A bionic duck web underwater driving device

Abstract

The present invention relates to the technical field of bionic machinery. The purpose is to provide a bionic duck web underwater driving device, which should have the characteristics of good reliability and high motion efficiency. The technical solution is: a bionic duck web underwater driving device, characterized in that: the device includes a platform, a servo motor arranged on the platform, two branches arranged on both sides of the platform, a motor arranged on each branch, a first transmission mechanism for transmitting the power of the motor to drive the movement of the branch, and a second transmission mechanism for transmitting the power of the servo motor to drive the turning of the branch; the branch includes a main bracket rotatably positioned on the platform, a sub-bracket rotatably positioned on the main bracket, duck webs rotatably positioned on both sides of the sub-bracket, and a limiting plate arranged on the sub-bracket to prevent the duck webs from rotating upward.

Description

Technical Field

[0001] The present invention relates to the technical field of bionic machinery, and particularly to a bionic duck web underwater driving device. Background Art

[0002] Bionic machinery has been widely used in today's society. By imitating the precise and perfect biological characteristic mechanisms formed in the process of biological evolution, it can not only greatly improve the reliability and rationality of artificial machines, but also help ensure that the mechanical design and manufacturing principles conform to the mainstream of development. Many effective underwater driving methods possessed by organisms are currently incomparable to machines. In the current bionic mechanical underwater propulsion devices in the field of underwater driving, the vast majority are mechanical driving devices that simulate the principle of fin swinging propulsion, and there are very few driving devices for animal flippers, almost in a blank state. The characteristics of biological species diversity have not been fully utilized in underwater driving bionics. Summary of the Invention

[0003] The object of the present invention is to overcome the deficiencies in the above background art and provide a bionic duck web underwater driving device, which should have the characteristics of good reliability and high motion efficiency.

[0004] The technical solution of the present invention is as follows:

[0005] A bionic duck web underwater driving device, characterized in that: the device includes a platform, a servo motor arranged on the platform, two branches arranged on both sides of the platform, a motor arranged on each branch, a first transmission mechanism for transmitting the power of the motor to drive the movement of the branch, and a second transmission mechanism for transmitting the power of the servo motor to drive the turning of the branch;

[0006] The branch includes a main bracket rotatably positioned on the platform, a sub-bracket rotatably positioned on the main bracket, duck webs rotatably positioned on both sides of the sub-bracket, and a limiting plate arranged on the sub-bracket to prevent the duck web from rotating upward;

[0007] The first transmission mechanism includes a chute arranged on the main bracket, a sliding shaft that can slide along the chute and rotate around an axis, a crank driven by the motor, a connecting rod with one end rotatably positioned on the crank and the other end fixed to the sliding shaft, and a rocker with both ends rotatably positioned on the sliding shaft and the sub-bracket;

[0008] The second transmission mechanism includes a transmission rod, a driving connecting rod with one end fixed to the servo motor shaft and the other end rotatably positioned on the transmission rod, and two driven connecting rods with one end rotatably positioned on the transmission rod and the other end fixed to a main bracket.

[0009] The driving connecting rod and the two driven connecting rods are arranged in parallel.

[0010] The rotation axes of the main bracket, the active link, the driven link, the transmission rod, and the axis of the steering gear shaft are parallel to each other; the rotation axis of the auxiliary bracket is perpendicular to the rotation axis of the main bracket.

[0011] The rotation axes of the auxiliary bracket, the crank, the sliding shaft, the connecting rod, the rocker, and the axis of the motor shaft are parallel to each other.

[0012] The beneficial effects of the present invention are as follows:

[0013] The present invention simulates the actions of a duck swimming in water, highly restoring the principle of webbed-foot drive, capable of generating sufficient thrust for propulsion, ensuring the flexibility of steering, and having a relatively reasonable overall structure and high reliability, making it very suitable for popularization and application. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is one of the three-dimensional structure diagrams of the present invention.

[0015] Figure 2 is the second three-dimensional structure diagram of the present invention.

[0016] Figure 3 is the three-dimensional structure diagram of the branch in the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0017] The following further describes the present invention in conjunction with the accompanying drawings of the specification, but the present invention is not limited to the following embodiments.

[0018] As Figure 1 shown, a bionic duck webbed-foot underwater driving device includes a platform 1, a steering gear 2, two motors 3, two branches, a first transmission mechanism, and a second transmission mechanism.

[0019] The platform is horizontally arranged, and the two branches are symmetrically arranged on both sides of the platform. One motor is fixed on each branch, and the motor drives the branch to move through the first transmission mechanism. The steering gear is arranged between the two branches and fixed on the bottom surface of the platform. The steering gear shaft passes through the platform upward and then drives the branch to turn through the second transmission mechanism.

[0020] The branch includes a main bracket 4, an auxiliary bracket 5, and two duck webs 6. The main bracket is vertically arranged and perpendicular to the platform. The top end of the main bracket is rotatably positioned on the platform. The auxiliary bracket is rotatably positioned at the bottom end of the main bracket. The two duck webs are symmetrically arranged on both sides of the auxiliary bracket and the duck webs are rotatably positioned on the auxiliary bracket. A limiting plate 7 is provided on the auxiliary bracket. The limiting plate is located above the duck web and can block the upward rotation of the duck web. When the auxiliary bracket moves downward, the duck web can maintain an open state to generate power.

[0021] In the first transmission mechanism, a chute 8 extending axially is provided on the main bracket. A sliding shaft 9 is arranged in the chute. The sliding shaft can slide along the chute and can also rotate around the axis. The motor is fixed to the main bracket through a mounting seat 16. One end of a crank 10 is fixed to the motor shaft and the other end is rotatably positioned on the connecting rod. One end of a connecting rod 11 is rotatably positioned on the crank and the other end is fixed to the sliding shaft. Both ends of a rocker 12 are rotatably positioned on the sliding shaft and the auxiliary bracket.

[0022] The rotation axis of the auxiliary bracket is perpendicular to the sliding axis of the sliding shaft. The rotation axes in the first transmission mechanism are parallel to each other. The rotation axis of the auxiliary bracket, the rotation axis of the crank, the rotation axis of the sliding shaft, the rotation axis of the connecting rod, the rotation axis of the rocker, and the axis of the motor shaft are parallel to each other.

[0023] In the second transmission mechanism, a platform, a transmission rod 13, a driving connecting rod 14, and two driven connecting rods 15 form a parallelogram mechanism. The end points of the two driven connecting rods are used as the four vertices of the parallelogram mechanism. The driving connecting rod is arranged in parallel with the two driven connecting rods, and the transmission rod is arranged in parallel with the platform. The driving connecting rod is arranged in the middle of the two driven connecting rods. The driving connecting rod connects the motor and the transmission rod, and the two driven connecting rods respectively connect the transmission rod and one of the branches. One end of the driving connecting rod is fixed to the steering gear shaft and the other end is rotatably positioned in the middle of the transmission rod. One end of the driven connecting rod is rotatably positioned at the end of the transmission rod and the other end is fixed to the top of one of the main brackets.

[0024] The rotation axes in the second transmission mechanism are parallel to each other. The rotation axis of the main bracket, the rotation axis of the driving connecting rod, the rotation axis of the driven connecting rod, the rotation axis of the transmission rod, and the axis of the steering gear shaft are parallel to each other; the rotation axis of the auxiliary bracket is perpendicular to the rotation axis of the main bracket.

[0025] The device further includes a controller and a power supply (omitted in the figure). The controller is electrically connected to the steering gear and the motor respectively. The controller can adopt an stm32 single-chip microcomputer. The power supply is used to supply power to the steering gear and the motor. The power supply can adopt a lithium battery. The steering gear adopts a waterproof steering gear and the motor adopts a waterproof motor.

[0026] The working process of the bionic duck web underwater driving device will be described in detail below:

[0027] 1. Initial state: The device is stationary in water. The platform and the parts above are on the water surface, and the other parts are below the water surface.

[0028] 2. Forward movement: When the motor starts, it drives the branch to move through the first transmission mechanism. The auxiliary bracket in the branch drives the duck web to swing up and down continuously. When the auxiliary bracket swings upward, the duck web closes, and when the auxiliary bracket swings downward, the duck web opens to generate power.

[0029] 3. Steering: The servo is started to drive the branch to rotate through the second transmission mechanism. The main bracket in the branch rotates axially at a certain angle to change the swing direction of the duck web, thereby achieving steering.

[0030] Finally, it should be noted that the above examples are only specific embodiments of the present invention. Obviously, the present invention is not limited to the above examples, and many variations are possible. All variations that can be directly derived or associated with the content disclosed by a person skilled in the art should be considered as the protection scope of the present invention.

Claims

1. A bionic duck web underwater driving device, characterized in that: The device includes a platform (1), a servo motor (2) arranged on the platform, two branches arranged on both sides of the platform, a motor (3) arranged on each branch, a first transmission mechanism for transmitting the power of the motor to drive the movement of the branch, and a second transmission mechanism for transmitting the power of the servo motor to drive the steering of the branch; The branch includes a main bracket (4) rotatably positioned on the platform, a sub-bracket (5) rotatably positioned on the main bracket, duck webs (6) rotatably positioned on both sides of the sub-bracket, and a limiting plate (7) arranged on the sub-bracket to block the upward rotation of the duck webs; The first transmission mechanism includes a chute (8) arranged on the main bracket, a sliding shaft (9) that can slide along the chute and rotate around an axis, a crank (10) driven by the motor, a connecting rod (11) with one end rotatably positioned on the crank and the other end fixed to the sliding shaft, and a rocker (12) with both ends rotatably positioned on the sliding shaft and the sub-bracket; The second transmission mechanism includes a transmission rod (13), a driving connecting rod (14) with one end fixed to the servo motor shaft and the other end rotatably positioned on the transmission rod, and two driven connecting rods (15) with one end rotatably positioned on the transmission rod and the other end fixed to a main bracket; The driving connecting rod and the two driven connecting rods are arranged in parallel; The rotation axes of the main bracket, the driving connecting rod, the driven connecting rods, the transmission rod, and the servo motor shaft are parallel to each other; the rotation axis of the sub-bracket is perpendicular to the rotation axis of the main bracket; The rotation axis of the sub-bracket, the rotation axis of the crank, the rotation axis of the sliding shaft, the rotation axis of the connecting rod, the rotation axis of the rocker, and the rotation axis of the motor shaft are parallel to each other.

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