CN114735177A

CN114735177A - Underwater movement mechanism and underwater robot

Info

Publication number: CN114735177A
Application number: CN202210390172.9A
Authority: CN
Inventors: 徐耀辉; 李翰林; 何凯; 左启阳; 方海涛
Original assignee: Shenzhen Institute of Advanced Technology of CAS
Current assignee: Shenzhen Institute of Advanced Technology of CAS
Priority date: 2022-04-14
Filing date: 2022-04-14
Publication date: 2022-07-12
Anticipated expiration: 2042-04-14
Also published as: CN114735177B

Abstract

The application provides an underwater motion mechanism and an underwater robot, wherein the underwater robot comprises the underwater motion mechanism, and the underwater motion mechanism comprises a first driving piece, a cord and at least one web component; the cord is connected between the first driving part and the web component and used for driving the web component to be unfolded to increase the stress area of the web component in water or driving the web component to be folded to reduce the stress area of the web component in water under the driving of the first driving part. The underwater robot can install the first driving piece at the positions at intervals of the web assemblies, reduces the inertia of the web assemblies, and improves the control precision of the reciprocating swing of the web assemblies.

Description

Underwater movement mechanism and underwater robot

Technical Field

The application relates to the technical field of underwater equipment, in particular to an underwater motion mechanism and an underwater robot.

Background

The oceans, which occupy 71% of the area of the earth, have abundant resources such as oil, iron, etc. inside. With the continuous development of scientific technology, China is rapidly developed in the aspect of ocean science research, and more ocean resources are discovered and exploited. The underwater robot is one of the important devices for ocean resource exploitation, and is rapidly developed.

At present, a common underwater robot is generally powered by the following means: 1. a propeller is adopted to provide power; 2. bionic technology is adopted to simulate the swinging of the web wings of aquatic animals such as fish and the like to provide power. The propeller provides power, the power is sufficient, but the control precision is low, the energy consumption is high, and the posture is not easy to control; the web wings are adopted to swing to provide power, and during the swinging return stroke, the large resistance can be born. In this regard, a tail structure of an underwater robot has appeared, which can reduce the area when the resistance in water is large and increase the area when the resistance in water is small, thereby improving the swimming speed of the tail structure in water. However, the tail structure needs to provide a driving mechanism for driving the tail structure to increase the area and reduce the area, the gravity of the tail structure is increased due to the increase of the driving mechanism, the inertia and the volume of the tail structure are increased, and the resistance and the control difficulty of the whole underwater robot are further increased.

Disclosure of Invention

The application provides an underwater motion mechanism and an underwater robot, which are used for solving the technical problems that the inertia and the size of the tail structure of the underwater robot in the prior art increase the resistance and the control difficulty of the underwater robot.

In order to solve the above problem, in a first aspect, an embodiment of the present application provides a technical solution that: an underwater motion mechanism comprises a first driving piece, a wire rope and at least one web component; the cord is connected between the first driving part and the web component and used for driving the web component to be unfolded to increase the stress area of the web component in water or driving the web component to be folded to reduce the stress area of the web component in water under the driving of the first driving part.

In one possible design, one end of the wire is connected with the output end of the first driving element, and the other end of the wire is connected with the input end of the web assembly; the underwater motion mechanism further comprises a reset piece, one end of the reset piece is fixed, and the other end of the reset piece is connected with the input end of the web assembly;

the first driving piece is used for tensioning the wire rope to drive the input end of the web component to move and unfold the web component; the reset piece is used for driving the input end of the web component to reset and drawing the web component together when the first driving piece looses the cotton rope; and/or the presence of a gas in the gas,

the first driving member is used for providing a pulling force which is larger than the elastic force of the resetting member to the wire rope so as to move the input end of the web assembly and unfold the web assembly; the reset piece is used for driving the input end of the web assembly to reset and drawing the web assembly together when the pulling force provided by the first driving piece is smaller than the elastic force of the reset piece.

In one possible design, the web assembly comprises:

fixing the rod;

the at least two movable rods are respectively symmetrically arranged on two opposite sides of the fixed rod;

the web sheets are respectively fixed on the fixed rod and the at least two movable rods;

the connecting rod structure is connected between each movable rod and the fixed rod; the input end of the connecting rod structure is connected with the other end of the cord, and the input end of the connecting rod structure is connected with the other end of the resetting piece.

In a possible design, one end of the movable rod facing the first driving piece is hinged with one end of the fixed rod facing the first driving piece; the movable rod can rotate relative to the fixed rod under the driving of the connecting rod structure so as to drive the web sheets to be unfolded or folded.

In a possible design, the link structure includes a slider and a first link, the cord and the reset member are both connected to the slider, the slider is slidably disposed on the fixed rod, one end of the first link is hinged to the slider, and the other end of the first link is hinged to the corresponding movable rod.

In a possible design, a guide portion is provided on the fixing rod, and the slider is slidably disposed on the fixing rod through the guide portion.

In a possible design, the link structures corresponding to at least two of the movable rods symmetrically arranged with respect to the fixed rod share one of the sliders.

In a possible design, the piece that resets is compression spring, motion still includes guide bar and fixed block under water, the fixed block install in on the dead lever and with the slider interval sets up, guide bar one end with the fixed block is connected, the slider slip cover is equipped with on the guide bar, the piece cover that resets is located on the guide bar and the butt in the fixed block with between the slider.

In one possible design, the web assembly is further provided with an auxiliary rod corresponding to each movable rod, the auxiliary rod and the first connecting rod are respectively arranged on two opposite sides of the movable rod, one end of the auxiliary rod is hinged to the fixed rod, and the other end of the auxiliary rod is slidably arranged on the movable rod.

In a possible design, a plurality of fixing holes are formed on the web, and the fixing rod and the at least two movable rods are respectively in one-to-one corresponding inserting fit with the fixing holes.

In one possible design, the fin is made of a flexible and foldable material, provided with a plurality of folds, along each of which the fin can be folded.

In one possible design, the input end of the web assembly is provided with a fixing piece for fixing the other end of the wire rope;

at least one limiting piece used for limiting the rope is arranged between the first driving piece and the fixing piece; and/or the presence of a gas in the atmosphere,

at least one guide wheel for guiding the thread rope is arranged between the first driving element and the fixing element.

In one possible design, the underwater motion mechanism further comprises a second driving element and a connecting element, the second driving element is used for outputting rotary motion, the connecting element is connected between the output end of the second driving element and the web assembly, and the second driving element is used for driving the web assembly to swing back and forth;

wherein the swing direction of the fin assembly, the deployment direction of the fin assembly, and the advancing direction of the fin assembly are perpendicular to each other two by two.

According to the underwater motion mechanism provided by the embodiment of the application, the first driving element is used for controlling the web assembly through the flexible rope, so that the first driving element can be installed at a position far away from the web assembly, the gravity inertia of the first driving element does not need to be overcome when the web assembly is controlled to swing in a reciprocating mode, the inertia of the web assembly is reduced, and the control precision of the reciprocating swing of the web assembly is improved. Meanwhile, the first driving piece and the cotton rope drive the web assembly to be unfolded to increase the stress area of the web assembly in water or drive the web assembly to be folded to reduce the stress area of the web assembly in water, so that the area of the web assembly can be actively adjusted in one swing period of the web assembly, the web assembly has a large-angle opening and closing function in the moving process, and the moving speed of the whole underwater robot is improved.

On the other hand, the application also provides an underwater robot which comprises the underwater motion mechanism.

The underwater robot provided by the embodiment of the application has the advantages that the movement inertia of the underwater robot is reduced, the movement control precision of the underwater robot is improved, and the overall swimming speed of the underwater robot is improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

FIG. 1 is a schematic perspective view of an underwater motion mechanism provided by an embodiment of the present application;

FIG. 2 is a schematic perspective view of an underwater motion mechanism provided in an embodiment of the present application with a cord removed;

FIG. 3 is an exploded schematic view of the underwater motion mechanism of FIG. 2;

FIG. 4 is a side schematic view of the underwater motion mechanism of FIG. 2;

FIG. 5 is another side schematic view of the underwater motion mechanism of FIG. 2;

FIG. 6 is a schematic perspective view of a fin of the underwater motion mechanism provided by an embodiment of the present application;

fig. 7 is a schematic top view of the fin of fig. 6.

Reference numerals: 1. a first driving member; 2. a cord; 3. a web assembly; 31. fixing the rod; 311. a chute; 32. a movable rod; 321. a guide groove; 33. web sheets; 331. a fixing hole; 332. folding; 34. a link structure; 341. a slider; 3411. a first suspension loop; 3412. a first wire hole; 342. a first link; 35. mounting blocks; 36. a guide bar; 37. a fixed block; 371. a second suspension loop; 372. a second wire hole; 38. an auxiliary lever; 4. a reset member; 5. a second driving member; 6. a connecting member; 61. a socket joint part; 62. an extension portion; 7. a frame; 8. a guide wheel; 9. a rope wheel.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise. In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as the case may be.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It should be noted that the same reference numerals are used to denote the same components or parts in the embodiments of the present application, and for the same parts in the embodiments of the present application, only one of the parts or parts may be given the reference numeral, and it should be understood that the reference numerals are also applicable to the other same parts or parts.

In a first aspect, please refer to fig. 1 to 3, an embodiment of the present application provides an underwater motion mechanism for use in an underwater robot.

The underwater motion mechanism comprises a first drive member 1, a wire rope 2 and at least one fin assembly 3. The first driving part 1 is used for outputting rotary motion, the cord 2 is connected between the first driving part 1 and the web component 3, and the cord 2 is used for driving the web component 3 to be unfolded to increase the stress area of the web component 3 in water or driving the web component 3 to be folded to reduce the stress area of the web component 3 in water under the driving of the first driving part 1.

Referring to fig. 1, in the present embodiment, the underwater vehicle simulates the movement of fish in water, and therefore, the number of the fin assemblies 3 is one, and the entire underwater vehicle is driven to move in water by the fin assemblies 3 oscillating in the water. It will be understood that in other embodiments of the present application, other underwater animal structures can be simulated, such as frogs or turtles, and the number of the fin assemblies 3 can be two or more, which is not limited herein.

It should be noted that the wire 2 can provide force when being tensioned, but can not provide power when being relaxed, and therefore, the wire 2 is mainly used for driving the web assembly 3 to unfold or fold under the driving of the first driving element 1. When the wire rope 2 is used for driving the web assembly 3 to unfold under the driving of the first driving element 1, another structure is needed to drive the web assembly 3 to fold, such as a resetting element or another group of wire ropes; likewise, when the wire 2 is used to draw the fin assembly 3 together under the driving of the first driving member 1, another structure, such as a restoring member or another set of wires, is required to be provided to draw the fin assembly 3 apart.

Referring to fig. 1 and 2, in a specific installation, the first driving member 1 may be installed on a frame 7, the frame 7 is spaced apart from the fin assembly 3, and the fin assembly 3 is connected to the first driving member 1 by a wire rope 2. In addition, can also install the second driving piece 5 that is used for driving web subassembly 3 whole swing on frame 7, when needs drive web subassembly 3 reciprocal swing, only need bear the weight and the inertia of web subassembly 3, and need not bear the weight and the inertia of first driving piece 1, has alleviateed the weight of web subassembly 3 in the very big degree, has reduced the motion inertia of web subassembly 3, improves the control accuracy of web subassembly 3.

Furthermore, it is also possible to control the first driving member 1 by software to achieve the state that the fin assembly 3 is unfolded at one specific time and the fin assembly 3 is folded at another specific time to achieve the state that the driving force of the fin assembly 3 is maximized and the resistance is minimized in the water. For example, when the fin assembly 3 swings in the water, the driving force of the fin assembly 3 in the water is large during the push stroke of the fin assembly 3, and the fin assembly 3 can be controlled to be deployed; during the return stroke of the fin assembly 3, the fin assembly 3 has a large resistance in water, and the fin assembly 3 can be controlled to be folded.

The underwater movement mechanism provided by the embodiment of the application realizes the control of the first driving element 1 to the web component 3 through the flexible cord 2, so that the first driving element 1 can be installed at a position far away from the web component 3, and the gravity inertia of the first driving element 1 does not need to be overcome when the web component 3 is controlled to swing in a reciprocating manner, thereby reducing the inertia of the web component 3 and improving the control precision of the reciprocating swing of the web component 3. Meanwhile, the web component 3 is driven to be unfolded through the first driving piece 1 and the cotton rope 2 so as to increase the stress area of the web component 3 in water or the web component 3 is driven to be folded so as to reduce the stress area of the web component 3 in water, so that the area of the web component 3 can be actively adjusted in one swinging period of the web component 3, the web component 3 has a large-angle opening and closing function in the moving process, and the moving speed of the whole underwater robot is improved.

The rope 2 may be a common flexible rope, such as a cotton rope, and the rope 2 may also be a steel wire rope or a lock rope.

The first driving member 1 is used for outputting rotary motion, one end of the wire rope 2 is connected with the output end of the first driving member 1, and the other end of the wire rope 2 is connected with the input end of the web component 3. The underwater movement mechanism further comprises a reset piece 4, one end of the reset piece 4 is fixed, and the other end of the reset piece 4 is connected with the input end of the web component 3. In the pushing process, the first driving piece 1 is used for rotating the tightening rope 2 to drive the input end of the web component 3 to move and unfold the web component 3, and in the process, the resetting piece 4 slowly compresses and stores energy; in the return stroke, the reset piece 4 is used for driving the input end of the web component 3 to reset and drawing the web component 3 together when the first driving piece 1 loosens the rope 2. In this embodiment, since the wire rope 2 can push the input end of the web assembly 3 to move only when being tightened, the restoring member 4 is needed to cooperate, and when the first driving member 1 loosens the wire rope 2, the energy stored in the restoring member 4 drives the input end of the web assembly 3 to restore, i.e., drives the web assembly 3 to fold. It will be appreciated that in other embodiments of the present application, the web assembly 3 may be driven to move back by another set of wire and driving member, which is not limited herein.

In addition, the first driving member 1 is a steering engine controlled by current torque, and the wire 2 can be tensioned and different pulling forces can be provided to the wire 2 by the steering engine. For example, the steering engine is controlled to provide pulling force larger than the elastic force of the reset piece 4 to the wire rope 2, so that the wire rope 2 can push the web component 3 to move, and the web component 3 is unfolded; and the steering engine is controlled to provide pulling force smaller than the elastic force of the reset piece 4 for the reset piece 4 can push the web component 3 to reset and pull the web component 3 together. In addition, can also be through the electric current of control steering wheel in order to control the steering wheel rotatory, and 2 one ends of cotton rope twine on the output shaft of steering wheel to drive 2 taut or relaxs of cotton rope, and then realize the expansion or draw in of web subassembly 3.

In conclusion, in the embodiment, the rope 2 drives the reset piece 4 to be matched with each other, so that the power is accurately controlled, the push stroke is expanded, the return stroke is closed, the swing resistance is reduced, the push force is improved, the energy consumption is reduced, and the efficiency is improved.

In one embodiment, referring to fig. 1 and 2, the underwater motion mechanism further includes a second driving member 5 and a connecting member 6, the second driving member 5 is used for outputting a rotational motion, the connecting member 6 is connected between an output end of the second driving member 5 and the fin assembly 3, and the second driving member 5 is used for driving the fin assembly 3 to swing back and forth; wherein, the swinging direction of the fin assembly 3, the unfolding direction of the fin assembly 3 and the advancing direction of the fin assembly 3 are mutually vertical in pairs.

When the underwater motion mechanism is submerged, the second driving piece 5 always performs reciprocating rotary motion, so that the web assembly 3 is driven to reciprocate in the water through the connecting piece 6 to drive the underwater motion mechanism to advance in the water; while during the swing of the fin assembly 3, when the resistance of the fin assembly 3 in water is small, for example during the pushing stroke of the fin assembly 3, the fin assembly 3 can be driven by the first driving member 1 via the wire rope 2 to be unfolded to increase the pushing force of the fin assembly 3 in water; and in the return stroke of the fin assembly 3, the reset piece 4 can drive the fin assembly 3 to fold so as to reduce the resistance of the fin assembly 3 in water. The embodiment controls the unfolding, folding and swinging of the web assembly 3 through the first driving part 1 and the second driving part 5 respectively, thereby reducing the control complexity of the web assembly 3 and improving the control precision of the web assembly 3.

The second driving piece 5 can be a steering engine and outputs rotary motion through the steering engine so as to drive the web component 3 to swing back and forth.

Referring to fig. 1 and 2, the underwater movement mechanism further includes a frame 7, the first driving member 1 and the second driving member 5 are both mounted on the frame 7, the frame 7 and the fin assembly 3 are spaced apart from each other, the first driving member 1 is connected to the fin assembly 3 through the wire rope 2, and the second driving member 5 is connected to the fin assembly 3 through the connecting member 6. So set up for when second driving piece 5 drive web subassembly 3 swings, need not swing first driving piece 1 to the gravity inertia that needs overcome when having reduced web subassembly 3 swings, and then has improved web subassembly 3's control accuracy.

Referring to fig. 4 and 5, the connecting member 6 includes a sleeve portion 61 and an extending portion 62, the sleeve portion 61 is circular and is sleeved on the output shaft of the second driving member 5, the extending portion 62 is long, one end of the extending portion 62 is fixedly connected to the sleeve portion 61, and the other end of the extending portion 62 is connected to the fixing rod 31 through a fastener.

In one embodiment, referring to fig. 1 to 5, the fin assembly 3 includes a fin 33, a fixing rod 31, at least two movable rods 32, and at least two link structures 34. The fixed rod 31 is fixed on the connecting member 6, the at least two movable rods 32 are symmetrically arranged on two opposite sides of the fixed rod 31, and the web pieces 33 are fixed on the fixed rod 31 and the at least two movable rods 32. A connecting rod structure 34 is connected between each movable rod 32 and the fixed rod 31, the input end of the connecting rod structure 34 is connected with the other end of the cord 2, and the input end of the connecting rod structure 34 is connected with the other end of the reset piece 4.

Wherein, the one end of dead lever 31 is installed in the one end that the connecting piece 6 deviates from second driving piece 5, and second driving piece 5 can drive dead lever 31, movable rod 32, connecting rod structure 34 and web piece 33 whole reciprocating swing through connecting piece 6.

The other end of the cord 2 and the other end of the reset piece 4 are respectively connected with the input end of the connecting rod structure 34; when the cord 2 is driven by the first driving element 1 to tighten the input end of the link structure 34, the input end of the link structure 34 can be pushed to move towards the first driving element 1, so that the movable rod 32 is pushed to unfold relative to the fixed rod 31, and the folded web sheets 33 are driven by the movable rods 32 at two sides to unfold relative to two sides from the middle; when the cord 2 is driven by the first driving element 1 to release the input end of the link structure 34, the input end of the link structure 34 can move away from the first driving element 1 under the driving of the resetting element 4, so as to push the movable rods 32 to fold the mutually fixed rods 31, and the unfolded web 33 is driven by the movable rods 32 at both sides to fold symmetrically towards the middle.

In addition, since the at least two movable rods 32 are symmetrically disposed on the two opposite sides of the fixed rod 31, and the at least two connecting rod structures 34 are also symmetrically disposed on the two opposite sides of the fixed rod 31, the movable rods 32 on the two sides of the fixed rod 31 can be synchronously unfolded and folded, so that the whole web assembly 3 can be stressed symmetrically in water.

In summary, in the present embodiment, the pulling force of the wire rope 2 is converted into the expansion or contraction of the movable rod 32 by the link structure 34, and the link structure 34 is a rod-shaped structure, which occupies a small space, has a small weight, and has little influence on the overall swing inertia of the web assembly 3.

In one embodiment, the end of the movable rod 32 facing the first driving member 1 is hinged to the end of the fixed rod 31 facing the first driving member 1, and the movable rod 32 can rotate relative to the fixed rod 31 under the driving of the link structure 34 to unfold or fold the fin 33.

Specifically, referring to fig. 2 and 3, one side of the fixed rod 31 is provided with an installation block 35, the fixed rod 31 is fixedly connected with the installation block 35, each movable rod 32 and the fixed rod 31 are arranged on the same side of the installation block 35, and one end of each movable rod 32 is rotatably arranged on the installation block 35 through a pin, so that each movable rod 32 and the fixed rod 31 are located on the same plane, and the rotation of each movable rod 32 does not interfere with the fixed rod 31. It is understood that in other embodiments of the present application, one end of each movable rod 32 may be directly hinged to the fixed rod 31, and is not limited herein.

In one embodiment, referring to fig. 6 and 7, a plurality of fixing holes 331 are formed in the web 33, the fixing holes 331 penetrate through two opposite sides of the web 33, and the fixing rod 31 and the at least two movable rods 32 are respectively in one-to-one inserting fit with the fixing holes 331, that is, the fixing rod 31 and the at least two movable rods 32 are inserted into the fixing holes 331, so as to form a connection between the web 33 and the fixing rod 31 and the at least two movable rods 32, and when the movable rods 32 rotate, the web 33 can be driven to unfold or fold. It should be understood that, in other embodiments of the present application, the fixed rod 31 and the movable rod 32 may be fixed to the web 33 by means of screw locking, gluing or pressing, and are not limited herein.

In one embodiment, the fin 33 is made of a flexible and foldable material, the fin 33 is provided with a plurality of creases 332, and the fin 33 can be folded along each crease 332, so that the fin 33 has flexibility to be unfolded or folded, and the fin 33 has a certain structural strength after being folded without disorder.

Specifically, referring to fig. 6 and 7, a plurality of crease groups are sequentially arranged on the web 33 at equal intervals, each crease group includes two creases 332 arranged at intervals, two creases 332 in each crease group have a first distance, a second distance is arranged between adjacent crease groups, and the second distance is greater than the first distance. By setting the first distance, after being folded, a semi-circle shape is formed between two folds 332 in the fold group, and the adjacent fold groups are arranged in a straight line, so that finally the web 33 is formed into the shape shown in fig. 7 after being folded, and the structure of the web 33 after being folded is neat and beautiful.

In one embodiment, the web 33 is made of rubber, which is foldable and will not be folded like a cloth without disorder. It will be appreciated that in other embodiments of the present application, the web 33 may be made of other materials, such as silicone.

In one embodiment, referring to fig. 1 to 5, the link structure 34 includes a sliding block 341 and a first link 342, the cord 2 and the restoring element 4 are both connected to the sliding block 341, the sliding block 341 is slidably disposed on the fixed rod 31, one end of the first link 342 is hinged to the sliding block 341, and the other end of the first link 342 is hinged to the corresponding movable rod 32.

Specifically, the other end of the first link 342 is connected to the position of the movable rod 32 close to the mounting block 35, and due to the length of the first link 342, when one end of the first link 342 slides in the direction close to the mounting block 35 under the pulling of the cord 2, the other end of the first link 342 pushes the movable rod 32 to rotate in the direction away from the fixed rod 31; when one end of the first link 342 slides away from the mounting block 35 under the pushing of the restoring member 4, the movable lever 32 is pulled by the other end of the first link 342 to rotate in a direction approaching the fixed lever 31.

In this embodiment, the slider 341 and the first link 342 convert the driving force of the cord 2 and the slider 341 into the rotational motion of the movable rod 32, and the structure is simple and the motion is stable.

In one embodiment, the fixing rod 31 is provided with a guide portion, and the sliding block 341 is slidably provided on the fixing rod 31 through the guide portion. Through the arrangement of the guide portion, the sliding block 341 can slide on the fixed rod 31 along a straight line, thereby ensuring smooth rotation of the movable rod 32.

Specifically, referring to fig. 4 and 5, the fixed rod 31 is provided with a sliding slot 311, the sliding slot 311 extends along the length direction of the fixed rod 31, the sliding block 341 is hinged to the first connecting rod 342 through a pin, and the pin is slidably disposed in the sliding slot 311, so that one end of the sliding block 341 and one end of the first connecting rod 342 both linearly slide along the sliding slot 311.

In one embodiment, referring to fig. 2 and fig. 4, at least the link structures 34 corresponding to the two movable rods 32 symmetrically disposed relative to the fixed rod 31 share one sliding block 341, that is, only one cord 2 and the restoring element 4 are needed to drive the plurality of movable rods 32 to rotate.

In one embodiment, the web assembly 3 includes a fixed rod 31 and two movable rods 32, the two movable rods 32 are symmetrically disposed on two opposite sides of the fixed rod 31, a connecting rod structure 34 is connected between the two movable rods 32 and the fixed rod 31, the two connecting rod structures 34 share a sliding block 341, the fixed rod 31 is disposed in the sliding groove 311 corresponding to the two movable rods 32, and the sliding block 341 is slidably disposed in the two sliding grooves 311 through two pins, so that the movable rods 32 can be unfolded and folded through a first driving member 1, a wire rope 2 and a restoring member 4. It is understood that, in other embodiments of the present application, the web assembly 3 may also include four or more movable rods 32, one sliding block 341 may be shared by the four movable rods 32, or the sliding blocks 341 may be respectively disposed on two opposite sides of the fixed rod 31, so as to achieve the expansion or contraction of the four or more movable rods 32.

In one embodiment, referring to fig. 2 to 4, the restoring element 4 is a compression spring, the underwater movement mechanism further includes a guide rod 36 and a fixed block 37, the fixed block 37 is mounted on the fixed rod 31, the fixed block 37 and the sliding block 341 are arranged at an interval, one end of the guide rod 36 is connected to the fixed block 37, the sliding block 341 is slidably sleeved on the guide rod 36, and the restoring element 4 is sleeved on the guide rod 36 and abuts between the fixed block 37 and the sliding block 341. This embodiment is through the setting of guide bar 36 to can lead to compression spring's shrink, guarantee that compression spring is stable to the impetus of slider 341. It should be understood that, in other embodiments of the present application, the resetting element 4 may also be other structures with elasticity, such as an elastic sheet, which is not limited herein.

In one embodiment, referring to fig. 1, the web assembly 3 has a fixing member at the input end, specifically, a fixing member is disposed on the sliding block 341, the fixing member is used for fixing the other end of the rope 2, for example, a first hanging lug 3411 is disposed on the sliding block 341, the first hanging lug 3411 is disposed with a first rope hole 3412, and the other end of the rope 2 passes through the first rope hole 3412 and is knotted for fixing.

Because the distance between first driving piece 1 and slider 341 is great, in order to guarantee that cotton rope 2 can not be in disorder between first driving piece 1 and mounting, and can not be in the state of loosening, this application is equipped with at least one locating part between first driving piece 1 and mounting, carries on spacingly through the locating part to cotton rope 2.

For example, referring to fig. 1, a second hanging lug 371 is disposed on the fixing block 37, a second thread hole 372 is disposed on the second hanging lug 371, the thread 2 is disposed through the second thread hole 372, and the thread 2 is limited by the second thread hole 372. It will be appreciated that in other embodiments of the present application, thread holes may be provided at various other positions of the fixing rod 31 to limit the position of the cord 2.

Furthermore, at least one guide wheel 8 is arranged between the first drive element 1 and the fixing element, by means of which guide wheel 8 the wire 2 is guided. Because web subassembly 3 can be reciprocal swing under the drive of second driving piece 5, and at the swing in-process, the length of cotton rope 2 between first driving piece 1 and the mounting can produce the change, and set up leading wheel 8 between first driving piece 1 and the mounting, can make cotton rope 2 twine on leading wheel 8, at web subassembly 3 swing in-process, the winding length of cotton rope 2 on leading wheel 8 can increase or reduce, thereby the rate of tension of cotton rope 2 has been guaranteed, and then the drive power of cotton rope 2 to web subassembly 3 has been guaranteed.

Referring to fig. 1 and 2, the guide wheel 8 is rotatably sleeved on the rotating shaft of the second driving member 5 through a retainer ring, so that the tensioning of the wire rope 2 can be realized, and the guide wheel 8 is not required to be arranged on the web assembly 3, thereby reducing the gravity inertia of the web assembly 3. It will be appreciated that in other embodiments of the present application, the guide wheel 8 may also be provided on the fin assembly 3, without being particularly limited thereto.

Referring to fig. 1 and 2, a rope pulley 9 is disposed on an output shaft of the first driving member 1, and one end of the rope 2 is wound around the rope pulley 9.

In one embodiment, referring to fig. 5, the fin assembly 3 is further provided with an auxiliary rod 38 corresponding to each movable rod 32, the auxiliary rod 38 and the first connecting rod 342 are respectively disposed at two opposite sides of the movable rod 32, one end of the auxiliary rod 38 is hinged to the fixed rod 31, and the other end of the auxiliary rod 38 is slidably disposed on the movable rod 32. This embodiment can support the swing of the movable rod 32 through the arrangement of the auxiliary rod 38, and also enhances the connection stability of the fixed rod 31 and the movable rod 32, so that the whole web assembly 3 is firmly connected, and the deformation or loosening phenomenon cannot occur.

Specifically, the movable rod 32 is provided with a guide groove 321, and the other end of the auxiliary rod 38 is slidably disposed in the guide groove 321 through a pin.

Referring to fig. 1 to 5, in order to reduce the weight of the movable bar 32 as much as possible, the width of the movable bar 32 corresponding to the position having the guide groove 321 is greater than the widths of the other positions.

Also, in order to reduce the weight of the fixing lever 31 as much as possible, the width of the fixing lever 31 corresponding to the two slide grooves 311 is larger than the width of the other positions.

In a second aspect, an embodiment of the present application further provides an underwater robot, including the above underwater movement mechanism. For example, the underwater robot further comprises a body, and the frame 7 of the underwater motion mechanism, the first driving part 1 and the second driving part 5 are all arranged on the body.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. An underwater motion mechanism, comprising a first drive member, a line and at least one web assembly; the wire rope is connected between the first driving part and the web assemblies and is used for driving the web assemblies to be unfolded to increase the stress area of the web assemblies in water or driving the web assemblies to be folded to reduce the stress area of the web assemblies in water under the driving of the first driving part.

2. The underwater motion mechanism of claim 1, wherein one end of the wire is connected to the output end of the first drive member and the other end of the wire is connected to the input end of the fin assembly; the underwater motion mechanism further comprises a reset piece, one end of the reset piece is fixed, and the other end of the reset piece is connected with the input end of the web assembly;

3. The underwater motion mechanism of claim 2, wherein the fin assembly includes:

fixing the rod;

4. The underwater motion mechanism of claim 3, wherein the end of the movable lever facing the first drive member is hinged to the end of the stationary lever facing the first drive member; the movable rod can rotate relative to the fixed rod under the driving of the connecting rod structure so as to drive the web sheets to be unfolded or folded.

5. The underwater motion mechanism as claimed in claim 3, wherein the link structure includes a slider and a first link, the cable and the restoring member are both connected to the slider, the slider is slidably disposed on the fixed rod, one end of the first link is hinged to the slider, and the other end of the first link is hinged to the corresponding movable rod.

6. The underwater motion mechanism of claim 5, wherein the fixed rod is provided with a guide portion, and the sliding block is slidably provided on the fixed rod through the guide portion.

7. Underwater movement mechanism according to claim 5, wherein the link arrangements corresponding to at least two of the movable bars symmetrically arranged with respect to the fixed bar share one of the slide blocks.

8. The underwater motion mechanism of claim 5, wherein the reset element is a compression spring, the underwater motion mechanism further comprises a guide rod and a fixed block, the fixed block is mounted on the fixed rod and spaced from the slider, one end of the guide rod is connected with the fixed block, the slider is slidably sleeved on the guide rod, and the reset element is sleeved on the guide rod and abuts between the fixed block and the slider.

9. The underwater motion mechanism of claim 5, wherein the fin assembly is further provided with an auxiliary rod corresponding to each of the movable rods, the auxiliary rod and the first connecting rod are respectively disposed at opposite sides of the movable rod, one end of the auxiliary rod is hinged to the fixed rod, and the other end of the auxiliary rod is slidably disposed on the movable rod.

10. The underwater motion mechanism of claim 3, wherein a plurality of fixing holes are formed on the fin, and the fixing rod and at least two of the movable rods are respectively in one-to-one corresponding insertion fit with each of the fixing holes.

11. Underwater movement mechanism according to claim 3, characterised in that the fin is made of a flexible and foldable material, that the fin is provided with a plurality of folds, and that the fin can be folded along each of the folds.

12. Underwater motion mechanism according to any of the claims 1-11, characterized in that the input end of the fin assembly is provided with a fixing for fixing the other end of the wire;

at least one limiting piece used for limiting the rope is arranged between the first driving piece and the fixing piece; and/or the presence of a gas in the gas,

at least one guide wheel for guiding the wire rope is arranged between the first driving piece and the fixing piece.

13. The underwater motion mechanism of any one of claims 1 to 11 further comprising a second driver for outputting rotational motion and a connector connected between an output end of the second driver and the fin assembly, the second driver for driving the fin assembly to oscillate reciprocally;

14. An underwater robot characterized by comprising the underwater motion mechanism according to any one of claims 1 to 13.