Fin swing power simulation mechanism of bionic robotic fish

Abstract

The utility model discloses a bionic robotic fish power simulation fin swing mechanism which comprises an installation frame, a waterproof shell is fixed on one side of the installation frame, a first sealing ring is arranged below the waterproof shell, a motor is installed in the waterproof shell, an output shaft is installed below the motor, and a second sealing ring is arranged below the output shaft. A gear shell is fixed below the mounting frame; according to the power simulation fin swinging mechanism of the bionic robotic fish, through cooperative use of the waterproof shell, the first sealing ring, the output shaft, the gear shell and the second sealing ring, when the device is used, the motor, the first gear and the second gear can be prevented from being in direct contact with water through arrangement of the waterproof shell and the gear shell; all parts can be stably used in water and cannot be eroded or damaged by water, meanwhile, water can be prevented from permeating from gaps in the outer side of the output shaft through mutual cooperation of the first sealing ring and the second sealing ring, and the sealing performance is good.

Description

Technical Field

[0001] The utility model relates to the technical field related to bionic robot fish, in particular to a bionic robot fish power simulation fish fin swinging mechanism. Background Art

[0002] Bionic robot fish is an underwater robot designed and manufactured based on the principles of bionics. It looks like a real fish and is equipped with detection sensors and other equipment. It is used for underwater survey, monitoring, rescue, search and rescue and other tasks. The advantage of bionic robot fish lies in its unique movement mode and design. They can swim like real fish and have high maneuverability, concealment and propulsion efficiency. The swimming of bionic robot fish depends on the coordinated movement of the body and fins, and can achieve high-speed and high-maneuverability swimming without producing a traceable wake structure. The simulated fin swinging mechanism is a key component in the design of bionic robot fish. Its main function is to simulate the fin swinging behavior of real fish to provide the necessary propulsion and control capabilities.

[0003] When the simulated fish fin swinging mechanism is used underwater for a long time, the existing simulated fish fin swinging mechanism has poor sealing performance and the transmission parts are at risk of being corroded by water. Therefore, the present application provides a bionic robot fish power simulated fish fin swinging mechanism to meet the needs. Utility Model Content

[0004] The utility model aims to provide a bionic robot fish power simulation fish fin swing mechanism to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a bionic robot fish power simulation fin swinging mechanism, comprising a mounting frame, a waterproof shell is fixed on one side of the mounting frame, a first sealing ring is arranged below the waterproof shell, a motor is installed inside the waterproof shell, an output shaft is installed below the motor, a gear housing is fixed below the mounting frame, a second sealing ring is arranged above the gear housing, a first gear is installed on one side of the gear housing, a second gear is installed on one side of the first gear, a transmission shaft is installed inside the mounting frame, and a tail fin is fixed on one side of the transmission shaft.

[0006] Preferably, the first sealing ring is arranged on the outside of the output shaft, and the first sealing ring is made of flexible rubber material.

[0007] Preferably, the first gear forms a rotating structure with the gear housing through the output shaft, and the first gear is meshingly connected with the second gear.

[0008] Preferably, the transmission shaft is connected to the second gear, and the transmission shaft coincides with the center axis of the second gear.

[0009] Preferably, the tail fin forms a rotating structure with the mounting frame through a transmission shaft, and the tail fin and the transmission shaft are an integrated structure.

[0010] Preferably, an upper protective shell is installed above the caudal fin, and a lower protective shell is installed below the caudal fin.

[0011] Preferably, the shape of the upper protective shell matches the shape of the tail fin, and the upper protective shell and the lower protective shell cooperate with each other.

[0012] Compared with the prior art, the beneficial effects of the utility model are:

[0013] 1. The bionic robot fish power simulation fin swinging mechanism, through the coordinated use of the waterproof housing, the first sealing ring, the output shaft, the gear housing and the second sealing ring, can prevent the motor, the first gear and the second gear from direct contact with water through the arrangement of the waterproof housing and the gear housing when the device is used, so that each component can be stably used in water, thereby not being eroded or damaged by water. At the same time, the mutual cooperation of the first sealing ring and the second sealing ring can prevent water from penetrating from the gap outside the output shaft, and the sealing performance is good;

[0014] 2. This bionic robot fish has a dynamic simulation of a fish fin swinging mechanism. Through the arrangement of the tail fin, the upper protective shell and the lower protective shell, the tail fin sometimes hits an obstacle when swinging in the water. The upper protective shell and the lower protective shell can protect the tail fin to avoid deformation or cracking after collision, which is conducive to the bionic robot fish working underwater for a long time. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0016] Figure 2 This is a schematic diagram of the structure of the mounting frame of the utility model;

[0017] Figure 3 It is a structural schematic diagram of the motor of the utility model;

[0018] Figure 4 It is a structural schematic diagram of the tail fin of the utility model.

[0019] In the figure: 1. mounting frame; 2. waterproof housing; 3. first sealing ring; 4. motor; 5. output shaft; 6. gear housing; 7. second sealing ring; 8. first gear; 9. second gear; 10. transmission shaft; 11. tail fin; 12. upper protective shell; 13. lower protective shell. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0021] See also Figure 1-3 The utility model provides a technical solution: a bionic robot fish power simulation fin swing mechanism, including a mounting frame 1, a waterproof shell 2 is fixed on one side of the mounting frame 1, a first sealing ring 3 is arranged below the waterproof shell 2, the first sealing ring 3 is arranged on the outside of the output shaft 5, the first sealing ring 3 is made of flexible rubber material, the arrangement of the waterproof shell 2 and the gear shell 6 can prevent the motor 4, the first gear 8 and the second gear 9 from direct contact with water, so that each component can be used stably in water, so as not to be eroded or damaged by water, the first sealing ring 3 and the second sealing ring 7 cooperate with each other to prevent water from penetrating from the gap on the outside of the output shaft 5, and the sealing performance is good, the motor 4 is installed inside the waterproof shell 2, and the motor 4 An output shaft 5 is installed at the bottom, a gear housing 6 is fixed at the bottom of the mounting frame 1, a second sealing ring 7 is arranged above the gear housing 6, a first gear 8 is installed at one side of the inside of the gear housing 6, the first gear 8 forms a rotating structure with the gear housing 6 through the output shaft 5, the first gear 8 is meshed with the second gear 9, the first gear 8 is driven to rotate by the motor 4, and the second gear 9 can be driven to rotate, the transmission mechanism is relatively simple and practical, a second gear 9 is installed at one side of the first gear 8, a transmission shaft 10 is installed inside the mounting frame 1, the transmission shaft 10 is connected with the second gear 9, the transmission shaft 10 is consistent with the central axis of the second gear 9, the second gear 9 drives the transmission shaft 10 to rotate, so as to control the tail fin 11 to swing back and forth;

[0022] See also Figure 1 and Figure 4 A tail fin 11 is fixed to one side of the transmission shaft 10, and the tail fin 11 forms a rotating structure with the mounting frame 1 through the transmission shaft 10. The tail fin 11 and the transmission shaft 10 are an integrated structure, which simulates the fin swinging behavior of real fish and provides necessary propulsion for the bionic robot fish. An upper protective shell 12 is installed above the tail fin 11, and a lower protective shell 13 is installed below the tail fin 11. The upper protective shell 12 and the lower protective shell 13 can protect the tail fin 11 to prevent deformation or cracking of the tail fin 11 after collision. The shape of the upper protective shell 12 is consistent with the shape of the tail fin 11, and the upper protective shell 12 and the lower protective shell 13 cooperate with each other. The tightness is good during installation and the area of ​​the tail fin 11 will not be increased too much.

[0023] Working principle: When using the bionic robot fish power simulation fin swinging mechanism, first turn on the external power supply, then fix the mounting frame 1 on the tail of the bionic robot fish, turn on the switch of the motor 4 to drive the first gear 8 to rotate forward and reverse, and the first gear 8 and the second gear 9 are engaged to drive the transmission shaft 10 to rotate, so that the tail fin 11 can swing back and forth, simulating the fin swinging behavior of real fish, and providing the necessary propulsion force for the bionic robot fish. Secondly, the setting of the waterproof shell 2 and the gear shell 6 can prevent the motor 4, the first gear 8 and the second gear 9 from directly contacting with water, so that each component can be used stably in the water, so as not to be eroded or damaged by water. At the same time, the mutual cooperation of the first sealing ring 3 and the second sealing ring 7 can prevent water from penetrating from the gap outside the output shaft 5. When the device is not used, the external power supply of the device is cut off. The model of the motor 4 is XC38MS64, and the use process of the bionic robot fish power simulation fin swinging mechanism is completed.

[0024] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A bionic robot fish dynamic simulation fin swinging mechanism, comprising a mounting frame (1), characterized in that: A waterproof housing (2) is fixed on one side of the mounting frame (1), a first sealing ring (3) is arranged below the waterproof housing (2), a motor (4) is installed inside the waterproof housing (2), an output shaft (5) is installed below the motor (4), a gear housing (6) is fixed below the mounting frame (1), a second sealing ring (7) is arranged above the gear housing (6), a first gear (8) is installed on one side of the interior of the gear housing (6), a second gear (9) is installed on one side of the first gear (8), a transmission shaft (10) is installed inside the mounting frame (1), and a tail fin (11) is fixed on one side of the transmission shaft (10).

2. The bionic robot fish dynamic simulation fin swinging mechanism according to claim 1 is characterized in that: The first sealing ring (3) is arranged on the outside of the output shaft (5), and the first sealing ring (3) is made of flexible rubber material.

3. The bionic robot fish dynamic simulation fin swinging mechanism according to claim 1 is characterized in that: The first gear (8) forms a rotating structure with the gear housing (6) through the output shaft (5), and the first gear (8) is meshingly connected with the second gear (9).

4. The bionic robot fish dynamic simulation fin swinging mechanism according to claim 1 is characterized in that: The transmission shaft (10) is connected to the second gear (9), and the central axis of the transmission shaft (10) coincides with that of the second gear (9).

5. The bionic robot fish dynamic simulation fin swinging mechanism according to claim 1 is characterized in that: The tail fin (11) forms a rotating structure through the transmission shaft (10) and the mounting frame (1), and the tail fin (11) and the transmission shaft (10) are an integrated structure.

6. The bionic robot fish dynamic simulation fin swinging mechanism according to claim 1 is characterized in that: An upper protective shell (12) is installed above the tail fin (11), and a lower protective shell (13) is installed below the tail fin (11).

7. The bionic robot fish dynamic simulation fin swinging mechanism according to claim 6 is characterized in that: The shape of the upper protective shell (12) matches the shape of the tail fin (11), and the upper protective shell (12) and the lower protective shell (13) cooperate with each other.

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