CN101157381A - Double bodies machinery fish - Google Patents
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- CN101157381A CN101157381A CNA2007101444847A CN200710144484A CN101157381A CN 101157381 A CN101157381 A CN 101157381A CN A2007101444847 A CNA2007101444847 A CN A2007101444847A CN 200710144484 A CN200710144484 A CN 200710144484A CN 101157381 A CN101157381 A CN 101157381A
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Abstract
The invention provides a twin-body mechanical fish which comprises a fish head part of the mechanical fish; two sets of tail-waving drive mechanism are arranged on the back of the fish head part, and are connected with the fish head in row; compared with a mechanical fish propelled by a single tail fin, the twin-body biomimetic mechanical fish not only makes use of, and develops the advantages of the fish-liked propelling, but also overcomes the head shaking problem of the single-tail propelling, and ensures the navigating stability of the biomimetic mechanical fish, thereby, reducing the navigating resistance of the mechanical fish, and improving the efficiency of the tail-biomimetic propeller.
Description
(1) technical field
What the present invention relates to is a kind of robot, particularly a kind of bionical fish robot that does not have the yawing campaign.
(2) background technology
The modern study of human relevant fish swimming mechanism is the earliest since nineteen thirties.But show that from disclosed document it is in the past 15 years that the research of relevant this respect obtains rapid progress, relevant imitative fish advances the big quantity research of mechanism then to start from the nineties intermediary and later stages.Lighthill has at first carried out classification and mechanical analysis to the mode of moving about of animal in the water.According to the feature of fish ahead running, underwater propeller can be divided into two kinds of basic models: a class is stretching type (anguilliform), as Lamprey etc.; Another kind of is the formula of wagging the tail (carangiform), as dolphin and tuna etc.Stretching type (anguilliform) characteristics are exactly the fluctuation that whole health (or almost whole health) has all participated in large amplitude, because a complete wavelength is provided on whole body length at least, the institute so that transverse force offset, make horizontal movement tendency ease down to minimum, the fish of much adopting stretching type to move about can be realized and the same motion backward that travels forward by changing wave line of propagation.The propulsion coefficient of stretching type is main relevant with velocity of wave propagation, and velocity of wave propagation is big more, and propulsion coefficient is just high more, with the formula of wagging the tail Comparatively speaking, the health formula propulsion coefficient that fluctuates is lower, mainly is applicable to walking in the slit.The characteristics that the formula of wagging the tail (czrangiform) is moved about are that the body front portion is almost motionless, only swing the afterbody of body and the tail fin of a high aspect ratio and obtain thrust and motor-driven control effort.The fastest fish that move about in the ocean are all adopted the formula of wagging the tail, tail fin swing in motion process, and health only has little swing or fluctuation, even keep very big rigidity.Its propulsion coefficient is main relevant with following parameters: the 1) aspect ratio of tail fin; 2) curvature of the sweepback angle of tail fin and front end; 3) rigidity of tail fin; 4) shape of tail fin; 5) swaying movement regularity of tail fin.The tail fin oscillating type advances has very high efficient, is suitable for moving about of long-time, long distance, and in addition, some fish are very little by the resistance of this mode of moving about in addition, efficient is very high, is specially adapted to propelling and the motor-driven control of AUV and UUV.
People such as Japan Tokai University N.Kat have studied the black pectoral fin motion principle of being jealous of fish, initial analysis the relation of pectoral fin operating state with the attitude of moving about.N.Kat。From the maneuvering performance of sub aqua sport device mainly analyzed on horizontal surface and the vertical surface spiral and the swing of the pectoral fin of divertical motion and fish between relation, and developed experimental prototype, this model machine can be controlled to realize being similar to the motion of fish with PC.The researchist of Toshiba Corp has developed the imitative fish robot that can move about as true fish of controlled in wireless, should be about 60cm by imitative fish robot, heavily about 6 pounds, should control its tail fin, the motion of two pectoral fins by a desk computer by imitative fish robot, owing to there is no need to duplicate fully accurately the type of drive of marine fishes, adopt the elastic oscillation fin to make experimental prototype.Tokyo polytechnical university has developed the self-propulsion test model of a latent device of 1.75 meters dolphin types, and its afterbody has two nodes, and first node is by engine drive, and second node connects with spring.Japanese national ocean research institute (NMRI) has also developed imitative fish robots such as UPF-2001.
At home, units such as Beijing Institute of Aeronautics robot research institute, Harbin Engineering University, Institute of Automation, Chinese Academy of sociences, Harbin Institute of Technology, Chinese University of Science and Technology, Shenyang automation research institute have carried out fish swimming mechanism and the imitative fish propelling of under-water robot theoretical investigation work.
In the machine fish swimming process, can influence the propulsion coefficient of aircraft by the flap yawing that produces the machine fish that side force causes of tail fin.This adverse effect shows two aspects: at first, do not have the fish body of flexible mechanism to increase the angle of attack under the situation of yawing, thereby produce very big resistance; Secondly, the characteristics of motion of tail fin is to be that frame of reference calculates with the fish body at present, does not consider that the fish body rocks the influence for the tail fin state of kinematic motion.Triantafylloul points out after summing up a large amount of previous work, and tail fin is efficient to be advanced to move about three conditions, and one of them is exactly that the angle of attack of tail fin should be within the certain angle scope.And the existence of yawing can make the tail fin angle of attack break away from the optimum range of setting, thereby reduces propulsion coefficient.At present the machine fish has been carried out a large amount of research both at home and abroad.The theoretical work aspect, Wu Yaozu has proposed non-steady two-dimensional traveling wave wall theory, and Tong Binggang, Zhuan Lixian and Cheng Jianyu have set up the three-dimensional fluctuation plate theory of a kind of half parsing, half value, have provided quantitative three-dimensional non-steady theoretical description; Aspect model test, Cheng etc. have studied the motion of limited aspect ratio wing.But, above-mentionedly be operated in research targetedly that yawing does machine fish stability influence aspect seldom, temporarily also there is not the result of study of this respect comparative maturity, in solving the machine fish swimming, there is not good solution on the problem of yawing yet.
Before this, it is 200710072128.9 that applicant of the present invention had once proposed application number, and name is called a kind of application for a patent for invention of multi-joint fluctuation-propulsion fish-shape robot.It comprises multi-joint tail swing driver train, the synchronous rotating mechanism of pectoral fin, Drive and Control Circuit and counterweight, shape supports and hermetic unit, multi-joint tail swing driver train comprises drive motor, multistage four jointed gear units and tail fin, drive motor connects multistage transmission device, multistage four jointed gear units connect tail fin, the synchronous rotating mechanism of pectoral fin comprises support fixation elements, be installed in the drive motor on the support fixation elements, about two pectoral fins and drive link, drive motor connects drive link, drive link connects two pectoral fins, Drive and Control Circuit comprises infrared remote sensing control part and the lower computer circuit that is installed in the robot, and the infrared remote sensing control part connects the lower computer circuit by signal transmission interface.Though the robot of this structure can freely move about under water, have come-up and dive function, Remote, can be under complicated water environment advantage such as brish acceleration motion.But still can't solve the yawing problem in the machine fish swimming.
(3) summary of the invention
The object of the present invention is to provide and a kind ofly can on physical construction, solve the double bodies machinery fish of bionic machine fish bow to the problem of waving.
The object of the present invention is achieved like this: it comprises the fish head part of machine fish, and two cover tail swing driver trains are installed in fish head part back, and two cover tail swing driver trains link to each other with the fish head side by side.
The present invention can also comprise some architectural features like this:
1, described tail swing driver train is made up of one-level four-bar linkage and afterbody connecting rod, and its formation comprises bar 2, L shaped connecting rod 4, bar 6, bar 8; The two ends of bar 8 are hinged by rotating shaft 1, rotating shaft 7 with an end of bar 2, L shaped connecting rod 4 respectively, and its hinge-point place is connected with the fish head part; The other end of bar 6 is hinged with an end of L shaped connecting rod 4 by rotating shaft 3; The point of transition place of L shaped connecting rod 4 is hinged with the other end of bar 2 by rotating shaft 5.
2, described tail swing driver train is made up of two-stage connecting rod mechanism joint and caudal articular process; Its composition comprises two drive motor 11,33, the distant bar assembly of forming by bar 9 and bar 10, bar 32 and bar 31 of two cranks, chute 12, two slide bars 13,30, [29 one-levels of forming advance the joint by L shaped bar 17, bar, the secondary of being made up of L shaped bar 22, bar 24, bar 26, bar 28 advances the joint, three grades of propelling joints being made up of L shaped bar 20, bar 19, bar 18, bar 16, bar 15, bar 14.
3, described tail swing driver train is made up of two-stage connecting rod mechanism joint and caudal articular process, and its drive motor is a double output shaft drive motor.
The present invention is according to existing fish bionics theory, designs: the double bodies machinery fish multi-joint fluctuation that is driven flexibly by DC machine advances afterbody, develops no bow to the binary bionic machine fish that waves.The present invention particularly at producing the problem that bow reduces the afterbody propulsion coefficient to swing greatly in present single tail pushing bionic machine fish swimming, proposes binary bionic machine fish design plan, solves the problem of machine fish bow to swing.The double bodies machinery fish feature is to be advanced by two machine fish tail portions, the motionless position of machine fish front end (fish head) connects firmly mutually (also can adopt a fish two modes that tail advances, principle is identical), briefly be exactly the front end (fish head) of two single tail propel machine fishes is connected firmly mutually, it is become one, and the symmetry swing of back two multi-joint machines fish tail portion advances.Double bodies machinery fish subtracts that to shake principle be to utilize corresponding joint in two multi-joint tail swing processes of fish to produce equal and opposite in direction, horizontal force that direction the is opposite principle of cancelling out each other to make machine fish integral body be in the state of lateral stressed balance all the time, thereby has solved single tail bionic machine fish swimming bow to the problem of waving from basic machine.The invention of this device can provide experiment body for hydrodynamics, the mechanism of moving about, the motion control method of researching fish motion, for manufacturing efficient height, manoevreability is good, noise is low, provide basic experiment porch to the little transportation device under water of environmental perturbation, the design philosophy of binary has important meaning to propulsion coefficient and the raising machine fish swimming speed that improves machine fish tail portion.
The advantage that the binary bionic machine fish is compared with single tail fin machine fish:
In general, there are the following problems to utilize the machine fish that single tail fin advances:
1. because there is the yawing problem in the machine fish that single tail advances, certainly will increase the running resistance of machine fish like this, reduce the speed of advance of machine fish.
2. the machine fish ship trajectory instability that single tail fin advances, the accuracy control of machine fish advance route are difficult to be realized.
3. the true fish of the Ships Turning Ability of machine fish in horizontal surface that single tail fin advances are far short of what is expected, particularly close the less machine fish of joint number.
Compare with the machine fish that single tail fin advances, the binary bionic machine fish promptly utilizes and has brought into play the advantage that imitative fish advances, overcome the yawing problem that single tail propelling pattern exists again, guaranteed the stability of bionic machine fish navigation, thereby reduced the running resistance of machine fish, improved the bionical angle of rake efficient of afterbody.Main advantage has:
1. in two of double bodies machinery fish tail fin backswing processes, the tail fin of having cancelled out each other bigger is swung side force, thereby has avoided the motion of yawing of machine fish, has reduced the running resistance of machine fish like this, increase effective amplitude of oscillation of tail fin, thereby improved the forward thrust and the propulsion coefficient of tail fin.
2. the binary bionic machine fish can realize that a tail fin is a rudder, and another tail fin swing advances, and the maneuvering performance of machine fish in horizontal surface improved greatly, has good road-holding property simultaneously.
3. no matter bionical double bodies machinery fish multi-joint afterbody is installed on the above water craft, or on the underwater hiding-machine, sail body all has good navigation stability, satisfies the needs that engineering is used.
In addition, the double bodies machinery fish that advances of multi-joint fluctuation has also that the drive characteristic that fluctuates step by step, multi-joint drive, have the Remote function, the dive of can floating, can realize that brish acceleration under the complicated water environment, low-yield loss, capacity usage ratio height, manufacturing materials are extensive, with low cost, make characteristics such as simple.
This invention set up one can freely move about under water, have come-up and dive function, no bow to wave, small and exquisite, cheap, the manufacturing materials of dependable performance, volume extensively, have a Remote function and have a microminiature underwater robot platform that brish acceleration moves under complicated water environment.It can serve as the carrier of underwater reconnaissance equipment, armament systems, communication system, finishes the multiple-task that rank can't finish, and also can be used as the exploitation of ornamental machine fish or under-water robot toy, has broad application prospects.
Meaning of the present invention is under existing bionical fish achievement in research, seek the new propulsive mechanism mode of bionical fish, emphasis solves single tail machine fish reduces the robot propulsion coefficient greatly to swing at the living bow of water middle reaches movable property problem, and three kinds of machine fish multi-joint afterbody fluctuation propelling design plans have been proposed, promote the application and the research of travel robot under water.
It is as follows that double bodies machinery fish is eliminated the yawing principle that is produced in the machine fish swimming:
The stressed sketch in joint when Fig. 1 moves about in water for single tail machine fish, by arbitrarily the force analysis in joint is as can be seen among the figure: the power (i.e. resistance D among the figure) that the joint swing produces can be decomposed into the onward impulse of directions X and the vertical resolution of Z direction, because the vertical resolution of the Z direction that each joint produces is same direction, can not cancel out each other, thereby influenced total Z to stability, cause the machine fish in the process of moving about, constantly to produce bow, greatly reduce the propulsion coefficient of machine fish tail portion to oscillating motion.
The stressed sketch in joint when Fig. 2 moves about in water for double bodies machinery fish, by two symmetrical arbitrarily among figure joint force analysis as can be seen: the power (i.e. resistance D among the figure) that the swing of symmetrical joint is produced can be decomposed into the onward impulse of directions X and the vertical resolution of Z direction, because the vertical resolution equal and opposite in direction of the Z direction that each joint produces, direction is opposite, the power that causes Z to make progress is cancelled out each other, stress balance, thereby the directions X onward impulse that in the process of moving about, produces of machine fish except two afterbodys, there are not other power to influence the motion of machine fish, thereby machine fish yawing problem can not appear, improved the propulsion coefficient of afterbody.
The double bodies machinery fish principle of work is as follows: the rotation of control system control machine fish multi-joint afterbody drive motor and pectoral fin motor, the multi-joint tail structure is all the time with the swing of sinusoidal waveform form, advancing for machine fish integral body provides power, the rotary state of control motor just can be realized the various attitudes of moving about of machine fish, for example: advance, turning etc., trip before realizing fast when wherein two multi-joint afterbody symmetries are swung, shown in Fig. 8-10, article two, realize when afterbody is swung with equidirectional turning, pectoral fin rotates the come-up dive of control machine fish.
(4) description of drawings
Fig. 1 is single tail machine fish stressed sketch in former meaning joint that moves about in water;
Fig. 2 is the double bodies machinery fish stressed sketch in former meaning joint that moves about in water;
Fig. 3 is the principle schematic of the tail swing driver train of first kind of embodiment of the present invention;
Fig. 4 is the birds-eye view of Fig. 3;
Fig. 5 is the principle schematic of the tail swing driver train of second kind of embodiment of the present invention;
Fig. 6 is the birds-eye view of Fig. 5;
Fig. 7 is the scheme drawing of the structure of second kind of embodiment of the present invention;
Fig. 8 is the principle schematic of the tail swing driver train of the third embodiment of the present invention;
Fig. 9 is the birds-eye view of Fig. 8;
Figure 10 adopts single motor doublejointed to drive the double bodies machinery fish tail structure sketch of (simplified structure).
(5) specific embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
Double bodies machinery fish comprises the fish head part of machine fish, and two cover tail swing driver trains are installed in fish head part back, and two cover tail swing driver trains link to each other with the fish head side by side.Tail structure must symmetric design, and left-right symmetric swing during preceding trip could guarantee like this that the machine fish is preceding at a high speed to swim, and just can turn when same direction is swung when two afterbodys.
The design of double bodies machinery fish tail structure can be adopted following three kinds of design plans:
Tail structure design plan 1:
As Fig. 3 and Fig. 4, it is advanced by one-level four-bar linkage and the fluctuation of afterbody connecting rod two-stage joint.Comprise bar 2, L shaped connecting rod 4, bar 6, bar 8 and rotating shaft 1,3,5,7, wherein, bar 2 is a drive spindle, has formed the main body of second joint, and L shaped connecting rod 4 is the fish tail main body, and bar 8 links to each other with machine fish health.Principle of propeller is as follows: bar 2 under the drive of servomotor around rotating shaft 1 swing (one-level swing), bar 2 motions have driven L shaped bar 4 and bar 63,5,7 motion around the shaft, so just driven fish tail (L shaped bar 4) and swung (secondary swing), swinging of two joints produced machine fish onward impulse.This kind structure is the simplest, and design-calculated machine fish can imitate the fish motion that the speed of moving about is slow, the pass joint number is less, is fit to make the machine fish of toy or sight.
Tail structure design plan 2:
The design of double bodies machinery fish tail structure adopts three grades of joint fluctuations to advance, and in conjunction with Fig. 5 and Fig. 6, it has two-stage connecting rod mechanism joint and caudal articular process.It comprises two drive motor 11,33, two distant bar assemblies of crank (bar 9,10,31,32), chute 12, two slide bars 13,30, one-level advances joint (L shaped bar 17, bar [29), secondary advances joint (L shaped bar [22, bar 24,26,28), and three grades advance joint (L shaped bar [20, bar 19,18,16,15,14), and wherein three L shaped bars 17,22 and 20 are main bodys that three joints advance.Principle of work is as follows: with whole fish tail cw swing is example, motor 33 clockwise rotates, promoting slide bar 30 by the distant linkage of crank (bar 32,31) slides left in chute 12, slide bar 30 slides left, and what drive on the one hand is that swing around axle 25 cws in first order joint (L shaped bar [17, bar 29), it also drives joint, the second stage (L shaped bar 22, bar 24,26,28) simultaneously around the swing of axle 23 cws on the other hand, and what that is to say motor 33 controls is the motion in first order joint and joint, the second stage.Meanwhile, motor 11 outputting powers, clockwise rotate, promoting slide bar 13 by the distant linkage of crank (bar 9,10) slides to the right in chute 12, the two-stage parallel four-bar linkage that promotion is made up of bar 14,15,16,17,18,19,20,22 moves right, will promote L shaped bar 20 like this around the swing of axle 21 cws, realize that the fluctuation in third stage joint (afterbody) advances, what promptly motor 11 was controlled is swinging of fish tail joint 20.The entire mechanism motion process is just realized the fish tail counter-clockwise swing on the contrary, and two motors cooperatively interact back rotation just can realize the flexible swing in three joints of afterbody, thereby the fluctuation that realizes fish tail advances.Fig. 7 is for adopting the double bodies machinery fish schematic diagram of mechanism of three grades of joint fluctuation push structure, and wherein 34 is pectoral fins of control machine fish come-up dive, 35 motors for the motion of control pectoral fin.The following description of its front end assembling assembling: the drive link 61 of pectoral fin 34 by separately links to each other with drive motor 35 separately, and drive motor 35 is fixed on respectively on body 54 and 60, the stability of come-up, dive campaign and the machine fish of pectoral fin major control machine fish.Two bodies 54 of machine fish and 60 must (be three bar series connection among the figure by bar 57, purpose is an easy accessibility) connect firmly mutually, become one, make the transverse force that two tail swings of machine fish produce can be by body 54,60 and bar 57 cancel out each other (equal and opposite in direction, direction is opposite).Article two, multi-joint propel machine fish tail portion 55 links to each other with 60 with body 54 with 59 by axle 56 respectively with 58, machine fish drive motor separately also is fixed on separately the body, like this when 62 rotations of machine fish drive motor, separately the machine fish tail portion 55 and 60 of will driving will travel forward by the propel machine fish around axle 56 and 59 whole symmetry swings separately.Briefly, the double bodies machinery fish assembling mode is exactly the head of two single tail propel machine fishes to be connected firmly become one, lateral stressedly when reaching the machine fish swimming can be delivered to the purpose of cancelling out each other together, it should be noted that two machine fish tail portions must advance in whole symmetry swing.
Tail structure design plan 3
The machine fish tail portion of this kind structure design advances with three grades of joint fluctuations, and in conjunction with Fig. 8 and Fig. 9, its three grades of joints are by a motor-driven.Its principle is three joint connecting rod mechanism series connection, the difference that connecting rod produces when utilizing a previous joint and a back joint to rotate drives the rotation in a back joint, that is to say that a back joint relatively rotates the angular dimension difference that two connecting rods produce when being rotated by adjacent two joints (long poor, the bar of L shaped bar 39 longitudinal lengths and bar 48 48 long with bar 53 length poor) size and decides, thereby produce relative rotation between joint and the joint, and the integral body swing of realization afterbody.Concrete principle of work is as follows: motor 33 drives slide bar 36 side-to-side movement in chute 12 by connecting rod 50,51, the motion of the side-to-side movement pulling back connecting rod 37,49,52 of slide bar 36, wherein connecting rod 49 spurs L shaped connecting rod 39 again and swings the joint side-to-side movement of the realization first order around axle 38; And the parallel motion that connecting rod 52 promotions are made up of L shaped bar 41, bar 47,48, L shaped bar 39, the final joint, the second stage (L shaped bar 41 horizontal) of realizing is around axle 40 side-to-side movements, same principle, bar 37 promotes the first segment four-bar linkage is made up of L shaped bar 41, bar 46,53, L shaped bar 39 and second saves parallel motion by what L shaped bar 41, bar 44,45, L shaped bar 43 were formed, realizes that finally third stage joint (L shaped bar 43 horizontal) is around axle 42 side-to-side movements.Because L shaped bar 39 vertically produces difference successively with bar 48, bar 48 and bar 53 when axle [38] rotates, the L shaped bar 39 of first segment is laterally horizontal with the L shaped bar of second joint 41 when causing three joint connecting rod mechanisms to rotate, and the L shaped bar 41 of second joint laterally laterally has rotation declinate to occur with the L shaped bar 43 of the 3rd joint, thereby can the relative differential motion of generation between joint and the joint, the size of declinate so just can realize machine fish fluctuation advanced state by the length difference decision of L shaped bar 39 longitudinal lengths, bar 48 and bar 53.Figure 10 adopts single motor doublejointed to drive the double bodies machinery fish tail structure sketch of (simplified structure).
Double bodies machinery fish also not only is confined to three kinds of top structures, tail structure of driving of the every joint of making of memorial alloy of compliant tail portions actuator, each motor or the like for example, the purpose of design double bodies machinery fish are to solve when moving about the machine fish and water bow to the problem of waving from physical construction.
Control system plays the rotation of control robot motor and the effect of telerobot.The mode that mode can adopt micro controller system upper and lower machine to detect in good time, upper computer provides infrared remote sensing control for robot, the mainly transmission of instructing after the acceptance of responsible outer signals and the received signal, it is connected by signal transmission interface with lower computer.Lower computer is responsible for the control of all motors, regulates pendulum angle, time and the speed of each motor, the mode of moving about that so just can control robot.Driving control system can be micro controller system representative type minimum system, also can expand other interface functions on this basis, and motor adopts the pwm signal control of chip output.
In addition, counterweight, shape support and the sealing coat is that robot is made indispensable slave part, and it is necessary also to be that robot can freely move about under water.Counterweight adopts the method for heavy metal multiple spot distribution counterweight, in some the specific application of machine fish, can adjust the counterweight of robot with equipment.The shape support section adopts the easy work material of lightweight, and purpose is to protect the stream line pattern of imitative hypophysis of positive robot single-piece and profile, satisfies the needs that move about fast in robot profile and the water.Hermetic unit adopts the method for soft rubber cover integral sealing, and wherein the pectoral fin sealing is to belong to dynamic seal, is entire machine people leak free difficult point, can adopt the mode of rubber sleeve pipe, utilizes the elastic-friction between India rubber tube and the pipe to realize sealing.The robot energy adopts the nickel-hydrogen chargeable cell power supply, leaves charging inlet and program test sealed interface in the belly bottom of robot.
Claims (4)
1. double bodies machinery fish, it comprises the fish head part of machine fish, it is characterized in that: two cover tail swing driver trains are installed in fish head part back, and two cover tail swing driver trains link to each other with the fish head side by side.
2. double bodies machinery fish according to claim 1 is characterized in that: described tail swing driver train is made up of one-level four-bar linkage and afterbody connecting rod, and its formation comprises bar (2), L shaped connecting rod (4), bar (6), bar (8); The two ends of bar (8) are hinged by rotating shaft (1), rotating shaft (7) with an end of bar (2), L shaped connecting rod (4) respectively, and its hinge-point place is connected with the fish head part; The other end of bar (6) is hinged with an end of L shaped connecting rod (4) by rotating shaft (3); The point of transition place of L shaped connecting rod (4) is hinged with the other end of bar (2) by rotating shaft (5).
3. double bodies machinery fish according to claim 1 is characterized in that: described tail swing driver train is made up of two-stage connecting rod mechanism joint and caudal articular process; Its composition comprises two drive motor (11), (33), the distant bar assembly of forming by bar (9) and bar (10), bar (32) and bar (31) of two cranks, chute (12), two slide bars (13), (30), the one-level of being made up of L shaped bar (17), bar (29) advances the joint, the secondary of being made up of L shaped bar (22), bar (24), bar (26), bar (28) advances the joint, three grades of propelling joints being made up of L shaped bar (20), bar (19), bar (18), bar (16), bar (15), bar (14).
4. double bodies machinery fish according to claim 3 is characterized in that: described tail swing driver train is made up of two-stage connecting rod mechanism joint and caudal articular process, and its drive motor is a double output shaft drive motor.
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| CNB2007101444847A CN100491197C (en) | 2007-10-26 | 2007-10-26 | Double bodies machinery fish |
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| CN102303701A (en) * | 2011-06-20 | 2012-01-04 | 北京航空航天大学 | Multi-joint actuation skeleton imitating cow-nosed ray |
| CN104477358A (en) * | 2014-10-27 | 2015-04-01 | 哈尔滨工业大学 | Jellyfish swimming type serial bionic underwater propulsion device |
| CN105173042A (en) * | 2015-08-28 | 2015-12-23 | 北京航空航天大学 | Underwater propelling device based on planetary gear train and synchronous belt transmission mechanism |
| CN106516059A (en) * | 2016-11-24 | 2017-03-22 | 中国科学技术大学 | Multi-fin propulsion device based on reciprocal lead screw mechanism |
| CN108674620A (en) * | 2018-05-02 | 2018-10-19 | 浙江交通职业技术学院 | Bionic soft machine fish |
| CN109835455A (en) * | 2019-01-21 | 2019-06-04 | 西安交通大学 | A kind of flexible imitative tail fin propeller of link mechanism driving |
| CN109866903A (en) * | 2019-04-09 | 2019-06-11 | 合肥工业大学 | A kind of machine fish of bionical foldable pectoral fin |
| CN111924076A (en) * | 2020-08-20 | 2020-11-13 | 中国科学院自动化研究所 | Bionic machine fish tail mechanism based on multiple connecting rods |
| CN112591063A (en) * | 2020-12-26 | 2021-04-02 | 浙江水利水电学院 | Bionic hydrodynamic propulsion device |
| CN113104188A (en) * | 2021-03-15 | 2021-07-13 | 江苏科技大学 | Bionic fish propulsion device and control method thereof |
| CN113428330A (en) * | 2021-08-10 | 2021-09-24 | 北京理工大学 | Flexible bionic robot fish |
| CN113998085A (en) * | 2021-11-26 | 2022-02-01 | 杭州电子科技大学 | Bionic robot fish |
| CN114475958A (en) * | 2022-01-20 | 2022-05-13 | 哈尔滨工程大学 | Open water performance test device for hydrofoil model |
| CN114537629A (en) * | 2022-02-28 | 2022-05-27 | 武汉大学 | Tail fin propulsion self-swimming bionic robot fish based on composite link mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102303701A (en) * | 2011-06-20 | 2012-01-04 | 北京航空航天大学 | Multi-joint actuation skeleton imitating cow-nosed ray |
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| CN105173042A (en) * | 2015-08-28 | 2015-12-23 | 北京航空航天大学 | Underwater propelling device based on planetary gear train and synchronous belt transmission mechanism |
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