CN114655415A - The power mechanism of rope-pulled bionic fish and bionic fish - Google Patents

Abstract

The invention provides a power mechanism for pulling bionic fish by rope and bionic fish. The power mechanism includes a driving part, a rotating part and at least one connecting part; the rotating part is connected with the driving part through a transmission part; At least one connecting piece is provided with a connecting hole for connecting the traction rope, and the rotating piece rotates so that the connecting piece drives the traction rope to reciprocate. Through the cooperation of the driving member and the transmission member, the rotating member can be continuously rotated, so that the connecting member can form a reciprocating motion, so that the traction rope can drive the body and/or caudal fin of the bionic fish to form continuous swing. The above method can avoid the driving member. The output shaft reciprocates forward and reverse, on the one hand, it can improve the swimming efficiency of the bionic fish, on the other hand, it can reduce the fatigue loss, and ensure the reliability of the bionic fish when it continues to operate underwater for a long time.

Description

The power mechanism of rope-pulled bionic fish and bionic fish

technical field

The invention relates to the technical field of underwater robots, in particular to a power mechanism for pulling a bionic fish with a rope and a bionic fish.

Background technique

In nature, aquatic organisms such as fish and dolphins have evolved structures and shapes that are suitable for underwater activities. They generally use the swimming method of flapping their tails or making their bodies fluctuate, which can make swimming very efficient. The swimming speed is very fast, so such a swimming method is also widely used in the swimming of bionic fish.

Compared with the bionic fish driven by the propeller, the bionic fish that uses tail fins or body swings to swim not only has the advantages of high efficiency, but also has the characteristics of flexibility and concealment. They are used as the bionic robotic fish of the bionic object to observe in the ocean. , military reconnaissance, underwater operations and other fields have good application prospects, has great strategic significance.

Most of the current swinging swimming bionic fish are powered by rope traction. The rope traction bionic robotic fish can well fit the real swing curve of the body of the bionic object when swimming. Compared with the traditional rigid structure, it has higher swimming efficiency. Most of the existing rope-pulled bionic robotic fish use a motor or a steering gear to directly drive the driving wheel to rotate, and the driving wheel then drives the traction rope wrapped around it to relax, and the continuously slack traction rope drives the body and/or tail fin of the bionic fish to form. Swing continuously to drive the bionic fish to swim.

However, in the above driving process, the motor or steering gear often needs to be forward and reversed to drive the driving wheel to reciprocate, so as to realize the relaxation of the traction rope. At this time, it is easy to cause low traction efficiency of the traction rope and easy to cause fatigue. Damage to the parts is not conducive to the reliability of the bionic fish for a long time.

SUMMARY OF THE INVENTION

The invention provides a power mechanism for rope-pulled bionic fish and bionic fish, which are used to solve the technical problem that the power mechanism in the prior art requires continuous forward and reverse rotation of a motor to realize continuous swinging of the body and/or tail fin of the bionic fish for swimming. , to achieve the reliability of the bionic fish continuous operation for a long time.

The present invention provides a power mechanism for pulling bionic fish by rope, comprising:

driver;

a rotating part, which is connected to the driving part through a transmission part;

At least one connecting piece is rotatably mounted on the rotating piece, and each of the at least one connecting piece is provided with a connecting hole for connecting the traction rope;

Wherein, the rotating member rotates so that the connecting member drives the traction rope to reciprocate.

According to the present invention, a power mechanism for pulling a bionic fish with a rope is provided, wherein the rotating member includes a first end, a second end and at least one connecting head, and the at least one connecting head is arranged on the first end and the between the second ends.

According to a power mechanism for pulling a bionic fish with a rope provided by the present invention, the first end of the first end away from the connecting head is provided with a first rotating shaft, and the first end is close to the first end of the connecting head. The second end of the side is provided with a first connecting shaft, and the first connecting shaft is provided with a first installation groove;

The first end of the connector close to the first end is provided with a first installation protrusion, and the second end of the connector away from the first end is provided with a second connection shaft, so The second connecting shaft is provided with a second installation groove;

The first end of the second end on the side close to the connector is provided with a second installation protrusion, and the second end of the second end on the side away from the connector is provided with a second rotating shaft, wherein, the second rotating shaft and the first rotating shaft are on the same axis;

The transmission member is connected with the first rotating shaft or the second rotating shaft, the connecting member is connected with the first connecting shaft or the second connecting shaft, and the first mounting protrusion is suitable for being clamped to the In the first installation groove, the second installation protrusion is suitable for being clamped in the second installation groove;

In two adjacent connecting heads, the first mounting protrusion of one of the connecting heads is snapped into the second mounting groove of the other connecting head.

According to a power mechanism of a rope pulling bionic fish provided by the present invention, along a direction perpendicular to the first rotation axis, an included angle is distributed between two adjacent connecting heads.

According to a power mechanism for pulling a bionic fish with a rope, the connecting piece includes a first connecting portion and a second connecting portion, and both ends of the first connecting portion are provided with first connecting ears, and the first connecting portion is provided with first connecting ears. A connecting lug is provided with a first locking hole, both ends of the second connecting portion are provided with a second connecting lug, the second connecting lug is provided with a second locking hole, the first connecting portion and the The second connecting portion is suitable for being connected to the first connecting shaft or the second connecting shaft, the first connecting ear and the second connecting ear are abutted, and the first locking hole and the The second locking holes are adapted to be mutually fixed by fasteners;

The connection hole is arranged on the second connection portion.

According to the power mechanism of the rope pulling bionic fish provided by the present invention, between the connecting piece and the first end, and/or between the connecting piece and the connecting head, and/or between the two adjacent Between each of the second ends, a washer is arranged, and the washer is made of wear-resistant self-lubricating material.

According to a power mechanism of a rope pulling bionic fish provided by the present invention, the transmission member includes a first gear and a second gear, the first gear is coaxially connected with the output shaft of the driving member, and the second gear Coaxially connected to the first rotating shaft or the second rotating shaft, the first gear meshes with the second gear.

According to a power mechanism for pulling a bionic fish with a rope according to the present invention, it further comprises: a sealed cabin, wherein the inside of the sealed cabin is hollow to form a storage cavity, and two sides of the sealed cabin are formed with openings communicating with the storage cavity, the One side of the airtight cabin is connected with the head or body of the bionic fish, and the opening of the other side of the airtight cabin is sealed by a sealing plate, and the sealing plate is provided with a hole for passing through the traction rope , a bushing is installed in the abdication hole, and the bushing is made of wear-resistant self-lubricating material;

The driving member, the transmission member, the rotating member and the connecting member are all arranged in the receiving cavity.

According to the power mechanism of the rope pulling bionic fish provided by the present invention, a fixing frame is installed on the inner side of the sealing plate for fixing the rotating member;

The side surface of the fixing frame is provided with a clamping slot, the bottom surface of the slot is provided with a first fixing hole, the driving member is connected with a bracket, the bracket is provided with a connecting wing plate, and the connecting wing plate is provided with a bracket. a second fixing hole, the connecting wing plate is suitable for being clamped in the slot, and the first fixing hole and the second fixing hole are suitable for being fixed to each other by a fastener;

The fixing frame is in the shape of a frame, and a baffle plate is detachably installed on the peripheral side through fasteners.

The present invention also provides a bionic fish, comprising a head assembly, a tail assembly, and any one of the aforementioned power mechanisms for pulling the bionic fish with a rope, wherein the power mechanism for pulling the bionic fish by the rope is disposed between the head assembly and the bionic fish. between the rear components.

The power mechanism and the bionic fish provided by the rope traction bionic fish provided by the embodiment of the present invention enable the rotating member to continuously rotate through the cooperation of the driving member and the transmission member. During the continuous rotation of the rotating member, the connecting member provided on the rotating member Reciprocating motion can be performed. Since the traction rope is fixed in the connecting hole of the connector, the reciprocating motion of the connector can drive the traction rope to form a reciprocating motion, so that the traction rope can drive the body and/or tail fin of the bionic fish to form continuous swing. The above method can prevent the output shaft of the driving member from reciprocating forward and reverse. On the one hand, it can improve the swimming efficiency of the bionic fish, and on the other hand, it can reduce fatigue loss and ensure the reliability of the bionic fish when it continues to operate underwater for a long time.

Description of drawings

In order to illustrate the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings required in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are the For some embodiments of the invention, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

Fig. 1 is the structural representation of the power mechanism of the rope traction bionic fish provided by the present invention;

2 is a schematic structural diagram of the connection between the rotating member and the mounting frame in the power mechanism of the rope traction bionic fish provided by the present invention;

3 is a schematic structural diagram of a rotating member in the power mechanism of the rope traction bionic fish provided by the present invention;

4 is a schematic structural diagram of a mounting frame in the power mechanism of the rope traction bionic fish provided by the present invention;

FIG. 5 is a schematic structural diagram of a rotating member in the power mechanism of the rope traction bionic fish provided by the present invention.

Reference number:

1. Driving part; 2. Rotating part; 4. Connecting part; 5. Sealing cabin; 6. Sealing plate; 7. Bushing; 8. Fixing frame; 9. Bracket; 10. Baffle plate; 201. First end 202, the second end; 203, the connector; 204, the first shaft; 205, the first connection shaft; 206, the first installation protrusion; 207, the second connection shaft; 208, the second installation protrusion; 209 301, the first gear; 302, the second gear; 401, the first connection part; 402, the second connection part; 403, the first connection ear; 404, the second connection ear; 405, the washer; 801 , card slot; 802, first fixing hole; 901, connecting wing plate.

Detailed ways

The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are intended to illustrate the present invention, but not to limit the scope of the present invention.

In the description of the embodiments of the present invention, it should be noted that the terms "center", "portrait", "horizontal", "top", "bottom", "front", "rear", "left", "right" , "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, only for the convenience of describing this Inventive embodiments and simplified descriptions are not intended to indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first", "second", and "third" are used for descriptive purposes only and should not be construed to indicate or imply relative importance.

In the description of the embodiments of the present invention, it should be noted that, unless otherwise expressly specified and limited, the terms "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection, Or integral connection; it can be mechanical connection or electrical connection; it can be directly connected or indirectly connected through an intermediate medium. Those of ordinary skill in the art can understand the specific meanings of the above terms in the embodiments of the present invention in specific situations.

In the embodiments of the present invention, unless otherwise expressly specified and limited, the first feature "above" or "under" the second feature may be in direct contact with the first and second features, or the first and second features pass through the middle indirect contact with the media. Also, the first feature being "above", "over" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is level higher than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.

In the description of this specification, description with reference to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples", etc., mean specific features described in connection with the embodiment or example , structures, materials, or features are included in at least one example or example of embodiments of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine the different embodiments or examples described in this specification, as well as the features of the different embodiments or examples, without conflicting each other.

The following describes the power mechanism of the rope-pulled bionic fish of the present invention with reference to FIGS. 1-5 . The power mechanism of the rope-pulled bionic fish includes a driving member 1, a transmission member, a rotating member 2 and a connecting member 4, wherein the output of the driving member 1 The shaft is connected with the transmission member, and the transmission member is connected with the connecting member 4, so that the rotating member 2 can be connected with the driving member 1 through the transmission member. The connecting member 4 is rotatably installed on the rotating member 2, and the connecting member 4 There are connecting holes, which are used to connect the traction rope. Wherein, the rotating member 2 rotates so that the connecting member 4 drives the traction rope to reciprocate.

It can be understood that the output shaft of the driving member 1 will drive the rotating member 2 to rotate through the transmission member during the rotation process. The rotating member 2 is a special-shaped member, and the connecting member 4 is rotatably connected to the rotating member 2. 2 During the rotation process, the connecting piece 4 will not rotate with the rotation of the rotating piece 2, but will form a reciprocating motion with the rotation of the rotating piece 2, and the reciprocating motion of the connecting piece 4 can make the traction rope reciprocate. Relaxation movement, so as to use the traction rope to drive the body or tail fin of the bionic fish to swing, so as to realize the swimming of the bionic fish.

In this embodiment, the rotating member 2 can be continuously rotated through the cooperation of the driving member 1 and the transmission member. During the continuous rotation of the rotating member 2, the connecting member 4 provided on the rotating member 2 can reciprocate. The traction rope is fixed in the connecting hole of the connector 4, and the reciprocating motion of the connector 4 can drive the traction rope to form a reciprocating motion, so that the traction rope can drive the body and/or caudal fin of the bionic fish to form continuous swing. The output shaft of the driving member 1 reciprocates forward and reverse, which on the one hand can improve the swimming efficiency of the bionic fish, and on the other hand, can reduce the fatigue loss and ensure the reliability of the bionic fish when it continues to operate underwater for a long time.

Wherein, the number of connectors 4 is set to at least one, that is, the power mechanism for pulling the bionic fish by the rope can be connected to at least one traction rope, and the number of connectors 4 can also be set to two, three or more as required. More traction ropes can be installed and fixed to meet different swimming needs. Preferably, if the number of connecting pieces 4 is even, the number of traction ropes is correspondingly arranged, wherein the two traction ropes form a pair of rope structures to drive the tail fin or the body to swing.

At least one connecting piece 4 is arranged at intervals on the rotating piece 2, so that there is a certain gap between the traction ropes fixed by two adjacent connecting pieces 4, so as to avoid interference between the two adjacent traction ropes. And based on the special-shaped crankshaft structure of the rotating member 2, the relaxation between the two adjacent traction ropes can be made asynchronous, which is more in line with the swing law of the bionic fish.

As shown in FIG. 3 and FIG. 5 , the rotating member 2 includes a first end head 201 , a second end head 202 and at least one connecting head 203 , and the at least one connecting head 203 is arranged between the first end head 201 and the second end head 202 between. It can be understood that the first end head 201, the second end head 202 and the rotating member 2 formed by at least one connection are special-shaped members, and along an axis direction, there are cylindrical protruding parts on both sides, which are used for The connecting piece 4 is installed for rotation, so as to realize the reciprocating motion of the connecting piece 4 .

Specifically, the first end 201 is provided with a first rotating shaft 204 at the first end on the side away from the connecting head 203, and the first end 201 is provided with a first connecting shaft 205 at the second end on the side close to the connecting head 203, A first installation groove is provided on the surface of the first connecting shaft 205 . It can be understood that the first rotating shaft 204 and the first connecting shaft 205 are respectively located on both sides of the first end head 201 , and are located at two ends away from each other, the first rotating shaft 204 , the first end head 201 and the first connecting shaft 205 It forms a structure roughly distributed in a "Z" shape, and the three can be connected in one piece.

The connecting head 203 is provided with a first mounting protrusion 206 at the first end on the side close to the first end head 201 , and the connecting head 203 is provided with a second connecting shaft 207 at the second end on the side away from the first end head 201 . , the second connecting shaft 207 is provided with a second installation groove. It can be understood that the first mounting protrusion 206 and the second connecting shaft 207 are located on both sides of the connecting head 203 respectively, and are located at the two ends away from each other. The first mounting protrusion 206 , the connecting head 203 and the second connecting shaft 207 It forms a structure roughly distributed in a "Z" shape, and the three can be connected in one piece.

Wherein, the second end 202 is provided with a second mounting protrusion 208 at the first end of the side close to the connector 203 , and the second end of the second end 202 away from the connector 203 is provided with a second rotating shaft 209 . It can be understood that the second mounting protrusion 208 and the second rotating shaft 209 are located on both sides of the second end head 202 respectively, and are located at the two ends away from each other. The second mounting protrusion 208 , the second end head 202 and the second rotating shaft 209 forms a roughly "Z"-shaped structure, and the three can be connected in one piece.

When the rotating member 2 is connected to the transmission member, the transmission member is connected to the first rotating shaft 204 or the second rotating shaft 209. When the transmission member is connected to the first rotating shaft 204, an anti-skid groove is provided on the first rotating shaft 204 to avoid Axial slip occurs between the transmission member and the first rotating shaft 204. At this time, the second rotating shaft 209 can be installed and fixed through a bearing seat. Similarly, when the transmission member is connected to the second rotating shaft 209, a setting is provided on the second rotating shaft 209. There are anti-skid grooves to avoid axial slippage between the transmission member and the second rotating shaft 209, and the first rotating shaft 204 can be installed and fixed through a bearing seat at this time.

The number of the connecting pieces 4 is adapted to the total number of the first connecting shaft 205 and the second connecting shaft 207, that is to say, the connecting piece 4 is rotatably mounted on the first connecting shaft 205 or the second connecting shaft 207, so as to realize the connection Fixing of piece 4 position.

When the first end head 201 is connected with the connector 203, the first installation protrusion 206 is suitable for being snapped into the first installation groove, and when the second end head 202 is connected with the connection head 203, the second installation protrusion 208 is suitable for In the second installation groove, among two adjacent connecting heads 203 , the first installation protrusion 206 of one of the connecting heads 203 is clamped in the second installation groove of the other connecting head 203 . In this way, the assembly of the rotating part 2 is convenient on the one hand, and the installation of the connecting part 4 is very convenient on the other hand.

At the same time, the above-mentioned design can make the first rotating shaft 204 and the second rotating shaft 209 on the same axis, and make the first connecting shaft 205 and the second connecting shaft 207 not on the same axis as the first rotating shaft 204 and the second rotating shaft 209 , that is, the first connecting shaft 205 and the second connecting shaft 207 also rotate around the axis. When the connecting member 4 is installed on the first connecting shaft 205 or the second connecting shaft 207, the rotating member 2 will rotate along the first rotating shaft. 204 and the axis of the second rotating shaft 209 rotate, at this time, the connecting member 4 will not rotate on the first connecting shaft 205 or the second connecting shaft 207 under the action of the traction rope, but will follow the first connecting shaft 205 and the second connecting shaft 207. The movement of the second connecting shaft 207 realizes swinging back and forth, so as to realize the relaxation of the traction rope.

Further, both the first installation groove and the second installation groove are set as a "cross"-shaped groove structure, and at the same time, the first installation protrusion 206 and the second installation protrusion 208 are both set as a "cross"-shaped protrusion. Rib structure. When the first installation groove and the first installation protrusion 206 are engaged with each other, and when the second installation groove and the second installation protrusion 208 are engaged with each other, and the first installation of one of the two connecting heads 203 When the protrusion 206 is snapped into the second installation groove of the other connector 203, it can play a good anti-slip effect, and avoid snapping separation when the snap joint is rotated. It can be understood that, the above arrangement can prevent mutual twisting while ensuring the integrity of the connecting surface, so as to facilitate the transmission of torque.

Wherein, the bottom surfaces of the first installation groove and the second installation groove are provided with through first fastening holes, and the outer surfaces of the first installation protrusions 206 and the second installation protrusions 208 are provided with second fastening holes. hole, the first fastening hole and the second fastening hole are suitable for being fixed to each other by fasteners. After being fastened with fasteners, it can further ensure that the connecting head 203 and the first end 201, the connecting head 203 and the The connection between the second end head 202 and the two adjacent connection heads 203 is stable.

In this embodiment, along the direction perpendicular to the first rotation axis 204, two adjacent connecting heads 203 are angularly distributed, that is, two adjacent connecting heads 203 are not in the same plane, because the second connection The shaft 207 is arranged perpendicular to the connecting head 203, in this way, a space dislocation can be formed between the two adjacent second connecting shafts 207, so that the relaxation of each connecting piece 4 is not synchronized, so that the bionic fish can swing. More in line with the rules of swimming. Specifically, the included angle may be 58°, and at this angle, the phase difference between the traction laws of the traction ropes can well fit the flapping laws. In other embodiments of the invention, two adjacent connecting heads 203 may not be distributed at an included angle, that is, two adjacent connecting heads 203 may be on the same plane.

As shown in FIG. 2 and FIG. 3 , according to the power mechanism of the rope pulling bionic fish provided by the present invention, the connecting member 4 includes a first connecting part 401 and a second connecting part 402 , and both ends of the first connecting part 401 are provided with a first connecting part 401 . A connecting lug 403, the first connecting lug 403 is provided with a first locking hole, both ends of the second connecting portion 402 are provided with a second connecting lug 404, the second connecting lug 404 is provided with a second locking hole, the first The connecting portion 401 and the second connecting portion 402 are suitable for being connected to the first connecting shaft 205 or the second connecting shaft 207, the first connecting lug 403 and the second connecting lug 404 are close to each other, and the first locking hole and the second locking hole The tightening holes are adapted to be fixed to each other by means of fasteners, wherein the aforementioned connecting holes are provided on the second connecting portion 402 .

It is very convenient to install the connecting piece 4 on the rotating piece 2 by setting the connecting piece 4 as two detachable connected parts. The first connecting part 401 can be set in a semi-circular or "Ω"-shaped structure, the two first connecting ears 403 are respectively set on the outer sides of both ends of the arc segment, and the second connecting part 402 can be set in a shape similar to an isosceles triangle or an isosceles trapezoid structure, and the second connecting portion 402 has an arc-shaped transition section toward the inner side of the first connecting portion 401 , so as to facilitate the rotational connection between the connecting member 4 and the rotating member 2 .

The inner side of the second connecting portion 402 may also be provided with an enlarged structure for fixing the end of the traction rope, so as to fix the traction rope on the connecting member 4 , at this time, one end of the traction rope is fixed on the inner side of the second connecting portion 402 , and the other One end is pierced through the connecting hole and connected to the body or tail fin of the bionic fish. Of course, the end of the traction rope can also be fixed by setting a locking mechanism, as long as a stable connection can be formed between the traction rope and the connecting member 4 .

Wherein, between the connector 4 and the first end 201, and/or between two adjacent connectors 203, and/or between the connector 4 and the second end 202, a washer 405 is provided, The washer 405 is made of wear-resistant self-lubricating material. The arrangement of the washer 405 can support the upper element, and at the same time, it can reduce friction and play a protective effect. The two wings of the washer 405 have a flanging structure, and the washer 405 can be set to a symmetrical structure, so that it is roughly in the shape of a bearing bush.

As shown in FIG. 1 and FIG. 2 , according to the power mechanism of the rope traction bionic fish provided by the present invention, the transmission member includes a first gear 301 and a second gear 302 , and the first gear 301 is coaxially connected to the output shaft of the driving member 1 , The second gear 302 is coaxially connected to the first rotating shaft 204 or the second rotating shaft 209 , wherein the first gear 301 is meshed with the second gear 302 . As shown in FIG. 1 , the driving member 1 can be a motor. The output shaft of the motor rotates to drive the first gear 301 to rotate. At this time, the first gear 301 can drive the second gear 302 to rotate, and the second gear 302 rotates. It is coaxially connected with the first rotating shaft 204 or the second rotating shaft 209, so that the rotating member 2 can be driven to rotate.

Wherein, a protruding blocking block is provided on the inner side of the second gear 302, and the blocking block cooperates with the aforementioned anti-slip groove provided on the first rotating shaft 204 or the second rotating shaft 209, so as to prevent the second gear 302 from interacting with the first rotating shaft 204. Circumferential slip occurs between the rotating shaft 204 or the second rotating shaft 209 , so that the rotating member 2 cannot rotate.

As shown in FIG. 1 , according to the power mechanism of the rope traction bionic fish provided by the present invention, it further includes a sealed cabin 5, the interior of the sealed cabin 5 is hollow to form a storage cavity, and the two sides of the sealed cabin 5 are formed with openings that communicate with the storage cavity, and the sealed cabin 5 is sealed. One side of the cabin 5 is connected with the head or body of the bionic fish, and the opening on the other side of the sealed cabin 5 is sealed by a sealing plate 6, and the sealing plate 6 is provided with a hole for the pulling rope to pass through. A bushing 7 is installed, and the bushing 7 is made of wear-resistant self-lubricating material.

Among them, the driving part 1, the transmission part, the rotating part 2 and the connecting part 4 are all arranged in the storage cavity. It can be understood that since the power mechanism for pulling the bionic fish by the rope is a mechanism for underwater operation, the sealing chamber 5 is used to pair the power The mechanism is waterproof and sealed, which can improve the service life of the driving part 1 and the transmission parts, avoid rusting or rapid aging due to corrosion in the underwater environment, and avoid the interference of aquatic plants during the underwater operation. failure occurs.

A sealing groove can be provided on the inner side of the sealing plate 6, and an elastic element is embedded in the sealing groove, so as to form a good static seal.

Flange structures can be provided on both sides of the sealed cabin 5, and the flange structure can be used to realize the connection between the sealed cabin 5 and the head or body of the bionic fish, and the flange structure can also be used to realize the connection between the sealing plate 6 and the bionic fish. Water-tight connection between seal compartments 5 .

The holes on the sealing plate 6 are used for the penetration of the traction rope, so that the traction rope can pass through the sealed compartment 5, and the traction rope can be connected with the tail part of the subsequent components, and the bushing 7 can reduce the traction The friction between the rope and the escape hole reduces energy loss and facilitates the slack of the traction rope. At the same time, the bushing 7 can reduce the wear of the traction rope, so as to improve the service life of the traction rope.

The number of the abdication holes is adapted to the number of the aforementioned connecting pieces 4, and the positions correspond one-to-one, so as to ensure that each traction rope can be pierced through different Bushing 7.

As shown in FIG. 1 and FIG. 4 , a fixing frame 8 is installed on the inner side of the sealing plate 6 . The fixing frame 8 is used to fix the rotating member 2 , and a clamping groove 801 is provided on the side surface of the fixing frame 8 . The bottom surface is provided with a first fixing hole 802, wherein the driving member 1 is fixed by a bracket 9, the bracket 9 is provided with a connecting wing plate 901, and the connecting wing plate 901 is provided with a second fixing hole, and the connecting wing plate 901 is locked on the one hand. Set in the card slot 801, on the other hand, the second fixing hole on the connecting wing 901 is aligned with the first fixing hole 802 on the bottom surface of the card slot 801, and the first fixing hole 802 and the second fixing hole 802 are fixed by fasteners. The holes are fixed, so as to realize the stable connection between the bracket 9 and the fixing frame 8 , so that the motor can also be firmly fixed on the fixing frame 8 .

Wherein, both sides of the fixing frame 8 can be provided with clamping slots 801. At this time, the bracket 9 is set to a symmetrical structure, and the connecting wings 901 are symmetrically arranged on both sides of the bracket 9, so that the two connecting wings 901 are respectively locked. It is connected to the two card slots 801 , and then cooperates with fasteners for reinforced fixing, so as to realize the stable connection between the fixing frame 8 and the bracket 9 .

Wherein, the fixing frame 8 can be fixed on the inner side of the sealing plate 6 by means of fasteners.

The fixing frame 8 can be provided in a frame shape, and a baffle 10 is detachably mounted on the peripheral side through fasteners. Of course, it is also possible to directly set the fixing frame 8 into a box shape, and in this case, there is no need to set the baffle 10 to close the fixing frame 8 . The upper and lower sides of the fixing frame 8 can be provided with bearing seats for connecting the first rotating shaft 204 and the second rotating shaft 209 respectively, and the upper and lower sides of the fixing frame 8 also need to be closed by the baffle 10 .

When the baffle 10 closes the fixing frame 8 , the inner side of the baffle 10 may be provided with a sealing groove and embedded with an elastic sealing mechanism such as a rubber ring, so as to ensure a good static seal between the baffle 10 and the fixing frame 8 .

After the baffle 10 is used to seal the fixing frame 8, the space inside the fixing frame 8 and the space inside the sealing chamber 5 can be independent of each other. Since the space inside the fixing frame 8 needs to be connected with a traction rope, it is easy for water to enter, and the space inside the fixing frame 8 is separated from each other. After opening, water can be prevented from flowing into the sealing chamber 5, and the long-term use of the driving part 1, the transmission part and other mechanisms can be ensured.

The aforementioned fasteners can all be bolt-like fastening mechanisms, so as to achieve stable and detachable connection between various components.

On the other hand, the present invention also provides a bionic fish, including a head assembly, a tail assembly, and a power mechanism for pulling the bionic fish by rope in any of the foregoing embodiments, wherein the power mechanism for pulling the bionic fish by the rope is arranged between the head assembly and the bionic fish. between the rear components.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still be The technical solutions described in the foregoing embodiments are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. the power mechanism of a rope traction bionic fish, is characterized in that, comprises: drive (1); a rotating member (2), connected to the driving member (1) through a transmission member; At least one connecting piece (4) is rotatably mounted on the rotating piece (2), and each of the at least one connecting piece (4) is provided with a connecting hole for connecting the traction rope; Wherein, the rotating member (2) rotates so that the connecting member (4) drives the traction rope to reciprocate. 2. The power mechanism for pulling a bionic fish by a rope according to claim 1, wherein the rotating member (2) comprises: a first end (201), a second end (202) and at least one connector (203), the at least one connection head (203) is arranged between the first end head (201) and the second end head (202). 3. The power mechanism of the rope pulling bionic fish according to claim 2, wherein the first end of the first end head (201) away from the side of the connecting head (203) is provided with a first rotating shaft ( 204), the second end of the first end head (201) close to the side of the connecting head (203) is provided with a first connecting shaft (205), and the first connecting shaft (205) is provided with a first installation groove; A first mounting protrusion (206) is provided at the first end of the connecting head (203) on the side close to the first end head (201), and the connecting head (203) is away from the first end head (201). The second end of the ) side is provided with a second connecting shaft (207), and the second connecting shaft (207) is provided with a second installation groove; A second mounting protrusion (208) is provided at the first end of the second end head (202) on the side close to the connection head (203), and the second end head (202) is away from the connection head (203). ) side of the second end is provided with a second shaft (209), wherein the second shaft (209) and the first shaft (204) are on the same axis; The transmission member is connected with the first rotating shaft (204) or the second rotating shaft (209), and the connecting member (4) is connected with the first connecting shaft (205) or the second connecting shaft (207) ) are connected, the first installation protrusion (206) is suitable for being clamped in the first installation groove, and the second installation protrusion (208) is suitable for being clamped in the second installation groove; In two adjacent connecting heads (203), the first mounting protrusion (206) of one of the connecting heads (203) is snapped with the first mounting protrusion (206) of the other connecting head (203). Two installation slots. 4. The power mechanism for pulling bionic fish by rope according to claim 3, characterized in that, along the direction perpendicular to the first rotation axis (204), there is a clamp between two adjacent connecting heads (203). angular distribution. 5 . The power mechanism for pulling bionic fish by rope according to claim 3 , wherein the connecting member ( 4 ) comprises: a first connecting part ( 401 ) and a second connecting part ( 402 ), the first connecting part ( 402 ). 6 . Both ends of the connection portion (401) are provided with first connection ears (403), the first connection ears (403) are provided with first locking holes, and both ends of the second connection portion (402) are provided with There is a second connecting lug (404), the second connecting lug (404) is provided with a second locking hole, and the first connecting portion (401) and the second connecting portion (402) are adapted to be connected to the The first connection shaft (205) or the second connection shaft (207), the first connection ear (403) and the second connection ear (404) are in contact with each other, and the first locking hole and the second locking hole is adapted to be fixed to each other by a fastener; The connection hole is arranged on the second connection part (402). The power mechanism for pulling bionic fish by rope according to claim 5, characterized in that, between the connecting member (4) and the first end (201), and/or the adjacent two Between the connecting heads (203), and/or between the connecting piece (4) and the second end head (202), a washer (405) is provided, and the washer (405) is made of wear-resistant self- Made of lubricating material. 7. The power mechanism for pulling bionic fish by rope according to claim 3, wherein the transmission member comprises a first gear (301) and a second gear (302), the first gear (301) and the The output shaft of the driving member (1) is coaxially connected, the second gear (302) is coaxially connected to the first rotating shaft (204) or the second rotating shaft (209), and the first gear (301) ) meshes with the second gear (302). 8. The power mechanism for pulling bionic fish by rope according to any one of claims 1-7, further comprising: a sealed cabin (5), wherein the inside of the sealed cabin (5) is hollow to form a receiving cavity, and the Two sides of the sealed cabin (5) form openings that communicate with the receiving cavity, one side of the sealed cabin (5) is connected with the head or body of the bionic fish, and the other side of the sealed cabin (5) is connected to the head or body of the bionic fish. The opening on one side is sealed by a sealing plate (6), the sealing plate (6) is provided with an escape hole for the traction rope to pass through, a bushing (7) is installed in the escape hole, and the lining The sleeve (7) is made of wear-resistant self-lubricating material; The driving member (1), the transmission member, the rotating member (2) and the connecting member (4) are all arranged in the receiving cavity. 9 . The power mechanism for rope-pulled bionic fish according to claim 8 , wherein a fixing frame ( 8 ) is installed on the inner side of the sealing plate ( 6 ) for fixing the rotating member ( 2 ); 10 . The side surface of the fixing frame (8) is provided with a clamping groove (801), the bottom surface of the clamping groove (801) is provided with a first fixing hole (802), and the driving member (1) is connected with a bracket (9). ), the bracket (9) is provided with a connecting wing plate (901), the connecting wing plate (901) is provided with a second fixing hole, and the connecting wing plate (901) is suitable for being clamped in the card slot ( 801), and the first fixing hole (802) and the second fixing hole are adapted to be fixed to each other by a fastener; The fixing frame (8) is frame-shaped, and a baffle plate (10) is detachably installed on the peripheral side through fasteners. 10. A bionic fish, characterized in that it comprises a head assembly, a tail assembly and the power mechanism for pulling the bionic fish with a rope according to any one of claims 1-9, wherein the power mechanism for pulling the biomimetic fish with the rope is arranged on the between the head assembly and the tail assembly.

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