CN209719883U - A kind of pendulous device of imitative whale tail - Google Patents

Abstract

The utility model belongs to robotic technology field.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 swinging device imitating a whale tail

technical field

The utility model belongs to the technical field of robots, in particular to a whale-imitating swing device.

Background technique

Most underwater robots in the traditional sense use propellers as the main propulsion method. There are various technical problems in this propulsion method. These problems need to be greatly improved due to the lack of data. The structural size and weight are due to the The reasons for the lack of technology are often relatively large. This type of underwater robot that uses propeller propulsion has various defects such as high energy consumption, low reliability, low propulsion efficiency, and poor maneuverability, which will generate noise pollution and eddy currents. Work creates greater obstacles.

After hundreds of millions of years of evolution, marine organisms have become more adaptable to marine life because of the test of the ocean. Now, imitating the propulsion mode of fish to develop underwater robots with high efficiency and high mobility has gradually become one of the main goals pursued by researchers and scholars in various fields.

As a representative of marine life, the whale has various advantages such as higher speed and better maneuverability. Its tail can provide greater propulsion by swinging up and down, and can also control floating and diving. Compared with other underwater robots, the whale-like robot developed by imitating biological whales will greatly increase its propulsion speed in water, and its maneuverability will be relatively better, making the robot more efficient.

In today's underwater robot field, all kinds of underwater robots have achieved good results in practical applications. And underwater robots imitating whales will gain an important position in the future scientific field because of their excellent capabilities. It is believed that in the future, whale robots will be in the leading position in the field of underwater robots. The mechanical whale mainly relies on the thrust of the tail to move forward, so in the research of the mechanical whale, the design and research of the propulsion mechanism is an indispensable and important part. The performance of the propulsion mechanism is directly related to the propulsion speed and propulsion efficiency of the robotic whale. Therefore, the design of the propulsion mechanism of the whale robot is an essential part in the design of the whale robot.

Utility model content

The purpose of this utility model is to overcome the deficiency in above-mentioned background technology, provide a kind of swing device of imitation whale tail, this device should have the characteristics of simple structure, big thrust, little resistance.

The technical scheme of the utility model is:

An oscillating device imitating a whale tail is characterized in that the device includes a motor, a tail fin, a bevel gear set, a crank rocker mechanism, and a rack and pinion mechanism for sequentially transmitting the power of the motor to drive the swing of the tail fin;

The bevel gear set includes a first bevel gear fixed to the motor output shaft and a second bevel gear rotatably positioned on the base and meshed with the first bevel gear; the rack and pinion mechanism includes a rotatably positioned on the base The gear on the base and the rack that is slidably positioned on the base and meshed with the gear; the crank rocker mechanism includes a crank that is coaxially fixed with the second bevel gear and two ends that are rotatably hinged on the crank and the rack respectively The connecting rod; 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 and the movement axis of the rack are parallel to each other.

The second bevel gear and the crank are simultaneously fixed on the connecting shaft, and the connecting shaft is rotatably positioned on the base through the first bracket.

The gear is rotatably positioned on the base through the second bracket; the second bracket is provided with a chute for the rack to slide.

Described caudal fin is fixed with gear by coccyx bar.

The shape of described caudal fin is the imitation whale tail and is made of rubber material.

The motor is fixed on the base.

The beneficial effects of the utility model are:

1) The utility model uses a bevel gear set to transmit the power of the motor, which has the characteristics of long service life, large low torque, strong corrosion resistance, and low transmission noise, and can solve the problem of excessive water resistance. With the fixing of the base, it can Shock absorption can effectively reduce the overall weight and improve swimming efficiency;

2) The utility model uses a crank-rocker mechanism and a rack-and-pinion mechanism to drive the movement of the tail fin. When the tail fin swings from top to bottom, the speed is slow, but the speed gradually increases during the swing, and the final speed gradually decreases. It is a sinusoidal curve, which effectively improves the swing efficiency;

3) The tail fin adopts the way of swinging up and down, which can provide greater propulsion, improve the endurance, and can effectively control the floating and diving; the tail fin is made of rubber material, which has good water resistance, so that the resistance encountered when swinging will not be too much Large, at the same time, the rubber material will deform when it moves in the water, forming a streamlined shape, thereby reducing the forward resistance, and using the good resilience of rubber and the reaction force of water, it can also greatly increase the propulsion.

Description of drawings

Fig. 1 is a schematic diagram of the three-dimensional structure of the utility model.

Fig. 2 is a schematic structural diagram of the front view of the utility model.

Fig. 3 is a schematic diagram of the caudal fin in the utility model.

Detailed ways

The utility model will be further described below in conjunction with the accompanying drawings of the description, but the utility model is not limited to the following embodiments.

As shown in Fig. 1, a kind of swinging device of imitating whale tail is made up of power part, transmission part and executive part, specifically comprises motor 1, bevel gear set, crank rocker mechanism, pinion and rack mechanism, coccyx bar 11 and caudal fin 12.

The motor, the bevel gear set, the crank rocker mechanism and the rack and pinion mechanism are all installed on the base 17, on which the first support 13 and the second support 14 are fixed. The motor is a power part, and a stepper motor is mainly used. The bevel gear set, the crank-rocker mechanism and the rack-and-pinion mechanism are transmission parts, which are arranged between the motor and the coccyx rod, and are used to sequentially transmit the power of the motor to drive the coccyx rod to swing.

The bevel gear set includes a first bevel gear 2 fixed to the motor output shaft and a second bevel gear 3 rotatably positioned on the base and meshed with the first bevel gear. The number of teeth of the first bevel gear is 36, the number of teeth of the second bevel gear is 72, and the transmission ratio is 2, which effectively reduces the speed, so that the device will not swing too fast, and the bevel gear set is light in weight and stable in operation. While reducing the weight and vibration of the device, the swing efficiency is improved.

The crank-rocker mechanism includes a crank 5 fixed coaxially with the second bevel gear and a connecting rod 6 whose two ends are rotatably hinged on the crank and the rack. The second bevel gear and the crank are respectively fixed on the two ends of the connecting shaft 4, and the connecting shaft is rotatably positioned on the first bracket through a bearing (omitted in the figure). The connecting shaft 4 is connected with the second bevel gear and the crank through a key.

The rack and pinion mechanism includes a gear 9 rotatably positioned vertically on the base and a rack 7 slidably positioned horizontally on the base and engaged with the gear, and the coccyx bar 11 is fixed with the gear. Said gear is rotatably positioned on the second bracket through a bearing (omitted in the figure), and the second bracket is provided with a chute 8 for the rack to slide, and the chute can be a dovetail groove.

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, the rotation axis of the motor shaft and the movement axis of the rack are parallel to each other, and the rotation axis of the second bevel gear is arranged coaxially with the rotation axis of the crank.

The coccyx bar and the tail fin are executive parts, one end of the coccyx bar is fixed with the gear and the other end is fixed with the coccyx bar (as can be seen from the figure: the two end faces of the gear are respectively fixed with a coccyx bar, and the other ends of the two coccyx bars are connected with the coccyx bar at the same time. The tail fin is plugged and fixed). The shape of described caudal fin is the imitation whale tail and is made of rubber material. The caudal fin is provided with a blind hole (omitted in the figure) for inserting and fixing the coccyx rod, and the coccyx rod is interference-fitted with the blind hole and fixed by glue bonding.

The length direction of the coccyx rod is perpendicular to the rotation axis of the gear.

The working principle of the utility model is:

The motor sequentially drives the bevel gear set, the crank rocker mechanism and the rack and pinion mechanism to work. The rack of the rack and pinion mechanism performs reciprocating linear motion under the drive of the crank rocker mechanism, and the rack drives the gear to swing in a sinusoidal law. Finally, the caudal fin is driven by the tail bar bone to swing up and down according to a certain rule. When the caudal fin swings, it is bent by the resistance of the water and then rebounds quickly to obtain propulsion.

Claims (6)

1. a kind of pendulous device of imitative whale tail, it is characterised in that: the device include motor (1), tail fin (12) and for according to Bevel gear set, crank and rocker mechanism and gear and rack teeth mechanism of the secondary transmitting motor power to drive tail fin to swing；

The bevel gear set includes the first bevel gear (2) fixed with motor output shaft and is rotatably positioned in pedestal (17) Second bevel gear (3) that is upper and being engaged with first bevel gear；The gear and rack teeth mechanism includes being rotatably positioned on pedestal Gear (9) and the rack gear (7) that is slidably located on pedestal and is engaged with gear；The crank and rocker mechanism include with The co-axially fixed crank of second bevel gear (5) and both ends are rotationally hinged on the connecting rod (6) on crank and rack gear respectively；Institute The pivot center for stating the pivot center of machine shaft, the pivot center of crank and gear is orthogonal, the rotation axis of machine shaft The mobile axis of line and rack gear is parallel to each other.

2. a kind of pendulous device of imitative whale tail according to claim 1, it is characterised in that: the second bevel gear and song Handle is also secured on connecting shaft (4), and connecting shaft is rotatably positioned on pedestal by first support (13).

3. a kind of pendulous device of imitative whale tail according to claim 2, it is characterised in that: the gear passes through second Frame (14) is rotatably positioned on pedestal；The second support is equipped with the sliding slot (8) slided for rack gear.

4. a kind of pendulous device of imitative whale tail according to claim 3, it is characterised in that: the tail fin passes through coccyx bar It is fixed with gear.

5. a kind of pendulous device of imitative whale tail according to claim 4, it is characterised in that: the shape of the tail fin is imitative It whale tail and is made of rubber material.

6. a kind of pendulous device of imitative whale tail according to claim 5, it is characterised in that: the motor is fixed on pedestal On.