Bionic fishtail dual-drive device and bionic fishtail structure

Abstract

The present invention discloses a bionic fishtail dual-drive device and a bionic fishtail structure, comprising: a first drive assembly, a second drive assembly, and a differential assembly; the differential assembly comprising: a first input shaft and a second input shaft; a first side gear and a second side gear; a differential housing, wherein a planetary gear shaft is mounted within the differential housing, with first and second planetary gears mounted on either end of the planetary gear shaft; a driving gear and a driven gear meshing with each other, wherein the driving gear is mounted on the first input shaft and connected to the differential housing; and an output shaft, wherein the driven gear is mounted on the output shaft. In the present application, the bionic fishtail structure adopts a dual-drive device, wherein the first and second input shafts are respectively connected to the first and second side gears, thereby driving the first and second planetary gears to rotate, further driving the differential housing to rotate. The driving gear is connected to the differential housing, and the driven gear is connected to the output shaft, thereby achieving a stable speed output through the dual-drive assembly, avoiding the problem of insufficient torque when driven by a single motor, while overcoming the problem of uncoordinated speed when driven by two motors.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater bionic fish, in particular to a bionic fish tail dual-drive device and a bionic fish tail structure. Background Art

[0002] The development of underwater bionics and computer science has led to a surge in research on underwater bionic fish. The study of fish propulsion modes forms the foundation of bionic fish. These propulsion modes primarily include MPF (pectoral or pelvic fin propulsion) and BCF (caudal fin propulsion). The latter, however, provides significant thrust and enables high-speed swimming. To achieve the durability, flexibility, and versatility of bionic fish, a complex structure would be too heavy to simulate the complex underwater movements of fish like dolphins, such as buoyancy and sinking.

[0003] At present, the power drive of underwater bionic fish tails mainly adopts single motor drive. Single motor drive leads to insufficient torque in the water and the inability to increase the swing frequency when the tail fin swings more. Therefore, the tail fin swing frequency is usually increased by replacing it with a high-torque and high-power motor. However, this method will also lead to the continuous increase in the size of the motor, thereby causing the size of the fish body to increase. This has a great impact on the flexibility of the robotic fish. With the existing technology, it is difficult to make a motor with sufficient power and small enough size.

[0004] Some underwater bionic fish tails are powered by a dual-motor drive mode. However, the two motors will inevitably have problems such as inconsistent motor speeds and poor stability, which will hinder the flexibility and movement diversity of the bionic fish.

[0005] Therefore, the existing technology needs to be improved. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a bionic fishtail dual-drive device and a bionic fishtail structure in response to the above-mentioned defects of the prior art, aiming to solve the technical problems in the prior art of insufficient torque of a single motor driving the bionic fishtail and uncoordinated speed of the dual motor driving.

[0007] In a first aspect, the present application provides a bionic fishtail dual-drive device, comprising: a first drive assembly, a second drive assembly, and a differential assembly;

[0008] The differential assembly comprises:

[0009] a first input shaft and a second input shaft, wherein the first input shaft and the second input shaft are connected to the first drive assembly and the second drive assembly respectively;

[0010] a first side gear and a second side gear, the first side gear being mounted on the first input shaft and the second side gear being mounted on the second input shaft;

[0011] a differential housing, wherein a planetary gear shaft is mounted in the differential housing, and a first planetary gear and a second planetary gear are mounted at both ends of the planetary gear shaft; the first planetary gear is meshed with the first side gear and the second side gear, and the second planetary gear is meshed with the first side gear and the second side gear;

[0012] a driving gear and a driven gear meshing with each other, wherein the driving gear is mounted on the first input shaft and connected to the differential housing;

[0013] An output shaft is provided on which the driven gear is mounted.

[0014] Optionally, the first driving component includes:

[0015] First motor;

[0016] a first bevel gear and a second bevel gear meshing with each other;

[0017] Wherein, the first bevel gear is mounted on the rotating shaft of the first motor, and the second bevel gear is mounted on an end of the first input shaft away from the first side gear;

[0018] The second drive assembly includes:

[0019] Second motor;

[0020] a third bevel gear and a fourth bevel gear meshing with each other;

[0021] The third bevel gear is mounted on the rotating shaft of the second motor, and the fourth bevel gear is mounted on an end of the second input shaft away from the second side gear.

[0022] In a second aspect, the present application provides a bionic fish tail structure, comprising: a base plate, a tail fin assembly; and a bionic fish dual drive device as described in any of the above technical solutions;

[0023] Wherein, the bionic fish tail dual-drive device and the tail fin assembly are both arranged on the base plate, and the bionic fish dual-tail drive device is used to drive the tail fin assembly to swing back and forth.

[0024] Optionally, a swing assembly is further provided between the output shaft and the tail fin assembly;

[0025] The swing assembly comprises:

[0026] A first linear guide slider and a first polished rod; the first polished rod is slidably connected to the first linear guide slider, the first polished rod passes through the first linear guide slider, and the first polished rod is fixed to the base plate;

[0027] a second linear guide slider and a second polished rod; the second polished rod is slidably connected to the second linear guide slider, the second polished rod passes through the second linear guide slider, and the second polished rod is fixed to the base plate;

[0028] Among them, the first linear guide slider and the second linear guide slider are arranged along the length direction of the base plate, and a slide groove is connected between the first linear guide slider and the second linear guide slider, and the slide groove is connected to the tail fin assembly through a connecting assembly.

[0029] Optionally, the first linear guide slider is provided with linear bearings on both sides of the first polished rod along the axis, and the first polished rod is arranged on the linear bearings; the first linear guide slider is connected to the linear bearings by interference fit.

[0030] Optionally, the connection component includes:

[0031] A slider shaft, the slider shaft is arranged in the slide groove, and a needle bearing is provided on the slider shaft, and the needle bearing is slidably connected to the slide groove;

[0032] a first connecting member and a second connecting member, wherein a first end of the first connecting member is connected to the first end of the slider shaft, and a first end of the second connecting member is connected to the second end of the slider shaft;

[0033] a third connecting member, wherein two ends of the third connecting member are respectively connected to the second end of the first connecting member and the second end of the second connecting member;

[0034] Wherein, the third connecting member is connected to the tail fin assembly.

[0035] Optionally, a cam is installed at the end of the output shaft, and the cam is arranged in a cam frame. The cam frame is slidably and fixedly connected to the first linear guide slider.

[0036] Optionally, the cam is an eccentric wheel.

[0037] Optionally, the first driving assembly includes: a first motor; the second driving assembly includes: a second motor;

[0038] Wherein, the first motor and the second motor are both brushless DC motors.

[0039] Optionally, the tail fin assembly includes:

[0040] a tail fin, a leaf spring, and a tail handle connected in sequence, wherein the tail handle is connected to the third connecting member;

[0041] A radial spherical bearing is installed on the tail handle, a support plate is installed on one end of the base plate close to the tail fin, a through hole is provided on the support plate, and the radial spherical bearing is provided in the through hole.

[0042] Beneficial effect: The present invention provides a bionic fishtail dual-drive device and a bionic fishtail structure, comprising: a first drive assembly, a second drive assembly and a differential assembly; the differential assembly comprises: a first input shaft and a second input shaft, the first input shaft and the second input shaft are respectively connected to the first drive assembly and the second drive assembly; a first half-shaft gear and a second half-shaft gear, the first half-shaft gear is mounted on the first input shaft, and the second half-shaft gear is mounted on the second input shaft; a differential housing, a planetary gear shaft is mounted in the differential housing, and first planetary gears and second planetary gears are respectively mounted at both ends of the planetary gear shaft; the first planetary gear is meshed with the first half-shaft gear and the second half-shaft gear, and the second planetary gear is meshed with the first half-shaft gear and the second half-shaft gear; a driving gear and a driven gear meshing with each other, the driving gear is mounted on the first input shaft, and the driving gear is connected to the differential housing; an output shaft, the driven gear is mounted on the output shaft. The bionic fishtail structure in this application adopts a dual drive device, in which the first input shaft and the second input shaft are respectively connected to the first half-shaft gear and the second half-shaft gear, the first half-shaft gear is connected to the first planetary gear, and the second half-shaft gear is connected to the second planetary gear, thereby driving the first planetary gear and the second planetary gear to rotate, and further driving the differential housing to rotate, while the driving gear is connected to the differential housing, and the driven gear is connected to the output shaft, thereby achieving a stable speed output through the dual drive assembly, avoiding the problem of insufficient torque driven by a single motor, and overcoming the problem of uncoordinated speed of dual motor drives. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the background technology, the drawings required for use in the embodiments of the present application or the background technology will be described below.

[0044] The drawings herein are incorporated into and constitute a part of the specification. These drawings illustrate embodiments consistent with the present application and, together with the specification, are used to illustrate the technical solutions of the present application.

[0045] Figure 1 This is a first structural schematic diagram of a bionic fishtail structure of the present application;

[0046] Figure 2 This is a second structural schematic diagram of a bionic fishtail structure of the present application;

[0047] Figure 3 This is a third structural schematic diagram of a bionic fishtail structure of the present application;

[0048] Figure 4 for Figure 1 Cross-section of the middle BB surface;

[0049] Figure 5 for Figure 1 Cross-section of the middle CC plane;

[0050] Figure 6 for Figure 3 A partial enlarged view of point A in the middle;

[0051] Figure 7 This is a first structural schematic diagram of a differential assembly in a bionic fishtail dual-drive device of the present application;

[0052] Figure 8 This is a second structural schematic diagram of a differential assembly in a bionic fishtail dual-drive device of the present application;

[0053] Figure 9 This is a third structural schematic diagram of a differential assembly in a bionic fishtail dual-drive device of the present application.

[0054] Figure numerals: 100, first drive assembly; 110, first motor; 120, first bevel gear; 130, second bevel gear; 140, first motor mounting bracket; 200, second drive assembly; 210, second motor; 220, third bevel gear; 230, fourth bevel gear; 240, second motor mounting bracket; 300, differential assembly; 310, first input shaft; 311, first bearing seat; 320, second input shaft; 321, second bearing seat; 330, output shaft; 340, first side gear; 350, second side gear; 360, differential housing; 370, planetary gear shaft; 371, first planetary gear; 372, second planetary gear; 380, driving gear; 390, from Moving gear; 301, differential upper frame; 302, differential lower frame; 400, base plate; 410, support plate; 500, tail fin assembly; 510, tail fin; 520, leaf spring; 530, tail handle; 531, centripetal spherical bearing; 600, swing assembly; 610, first linear guide slider; 620, second linear guide slider; 601, first polished rod; 602, second polished rod; 603, first fixed seat; 604, second fixed seat; 630, slide groove; 640, linear bearing; 650, slider shaft; 651, needle roller bearing; 660, first connecting member; 670, second connecting member; 680, third connecting member; 701, cam; 702, cam frame; 703, flange coupling. DETAILED DESCRIPTION

[0055] To make the purpose, technical solutions and advantages of this application clearer and more explicit, the following further describes this application in detail with reference to the accompanying drawings and examples. It should be understood that the specific examples described herein are only used to explain this application and are not intended to limit this application.

[0056] In the description of the application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "horizontal", "top", "bottom", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0057] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0058] In the application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact via another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or diagonally above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly above or diagonally above the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0059] Existing underwater bionic fish tails are primarily powered by a single motor. This single-motor drive results in insufficient torque in the water and an inability to increase the tail fin's swing frequency when the tail fin swings more rapidly. Therefore, the tail fin's swing frequency is typically increased by switching to a higher-torque, higher-power motor. However, this method also increases the size of the motor, which in turn increases the size of the fish itself, significantly impacting the robot fish's flexibility. With existing technology, it's difficult to create a motor that's both powerful and small enough. Furthermore, a single-motor drive inevitably generates unidirectional torque, which is unavoidable. For a robotic fish moving in water, this unilateral torque can cause the fish's body to deflect, leading to unstable motion.

[0060] If a dual-motor drive mode is used to drive the underwater bionic fish tail, the two motors will inevitably have problems such as uncoordinated motor speeds and poor stability, which will hinder the flexibility and movement diversity of the bionic fish.

[0061] Based on this, the present application hopes to provide a solution that can solve the above technical problems, the details of which will be explained in the subsequent embodiments.

[0062] The following is combined with Figures 1 to 9 , the embodiments of this application are described in detail through specific embodiments and their application scenarios.

[0063] The embodiment of the present application provides a bionic fishtail dual-drive device, comprising: a first drive assembly 100, a second drive assembly 200, and a differential assembly 300; the differential assembly 300 comprises: a first input shaft 310 and a second input shaft 320 arranged coaxially, the first input shaft 310 and the second input shaft respectively connecting the first drive assembly 100 and the second drive assembly 200; a first side gear 340 and a second side gear 350, the first side gear 340 being mounted on the first input shaft 310, and the second side gear 350 being mounted on the second input shaft 320; a differential case 360, the differential case 360 A planetary gear shaft 370 is installed inside, and a first planetary gear 371 and a second planetary gear 372 are installed at both ends of the planetary gear shaft 370; the first planetary gear 371 is meshed with the first side shaft gear 340 and the second side shaft gear 350, and the second planetary gear 372 is meshed with the first side shaft gear 340 and the second side shaft gear 350; a driving gear 380 and a driven gear 390 are meshed with each other, and the driving gear 380 is installed on the first input shaft 310, and the driving gear 380 is connected to the differential case 360; an output shaft 330, and the driven gear 390 is installed on the output shaft 330.

[0064] like Figures 7 to 9 As shown, the differential assembly 300 is arranged in an accommodating cavity composed of a differential upper frame 301 and a differential lower frame 302. The first drive assembly 100 is connected to the first input shaft 310 for driving the first input shaft 310 to rotate. The second drive assembly 200 is connected to the second input shaft 320 for driving the second input shaft 320 to rotate. The first input shaft 310 and the second input shaft 320 are coaxially arranged. The first input shaft 310 and the second input shaft 320 are respectively located on opposite sides of the differential assembly 300, and the output shaft 330 is perpendicular to the first input shaft 310.

[0065] In this embodiment, the bionic fishtail structure is driven by a dual drive assembly. The first input shaft 310 and the second input shaft 320 are respectively connected to the first side gear 340 and the second side gear 350. The first side gear 340 and the second side gear 350 are both connected to the first planetary gear 371 and the second planetary gear 372, thereby driving the first planetary gear 371 and the second planetary gear 372 to rotate. The planetary gear shaft 370 then drives the differential case 360 ​​to rotate. The driving gear 380 is connected to the differential case 360, and the driven gear 390 is connected to the output shaft 330. Therefore, the driving force of the first drive assembly 100 and the second drive assembly 200 are both transmitted to the output shaft 330 through the driving gear 380 and the driven gear 390, thereby achieving dual drive while ensuring that the output shaft 330 can output a stable speed.

[0066] Due to the setting of the first drive component 100 and the second drive component 200, the problem of insufficient torque of single-motor drive in water, which leads to the inability to increase the swing frequency, is overcome. At the same time, the dual-motor drive will generate a symmetrical torque, which can eliminate the influence of the unidirectional torque generated by the single motor on the entire fish body, thereby improving the overall stability of the bionic fish tail structure.

[0067] It is worth noting that the bionic fishtail dual-drive device in this embodiment utilizes the autorotation of the first planetary gear 371 and the second planetary gear 372 in the differential assembly 300 to achieve a stable speed output by the output shaft 330. This can solve the problem of tooth jumping caused by inconsistent rotational speeds of the first input shaft 310 and the second input shaft 320, which may cause damage to the bionic fishtail dual-drive device. At the same time, when one motor fails, the other motor can still operate normally, thereby increasing the overall stability and reliability.

[0068] Based on the above embodiment, the first drive assembly 100 includes: a first motor 110; a first bevel gear 120 and a second bevel gear 130 that are meshed with each other; wherein the first bevel gear 120 is mounted on the rotating shaft of the first motor 110, and the second bevel gear 130 is mounted on the end of the first input shaft 310 away from the first side gear 340; the second drive assembly 200 includes: a second motor 210; a third bevel gear 220 and a fourth bevel gear 230 that are meshed with each other; wherein the third bevel gear 220 is mounted on the rotating shaft of the second motor 210, and the fourth bevel gear 230 is mounted on the end of the second input shaft 320 away from the second side gear 350.

[0069] like Figure 1 and Figure 2As shown, the rotating shaft of the first motor 110 is connected to the first bevel gear 120 via a fastening screw, and the first input shaft 310 is connected to the second bevel gear 130 via a fastening screw, thereby transmitting the power of the first motor 110 to the first input shaft 310 through the first bevel gear 120 and the second bevel gear 130. The rotating shaft of the second motor 210 is connected to the third bevel gear 220 via a fastening screw, and the second input shaft 320 is connected to the fourth bevel gear 230 via a fastening screw, thereby transmitting the power of the second motor 210 to the second input shaft 320 via the third bevel gear 220 and the fourth bevel gear 230.

[0070] An embodiment of the present application also provides a bionic fish tail structure, comprising: a substrate 400, a tail fin assembly 500; and a bionic fish dual-drive device as described in any of the above technical solutions; wherein the bionic fish tail dual-drive device and the tail fin assembly 500 are both arranged on the substrate 400, and the bionic fish dual-tail drive device is used to drive the tail fin assembly 500 to swing back and forth.

[0071] Since the bionic fish tail structure includes the above-mentioned bionic fish dual-drive device, it also has any beneficial effect of the above-mentioned technical solution. The specific technical effects have been described in detail above and will not be repeated here.

[0072] like Figure 1 and Figure 2 As shown, the first motor 110 is mounted on the base plate 400 through the first motor fixing bracket 140, and the second motor 210 is mounted on the base plate 400 through the second motor fixing bracket 240. The first motor 110 and the second motor 210 are both mounted at the head of the base plate 400 (on the right side of the base plate 400 in the figure), the first input shaft 310 is mounted on the base plate 400 through the first bearing seat 311, and the second input shaft 320 is mounted on the base plate 400 through the second bearing seat 321. The tail fin assembly 500 is mounted at the tail of the base plate 400, and the output shaft 330 provides power for the reciprocating (up and down) swing of the tail fin assembly 500.

[0073] On the basis of the above embodiment, a swing assembly 600 is further provided between the output shaft 330 and the tail fin assembly 500; the swing assembly 600 includes: a first linear guide slider 610 and a first light rod 601; the first light rod 601 is slidably connected to the first linear guide slider 610, the first light rod 601 passes through the first linear guide slider 610, and the first light rod 601 is fixed on the base plate 400; a second linear guide slider 620 and a second light rod 602; the second light rod 602 is slidably connected to the second linear guide slider 620, the second light rod 602 passes through the second linear guide slider 620, and the second light rod 602 is fixed on the base plate 400; wherein, the first linear guide slider 610 and the second linear guide slider 620 are arranged along the length direction of the base plate 400, and a slide groove 630 is connected between the first linear guide slider 610 and the second linear guide slider 620, and the slide groove 630 is connected to the tail fin assembly 500 through a connecting assembly.

[0074] like Figure 1 、 Figure 3 and Figure 6 As shown, the swing assembly 600 is installed on the base plate 400 and is located between the output shaft 330 and the tail fin assembly 500. The output shaft 330, the swing assembly 600 and the tail fin assembly 500 are arranged in sequence along the length direction of the base plate 400. The swing assembly 600 is used to drive the tail fin assembly 500 to swing up and down under the action of the output shaft 330.

[0075] Specifically, the swing assembly 600 includes a first linear guide slider 610 and a second linear guide slider 620. The first optical rod 601 and the second optical rod 602 are respectively fixed on the base plate 400 by the first fixed seat 603 and the second fixed seat 604. The first optical rod 601 and the second optical rod 602 are both arranged vertically to the base plate 400. The first linear guide slider 610 slides up and down on the first optical rod 601, and the second linear guide slider 620 slides up and down on the second optical rod 602. The slide groove 630 is connected between the first linear guide slider 610 and the second linear guide slider 620, and then the slide groove 630 is connected to the tail fin assembly 500 through the connecting assembly to realize the up and down swing of the tail fin assembly 500.

[0076] Preferably, linear bearings 640 are provided on both sides of the first linear guide slider 610 along the axial direction of the first light rod 601, and the first linear guide slider 610 is connected to the linear bearings 640 by interference fit. Similarly, linear bearings 640 are also provided on both sides of the second linear guide slider 620 along the axial direction of the second light rod 602, and the second linear guide slider 620 is connected to the linear bearings 640 by interference fit.

[0077] Taking into account that the movement of a single-sided light rod is unstable and prone to shaking, the first light rod 601 is used in conjunction with the first linear guide slider 610, and the second light rod 602 is used in conjunction with the second linear guide slider 620 to slide together, which can maintain the overall stability and balance. The first linear guide slider 610 and the second linear guide slider 620 drive the slide 630 to move up and down, making the movement more stable and easy to disassemble and assemble.

[0078] Based on the above embodiments, the connection component can be implemented in various ways. In a preferred implementation, the connection component includes: a slider shaft 650, the slider shaft 650 is arranged in the slide groove 630, and a needle bearing 651 is provided on the slider shaft 650, and the needle bearing 651 is slidingly connected to the slide groove 630; a first connecting member 660 and a second connecting member 670, the first end of the first connecting member 660 is connected to the first end of the slider shaft 650, and the first end of the second connecting member 670 is connected to the second end of the slider shaft 650; a third connecting member 680, the two ends of the third connecting member 680 are respectively connected to the second end of the first connecting member 660 and the second end of the second connecting member 670; wherein, the third connecting member 680 is connected to the tail fin assembly 500.

[0079] like Figure 6 As shown, the needle bearing 651 is arranged on the slider shaft 650 in the slide groove 630, and the needle bearing 651 is connected to the slide groove 630 through the slider shaft 650, the first connecting member 660, the second connecting member 670, and the third connecting member 680. The first connecting member 660, the second connecting member 670, the third connecting member 680 and the slider shaft 650 form a square structure, and the tail fin assembly 500 is connected to the middle part of the third connecting member 680, which can ensure the overall stability and balance of the bionic fishtail structure.

[0080] On the basis of the above embodiment, a cam 701 is installed at the end of the output shaft 330 . The cam 701 is disposed in a cam frame 702 . The cam frame 702 is slidably and fixedly connected to the first linear guide slider 610 .

[0081] like Figure 1 and Figure 5As shown, a cam 701 and a cam frame 702 are also installed between the output shaft 330 and the swing assembly 600. The output shaft 330 is connected to the cam 701 through a flange coupling 703. The cam 701 is located in the cam frame 702. The cam frame 702 and the first linear guide slider 610 can be fixedly connected by screws. In this embodiment, the cooperation of the cam 701 and the cam frame 702 is utilized to convert the continuous rotational motion of the motor into the linear motion of the cam frame 702. Therefore, the first motor 110 and the second motor 210 can rotate in the same direction, avoiding the vibration of the fish body caused by the frequent forward and reverse rotation of the motor, and making the movement more stable.

[0082] In the prior art, motor-driven fishtail swinging causes the motor to constantly rotate forward and reverse, which causes significant wear and tear on the motor, shortening its service life. Furthermore, the control is very complex and places high demands on the control circuit. However, with this embodiment, the first motor 110 and the second motor 210 do not need to rotate forward and reverse frequently, thereby extending the service life of the motors.

[0083] Preferably, the cam 701 described in the above embodiment is an eccentric wheel.

[0084] Preferably, the first motor 110 and the second motor 210 can both be selected as relatively small brushless DC motors to prevent the first motor 110 and the second motor 210 from being too large and affecting the flexibility of the bionic fish.

[0085] Based on the above embodiment, the tail fin assembly 500 includes: a tail fin 510, a leaf spring 520 and a tail handle 530 connected in sequence, and the tail handle 530 is connected to the third connecting member 680; wherein, a radial spherical bearing 531 is installed on the tail handle 530, and a support plate 410 is installed at one end of the base plate 400 close to the tail fin 510, and a through hole is provided on the support plate 410, and the radial spherical bearing 531 is provided in the through hole.

[0086] like Figures 1 to 4 As shown, the tail fin 510 is located at the very end of the bionic fishtail structure, the first end of the tail handle 530 is connected to the middle of the third connecting member 680, the second end of the tail handle 530 is connected to the leaf spring 520, the middle part of the tail handle 530 is cylindrical, and the centripetal spherical bearing 531 is installed in the middle part of the tail handle 530; a support plate 410 is installed at the end of the base plate 400, and the support plate 410 is arranged perpendicular to the base plate 400. A through hole is opened on the support plate 410, which cooperates with the centripetal key bearing, and the centripetal spherical bearing 531 is installed in the through hole.

[0087] Specifically, since the joint radial bearing is used as a fixed fulcrum in this embodiment, the fishtail movement has greater flexibility, and the tail fin assembly 500 can swing quickly.

[0088] In summary, the present invention provides a bionic fishtail dual-drive device and a bionic fishtail structure, comprising: a first drive assembly 100, a second drive assembly 200, and a differential assembly 300; the differential assembly 300 comprises: a first input shaft 310 and a second input shaft 320 arranged coaxially, the first input shaft 310 and the second input shaft being connected to the first drive assembly 100 and the second drive assembly 200 respectively; a first side gear 340 and a second side gear 350, the first side gear 340 being mounted on the first input shaft 310, and the second side gear 350 being mounted on the second input shaft 320; a differential case 360, the differential case A planetary gear shaft 370 is installed in 360, and a first planetary gear 371 and a second planetary gear 372 are installed at both ends of the planetary gear shaft 370; the first planetary gear 371 is meshed with the first side gear 340 and the second side gear 350, and the second planetary gear 372 is meshed with the first side gear 340 and the second side gear 350; a driving gear 380 and a driven gear 390 are meshed with each other, and the driving gear 380 is installed on the first input shaft 310 and connected to the differential case 360; an output shaft 330, and the driven gear 390 is installed on the output shaft 330. In the present application, the bionic fishtail structure adopts a dual-drive device, in which the first input shaft 310 and the second input shaft 320 are respectively connected to the first half-shaft gear 340 and the second half-shaft gear 350, the first half-shaft gear 340 is connected to the first planetary gear 371, and the second half-shaft gear 350 is connected to the second planetary gear 372, thereby driving the first planetary gear 371 and the second planetary gear 372 to rotate, and further driving the differential housing 360 to rotate, while the driving gear 380 is connected to the differential housing 360, and the driven gear 390 is connected to the output shaft 330, thereby achieving a stable speed output through the dual-drive assembly, avoiding the problem of insufficient torque driven by a single motor, and overcoming the problem of uncoordinated speed of the dual-motor drive.

[0089] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are intended solely to illustrate the principles of the present invention and are not to be construed in any way as limiting the scope of protection of the present invention. Based on the explanations herein, those skilled in the art will readily conceive of other specific embodiments of the present invention without inventive effort, and such embodiments will fall within the scope of protection of the present invention.

Claims

1. A bionic fishtail structure, characterized in that: include: Base plate, tail fin assembly; and a bionic fishtail dual drive mechanism; Wherein, the bionic fishtail dual-drive device and the tail fin assembly are both arranged on the base plate, and the bionic fishtail dual-drive device is used to drive the tail fin assembly to swing back and forth; The bionic fishtail dual-drive device is characterized by comprising: a first drive assembly, a second drive assembly and a differential assembly; The differential assembly comprises: a first input shaft and a second input shaft, wherein the first input shaft and the second input shaft are connected to the first drive assembly and the second drive assembly respectively; a first side gear and a second side gear, the first side gear being mounted on the first input shaft and the second side gear being mounted on the second input shaft; a differential housing, wherein a planetary gear shaft is mounted in the differential housing, and a first planetary gear and a second planetary gear are mounted at both ends of the planetary gear shaft; the first planetary gear is meshed with the first side gear and the second side gear, and the second planetary gear is meshed with the first side gear and the second side gear; a driving gear and a driven gear meshing with each other, wherein the driving gear is mounted on the first input shaft and connected to the differential housing; an output shaft, the driven gear being mounted on the output shaft; A swing assembly is further provided between the output shaft and the tail fin assembly; The swing assembly comprises: A first linear guide slider and a first polished rod; the first polished rod is slidably connected to the first linear guide slider, the first polished rod passes through the first linear guide slider, and the first polished rod is fixed to the base plate; a second linear guide slider and a second polished rod; the second polished rod is slidably connected to the second linear guide slider, the second polished rod passes through the second linear guide slider, and the second polished rod is fixed to the base plate; Among them, the first linear guide slider and the second linear guide slider are arranged along the length direction of the substrate. A slide groove is connected between the first linear guide slider and the second linear guide slider, and the slide groove is connected to the tail fin assembly through a connecting assembly.

2. The bionic fishtail structure according to claim 1, characterized in that: The first drive assembly comprises: First motor; a first bevel gear and a second bevel gear meshing with each other; Wherein, the first bevel gear is mounted on the rotating shaft of the first motor, and the second bevel gear is mounted on an end of the first input shaft away from the first side gear; The second drive assembly includes: Second motor; a third bevel gear and a fourth bevel gear meshing with each other; The third bevel gear is mounted on the rotating shaft of the second motor, and the fourth bevel gear is mounted on an end of the second input shaft away from the second side gear.

3. The bionic fishtail structure according to claim 1, characterized in that: The first linear guide slider is provided with linear bearings on both sides of the first polished rod along the axial direction, and the first polished rod is arranged on the linear bearings; the first linear guide slider is connected to the linear bearings by interference fit.

4. The bionic fishtail structure according to claim 1, characterized in that: The connection component includes: A slider shaft, the slider shaft is arranged in the slide groove, and a needle bearing is provided on the slider shaft, and the needle bearing is slidably connected to the slide groove; a first connecting member and a second connecting member, wherein a first end of the first connecting member is connected to the first end of the slider shaft, and a first end of the second connecting member is connected to the second end of the slider shaft; a third connecting member, wherein two ends of the third connecting member are respectively connected to the second end of the first connecting member and the second end of the second connecting member; Wherein, the third connecting member is connected to the tail fin assembly.

5. The bionic fishtail structure according to claim 1, characterized in that: A cam is installed at the end of the output shaft. The cam is arranged in a cam frame. The cam frame is slidably and fixedly connected to the first linear guide slider.

6. The bionic fishtail structure according to claim 5, characterized in that: The cam is an eccentric wheel.

7. The bionic fishtail structure according to claim 5, characterized in that: The first drive assembly includes: a first motor; the second drive assembly includes: a second motor; Wherein, the first motor and the second motor are both brushless DC motors.

8. The bionic fishtail structure according to claim 4, characterized in that: The tail fin assembly includes: a tail fin, a leaf spring, and a tail handle connected in sequence, wherein the tail handle is connected to the third connecting member; A radial spherical bearing is installed on the tail handle, a support plate is installed on one end of the base plate close to the tail fin, a through hole is provided on the support plate, and the radial spherical bearing is provided in the through hole.

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