VIBRATING ACTUATOR OF THE ROBOT-FISH

摘要

The invention concerns hydrodynamic fin vibrating actuator, and it can be used on robot-fishes, boats, yachts, submarines, etc. The invention purpose is increase of reliability of functioning the robot-fish, increase in depth of immersing, duration and range of swimming, an exception of losses of energy at a friction in a hermetically output in view of its absence. The specified purpose is reached by the vibrating actuator of the robot-fish, consisting of a drive in the form of the electric motor and the transfer mechanism in the form of a pulley, placed on a shaft of the engine connected by a tooth with a link. The fin paricularly is characterized in that the gear wheel of the large diameter is arranged on the afore mentioned link in coincidence of their axes of rotation, and it is connected by a gear belt drive with a gear wheel of the smaller diameter which axis of rotation lays on a line connecting axes of rotation of the engine and a link. Besides, the small gear wheel in a plane of its rotation is connected with an unbalanced mass directed forward, so that their axes of rotation also are aligned. The tail fin is separated from a link and attached to a back narrowed part of the case which is implemented elastic and it is a compound detail vibrating the propeller. Thus as a tail fin is used the said narrowed part of the case.