Swing device, underwater bionic propeller and application thereof

Abstract

The application relates to a swing device, an underwater bionic propeller and application thereof, the swing device comprising: a swing mechanism, the swing mechanism comprising a swing arm; a steering mechanism, a driving end of the steering mechanism being drivingly connected with the swing arm to drive the swing arm to reciprocating swing; a reciprocating motion mechanism, the reciprocating motion mechanism being drivingly connected with a fixed end of the steering driving assembly to drive the swing arm to reciprocating rotation by driving the steering mechanism to move; wherein the steering mechanism drives the swing arm to swing alone to change a swing area of the swing arm driven by the reciprocating motion mechanism to reciprocating swing. The reciprocating motion mechanism of the swing device drives the swing arm to reciprocating swing, and the steering mechanism can change the position of the swing area of the swing arm. When the swing device is applied to drive the underwater bionic propeller, the underwater bionic propeller can be driven to move in the form of swing, and the moving direction of the underwater bionic propeller can be changed.

Description

Technical Field

[0001] This application relates to the field of mechanical transmission technology, and in particular to a swinging device, an underwater bionic propulsion device, and their applications. Background Technology

[0002] Oceans cover three-quarters of the Earth's surface, containing not only valuable fishery resources but also abundant mineral energy. As terrestrial energy resources are rapidly depleted, humanity will inevitably engage in large-scale exploitation of marine resources. Therefore, developing high-performance underwater operation systems and safeguarding maritime security are of great strategic significance to the nation.

[0003] Traditional underwater operation systems, such as submarines, autonomous underwater vehicles, and remotely operated underwater vehicles, are mainly driven by propellers.

[0004] However, using propellers as the driving method has the following problems: 1. It is noisy and not friendly to the underwater ecosystem; 2. A single propeller cannot complete the steering function; 3. Traditional propeller propulsion is prone to getting entangled in aquatic plants, fishing nets and other debris. Summary of the Invention

[0005] This application provides a swinging device, an underwater bionic propulsion device and its application, to solve the technical problems in the related art such as high noise from propeller drive, inability of a single propeller propeller to complete steering, and easy entanglement of propellers with aquatic plants, fishing nets and other debris.

[0006] In a first aspect, a swinging device is provided, comprising:

[0007] A swing mechanism, the swing mechanism including a swing arm;

[0008] A steering mechanism, wherein the drive end of the steering mechanism is connected to the swing arm to drive the swing arm to reciprocate;

[0009] A reciprocating motion mechanism is driven to the fixed end of the steering mechanism so as to drive the swing arm to reciprocate by driving the steering mechanism to move.

[0010] Specifically, the steering mechanism alone drives the swing arm to swing, thereby changing the swing area of ​​the swing arm driven by the reciprocating motion mechanism to swing back and forth, or the reciprocating motion mechanism alone drives the swing arm to swing, thereby changing the swing area of ​​the swing arm driven by the steering mechanism to swing back and forth.

[0011] In some embodiments, the swing mechanism further includes a swing gear, the swing arm is connected to the swing gear, and the length direction of the swing arm is set at an angle to the rotation axis direction of the swing gear;

[0012] The steering mechanism includes a rack and a steering drive assembly. The oscillating gear is connected to the rack in a transmission manner. The drive end of the rotation drive assembly is connected to the rack to drive the rack to reciprocate in a first direction, thereby driving the oscillating gear to reciprocate.

[0013] In some embodiments, the reciprocating motion mechanism includes a reciprocating motion drive component and an output component. The reciprocating motion drive component drives the output component to reciprocate in the first direction, and the output component is connected to the fixed end of the rotation drive component to drive the steering drive component and the rack to move together in the first direction.

[0014] In some embodiments, the reciprocating motion drive assembly includes an adjustable amplitude sine mechanism, the output of which reciprocates in the first direction and is connected to the output element.

[0015] In some embodiments, the steering drive assembly includes a lead screw assembly, the lead screw assembly comprising:

[0016] A lead screw, which is connected to the rack and pinion drive, and one end of the lead screw is rotatably connected to the output component;

[0017] A steering drive unit is driven to the end of the lead screw that is away from the output unit.

[0018] In some embodiments, the oscillating mechanism further includes a transmission gear, and the rack is connected to the oscillating gear via the transmission gear.

[0019] In some embodiments, the oscillating mechanism further includes a transmission assembly, through which the transmission gear is connected to the oscillating gear, and the transmission assembly includes a belt drive assembly or a chain drive assembly.

[0020] The beneficial effects of the technical solution provided in this application include:

[0021] This application provides a swinging device that uses a reciprocating motion mechanism to drive a steering mechanism and a swing arm to move together, causing the swing arm to swing back and forth, thus realizing the swinging function of the swing arm, which swings within a specific swinging area. Alternatively, the steering mechanism can also drive the swing arm to swing independently, changing the position of the swing arm. Therefore, the initial position of the swing arm driven by the reciprocating motion mechanism changes, and the position of the swinging area of ​​the swing arm changes. When this swinging device is applied to an underwater biomimetic propulsion system, the swing arm swings underwater to realize the movement of the underwater biomimetic propulsion system. By changing the position of the swinging area of ​​the swing arm, the direction of propulsion is changed, completing the steering of the underwater biomimetic propulsion system. As a driving mechanism, the swinging device facilitates the steering of the underwater biomimetic propulsion system, produces less noise, is less likely to affect the underwater ecosystem, and is less likely to become entangled in aquatic plants, fishing nets, or other debris.

[0022] Secondly, an underwater biomimetic propulsion device is provided, including the oscillation device described above.

[0023] Another embodiment of this application provides an underwater bionic propulsion device. Since the underwater bionic propulsion device adopts the above-mentioned swing device, the underwater bionic propulsion device can operate under the drive of the swing device and can be steered by the swing device, replacing the traditional propeller drive form. The way in which the swing arm swings to drive the underwater bionic propulsion device is less noisy, less likely to affect the underwater ecology, and less likely to get tangled in aquatic plants, fishing nets and other debris.

[0024] Thirdly, an application of the swinging device described above in a chimera is provided.

[0025] In another embodiment of this application, the swinging device is applied to a bionic bird. The swinging of the swinging arm serves as the drive for the bionic bird, enabling the movement of the bionic bird. Furthermore, the swinging area of ​​the swinging arm is changed by a steering mechanism to meet the different flight requirements of the bionic bird.

[0026] Fourthly, the application of a swinging device as described above in a robot.

[0027] In another embodiment of this application, the swing device is applied to a robot. The swing arm serves as the robot's leg drive, enabling the robot to move. Furthermore, the swing area of ​​the swing arm is changed using a steering mechanism to meet the robot's movement requirements on different slopes. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 A simplified structural diagram of the swing device provided in the embodiments of this application;

[0030] Figure 2 A simplified structural diagram of another state of the swing device provided in the embodiments of this application;

[0031] Figure 3 A simplified structural diagram of the reciprocating motion mechanism provided in the embodiments of this application;

[0032] Figure 4 A schematic diagram of an underwater biomimetic thruster provided for another embodiment of this application.

[0033] In the diagram: 1. Reciprocating motion mechanism; 11. Reciprocating motion drive assembly; 111. Driving crank; 111a. Sliding groove; 112. Sliding connector; 113. Driven component; 113a. Guide groove; 114. Rotating shaft; 115. One-way bearing; 116. Adjusting mechanism; 1161. Amplitude crank; 1162. Connecting rod; 12. Output component; 2. Steering mechanism; 21. Rack; 22. Steering drive assembly; 221. Lead screw; 222. Steering drive component; 223. Clutch; 224. Coupling; 3. Oscillating mechanism; 31. Oscillating gear; 32. Oscillating arm; 33. Transmission gear; 4. Frame. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0035] This application provides a swinging device, an underwater bionic propulsion device, and their applications. The reciprocating motion mechanism of the swinging device drives the swing arm to swing back and forth, and the steering mechanism can change the initial swing position of the swing arm to change the position of the swing area. When applied to drive an underwater bionic propulsion device, the swinging device can drive the underwater bionic propulsion device to move through swinging motion and can change the direction of motion of the underwater bionic propulsion device. This application solves the technical problems of propeller-driven propulsion, such as high noise, inability of a single propeller propeller to complete steering, and easy entanglement of propellers with aquatic plants, fishing nets, and other debris in related technologies.

[0036] Reference Figure 1 A swinging device includes a frame 4, a reciprocating motion mechanism 1, a steering mechanism 2 and a swinging mechanism 3 disposed on the frame 4.

[0037] The swing mechanism 3 includes a swing arm 32. The drive end of the steering mechanism 2 is driven to the swing arm 32 to drive the swing arm 32 to swing back and forth. The reciprocating motion mechanism 1 is driven to the fixed end of the steering mechanism 2 to drive the swing arm 32 to rotate back and forth by driving the steering mechanism 2. Therefore, the steering mechanism 2 alone drives the swing arm 32 to swing, thereby changing the swing area of ​​the swing arm 32 driven by the reciprocating motion mechanism 1, or the reciprocating motion mechanism 1 alone drives the swing arm 32 to swing, thereby changing the swing area of ​​the swing arm 32 driven by the steering mechanism 2. In this embodiment, the reciprocating motion mechanism 1 serves as the main swing output of the swing arm 32, which is used to continuously drive the swing arm 32 to swing back and forth within a specific swing area; while the steering mechanism 2 alone drives the swing arm 32 to swing, thereby changing the position of the swing area of ​​the swing arm 32 driven by the reciprocating motion mechanism 1.

[0038] In this embodiment, both the steering mechanism 2 and the reciprocating motion mechanism 1 use linear motion to drive the swing arm 32 to swing back and forth, as detailed below. In other embodiments, the steering mechanism 2 and the reciprocating motion mechanism 1 may also use reciprocating rotation to drive the swing arm 32 to swing back and forth.

[0039] Reference Figure 1 and Figure 2 The reciprocating motion mechanism 1 includes a reciprocating motion drive assembly 11 and an output component 12. The reciprocating motion drive assembly 11 drives the output component 12 to reciprocate in a first direction, which is the X-axis direction in the figure. The steering mechanism 2 includes a rack 21 and a steering drive assembly 22. The output component 12 is connected to the steering drive assembly 22 to drive the steering drive assembly 22 to move in the first direction. The rotation drive assembly drives the rack 21 to move in the first direction. The swing mechanism 3 also includes a swing gear 31, which is connected to the rack 21. The swing arm 32 is connected to the swing gear 31, and the length direction of the swing arm 32 is set at an angle to the rotation axis direction of the swing gear 31.

[0040] Reference Figure 1 and Figure 2 When the swing arm 32 swings, the reciprocating motion drive assembly 11 drives the drive component, the steering drive assembly 22 and the rack 21 to move together in the first direction. At this time, there is no relative movement between the rack 21 and the steering drive assembly 22. The rack 21 reciprocates in the first direction and drives the swing gear 31 to rotate reciprocally. Therefore, the swing arm 32 connected to the swing gear 31 swings back and forth with the swing gear 31, realizing the function of driving the swing arm 32 to swing through the reciprocating motion drive assembly 11.

[0041] Reference Figure 1 and Figure 2Furthermore, the reciprocating motion drive assembly 11 stops operating, and the steering drive assembly 22 drives the rack 21 to move in the first direction. The rack 21 then drives the oscillating gear 31 to rotate, and the swing arm 32 rotates with the oscillating gear 31. Therefore, the position of the swing area of ​​the swing arm 32 under the action of the reciprocating motion drive assembly 11 changes, and the position of the swing area of ​​the swing arm 32 under the action of the reciprocating motion drive assembly 11 rotates with the rotation of the oscillating gear 31. When the swing arm 32 is underwater, the direction of the thrust generated by the swing arm 32 is consistent with the length direction of the swing arm 32 at its initial position. Under the drive of the reciprocating motion drive assembly 11, the swing arm 32 swings at equal angles on both sides of its initial position. After the swing arm 32 is rotated by the steering drive assembly 22, the initial position of the swing arm 32 changes, and therefore the direction of the thrust generated by the swing arm 32 underwater also changes. When the swinging device is applied to an underwater bionic thruster, the underwater bionic thruster can move under the swinging action of the swinging arm 32. Furthermore, by changing the initial position of the swinging arm 32, the thrust generated by the swinging arm 32 changes, thereby achieving the steering of the underwater bionic thruster.

[0042] With this configuration, the swinging device, when applied to the underwater biomimetic propulsion system, uses the reciprocating motion drive component 11 to drive the swing arm 32 to swing back and forth, thus achieving the movement of the underwater biomimetic propulsion system. This drive method produces less noise, is less likely to affect the underwater ecosystem, and is less likely to entangle aquatic plants, fishing nets, or other debris. Furthermore, by using the steering drive component 22 to rotate the swing arm 32, the initial position of the swing arm 32 is changed, thereby altering the direction of the thrust generated by the swing arm 32 during underwater swing, thus achieving steering of the underwater biomimetic propulsion system.

[0043] Reference Figure 1 and Figure 2 In this embodiment, the end faces of the swing arm 32 and the swing gear 31 are fixed by bolts. The length direction of the swing arm 32 is perpendicular to the rotation axis of the swing gear 31 to facilitate fixing the swing arm 32. Furthermore, the length direction of the swing arm 32 is also arranged radially along the swing gear 31, which facilitates determining the length direction of the initial swing position of the swing arm 32, so as to determine the direction of the thrust generated by the swing arm 32 when swinging underwater.

[0044] Reference Figure 1 and Figure 3Specifically, the reciprocating motion drive assembly 11 includes an adjustable amplitude sine mechanism, wherein the adjustable amplitude sine mechanism includes a driving crank 111, a sliding connector 112, and a driven member 113. The driving crank 111 rotates on the frame 4 with one end as its pivot point. The sliding connector 112 is rotatably connected to the driving crank 111. The driven member 113 is vertically arranged and has a guide groove 113a extending along its length. The sliding connector 112 can move within the guide groove 113a. The driven member 113 is constrained by the frame 4 and moves left and right along a first direction of the frame 4. The driving crank 111, the sliding connector 112, the driven member 113, and the frame 4 constitute a conventional sine mechanism. The rotation of the driving crank 111 drives the driven member 113 to reciprocate left and right.

[0045] Reference Figure 1 and Figure 3 In this embodiment, the driven member 113 and the output member 12 are fixed. Both the driven member 113 and the output member 12 are rod-shaped, and the output member 12 passes through the slide groove of the frame 4, thus restricting the movement direction of the driven member 113. As the driving crank 111 rotates, it drives the driven member 113 and the output member 12 to reciprocate together in the first direction.

[0046] Reference Figure 1 and Figure 3 Furthermore, the adjustable amplitude sine mechanism also includes an adjustment structure 116. The drive crank 111 has a sliding groove 111a along its length. The sliding connector 112 is rotatably connected to the drive crank 111 and can move within the sliding groove 111a. The adjustment structure 116 can move synchronously with the drive crank 111 and can adjust the position of the sliding connector 112 within the sliding groove 111a.

[0047] Reference Figure 1 and Figure 3The adjustable amplitude sine mechanism provided in this embodiment allows the adjustment structure 116 to move synchronously without affecting the movement of the sliding connector 112 and the driven member 113 when the active crank 111 rotates. When it is necessary to adjust the movement amplitude of the driven member 113, the adjustment structure 116 acts on the sliding connector 112. By adjusting the position of the sliding connector 112 in the sliding groove 111a, the movement amplitude of the driven member 113 is adjusted, thereby adjusting the amplitude of the reciprocating motion of the output member 12 in the first direction. That is, the closer the position of the sliding connector 112 in the sliding groove 111a is to the rotation axis 114, the smaller the amplitude of the reciprocating motion of the output member 12 in the first direction. The farther the position of the sliding connector 112 in the sliding groove 111a is from the rotation axis 114, the larger the amplitude of the reciprocating motion of the output member 12 in the first direction. As a result, the distance of the rack 21 being driven to reciprocate is changed, and the reciprocating rotation angle of the swing gear 31 is also changed accordingly, thus changing the swing amplitude of the swing arm 32. When the swing arm 32 is applied to the underwater bionic thruster, the greater the swing amplitude of the swing arm 32 when it moves underwater, the faster the underwater bionic thruster runs, thus allowing for speed adjustment of the underwater bionic thruster.

[0048] Reference Figure 1 and Figure 3 In this embodiment, the sliding groove 111a and the guide groove 113a are both through-holes to facilitate the assembly of the sliding connector 112. Furthermore, the sliding connector 112 is movably connected to both the sliding groove 111a and the guide groove 113a. With the sliding groove 111a and the guide groove 113a through-holes, the points, lines, or surfaces where the sliding connector 112 contacts the sliding groove 111a and the guide groove 113a are closer to the structural center, which is beneficial to the stability of the transmission. Those skilled in the art may also design the guide groove 113a or the sliding groove 111a as a blind hole structure; this is not a unique limitation.

[0049] Reference Figure 1 and Figure 3Furthermore, the sliding connector 112 includes a central shaft and a front wheel and a rear wheel rotatably connected to the central shaft and arranged front to back. An adjusting structure 116 connects to the central shaft. The front wheel is positioned in a sliding groove 111a and can move along the sliding groove 111a, while the rear wheel is positioned in a guide groove 113a and can move up and down along the guide groove 113a. The sliding connector 112 also includes a front limiting block connected to the central shaft to restrict the forward movement of the front wheel and a rear limiting member connected to the central shaft to restrict the backward movement of the rear wheel. The front and rear limiting members clamp the front and rear gears together. The rear surface of the front limiting member abuts against the front surface of the driving crank 111, and the front surface of the rear limiting member abuts against the rear surface of the driven member 113, to prevent the front wheel from disengaging from the sliding groove 111a or the rear wheel from disengaging from the guide groove 113a. In this case, the driving crank 111 and the driven member 113 are arranged front to back. Those skilled in the art will understand that if the positions of the driving crank 111 and the driven member 113 are interchanged, the corresponding relationship between the front and rear wheel will also change.

[0050] Reference Figure 1 and Figure 3 In this embodiment, automatic control is used to adjust the position of the sliding connector 112 in the sliding groove 111a. Specifically, the adjustable amplitude sine mechanism also includes a servo motor, a rotating shaft 114, and a one-way bearing 115. The rotating shaft 114 rotates on the frame 4, and the servo motor is fixed on the frame 4. The servo motor is driven by the rotating shaft 114. The one-way bearing 115 and the adjustment structure 116 are both connected to the rotating shaft 114. The rotating shaft 114 drives the active crank 111 to rotate unidirectionally via the one-way bearing 115. When the rotating shaft 114 rotates forward, it drives the active crank 111 and the adjustment structure 116 to rotate synchronously, thus realizing the reciprocating motion of the driven member 113. When the rotating shaft 114 reverses, under the action of the one-way bearing 115, the driving crank 111 does not rotate, and the adjusting structure 116 is driven to move so that the sliding connector 112 moves radially along the sliding groove 111a, changing the distance between the sliding connector 112 and the rotating shaft 114, thereby changing the amplitude of the reciprocating motion of the driven member 113.

[0051] In this embodiment, the adjustable amplitude sine wave mechanism uses a servo motor to drive the rotating shaft 114 in both forward and reverse directions, thereby achieving both sinusoidal motion output and amplitude adjustment functions. No additional drive device is required, which simplifies the structure and control.

[0052] The adjustable amplitude sinusoidal mechanism provided in this embodiment has a wide range of applications. For example, it can be used in underwater biomimetic propulsion systems for biomimetic fish, where the amplitude of the tail fin's swing can be adjusted arbitrarily, from large to small; in flapping wing mechanisms for biomimetic birds, the amplitude of the bird's wing flapping can be adjusted arbitrarily; similar applications include robot walking mechanisms, which allow the robot's stride to be adjustable, and so on.

[0053] Reference Figure 1 and Figure 3 Specifically, the adjustment structure 116 includes an amplitude-adjusting crank 1161 and a connecting rod 1162. One end of the amplitude-adjusting crank 1161 is fixed to the rotating shaft 114, while the other end is rotatably connected to the connecting rod 1162. The connecting rod 1162 is rotatably connected to the sliding connector 112. When the rotating shaft 114 rotates clockwise, the amplitude-adjusting crank 1161, the connecting rod 1162, and the driving crank 111 rotate synchronously. When the rotating shaft 114 rotates counterclockwise, the amplitude-adjusting crank 1161 rotates, causing the connecting rod 1162 and the sliding connector 112 to move together to adjust the position of the sliding connector 112 in the sliding groove 111a. The amplitude-adjusting crank 1161 rotates circumferentially with the rotating shaft 114, causing the sliding connector 112 to reciprocate within the sliding groove 111a, thereby changing the distance between the sliding connector 112 and the rotating shaft 114, and thus changing the amplitude of the reciprocating motion of the driven member 113 with the driving crank 111 in the first direction.

[0054] The length of the amplitude-regulating crank 1161 is less than the length of the connecting rod 1162, and the length of the sliding groove 111a is not less than twice the length of the amplitude-regulating crank 1161. Those skilled in the art can appropriately increase the length of the sliding groove 111a and reasonably set the length of the connecting rod 1162.

[0055] The adjustment structure 116 adopts a simple design with the cooperation of the amplitude crank 1161 and the connecting rod 1162. The maximum amplitude that the driven member 113 can move is controlled by the size design of the connecting rod 1162 and the sliding groove 111a, which helps to simplify the design and control.

[0056] In other embodiments, the reciprocating motion drive assembly 11 may also include a reciprocating screw mechanism, a cylinder or a linear motor, etc., to realize the reciprocating motion of the output component 12.

[0057] Reference Figure 1 and Figure 2 Optionally, in this embodiment, the steering drive assembly 22 includes a lead screw assembly, which includes a lead screw 221 and a steering drive component 222. The lead screw 221 is rotatably mounted on the frame 4. One end of the lead screw 221 is connected to the output component 12 via a clutch 223, and the other end of the lead screw 221 is driven to rotate via a coupling 224. The steering drive component 222 drives the lead screw 221 to rotate. The rack 21 is driven to the lead screw 221 to move in a first direction as the lead screw 221 rotates. The steering drive component 222 includes a motor.

[0058] Reference Figure 1 and Figure 2Furthermore, both the lead screw 221 and the steering drive component 222 can slide along the first direction on the frame 4. When the reciprocating motion drive assembly 11 is working, the clutch 223 between the lead screw 221 and the output component 12 is engaged. At this time, the reciprocating motion drive assembly 11 drives the output component 12, the lead screw 221, and the rack 21 to reciprocate in the first direction, thereby driving the oscillating gear 31 to rotate reciprocally, and the oscillating arm 32 to swing reciprocally. When it is necessary to adjust the position of the swing area of ​​the oscillating arm 32, the clutch 223 between the lead screw 221 and the output component 12 is disengaged, and the steering drive component 222 drives the lead screw 221 to rotate. At this time, the rotation of the lead screw 221 is not transmitted to the output component 12 due to the clutch 223, and does not interfere with the reciprocating motion drive assembly 11. The rotation of the lead screw 221 drives the rack 21 to move in the first direction, which in turn drives the oscillating gear 31 and the oscillating arm 32 to rotate, thereby adjusting the position of the swing area of ​​the oscillating arm 32 driven by the reciprocating motion drive assembly 11.

[0059] This configuration allows for more precise adjustment, faster response, and less risk of loss of control by using a lead screw assembly to change the position of the swing arm 32's swing area.

[0060] In other embodiments, the steering drive assembly 22 includes a belt assembly or a cylinder.

[0061] When the steering drive assembly 22 includes a belt assembly, the frame of the belt assembly is slidably mounted on the frame 4 along a first direction, and the output component 12 is connected to the frame of the belt assembly. The belt conveying end of the belt assembly is fixed to the rack 21, and the conveying direction of the belt assembly is set along the first direction. With this configuration, the reciprocating motion drive assembly 11 drives the swing arm 32 to reciprocate by driving the belt assembly and the rack 21 connected to the belt assembly to reciprocate in the first direction. The initial position of the swing arm 32 is changed by the belt assembly alone driving the rack 21 to move in the first direction, thereby changing the position of the swing area of ​​the swing arm 32.

[0062] When the steering drive assembly 22 includes a cylinder, the fixed end of the cylinder is fixed to the output component 12, the driving end of the cylinder moves in a first direction, and is fixed to the rack 21.

[0063] Reference Figure 1 and Figure 2 Optionally, in this embodiment, the swing mechanism 3 further includes a transmission gear 33, and the rack 21 is connected to the swing gear 31 via the transmission gear 33. The transmission gear 33 is rotatably connected to the frame 4. In this embodiment, there is one transmission gear 33, which meshes with both the rack 21 and the swing gear 31, thereby transmitting the power of the rack 21 to the swing gear 31.

[0064] By setting the transmission gear 33, the distance between the rack 21 and the oscillating gear 31 can be lengthened, making it easier to arrange the positions of the oscillating gear 31 and the rack 21. In some embodiments, the number of transmission gears 33 can be multiple, and the multiple transmission gears 33 mesh sequentially.

[0065] In some embodiments, the swing mechanism 3 further includes a transmission assembly, through which the transmission gear 33 is connected to the swing gear 31. The transmission assembly includes a belt drive assembly or a chain drive assembly. The belt drive assembly or chain drive assembly allows the transmission gear 33 and the swing gear 31 to be connected remotely, thereby facilitating the arrangement of the swing mechanism 3 and the steering mechanism 2.

[0066] This application provides a swinging device. A reciprocating motion mechanism 1 drives a steering drive 222 to reciprocate in a first direction, which in turn drives a rack 21 to move in the same direction. The rack 21 meshes with a swing gear 31, causing the rack 21 to rotate reciprocally. Therefore, the swing arm 32 swings back and forth with the swing gear 31. Furthermore, the steering drive 222 drives the rack 21 to move in the first direction, which in turn rotates the swing gear 31, changing the position of the swing arm 32. Thus, the initial position of the swing arm 32 driven by the reciprocating motion mechanism 1 changes, and the position of the swing area of ​​the swing arm 32 also changes. When this swinging device is applied to an underwater biomimetic propulsion system, the swing arm 32 swings underwater to achieve the movement of the underwater biomimetic propulsion system. By changing the position of the swing area of ​​the swing arm 32, the direction of propulsion is changed, completing the steering of the underwater biomimetic propulsion system. As a driving mechanism, the swinging device facilitates the steering of the underwater biomimetic propulsion system, produces less noise, is less likely to affect the underwater ecosystem, and is less prone to entanglement with aquatic plants, fishing nets, and other debris.

[0067] Reference Figure 4 Another embodiment of this application provides an underwater bionic propulsion device. Since the underwater bionic propulsion device adopts the above-mentioned swing device, the underwater bionic propulsion device can operate under the drive of the swing device and can be steered by the swing device, replacing the traditional propeller drive form. The way in which the swing arm 32 swings to drive the underwater bionic propulsion device is less noisy, less likely to affect the underwater ecology, and less likely to get tangled in aquatic plants, fishing nets and other debris.

[0068] In another embodiment of this application, an application of the swinging device described above in a chimpanzee is provided.

[0069] In another embodiment of this application, the swinging device is applied to a bionic bird. The swinging of the swinging arm serves as the drive for the bionic bird, enabling the movement of the bionic bird. Furthermore, the swinging area of ​​the swinging arm is changed by a steering mechanism to meet the different flight requirements of the bionic bird.

[0070] In another embodiment of this application, an application of the swinging device as described above in a robot is provided.

[0071] In another embodiment of this application, the swing device is applied to a robot. The swing arm serves as the robot's leg drive, enabling the robot to move. Furthermore, the swing area of ​​the swing arm is changed using a steering mechanism to meet the robot's movement requirements on different slopes.

[0072] In the description of this application, it should be understood that the positive direction of "X" in the drawings represents the right, and correspondingly, the negative direction of "X" represents the left. The orientation or positional relationship indicated by the term "X" is based on the orientation or positional relationship shown in the drawings and is only for the convenience of describing this application and simplifying the description, and is not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0073] In the description of this application, it should be noted that the terms "upper," "lower," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0074] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0075] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A swinging device, characterized in that, It includes: A swing mechanism, comprising a swing arm and a swing gear, wherein the swing arm is connected to the swing gear, and the length direction of the swing arm is set at an angle to the rotation axis direction of the swing gear; A steering mechanism, wherein the drive end of the steering mechanism is drivenly connected to the swing arm to drive the swing arm to reciprocate; the steering mechanism includes a rack and a steering drive assembly, the swing gear is drivenly connected to the rack, and the drive end of the steering drive assembly is connected to the rack; A reciprocating motion mechanism is driven to the fixed end of the steering mechanism. When the reciprocating motion mechanism drives the steering mechanism to rotate the swing arm reciprocally, there is no relative movement between the rack and the steering drive assembly. The reciprocating motion mechanism includes a reciprocating motion drive assembly and an output component. The reciprocating motion drive assembly further includes an adjustable amplitude sine mechanism, which includes a driving crank, a sliding connector, and a driven component. The driving crank rotates with one end as its pivot point. The sliding connector is rotatably connected to the driving crank. The driven component is vertically arranged and has a guide groove extending along its length. The sliding connector can move within the guide groove. The driven component is fixed to the output component. The steering drive assembly includes a lead screw assembly, which includes a steering drive component and a lead screw that is driven to the rack. One end of the lead screw is connected to the output component via a clutch, and the other end of the lead screw is driven to the steering drive component via a coupling. When the reciprocating motion drive assembly is working, the clutch is in the engaged state, and the reciprocating motion drive assembly drives the output component, lead screw, and rack to reciprocate in the first direction, thereby driving the oscillating gear to rotate reciprocally, and the oscillating arm will then swing back and forth. When the clutch is in the disengaged state, the steering drive component drives the lead screw to rotate, and the rotation of the lead screw is not transmitted to the output component and does not interfere with the reciprocating motion drive assembly. The reciprocating motion mechanism stops driving the steering mechanism, and the rotation of the lead screw drives the rack to move in the first direction. The rack then drives the oscillating gear to rotate, and the oscillating arm rotates with the oscillating gear to change the position of the oscillation area. The active crank has a sliding groove along its length. The sliding connector is rotatably connected to the active crank and can move within the sliding groove. The adjustable amplitude sine mechanism also includes an adjustment structure that can move synchronously with the active crank and adjust the position of the sliding connector within the sliding groove. The adjustable amplitude sine mechanism also includes a servo motor, a rotating shaft, and a one-way bearing. The servo motor is driven by the rotating shaft. The one-way bearing and the adjustment structure are both connected to the rotating shaft. The rotating shaft drives the active crank to rotate unidirectionally via the one-way bearing. The adjustment structure includes an amplitude-adjusting crank and a connecting rod. When the amplitude-adjusting crank rotates with the rotating shaft, the connecting rod drives the sliding connector to move within the sliding groove, achieving stepless amplitude adjustment.

2. The swinging device according to claim 1, characterized in that, The swing mechanism also includes a transmission gear, and the rack is connected to the swing gear via the transmission gear.

3. The swinging device according to claim 2, characterized in that, The swing mechanism further includes a transmission component, and the transmission gear is connected to the swing gear through the transmission component. The transmission component includes a belt drive component or a chain drive component.

4. An underwater biomimetic propulsion device, characterized in that, Includes the swinging device as described in any one of claims 1 to 3.

5. The application of the oscillating device as described in any one of claims 1-3 in a chimera.

6. The application of a swinging device as described in any one of claims 1-3 in a robot.

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