SWINGING DEVICE, UNDERWATER BIONIC PROPELLER AND USE THEREOF

TECHNICAL FIELD

The application relates to the technical field of mechanical transmission, in particular to a swinging device, an underwater bionic propeller and use thereof.

BACKGROUND

The ocean covers three quarters of the earth's surface and contains not only valuable fishery resources, but also abundant mineral energy. With the rapid depletion of land energy on the earth, people must vigorously exploit ocean resources, so that the development of a high-performance underwater operation system and the maintenance of ocean safety have great strategic significance to the country.

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

However, using the airscrews as a driving method will cause the following problems: 1. High noise, which is bad for the underwater ecological environment; 2. A single airscrew propeller cannot perform the steering function; 3. The traditional airscrew is easy to be entangled with sundries such as aquatic weeds, fishing nets, and the like.

SUMMARY OF THE APPLICATION

The embodiment of the application provides a swinging device, an underwater

bionic propeller, and application thereof, and aims to solve the technical problems in the related technology that the noise of airscrew driving is large, a single airscrew propeller cannot perform steering, and the airscrews are easy to be entangled with sundries such as aquatic weeds and fishing nets.

In a first aspect, the application provides a swinging device, which can include a swing mechanism, including a swing arm, and a steering mechanism. The swinging device can be provided with a driving end of which is in transmission connection with the swing arm so as to drive the swing arm to swing in a reciprocating manner. The swinging device can also include a reciprocating mechanism, which can be in transmission connection with a fixed end of the steering mechanism so as to drive the swing arm to rotate in a reciprocating manner by driving the steering mechanism to move. The steering mechanism drives the swing arm to swing independently to change a swinging area of the reciprocating mechanism driving the swing arm to swing in a reciprocating manner, or the reciprocating mechanism drives the swing arm to swing independently to change a swinging area of the steering mechanism driving the swing arm to swing in a reciprocating manner.

In some embodiments, the swing mechanism can further include a swing gear. The swing arm can be connected to the swing gear, and a length direction of the swing arm can be disposed at an angle to a rotation axis direction of the swing gear. The steering mechanism can also include a rack and a steering drive assembly, the swing gear can be in transmission connection with the rack, and the driving end of the steering drive assembly can be connected to the rack so as to drive the rack to reciprocate in the first direction and drive the swing gear to rotate in a reciprocating manner.

In some embodiments, the reciprocating mechanism can include a reciprocating driving assembly and an output member. The reciprocating driving assembly drives the output member to reciprocate in the first direction, and the output member is connected to the fixed end of the steering driving assembly to drive the steering drive assembly and the rack to move together in the first direction.

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

In some embodiments, the steering drive assembly includes a screw assembly including a screw rod and a steering driving member. The screw rod can be in transmission connection with the rack, and one end of the screw rod can be in rotary connection with the output member. The steering driving member can be in transmission connection with one end of the screw rod deviating from the output member.

In some embodiments, the swing mechanism can further include a transmission gear, and the rack can be in transmission connection with the swing gear through the transmission gear.

In some embodiments, the swing mechanism can further include a transmission assembly, the transmission gear can be in transmission connection with the swing gear through the transmission assembly, and the transmission assembly can include a belt transmission assembly or a chain transmission assembly.

The beneficial effect brought by the technical scheme that this application provided includes: the embodiment of the application provides a swinging device, which drives the steering mechanism and the swing arm move together through the reciprocating mechanism, and make the swing arm reciprocal swing, realizing the swing function of the swing arm, and the swing arm swings in a specific swinging area. In addition, the steering mechanism can also independently drive the swing arm to swing, and the position of the swing arm is changed, so that the initial position of the swing arm driven by the reciprocating mechanism to swing is changed, and the position of the swinging area of the swing arm is changed. When the swinging device is applied to the underwater bionic propeller, the swing arm swings underwater to realize the motion of the underwater bionic propeller, and the change in the pushing direction is realized by changing the position of the swinging area of the swing arm, so that the steering of the underwater bionic propeller is performed. The swinging device is used as a driving mode, so that the underwater bionic propeller is convenient to steer, has less noise, is difficult to influence underwater ecology, and is difficult to entangle sundries such as aquatic weeds, fishing nets, and the like.

In a second aspect, the application provides an underwater bionic propeller, including the swinging device as described above.

Another embodiment of this application provides an underwater bionic propeller which can run under the swinging device driving because adopts above-mentioned swinging device, and can use the swinging device to realize steering, which replaces the drive form of a traditional airscrew, and the way that the swing arm swings to drive the underwater bionic propeller has less noise and is difficult to influence the underwater ecology, and is difficult to entangle sundries such as aquatic weeds, fishing nets, and the like.

In a third aspect, the application provides a use of the swinging device as described above in a bionic bird.

In another embodiment of the present application, the swinging device is applied to a bionic bird, the swing of the swing arm is used as a drive of the bionic bird, which can realize the motion of the bionic bird, and the swinging area of the swing arm is changed by using the steering mechanism, so as to meet the different flight requirements of the bionic bird.

In a fourth aspect, the application provides a use of the swinging device as described above in a robot.

In another embodiment of the present application, the swinging device is applied to a robot, the swing arm drives the leg of the robot, which can realize the motion of the robot, and the swinging area of the swing arm is changed by using a steering mechanism, so as to meet the motion requirements of the robot on different slopes.

BRIEF DESCRIPTION OF FIGURES

In order to more clearly illustrate the technical solutions in the embodiments of

the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic view of a swinging device according to an embodiment of the present application;

FIG. 2 is a schematic view of another state of a swinging device according to an embodiment of the present application;

FIG. 3 is a schematic view of a reciprocating mechanism according to an embodiment of the present application; and

FIG. 4 is a schematic view of an underwater bionic propeller according to another embodiment of the present application.

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

DETAILED DESCRIPTION OF THE EMBODIMENTS

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

The first embodiment of the application provides a swinging device, an underwater bionic propeller, and application thereof, wherein a reciprocating mechanism of the swinging device drives a swing arm to swing in a reciprocating manner, and a steering mechanism can change the initial swinging position of the swing arm so as to change the position of the swinging area of the swing arm, and when the swinging device is applied to drive the underwater bionic propeller, the underwater bionic propeller can be driven to move in a swinging mode, and the moving direction of the underwater bionic propeller can be changed. The technical problems of the related technique that big noise caused by the driven airscrew, a single airscrew propeller cannot perform to steer, the airscrew is easy to be entangled with sundries such as aquatic weeds, fishing nets, and the like are solved in this application.

Referring to FIG. 1, the swinging device includes a frame 4, a reciprocating mechanism 1, a steering mechanism 2, and a swing mechanism 3 provided on the frame 4.

The swing mechanism 3 includes a swing arm 32, and a driving end of the steering mechanism 2 is in transmission connection with the swing arm 32 to drive the swing arm 32 to swing in a reciprocating manner. The reciprocating mechanism 1 is connected to the fixed end of the steering mechanism 2 in a driving way, so as to drive the swing arm 32 to rotate in a reciprocating manner by driving the steering mechanism 2 to move. Therefore, the steering mechanism 2 drives the swing arm 32 to swing independently to change the swinging area where the reciprocating mechanism 1 swings the swing arm 32 in a reciprocating manner, or the reciprocating mechanism 1 drives the swing arm 32 to swing independently to change the swinging area where the steering mechanism 2 swings the swing arm 32 in a reciprocating manner. In the present embodiment, the reciprocating mechanism 1 serves as the main swing output of the swing arm 32, and is used for continuously driving the swing arm 32 to swing in a reciprocating manner in a specific swinging area; and the steering mechanism 2 drives the swing arm 32 to swing independently to change the position of the swing arm 32, so as to change the position of the swinging area where the swing arm 32 is swung by the reciprocating mechanism 1.

In the present embodiment, both the steering mechanism 2 and the reciprocating mechanism 1 use a linear motion to drive the swing arm 32 to swing in a reciprocating manner, and the specific embodiment will be described below. In other embodiments, the steering mechanism 2 and the reciprocating mechanism I can also rotate reciprocally to drive the swing arm 32 to swing in a reciprocating manner.

Referring to FIGS. 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, i.e., an X-axis direction in the drawing. The steering mechanism 2 includes a rack 21 and a steering drive assembly 22, the output member 12 is connected to the steering drive assembly 22 so as to drive the steering drive assembly 22 to move in the first direction, and the rotating driving assembly drives the rack 21 to move in the first direction. The swing mechanism 3 further includes a swing gear 31, and the swing gear 31 is in transmission connection with the rack 21. The swing arm 32 is connected to the swing gear 31, and the longitudinal direction of the swing arm 32 is disposed at an angle to the direction of the rotation axis of the swing gear 31.

Referring to FIGS. 1 and 2, when the swing arm 32 is driven to swing, the reciprocating drive assembly 11 drives the driving part, the steering drive assembly 22 and the rack 21 to move together in the first direction, at this time, no relative motion occurs between the rack 21 and the steering drive assembly 22, the rack 21 reciprocates in the first direction to drive the swing gear 31 to rotate in a reciprocating manner, so that the swing arm 32 connected to the swing gear 31 swings in a reciprocating manner along with the swing gear 31, and the function of driving the swing arm 32 to swing through the reciprocating drive assembly 11 is realized.

Referring to FIGS. 1 and 2, further, when 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 swinging area in which the swing arm 32 swings by the reciprocating drive assembly 11 changes, and the position of the swinging area in which the swing arm 32 swings by 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 coincides with the length direction of the initial position of the swing arm 32, and the swing arm 32 swings at the same angle on both sides of the initial position of the swing arm 32 by the reciprocating drive assembly 11. After the swing arm 32 is rotated by the steering drive assembly 22, the initial position of the swing arm 32 is changed, and thus the direction of the thrust generated by the swing arm 32 under water is also changed. After the swinging device is applied to the underwater bionic propeller, the underwater bionic propeller can move by the swing action of the swing arm 32, and the thrust generated by the swing of the swing arm 32 is changed by changing the initial position that the swing arm 32 swings, so that the steering of the underwater bionic propeller is realized.

Set up in this way, after the swinging device is applied to the underwater bionic propeller, using the reciprocating drive assembly 11 to drive the swing arm 32 to swing in a reciprocating manner, can realize motion of the underwater bionic propeller, this kind of drive form has the advantages that has less noise, and is difficult to influence underwater ecology, and is difficult to entangle sundries such as aquatic weeds, fishing nets, and the like. In addition, the steering drive assembly 22 is used for driving the swing arm 32 to rotate, the initial position of the swing arm 32 is changed, and the thrust direction generated when the swing arm 32 swings underwater is changed, so that the steering of the underwater bionic propeller can be realized.

Referring to FIGS. 1 and 2, in the present embodiment, the swing arm 32 is fixed to the end surface of the swing gear 31 by a bolt, and the length direction of the swing arm 32 is perpendicular to the rotation axis of the swing gear 31, so that the swing arm 32 is fixed conveniently. Further, the length direction of the swing arm 32 is also arranged in the radial direction of the swing gear 31, thereby facilitating determination of the length direction of the initial position where the swing arm 32 swings, so as to determine the direction of thrust generated when the swing arm 32 swings underwater.

Referring to FIGS. 1 and 3, in particular, the reciprocating drive assembly 11 includes an adjustable-amplitude sinusoidal mechanism, wherein the adjustable-amplitude sinusoidal mechanism includes a driving crank 111, a sliding connector 112, and a driven member 113. The driving crank 111 rotates on the frame 4 with one end as a rotation fulcrum, the sliding connector 112 is rotatably connected to the driving crank 111, the driven member 113 is vertically arranged and is provided with a guide groove 113a extending along the length direction thereof, the sliding connector 112 can move in the guide groove 113a, and the driven member 113 is controlled by the frame 4 to move left and right along the first direction of the frame 4. The driving crank 111, the sliding connector 112, the driven member 113 and the frame 4 form a conventional sine mechanism, and the driving crank 111 rotates to drive the driven member 113 to reciprocate left and right.

Referring to FIGS. 1 and 3, in the present embodiment, the driven member 113 is fixed to the output member 12, wherein the driven member 113 and the output member 12 are both arranged as rod-shaped, and the output member 12 passes through the chute of frame 4 and restricts the direction of motion of the driven member 113. As the driving crank 111 rotates, the driven member 113 and the output member 12 are driven to reciprocate in the first direction.

Referring to FIGS. 1 and 3, further, the amplitude-adjustable sinusoidal mechanism further includes an adjusting structure 116, the driving crank 111 is provided with a sliding groove 11 la along the length direction thereof, and the sliding connector 112 is rotatably connected to the driving crank 111 and can move in the sliding groove 11la. The adjusting structure 116 can move synchronously with the driving crank 111 and can adjust the position of the sliding connector 112 within the sliding groove 111a.

Referring to FIGS. 1 and 3, in the amplitude-adjustable sinusoidal mechanism provided in the present embodiment, when the driving crank 111 rotates, the adjusting structure 116 can move synchronously without affecting the movement of the sliding connector 112 and the driven member 113, and 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 movement amplitude of the driven member 113 by adjusting the position of the sliding connector 112 in the sliding groove 111a, so as to adjust the reciprocating amplitude 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 reciprocating amplitude 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 reciprocating amplitude of the output member 12 in the first direction is, so that the reciprocating distance of the rack 21 is driven to move is changed, and the reciprocating rotation angle of the swing gear 31 is changed accordingly, thereby changing the swing amplitude of the swing arm 32. When the swing arm 32 is applied to the underwater bionic propeller to move underwater, the larger the swing amplitude of the swing arm 32 is, the faster the running speed of the underwater bionic propeller is, and the speed of the underwater bionic propeller can be regulated.

Referring to FIGS. 1 and 3, in the present embodiment, the sliding groove 111a is formed to penetrate forward and backward, and the guide groove 113a is formed to penetrate forward and backward, so as to facilitate the assembly of the sliding connector 112. In addition, the sliding connector 112 is movably connected to the sliding groove 111a and the guide groove 113a at the same time, and under the condition that the sliding groove 111a and the guide groove 113a are formed to penetrate forward and backward, the point, line or plane where the sliding connector 112 is abutted with the sliding groove 111a and the guide groove 113a tends to the structural center, which is beneficial to the stability of transmission. The guide groove 113a or the sliding groove 111a may be arranged in a blind hole structure by those skilled in the art, which is not limited herein.

Referring to FIGS. 1 and 3, further, the sliding connector 112 includes a central shaft, and a front roller and a rear roller rotatably connected to the central shaft and disposed in the front and rear, the adjusting structure 116 is connected to the central shaft, the front roller is disposed in the sliding groove 111a and can move along the sliding groove 111a, and the rear roller is disposed in the guide groove 113a and can move up and down along the guide groove 113a. The sliding connector 112 further includes a front stopper connected to the central shaft and configured to restrict forward movement of the front roller, and a rear stopper connected to the central shaft and configured to restrict rearward movement of the rear roller. The front and rear stoppers sandwich the front and rear gears therebetween, the rear surface of the front stopper abuts against the front surface of the driving crank 111, and the front surface of the rear stopper abuts against the rear surface of the driven member 113, so as to prevent the front roller from disengaging from the sliding groove 111a or the rear roller from disengaging from the guide groove 113a. In this case, the driving crank 111 and the driven member 113 are disposed in the front and rear. It will be understood by those skilled in the art that if the positions of the driving crank 111 and the driven member 113 are changed with each other, the corresponding relationship between the front and rear rollers will change accordingly.

Referring to FIGS. 1 and 3, in the present embodiment, the position of the sliding connector 112 in the sliding groove 111a is adjusted by using automatic control. Specifically, the amplitude-adjustable sinusoidal mechanism further includes a servo motor, a rotating shaft 114 and a one-way bearing 115, wherein the rotating shaft 114 rotates on the frame 4, and the servo motor is fixed on the frame 4. The servo motor is in transmission connection with the rotating shaft 114, the one-way bearing 115 and the adjusting structure 116 are both connected to the rotating shaft 114, the rotating shaft 114 drives the driving crank 111 to rotate in one direction through the one-way bearing 115, the rotating shaft 114 rotates in the positive direction to drive the driving crank 111 and the adjusting structure 116 to rotate synchronously, and at the moment, the reciprocating motion of the driven member 113 is achieved. When the rotating shaft 114 rotates reversely, the driving crank 111 does not rotate due to the action of the one-way bearing 115, and the adjusting structure 116 is driven to move so as to move the sliding connector 112 along the radial direction of the sliding groove 111a, thereby changing the distance between the sliding connector 112 and the rotating shaft 114 and changing the reciprocating amplitude of the driven member 113.

The amplitude-adjustable sinusoidal mechanism of the present embodiment drives the rotating shaft 114 to rotate forward and backward through the servo motor, so as to respectively realize two functions of sine motion output and amplitude modulation of the amplitude-adjustable sinusoidal mechanism. An additional driving device is not required, which is advantageous for simplifying the structure and control.

The amplitude-adjustable sinusoidal mechanism provided by the embodiment can be widely applied. For example, when it is applied to a bionic fish with an underwater bionic propeller, the amplitude of the tail swing of the bionic fish can be adjusted randomly, which can be large or small; when it is applied to the flapping wings mechanism of a bionic bird, the flapping amplitude of the wings of the bionic bird can be adjusted randomly; applying to the walking mechanism of the robot is the same, which can adjust the stride of the robot, etc.

Referring to FIGS. 1 and 3, in particular, the adjusting 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, the other end of the amplitude modulation crank 1161 is rotatably connected to the connecting rod 1162, the connecting rod 1162 is rotatably connected to the sliding connector 112, and when the rotating shaft 114 rotates forward, the amplitude modulation crank 1161, the connecting rod 1162 and the driving crank 111 rotate synchronously; when the rotating shaft 114 rotates reversely, the amplitude modulation crank 1161 rotates to drive the connecting rod 1162 to move together with the sliding connector 112 so as to adjust the position of the sliding connector 112 in the sliding groove 111a. The amplitude modulation crank 1161 rotates circumferentially along with the rotating shaft 114, and drives the sliding connector 112 to reciprocate in the sliding groove 111a, so as to change the distance between the sliding connector 112 and the rotating shaft 114, so that change the amplitude of the reciprocating motion of the driven member 113 along with the driving crank 111 in the first direction.

The length of the amplitude modulation crank 1161 is less than that 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. The length of the sliding groove 111a can be increased appropriately by those skilled in the art, and the length of the connecting rod 1162 can be set appropriately.

The adjusting structure 116 adopts the matching design of the amplitude modulation crank 1161 and the connecting rod 1162, and the structure is simple. The maximum amplitude that can be achieved by controlling the motion of the driven member 113 is designed by the dimensions of the connecting rod 1162 and the sliding groove 111a, which is advantageous for simplifying design and control.

In another embodiment, the reciprocating drive 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.

Referring to FIGS. 1 and 2, alternatively, in the present embodiment, the steering drive assembly 22 includes a screw assembly including a screw rod 221 and a steering drive member 222. The screw rod 221 is rotatably disposed on the frame 4, one end of the screw rod 221 is connected to the output member 12 through a clutch 223, the other end of the screw rod 221 is drivingly connected to the steering drive member 222 through a coupler 224, and the steering drive member 222 drives the screw rod 221 to rotate. The rack 21 is drivingly connected to the screw rod 221 to move in the first direction with the rotation of the screw rod 221. Wherein the steering drive member 222 includes an electric motor.

Referring to FIGS. 1 and 2, furthermore, both the screw rod 221 and the steering drive member 222 are slidable on the frame 4 in the first direction. When the reciprocating drive assembly 11 works, the clutch 223 between the screw rod 221 and the output member 12 is in a closed state, and at this time, the reciprocating drive assembly 11 drives the output member 12, the screw rod 221 and the rack 21 to reciprocate in the first direction, so as to drive the swing gear 31 to rotate in a reciprocating manner, which drives the swing arm 32 to swing in a reciprocating manner immediately. When the position of the swinging 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, the steering drive member 222 drives the screw rod 221 to rotate, and 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 as to adjust the position of the swinging area of the swing arm 32 driven by the reciprocating drive assembly 11.

The position of the swinging area of the swing arm 32 can be changed through the screw subassembly when set up in this way, which can adjust more accurately, reflect more rapidly, and is not easy to lose control.

In another embodiment, the steering drive assembly 22 includes a belt assembly or a cylinder.

When the steering drive assembly 22 includes a belt assembly, the housing of the belt assembly is slidably disposed on the frame 4 in the first direction, and the output member 12 is coupled to the housing of the belt assembly. The belt conveying end of the belt assembly is fixed with the rack 21, and the conveying direction of the belt assembly is arranged along the first direction. Setting up in this way, the reciprocating drive assembly 11 drives the swing arm 32 to swing reciprocally by driving the belt assembly and the rack 21 connected to the belt assembly to reciprocate in the first direction. And the initial position of the swing arm 32 is changed by moving the rack 21 in the first direction independently by the belt assembly to change the position of the swinging area of the swing arm 32.

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

Referring to FIG. 1 and FIG. 2, optionally, in the present embodiment, the swing mechanism 3 further includes a transmission gear 33, and the rack 21 is in transmission connection with the swing gear 31 through the transmission gear 33. The transmission gear 33 is rotatably connected to the frame 4, and in the present embodiment, the number of the transmission gear 33 is one, and the transmission gear 33 is engaged 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, and the position arrangement of the swing gear 31 and the rack 21 is facilitated. In some embodiments, the number of the transmission gears 33 may be plural, and the plurality of the transmission gears 33 are engaged in sequence.

In some embodiments, the swing mechanism 3 further includes a transmission assembly, and the transmission gear 33 is in transmission connection with the swing gear 31 through the transmission assembly, and the transmission assembly includes a belt transmission assembly or a chain transmission assembly. The transmission gear 33 can be remotely connected to the swing gear 31 by means of a belt transmission assembly or a 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 swinging device, the steering drive member 222 is driven by the reciprocating mechanism 1 to reciprocate in the first direction to drive the rack 21 to move in the first direction, the rack 21 is engaged with the swing gear 31 to drive the swing gear 31 to rotate in a reciprocating manner, and therefore the swing arm 32 swings in a reciprocating manner along with the swing gear 31. In addition, the steering drive member 222 drives the rack 21 to move in the first direction to rotate the swing gear 31, and the position of the swing arm 32 is changed, so that the initial position of the swing arm 32 swung by the reciprocating mechanism 1 is changed, and the position of the swinging area of the swing arm 32 is changed. When the swinging device is applied to an underwater bionic propeller, the swing arm 32 swings underwater to realize the motion of the underwater bionic propeller, and the change of the pushing direction is realized by changing the position of the swinging area of the swing arm 32, so that the steering of the underwater bionic propeller is performed. The swinging device is used as a driving mode, so that the underwater bionic propeller is convenient to steer, has less noise, is difficult to influence underwater ecology, and is difficult to twine sundries such as aquatic weeds, fishing nets and the like.

Referring to FIG. 4, another embodiment of the present application provides an underwater bionic propeller, which can operate under the driving of a swinging device due to the adoption of the above-mentioned swinging device, and can realize steering by using the swinging device, thereby replacing the driving form of the traditional airscrew. The way that driving the underwater bionic propeller to operate by swinging of a swing arm 32 can reduce the noise, is difficult to influence underwater ecology, and is difficult to twine sundries such as aquatic weeds, fishing nets and the like.

In another embodiment of the present application, there is provided a use of the above-mentioned swinging device in a bionic bird.

In another embodiment of the present application, the swinging device is applied to a bionic bird, the swing of the swing arm is used as a drive of the bionic bird, so the motion of the bionic bird can be realized, and the swinging area of the swing arm is changed by using the steering mechanism, so as to meet different flight requirements of the bionic bird.

In another embodiment of the present application, there is provided a use of the above-mentioned swinging device in a robot.

In another embodiment of the present application, the swinging device is applied to a robot, the swing arm acts as the leg's driving of the robot, so the motion of the robot can be realized, and the swinging area of the swing arm is changed by using a steering mechanism to meet the motion requirements of the robot on different slopes.

In the description of the present application, it should be understood that the forward direction of “X” in the drawings represents the right direction, and the reverse direction of “X” correspondingly represents the left direction, and the orientation or positional relationship indicated by the term “X” is based on that shown in the drawings of the specification, and is only for convenience of description and simplicity of description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present application. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

In the description of the present application, it should be noted that the terms “upper”, “lower”, and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus should not be interpreted as limiting the present application. Unless otherwise expressly provided and limited, the terms “mounted,” “connected,” and “connected” are intended to be understood inclusively, for example, that they may be fixedly connected, detachably connected, or integrally connected; they can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements inside. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as the case may be.

It should be noted that, in this application, relational terms such as “first” and “second,” and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms “includes,” “comprising,” or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase “comprising a . . . ” does not exclude the presence of another identical element in a process, method, article, or apparatus that includes the element.

The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be given the widest scope consistent with the principles and novel features disclosed herein.

	Number	Date	Country
Parent	PCT/CN2022/133326	Nov 2022	WO
Child	18650549		US

SWINGING DEVICE, UNDERWATER BIONIC PROPELLER AND USE THEREOF

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CROSS-REFERENCE TO RELATED APPLICATIONS

Continuations (1)