the essence of the invention, the device includes a casing 1 in which a motor gearbox 2, кинематически associated with кулачковым mechanism.cam is figure 3, качающегося pusher 4 and the clip 5. толкатель 4 is made in the form of двуплечего lever, which подвижно attached to the axis 6 and tightly connected with tail 6.to ensure the tightness of the device on the wall of a metal bellows 7.motor gearbox (2), comprising a motor and gearbox, electrically connected with the control system and the power source installed on the main body 1.;the device works as follows.when a voltage on the motor gearbox (2), a hand 3 starts to rotate around its axis and transmits the качающемуся толкателю 4 which transmits the movement of the качательное tail 6.;by using the power transmission management system, you can modify the amplitude of the tail машущих movements on the axis.in addition, changing the shape of the profile figure, you can change the laws of the movement of the tail.;the positive effect: the fluidity of маховых movements tail of underwater robot and thus improving its governance. 2 illus.
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