WO2024108359A1

WO2024108359A1 - Swinging device, underwater bionic propeller, and application of swinging device

Info

Publication number: WO2024108359A1
Application number: PCT/CN2022/133326
Authority: WO
Inventors: 左启阳; 韩孝武; 董兵兵; 李特; 郑长镇; 韩程旭; 何凯
Original assignee: 中国科学院深圳先进技术研究院
Priority date: 2022-11-21
Filing date: 2022-11-21
Publication date: 2024-05-30

Abstract

A swinging device, an underwater bionic propeller, and an application of the swinging device. The swinging device comprises: a swinging mechanism (3), comprising a swinging arm (32); a steering mechanism (2), a driving end of the steering mechanism (2) being drivingly connected to the swinging arm (32) so as to drive the swinging arm (32) to swing reciprocatingly; and a reciprocating motion mechanism (1), drivingly connected to a fixing end of the steering mechanism (2) so as to drive the steering mechanism (2) to move to drive the swinging arm (32) to rotate reciprocatingly. The steering mechanism (2) independently drives the swinging arm (32) to swing so as to change a swinging area where the reciprocating motion mechanism (1) drives the swinging arm (32) to swing reciprocatingly, or the reciprocating motion mechanism (1) independently drives the swinging arm (32) to swing so as to change a swinging area where the steering mechanism (2) drives the swinging arm (32) to swing reciprocatingly.

Description

Swinging device, underwater bionic propeller and application thereof

Technical Field

The present application relates to the field of mechanical transmission technology, and in particular to a swing device, an underwater bionic propeller and applications thereof.

Background technique

The ocean covers three quarters of the earth's surface, and contains not only valuable fishery resources, but also rich mineral energy. With the rapid consumption of the earth's land energy, humans will inevitably exploit marine resources vigorously. Therefore, developing high-performance underwater operation systems and maintaining marine safety are of great strategic significance to the country.

Traditional underwater operation systems, such as submarines, autonomous underwater vehicles, and remote-controlled underwater vehicles, are mainly driven by propellers.

However, the use of propellers as a driving method has the following problems: 1. It is noisy and unfriendly to the underwater ecology; 2. A single propeller thruster cannot complete the steering function; 3. Traditional propeller propulsion is prone to entanglement with aquatic plants, fishing nets and other debris.

Summary of the invention

The embodiments of the present application provide a swinging device, an underwater bionic propeller and their applications to solve the technical problems in the related art that the propeller drive has high noise, a single propeller propeller cannot complete steering, and the propeller is easily entangled with water plants, fishing nets and other debris.

In a first aspect, a swing device is provided, comprising:

A swing mechanism, the swing mechanism comprising a swing arm;

A steering mechanism, wherein a driving end of the steering mechanism is drivingly connected to the swing arm to drive the swing arm to swing back and forth;

A reciprocating mechanism, the reciprocating mechanism is drivingly connected to the fixed end of the steering mechanism, so as to drive the swing arm to reciprocate by driving the steering mechanism to move;

Among them, the steering mechanism alone drives the swing arm to swing and changes the swing area in which the reciprocating motion mechanism drives the swing arm to swing back and forth, or the reciprocating motion mechanism alone drives the swing arm to swing and changes the swing area in which the steering mechanism drives the swing arm to swing back and forth.

In some embodiments, the swing mechanism further comprises a swing gear, the swing arm is connected to the swing gear, and the length direction of the swing arm is arranged at an angle to the rotation axis direction of the swing gear;

The steering mechanism includes a rack and a steering drive assembly, the swing gear is transmission-connected to the rack, and the driving end of the rotation drive assembly is connected to the rack to drive the rack to reciprocate in a first direction to drive the swing gear to reciprocate.

In some embodiments, the reciprocating motion mechanism includes a reciprocating motion drive assembly and an output member, wherein the reciprocating motion drive assembly drives the output member to reciprocate in the first direction, and the output member is connected to the fixed end of the rotating drive assembly to drive the steering drive assembly and the rack to move in the first direction together.

In some embodiments, the reciprocating drive assembly includes an adjustable amplitude sinusoidal mechanism, and an output end of the adjustable amplitude sinusoidal mechanism reciprocates in the first direction and is connected to the output member.

In some embodiments, the steering drive assembly includes a screw assembly, and the screw assembly includes:

A screw rod, the screw rod is drivingly connected to the rack, and one end of the screw rod is rotatably connected to the output member;

A steering drive member is drivingly connected to an end of the screw rod that is away from the output member.

In some embodiments, the swing mechanism further includes a transmission gear, and the rack is transmission-connected to the swing gear via the transmission gear.

In some embodiments, the swing mechanism further includes a transmission assembly, the transmission gear is connected to the swing gear through the transmission assembly, and the transmission assembly includes a belt transmission assembly or a chain transmission assembly.

The beneficial effects of the technical solution provided by this application include:

The embodiment of the present application provides a swing device, which drives the steering mechanism and the swing arm to move together through a reciprocating motion mechanism, and makes the swing arm swing back and forth to realize the swing function of the swing arm, and the swing arm swings within a specific swing area. In addition, the steering mechanism can also drive the swing arm to swing alone, changing the position of the swing arm, so that the initial position of the swing arm driven by the reciprocating motion mechanism changes, and the position of the swing area of the swing arm changes. When the swing device is applied to an underwater bionic propeller, the swing arm swings underwater to realize the movement of the underwater bionic propeller, and by changing the position of the swing area of the swing arm, the propulsion direction is changed to complete the steering of the underwater bionic propeller. The swing device, as a form of drive, facilitates the steering of the underwater bionic propeller, has less noise, is not easy to affect the underwater ecology, and is not easy to entangle with water plants, fishing nets and other debris.

In a second aspect, an underwater bionic thruster is provided, comprising the swing device as described above.

Another embodiment of the present application provides an underwater bionic propeller. Since the underwater bionic propeller adopts the above-mentioned swing device, the underwater bionic propeller can be operated under the drive of the swing device, and the swing device can be used to achieve steering, replacing the traditional propeller drive form. The swing arm swings to drive the underwater bionic propeller to operate, which has less noise, is not easy to affect the underwater ecology, and is not easy to be entangled in water plants, fishing nets and other debris.

In a third aspect, there is provided an application of the swinging device as described above in a mimicking bird.

In another embodiment of the present application, a swing device is applied to a bionic bird, and the swing of the swing arm serves as the drive of the bionic bird to realize the movement of the bionic bird. The steering mechanism is used to change the swing area of the swing arm to meet the different flight requirements of the bionic bird.

A fourth aspect is an application of the swing device as described above in a robot.

In another embodiment of the present application, a swing device is applied to a robot, and a swing arm is used as the leg drive of the robot to realize the movement of the robot, and a steering mechanism is used to change the swing area of the swing arm to meet the movement requirements of the robot on different slopes.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

FIG1 is a schematic structural diagram of a swing device provided in an embodiment of the present application;

FIG2 is a schematic structural diagram of another state of the swing device provided in an embodiment of the present application;

FIG3 is a schematic structural diagram of a reciprocating motion mechanism provided in an embodiment of the present application;

FIG. 4 is a schematic diagram of an underwater bionic propulsion device provided in another embodiment of the present application.

In the figure: 1. reciprocating motion mechanism; 11. reciprocating motion drive assembly; 111. active crank; 111a. sliding groove; 112. sliding connection member; 113. driven member; 113a. guide groove; 114. rotating shaft; 115. one-way bearing; 116. adjusting connection structure; 1161. amplitude modulation crank; 1162. connecting rod; 12. output member; 2. steering mechanism; 21. rack; 22. steering drive assembly; 221. screw rod; 222. steering drive member; 223. clutch; 224. coupling; 3. swing mechanism; 31. swing gear; 32. swing arm; 33. transmission gear; 4. frame.

Detailed ways

In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

The embodiment of the present application provides a swing device, an underwater bionic propeller and their application. The reciprocating motion mechanism of the swing device drives the swing arm to swing back and forth, and the steering mechanism can change the initial swing position of the swing arm to change the position of the swing area of the swing arm. When the swing device is applied to drive the underwater bionic propeller, it can drive the underwater bionic propeller to move in the form of swinging, and can change the movement direction of the underwater bionic propeller. The present application solves the technical problems in the related art that the propeller drive has high noise, a single propeller propeller cannot complete steering, and the propeller is easy to entangle with water plants, fishing nets and other debris.

1 , a swing device includes a frame 4 , and a reciprocating mechanism 1 , a steering mechanism 2 , and a swing mechanism 3 arranged on the frame 4 .

The swing mechanism 3 includes a swing arm 32, and the driving end of the steering mechanism 2 is drivingly connected to the swing arm 32 to drive the swing arm 32 to swing back and forth. The reciprocating motion mechanism 1 is drivingly connected to the fixed end of the steering mechanism 2 to drive the swing arm 32 to rotate back and forth by driving the steering mechanism 2 to move. Therefore, the steering mechanism 2 drives the swing arm 32 to swing alone to change the swinging area in which the reciprocating motion mechanism 1 drives the swing arm 32 to swing back and forth, or the reciprocating motion mechanism 1 drives the swing arm 32 to swing alone to change the swinging area in which the steering mechanism 2 drives the swing arm 32 to swing back and forth. In this embodiment, the reciprocating motion mechanism 1 serves as the main swing output of the swing arm 32, which is used to continuously drive the swing arm 32 to swing back and forth within a specific swinging area; and the steering mechanism 2 drives the swing arm 32 to swing alone to change the position of the swing arm 32, so as to change the position of the swinging area in which the swing arm 32 is driven by the reciprocating motion mechanism 1 to swing.

In this embodiment, the steering mechanism 2 and the reciprocating mechanism 1 both use linear motion to drive the swing arm 32 to swing back and forth. The specific implementation can be seen below. In other embodiments, the steering mechanism 2 and the reciprocating mechanism 1 can also use reciprocating rotation to drive the swing arm 32 to swing back and forth.

Referring to Figures 1 and 2, the reciprocating mechanism 1 includes a reciprocating drive assembly 11 and an output member 12, wherein the reciprocating drive assembly 11 drives the output member 12 to reciprocate in a first direction, and the first direction is the X-axis direction in the figure. The steering mechanism 2 includes a rack 21 and a steering drive assembly 22, and the output member 12 is connected to the steering drive assembly 22 to drive the steering drive assembly 22 to move in the first direction, and the rotation drive assembly drives the rack 21 to move in the first direction. The swing mechanism 3 also includes a swing gear 31, and the swing gear 31 is transmission-connected to the rack 21. The swing arm 32 is connected to the swing gear 31, and the length direction of the swing arm 32 is set at an angle to the rotation axis direction of the swing gear 31.

1 and 2, when the swing arm 32 is driven to swing, the reciprocating motion drive assembly 11 drives the drive member, the steering drive assembly 22 and the rack 21 to move together in the first direction. At this time, there is no relative movement between the rack 21 and the steering drive assembly 22. The rack 21 reciprocates in the first direction and drives the swing gear 31 to rotate reciprocatingly. Therefore, the swing arm 32 connected to the swing gear 31 swings back and forth with the swing gear 31, thereby realizing the function of driving the swing arm 32 to swing through the reciprocating motion drive assembly 11.

Referring to Fig. 1 and Fig. 2, further, the reciprocating drive assembly 11 is stopped, the rack 21 is driven by the steering drive assembly 22 to move in the first direction, the rack 21 then drives the swing gear 31 to rotate, and the swing arm 32 rotates with the swing gear 31. Therefore, the position of the swing area of the swing arm 32 that swings under the action of the reciprocating drive assembly 11 changes, and the position of the swing area of the swing arm 32 that swings under the action of the reciprocating drive assembly 11 rotates with the rotation of the swing gear 31. When the swing arm 32 is underwater, the direction of the thrust generated by the swing of the swing arm 32 is consistent with the length direction of the swing arm 32 at the initial position, and the swing arm 32 swings at the same angle on both sides of the initial position of the swing arm 32 driven by the reciprocating drive assembly 11. After the swing arm 32 is driven to rotate by the steering drive assembly 22, the initial position of the swing arm 32 changes, so the direction of the thrust generated by the swing arm 32 underwater also changes. When the swing device is applied to the underwater bionic propeller, the underwater bionic propeller can move under the swinging action of the swing arm 32, and by changing the initial swing position of the swing arm 32, the thrust generated by the swing of the swing arm 32 changes, thereby realizing the steering of the underwater bionic propeller.

In this way, after the swing device is applied to the underwater bionic propeller, the reciprocating motion drive component 11 is used to drive the swing arm 32 to swing back and forth, so that the movement of the underwater bionic propeller can be realized. This driving form has lower noise, is not easy to affect the underwater ecology, and is not easy to entangle with water plants, fishing nets and other debris. In addition, the steering drive component 22 is used to drive the swing arm 32 to rotate, change the initial position of the swing arm 32, and change the thrust direction generated by the swing arm 32 when it swings underwater, so as to realize the steering of the underwater bionic propeller.

1 and 2, in this embodiment, the swing arm 32 is fixed to the end surface of the swing gear 31 by bolts, and the length direction of the swing arm 32 is perpendicular to the rotation axis of the swing gear 31, so as to facilitate the fixing of the swing arm 32. Furthermore, the length direction of the swing arm 32 is also arranged along the radial direction of the swing gear 31, so as to facilitate the determination of the length direction of the initial position of the swing arm 32, so as to facilitate the determination of the thrust direction generated by the swing arm 32 when the swing arm 32 swings underwater.

1 and 3, specifically, the reciprocating drive assembly 11 includes an adjustable amplitude sinusoidal mechanism, wherein the adjustable amplitude sinusoidal mechanism includes an active crank 111, a sliding connection 112 and a driven member 113. The active crank 111 rotates on the frame 4 with one end thereof as a rotation fulcrum, the sliding connection 112 is rotatably connected to the active crank 111, the driven member 113 is vertically arranged and has a guide groove 113a extending along its length direction, the sliding connection 112 can move in the guide groove 113a, and the driven member 113 is constrained by the frame 4 and moves left and right along the first direction of the frame 4. The active crank 111, the sliding connection 112, the driven member 113 and the frame 4 constitute a conventional sinusoidal mechanism, and the active crank 111 rotates to drive the driven member 113 to reciprocate left and right.

1 and 3, in this embodiment, the driven member 113 is fixed to the output member 12. The driven member 113 and the output member 12 are both rod-shaped, and the output member 12 is inserted into the slide slot of the frame 4 to limit the movement direction of the driven member 113. As the active crank 111 rotates, the driven member 113 and the output member 12 are driven to reciprocate in the first direction.

1 and 3, the adjustable amplitude sinusoidal mechanism further includes an adjustment structure 116. The active crank 111 is provided with a sliding groove 111a along its length direction, and the sliding connection member 112 is rotatably connected to the active crank 111 and can move in the sliding groove 111a. The adjustment structure 116 can move synchronously with the active crank 111 and can adjust the position of the sliding connection member 112 in the sliding groove 111a.

1 and 3 , in the adjustable amplitude sinusoidal mechanism provided by the present embodiment, when the active crank 111 rotates, the adjusting structure 116 can move synchronously without affecting the movement of the sliding connector 112 and the driven member 113. When the movement amplitude of the driven member 113 needs to be adjusted, the adjusting structure 116 acts on the sliding connector 112 to adjust the position of the sliding connector 112 in the sliding groove 111a so as to adjust the movement amplitude of the driven member 113, so as to adjust the amplitude of the reciprocating motion of the output member 12 in the first direction. That is, the closer the position of the sliding connector 112 in the sliding groove 111a is to the rotating shaft 114, the smaller the amplitude of the reciprocating motion of the output member 12 in the first direction is, and the farther the position of the sliding connector 112 in the sliding groove 111a is from the rotating shaft 114, the larger the amplitude of the reciprocating motion of the output member 12 in the first direction is, so that the distance of the reciprocating motion of the rack 21 driven is changed, and the reciprocating rotation angle of the swing gear 31 is also changed accordingly, thereby changing the swing amplitude of the swing arm 32. When the swing arm 32 is applied to the underwater bionic propeller and the underwater propeller moves underwater, the greater the swing amplitude of the swing arm 32, the faster the running speed of the underwater bionic propeller, and the speed of the underwater bionic propeller can be adjusted.

1 and 3, in this embodiment, the sliding groove 111a is set to be through-through from front to back, and the guide groove 113a is set to be through-through from front to back, so as to facilitate the assembly of the sliding connector 112. In addition, the sliding connector 112 is movably connected with the sliding groove 111a and the guide groove 113a at the same time. When the sliding groove 111a and the guide groove 113a are set to be through-through from front to back, the point, line or surface where the sliding connector 112 abuts against the sliding groove 111a and the guide groove 113a is closer to the center of the structure, which is beneficial to the stability of the transmission. Those skilled in the art can also set the guide groove 113a or the sliding groove 111a as a blind hole structure, which is not limited here.

Referring to Fig. 1 and Fig. 3, further, the sliding connection member 112 includes a central axis and a front wheel and a rear wheel that are rotatably connected to the central axis and arranged front and back, the adjustment structure 116 is connected to the central axis, the front wheel is placed in the sliding groove 111a and can move along the sliding groove 111a, and the rear wheel is placed in the guide groove 113a and can move up and down along the guide groove 113a. The sliding connection member 112 also includes a front stopper connected to the central axis and used to limit the front wheel from moving forward and a rear stopper connected to the central axis and used to limit the rear wheel from moving backward. The front stopper and the rear stopper sandwich the front gear and the rear gear therebetween, the rear surface of the front stopper abuts the front surface of the active crank 111, and the front surface of the rear stopper abuts the rear surface of the driven member 113 to prevent the front wheel from disengaging from the sliding groove 111a or the rear wheel from disengaging from the guide groove 113a. In this case, the active crank 111 and the driven member 113 are arranged front and back. Those skilled in the art can understand that if the positions of the driving crank 111 and the driven member 113 are swapped, the corresponding relationship between the front rotating wheel and the rear rotating wheel will also be changed accordingly.

1 and 3, in this embodiment, the position of the sliding connection member 112 in the sliding groove 111a is adjusted by automatic control. Specifically, the adjustable amplitude sinusoidal mechanism also includes a servo motor, a rotating shaft 114 and a one-way bearing 115, the rotating shaft 114 rotates on the frame 4, and the servo motor is fixed on the frame 4. The servo motor is connected to the rotating shaft 114, the one-way bearing 115 and the adjustment structure 116 are connected to the rotating shaft 114, the rotating shaft 114 drives the active crank 111 to rotate in one direction through the one-way bearing 115, and the rotating shaft 114 rotates forward to drive the active crank 111 and the adjustment structure 116 to rotate synchronously, and the reciprocating motion of the driven member 113 is realized at this time. When the rotating shaft 114 reverses, under the action of the one-way bearing 115, the active crank 111 does not rotate, and the adjustment structure 116 is driven to move so that the sliding connection 112 moves radially along the sliding groove 111a, changing the distance between the sliding connection 112 and the rotating shaft 114, thereby changing the amplitude of the reciprocating motion of the driven member 113.

The adjustable amplitude sine mechanism of this embodiment drives the rotating shaft 114 to rotate forward and reversely through the servo motor to realize the two functions of sinusoidal motion output and amplitude modulation of the adjustable amplitude sine mechanism, without adding an additional driving device, which is conducive to simplifying the structure and control.

The adjustable amplitude sinusoidal mechanism provided in this embodiment will have a wide range of uses. For example, when applied to an underwater bionic propeller of a bionic fish, the swinging amplitude of the bionic fish's tail fin can be adjusted arbitrarily, either large or small; when applied to a flapping wing mechanism of a bionic bird, the amplitude of the flapping of the bionic bird's wings can be adjusted arbitrarily; the same application can also be applied to a walking mechanism of a robot, which can make the robot's stride adjustable, etc.

Referring to Fig. 1 and Fig. 3, specifically, the adjustment structure 116 includes an amplitude modulation crank 1161 and a connecting rod 1162, one end of the amplitude modulation crank 1161 is fixed to the rotating shaft 114 and the other end is rotatably connected to the connecting rod 1162, the connecting rod 1162 is rotatably connected to the sliding connection member 112, when the rotating shaft 114 rotates forward, the amplitude modulation crank 1161, the connecting rod 1162 and the active crank 111 rotate synchronously; when the rotating shaft 114 rotates reversely, the amplitude modulation crank 1161 rotates and drives the connecting rod 1162 together with the sliding connection member 112 to move to adjust the position of the sliding connection member 112 in the sliding groove 111a. Among them, the amplitude modulation crank 1161 rotates circumferentially with the rotating shaft 114, and drives the sliding connection member 112 to reciprocate in the sliding groove 111a, so as to change the distance between the sliding connection member 112 and the rotating shaft 114, that is, to change the amplitude of the reciprocating motion of the driven member 113 in the first direction with the active crank 111.

The length of the amplitude modulation crank 1161 is less than the length of the connecting rod 1162, and the length of the sliding groove 111a is not less than twice the length of the amplitude modulation crank 1161. Those skilled in the art can appropriately increase the length of the sliding groove 111a and reasonably set the length of the connecting rod 1162.

The adjustment structure 116 adopts the matching design of the amplitude modulation crank 1161 and the connecting rod 1162, and has a simple structure. The maximum amplitude that the driven member 113 can reach is controlled by the size design of the connecting rod 1162 and the sliding groove 111a, which is conducive to simplifying the design and control.

In other embodiments, the reciprocating motion driving assembly 11 may further include a reciprocating screw mechanism, a cylinder or a linear motor, etc., to achieve the reciprocating motion of the output member 12 .

1 and 2, optionally, in this embodiment, the steering drive assembly 22 includes a screw assembly, and the screw assembly includes a screw 221 and a steering drive 222. The screw 221 is rotatably arranged on the frame 4, one end of the screw 221 is connected to the output member 12 through a clutch 223, and the other end of the screw 221 is drivingly connected to the steering drive 222 through a coupling 224, and the steering drive 222 drives the screw 221 to rotate. The rack 21 is transmission-connected to the screw 221 to move in the first direction with the rotation of the screw 221. Wherein, the steering drive 222 includes a motor.

Referring to Fig. 1 and Fig. 2, further, the screw rod 221 and the steering drive member 222 can slide on the frame 4 along the first direction. When the reciprocating drive assembly 11 is working, the clutch 223 between the screw rod 221 and the output member 12 is in a closed state, and the reciprocating drive assembly 11 drives the output member 12, the screw rod 221 and the rack 21 to reciprocate in the first direction, and drives the swing gear 31 to rotate back and forth, and the swing arm 32 then swings back and forth. When the position of the swing area of the swing arm 32 needs to be adjusted, the clutch 223 between the screw rod 221 and the output member 12 is in an open state, and the steering drive member 222 drives the screw rod 221 to rotate. At this time, the rotation of the screw rod 221 is not transmitted to the output member 12 due to the clutch 223, and does not interfere with the reciprocating drive assembly 11. The screw rod 221 rotates to drive the rack 21 to move in the first direction, and drives the swing gear 31 and the swing arm 32 to rotate, so that the swing area position of the swing arm 32 driven by the reciprocating drive assembly 11 can be adjusted.

With this arrangement, the position of the swing area of the swing arm 32 can be changed by means of the screw rod assembly, so that the adjustment is more precise, the response is faster, and it is not easy to get out of control.

In other embodiments, the steering drive assembly 22 includes a belt assembly or a cylinder.

When the steering drive assembly 22 includes a belt assembly, the frame of the belt assembly is slidably arranged on the frame 4 along the first direction, and the output member 12 is connected to the frame of the belt assembly. The belt conveying end of the belt assembly is fixed to the rack 21, and the conveying direction of the belt assembly is arranged along the first direction. In this arrangement, the reciprocating drive assembly 11 drives the swing arm 32 to swing back and forth by driving the belt assembly and the rack 21 connected to the belt assembly to reciprocate in the first direction. The initial position of the swing arm 32 is changed by the belt assembly driving the rack 21 to move in the first direction alone, so as to change the position of the swing area of the swing arm 32.

When the steering drive assembly 22 includes a cylinder, the fixed end of the cylinder is fixed to the output member 12 , and the driving end of the cylinder moves along the first direction and is fixed to the rack 21 .

1 and 2, optionally, in this embodiment, the swing mechanism 3 further includes a transmission gear 33, and the rack 21 is transmission-connected to the swing gear 31 via the transmission gear 33. The transmission gear 33 is rotationally connected to the frame 4. In this embodiment, the transmission gear 33 includes one, and the transmission gear 33 is meshed with both the rack 21 and the swing gear 31, so as to transmit the power of the rack 21 to the swing gear 31.

By providing the transmission gear 33, the distance between the rack 21 and the swing gear 31 can be lengthened, which makes it easier to position the swing gear 31 and the rack 21. In some embodiments, there can be multiple transmission gears 33, and the multiple transmission gears 33 are meshed in sequence.

In some embodiments, the swing mechanism 3 further includes a transmission assembly, through which the transmission gear 33 is connected to the swing gear 31, and the transmission assembly includes a belt transmission assembly or a chain transmission assembly. The transmission gear 33 can be connected to the swing gear 31 remotely through the belt transmission assembly or the chain transmission assembly, thereby facilitating the arrangement of the swing mechanism 3 and the steering mechanism 2.

The embodiment of the present application provides a swing device, which drives the steering drive 222 to reciprocate in the first direction through the reciprocating mechanism 1 to drive the rack 21 to move in the first direction, and the rack 21 is meshed with the swing gear 31 to drive the swing gear 31 to reciprocate, so that the swing arm 32 swings back and forth with the swing gear 31. In addition, the steering drive 222 drives the rack 21 to move in the first direction, and drives the swing gear 31 to rotate, changing the position of the swing arm 32, so that the initial position of the swing arm 32 driven by the reciprocating mechanism 1 to swing changes, and the position of the swing area of the swing arm 32 changes. When the swing device is applied to the underwater bionic propeller, the swing arm 32 swings underwater to realize the movement of the underwater bionic propeller, and by changing the position of the swing area of the swing arm 32, the propulsion direction is changed to complete the steering of the underwater bionic propeller. The swing device is used as a form of drive, which facilitates the steering of the underwater bionic propeller, has less noise, is not easy to affect the underwater ecology, and is not easy to entangle with water plants, fishing nets and other debris.

Referring to Figure 4, another embodiment of the present application provides an underwater bionic propeller. Since the underwater bionic propeller adopts the above-mentioned swinging device, the underwater bionic propeller can be operated under the drive of the swinging device, and the swinging device can be used to achieve steering, replacing the traditional propeller drive form. The swing arm 32 swings to drive the underwater bionic propeller to operate, which has less noise, is not easy to affect the underwater ecology, and is not easy to be entangled in water plants, fishing nets and other debris.

In another embodiment of the present application, there is provided an application of the swing device as described above in a mimicking bird.

In another embodiment of the present application, there is provided an application of the swing device as described above in a robot.

In the description of the present application, it should be understood that the positive direction of "X" in the drawings represents the right, and correspondingly, the reverse direction of "X" represents the left. The orientation or positional relationship indicated by the term "X" is based on the orientation or positional relationship shown in the drawings of the specification, which is only for the convenience of describing the present application and simplifying the description, and does 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 cannot be understood as a limitation on the present application. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

In the description of the present application, it should be noted that the terms "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

It should be noted that, in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features applied for herein.

Claims

A swing device, characterized in that it comprises:

A swing mechanism, the swing mechanism comprising a swing arm;

A steering mechanism, wherein a driving end of the steering mechanism is drivingly connected to the swing arm to drive the swing arm to swing back and forth;

A reciprocating mechanism, the reciprocating mechanism is drivingly connected to the fixed end of the steering mechanism, so as to drive the swing arm to reciprocate by driving the steering mechanism to move;

Among them, the steering mechanism alone drives the swing arm to swing and changes the swing area in which the reciprocating motion mechanism drives the swing arm to swing back and forth, or the reciprocating motion mechanism alone drives the swing arm to swing and changes the swing area in which the steering mechanism drives the swing arm to swing back and forth.
The swing device according to claim 1, characterized in that the swing mechanism further comprises a swing gear, the swing arm is connected to the swing gear, and the length direction of the swing arm is set at an angle to the rotation axis direction of the swing gear;

The steering mechanism includes a rack and a steering drive assembly, the swing gear is transmission-connected to the rack, and the driving end of the rotation drive assembly is connected to the rack to drive the rack to reciprocate in a first direction to drive the swing gear to reciprocate.
The swinging device according to claim 2 is characterized in that the reciprocating motion mechanism includes a reciprocating motion drive assembly and an output member, the reciprocating motion drive assembly drives the output member to reciprocate in the first direction, and the output member is connected to the fixed end of the rotating drive assembly to drive the steering drive assembly and the rack to move together in the first direction.
The oscillating device according to claim 3 is characterized in that the reciprocating motion drive assembly includes an adjustable amplitude sinusoidal mechanism, and the output end of the adjustable amplitude sinusoidal mechanism reciprocates in the first direction and is connected to the output member.
The swing device according to claim 3, characterized in that the steering drive assembly includes a screw assembly, and the screw assembly includes:

A screw rod, the screw rod is drivingly connected to the rack, and one end of the screw rod is rotatably connected to the output member;

A steering drive member is drivingly connected to an end of the screw rod that is away from the output member.
The swing device according to claim 3 is characterized in that the swing mechanism also includes a transmission gear, and the rack is transmission-connected to the swing gear through the transmission gear.
The swing device according to claim 6 is characterized in that the swing mechanism also includes a transmission assembly, the transmission gear is connected to the swing gear through the transmission assembly, and the transmission assembly includes a belt transmission assembly or a chain transmission assembly.
An underwater bionic propeller, characterized by comprising a swing device as described in any one of claims 1 to 7.
An application of the swing device as claimed in any one of claims 1 to 7 in a mimicking bird.
An application of the oscillating device as described in any one of claims 1 to 7 in a robot.