Swing mechanism and bionic robotic fish

Abstract

The invention provides a swing mechanism and a bionic robotic fish, the swing mechanism comprises a rack, a fluctuation assembly, a driving assembly, a tail fin and a swing assembly, the fluctuation assembly is connected to the rack, the fluctuation assembly comprises a fluctuation unit and an adjusting assembly, the fluctuation unit reciprocates in a first direction, and the adjusting assembly is connected to the fluctuation unit; the adjusting assembly is arranged on at least one side, in the first direction, of the fluctuation unit, so that the moving stroke of the fluctuation unit is adjusted through the adjusting assembly; the driving assembly is installed on the rack and used for driving the fluctuation unit to move in a reciprocating mode in the first direction. The tail fin and the fluctuation assembly are arranged at an interval; one end of the swing assembly is connected to the fluctuation assembly, the other end of the swing assembly is connected to the tail fin, and the fluctuation assembly can drive the swing assembly to swing relative to the rack and drive the tail fin to swing.

Description

Technical Field

[0001] The present invention belongs to the field of robotics technology, and in particular relates to a swing mechanism and a bionic robot fish. Background Art

[0002] Bionic robot fish is a type of autonomous underwater vehicle designed to imitate the swimming style of fish or cetaceans.

[0003] The tail mechanism of existing bionic robot fish often adopts the coordinated swing of the waist and tail joint with two degrees of freedom, which can realize the unidirectional rotation of the power device to produce reciprocating swing. However, due to the limitation of the mechanical structure, the swing amplitude cannot be adjusted, which restricts the swimming performance of the bionic robot fish. Summary of the invention

[0004] The main purpose of the present disclosure is to provide a swing mechanism and a bionic robotic fish so as to be able to adjust the swing amplitude.

[0005] In view of the above-mentioned invention objectives, the present disclosure provides the following technical solutions: The present disclosure provides a swing mechanism, which is suitable for a bionic robot fish. The swing mechanism includes a frame, a wave component, a driving component, a tail fin and a swing component. The wave component is connected to the frame, and the wave component includes a wave unit and an adjustment component. The wave unit moves back and forth along a first direction. The adjustment component is arranged on at least one side of the wave unit along the first direction so that the movement stroke of the wave unit can be adjusted by the adjustment component. The driving component is installed on the frame and is used to drive the wave unit to move back and forth along the first direction. The tail fin is spaced apart from the wave component. One end of the swing component is connected to the wave component, and the other end is connected to the tail fin. The wave component can drive the swing component to swing relative to the frame and drive the tail fin to swing.

[0006] According to an exemplary embodiment of the present disclosure, the wave unit includes a wave plate, and the wave assembly also includes a wave plate shaft, the wave plate shaft is connected to the frame and extends along the first direction, and the wave plate is connected to the wave plate shaft through a linear bearing.

[0007] Optionally, the wave assembly further comprises an elastic assembly, and the elastic assembly is telescopically pressed between two sides of the wave disk and the adjustment assembly along the first direction.

[0008] Specifically, the adjustment component includes a telescopic member, which can be extended or shortened along the first direction, the outer end of the telescopic member is connected to the frame, the inner end of the telescopic member can approach or move away from the fluctuation unit, the two ends of the elastic component are respectively abutted against the fluctuation disk and the telescopic member, the swing mechanism also includes a controller and a tail fin swing sensor, the tail fin swing sensor is used to monitor the swing angle of the tail fin and can transmit the swing angle information to the controller, the controller is communicated with the telescopic member and controls the inner end of the telescopic member to extend a predetermined length toward the fluctuation unit or shrink a predetermined length away from the fluctuation unit according to the swing angle information.

[0009] Furthermore, the adjustment component includes a moving block, which is movably connected to the frame along the first direction, and the two ends of the elastic component are respectively abutted against the fluctuation disk and the moving block. The swing mechanism also includes a controller and a tail fin swing sensor. The tail fin swing sensor is used to monitor the swing angle of the tail fin and can transmit the swing angle information to the controller. The controller is communicatively connected to the moving block and controls the moving block to move a predetermined distance toward or away from the fluctuation unit according to the swing angle information.

[0010] According to another exemplary embodiment of the present disclosure, the driving assembly includes a driving motor and a driving gear, wherein the driving motor is connected to the frame, and the driving gear is connected to the output shaft of the driving motor. The fluctuation disk is in the shape of a circular disk, and the outer peripheral wall of the fluctuation disk is provided with a tooth portion matching the driving gear, and the driving gear and the fluctuation disk are meshed for transmission.

[0011] Optionally, the adjustment component includes a first adjustment member and a second adjustment member arranged on both axial sides of the wave unit, and the inner end of the first adjustment member and the inner end of the second adjustment member abut against the elastic component on the corresponding side.

[0012] Specifically, the fluctuation plate includes a fluctuation plate body and a pressure plate. The axial end surface of the fluctuation plate body is recessed inwardly to provide a pressure plate accommodating cavity. The pressure plate is arranged in the pressure plate accommodating cavity. The axial outer end surface of the pressure plate constitutes an abutment plane. The elastic component is supported on the abutment plane. The axial end surfaces of the fluctuation plate body are configured as wavy curved surfaces that extend continuously in the circumferential direction of the fluctuation plate body.

[0013] Furthermore, the wave assembly also includes a moving fork, which includes a connecting portion and a pair of fork arms that are spaced apart and opposite to each other, the connecting portion is connected between the pair of fork arms, the moving fork is formed with an opening, the opening is opposite to the connecting portion, the opening is arranged toward the wave unit and the pair of fork arms are respectively arranged on both sides of the axial direction of the wave unit, so that the moving fork can reciprocate along the first direction with the wave unit, and the swing assembly is connected to the connecting portion.

[0014] According to another exemplary embodiment of the present disclosure, the swing assembly includes a swing arm and a swing arm shaft, the swing arm shaft extends along the second direction, the swing arm swings relative to the frame around the swing arm shaft, one end of the swing arm is connected to the movable fork, and the tail fin is connected to the other end of the swing arm.

[0015] Optionally, the wave assembly also includes a movable fork arm shaft and a limit shaft, the movable fork arm shaft is connected between the one end of the swing arm and the movable fork, the movable fork arm shaft extends along the first direction, the limit shaft protrudes outward from the tail end of the movable fork along the second direction, the swing arm is provided with a limit shaft mounting hole extending along a third direction, the limit shaft is movably arranged in the limit shaft mounting hole, and the first direction is perpendicular to both the second direction and the third direction.

[0016] According to another exemplary embodiment of the present disclosure, the wave assembly further comprises a rolling body arranged between the fork arm and the wave unit, wherein the rolling body is rotatably connected to one of the fork arm and the wave unit and is in rolling contact with the other one.

[0017] In another aspect of the present disclosure, a bionic robotic fish is provided, the bionic robotic fish comprising a fish body mechanism and the swing mechanism as described above, wherein the frame is connected to the fish body mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and / or other objects and advantages of the present disclosure will become more apparent through the following description of the embodiments in conjunction with the accompanying drawings, in which: Figure 1 A structural diagram of a swing mechanism provided for an exemplary embodiment of the present disclosure.

[0019] Figure 2 for Figure 1 Longitudinal cross-sectional view of the swing mechanism in FIG.

[0020] Figure 3 for Figure 1 State diagram of the combined moving fork and swinging components in .

[0021] Figure 4 for Figure 3Structural diagram of the mobile fork in .

[0022] Figure 5 for Figure 3 Structural diagram of the swing assembly in .

[0023] Description of reference numerals: 10. Frame; 11. Fluctuating plate shaft; 14. Limit axis; 20. Driving assembly; 21. Driving shaft; 22. Driving gear; 30. Wave assembly; 31. wave unit; 32. abutment portion; 33. Elastic component; 34. Rolling element; 35. Roller shaft; 36. Moving fork; 37. Moving fork arm shaft; 39. Adjusting assembly; 40. Swing assembly; 41. Swing arm; 42. Swing arm shaft; 43. Limit shaft mounting hole; 44. Swing arm shaft mounting hole; 45. Moving fork receiving groove; 50. tail fin; 311. wave plate body; 312, pressure plate; 313, spring connection portion; 361, fork arm; 362, connecting part; 363, fork arm shaft mounting hole; 364, rolling element mounting groove; 365, roller mounting hole; 391. A first adjusting member; 392. A second adjusting member. DETAILED DESCRIPTION

[0024] Example embodiments will now be described more fully with reference to the accompanying drawings. However, it should not be understood that the implementation of the present disclosure is limited to the embodiments set forth herein. The same reference numerals in the figures represent the same or similar structures, and thus their detailed description will be omitted.

[0025] The present disclosure provides a bionic robotic fish, which may include a fish body structure and a fish tail structure, wherein the fish tail structure is swingably connected to the fish body structure. As an example, the fish body structure may include a fish body shell structure, but is not limited thereto. The fish tail structure may include a fish tail shell structure and a swing mechanism connected to the fish tail shell structure.

[0026] Reference Figure 1 and Figure 2The swing mechanism provided by an exemplary embodiment of the present disclosure includes a frame 10, a wave assembly 30, a drive assembly 20, a tail fin 50, and a swing assembly 40, wherein the frame 10 can be used as a support body, and can provide support for the installation of components such as the wave assembly 30, the drive assembly 20, the tail fin 50, and the swing assembly 40. As an example, the frame 10 can be connected to the fishtail shell structure, but is not limited thereto.

[0027] In order to enable the tail fin 50 to swing relative to the frame 10, the tail fin 50 can be connected to the swing assembly 40. As an example, the swing assembly 40 may include a swing arm 41 and a swing arm shaft 42, the swing arm shaft 42 is connected to the frame 10, the swing arm 41 can swing relative to the frame 10 around the swing arm shaft 42, and one end of the swing arm 41 is connected to the wave assembly 30, and the other end can be connected to the tail fin 50, and the power of the driving assembly 20 can be transmitted to the tail fin 50 through the swing arm 41, thereby driving the tail fin 50 to swing back and forth around the swing arm shaft 42 relative to the frame 10.

[0028] In this embodiment, the tail fin 50 is swingably connected to the frame 10 along a first direction, and the driving component 20 can be used as a power source for the swing of the tail fin 50, for driving the wave unit 31 to reciprocate along the first direction, and then the power can be transmitted to the tail fin 50 through the swinging component 40 and drive the tail fin 50 to swing relative to the frame 10.

[0029] The driving assembly 20 is mounted on the frame 10 and is used to drive the wave assembly 30 to move. The wave assembly 30 can be used to convert the rotational motion of the driving assembly 20 into the reciprocating swing of the tail fin 50, and can adjust the swing amplitude according to the hydrodynamic force on the tail fin 50. The wave assembly 30 is connected to the frame 10 and is arranged between the driving assembly 20 and the swing assembly 40, so as to be able to transmit the power of the driving assembly 20 to the swing assembly 40, and then to the tail fin 50. Specifically, the wave assembly 30 is connected to the second end of the swing assembly 40, and can drive the swing assembly 40 to swing around the swing arm shaft 42, thereby driving the tail fin 50 to swing around the swing arm shaft 42.

[0030] Reference Figure 1 The wave component 30 includes a wave unit 31 and an adjustment component 39. The wave unit 31 moves back and forth along a first direction. The adjustment component 39 is arranged on at least one side of the wave unit 31 along the first direction to adjust the movement stroke of the wave unit 31 through the adjustment component 39.

[0031] Continuing to refer to the accompanying drawings, as an example, the adjustment assembly 39 can be provided with two groups, and the two groups of adjustment assemblies 39 can be respectively provided on both sides of the fluctuation disk, but the present invention is not limited thereto. According to needs, the swing mechanism can also include one group of adjustment assemblies 39, and the adjustment assemblies 39 are provided on one side of the fluctuation disk, but the present invention is not limited thereto.

[0032] The adjustment component 39 can be used to adjust the end position of the moving stroke of the wave unit 31. When the end position of the moving stroke moves toward the middle of the moving stroke, the total length of the reciprocating moving stroke of the wave unit 31 will decrease, and the swing amplitude of the swing component 40 will decrease, and the swing angle of the tail fin 50 will decrease, that is, the swing amplitude of the tail fin 50 will decrease. When the end position of the moving stroke moves toward the position away from the middle of the moving stroke, the total length of the reciprocating moving stroke of the wave unit 31 will increase, and the swing amplitude of the swing component 40 will increase, and the swing angle of the tail fin 50 will increase, that is, the swing amplitude of the tail fin 50 will increase.

[0033] Furthermore, when the two ends of the moving stroke move the same distance toward or away from the middle of the moving stroke, the swing amplitude of the swing assembly 40 can be adjusted. In addition, when the two ends of the moving stroke move different distances toward or away from the middle of the moving stroke, the center position of the moving stroke of the wave unit 31 will move, thereby causing the swing assembly 40 to be offset.

[0034] Continue to refer to Figure 1 In this embodiment, the driving assembly 20 includes a driving motor and a driving gear, wherein the driving motor can be connected to the frame 10, and the driving gear can be fixed to the output end of the driving motor to be rotatably connected to the frame 10, but the present invention is not limited thereto. When the driving motor is started, the driving gear can be driven by the driving motor to rotate.

[0035] Reference Figure 2 The fluctuation unit 31 includes a fluctuation plate and a fluctuation plate shaft 11. The fluctuation plate shaft 11 is connected to the frame 10 and extends in the first direction. The fluctuation plate is connected to the fluctuation plate shaft 11 through a linear bearing. The fluctuation plate is in the shape of a disk. The outer peripheral wall of the fluctuation plate is provided with a tooth portion matching the driving gear. The driving gear and the fluctuation plate are meshed for transmission. When the driving gear rotates, under the action of the meshing transmission, the fluctuation plate will rotate relative to the fluctuation plate shaft 11 and can also move relative to the fluctuation plate shaft 11 along its axial direction.

[0036] The wave plate of this embodiment is connected to the wave plate shaft 11 through a linear bearing, so that the wave unit 31 has dual degrees of freedom of rotation around the wave plate shaft 11 and linear motion along the wave plate shaft 11, and can convert the rotational motion of the drive motor into the rotational motion of the wave plate around the wave plate shaft 11 and the movement along the wave plate shaft 11, wherein the movement of the wave plate along the wave plate shaft 11 can drive the swing assembly 40 to swing, and then drive the tail fin 50 to swing. In addition, the gears between the drive gear and the wave plate are meshed, so that the power of the drive motor can be reliably transmitted to the wave assembly, thereby improving the reliability of the wave assembly.

[0037] Continue to refer to Figure 1 and Figure 2In order to improve the reliability of the wave plate and prevent the wave plate from shaking or hitting other parts during the movement of the wave plate shaft 11, the wave assembly 30 also includes an elastic assembly 33, which is retractably pressed against both sides of the wave plate along the first direction. The elastic assembly 33 can be a spring, but is not limited thereto.

[0038] In this embodiment, the swing mechanism may include two groups of elastic components 33, each group of elastic components 33 is arranged on one side of the axial direction of the fluctuation disk. In the initial state, the elastic component 33 can be in a compressed state and the inner end of the elastic component 33 can be against the fluctuation disk, and the outer end of the elastic component 33 can be against the inner end of the adjustment component 39, but it is not limited to this.

[0039] In this embodiment, the elastic component 33 extends along the first direction, and the side facing the fluctuation plate can be defined as the inner end of the elastic component 33 , and the end facing away from the fluctuation plate can be defined as the outer end of the elastic component 33 .

[0040] In this embodiment, the elastic component 33 may include a single group of springs or multiple groups of springs, and the number of springs can be selected according to actual needs. In this embodiment, the elastic component 33 may include a coil spring, but is not limited thereto.

[0041] Continuing to refer to the drawings, as an example, in this embodiment, a set of elastic components 33 are respectively provided on both sides of the wave plate, and the elastic components 33 are sleeved on the wave plate shaft 11, but the present invention is not limited thereto. As required, multiple sets of elastic components 33 can be provided on one side of the wave plate, and the multiple sets of elastic components 33 can be spaced and evenly arranged along the circumference of the wave plate, but the present invention is not limited thereto.

[0042] When the adjusting components 39 are respectively provided on both sides of the wave plate, the two ends of the elastic component 33 are respectively pressed between the wave plate and the adjusting components 39, but the present invention is not limited thereto.

[0043] Under the adjustment action of the adjustment component 39, when the distances moved toward or away from the middle of the moving stroke at the two ends of the moving stroke are the same, when the wave unit 31 is located at the center of the moving stroke, the expansion and contraction changes of the elastic components 33 on both sides of the wave unit 31 are the same. At this time, the wave unit 31 is kept balanced by the constraint force along the first direction, and the position of the center of the moving stroke remains unchanged.

[0044] When both ends of the above-mentioned moving stroke move the same distance toward the middle, the moving stroke of the wave unit 31 becomes smaller, and the elastic component 33 is further compressed. At this time, the stiffness of the elastic component 33 increases, and the force applied to the wave unit 31 by the elastic component 33 on one side increases, which is transmitted to the swing component 40, so that the stiffness of the swing component 40 increases and the swing amplitude of the tail fin 50 decreases, which is suitable for high-frequency rapid flapping; when both ends of the above-mentioned moving stroke move the same distance away from the middle, the moving stroke of the wave unit 31 becomes larger, and the elastic component 33 is further extended. At this time, the stiffness of the elastic component 33 decreases, and the force applied to the wave unit 31 by the elastic component 33 on one side decreases, which is transmitted to the swing component 40, so that the stiffness of the swing component 40 decreases and the swing amplitude of the tail fin 50 increases, which is suitable for low-frequency flapping, or reducing the peak load of the motor in the high-frequency state to balance the system characteristics.

[0045] When the distances moved by the two ends of the moving stroke toward or away from the middle of the moving stroke are different, when the wave unit 31 is located at the center of the moving stroke, the elastic components 33 on both sides of the wave unit 31 have different expansion and contraction amounts, and the spring pressures acting on both sides of the wave unit 31 are different. At this time, the wave unit 31 is subjected to an unbalanced constraint force along the first direction, which will cause the center position of the moving stroke of the wave unit 31 to move, thereby causing the swing component 40 to be offset, thereby realizing unilateral swinging of the tail fin 50, which is suitable for obtaining asymmetric propulsion force and can be used to change the yaw or pitch heading of the bionic robot fish.

[0046] Continuing to refer to the drawings, the adjustment component 39 includes a first adjustment member 391 and a second adjustment member 392 arranged on both axial sides of the wave unit 31, and the inner ends of the first adjustment member 391 and the second adjustment member 392 abut against the elastic component 33 on the corresponding side, but not limited to this.

[0047] This embodiment is described by taking the example of adjusting components 39 being respectively provided on both sides of the fluctuation disk, but the invention is not limited thereto. When the adjusting component 39 is provided on one side of the fluctuation disk (not shown), the two ends of the elastic component 33 located on the same side respectively abut between the fluctuation disk and the adjusting component 39, and on the side where the adjusting component 39 is not provided, the two ends of the elastic component 33 respectively abut against the fluctuation disk and the frame 10, but the invention is not limited thereto.

[0048] Furthermore, in order to accurately adjust the movement stroke of the wave unit 31, the adjustment component 39 may include a telescopic member, which can be extended or shortened along the first direction, the outer end of the telescopic member is connected to the frame 10, and the inner end of the telescopic member can move closer to or farther away from the wave unit 31, so as to adjust the positions of both ends of the movement stroke of the wave unit 31. The swing mechanism also includes a controller (not shown) and a tail fin swing sensor (not shown), the tail fin swing sensor is used to monitor the swing angle of the tail fin 50 and can transmit the swing angle information to the controller, the controller is connected to the telescopic member and controls the inner end of the telescopic member to extend a predetermined length toward the wave unit 31 or shrink a predetermined length away from the wave unit 31 according to the swing angle information.

[0049] When the tail fin swing sensor detects that the swing angle of the tail fin 50 is less than the predetermined swing angle, the tail fin swing sensor transmits the detected swing angle data to the controller, and the controller controls the adjustment component 39 to retract, so that the inner end of the adjustment component 39 moves away from the undulation unit 31, until the swing angle detected by the tail fin swing sensor reaches the predetermined swing angle. The controller controls the adjustment component 39 to stop retracting, and the undulation disk will move within the current moving range, and the tail fin 50 will maintain the predetermined swing angle.

[0050] Similarly, when the tail fin swing sensor detects that the swing angle of the tail fin 50 is greater than the predetermined swing angle, the tail fin swing sensor transmits the detected swing angle data to the controller, and the controller controls the adjustment component 39 to extend, so that the inner end of the adjustment component 39 moves toward the undulation unit 31, until the swing angle detected by the tail fin swing sensor reaches the predetermined swing angle. The controller controls the adjustment component 39 to stop extending, and the undulation disk will move within the current movement range, at which time the tail fin 50 will maintain the predetermined swing angle.

[0051] In this embodiment, the tail fin swing sensor monitors the swing angle of the tail fin 50 in real time, and the controller determines whether the swing angle is within a predetermined swing angle range, and controls the movement stroke of the wave unit 31 to achieve swing angle control of the tail fin 50.

[0052] It can be understood that the telescopic member in this embodiment can be maintained at any length, that is, the inner end of the telescopic member can be maintained at any position on the axial side of the wave unit 31, thereby improving the reliability of the swing mechanism.

[0053] Different from the above-mentioned embodiment, the adjustment component 39 provided in another exemplary embodiment of the present disclosure includes a moving block, which is movably connected to the frame 10 along a first direction. The swing mechanism also includes a controller and a tail fin swing sensor. The tail fin swing sensor is used to monitor the swing angle of the tail fin 50 and can transmit the swing angle information to the controller. The controller is communicatively connected with the moving block and controls the moving block to move a predetermined distance toward or away from the wave unit 31 according to the swing angle information.

[0054] As an example, the moving block may be slidably disposed on the wave plate shaft 11 , but the present invention is not limited thereto.

[0055] In order to improve the moving accuracy of the moving block, the fluctuation disk shaft 11 can be provided with a guide portion extending along the first direction, and the moving block is provided with a second guide portion matching the first guide portion, and the first guide portion can be movably matched with the second guide portion. Through the cooperation of the first guide portion and the second guide portion, the moving block can be moved along the first direction relative to the fluctuation disk shaft 11, which can effectively prevent the moving block from rotating relative to the fluctuation disk shaft 11, thereby improving the moving accuracy of the moving block.

[0056] As an example, one of the first guide portion and the second guide portion may be a guide groove, and the other may be a protrusion matching the guide groove, and the protrusion can slide in matching with the guide groove, so that the moving block moves along the wave disk shaft 11, but it is not limited thereto.

[0057] return Figure 1 and Figure 2 In this embodiment, the elastic component 33 is sleeved on the wave disk shaft 11. In order to reliably support the elastic component 33, an abutment portion 32 is provided in the middle of the wave unit 31. The abutment portion 32 is located around the wave disk shaft 11 and approximately in the middle of the wave disk. The abutment portion 32 is formed as an abutment plane, which can effectively avoid the change in the expansion and contraction amount of the elastic component 33 caused by the uneven contact surface between the elastic component 33 and the wave unit 31 during the rotation of the wave unit 31 around the wave disk shaft 11. By forming the abutment portion 32 as an abutment plane, the elastic component 33 can be stably supported.

[0058] Furthermore, the two axial end surfaces of the wave disk are configured as wavy surfaces that extend continuously along the circumference of the wave disk around the wave disk axis 11. The swing component 40 cooperates with the wavy surface. When the bionic robot fish moves forward at a uniform speed, when the wave disk only rotates around the wave disk axis 11, the swing component 40 slides along the wavy surface, so that the tail fin 50 can swing along a predetermined swinging route. For example, the wavy surface can be a quasi-sine surface, so that the tail fin 50 can swing along a sine curve, but it is not limited to this. In fact, when the bionic robot fish swims in the water, the wave disk will both move back and forth along the extension direction of the wave disk axis 11 and rotate around the wave disk axis 11. At this time, the swing of the tail fin 50 is a compound curve.

[0059] As an example, the wavy curved surface is disposed in the peripheral edge region of the wave disk, and is located radially outside the abutment plane, but the present invention is not limited thereto.

[0060] Reference Figure 2 In the present embodiment, in order to reduce the manufacturing difficulty of the fluctuation plate and to reduce the manufacturing cost of the swing mechanism, the fluctuation plate in the present embodiment may include a fluctuation plate body 311 and a pressure plate 312. A pressure plate accommodating cavity is provided in the middle of the fluctuation plate body 311. The pressure plate is connected in the pressure plate accommodating cavity. The pressure plate 312 is used as an abutment portion 32 for supporting the inner end of the elastic component 33. The side of the pressure plate 312 facing away from the fluctuation plate body 311 is an abutment plane for supporting the inner end of the elastic component 33.

[0061] In order to improve the connection reliability of the elastic component 33, the pressure plate 312 in this embodiment is further provided with a spring connection portion 313, which is extended outwardly from the side of the pressure plate 312 facing away from the wave plate body, but the present invention is not limited thereto. The end of the elastic component 33 can be sleeved on the spring connection portion 313, but the present invention is not limited thereto.

[0062] In this embodiment, since the axial end surface of the wave plate body 311 is non-planar and the end surface of the pressure plate includes an abutting plane, the processing techniques are different. Therefore, in order to reduce the processing difficulty, the wave plate body 311 and the pressure plate 312 can be formed separately and then assembled together. As an example, the pressure plate 312 can be connected to the wave plate body 311 by fastener connection or welding process, but it is not limited thereto.

[0063] Continue to refer to Figure 1 and Figure 2 The wave assembly 30 also includes a moving fork 36, which is connected between the wave unit 31 and the swing assembly 40. The wave unit 31 can move along the wave disk axis 11 to drive the swing assembly 40 to swing relative to the frame 10. For example, but not limited to, the swing assembly 40 will swing around the swing arm axis 42, thereby driving the tail fin 50 to swing around the swing arm axis 42 relative to the frame 10.

[0064] Specifically, the moving fork 36 includes a connecting portion 362 and a pair of fork arms 361 that are spaced apart and oppositely arranged. The connecting portion 362 is connected between the pair of fork arms 361. The moving fork 36 is formed with an opening that is oppositely arranged with respect to the connecting portion 362, such that the moving fork 36 is generally formed in a U-shape, or C-shape, or匚-shape with an opening, but not limited thereto.

[0065] The opening of the moving fork 36 faces the fluctuation unit 31, and the pair of fork arms 361 of the moving fork 36 are respectively arranged on both sides of the fluctuation unit 31 along the first direction. The moving fork 36 can reciprocate along the first direction with the fluctuation unit 31. The swing assembly 40 is connected to the connecting portion 362 of the moving fork 36, such that the swing assembly 40 swings relative to the frame 10 under the drive of the moving fork 36.

[0066] Furthermore, the fluctuation assembly 30 further includes a rolling body 34, which is arranged between the fork arm 361 and the fluctuation unit 31. The rolling body 34 is rotatably connected to one of the fork arm 361 and the fluctuation unit 31 and is in rolling contact with the other.

[0067] As an example, the rotation axis of the rolling body 34 is parallel to the radial direction of the fluctuation disk, but not limited thereto.

[0068] Refer to Figure 3 , as an example, the rolling body 34 is rotatably connected to the inner side of the fork arm 361 (the side of the fork arm 361 facing the fluctuation unit 31) through a roller shaft 35, and the rolling body 34 remains in rolling contact with the axial end face of the fluctuation unit 31, such that the moving fork 36 can reliably hold the axial end faces of the fluctuation unit 31 to be able to drive the swing assembly 40 to swing relative to the frame 10.

[0069] Refer to Figure 4 , a rolling body mounting groove 364 is provided on the inner side of the fork arm 361, and the rolling body 34 is rotatably arranged in the rolling body mounting groove 364. In order to achieve a reliable connection between the rolling body 34 and the fork arm 361, the fork arm 361 is further provided with a roller shaft mounting hole 365 for accommodating the roller shaft 35, and the roller shaft mounting hole 365 can communicate with the rolling body mounting groove 364, but not limited thereto.

[0070] As an example, the rolling body 34 can include cylindrical rollers, needle rollers, or spheres, but not limited thereto.

[0071] In this embodiment, the rolling body 34 is arranged on the fork arm 361 as an example for illustration, but not limited thereto. According to needs, the rolling body 34 can also be arranged on the fluctuation unit 31.

[0072] Continuing to refer to the drawings, the wave assembly 30 may also include a movable fork arm shaft 37 and a limit shaft 14, and the movable fork arm shaft 37 may be used to guide the movement of the movable fork 36 along the first direction. As an example, the movable fork arm shaft 37 may be connected to the frame 10 and extend along the first direction, that is, arranged in parallel with the wave disk shaft 11, and the tail end of the movable fork 36 is provided with a fork arm shaft mounting hole 363 for accommodating the movable fork arm shaft 37, and the movable fork arm shaft 37 is arranged in the fork arm shaft mounting hole 363. As an example, a sliding bearing may be provided between the movable fork arm shaft 37 and the fork arm shaft mounting hole 363, and the movable fork 36 is combined with the movable fork arm shaft 37 through the sliding bearing, so that it can slide back and forth along the first direction. When the wave unit 31 moves along the wave disk shaft 11, it can drive the movable fork 36 to translate along the wave unit 31 in the first direction, thereby driving the swing arm 41 to rotate around the swing arm shaft 42, and can drive the tail fin 50 to swing.

[0073] Reference Figure 3 and Figure 5 The tail end of the moving fork 36 is provided with a limit shaft 14, which protrudes outward along the second direction, and the swing arm 41 is provided with a limit shaft mounting hole 43 extending along the third direction, and the limit shaft 14 is arranged in the limit shaft mounting hole 43, and the first direction is perpendicular to the second direction and the third direction at the same time. As an example, the limit shaft mounting hole 43 is an oblong hole, but it is not limited thereto.

[0074] When the moving fork 36 moves along the first direction, the limiting shaft 14 drives the front end of the swing arm 41 to move along the first direction and swing around the swing arm shaft 42, thereby driving the tail fin 50 to swing along the first direction.

[0075] As an example, the connecting portion 362 of the movable fork 36 is connected to the movable fork arm shaft 37 through a sliding bearing so that it can move a predetermined displacement along the movable fork arm shaft 37. Furthermore, the connecting portion 362 of the movable fork 36 is connected to the front end of the swing arm 41 through the limiting shaft 14, and the movement of the movable fork 36 along the first direction drives the swing arm 41 to swing around the swing arm shaft 42 relative to the frame 10.

[0076] Furthermore, the limiting shaft 14 is arranged in the limiting shaft mounting hole 43, so that the side wall of the limiting shaft mounting hole 43 limits the limiting shaft 14, thereby preventing the limiting shaft 14 from moving in the first direction in the limiting shaft mounting hole 43. Furthermore, the limiting shaft mounting hole 43 extends in the third direction, and when the swing arm 41 swings around the swing arm shaft 42, the limiting shaft 14 can move in the third direction, thereby preventing the swing arm 41 from getting stuck in the swinging process, thereby improving the movement reliability of the swing mechanism.

[0077] In this embodiment, by providing a limit shaft mounting hole 43 extending along the third direction, a composite connection of a moving pair and a rotating pair is formed between the moving fork 36 and the swing arm 41, ensuring that the swing arm 41 swings smoothly around the swing arm shaft 42.

[0078] Continuing to refer to the drawings, the swing arm 41 is provided with a swing arm shaft mounting hole 44 for mounting the swing arm shaft 42. In this embodiment, the swing arm shaft 42 and the limit shaft 14 are substantially parallel, but not limited thereto. In an optional embodiment, a bearing may be provided in the swing arm shaft mounting hole 44, and the bearing is connected between the swing arm shaft 42 and the swing arm 41, so that the swing arm 41 can swing smoothly around the swing arm shaft 42, but not limited thereto.

[0079] As an example, a moving fork accommodating groove 45 for accommodating the moving fork 36 is provided at one end of the swing arm 41 facing the moving fork 36 , but the present invention is not limited thereto.

[0080] In this embodiment, the direction is defined by the state of the bionic robotic fish swimming freely in the water, wherein the direction where the fish back is located is upward, the direction where the fish belly is located is downward, the direction where the fish head is located is forward, and the direction where the fish tail is located is backward. The first direction can be the swinging direction of the tail fin 50, the second direction can be the up and down direction of the bionic robotic fish, and the third direction can be the front and back direction of the bionic robotic fish, wherein the first direction is perpendicular to both the second and third directions.

[0081] return Figure 1 and Figure 2 The swing assembly 40 includes a swing arm 41 and a swing arm shaft 42. The swing arm shaft 42 is connected to the frame 10 and extends along the second direction. The swing arm 41 swings relative to the frame 10 around the swing arm shaft 42. One end of the swing arm 41 is connected to the moving fork 36. The tail fin 50 is connected to the other end of the swing arm 41. Under the action of the driving gear, the wave unit 31 can reciprocate along the wave disk shaft 11 while rotating around the wave disk shaft 11, and can drive the front end of the swing arm 41 to swing around the swing arm shaft 42, thereby driving the tail fin 50 to swing relative to the frame 10 around the swing arm shaft 42. As an example, the tail fin 50 is fixedly connected to the other end of the swing arm 41, but is not limited thereto.

[0082] The moving fork 36 reciprocates along the first direction. Driven by the moving fork 36, the swing arm 41 will reciprocate around the swing arm axis 42 with adjustable amplitude and offset, so that the bionic robot fish can flexibly change the swimming mode according to the surrounding flow field environment and movement requirements, thereby improving the swimming efficiency and maneuverability of the bionic robot fish.

[0083] In another aspect of the present disclosure, a bionic robotic fish is provided, wherein the bionic robotic fish comprises the swinging mechanism as described above.

[0084] The wave assembly 30 provided in this embodiment includes a wave unit 31 and an adjustment assembly 39. The reciprocating movement of the wave unit 31 can drive the swing assembly 40 to swing relative to the frame 10, thereby driving the tail fin 50 to swing. The reciprocating movement stroke of the wave unit 31 can be adjusted by the adjustment assembly 39, thereby adjusting the swing angle, that is, the swing amplitude, of the tail fin 50.

[0085] The swing mechanism provided by the present disclosure can make the swing component 40 have a variety of swing angles, and can adjust the swing angle of the swing component 40 in real time online according to the different flapping frequencies and flow field environment when the bionic robotic fish swims, thereby improving the swimming performance of the bionic robotic fish. At the same time, the swing mechanism in this embodiment can realize the offset flapping of the tail fin 50, which is equivalent to providing a two-dimensional vector propulsion capability, and can change the pitch or yaw heading angle of the bionic robotic fish.

[0086] Furthermore, the position of the moving stroke center of the wave unit 31 can be adjusted by adjusting the component 39, so that the wave unit 31 can be offset, and at the same time, the swing arm 41 can be offset, so as to realize the unilateral swing of the tail fin 50, so as to obtain asymmetric propulsion force, which is adapted to the change of yaw or pitch heading of the bionic robot fish.

[0087] When the tail fin 50 changes due to the different frequencies of the hydrodynamic swing, the swing component 40 transmits the hydrodynamic force to the wave unit 31 through the moving fork 36. The fluctuation amplitude of the wave unit 31 will change according to the balance between the hydrodynamic force of the tail fin 50 transmitted by the elastic component 33 and the swing component 40, thereby affecting the moving distance of the moving fork 36, and further realizing the change of the swing amplitude, offset and stiffness of the tail fin 50.

[0088] In the description of the present disclosure, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present disclosure.

[0089] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present disclosure, unless otherwise specified, "plurality" means two or more.

[0090] In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0091] The features, structures or characteristics described in the present disclosure may be combined in one or more embodiments in any suitable manner. In the above description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced without one or more of the specific details, or other methods, components, materials, etc. may be adopted. In other cases, known structures, materials or operations are not shown or described in detail to avoid blurring the various aspects of the present disclosure.

Claims

1. A swing mechanism, suitable for a bionic robot fish, characterized in that: The swing mechanism comprises: Rack (10), A wave assembly (30) connected to the frame (10), the wave assembly (30) comprising a wave unit (31) and an adjustment assembly (39), the wave unit (31) reciprocating along a first direction, the adjustment assembly (39) being arranged on at least one side of the wave unit (31) along the first direction, so as to adjust the movement stroke of the wave unit (31) through the adjustment assembly (39); A driving assembly (20), mounted on the frame (10), and used for driving the wave unit (31) to reciprocate along a first direction; A tail fin (50) is spaced apart from the wave assembly (30); A swing component (40) has one end connected to the wave component (30) and the other end connected to the tail fin (50), wherein the wave component (30) can drive the swing component (40) to swing relative to the frame (10) and drive the tail fin (50) to swing.

2. The swing mechanism according to claim 1, characterized in that: The wave unit (31) comprises a wave plate, and the wave assembly (30) further comprises a wave plate shaft (11), wherein the wave plate shaft (11) is connected to the frame (10) and extends along the first direction, and the wave plate is connected to the wave plate shaft (11) via a linear bearing.

3. The swing mechanism according to claim 2, characterized in that: The wave assembly (30) further comprises an elastic assembly (33), wherein the elastic assembly (33) is telescopically pressed between two sides of the wave disc and the adjustment assembly (39) along the first direction.

4. The swing mechanism according to claim 3, characterized in that: The adjustment component (39) comprises a telescopic member, the telescopic member being capable of extending or shortening along the first direction, the outer end of the telescopic member being connected to the frame (10), the inner end of the telescopic member being capable of moving closer to or farther from the wave unit (31), and the two ends of the elastic component (33) being respectively in contact with the wave disk and the telescopic member. The swing mechanism further comprises a controller and a tail fin swing sensor, wherein the tail fin swing sensor is used to monitor the swing angle of the tail fin (50) and can transmit the swing angle information to the controller, and the controller is connected to the telescopic member for communication and controls the inner end of the telescopic member to extend toward the wave unit (31) by a predetermined length or to retract away from the wave unit (31) by a predetermined length according to the swing angle information.

5. The swing mechanism according to claim 3, characterized in that: The adjustment component (39) comprises a moving block, which is movably connected to the frame (10) along the first direction, and two ends of the elastic component (33) are respectively in contact with the fluctuation plate and the moving block. The swing mechanism further comprises a controller and a tail fin swing sensor, wherein the tail fin swing sensor is used to monitor the swing angle of the tail fin (50) and can transmit the swing angle information to the controller, and the controller is connected to the moving block for communication and controls the moving block to move a predetermined distance toward or away from the wave unit (31) according to the swing angle information.

6. The swing mechanism according to claim 2, characterized in that: The driving assembly (20) comprises a driving motor and a driving gear, wherein the driving motor is connected to the frame (10), and the driving gear is connected to the output shaft of the driving motor. The undulating disk is in the shape of a circular disk, and the outer peripheral wall of the undulating disk is provided with a tooth portion matching the driving gear, and the driving gear and the undulating disk are meshed for transmission.

7. The swing mechanism according to claim 4 or 5, characterized in that: The adjustment component (39) comprises a first adjustment member (391) and a second adjustment member (392) arranged on both axial sides of the wave unit (31), and the inner end of the first adjustment member (391) and the inner end of the second adjustment member (392) abut against the elastic component (33) on the corresponding side.

8. The swing mechanism according to claim 7, characterized in that: The wave plate comprises a wave plate body (311) and a pressure plate (312); the axial end surface of the wave plate body (311) is inwardly recessed and provided with a pressure plate accommodating cavity; the pressure plate (312) is arranged in the pressure plate accommodating cavity; the axial outer end surface of the pressure plate (312) constitutes an abutment plane; the elastic component (33) is supported on the abutment plane; the axial end surfaces of the wave plate body (311) are configured as wavy curved surfaces that extend continuously along the circumference of the wave plate body (311).

9. The swing mechanism according to any one of claims 1 to 6, characterized in that: The wave assembly (30) further comprises a moving fork (36), wherein the moving fork (36) comprises a connecting portion (362) and a pair of fork arms (361) spaced apart and arranged opposite to each other, wherein the connecting portion (362) is connected between the pair of fork arms (361), and the moving fork (36) is formed with an opening, wherein the opening is arranged opposite to the connecting portion (362), the opening is arranged toward the wave unit (31), and the pair of fork arms (361) are respectively arranged on both sides of the axial direction of the wave unit (31), so that the moving fork (36) can reciprocate along the first direction with the wave unit (31), and the swing assembly (40) is connected to the connecting portion (362).

10. The swing mechanism according to claim 9, characterized in that: The swing assembly (40) comprises a swing arm (41) and a swing arm shaft (42), wherein the swing arm shaft (42) extends along a second direction, and the swing arm (41) swings around the swing arm shaft (42) relative to the frame (10), one end of the swing arm (41) is connected to the moving fork (36), and the tail fin (50) is connected to the other end of the swing arm (41).

11. The swing mechanism according to claim 10, characterized in that: The wave assembly (30) further comprises a movable fork arm shaft (37) and a limit shaft (14); the movable fork arm shaft (37) is connected between the one end of the swing arm (41) and the movable fork (36); the movable fork arm shaft (37) extends along the first direction; the limit shaft (14) protrudes outward from the tail end of the movable fork (36) along the second direction; the swing arm (41) is provided with a limit shaft mounting hole (43) extending along a third direction; the limit shaft (14) is movably arranged in the limit shaft mounting hole (43); and the first direction is perpendicular to both the second direction and the third direction.

12. The swing mechanism according to claim 9, characterized in that: The wave assembly (30) further comprises a rolling body (34) arranged between the fork arm (361) and the wave unit (31); the rolling body (34) is rotatably connected to one of the fork arm (361) and the wave unit (31) and is in rolling contact with the other.

13. A bionic robotic fish, characterized in that: The bionic robotic fish comprises a fish body mechanism and a swing mechanism as claimed in any one of claims 1 to 12, and the frame (10) is connected to the fish body mechanism.

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