FIN VIBRATING ACTUATOR OF WATER VEHICLE

摘要

The invention relates to actuators of water vehicles and fish-like underwater robots. The offered fin vibrating actuator consists of a vertically mounted motor and fin. On the shaft of the motor rigidly is attached the horizontal lever to which rigidly is attached a compression spring whose other end is secured to the housing. On the bottom side of the is fixed magnet. The lever rotates by a specific angle to form the extreme positions of imaginary lines on the left and right, and the gercons are arranged to the housing on these lines. In the initial position the spring is decompressed. When voltage is applied, one of the gercons switches on the motor, and the lever from the starting left fielder position is rotated to the rightmost position, compressing the spring. In this position, the second gercon switches off the motor and reverses the lever to its starting position by spring force. Then the cycle begins again.