives the bogie to swing evenly left and right through the first transmission mechanism. At the same time, the motor drives the fishtail to swing evenly left and right on the bogie through the second transmission mechanism, thereby generating forward power;

[0035] 2. Steering: The controller adjusts the rotation angle of the servo and the rotation speed of the servo and the motor, so that the swing amplitude of the bogie and the fishtail on both sides changes, thereby controlling the steering.

[0036] Finally, the above implementation modes are only used to illustrate the present invention rather than to limit the present invention. Ordinary technicians in the relevant technical field may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, all equivalent technical solutions also belong to the scope of the present invention. The patent protection scope of the present invention should be defined by the claims.

Claims

1. A bionic fish tail propulsion and steering device, characterized in that: The device comprises a frame (1), a steering gear (2) and a motor (3) fixed on the frame, a bogie (11) rotatably positioned on the frame, a fishtail (9) rotatably positioned on the bogie, a first transmission mechanism for transmitting steering gear power to drive the bogie to swing, a second transmission mechanism for transmitting motor power to drive the fishtail to swing, and a controller connecting the steering gear and the motor; The first transmission mechanism comprises a rocker (15) rotatably positioned on the frame and driven by the steering gear, and a connecting rod (14) with two ends rotatably positioned on the rocker and the bogie respectively; the frame, bogie, rocker and connecting rod form a hinged four-bar mechanism; The second transmission mechanism comprises a front transmission shaft (4) rotatably positioned on the frame and driven by a motor, a rear transmission shaft (6) rotatably positioned on the bogie and connected to the front transmission shaft via a universal joint (5), a U-shaped frame (10) rotatably positioned on the fishtail, and a steering crank (12) having one end fixed to the rear transmission shaft and the other end hinged to the U-shaped frame; The fishtail is fixed on a fishtail rotating shaft (8); a bracket (7) is fixed on the bogie, and two ends of the fishtail rotating shaft are rotatably positioned on the bogie and the bracket respectively; The rotation center of the universal joint is located on the rotation axis of the bogie; the rotation axis of the rear transmission shaft is perpendicular to the rotation axis of the fishtail shaft; The U-shaped frame is hinged to the fishtail shaft through a horizontal pin, and its rotation axis is perpendicular to the axis of the fishtail shaft and perpendicular to the hinge axis between the steering crank and the U-shaped frame; The rotation axis of the rear transmission shaft, the articulation axis between the steering crank and the U-shaped frame, and the rotation axis of the U-shaped frame intersect at the same point on the axis of the fishtail shaft.

2. The bionic fish tail propulsion and steering device according to claim 1, characterized in that: The rotation axis of the bogie, the axis of the fishtail shaft, and the axes of the rotating components in the first transmission mechanism are parallel to each other.

3. The bionic fish tail propulsion and steering device according to claim 2 is characterized in that: The angle between the rotation axis of the rear transmission shaft and the articulation axis between the steering crank and the U-shaped frame is less than 90 degrees.

4. The bionic fish tail propulsion and steering device according to claim 3 is characterized in that: The rear transmission shaft is rotatably positioned on the bracket.

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