438results about How to "Guaranteed normal movement" patented technology

The invention relates to the field of assembly lines, in particular to a hollow two-layer light-load belt line. The belt line comprises a left lifting mechanism and a right lifting mechanism, wherein the left lifting mechanism and the right lifting mechanism are used for lifting a tray with materials and have the same structure. An upper conveying belt mechanism and a lower conveying belt mechanism which are used for conveying materials are connected between the left lifting mechanism and the right lifting mechanism and have the same structure. The left lifting mechanism comprises a frame and a jacking assembly arranged in the frame and used for lifting the tray. The top of the jacking assembly is provided with a conveying assembly used for conveying the tray to the upper conveying belt mechanism or the lower conveying belt mechanism. Due to the fact that the upper conveying belt mechanism and the lower conveying belt mechanism are connected between the left lifting mechanism and the right lifting mechanism, the tray ascends and descends; in addition, the two conveying belt mechanisms move in different directions, so that a complete conveying cycle is formed, and materials can be conveyed, machined and returned to the original point with small space and low cost.

The invention is concerned with the navigation system and the emendation method of the navigation orientation data, in order to conquer the shortage of the existing technology, provide a emendation method that can emendate the navigation orientation data accurately especially fit for farmland busywork. The invention is: the map registration provides the more accurate electronic map to the system, compares the orientation data point of every sensor and the known skyway that prearranges to be track, and then processes general estimation, works out emendation data point with higher reliability. The invention is consists of four processes namely the map registration, the sensor data prearrangement, the emendation value decision-making, the new orientation data point creating.

The invention relates to a four-column forging hydraulic machine which is composed of columns, an upper beam, a middle beam, a lower beam, a working oil cylinder and a return cylinder. A column guiding structure is arranged between the middle beam and the columns. The four-column forging hydraulic machine is characterized in that the column guiding structure comprises four groups of guiding assemblies composed of guiding plates and wedge plates, the wedge plates are pressed and fixed in the middle beam through pressing plates, supporting plates are arranged close to the upper ends of the guiding plates, adjusting pads are arranged between the supporting plates and the pressing plates, the lower end of a piston rod of the working oil cylinder is provided with a cylindrical cavity, the cylindrical cavity is internally provided with a first spherical pad and a spherical column, a supporting sleeve is sleeved outside the spherical column, a support structure is arranged at the upper part of a raised part at the lower end of the supporting sleeve, an elastic pad is arranged between the supporting structure and the raised part, and the lower end of the supporting sleeve is internally provided with a second spherical pad. According to the structure, the columns and the guiding structure are in surface contact, so that the local stress is reduced, and the traction injury of the columns is avoided. In addition, the second spherical pad, the spherical column and the first spherical pad are rotated in a matching way, therefore, the deflection of the piston rod along the axis is avoided, and the traction injury and the damage of the working oil cylinder and the piston rod are reduced.

The invention discloses a self-adaptation training control method of a parallel lower limb rehabilitation robot and the rehabilitation robot. The method comprises the steps that lower limb muscle activity and contractility state are estimated according to collected electromyographic signals and impedance model parameters of the robot are adjusted in a self-adaptation mode according to the lower limb muscle activity and contractility state; meanwhile, interaction acting force between a patient and the robot is obtained, and calculation and correction of the motion of the robot are achieved through a recognition result and an impedance model; a master control portion of the rehabilitation robot provides online trajectory planning and inverse kinematics, control instructions are sent to a controller and a driver of a corresponding joint, and self-adaptation training control over the robot is achieved. Intelligentization can be achieved in the rehabilitation process, and the fundamental practical significance and application value for improving the patient rehabilitation effect and improving the patient rehabilitation initiativeness and motivation are achieved.

The invention relates to artificial valve prosthesis with a valve leaflet clamping device. The manual valve prosthesis comprises a bracket and an artificial valve, wherein the bracket comprises an auxiliary support clamping section and a valve sewing section; the artificial valve is fixedly connected to the valve sewing section; the auxiliary support clamping section is composed of a support bracket, a valve leaflet clamping device and an upper connection fixing section; the leaflet clamping device, the support bracket and the upper connection fixing section are integrally cut; a lower connection fixing section matched with the upper connection fixing section is arranged on the valve sewing section; the bracket is embedded and connected with the lower connection fixing section into a whole through the upper connection fixing section; one part of the valve leaflet clamping device is overlapped with the valve sewing section; the overlapped part is tightly attached to the outer surface of the valve sewing section in a natural state; a bump which protrudes outwards along the radial direction is arranged on a skeleton structure of the valve sewing section in the overlapped region; and a bending section which bends towards the axis direction of the bracket along the radial direction of the bracket is arranged on the valve leaflet clamping device or the support bracket or the upper connection fixing section.

The invention relates to the technical field of a robot, and aims at providing a duck web imitating climbing and swimming type propelling robot. The robot needs to have the characteristics of high maneuverability and capability of meeting propelling requirements in two environments including a water environment and a land environment. The duck web imitating climbing and swimming type propelling robot has the technical scheme that the duck web imitating climbing and swimming type propelling robot is characterized by comprising a machine frame, a control module, a power supply, two motors, fourKlann connecting rod mechanisms, gear mechanisms and webs, wherein the control module, the power supply and the two motors are arranged in the machine frame; the four Klann connecting rod mechanisms are arranged on the periphery of the machine frame; the gear mechanisms are used for transmitting the motor power to drive the Klann connecting rod mechanisms to move; the webs are arranged on the Klann connecting rod mechanisms; the two motors are arranged at the left side and the right side of the machine frame; each motor drives the two (front and back) Klann connecting rod mechanisms to move atthe same time through one gear mechanism; each gear mechanism comprises a driving gear and two driven gears; the driving gear is fixed to an output shaft of the motor; and the driven gears are engaged with the driving gear and are used for driving the two (front and back) Klann connecting rod mechanisms.

The invention discloses a quick control mechanism of an ultrahigh pressure vacuum circuit breaker and a control method thereof. The control mechanism comprises a permanent magnet control mechanism and an eddy repulsion mechanism, wherein the permanent magnet control mechanism is in an unsymmetrical structure mode, and can better cooperate with the counter-force characteristic requirement of the ultrahigh pressure vacuum circuit breaker; the eddy repulsion mechanism can generate instantaneous repulsion and quicken the opening / closing operation of the ultrahigh pressure vacuum circuit breaker. The control method is as follows: during closing, a closing coil is electrified with forward current, and an opening coil is electrified with reverse current; meanwhile, pulse current is applied on a closing eddy current coil; during opening, the opening coil is electrified with forward current, the closing coil is electrified with reverse current; and meanwhile, the pulse current is applied on anopening eddy current coil. In the invention, the unsymmetrical permanent magnet control mechanism and the eddy repulsion mechanism are adopted to realize the quick action of the mechanism and satisfythe repulsion characteristic requirement of the ultrahigh pressure vacuum circuit breaker.

The invention discloses a dual-redundancy electric steering engine which is composed of two motors, a planetary gear transmission reducing mechanism, a planetary pin roller lead screw pair and a sleeve push rod; the working principle of a planetary differential gear train is utilized to transmit movement from the two motors to the sleeve push rod through driving the planetary pin roller lead screw pair by the planetary gear transmission reducing mechanism, and rotary movement of a lead screw is converted to straight reciprocating motion of the sleeve push rod through revolution and rotation of a pin roller. The dual-redundancy motors and the planetary pin roller lead screw pair are adopted for driving to realize large stroke and ensure straight line actuation property of an actuator; the planetary pin roller lead screw pair has the characteristics of high carrying capacity and accurate positioning of reciprocating motion; when one motor breaks down, the other motor can still drive a system to act normally so as to improve the reliability of the system; when the two motors work normally, power confluence is realized to provide larger input power for the system; and the dual-redundancy electric steering engine is simple in structure, convenient to maintain and excellent in speed regulation property.

The invention relates to a key synchronizer driving eight-rod servo press coordinated with dual electric machinery. Two servomotors arranged symmetrically left and right are connected with a driving slide block by a key synchronizer driving mechanism coordinated with a set of dual electric machinery, and the driving sliding block is connected with a pressing slide block by two sets of eight-connecting bar pressing mechanism arranged symmetrically left and right. The key synchronizer driving mechanism coordinated with the dual electric machinery comprises a screw rod, a small connecting bar, a horizontal connecting bar and a sliding stand; each set of eight-connecting bar pressing mechanism comprises a short connecting bar, an upper elbow connecting bar, a lower elbow connecting bar and a punch connecting bar. The two servomotors can drive synchronously according to the set law of motion; the key synchronizer driving mechanism coordinated with the dual electric machinery can drive the driving slide block to move, and the driving slide block can push the pressing slide block to move by the two sets of eight-connecting bar pressing mechanism, therefore, the synthesis of the movement and the power of the two servomotors can be realized, and the large-tonnage ram pressure and movement are obtained, thus realizing the large-tonnage servo pressing with lower cost.

The invention discloses a flat paper tube reeling machine, comprising a rack, a paper placing device which is connected to the rack, a paper guiding device, a pasting device, a, paper cutting device, a paper feeding detaching device, a tube reeling device and a tube cutting device, wherein the pasting device comprises a sizing roller; a paper passing device is fixedly arranged between the pasting device and the paper cutting device; an paper inlet surface of the paper passing device and the top surface of the sizing roller are in a same plane; and an paper outlet surface of the paper passing device and a paper cutting surface of the paper cutting device are in a same plane. According to the flat paper tube reeling machine provided by the invention, the thickness of paper can be reduced; and during the tube reeling, the adherence force between two pieces of paper is increased, so that the paper tube quality is improved.

The invention discloses a precise control method of a linear motion module. A motion control method based on S-shaped speed curve planning and synchronous planning of parabolic functions is adopted to precisely control the linear motion module; an acceleration maximum value and a speed maximum value of each motion shaft of a truss manipulator are input; an initial pose and a target pose of the truss manipulator are given to obtain a displacement variation of each motion shaft of the manipulator; time function nodes of each motion shaft are calculated; longest time nodes are selected as unified planning nodes to calculate actual maximum speed and maximum acceleration of each motion shaft; displacement, speed and acceleration functions at an acceleration phase, a deceleration phase and a constant-speed phase are respectively calculated according to the actual maximum speed and the maximum acceleration of each motion shaft; and the displacement of each motion shaft or discrete points on speed curves are output. The method can prevent the manipulator vibration or noise problem caused by sudden change of the speed or the acceleration, guarantees the motor motion precision, and can control the motion trajectory.

The invention discloses an orbit expansion based multi-robot tracing formulation control method, comprising the following steps of: a) for a group of target orbit in a plane, expanding vectors of the target orbit, which point to each point on the orbit along the center of the target orbit, into an orbital cluster equivalent to an orbital function, and determining the movable range of robots; b) calculating tracing error by virtue of the orbital function, and designing the virtual angular velocity of the robots to ensure the tracing error to meet design requirements; c) calculating the generalized arc length and differential coefficient of the generalized arc length when the robots move along the orbit, by virtue of the orbital function and the target orbit, and designing the control force of the robots by virtue of neighbor information obtained by communication to realize formulation; d) calculating the error between the real angular velocity and the virtual angular velocity, and designing the control moment of force of the robot to complete tracing; and e) completing motion control on the robots by virtue of a servo system. The orbit expansion based multi-robot tracing formulation control method disclosed by the invention is especially applicable to nonholonomic constraint dynamic robots and simple and convexly- closed orbits. The method is simple and reliable, has higher accuracy and can be applied to multi-robot optimized information acquisition and the like.

The invention relates to a unidirectional plunger type oil cylinder of a hydraulic press, which comprises a cylinder body, a plunger rod, a guide structure and a sealing element, wherein the guide structure and the sealing element are arranged between the cylinder body and the plunger rod, the unidirectional plunger type oil cylinder is characterized in that a cylindrical cavity is processed on the lower end of the plunger rod, a first spherical surface pad and a spherical surface column in spherical surface fit are arranged in the cylindrical cavity from the top down, the first spherical surface pad is fixedly installed on the plunger rod, the spherical surface column stretches out from the lower end of the plunger rod, a supporting sleeve fixedly installed on the lower end of the plunger rod is sleeved at the outside of the spherical surface column, a lug boss is processed at the outside of the lower end of the supporting sleeve, a bracket structure fixedly connected with a middle cross beam is erected on the lug boss, and an elastic pad is arranged between the bracket structure and the lug boss; and a second spherical surface pad fixedly connected with the middle cross beam is installed in the lower end of the supporting sleeve, the second spherical surface pad and the lower end of the spherical surface column are in spherical surface fit with each other. Under the partial load processing condition of the oil cylinder, the second spherical surface pad rotates along the matching surface of the spherical surface column and the spherical surface column rotates along the matching surface of the first spherical surface pad to prevent the plunger rod from deflecting along the axial line and enable the plunger rod to move linearly up and down, so as to reduce the strain damage on the cylinder body and the plunger rod.

The invention discloses a method for preparing metal thin-wall microtubes. The method includes the steps of material pretreatment, blank manufacture and female die stretching. Tube blanks are fixed in a female die, the tube walls are extruded by a die core which moves on the inner sides of the tube blanks, so that the purpose of reducing the thickness of the tube walls is reduced. The wall thickness of the tube blanks can be continuously thinned by replacing the die core, and then the metal tubes with the thin walls are prepared. The method of severe plastic deformation is adopted to treat materials, so that ultra-fine grained microscopic structures are acquired, and then the deformability of the materials is improved. On the basis, a novel female die stretching technology is adopted, namely the tube blanks are placed in the female die, the overall dimension of the tube blanks is limited, and the die core moves inside the tube blanks, so that the wall thickness of the tube blanks is reduced and generally reaches the needed dimension, then tube stocks are straightened, polished, and eventually finished products are acquired. The method for preparing the metal thin-wall microtubes has the advantages of being high in machining accuracy and yield.

The invention discloses a system for dynamically sorting logistics transportation parts. The system comprises a mounting rack, a conveying device used for conveying materials, a sorting device used for sorting the materials, and a transfer device used for pushing the materials conveyed onto the sorting device, wherein the sorting device and the transfer device are mounted on the mounting rack; theconveying device is arranged on one side of the mounting rack and is used for conveying the materials onto the sorting device; a main controller is further arranged on the mounting rack; the main controller can receive external signals and controls the conveying device and the transfer device to operate; the conveying device comprises a conveying table and a conveying mechanism which is arrangedon the conveying table and is used for conveying the materials; the conveying table is of a cuboid frame structure; and the conveying mechanism comprises a conveyer belt, a conveying transmission mechanism and a conveying motor used for providing power for the conveying transmission mechanism.

The invention discloses an omni-directional anti-collision device for an automated guided vehicle (AGV) and the AGV. The omni-directional anti-collision device for the AGV comprises an anti-collision stopping rod, a buffer spring, a pendulous guide rod, a linear bearing and a pendulous supporting member. One end of the buffer spring is fixed on the anti-collision stopping rod, the other end of the buffer spring butts against and is fixed on a base plate of a vehicle body, one end of the pendulous guide rod is movably connected with the anti-collision stopping rod through the pendulous supporting member, the linear bearing is fixed on the base plate of the vehicle body, the linear bearing is connected onto the pendulous guide rod in sleeved mode, and the pendulous guide rod moves along the axial direction of the linear bearing when the buffer spring is compressed due to impact force. The omni-directional anti-collision device can prevent collision when the omni-directional anti-collision device is subjected to external force from any direction of the front, the rear, the left and the right. When the AGV is subjected to collision force, the AGV can have good stability and anti-collision effect under the cooperation of the anti-collision stopping rod, the buffer spring, the pendulous guide rod, the linear bearing and the pendulous supporting member.

The invention discloses a universal test bench for a high-speed train damper. The universal test bench for the high-speed train damper aims to solve the problems that an existing test bench of the damper is poor in performance, low in precision and high in cost. The test bench mainly comprises a mounting platform, a damper universal supporting assembling body, a vertical actuator assembling body, a bearing stand column, a transverse actuator assembling body, a damper variable angle mounting assembly and a longitudinal actuator assembling body; in the universal test bench for the high-speed train damper, the damper variable angle mounting assembly is connected with the vertical actuator assembling body, the transverse actuator assembling body and the longitudinal actuator assembling body; meanwhile, one end of the test damper is fixed, and the other end of the test damper is connected with the damper variable angle mounting assembly. The three actuators act under the control of a control system, the work state of the damper is represented truly, and meanwhile signals collected by a sensor are transferred to a detection system.

The invention discloses a bearing dismounting tool which is characterized in that: a positioning cylinder is fixed on the cylinder body of a hand riveter cylinder, the cylinder shaft of the hand riveter cylinder extends to the positioning cylinder to be fixed with one end of a pull tube, the other end of the pull tube extends out of the positioning cylinder, the tube wall of the pull tube out of the positioning cylinder is provided with 3-8 openings along axial direction and in even circumferential distribution, and the center hole of the pull tube at the end has conical closing-in structure; a mandrel penetrates through the cylinder shaft of the hand riveter cylinder and extends to the pull tube to be in threaded fit with the pull tube, the conical end of the mandrel extends to the pull tube and is matched with the closing-in structure at the center hole end part of the pull tube in shape and size. The bearing dismounting tool has simple structure, easy assembly, low cost, light weight, overcomes site limits, not only has convenient and reliable operation and movement, but also has strong generality, can effectively improve the bearing dismounting efficiency and greatly reduces the labor intensity for operators.

A robot system for cutting and marking on the section steel is composed of the power supplies for cutting and marking, bench, track at one side of bench, section steel, movable platform on said track, and 6-axis robot on said platform. Its advantage is flexible control.

The invention provides an online detection device for wellhead water content of a high-water-containing oil well. The online detection device comprises a separation cavity, wherein a mixed liquid inlet is arranged at the lower part of the separation cavity, a gas-phase flow outlet is formed in the top of the separation cavity, and a separation liquid outlet is formed in the bottom of the separation cavity; separation liquid flows out through gravity and pipeline pressure; the separation cavity is internally provided with a floating ball; the gas-phase flow outlet and the separation liquid outlet are connected with an oil conveying pipeline; a water content detection sensor is arranged on a connection pipeline of the separation liquid outlet and the oil conveying pipeline; three-phase flow mixed liquid enters the separation cavity from a mixed liquid inlet through a flow line slide slope; gas-phase flow moves upwards to enter a gas cabin and is finally returned back to the oil conveying pipeline; separation liquid flows down and is slowly separated; the gas-phase flow continually moves upward to be more completely separated through movement of the liquid in the distance from the separation cavity to the separation liquid outlet; after being detected, the separation liquid flowing out from the separation liquid outlet finally enters the oil conveying pipeline; and whole equipment does not generate environment pollution in a utilization process, and the measurement precision of the high water content detection sensor is extremely improved.

The invention discloses a device and a method for automatic balancing for unbalance faults of a large rigid rotor, and belongs to the field of rotor balancing. The device for automatic balancing comprises a rotor and track mechanisms, wherein the rotor is arranged between two bearing brackets; the track mechanisms are respectively arranged at the vertical surfaces of both ends of the rotor; two counterweight trolleys are arranged in each track mechanism; a motor in each counterweight trolley is used for driving the corresponding counterweight trolley to rotate along the corresponding track mechanism; a vibration signal and a rotation speed signal detected by a sensor are transferred to a balance tester; the processed signals are transferred to a control system in each counterweight trolleyby a signal generator; the control system is used for sending a pulse signal to each motor, so as to control each counterweight trolley to move in the corresponding track mechanism. The device has the advantages that by arranging a vertical circular track for moving each counterweight trolley, the position of a balance block can be automatically obtained according to the fault conditions, and theautomatic balancing can be realized in the running process of the rotor; the time is shortened, and the benefit is improved.

The invention belongs to the technical field of conveying equipment, particularly relates to a belt separating unit. The belt separating unit comprises a workpiece storage part and a separating part, wherein the workpiece storage part is a sliding groove which is crosswise formed, workpieces flow in from one end of the sliding groove and are pushed to the other end of the sliding groove by two moving belts on the sides of the sliding groove to enter a machining device of the next process, and meanwhile the belts are driven through belt wheels, the rotate speed can be regulated, so that the flow rate of the workpieces can be controlled. By the adoption of the structure, the belt separating unit not only conveniently separates the workpieces, but also can protect the outer surfaces of the workpieces from scratching.

The invention provides a vertical lifting device for a cassette. The vertical lifting device for the cassette comprises an installation flange, a lifting corrugated tube, a lifting sleeve, a connecting element and a vertically-installed linear motor, wherein the upper end of the lifting corrugated tube is connected with the cassette, and the lower end of the lifting corrugated tube is connected with the installation flange; the upper end of the lifting sleeve is connected with the lifting corrugated tube, the lower end of the lifting sleeve is connected with the connecting element, and the linear motor is connected with the connecting element; the linear motor is used for driving the connecting element to carry out a linear motion along a vertical direction, the connecting element is used for pushing the lifting sleeve to drive the lifting corrugated tube to move, and then drive the cassette to ascend or descend along the vertical direction. On one hand, the vertical lifting device for the cassette provided by the invention is capable of simplifying the mechanism of the drive portion of the whole lifting device, and convenient to detach, install and maintain; on the other hand, the vertical lifting device for the cassette provided by the invention is capable of eliminating various location errors brought by intermediate links, and improving the location accuracy thereof.

The present invention relates to a stabilizer for vehicle suspension, comprising a longitudinal polymeric body with a metal frame having two ends (3) and a central sector (2), having a hole (4) at each end (3) wherein there is housed a ball joint (7), where the frame is formed from two metal parts (1) having an open section which are arranged opposite one another on their open sides, the central sector (2) of each part (1) comprising two tabs (6) located in opposition on each side and facing the open side, and the ends (3) comprising rims (3') such that the two opposing parts (1) rest on the tabs (6) and on the rims (3') and are embedded in an overmolded body (5) which externally coats them and fills the inner space defined by the two opposing metal parts (1).

The invention provides a deashing device and method for a waste incineration boiler and a biomass boiler. The deashing device is characterized by comprising a metal hose (1), a push rod (2), a temperature measuring device (3), a differential pressure measuring device (4) and an ash discharge port (5); and a horizontal flue (7) at the exit of a boiler furnace (6) is surrounded by a horizontal flue furnace wall (71) and is hollow. The method comprises the following steps: flue gas leaves the furnace (6) and flows through the metal hose (1) arranged in the horizontal flue (7) so that ash deposition in the flue gas can be blocked by the metal hose (1); when the drop changes of the temperature and the resistance measured by the temperature measuring device (3) and the differential pressure measuring device (4) exceed threshold values, the push rod (2) starts to do reciprocating motion and drives the metal hose (1) to deform, so that the ash deposition deposited on the surface of the metal hose (1) can fall off from the surface due to the deformation and can be discharged from the ash discharge port (5). The deashing device provided by the invention has a simple structure; in addition, the deashing device and method have the advantages of high deashing efficiency, low cost and wide application range.

The invention provides a shoe mold opening device, which belongs to the technical field of shoes. Technical personnel in the field hope to provide shoe mold opening devices in various structures. A shoe mold is provided with a mold opening handlebar, the shoe mold opening device comprises a rack and a moving seat, wherein the moving seat is connected with the rack through an arc-shaped guide structure, the mold opening handlebar which can be used for holding the shoe mold or a handlebar holding mechanism which can be used for releasing the mold opening handlebar is fixed on the moving seat, a motor is fixedly arranged on the rack, a traction piece which is connected with a rotating shaft of the motor is fixed on the moving seat, and an auxiliary traction driving piece which can be connected with the traction piece is arranged on the rack. The invention provides another shoe mold opening device, large traction force is output by the shoe mold opening device only when the mold is opened, and the shoe mold opening device is driven only by the motor at other stages, so that the required energy can be reduced, and the shoe mold opening device has the advantages of energy conservation and emission reduction.

The invention relates to machine tool processing equipment, in particular to a mobile grinding machine for repair of a machine tool spindle. The grinding machine comprises a base (1), a grinding head (2) and a grinding head rotary driving device, wherein the grinding head (2) and the grinding head rotary driving device are in fit connection with a supporting plate (4) through a sliding block (3) which is connected with the grinding head (2) and the grinding head rotary driving device fixedly; a Y-direction moving guide rail (5) which is in fit with the sliding block (3) is arranged on the supporting plate (4) fixedly; the sliding block (3) is driven by a Y-direction feed driving mechanism which is arranged on the supporting plate (4) fixedly to slide along the Y-direction moving guide rail (5); and the supporting plate (4) is rotatably adjusted and connected relative to the base (1) by a rotary fixed device which is arranged between the supporting plate (4) and the base (1). By adoption of the technical scheme, the machine tool spindle can be repaired; the grinding machine is simple in structure; and cost is saved effectively.

The invention discloses a transmission mechanism, a head-mounted display and a diopter adjustment method. The transmission mechanism is used for controlling a first frame to move relative to a second frame, wherein the first frame is connected with the second frame through connecting components on the first frame; the transmission mechanism includes a shifting wheel with bevel gears, bevel gears, transmission shafts, transmission gears and cams; the shifting wheel with the bevel gears and the transmission shafts are installed on a horizontal frame of the second frame; the bevel gears are installed on the transmission shafts; the bevel gears are engaged with the bevel gears on the shifting wheel; the transmission gears, being in axial symmetry relative to the transmission shafts, are installed on vertical frames of the second frame; the cams are installed on the vertical frames of the second frame and are engaged with the transmission gears; the connecting components are provided with rollers; the cams are provided with sliding grooves; and the rollers are clamped into the sliding grooves and can move along the sliding grooves in a reciprocating manner, and can drive the connecting components to move linearly in a reciprocating manner. With the transmission mechanism provided by the above technical scheme of the invention adopted, direction-changing transmission and rotational-to-linear movement can be realized. The transmission mechanism has the advantages of stable and reliable transmission, simple structure and low cost.

The invention discloses a fin ray-free amphibious propelling device with bionic undulating fins, which is characterized in that two end fixed type crankshaft swing rod transmission modules are arranged on corresponding bottom plates correspondingly, and the front ends and the rear ends of the two bottom plates are connected with a front waterproof steering engine amphibious mode switching module and a rear waterproof steering engine amphibious mode switching module correspondingly; the front and back waterproof steering engine land and water mode switching module is used for maintaining the state of the bottom plate; each end fixed type crankshaft swing rod transmission module is connected with one flexible fin-ray-free flexible fin through the corresponding drive swing rod mechanism, and the joint of each drive swing rod mechanism and the corresponding flexible fin-ray-free flexible fin is provided with a rotational degree of freedom to drive the fin surface of the corresponding flexible fin-ray-free flexible fin to achieve fluctuating motion. The problems that an existing amphibious robot is complex in transmission mechanism, complex in amphibious mode switching, large in wheel paddle driving noise, low in flexibility and large in environment disturbance, the movement speed of fluctuation fins driven by a conventional steering engine is low, and a traditional cam and crankshaft connecting rod mechanism is low in bearing capacity and cannot conduct amphibious movement are solved.