Bionic wave fin drive device based on cam group and tooth clutch module

Abstract

The present invention relates to a bionic undulating fin driving device based on a cam group and a tooth-type clutch module, comprising a cam group module, a tooth-type clutch module, and a fin membrane driving module. The cam group module comprises a plurality of double-sided cams, adjacent double-sided cams are connected by threaded pins, the double-sided cams are slidingly connected to a sink and float subassembly, and the sink and float subassembly moves up and down by rollers moving along curved grooves on both sides of the double-sided cam; the fin membrane driving module comprises a plurality of connecting arms, fin rays and fin membranes, the fin rays are connected to the sink and float subassembly through the connecting arms, and the fin membrane is sleeved on the surface of the fin rays, thereby driving the fin membrane to move; the tooth-type clutch module comprises a left clutch part, a right clutch part, an electromagnetic locking positioning device and a screw shift module, the screw shift module drives spline sleeve one and spline sleeve two to move, and is used to connect the gear group of the left clutch part or the right clutch part to realize clutch shifting; the gear group of the left clutch part and the gear group of the right clutch part are respectively connected to the double-sided cams at both ends of the cam group.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater bionic drive, and in particular relates to a bionic undulating fin drive device based on a cam group and a tooth-type clutch module. Background Art

[0002] As people pay more and more attention to the development of marine resources, underwater detection equipment has become indispensable equipment for the development of marine resources. Underwater detection equipment must be equipped with navigation equipment. Traditional underwater navigation equipment mostly adopts two schemes: servo drive and cam drive. Propellers are generally used as propulsion. They have disadvantages such as large size, large environmental disturbance, low propulsion efficiency, and poor maneuverability and concealment. Technical personnel in this field are also committed to the research of bionic-driven aircraft. Current bionic-driven aircraft have the following disadvantages: single motion mode and weak environmental adaptability. This makes it difficult for such aircraft to carry other functions well, greatly reducing the practicality of bionic-driven aircraft. Summary of the Invention

[0003] In response to the above problems, the present invention provides a bionic undulating fin drive device based on a cam group and a tooth-type clutch module, comprising a cam group module, a tooth-type clutch module, a fin membrane drive module and a housing. The cam group module comprises a plurality of double-sided cams arranged in a row, adjacent double-sided cams are connected by threaded pins, each double-sided cam is slidably connected to a sink-and-float subassembly, and the sink-and-float subassembly moves up and down by rollers at its bottom moving along curved grooves on both sides of the double-sided cam; the fin membrane drive module comprises a plurality of connecting arms, a plurality of fin rays and a fin membrane, the fin rays are connected to the sink-and-float subassembly through the connecting arms, and the fin membrane is sleeved on the surface of the fin rays, so that the sink-and-float subassembly can drive the fin membrane to move;

[0004] The tooth-type clutch module includes a left clutch part, a right clutch part, an electromagnetic locking positioning device and a screw shift module. The screw shift module drives the spline sleeve 1 of the left clutch part and the spline sleeve 2 of the right clutch part to move, and is used to connect the gear set of the left clutch part or the right clutch part to realize the clutch shift operation; the gear set of the left clutch part and the gear set of the right clutch part are respectively connected to the double-sided cams at both ends of the cam group, which can drive the double-sided cams at the end to rotate.

[0005] Optionally, the double-sided cam is in the shape of a flat disc with a through hole provided at the center thereof, both sides of the double-sided cam have curved grooves recessed toward the interior of the double-sided cam, the front side of the double-sided cam has a modified sinusoidal groove and a recessed threaded hole, and the back side of the double-sided cam has a modified trapezoidal groove and a recessed arc-shaped notch;

[0006] The inner wall of the threaded hole is provided with an internal thread, and the threaded pin is cylindrical, with an external thread that matches the internal thread at one end, which can be connected to the threaded hole on the front side of the previous double-sided cam; the other end of the threaded pin is inserted into the arc-shaped slot on the back side of the next double-sided cam, and can move along the arc-shaped slot to realize the connection and relative movement of the two adjacent double-sided cams.

[0007] Further optionally, the curved grooves on both sides of the double-sided cam are four-stage motion curves, and the modified sine curve includes, in a clockwise direction, a stop segment 1, a push segment 1, a stop segment 2, and a return segment 1, the end of the return segment 1 is connected to the beginning of the stop segment 1, and the threaded hole is located between the center of the double-sided cam and the stop segment 2;

[0008] The modified trapezoidal curve includes, in a clockwise direction, a stop segment 3, a push segment 2, a stop segment 4, and a return segment 2. The end of the return segment 2 is connected to the beginning of the stop segment 3. The arc-shaped notch is located between the center of the double-sided cam and the stop segment 4.

[0009] Stop segment one corresponds to stop segment three, and stop segment two corresponds to stop segment four.

[0010] Optionally, the sinking and floating subassembly includes a sinking and floating column, a slide and two carbon fiber sheets, the top of the slide is fixedly connected to the upper end plate of the shell, the side of the sinking and floating column facing the slide is detachably connected to a convex strip, and the side of the slide facing the sinking and floating column is provided with a concave guide groove, and the convex strip is embedded in the guide groove, so that the sinking and floating column can move up and down along the guide groove;

[0011] The bottom of the sink-and-float column has at least one through-hole, into which a cylindrical pin is inserted. A carbon fiber sheet is placed at each end of the cylindrical pin, and rollers are installed at the bottom of the carbon fiber sheet. The two rollers of a sink-and-float assembly fit into the curved grooves on either side of a double-sided cam, so that the rotation of the double-sided cam drives the sink-and-float column up and down. The sink-and-float assembly corresponds one-to-one with the double-sided cam.

[0012] Optionally, the cam group module includes a row of double-sided cams, a camshaft, a bearing, a bushing and a servo, the camshaft passes through the through hole at the center of all the double-sided cams, and connects all the double-sided cams in a row; the double-sided cams rotate to connect the camshaft, and the double-sided cams do not rotate with the camshaft;

[0013] The two ends of the camshaft are respectively connected to the expanded diameter sleeve and the expanded diameter sleeve with a rack, the expanded diameter sleeve is embedded in the thin linear bearing, and the expanded diameter sleeve with a rack is embedded in the slotted linear bearing, so that the rack extends out of the slotted bearing;

[0014] A servo is installed next to the slotted linear bearing, and the gear of the servo is engaged with the rack, so that the camshaft can drive the double-sided cam to move along the axial direction of the camshaft.

[0015] Optionally, the fin membrane drive module includes a support platform, an optical axis and a plurality of drive rod assemblies, wherein the support platform is arranged next to a row of double-sided cams and parallel to the camshaft, and is used to support the optical axis and the drive rod assembly; a bearing with a seat is provided at each end of the support platform for fixing the two ends of the optical axis, and the optical axis is parallel to the support platform;

[0016] The driving rod assembly includes a connecting arm, a fin ray and a fin sleeve. The fin sleeve is rotatably connected to the optical axis and the fin sleeve is sleeved on the outside of the fin ray. One end of the fin ray is connected to the slide through the connecting arm, and the other end extends out of the shell and is sleeved on the fin sleeve.

[0017] Optionally, the left clutch portion includes a left central shaft, a left end gear set, a spline transition wheel 1, a spline sleeve 1 and a spline hub 1; the left end gear set includes three gears, the first gear is connected to the threaded pin on the front face of the double-sided cam at the leftmost end, the second gear is rotatably sleeved on the left central shaft and meshes with the first gear, so that the left clutch portion can drive the double-sided cam to rotate, and the third gear is arranged between the second gear and the spline transition wheel 1;

[0018] The spline sleeve is connected to the outside of the spline hub and the spline transition wheel. A spring is provided inside the spline sleeve. One end of the spring is connected to the spline transition wheel, and the other end is fixed inside the spline sleeve to adjust the distance between the spline transition wheel and the third gear.

[0019] Optionally, the right clutch part includes a right middle shaft, a right end gear set, a second spline transition wheel, a second spline sleeve and a second spline hub; the right end gear set includes four gears, the fourth gear is connected to the threaded pin on the back of the rightmost double-sided cam, the fifth gear is rotatably sleeved on the right middle shaft and meshes with the fourth gear, so that the right clutch part can drive the double-sided cam to rotate, and the sixth gear and the seventh gear are sequentially arranged between the fifth gear and the second spline transition wheel;

[0020] The second spline sleeve is connected to the outside of the second spline hub and the second spline transition wheel. A second spring is provided inside the second spline sleeve. One end of the second spring is connected to the second spline transition wheel and the other end is fixed inside the second spline sleeve to adjust the distance between the second spline transition wheel and the seventh gear.

[0021] Optionally, the electromagnetic locking positioning device includes a limiting wheel, a flat plate, a positioning shaft and an electromagnetic lock, the positioning shaft is parallel to the right middle axis and is fixedly connected to the rear end plate of the housing, the positioning shaft passes through the center of the limiting wheel and the flat plate, the flat plate is located between the electromagnetic lock and the limiting wheel, and the limiting wheel and the flat plate are fixedly connected and can rotate synchronously on the positioning shaft;

[0022] The central axis of the lock tongue of the electromagnetic lock is parallel to the camshaft and is on the same horizontal plane, and the lock tongue is perpendicular to the limit wheel and the plane disk; the plane disk is provided with a straight groove, which is arranged along the radial direction of the plane disk and extends to the edge of the plane disk, so that a notch is formed on the plane disk, and the lock tongue can pass through the groove when extended.

[0023] Optionally, the screw shift module includes a screw, a double-ended rod, two spline sleeve holders, and at least one screw holder. The screw is parallel to the double-ended rod. The two spline sleeve holders are respectively installed on the outside of spline sleeve 1 and spline sleeve 2. The two ends of the double-ended rod are respectively connected to the two spline sleeve holders. The screw is connected to the screw holder to fix the upper and lower positions of the screw. One end of the screw is connected to the stepper motor. The screw is connected to the double-ended rod through two pairs of carbon fiber sheets. The stepper motor can drive spline sleeve 1 and spline sleeve 2 through the screw and the double-ended rod. A pair of carbon fiber sheets is two carbon fiber sheets. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a front view diagram of the double-sided cam;

[0025] Figure 2 It is a front view diagram of the double-sided cam;

[0026] Figure 3 It is a structural diagram of the cam group module;

[0027] Figure 4 This is a schematic diagram of the cam module curve shifting; (This figure shows the roller in the modified trapezoidal curve groove on the back of the double-sided cam);

[0028] Figure 5 Schematic diagram of the coordinated movement of the cam assembly module, the sink and float subassembly, and the fin membrane drive module (synchronous state);

[0029] Figure 6 Schematic diagram of the coordinated movement of the cam assembly module, the sink and float subassembly, and the fin membrane drive module (sine wave state);

[0030] Figure 7 Schematic diagram of the coordinated movement of the cam assembly module, the sink and float subassembly, and the fin membrane drive module (trapezoidal wave state);

[0031] Figure 8 Schematic diagram of the left clutch part, the right clutch part and the electromagnetic locking device (top view);

[0032] Figure 9 It is a schematic diagram of the cooperation between the left clutch part and the right clutch part;

[0033] Figure 10 Schematic diagram of the electromagnetic locking device and the right clutch part (I);

[0034] Figure 11 Schematic diagram of the electromagnetic locking device and the right clutch part (2);

[0035] Figure 12 This is a structural diagram of the screw gear shift module;

[0036] Figure 13 Schematic diagram of the shell.

[0037] In the attached figure, 1- double-sided cam, 2- threaded pin, 3- sink and float assembly, 4- roller, 5- connecting arm, 6- fin, 7- spring two, 8- spline sleeve one, 9- spline sleeve two, 10- modified sine curve groove, 11- threaded hole, 12- modified trapezoidal curve groove, 13- arc-shaped notch, 14- sink and float column, 15- slide, 16- carbon fiber sheet, 17- convex strip, 18- support plate, 19- camshaft, 20- servo, 21- expanded diameter sleeve, 22- expanded diameter sleeve with rack, 23- slotted linear bearing, 24- thin linear bearing, 25- support platform, 26- optical axis, 27- bearing with seat, 28- fin sleeve, 29- left center shaft, 30- spline transition wheel one, 31- spline hub one, 32- right center shaft, 3 3-Spline transition wheel two, 34-Spline hub two, 35-First gear, 36-Second gear, 37-Third gear, 38-Fourth gear, 39-Fifth gear, 40-Sixth gear, 41-Seventh gear, 42-Spring one, 43-Left bearing, 44-Right bearing, 45-Control motor, 46-Output shaft, 47-Limit wheel, 48-Flat disk, 49-Positioning shaft, 50-Electromagnetic lock, 51-Lock tongue, 52-Groove, 53-Screw, 54-Double-headed tooth rod, 55-Spline sleeve retainer, 56-Screw retainer, 57-Stepping motor, 58-Retaining ring, 59-Screw nut, 60-Upper end plate, 61-Bottom plate, 62-Front end plate, 63-Rear end plate, 64-Left end plate, 65-Right end plate. DETAILED DESCRIPTION

[0038] This embodiment provides a bionic wave fin drive device based on a cam assembly and a tooth clutch module, such as Figures 1-13 As shown, it includes a cam group module, a tooth clutch module, a fin membrane drive module and a housing. The cam group module includes a plurality of double-sided cams 1 arranged in a row. Adjacent double-sided cams are connected by threaded pins 2. Each double-sided cam 1 is slidably connected to a sinking and floating subassembly 3. The sinking and floating subassembly 3 moves up and down by moving the rollers 4 at its bottom along the curved grooves on both sides of the double-sided cam. The fin membrane drive module includes a plurality of connecting arms 5, a plurality of fin rays 6 and a fin membrane. The fin rays are connected to the sinking and floating subassembly 3 through the connecting arms 5. The fin membrane is sleeved on the surface of the fin rays, so that the sinking and floating subassembly 3 can drive the fin membrane to move.

[0039] The tooth-type clutch module includes a left clutch part, a right clutch part, an electromagnetic locking positioning device and a screw shift module. The screw shift module drives the spline sleeve 1 8 of the left clutch part and the spline sleeve 2 9 of the right clutch part to move, and is used to connect the gear set of the left clutch part or the right clutch part to realize the clutch shift operation; the gear set of the left clutch part and the gear set of the right clutch part are respectively connected to the double-sided cams at both ends of the cam group, which can drive the double-sided cams at the end to rotate.

[0040] Optionally, the double-sided cam is in the shape of a flat disc with a through hole provided at the center thereof, both sides of the double-sided cam have curved grooves recessed toward the interior of the double-sided cam, the front side of the double-sided cam has a modified sinusoidal groove 10 and a recessed threaded hole 11, and the back side of the double-sided cam has a modified trapezoidal groove 12 and a recessed arc-shaped notch 13;

[0041] The inner wall of the threaded hole 11 is provided with an internal thread. The threaded pin 2 is cylindrical and has an external thread that matches the internal thread at one end, which can be connected to the threaded hole 11 on the front of the previous double-sided cam; the other end of the threaded pin 2 is inserted into the arc-shaped notch 13 on the back of the next double-sided cam and can move along the arc-shaped notch 13 to realize the connection and relative movement of the two adjacent double-sided cams.

[0042] Further optionally, the arc-shaped notch 13 is concentrically arranged with the double-sided cam, the depth of the arc-shaped notch 13 is half the thickness of the double-sided cam, and the central angle corresponding to the arc-shaped notch 13 is 45°.

[0043] Further optionally, the curved grooves on both sides of the double-sided cam are four-stage motion curves, and the modified sine curve includes, in a clockwise direction, a stop segment 1, a push segment 1, a stop segment 2, and a return segment 1, the end of the return segment 1 is connected to the beginning of the stop segment 1, and the threaded hole is located between the center of the double-sided cam and the stop segment 2;

[0044] The modified trapezoidal curve includes, in a clockwise direction, a stop segment 3, a push segment 2, a stop segment 4, and a return segment 2. The end of the return segment 2 is connected to the beginning of the stop segment 3. The arc-shaped notch is located between the center of the double-sided cam and the stop segment 4.

[0045] Stop segment one corresponds to stop segment three, and stop segment two corresponds to stop segment four.

[0046] The unique setting of the two-sided curves of the double-sided cam of the present invention enables the curved grooves on both sides of the cam to correspond in position in the stop section, forming a synchronous motion state, creating conditions for the rollers on both sides of the same double-sided cam to switch between the two curves.

[0047] The curved grooves, threaded holes 11, and arc-shaped notches 13 on both sides of the double-sided cam can be made by milling and do not penetrate the sides on which they are located. The modified sine curve and modified trapezoidal curve are both conventional curves in the field and can effectively convert complex curved motion into mechanical motion. Traditional cams are all provided with curved grooves on a single side, and a single mechanical motion form is achieved through a drive device facing the single side. However, the present invention creatively provides different types of curves on both sides of the cam, allowing the sinking and floating subassembly 3 to execute multiple motion trajectories, enriching the motion trajectory of the fin membrane.

[0048] Two adjacent double-sided cams of the present invention are connected by a threaded pin 2. The front of one double-sided cam faces the back of the other double-sided cam. The threaded hole 11 and the arc-shaped notch 13 are both located within the area surrounded by the corresponding curved groove, so as not to affect the movement of the roller along the curved groove. One end of the threaded pin 2 is fixedly connected to the front of the double-sided cam, and the other end is slidably connected to the back of the adjacent double-sided cam. This allows the adjacent double-sided cams to drive each other, thereby driving the rotation of the entire row of double-sided cams, thereby making the row of double-sided cams the power source of the fin membrane. The rotation direction of the cam determines the movement form of the roller along the curved groove, and thus determines the movement state of the fin membrane.

[0049] Optionally, the sinking and floating subassembly 3 includes a sinking and floating column 14, a slide 15 and two carbon fiber sheets 16. The top of the slide 15 is fixedly connected to the upper end plate of the shell. The side of the sinking and floating column 14 facing the slide 15 is detachably connected to a protruding strip 17. The side of the slide 15 facing the sinking and floating column 14 is provided with a recessed guide groove. The protruding strip 17 is embedded in the guide groove, so that the sinking and floating column 14 can move up and down along the guide groove.

[0050] The bottom of the sinking and floating column 14 has at least one through-hole, into which a cylindrical pin is inserted. A carbon fiber sheet 16 is positioned at each end of the cylindrical pin. Rollers are positioned at the bottom of the carbon fiber sheet 16. The two rollers of a sinking and floating subassembly 3 fit into the curved grooves on either side of a single double-sided cam, allowing the rotation of the double-sided cam to move the sinking and floating column 14 up and down. There is a one-to-one correspondence between the sinking and floating subassembly 3 and the double-sided cam.

[0051] Further optionally, the buoyancy column 14 is cylindrical and connected to the convex strip 17 by a plurality of screws; two through holes are provided at the bottom of the buoyancy column 14, one of which is inserted into a cylindrical pin. The cylindrical pin is placed horizontally and both ends of the cylindrical pin protrude from the corresponding through holes for mounting the carbon fiber sheet 16;

[0052] Two through holes are vertically set at the top of the carbon fiber sheet 16 for inserting the ends of the two cylindrical pins respectively, and then the carbon fiber sheet 16, the cylindrical pins and the buoyancy column are fixed by screws; a through hole is set at the bottom of the carbon fiber sheet 16, and the roller passes through the through hole at the bottom of the carbon fiber sheet 16 and is fixed by a nut.

[0053] Optionally, the cam group module includes a row of double-sided cams, a camshaft 19, a bearing, a bushing and a servo 20, the camshaft 19 passes through the through hole at the center of all the double-sided cams, connecting all the double-sided cams in a row; the double-sided cams are connected to the camshaft 19 in rotation, and the double-sided cams do not rotate with the camshaft 19;

[0054] The two ends of the camshaft 19 are respectively connected to the expanded diameter sleeve 21 and the expanded diameter sleeve with a rack 22. The expanded diameter sleeve 21 is embedded in a thin linear bearing 24, and the expanded diameter sleeve with a rack 22 is embedded in a slotted linear bearing 23, so that the rack extends out of the slotted bearing. The position of the sleeve and the corresponding end of the camshaft 19 can be limited by a retaining spring.

[0055] The steering gear 20 is installed next to the slotted linear bearing 23 . The gear of the steering gear 20 is engaged with the rack, so that the camshaft 19 can drive the double-sided cam to move along the axial direction of the camshaft 19 .

[0056] Alternatively, the servo gear 20 is arranged vertically, with the rack with the expanded-diameter rack sleeve parallel to the camshaft 19. The servo gear 20 is positioned above the rack. Rotation of the servo gear 20 drives the rack left and right, thereby driving the camshaft 19 and its row of double-sided cams left and right. The camshaft 19, coupled with slotted and thin linear bearings, has both rotational and axial freedom of movement, enabling it to work with rollers to achieve curved shifting.

[0057] In the present invention, several double-sided cams are arranged at equal intervals on the camshaft 19 and driven by the two double-sided cams at the leftmost and rightmost ends. Optionally, spacer sleeves (made of plastic) are provided between adjacent double-sided cams. The spacer sleeves are mounted on the camshaft 19 to maintain equal spacing between the double-sided cams. The spacing between all sink and float subassemblies 3 is equal, and the spacing between the sink and float subassemblies 3 is equal to the spacing between the double-sided cams. When the double-sided cams at one end are driven, the arc-shaped notches 13 between the adjacent double-sided cams cooperate with the threaded pin 2, allowing the double-sided cams to drive each other.

[0058] When the bionic undulating fin drive device is in its initial static state, the fin ray connecting the fin membrane will sag under the action of gravity, causing the connecting arm at the other end to rise, driving the roller to rise through the sinking column. When the roller rises, it drives the double-sided cam to rotate, so that stop section 1 or stop section 3 is at the top. At this time, all the threaded pins are in the same position of the corresponding arc-shaped notch, that is, the threaded pins are at the bottom of the arc-shaped notch at this time. When the double-sided cam at the leftmost end begins to rotate counterclockwise (from left to right), that is, the threaded pins move from the bottom to the top along the arc-shaped notch. When the threaded pins move to the top, the leftmost cam has already rotated 1 / 8 of a turn ahead of the adjacent cam (45 / 360=1 / 8). At this time, the adjacent cam begins to rotate, that is, it drives the corresponding threaded pin to start rotating, and will be 1 / 8 of a turn behind the cam on the right. That is, the adjacent double-sided cams have a phase difference of 1 / 8 of a turn, that is, the curved groove connected by the rollers also has a phase difference of 1 / 8 of a turn, realizing the undulating form of the fin ray.

[0059] When the double-sided cam on the far left starts to rotate clockwise (viewed from left to right), that is, the threaded pin rotates toward the bottom end of the arc-shaped slot, the threaded pin is restricted by the bottom end of the arc-shaped slot, thereby driving the adjacent cam to move together with the leftmost cam, realizing the synchronous swinging of the fins.

[0060] Optionally, the front side of the double-sided cam faces the slotted linear bearing 23, and the back side faces the thin linear bearing 24, that is, the front side faces the left and the back side faces the right. At the same time, the back side of the double-sided cam at the rightmost end is not provided with an arc-shaped notch 13, but is provided with a threaded hole 11, so that the back side can be connected to the threaded pin 2 for connection with the clutch part.

[0061] Optionally, the fin membrane drive module includes a support platform 25, an optical axis 26 and a plurality of drive rod assemblies. The support platform 25 is provided next to a row of double-sided cams and is parallel to the camshaft 19, and is used to support the optical axis 26 and the drive rod assembly. A bearing 27 with a seat is provided at each end of the support platform 25 for fixedly connecting the two ends of the optical axis 26. The optical axis 26 is parallel to the support platform 25.

[0062] The driving rod assembly includes a connecting arm 5, a fin 6 and a fin sleeve 28. The fin sleeve 28 is rotatably connected to the optical axis 26. The fin sleeve 28 is sleeved on the outside of the fin 6. One end of the fin 6 is connected to the slide 15 through the connecting arm 5, and the other end extends out of the shell and is sleeved on the fin sleeve 28.

[0063] Further optionally, the head of the connecting arm 5 is Y-shaped, and the rest is a straight rod. A connecting piece is provided under the convex strip of the buoyancy column, and the Y-shaped head is connected to the connecting piece, so that the buoyancy column can drive the connecting arm and the fin to move up and down.

[0064] Alternatively, the fin sleeve is a hollow rod with a connecting ring on one end for sleeve engagement with the optical axis 26, and the other end pointing toward the fin membrane. The fin ray extends through the fin sleeve and projects from the sleeve at both ends. The fin ray is a double-ended screw, with one end connected to the connecting arm 5 and the other end extending from the housing for sleeve engagement with the fin membrane. The fin sleeve performs a lever motion about the optical axis 26, with one end driven by the sink-float subassembly 3 and the other end driving the fin ray and fin membrane to swing.

[0065] The driving rod assembly corresponds one-to-one to the sinking and floating subassembly 3, and the spacing between adjacent driving rod assemblies is also equal. The connecting arm 5 is a Y-shaped arm, which is a standard part of the cylinder connection accessories, widely used and low cost. Each fin ray is inserted into the fin sleeve, and the fin sleeves are arranged at equal intervals on the optical axis 26. The optical axis 26 is fixed to the support platform 25 by a seat bearing, so that the freedom of the fin sleeve and the fin ray is limited to the rotation with the optical axis 26 as the axis. The fin membrane has a row of hollow cavities for inserting fin rays, and the fin rays correspond one-to-one to the hollow cavities. The fin membrane can be processed by 3D printing technology, with rubber as the material. The fin rays are inserted into the corresponding hollow cavities, so that the fin membrane is inserted into all the fin rays. The part of the fin membrane that is longer than the fin ray can be screwed with a lock nut to prevent the fin membrane from falling off during movement.

[0066] In the present invention, the curved grooves on the front and back sides of the double-sided cam cooperate with the two rollers of the sink-float assembly 3 respectively, which can depict the outline of the curve on the movement of the fin. As a key component for movement and force transmission, the sink-float assembly 3 needs to have greater strength. The carbon fiber sheet 16 (which can be customized by laser cutting) is installed on the bottom of the sink-float column through a cylindrical pin and can be fastened with a hexagonal screw. The roller is fastened to the bottom of the carbon fiber sheet 16 through a nut, and finally connected to the slide 15 through the convex strip 17, so that the freedom of the sink-float column during movement is limited to longitudinal translation. The above-mentioned sink-float assembly 3 has high strength and is flexible in moving up and down.

[0067] Optionally, the left clutch portion includes a left central shaft 29, a left end gear set, a spline transition wheel 30, a spline sleeve 8, and a spline hub 31; the left end gear set includes three gears, a first gear 35 connected to the threaded pin 2 on the front face of the leftmost double-sided cam, a second gear 36 rotatably sleeved on the left central shaft 29 and meshing with the first gear 35, so that the left clutch portion can drive the double-sided cam to rotate, and a third gear 37 is provided between the second gear 36 and the spline transition wheel 30;

[0068] The spline sleeve 8 is sleeved on the outside of the spline hub 31 and the spline transition wheel 30. A spring 42 is provided inside the spline sleeve 8. One end of the spring 42 is connected to the spline transition wheel 30, and the other end is fixed inside the spline sleeve 8 to adjust the distance between the spline transition wheel 30 and the third gear 37.

[0069] Further optionally, a left bearing 43 is provided on the left side (i.e., the outer side) of the left clutch part, one end of the left middle shaft 29 is fixedly connected to the left bearing 43, and the left middle shaft 29 is hollow;

[0070] A control motor 45 is installed on the left side (i.e., the outside) of the left bearing 43. This motor 45 is located outside the housing. Its output shaft 46 passes through the left center shaft 29 and connects to the splined transition wheel 1 30 and splined hub 1 31, driving the splined transition wheel 1 30 and splined hub 1 31 to rotate. The left center shaft 29 is parallel to the output shaft 46, which is in turn parallel to the camshaft. The control motor is connected to the left clutch via a coupling.

[0071] Further optionally, the first gear 35 is rotatably connected to the camshaft 19, and a through hole is provided on the first gear 35 for connecting the threaded pin on the front face of the leftmost double-sided cam, so that the left clutch part can drive the leftmost double-sided cam to rotate.

[0072] Further optionally, the spline sleeve 8 is cylindrical, hollow inside and provided with an annular groove 1 on the inner wall, one end of the spline transition wheel 30 is provided with an annular groove 2, and the other end faces the third gear 37; the two ends of the spring 42 are respectively clamped in the annular groove 1 and the annular groove 2; the spline hub 31 is located on the side of the spline sleeve 8 without the spring 42; the spline sleeve 8 does not rotate with the output shaft 46, and the spline transition wheel 30, the spring 42 and the spline sleeve 8 form a synchronous sleeve module.

[0073] Further optionally, one end of the third gear 37 is fixedly connected to the second gear 36 , and the other end of the third gear 37 is provided with a spline surface tooth and is opposite to the spline transition wheel 1 30 ; the diameter of the third gear 37 is smaller than the diameter of the second gear 36 .

[0074] Optionally, the right clutch portion includes a right middle shaft 32, a right end gear set, a second spline transition wheel 33, a second spline sleeve 9, and a second spline hub 34; the right end gear set includes four gears, a fourth gear 38 is connected to the threaded pin 2 on the back of the rightmost double-sided cam, a fifth gear 39 is rotatably sleeved on the right middle shaft 32, and meshes with the fourth gear 38, so that the right clutch portion can drive the double-sided cam to rotate, and a sixth gear 40 and a seventh gear 41 are sequentially arranged between the fifth gear and the second spline transition wheel 33;

[0075] The spline sleeve 2 9 is sleeved on the outside of the spline hub 2 34 and the spline transition wheel 2 33. A spring 2 7 is provided inside the spline sleeve 2 9. One end of the spring 27 is connected to the spline transition wheel 2, and the other end is fixed inside the spline sleeve 2 to adjust the distance between the spline transition wheel 2 and the seventh gear.

[0076] Further optionally, a right bearing 44 is provided on the right side (i.e., the outer side) of the right clutch part, one end of the right middle shaft 32 is fixedly connected to the right bearing 44, and the right middle shaft 32 is hollow;

[0077] The output shaft 46 of the control motor 45 is connected to the second spline transition wheel 33 and the second spline hub 34, then passes through the right middle shaft 32, and finally connects to the right bearing 44. The output shaft 46 can drive the second spline transition wheel 33 and the second spline hub 34 to rotate. The right middle shaft 32 is parallel to the output shaft 46.

[0078] Further optionally, the fourth gear 38 is rotatably connected to the camshaft 19, and a through hole is provided on the fourth gear 38 for connecting the threaded pin 2 on the back of the rightmost double-sided cam, so that the right clutch part can drive the rightmost double-sided cam to rotate.

[0079] Further optionally, the spline sleeve 2 9 is cylindrical, hollow inside and provided with an annular groove 3 on the inner wall, one end of the spline transition wheel 2 is provided with an annular groove 4, and the other end faces the seventh gear; the two ends of the spring 2 are respectively clamped in the annular groove 3 and the annular groove 4; the spline hub 2 is on the side of the spline sleeve 2 without the spring 2; the spline sleeve 2 does not rotate with the output shaft 46, and the spline transition wheel 2, the spring 2 and the spline sleeve 2 form a synchronous sleeve module.

[0080] Further optionally, the centers of the fifth gear 39, the sixth gear 40 and the seventh gear 41 are all rotatably sleeved on the right central shaft 32, and the fifth gear 39, the sixth gear 40 and the seventh gear 41 are fixedly connected and can rotate synchronously; one end of the seventh gear 41 is provided with a spline surface tooth, and is opposite to the spline transition wheel 2 33; the diameter of the seventh gear 41 is smaller than the diameter of the fifth gear 39.

[0081] Optionally, the electromagnetic locking positioning device includes a limit wheel 47, a flat plate 48, a positioning shaft 49 and an electromagnetic lock 50, the positioning shaft 49 is parallel to the right middle axis 32 and is fixedly connected to the rear end plate 63 of the housing, the positioning shaft 49 passes through the center of the limit wheel 47 and the flat plate 48, the flat plate 48 is located between the electromagnetic lock 50 and the limit wheel 47, the limit wheel 47 and the flat plate 48 are fixedly connected and can rotate synchronously on the positioning shaft 49;

[0082] The central axis of the lock tongue 51 of the electromagnetic lock 50 is parallel to the camshaft 19 and is on the same horizontal plane. The lock tongue 51 is perpendicular to the limit wheel 47 and the flat disk 48. The flat disk 48 is provided with a straight groove 52. The groove 52 is arranged along the radial direction of the flat disk 48 and extends to the edge of the flat disk 48, so that the flat disk 48 forms a notch, and the lock tongue 51 can pass through the groove 52 when extended.

[0083] Further optionally, the limiting wheel 47 is located above the sixth gear 40 and meshes with the sixth gear 40, so that the electromagnetic locking positioning device communicates with the double-sided cam through the limiting wheel 47 and the right end gear set.

[0084] When the lock tongue 51 of the electromagnetic lock 50 extends, the lock tongue 51 penetrates the groove of the flat plate 48 and blocks the flat plate 48, preventing the limit wheel 47 and the flat plate 48 from rotating. The limit wheel 47 stops rotating, and the sixth gear 40 meshing with it also stops rotating, thereby causing the right end gear set to stop rotating, and then causing the fourth gear 38 to stop rotating. The fourth gear 38 is connected to the rightmost double-sided cam, thereby stopping the rightmost double-sided cam from rotating, thus achieving the positioning limit when the rightmost double-sided cam rotates to a specific position. When the lock tongue 51 retracts, it does not affect the rotation of the limit wheel 47 and the flat plate 48.

[0085] The operation method of the left clutch part of the present invention is as follows: when in neutral, the spline transition wheel 30 is disengaged from the third gear 37; when the gear shifting operation begins, the spline sleeve 8 of the left clutch part begins to drive the spline transition wheel 30 to move toward the third gear 37 (the spline transition wheel 30 can be slidably connected to the output shaft 46 by the cooperation of the protrusion and the groove, so that the spline transition wheel 30 can rotate with the output shaft 46 and move axially along the output shaft 46). The surface teeth of the spline transition wheel 30 contact and mesh with the third gear 37, and the spring 42 begins to press the spline transition wheel 30. The surface teeth of the spline transition wheel 30 and the surface teeth of the third gear 37 collide tangentially, so that the rotation speed of the third gear 37 is as synchronized as possible with the spline hub 31. As spline hub 1-8 continues to advance toward third gear 37, it further compresses spline transition wheel 1-30 into engagement with third gear 37. Under increasing tangential meshing pressure, third gear 37 essentially synchronizes with spline hub 1-31 at the same speed, creating a favorable meshing environment. Spline hub 1-8 officially meshes with the left-end gear set, completing the shift process and officially entering left-end drive mode.

[0086] The present invention can also achieve a semi-engaged state, that is, the spline sleeve 8 is not engaged with the spline portion of the third gear 37, only the surface teeth of the spline transition wheel 30 are partially engaged with the surface teeth of the third gear 37. By adjusting the distance between the spline transition wheel 30 and the third gear 37, the engagement force can be controlled to achieve soft drive.

[0087] The operation method of the right clutch portion of the present invention is similar to that of the left clutch portion: when in neutral, the spline transition wheel 2 is disengaged from the seventh gear; when the shift operation begins, the spline hub 2 of the right clutch portion begins to drive the spline transition wheel 2 toward the seventh gear (the spline transition wheel 2 can be slidably connected to the output shaft 46 by the cooperation of the protrusion and the groove, so that the spline transition wheel 2 can both rotate with the output shaft 46 and move axially along the output shaft 46). The surface teeth of the spline transition wheel 2 contact and mesh with the seventh gear, and the spring 2 begins to compress the spline transition wheel 2, causing the surface teeth of the spline transition wheel 2 to tangentially collide with the surface teeth of the seventh gear, so that the speed of the seventh gear is as synchronized as possible with the spline hub 2. As the spline hub 2 continues to advance toward the seventh gear, it further compresses the spline transition wheel 2 to mesh with the seventh gear. Under the increasing tangential meshing pressure, the seventh gear will basically have the same speed as the spline hub 2, thus creating a good meshing environment. The spline sleeve 2 and the right end gear set are officially in meshing state, the gear shifting process is completed, and the driving mode officially enters the right end driving mode.

[0088] The right clutch part can also achieve a semi-engaged state, that is, the spline sleeve 2 is not engaged with the spline part of the seventh gear, only the surface teeth of the spline transition wheel 2 are partially engaged with the surface teeth of the seventh gear. By adjusting the distance between the spline transition wheel 2 and the seventh gear, the engagement force can be controlled to achieve soft drive.

[0089] Optionally, the screw shift module includes a screw 53, a double-ended rod 54, two spline sleeve holders 55, and at least one screw holder 56. The screw 53 is parallel to the double-ended rod 54. The two spline sleeve holders 55 are respectively installed on the outside of spline sleeve 1 8 and spline sleeve 2 9. The two ends of the double-ended rod 54 are respectively connected to the two spline sleeve holders 55. The screw 53 is connected to the screw holder 56 to fix the upper and lower positions of the screw 53. One end of the screw 53 is connected to the stepper motor 57. The screw 53 is connected to the double-ended rod 54 through two pairs of carbon fiber sheets 16. The stepper motor 57 can drive the spline sleeve 1 8 and spline sleeve 2 9 through the screw 53 and the double-ended rod 54. A pair of carbon fiber sheets 16 is composed of two carbon fiber sheets 16.

[0090] Further optionally, the spline sleeve retainer 55 includes two retaining rings 58. The retaining rings 58 are circular and sleeved on the outside of the spline sleeve 1 8 or the spline sleeve 2 9. The top of the retaining ring 58 is provided with a slot for clamping one end of the double-ended tooth rod 54. The double-ended tooth rod 54 is parallel to the output shaft 46.

[0091] One end of the double-ended rod 54 passes through the through hole at the bottom of a pair of carbon fiber sheets 16. The pair of carbon fiber sheets 16 corresponds to a spline sleeve retainer 55. The pair of carbon fiber sheets 16 are located between two retaining rings 58. The position of the carbon fiber sheets 16 on the double-ended rod 54 is fixed.

[0092] Further optionally, the bottoms of the four retaining rings 58 are all slidably connected to the bottom shaft, which is parallel to the output shaft 46 and is located below the spline sleeve. The retaining rings 58 can move axially along the bottom shaft to improve the stability of the spline sleeve movement.

[0093] Further optionally, the screw rod 53 is located above the double-ended tooth rod 54, and the screw rod holder 56 and the two screw rod nuts 59 are both sleeved on the screw rod 53, the screw rod holder 56 is located in the middle of the screw rod 53, and the two screw rod nuts 59 are respectively close to the two ends of the screw rod 53; the top of the screw rod holder 56 is connected to the upper end plate 60 of the housing, and the bottom is sleeved on the double-ended tooth rod; the screw rod holder 56 and the two screw rod nuts 59 are fixed on the screw rod 53;

[0094] The screw rod 53 passes through the through holes on the top of the two pairs of carbon fiber sheets 16 . The position of the pair of carbon fiber sheets 16 is fixed by a screw rod nut 59 , so that the position of the carbon fiber sheets 16 on the screw rod 53 is fixed.

[0095] The spline sleeve retainer 55 is fixed relative to the corresponding spline sleeve and can drive the corresponding spline sleeve to move axially (left and right) along the output shaft 46. The spline hub and the corresponding spline sleeve can rotate relative to each other. The screw 53 is connected to the stepper motor 57, which can synchronously drive the two spline sleeves, maintaining a constant spacing between spline sleeves 1 8 and 2 9, while also precisely controlling the position of the two spline sleeves.

[0096] The spacing between the two spline sleeves is properly set. When the spline transition wheel on one side is fully engaged with the corresponding gear, the spline transition wheel on the other side is completely disengaged from the corresponding gear, achieving "one side clutch engaged, the other side clutch disengaged". When the spline transition wheel on one side is in contact with the corresponding gear (soft drive), the spline transition wheel on the other side is still completely disengaged from the corresponding gear, achieving "one side half-engaged, the other side disengaged". When the spline transition wheel on one side is disengaged from the corresponding gear, the spline transition wheel on the other side has not yet contacted the corresponding gear, achieving "both sides disengaged simultaneously".

[0097] The stepper motor 57 controls the lead screw 53 to move leftward, which in turn drives the double-ended toothed rod 54 to move leftward via the carbon fiber sheet 16. The double-ended toothed rod 54 drives both splined sleeves to move leftward via the splined sleeve retainer 55, thereby achieving the semi-engaged state described above. When the bionic undulating fin drive device is in its initial stationary state, when the right clutch portion is driven, as viewed from right to left, when the rightmost double-sided cam rotates clockwise, the fin rays swing synchronously, and when the rightmost double-sided cam rotates counterclockwise, the fin rays are driven in an undulating manner. When the left clutch portion is driven, as viewed from left to right, when the leftmost double-sided cam rotates counterclockwise, the fin rays swing synchronously, and when the leftmost double-sided cam rotates clockwise, the fin rays are driven in an undulating manner.

[0098] Next, the electromagnetic lock 50 is energized, and the lock tongue 51 extends into the groove of the flat disk 48, achieving the positioning limit of the double-sided cam at the rightmost end when it moves to a specific position. After one fluctuation cycle, the control motor 45 stops, and the rollers of each sink and float stop synchronously in the stop section. The stop sections of the above two curves correspond to the positions on both sides of the same double-sided cam. At this time, the roller on the right side of the sink and float assembly 3 is located in the stop section of the corrected trapezoidal curve on the back of the cam, and the roller on the left side of the sink and float assembly 3 also corresponds to the stop section of the corrected sine curve on the front of the cam. The servo 20 and the rack on the bearing are used to pull the camshaft 19 to the left, thereby driving all double-sided cams to move left along the camshaft 19, so that the roller on the left side of the sink and float assembly 3 is located in the stop section of the corrected sine curve on the front of the cam, while the roller on the right side is separated from the corrected trapezoidal curve on the back, thereby switching the motion curve.

[0099] Optionally, the outer shell is a cube, including an upper end plate 60, a bottom plate 61, a front end plate 62, a rear end plate 63, a left end plate 64 and a right end plate 65, the inner side of the front end plate 62 is provided with the support platform 25, and there is a rectangular space between the top of the front end plate 62 and the upper end plate 60, so that the fins and fin membranes can extend out of the outer shell; an opening is provided on the left end plate 64 for installing a slotted linear bearing, a servo 20 and a left bearing 43; an opening is provided on the right end plate 65 for installing a thin-walled linear bearing, a right bearing 44 and an electromagnetic lock 50.

[0100] Further optionally, the length direction of the front end plate 62 is parallel to the camshaft 19, and a row of grooves is provided on the top of the front end plate 62. Several grooves are evenly arranged along the length direction of the front end plate 62, and the grooves correspond one-to-one to the fins, and the fins are mounted on the grooves.

[0101] Preferably, a support plate 18 is provided on the outside of the groove, one end of the support plate 18 is hinged to the bottom of the groove, and the other end is suspended and points to the outside of the shell. The length of the support plate 18 can be shorter than the length of the fin. The fin is mounted on the support plate 18 to keep the fin moving smoothly.

[0102] Further optionally, the rear end panel 63 is provided with an openable and closable inspection door for installing and inspecting the above-mentioned modules in the housing.

Claims

1. A bionic wave fin drive device based on a cam assembly and a tooth clutch module, characterized in that: It includes a cam assembly module, a tooth clutch module, a fin membrane drive module and a housing. The cam assembly module includes several double-sided cams arranged in a row. Adjacent double-sided cams are connected by threaded pins. Each double-sided cam is slidably connected to a sink and float subassembly. The sink and float subassembly moves up and down by moving the rollers at its bottom along the curved grooves on both sides of the double-sided cam. The fin membrane drive module includes several connecting arms, several fin rays and fin membranes. The fin rays are connected to the sink and float subassembly through the connecting arms. The fin membrane is sleeved on the surface of the fin rays, so that the sink and float subassembly can drive the fin membrane to move. The tooth-type clutch module includes a left clutch part, a right clutch part, an electromagnetic locking positioning device and a screw shift module. The screw shift module drives the spline sleeve 1 of the left clutch part and the spline sleeve 2 of the right clutch part to move, and is used to connect the gear set of the left clutch part or the right clutch part to realize the clutch shift operation; the gear set of the left clutch part and the gear set of the right clutch part are respectively connected to the double-sided cams at both ends of the cam group, which can drive the double-sided cams at the end to rotate.

2. The bionic undulating fin drive device according to claim 1, characterized in that: The double-sided cam is in the shape of a flat disc with a through hole at the center. Both sides of the double-sided cam have curved grooves that are recessed into the interior of the double-sided cam. The front of the double-sided cam has a modified sinusoidal groove and a recessed threaded hole, and the back of the double-sided cam has a modified trapezoidal groove and a recessed circular arc notch. The inner wall of the threaded hole is provided with an internal thread, and the threaded pin is cylindrical, with an external thread that matches the internal thread at one end, which can be connected to the threaded hole on the front side of the previous double-sided cam; the other end of the threaded pin is inserted into the arc-shaped slot on the back side of the next double-sided cam, and can move along the arc-shaped slot to realize the connection and relative movement of the two adjacent double-sided cams.

3. The bionic undulating fin drive device according to claim 2, characterized in that: The curved grooves on both sides of the double-sided cam are four-stage motion curves. The modified sine curve includes a stop segment 1, a push segment 1, a stop segment 2 and a return segment 1 in the clockwise direction. The end of the return segment 1 is connected to the beginning of the stop segment 1. The threaded hole is located between the center of the double-sided cam and the stop segment 2. The modified trapezoidal curve includes, in a clockwise direction, a stop segment 3, a push segment 2, a stop segment 4, and a return segment 2. The end of the return segment 2 is connected to the beginning of the stop segment 3. The arc-shaped notch is located between the center of the double-sided cam and the stop segment 4. Stop segment one corresponds to stop segment three, and stop segment two corresponds to stop segment four.

4. The bionic undulating fin drive device according to claim 2, characterized in that: The subassembly includes a submersible column, a slide, and two carbon fiber sheets. The top of the slide is fixedly connected to the upper end plate of the shell. The side of the submersible column facing the slide is detachably connected to a convex strip. The side of the slide facing the submersible column is provided with a concave guide groove. The convex strip is embedded in the guide groove, so that the submersible column can move up and down along the guide groove. There is at least one through hole at the bottom of the sinking and floating column, and a cylindrical pin is inserted into the through hole. A carbon fiber sheet is provided at each end of the cylindrical pin, and a roller is provided at the bottom of the carbon fiber sheet. The two rollers of a sinking and floating assembly are respectively embedded in the curved grooves on both sides of the same double-sided cam, so that the rotation of the double-sided cam drives the sinking and floating column to move up and down.

5. The bionic undulating fin drive device according to claim 3, characterized in that: The cam group module includes a row of double-sided cams, a camshaft, a bearing, a bushing and a servo. The camshaft passes through the through hole at the center of all the double-sided cams, connecting all the double-sided cams in a row. The double-sided cams rotate and connect to the camshaft, but the double-sided cams do not rotate with the camshaft. The two ends of the camshaft are respectively connected to the expanded diameter sleeve and the expanded diameter sleeve with a rack, the expanded diameter sleeve is embedded in the thin linear bearing, and the expanded diameter sleeve with a rack is embedded in the slotted linear bearing, so that the rack extends out of the slotted bearing; A servo is installed next to the slotted linear bearing, and the gear of the servo is engaged with the rack, so that the camshaft can drive the double-sided cam to move along the axial direction of the camshaft.

6. The bionic undulating fin drive device according to claim 4, characterized in that: The fin membrane drive module includes a support platform, an optical axis and several drive rod assemblies. The support platform is located next to a row of double-sided cams and parallel to the camshaft, and is used to support the optical axis and the drive rod assembly. A bearing with a seat is provided at each end of the support platform to fix the two ends of the optical axis. The optical axis is parallel to the support platform. The driving rod assembly includes a connecting arm, a fin ray and a fin sleeve. The fin sleeve is rotatably connected to the optical axis and the fin sleeve is sleeved on the outside of the fin ray. One end of the fin ray is connected to the slide through the connecting arm, and the other end extends out of the shell and is sleeved on the fin sleeve.

7. The bionic undulating fin drive device according to claim 1, characterized in that: The left clutch part includes a left middle shaft, a left end gear set, a spline transition wheel, a spline sleeve and a spline hub; the left end gear set includes three gears, the first gear is connected to the threaded pin on the front face of the double-sided cam at the leftmost end, the second gear is rotatably sleeved on the left middle shaft and meshes with the first gear, so that the left clutch part can drive the double-sided cam to rotate, and the third gear is arranged between the second gear and the spline transition wheel; The spline sleeve is connected to the outside of the spline hub and the spline transition wheel. A spring is provided inside the spline sleeve. One end of the spring is connected to the spline transition wheel, and the other end is fixed inside the spline sleeve to adjust the distance between the spline transition wheel and the third gear.

8. The bionic undulating fin drive device according to claim 7, characterized in that: The right clutch part includes a right middle shaft, a right end gear set, a second spline transition wheel, a second spline sleeve and a second spline hub; the right end gear set includes four gears, the fourth gear is connected to the threaded pin on the back of the rightmost double-sided cam, the fifth gear is rotatably sleeved on the right middle shaft and meshes with the fourth gear, so that the right clutch part can drive the double-sided cam to rotate, and the sixth gear and the seventh gear are arranged in sequence between the fifth gear and the second spline transition wheel; The second spline sleeve is connected to the outside of the second spline hub and the second spline transition wheel. A second spring is provided inside the second spline sleeve. One end of the second spring is connected to the second spline transition wheel and the other end is fixed inside the second spline sleeve to adjust the distance between the second spline transition wheel and the seventh gear.

9. The bionic undulating fin drive device according to claim 8, characterized in that: The electromagnetic locking positioning device includes a limit wheel, a flat plate, a positioning shaft and an electromagnetic lock. The positioning shaft is parallel to the right middle axis and is fixedly connected to the rear end plate of the housing. The positioning shaft passes through the center of the limit wheel and the flat plate. The flat plate is located between the electromagnetic lock and the limit wheel. The limit wheel and the flat plate are fixedly connected and can rotate synchronously on the positioning shaft. The central axis of the lock tongue of the electromagnetic lock is parallel to the camshaft and is on the same horizontal plane, and the lock tongue is perpendicular to the limit wheel and the plane disk; the plane disk is provided with a straight groove, which is arranged along the radial direction of the plane disk and extends to the edge of the plane disk, so that a notch is formed on the plane disk, and the lock tongue can pass through the groove when extended.

10. The bionic undulating fin drive device according to claim 8, characterized in that: The screw shift module includes a screw, a double-ended tooth rod, two spline sleeve holders and at least one screw holder. The screw is parallel to the double-ended tooth rod. The two spline sleeve holders are respectively installed on the outside of spline sleeve one and spline sleeve two. The two ends of the double-ended tooth rod are respectively connected to the two spline sleeve holders; the screw is connected to the screw holder to fix the upper and lower positions of the screw. One end of the screw is connected to the stepper motor. The screw is connected to the double-ended tooth rod through two pairs of carbon fiber sheets. The stepper motor can drive spline sleeve one and spline sleeve two through the screw and the double-ended tooth rod.

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