CN109720526A

CN109720526A - A kind of pendulous device of imitative whale tail

Info

Publication number: CN109720526A
Application number: CN201910031462.2A
Authority: CN
Inventors: 陈刚; 遆肖聪; 陈洪立; 邓坦; 屠嘉骏
Original assignee: Zhejiang Sci-Tech University
Current assignee: Zhejiang Sci-Tech University
Priority date: 2019-01-14
Filing date: 2019-01-14
Publication date: 2019-05-07

Abstract

The invention belongs to robotic technology fields.Purpose is to provide a kind of pendulous device of imitative whale tail, which should have the characteristics that structure is simple, thrust is big, resistance is small.Technical solution is: a kind of pendulous device of imitative whale tail, it is characterised in that: the device includes motor, tail fin and bevel gear set, crank and rocker mechanism and gear and rack teeth mechanism for successively transmitting motor power to drive tail fin to swing；The bevel gear set includes the first bevel gear fixed with motor output shaft and the second bevel gear for being rotatably positioned on pedestal and engaging with first bevel gear；The gear and rack teeth mechanism includes the rack gear for being rotatably positioned the gear on pedestal and being slidably located on pedestal and engaging with gear；The crank and rocker mechanism includes the connecting rod being rotationally hinged on respectively on crank and rack gear with the co-axially fixed crank of second bevel gear and both ends.

Description

A kind of pendulous device of imitative whale tail

Technical field

The invention belongs to robotic technology fields, are specifically related to a kind of pendulous device of imitative whale.

Background technique

Underwater robot in traditional sense mostly uses greatly propeller as main propulsion mode, and the propulsion mode is in technology Aspect there is a problem of it is various, these problems because data deficiency also need to make very big improvement, structure size With weight because the reason of technical deficiency is often all bigger, using the underwater robot of propeller propulsion mode, there are energy for such The various defects such as source consumption is big, reliability is low, propulsive efficiency is relatively low, mobility is poor, can generate noise pollution and vortex, right The work of robot generates biggish obstruction.

Travelling ability of the marine organisms after the evolution by 1 years, because of the test by ocean, in ocean Become more to adapt to Ocean Living.Now, the propulsion mode for imitating fish, is developed whereby with high efficiency and high maneuverability Underwater robot, one of the main target that the researcher and scholar for being increasingly becoming every field pursue.

As the whale that marine organisms represent, possess higher speed, the various advantages such as better mobility, tail leads to It crosses to swing up and down and bigger propulsive force can be provided, additionally it is possible to which control is floated and dive.The imitative whale that mimic biology whale develops Robot, compared to other underwater robots, fltting speed in water can be greatly improved, and mobility can phase To more preferable, so that machine task efficiency is higher.

In underwater robot field of today, various underwater robots all achieve preferably in practical applications Achievement.And the underwater robot for imitating whale obtains consequence in following scientific domain for because of its outstanding ability. It is believed that in the coming period of time, whale robot is all by the leading position in underwater robot field.And machine whale The thrust that fish relies primarily on tail portion is advanced, therefore in the research of machine whale, the design and research of propulsive mechanism is indispensable A few important ring.The performance quality of propulsive mechanism is directly related to the fltting speed of machine whale, propulsive efficiency etc..Institute It is essential a part in the design of whale robot with the design of whale robot propulsion mechanism.

Summary of the invention

It, should the purpose of the present invention is overcoming the shortcomings of to provide a kind of pendulous device of imitative whale tail in above-mentioned background technique Device should have the characteristics that structure is simple, thrust is big, resistance is small.

The technical scheme is that

A kind of pendulous device of imitative whale tail, it is characterised in that: the device includes motor, tail fin and for successively transmitting Bevel gear set, crank and rocker mechanism and gear and rack teeth mechanism of the motor power to drive tail fin to swing；

The bevel gear set includes the first bevel gear fixed with motor output shaft and is rotatably positioned on pedestal And the second bevel gear engaged with first bevel gear；The gear and rack teeth mechanism includes the gear being rotatably positioned on pedestal And the rack gear for being slidably located on pedestal and being engaged with gear；The crank and rocker mechanism includes same with second bevel gear The fixed crank of axis and both ends are rotationally hinged on the connecting rod on crank and rack gear respectively；The rotation axis of the machine shaft The pivot center of line, the pivot center of crank and gear is orthogonal, the pivot center of machine shaft and the mobile axis of rack gear It is parallel to each other.

The second bevel gear and crank are also secured in connecting shaft, and connecting shaft is rotatably positioned by first support On pedestal.

The gear is rotatably positioned on pedestal by second support；The second support is equipped with to be slided for rack gear Sliding slot.

The tail fin is fixed by coccyx bar with gear.

The shape of the tail fin is made by imitative whale tail and of rubber material.

The motor is fixed on the base.

The beneficial effects of the present invention are:

1) present invention employs bevel gear sets to transmit motor power, have long service life, low torsion larger, corrosion-resistant The feature that property is strong, drive noise is small, can solve the excessive problem of water resistance, and the fixation of pedestal is cooperated damping and can effectively to subtract Few overall weight, improves travelling efficiency；

2) present invention employs crank and rocker mechanisms to drive tail fin to move with gear and rack teeth mechanism, and tail fin is from top to bottom Speed is slow when swinging starting, and speed gradually increases in swing, and final velocity gradually decreases, and the variation of movement velocity is sine Curve, effective improve swing efficiency；

3) tail fin can provide bigger propulsive force using mode is swung up and down, and improve cruising ability, additionally it is possible to effectively control Floating and dive；Tail fin uses rubber material, there is good waterproofness, and the resistance being subject to when so that swinging is unlikely to excessive, together When rubber material can deform when moving in water, formed streamlined, to reduce advance resistance reduction, and utilize rubber The reaction force of good resilience and water, moreover it is possible to greatly improve propulsive force.

Detailed description of the invention

Schematic perspective view Fig. 1 of the invention.

Schematic view of the front view Fig. 2 of the invention.

The schematic diagram of tail fin in Fig. 3 present invention.

Specific embodiment

Below in conjunction with Figure of description, the invention will be further described, but the invention is not limited to following embodiments.

As shown in Figure 1, a kind of pendulous device of imitative whale tail, is made of power section, running part and execution part, tool Body includes motor 1, bevel gear set, crank and rocker mechanism, gear and rack teeth mechanism, coccyx bar 11 and tail fin 12.

The motor, bevel gear set, crank and rocker mechanism and gear and rack teeth mechanism are installed on pedestal 17, solid on pedestal Surely there are first support 13 and second support 14.The motor is power section, mainly uses stepper motor.The bevel gear set, Crank and rocker mechanism and gear and rack teeth mechanism are running part, are arranged between motor and coccyx bar, for successively transmitting motor Power come drive coccyx bar swing.

The bevel gear set includes the first bevel gear 2 fixed with motor output shaft and is rotatably positioned on pedestal And the second bevel gear 3 engaged with first bevel gear.The number of teeth of the first bevel gear is 36, and the number of teeth of second bevel gear is 72, transmission ratio 2 effectively reduces revolving speed, so that device swing will not be too fast, while the lighter in weight of bevel gear set and operation Stablize, while reducing installation weight and vibration, improves swing efficiency.

The crank and rocker mechanism includes rotationally being hinged on the co-axially fixed crank 5 of second bevel gear and both ends Connecting rod 6 on crank and rack gear.The second bevel gear and crank are separately fixed at the both ends of connecting shaft 4, and connecting shaft passes through axis It holds and (is omitted in figure) and is rotatably positioned in first support.Pass through between the connecting shaft 4 and second bevel gear and crank Key connection.

The gear and rack teeth mechanism includes the gear 9 being rotationally vertically oriented on pedestal and horizontally slidable fixed The rack gear 7 that position is engaged on pedestal and with gear, coccyx bar 11 are fixed with gear.The gear can by bearing (omitting in figure) It rotationally positions on the secondary support bracket, second support is equipped with the sliding slot 8 slided for rack gear, and sliding slot can be dovetail groove.

The pivot center of the pivot center of the machine shaft, the pivot center of crank and gear is orthogonal, and motor turns The pivot center of axis and the mobile axis of rack gear are parallel to each other, the pivot center of second bevel gear and the coaxial of crank Arrangement.

The coccyx bar and tail fin are execution part, and one end and the gear of coccyx bar are fixed and the other end is fixed with coccyx bar (as seen from the figure: a coccyx bar is fixed in two end faces of gear respectively, and the other end of two coccyx bars is again solid with tail fin grafting simultaneously It is fixed).The shape of the tail fin is made by imitative whale tail and of rubber material.The tail fin is equipped with to be inserted into for coccyx bar and fix Blind hole (being omitted in figure), coccyx bar and blind hole are interference fitted and are fixed by gluing knot.

Pivot center of the length direction of the coccyx bar perpendicular to gear.

The working principle of the invention is:

Successively driving bevel gear group, crank and rocker mechanism and gear and rack teeth mechanism work the motor, gear and rack teeth mechanism Rack gear linear reciprocating motion is done under the drive of crank and rocker mechanism, rack gear does the swing of sinusoidal rule with moving gear again, most Tail fin is driven to swing up and down according to certain rules by urostyle eventually, meeting after resistance when tail fin is swung by water bends Quickly rebound is to obtain propulsive force.

Claims

1. A swinging device imitating a whale tail is characterized in that: the device comprises a motor (1), a caudal fin (12) and a bevel gear set, a crank rocker mechanism and a gear tooth for sequentially transmitting motor power to drive the swinging of the caudal fin. Article institution;

The bevel gear set includes a first bevel gear (2) fixed with the motor output shaft and a second bevel gear (3) rotatably positioned on the base (17) and meshing with the first bevel gear; the gear teeth The bar mechanism includes a gear (9) rotatably positioned on the base and a rack (7) slidably positioned on the base and meshed with the gear; the crank-rocker mechanism includes a coaxial fixed with the second bevel gear A crank (5) and a connecting rod (6) whose two ends are rotatably hinged on the crank and the rack respectively; the rotation axis of the motor shaft, the rotation axis of the crank and the rotation axis of the gear are perpendicular to each other, and the rotation axis of the motor shaft is perpendicular to each other. Parallel to the moving axis of the rack.

2. The swinging device of imitation whale tail according to claim 1, characterized in that: the second bevel gear and the crank are fixed on the connecting shaft (4) at the same time, and the connecting shaft can pass through the first bracket (13). Rotationally positioned on the base.

3. The swinging device of imitation whale tail according to claim 2, characterized in that: the gear is rotatably positioned on the base through the second bracket (14); the second bracket is provided with a tooth supply The chute (8) on which the bar slides.

4 . The swing device for imitating a whale tail according to claim 3 , wherein the tail fin is fixed to the gear through a coccyx rod. 5 .

5 . The swing device for imitating a whale tail according to claim 4 , wherein the tail fin is shaped like a whale tail and is made of rubber material. 6 .

6 . The swing device for imitating a whale tail according to claim 5 , wherein the motor is fixed on the base. 7 .