Driving mechanism of bionic fish flexible wing and driving method thereof

Abstract

The application relates to a driving mechanism of a bionic fish flexible wing and a driving method thereof, which comprises a base, shaft seats are installed on the base at intervals from front to back, a rotating shaft is jointly and rotatably installed on the shaft seats, a plurality of rotating discs are installed on the rotating shaft at intervals along the length direction, and a blocking column is vertically installed on the side of a single rotating disc; a plurality of groups of linkage mechanisms corresponding to the rotating discs are installed on the base; the structure of a single group of linkage mechanisms is as follows: a support is vertically installed on the top surface of the base, a sliding block is vertically and slidably installed on the support on the left and right sides of the rotating disc, the sliding block is driven by the blocking column on the rotating disc to move upward or downward relative to the support, a wing rod is laterally installed on the outer side surface of the sliding block; thus, the rotating shaft is rotated, the rotating disc is driven to move the sliding blocks on the two sides of the linkage mechanism to move up and down, the wing rod is driven to move linearly in the vertical plane, and the regular undulating motion of the flexible wing is greatly facilitated.

Description

Technical Field

[0001] This invention relates to the field of underwater vehicle technology, and in particular to a drive mechanism and drive method for a biomimetic fish flexible wing. Background Technology

[0002] In the complex and ever-changing deep-sea environment, endurance and stealth remain bottlenecks restricting the combat capabilities of unmanned underwater vehicles (UUVs), and are also key to the development of underwater unmanned equipment.

[0003] Over hundreds of millions of years of natural selection, organisms in nature have evolved diverse shapes and unique locomotion capabilities. Among them, birds that fly in the air and fish that swim in the water are the best. Their high propulsion efficiency, high maneuverability, excellent fluid performance, low noise, and good stealth are unmatched by existing UUVs, which provides new ideas for the development of underwater unmanned equipment.

[0004] In light of this, this paper proposes a biomimetic UUV concept based on the excellent locomotion capabilities of highly evolved organisms in nature, drawing inspiration from this. This concept aims to address the fundamental issues hindering the limited endurance and poor stealth of existing UUVs. The introduction of biomimetic propulsion appendages allows the hydrofoil to employ a fin-like propulsion mechanism. This method not only boasts high propulsion efficiency but also avoids the difficulties in mounting caused by the deformation of a robotic fish-like structure. This is of great significance for effectively enhancing deep-sea underwater detection and reconnaissance capabilities. Summary of the Invention

[0005] To address the shortcomings of existing production technologies, the applicant provides a rationally structured drive mechanism and method for a biomimetic fish flexible wing, which greatly facilitates the generation of regular wave motions in the flexible wing, such as the waving of fish fins for biomimetic propulsion, thereby achieving high maneuverability in swimming.

[0006] The technical solution adopted in this invention is as follows:

[0007] A drive mechanism for a biomimetic fish flexible wing includes a base, on which bearing seats are installed at intervals, and a rotating shaft is rotatably mounted on the bearing seats. Multiple turntables are installed at intervals along the length of the rotating shaft, and a stop post is vertically mounted on the side of each turntable. Multiple sets of linkage mechanisms corresponding to the turntables are installed on the base.

[0008] The structure of the single-unit linkage mechanism is as follows: it includes a support vertically installed on the top surface of the base, and a slider is vertically slidably installed on the support on both sides of the turntable. The slider moves upward or downward relative to the support by being pushed by the stop column on the turntable during rotation; a wing rod is installed laterally on the outer side of the slider.

[0009] As a further improvement to the above technical solution:

[0010] Two sliders are located on the same side of the support, and two blocks are respectively installed on the opposing sides of the two sliders; two stops are installed on the side of the turntable, and the two stops are located at both ends of the same diameter direction of the turntable; during rotation, the two stops on the turntable apply force to the two blocks respectively, driving the two sliders to move up and down.

[0011] The spacing between adjacent turntables is equal, and the included angle θ formed by the diameter directions of the two stop posts on adjacent turntables is equal:

[0012]

[0013] Where H is half the amplitude of the wing rod moving up and down with the slider; R is the radius of the circle containing the two stops; and n is the number of turntables.

[0014] If the total length of the shaft is L and the distance between adjacent turntables is B, then the number of turntables n on the shaft is:

[0015]

[0016] It also includes a shift fork, which is rotatably mounted on the side of the support via a pin. The two ends of the shift fork are movably fitted onto two sliders, and the two sliders move up and down in a coordinated manner due to the connection of the shift fork.

[0017] Long slots are provided on the shift forks located on both sides of the pin shaft, and sliding pins are installed on the sliders. The sliding pins are embedded in the corresponding long slots and slide along the long slots.

[0018] The front and rear through supports have holes for accommodating the turntable, which is located in the same vertical plane as the support. The shift fork is located below the turntable, and both ends of the shift fork are respectively installed on the lower part of the corresponding slider.

[0019] The shift fork includes a strip-shaped body, with a pin installed in the middle of the strip-shaped body through a through hole and rotatably mounted to a support. A central rod extends from the middle of the strip-shaped body toward the turntable. A stop post on the turntable pushes the shift fork to swing relative to the support via the central rod. The central rod is inclined relative to the strip-shaped body in the direction of the force applied to the stop post.

[0020] The central rod is tilted at 6°-10° relative to the midpoint perpendicular to the strip body; the stop on the rotating turntable applies force to the stop block on the slider and the central rod on the shift fork in sequence, pushing the slider to complete a stroke including one up and one down relative to the support.

[0021] A driving method for the driving mechanism of the biomimetic fish flexible wing includes the following steps:

[0022] The rotating shaft is driven by an external motor to rotate around its own axis, and the rotating shaft drives each turntable to rotate synchronously.

[0023] For a single rotating turntable, the stop pins on the side of the turntable apply force to the stop blocks on both sides of the slider along the direction of rotation, causing the left and right sliders to move up and down relative to the support respectively. The corresponding wing rods on the outer side of the slider move with the slider in the vertical plane, and the fork connecting the two sliders is passively rotated relative to the support. As the turntable rotates, after the stop pins disengage from the stop blocks, the stop pins apply force to the middle rod of the fork along the direction of rotation, pushing the fork to swing relative to the support. The fork then drives the sliders at both ends to move in opposite directions relative to the support.

[0024] As the turntable continues to rotate, the stop pins on the turntable repeatedly apply force to the stop block of the slider and the middle rod of the shift fork, driving the two sliders on the support to move back and forth in opposite directions, thus realizing the up and down reciprocating swing of the wing rod.

[0025] There is a time difference between the pushing action of the stop post on the adjacent turntable and the stop block of the slider, and the middle rod of the shift fork, which creates a phase difference in the up and down movement of the upper wing rod of the adjacent linkage mechanism.

[0026] The beneficial effects of this invention are as follows:

[0027] The present invention has a compact and reasonable structure and is easy to operate. The rotation of the rotating shaft drives the sliders on both sides of the linkage mechanism to move up and down through the rotating turntable, so as to carry out the linear movement of the wing rod in the vertical plane. The simultaneous rotation of multiple turntables greatly helps to realize the regular wave motion of the flexible wing, which can perform biomimetic propulsion like the wagging of a fish fin, and achieve high maneuverability in swimming.

[0028] The present invention also includes the following advantages:

[0029] The left and right sliders drive the wing rod to move up and down respectively, so that the wing rod presents a periodic up and down motion; in one motion cycle, the stop on the rotating turntable applies force to the stop block on the slider and the middle rod on the fork in sequence to complete one stroke cycle including one up and one down; through the continuous rotation of the turntable, the wing rod can continuously move up and down periodically.

[0030] The amplitude of the wing rod during its periodic up-and-down movement can be adjusted by adjusting the angle between the diameter directions of the two stops on adjacent turntables, i.e., the phase angle.

[0031] The drive mechanism in this invention has a propulsion efficiency of up to 87%, which is significantly higher than the 78% propulsion efficiency of a four-bladed propeller of the same size. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the structure of the present invention.

[0033] Figure 2 This is a schematic diagram of the linkage mechanism of the present invention.

[0034] Figure 3 This is a schematic diagram of the linkage mechanism of the present invention in another stroke state.

[0035] Figure 4 This is a schematic diagram of the structure of the shift fork of the present invention.

[0036] The components include: 1. base; 2. bearing seat; 3. rotating shaft; 4. turntable; 5. stop post; 6. linkage mechanism; 7. wing rod;

[0037] 61. Support; 62. Guide rail; 63. Stop; 64. Slider; 65. Shift fork; 66. Pin; 67. Sliding pin;

[0038] 651. Strip-shaped body; 652. Long groove; 653. Through hole; 654. Middle rod. Detailed Implementation

[0039] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0040] like Figure 1 and Figure 2 As shown, the driving mechanism of the biomimetic fish flexible wing in this embodiment includes a base 1, on which bearing seats 2 are installed at intervals, and a rotating shaft 3 is rotatably installed on the bearing seats 2. Multiple turntables 4 are installed at intervals along the length direction on the rotating shaft 3, and a stop post 5 is vertically installed on the side of each turntable 4. Multiple sets of linkage mechanisms 6 are installed on the base 1, corresponding one-to-one with the turntables 4. Thus, the rotation of the rotating shaft 3 drives the multiple sets of linkage mechanisms 6 to act simultaneously through the simultaneous rotation of each turntable 4.

[0041] The structure of the single-group linkage mechanism 6 is as follows: it includes a support 61 vertically installed on the top surface of the base 1, and a slider 64 vertically slidably installed on the support 61 located on the left and right sides of the turntable 4. The slider 64 is moved upward or downward relative to the support 61 by the stop post 5 on the turntable 4 during rotation. A wing rod 7 is installed on the outer side of the slider 64, so that the movement of the slider 64 relative to the support 61 is triggered by the stop post 5 on the rotating turntable 4.

[0042] In this embodiment, the rotation of the rotating shaft 3 can drive the sliders 64 on both sides of the linkage mechanism 6 to move up and down via the rotating turntable 4, thereby enabling the wing rod 7 to move linearly in the vertical plane.

[0043] In this embodiment, the slider 64 can be slidably mounted via the guide rail 62 mounted on the support 61, or the slider 64 can be directly slidably mounted on the side of the support 61, as long as reliable relative sliding between the slider 64 and the support 61 can be achieved.

[0044] Two sliders 64 are located on the same side of the support 61, and two blocks 63 are respectively installed on the opposite sides of the two sliders 64; two stops 5 are installed on the side of the turntable 4, and the two stops 5 are located at both ends of the same diameter direction of the turntable 4; during rotation, the two stops 5 on the turntable 4 apply force to the two blocks 63 respectively, driving the two sliders 64 to move up and down.

[0045] In this embodiment, two stop posts 5 arranged at 180° on the same turntable 4 simultaneously push the sliders 64 on both sides to move, thereby realizing the simultaneous and opposite movement of the two sliders 64 on the support 61. Of course, the rotation of the turntable 4 can also drive the two sliders 64 to move simultaneously and in opposite directions through other intermediate structures. For example, the stop posts 5 push the forks 65 that are movably installed with both sliders 64, which can also convert the rotational power of the turntable 4 into the simultaneous movement of the two sliders 64 on the support 61.

[0046] The spacing between adjacent turntables 4 is equal, and the included angle θ formed by the diameter directions of the two stoppers 5 on adjacent turntables 4 is equal. This allows for the regular oscillation of the flexible wing driven by multiple wing rods 7 on the same side, achieved through the switching of the linkage mechanism 6. The included angle θ is:

[0047]

[0048] Where H is half of the amplitude of the wing rod 7 moving up and down with the slider 64; R is the radius of the circle containing the two stop posts 5; and n is the number of turntables 4.

[0049] For example, when the amplitude is 59.8mm, the radius of the circle containing the two stoppers 5 is 50.6mm, and the number of turntables 4 is 2, the included angle θ can be set to 53.8°.

[0050] Of course, different parameters can be set according to actual design requirements, such as different amplitudes, changes in the radius of the circle where the stop column 5 is located, changes in the number of turntables 4, etc., to set different included angles θ.

[0051] The amplitude of the wing rod 7 during its periodic up-and-down movement is adjusted by adjusting the included angle, i.e., the phase angle, between the two stop posts 5 on the adjacent turntable 4 in the diameter direction.

[0052] If the total length of the rotating shaft 3 is L, and the distance between adjacent turntables 4 is B, then the number n of turntables 4 on the rotating shaft 3 is:

[0053]

[0054] For example, when the total length L of the rotating shaft 3 is 100mm and the interval B between adjacent turntables 4 is 100mm, n is 2, that is, two sets of turntables 4 are set on the rotating shaft 3.

[0055] It also includes a shift fork 65, which is rotatably mounted on the side of the support 61 via a pin 66. The two ends of the shift fork 65 are movably fitted onto two sliders 64. The shift fork 65 drives the two sliders 64 to move up and down in a coordinated manner. The setting of the shift fork 65 effectively ensures the simultaneous correlation of the movement of the sliders 64 on both sides.

[0056] like Figure 4 As shown, the shift forks 65 located on both sides of the pin 66 are provided with long grooves 652, and the sliders 64 are provided with sliding pins 67. The sliding pins 67 are embedded in the corresponding long grooves 652 and slide along the long grooves 652, thereby effectively realizing and ensuring reliable connection and linkage between the shift forks 65 and the sliders 64 on both sides.

[0057] The front and rear through support 61 has holes for accommodating the turntable 4. The turntable 4 is located in the same vertical plane as the support 61. The overall structure is compact, reasonable and ingenious. The shift fork 65 is located below the turntable 4. Both ends of the shift fork 65 are respectively installed on the lower part of the corresponding slider 64. Thus, on the one hand, the rotation of the turntable 4 can drive the sliders 64 on both sides to move simultaneously via the stop post 5. On the other hand, the shift fork 65 also realizes the power connection between the two sliders 64.

[0058] The shift fork 65 includes a strip-shaped body 651. A pin 66 is fitted into the middle of the strip-shaped body 651 via a through hole 653, allowing it to rotatably connect to the support 61. A central rod 654 extends from the middle of the strip-shaped body 651 toward the turntable 4. A stop post 5 on the turntable 4 pushes the shift fork 65 to swing relative to the support 61 via the central rod 654. Figure 3 As shown; the rotating turntable 4 can push the rod 654 of the shift fork 65 via the stop 5, thereby driving the shift fork 65 to swing relative to the support 61, and then the shift fork 65 drives the sliders 64 on both sides to move simultaneously.

[0059] The central rod 654 is tilted relative to the strip body 651 in the direction of force application to the stop post 5, thereby effectively ensuring the reliability and stability of the force applied by the stop post 5 to the central rod 654.

[0060] The central rod 654 is tilted at 6°-10° relative to the midpoint perpendicular to the strip body 651. The tilt angle is related to the rotation speed of the turntable 4. The tilt angle of the central rod 654 can be matched according to the rotation speed of the turntable 4. When the turntable 4 is rotated, the stop post 5 on the turntable 4 applies force to the stop block 63 on the slider 64 and the central rod 654 on the fork 65 in sequence, pushing the slider 64 relative to the support 61 to complete one stroke including one up and one down.

[0061] In this embodiment, the left and right sliders 64 drive the wing rod 7 to move up and down respectively, so that the wing rod 7 presents a periodic up and down movement; in one movement cycle, the stop post 5 on the rotating turntable 4 applies force to the stop block 63 on the slider 64 and the middle rod 654 on the fork 65 in sequence, completing one stroke cycle including one up and one down; through the continuous rotation of the turntable 4, the wing rod 7 can continuously move up and down periodically.

[0062] The driving method of the biomimetic fish flexible wing driving mechanism in this embodiment includes the following steps:

[0063] The rotating shaft 3 is driven by an external motor to rotate around its own axis, and the rotating shaft 3 drives each turntable 4 to rotate synchronously.

[0064] For a single rotating turntable 4, the stop posts 5 on the side of the turntable 4 apply force to the stop blocks 63 on the two sliders 64 along the rotation direction, so that the left and right sliders 64 move up and down relative to the support 61 respectively. The corresponding wing rods 7 on the outer side of the sliders 64 move with the sliders 64 in the vertical plane. The fork 65 connecting the two sliders 64 is passively rotated relative to the support 61. As the turntable 4 rotates, after the stop posts 5 disengage from the stop blocks 63, the stop posts 5 apply force to the middle rod 654 of the fork 65 along the rotation direction, pushing the fork 65 to swing relative to the support 61. The fork 65 drives the two sliders 64 at both ends to move in opposite directions relative to the support 61.

[0065] As the turntable 4 continues to rotate, the stop post 5 on the turntable 4 repeatedly applies force to the stop block 63 of the slider 64 and the middle rod 654 of the fork 65 in sequence, driving the two sliders 64 on the support 61 to move back and forth in opposite directions, thereby realizing the up and down reciprocating swing of the wing rod 7.

[0066] There is a time difference in the pushing action of the upper stop post 5 of the adjacent turntable 4 and the stop block 63 of the slider 64 and the middle rod 654 of the shift fork 65, which creates a phase difference in the up-and-down movement of the upper wing rod 7 of the adjacent linkage mechanism 6.

[0067] In this embodiment, the working process of the two stoppers 5 on a single turntable 4 can be described as follows:

[0068] During the rotation of turntable 4, as Figure 2 As shown, the turntable 4 rotates clockwise. Two stoppers 5 apply force corresponding to the blocks 63 of the two sliders 64. The left stopper 5 pushes the slider 64 upwards via the block 63, and the right stopper 5 pushes the slider 64 downwards via the block 63. In the current state, the stoppers 5 act on the blocks 63 of the sliders 64, driving the left and right sliders 64 to move up and down respectively. After the two stoppers 5 drive the blocks 63 of the left and right sliders 64 to move upwards and downwards respectively, the stoppers 5 will disengage from the blocks 63 of the sliders 64 and enter a standby state. The two sliders 64 then move under inertia. Figure 3As shown, as the turntable 4 continues to rotate, the two stoppers 5 will return to their working positions, pushing the middle rod 654 of the shift fork 65 to exert force. The swing of the shift fork 65 relative to the upright support 61 drives the sliders 64 on both sides to move downward and upward. At this time, the left slider 64 moves downward and the right slider 64 moves upward. This cycle repeats, causing the wing rod 7 of the flexible wing to move back and forth.

[0069] For the upper stop post 5 of the turntable 4, when it applies force to the upper stop blocks 63 of the left and right sliders 64, the direction of the work done is different: such as Figure 2 As shown, when the turntable 4 stop post 5 contacts the stop block 63, an upward lifting force is generated for the left slider 64; when the turntable 4 stop post 5 contacts the stop block 63, a downward pressure is generated for the right slider 64.

[0070] Based on the time of a single exercise cycle, it can be divided into the first half and the second half.

[0071] The starting point of the time history in the first half of the timeframe: the moment when the motor drives the turntable 4 to rotate, and the stop post 5 of the turntable 4 contacts the stop block 63 of the slider 64, is defined as time t = 0. For example... Figure 2 As shown, the slider 64 on the left, which was originally moving downwards, is now being pushed upwards by the stop post 5, while the slider 64 on the right, which was originally moving upwards, is now moving downwards. From the moment the stop post 5 of the turntable 4 comes into contact with the stop block 63 of the slider 64 until they separate, the turntable 4 rotates by approximately 90°. Subsequently, the stop post 5 of the turntable 4 enters a very brief neutral zone, during which no force is exerted by the stop post 5, and the movement of the slider 64 is in the inertial motion phase.

[0072] The starting point of the second half of the timeline: after a brief gap, such as... Figure 3 As shown, from the instant the stop post 5 of turntable 4 contacts the middle rod 654 of shift fork 65, the displacement vector of slider 64 also changes. Driven by the stop post 5 of turntable 4, the middle rod 654 of shift fork 65 swings in the direction of rotation. The left and right ends of shift fork 65 are linearly connected to the sliders 64 on both sides. The swing of shift fork 65 drives the left slider 64 to move downward and the right slider 64 to move upward, thereby causing the wing rod 7 installed on the left and right sliders 64 to produce a unilateral linear motion, which in turn causes the flexible wing to produce a regular undulating motion. From the contact between the stop post 5 of turntable 4 and the middle rod 654 of shift fork 65 and their separation, the stop post 5 of turntable 4 then enters another very brief neutral zone. In the neutral zone, slider 64 moves inertia. After passing through the neutral zone, turntable 4 completes half a revolution of 180° and immediately enters the next cycle of reciprocating motion of the first half and the second half.

[0073] The drive mechanism in this invention has a propulsion efficiency of up to 87%, which is significantly higher than the 78% propulsion efficiency of a four-bladed propeller of the same size.

[0074] This invention greatly facilitates the generation of regular wave motion in flexible wings, enabling biomimetic propulsion like the waving of fish fins, and achieving high maneuverability in swimming.

[0075] The above description is an explanation of the present invention and not a limitation thereof. The scope of the present invention is defined by the claims. Within the scope of protection of the present invention, any form of modification may be made.

Claims

1. A drive mechanism for a biomimetic fish-inspired flexible wing, characterized in that: The system includes a base (1), on which bearing seats (2) are installed at intervals, and a rotating shaft (3) is rotatably installed on the bearing seats (2). Multiple turntables (4) are installed at intervals along the length direction on the rotating shaft (3), and a stop post (5) is installed vertically on the side of each turntable (4). The base (1) is equipped with multiple sets of linkage mechanisms (6) that correspond one-to-one with the turntables (4). The structure of the single-group linkage mechanism (6) is as follows: it includes a support (61) vertically mounted on the top surface of the base (1), and sliders (64) vertically slidably mounted on the supports (61) on the left and right sides of the turntable (4). The sliders (64) are moved upward or downward relative to the supports (61) by the stop post (5) on the turntable (4) during rotation; a wing rod (7) is laterally mounted on the outer side of the slider (64); the two sliders (64) are located on the same side of the support (61), and the two sliders ( 64) Stop blocks (63) are respectively installed on the opposite sides; two stop posts (5) are installed on the side of the turntable (4), and the two stop posts (5) are located at both ends of the same diameter direction of the turntable (4); during rotation, the two stop posts (5) on the turntable (4) apply force to the two stop blocks (63) respectively, driving the two sliders (64) to move up and down; the interval between adjacent turntables (4) is equal, and the included angle θ formed by the diameter directions of the two stop posts (5) on adjacent turntables (4) is equal, which is: Where H is half the amplitude of the wing rod (7) moving up and down with the slider (64); R is the radius of the circle containing the two stop posts (5); n is the number of turntables (4); if the total length of the rotating shaft (3) is L and the interval between adjacent turntables (4) is B, then the number n of turntables (4) on the rotating shaft (3) is: It also includes a shift fork (65), which is rotatably mounted on the side of the support (61) via a pin (66). The two ends of the shift fork (65) are movably mounted on two sliders (64), and the two sliders (64) move up and down in linkage by the connection of the shift fork (65).

2. The driving mechanism for a biomimetic fish flexible wing as described in claim 1, characterized in that: The shift forks (65) located on both sides of the pin (66) are provided with long slots (652), and the sliders (64) are provided with sliding pins (67). The sliding pins (67) are embedded in the corresponding long slots (652) and slide along the long slots (652).

3. The driving mechanism for a biomimetic fish flexible wing as described in claim 1, characterized in that: The front and rear through support (61) has a hole for accommodating the turntable (4). The turntable (4) is located in the same vertical plane as the support (61). The shift fork (65) is located below the turntable (4). The two ends of the shift fork (65) are respectively installed on the lower part of the corresponding slider (64).

4. The driving mechanism for a biomimetic fish flexible wing as described in claim 1, characterized in that: The shift fork (65) includes a strip-shaped body (651). The middle part of the strip-shaped body (651) is fitted with a pin (66) through a through hole (653) and rotated with the support (61). A central rod (654) extends from the middle part of the strip-shaped body (651) toward the turntable (4). The stop post (5) on the turntable (4) pushes the shift fork (65) to swing relative to the support (61) via the central rod (654). The central rod (654) is inclined relative to the strip-shaped body (651) toward the direction of force applied by the stop post (5).

5. The driving mechanism for a biomimetic fish flexible wing as described in claim 4, characterized in that: The central rod (654) is tilted at 6°-10° relative to the midpoint perpendicular to the strip body (651); the stop post (5) on the rotating turntable (4) applies force to the stop block (63) on the slider (64) and the central rod (654) on the fork (65) in sequence, pushing the slider (64) to complete a stroke including one up and one down relative to the support (61).

6. A driving method for the driving mechanism of the biomimetic fish flexible wing as described in claim 4, characterized in that: Includes the following steps: The rotating shaft (3) is driven by an external motor to rotate around its own axis, and the rotating shaft (3) drives each turntable (4) to rotate synchronously; For a single rotating turntable (4), the stop post (5) on the side of the turntable (4) applies force to the stop block (63) on the two sliders (64) along the rotation direction, so that the left and right sliders (64) move up and down relative to the support (61) respectively. The corresponding wing rod (7) on the outer side of the slider (64) moves with the slider (64) in the vertical plane. The fork (65) connected between the two sliders (64) is passively rotated relative to the support (61). As the turntable (4) rotates, after the stop post (5) disengages from the stop block (63), the stop post (5) applies force to the middle rod (654) of the fork (65) along the rotation direction, pushing the fork (65) to swing relative to the support (61). The fork (65) drives the two sliders (64) to move in opposite directions relative to the support (61). As the turntable (4) continues to rotate, the stop post (5) on the turntable (4) repeatedly applies force to the stop block (63) of the slider (64) and the middle rod (654) of the shift fork (65) in sequence, driving the two sliders (64) on the support (61) to move back and forth in opposite directions, realizing the up and down reciprocating swing of the wing rod (7); there is a time difference between the pushing action of the stop post (5) on the adjacent turntable (4) and the stop block (63) of the slider (64) and the middle rod (654) of the shift fork (65), forming a phase difference in the up and down movement of the wing rod (7) on the adjacent linkage mechanism (6).

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