CN101318546A - Double-cam single-degree-of-freedom robotic fish flapping mechanism - Google Patents

Abstract

The invention discloses a double-cam single-degree-of-freedom robotic fish flapping mechanism, which provides power for the robotic fish. It includes a base (1), a parallel four-bar assembly (2), a guide block assembly (3), a motor (5), a drive assembly (6), and a transmission assembly (7); the motor (5) passes through the motor base (5a ) is installed on the upper cover (1a) of the base (1); the four linear guide rails of the guide block assembly (3) are installed on the four support seats of the base (1); the drive assembly (6) is placed on the guide In the arc-shaped rectangular hole of the block assembly (3); the transmission assembly (7) is installed on the upper cover plate (1a) and the connecting plate (1b) of the base (1) through the A transmission shaft (7a) and the B transmission shaft (7d). ) and the lower base plate (1c); the boom (21) of the parallel four-bar assembly (2) is connected to the A transmission shaft (7a) of the transmission assembly (7), and the B connecting rod ( 24) Connected to the A transmission shaft (7a) and the B transmission shaft (7d) of the transmission assembly (7), the forearm (22) of the parallelogram assembly (2) is connected with a tail fin (4). The clapping of the present invention is driven by the motor to move two eccentric wheels, thereby driving the two sliders to move linearly along the guide rail, and the parallel four-bar assembly is realized by cooperating with the gear rack installed on the slider and the gear on the transmission assembly rotation.

Description

Double-cam single-degree-of-freedom robotic fish flapping mechanism

technical field

The invention relates to a power mechanism suitable for a bionic robot fish, more particularly, a double-cam single-degree-of-freedom robot fish flapping mechanism.

Background technique

Through a large number of theoretical and experimental studies in vertebrate zoology and fluid mechanics, it has been found that the swimming style of fish that has evolved over hundreds of millions of years contains profound fluid mechanics and biological mechanisms. In terms of maneuverability, it has higher performance than any surface or underwater vehicle in the world today. Therefore, many well-known research institutions at home and abroad are paying more and more attention to the efficient swimming methods of various underwater fish, and have invested special manpower, material resources and financial resources to explore the research of bionic robot fish, an emerging multi-disciplinary cutting-edge technology. .

A research team jointly formed by the MIT Ocean Engineering Laboratory, Woods Hole Oceanographic Institution and New York University is conducting research on the bionic propulsion mechanism of fish. From 1994 to 1999, the research team headed by Triantafyllou M.S. successively designed and studied the 1.2-meter-long robotic tuna and the 0.8-meter-long robotic pike; the US C.S.DRAPAR laboratory developed a 2.4-meter-long imitation yellowfin tuna VCUUV , the velocity reaches 1.2 m/s at 1 Hz. Japan's N.Kato research group studied the movement mechanism of perch pectoral fins; Japan's Mitsubishi Corporation also organized the development of fish bionic robot technology, realizing a robotic fish with a length of 60cm and a weight of 6 pounds, with a speed of 0.25m/s; Tokyo Institute of Technology The college has recently manufactured a double-node dolphin-type self-propelled model. The total length of the model is 1.75m, which is similar to the length of a real dolphin. The propulsion speed is 1.15m/s at 1.5 Hz. However, due to the instability of body movement, the robot fish schemes that simply imitate the shape of dolphins and tunas failed to meet the design speed requirements, and the tail movement was distorted. The Institute of Robotics of Beihang University has been researching robotic fish since 1999, and successfully produced the first robot eel ROBOFISH in China, as well as a multi-robot fish coordinated motion control system. However, it has been found in the research that the multi-jointed, slender shape of the fish body always produces unnecessary shaking, which increases resistance and consumes energy.

A new single-degree-of-freedom flapping mechanism is proposed to solve the problems of high control precision and low efficiency of the current two-degree-of-freedom flapping mechanism. The two joints in the original mechanism are connected by a mechanical structure to reduce the control effort. Complexity.

Contents of the invention

The purpose of this invention is to provide a kind of clapping mechanism of double-cam formula single degree of freedom, and this clapping mechanism utilizes the clapping of caudal fin 4 to provide the power of propulsion, and the clapping of caudal fin 4 is driven by motor to move two eccentric wheels, Therefore, the two sliders are driven to move linearly along the guide rails, and the rotation of the parallel four-bar assembly is realized through the cooperation of the rack mounted on the sliders and the gear on the transmission assembly.

The present invention relates to a double-cam single-degree-of-freedom robotic fish flapping mechanism, which provides power for the robotic fish. The double-cam single-degree-of-freedom robotic fish flapping mechanism of the present invention includes a base 1 , a parallel four-bar assembly 2 , a guide block assembly 3 , a motor 5 , a drive assembly 6 , and a transmission assembly 7 . The motor 5 is installed on the upper cover plate 1a of the base 1 through the motor base 5a; the four linear guide rails of the guide block assembly 3 are installed on the four support seats of the base 1; the drive assembly 6 is placed on the arc of the guide block assembly 3 In the rectangular hole; the transmission assembly 7 is installed on the upper cover plate 1a, the connecting plate 1b and the lower bottom plate 1c of the base 1 through the A transmission shaft 7a and the B transmission shaft 7d; the big arm 21 of the parallelogram assembly 2 is connected to the transmission On the A transmission shaft 7a of the assembly 7, the B connecting rod 24 of the parallel four-bar assembly 2 is connected to the A transmission shaft 7a and the B transmission shaft 7d of the transmission assembly 7, and the tail fin 4 is connected to the small arm 22 of the parallel four-bar assembly 2 .

The motor 5, the drive assembly 6 and the guide block assembly 3 in the present invention constitute a transmission unit, which is used to convert the rotation of the motor 5 into the linear motion of the A slider 31 and the B slider 32, thereby driving the A The A gear 7b engaged with the rack 33 and the B gear 7c engaged with the B rack 34 rotate.

The advantages of the double-cam type single-degree-of-freedom robotic fish flapping mechanism of the present invention: (1) the driving assembly 6 adopts a double-cam (A eccentric wheel, B eccentric wheel) structure, and the positional relationship of the double-cam is passed on the drive shaft The phase difference angle β (β=45°～90°) of the two key slots opened is adjusted, and the phase difference between the boom 21 and the small arm 22 is guaranteed by the mechanical structure; in addition, the large eccentricity can be adjusted by changing the eccentricity The swing amplitude of arm 21, forearm 22. (2) The drive assembly 6 and the guide block assembly 3 are connected by a cam pair, so that the guide block transitions smoothly and has low noise during the linear motion process. (3) A segmented connection is adopted between the transmission assembly 7 and the parallel four-bar assembly 2, so that the big arm 21 in the parallel four-bar assembly 2 realizes horizontal translation under the flapping condition of the tail fin 4; Realize to rotate around A pin 223 under the flapping condition of caudal fin 4.

Description of drawings

Fig. 1 is a structural diagram of the clapping mechanism of the present invention.

Fig. 1A is a structural diagram of a clapping mechanism without an upper cover plate and a motor.

Figure 2 is an exploded view of the base of the present invention.

Fig. 3 is a structural diagram of the guide block assembly of the present invention.

Fig. 3A is a structural diagram of the slider A of the present invention.

Fig. 3B is an assembly diagram of the linear guide rail A of the present invention.

Fig. 3C is an assembly diagram of the C linear guide rail of the present invention.

Fig. 3D is a structural diagram of the B slider of the present invention.

Fig. 3E is an assembly diagram of the linear guide rail B of the present invention.

Fig. 3F is an assembly diagram of the D linear guide rail of the present invention.

Figure 4 is a structural diagram of the drive assembly.

Figure 4A is an exploded view of the drive assembly.

Figure 4B is an enlarged view A-A of Figure 4A.

Fig. 5 is an assembly view of the motor and the motor base.

Fig. 6 is an assembly view of the parallelogram assembly and the lower base plate.

Fig. 6A is an assembly view of the parallel four-bar assembly and the transmission assembly.

Figure 6B is an exploded view of a parallelogram assembly.

Fig. 7 is a structural diagram of the transmission assembly.

FIG. 7A is a partially exploded view of FIG. 7 .

In the figure: 1. Base 1a. Upper cover 1b. Connecting plate 1c. Lower base

11.A support seat 111.A through hole 112.B through hole 12.B support seat 121.C through hole

122.D through hole 13.C support seat 131.E through hole 132.F through hole 14.D support seat

141.G through hole 142.H through hole 15.A shaft hole 16.B shaft hole 17.C shaft hole

18.D shaft hole 19.E shaft hole 101.A pillar 102.B pillar 103.C pillar

104.D pillar 105.E pillar 106.F pillar 107.G pillar 108.H pillar

2. Parallel four-bar assembly 21. Boom 211.M Through hole 212.C Keyway 213.A Pin hole

22. Arm 221.D pin hole 222.E pin hole 223.A pin 224.B pin

225. Long slot 23.A connecting rod 231.B pin hole 232.C pin hole 24.B connecting rod

241.N Through hole 242.D Keyway 243.F Pin hole 244.C Pin 3. Guide block assembly

31.A Slider 32.B Slider 33.A Rack 34.B Rack 3a.A Linear Guide

3b.B linear guide rail 3c.C linear guide rail 3d.D linear guide rail 311.A arc rectangular hole

312.A Fixed groove 313.A Oblong hole 314.B Oval hole 315.A Linear bearing 316.B Linear bearing

317.C linear bearing 318.D linear bearing 319.I through hole 320.J through hole 301.A snap ring

302.B collar 303.C collar 304.D collar 305.E collar 306.F collar

307.G Collar 308.H Collar 321.B Curved rectangular hole 322.B Fixed slot

323.C Long round hole 324.D Long round hole 325.E Linear bearing 326.F Linear bearing 327.G Linear bearing

328.H linear bearing 329.K through hole 330.L through hole 4. Tail fin 5. Motor

5a.Motor base 51.I pillar 52.J pillar 53.K pillar 54.L pillar

55.O through hole 56. Motor output shaft 6. Drive assembly 6a.A eccentric wheel 6b.B eccentric wheel

6c.Drive shaft 6d.G keyway 61.A key 61a.A eccentric hole 61b.A keyway

61c.E keyway 62.B key 62a.B eccentric hole 62b.B keyway 62c.F keyway

601.D rolling bearing 602.A rolling bearing 611.A sleeve 612.B sleeve 613.C sleeve

7. Transmission components 7a.A transmission shaft 7b.A gear 7c.B gear 7d.B transmission shaft

71.E Rolling bearing 72.C Rolling bearing 73.F Rolling bearing 74.B Rolling bearing 701.A Liner

702.B Liner 703.C Liner 704.D Liner 705.E Liner 706.F Liner

711.C key 712.D key 713.E key 714.F key

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings.

Referring to Fig. 1 and Fig. 1A, the present invention is a double-cam single-degree-of-freedom robotic fish flapping mechanism, which provides power for the robotic fish. The double-cam single-degree-of-freedom robotic fish flapping mechanism of the present invention includes a base 1 , a parallel four-bar assembly 2 , a guide block assembly 3 , a motor 5 , a drive assembly 6 , and a transmission assembly 7 . The motor 5 is installed on the upper cover plate 1a of the base 1 through the motor base 5a; the four linear guide rails of the guide block assembly 3 are installed on the four support seats of the base 1; the drive assembly 6 is placed on the arc of the guide block assembly 3 In the rectangular hole; the transmission assembly 7 is installed on the upper cover plate 1a, the connecting plate 1b and the lower bottom plate 1c of the base 1 through the A transmission shaft 7a and the B transmission shaft 7d; the big arm 21 of the parallelogram assembly 2 is connected to the transmission On the A transmission shaft 7a of the assembly 7, the B connecting rod 24 of the parallel four-bar assembly 2 is connected to the A transmission shaft 7a and the B transmission shaft 7d of the transmission assembly 7, and the tail fin 4 is connected to the small arm 22 of the parallel four-bar assembly 2 .

Referring to Figure 2, the base 1 includes an upper cover plate 1a, a connecting plate 1b, a lower base plate 1c, four support seats, and eight pillars; the four support seats refer to the A support seat 11, the B support seat 12, and the C support seat. Support seat 13, D support seat 14. The eight pillars are A pillar 101 , B pillar 102 , C pillar 103 , D pillar 104 , E pillar 105 , F pillar 106 , G pillar 107 , and H pillar 108 . Four support bases are installed between the upper cover plate 1a and the lower base plate 1c. These four support bases are used to support the upper cover plate 1a and the motor base 5a installed on the upper cover plate 1a on the one hand, and on the other hand to use To support four linear guide rails (A linear guide 3a, B linear guide 3b, C linear guide 3c, D linear guide 3d), while ensuring that two sliders (A slider 31, B slider 32) are on the four straight lines Linear movement on the guide rail; A pillar 101, B pillar 102, C pillar 103, D pillar 104 are installed between the connecting plate 1b and the lower bottom plate 1c, E pillar 105, F pillar 106, G pillar 107, H pillar 108 are installed on Between the upper cover plate 1a and the connecting plate 1b; in the present invention, a plurality of support bases are installed between the upper cover plate 1a and the lower bottom plate 1c with screws, and a plurality of pillars are installed between the upper cover plate 1a and the connecting plate 1b Between the connecting plate 1b and the lower base plate 1c, it is conducive to the installation and adjustment of the guide block assembly 3, the driving assembly 6, and the transmission assembly 7, and the structure design is simple and the assembly is convenient.

An A through hole 111 and a B through hole 112 are provided on the A supporting seat 11;

A C through hole 121 and a D through hole 122 are provided on the B supporting seat 12;

An E through hole 131 and an F through hole 132 are provided on the C support seat 13;

G through-holes 141 and H through-holes 142 are provided on the D support seat 14; The through hole 122, the F through hole 132, and the H through hole 142 are kept on the same horizontal line;

The A linear guide rail 3a is installed on the A through hole 111 and the C through hole 121, the B linear guide rail 3b is installed on the B through hole 112 and the D through hole 122, and the C linear guide rail 3c is installed on the E through hole 131 and the G through hole 141 , the D linear guide rail 3d is installed on the F through hole 132 and the H through hole 142;

The upper cover plate 1a is provided with a D-axis hole 18 and an E-axis hole 19, and a D rolling bearing 601 is placed in the D-axis hole 18, and the D rolling bearing 601 is sleeved on the drive shaft 6c of the cam assembly 6; The E rolling bearing 71, the E rolling bearing 71 is sleeved on the upper end of the A transmission shaft 7a of the transmission assembly 7;

A C-axis hole 17 is provided at the center of the connecting plate 1b, and C rolling bearings 72 and F rolling bearings 73 are placed in the C-axis holes 17. The C rolling bearings 72 are socketed on the lower end of the A transmission shaft 7a of the transmission assembly 7, and the F rolling bearings 73 are socketed On the upper end of the B transmission shaft 7d of the transmission assembly 7;

A shaft hole 15 and a B shaft hole 16 are provided on the lower bottom plate 1c, A rolling bearing 602 is placed in the A shaft hole 15, and the A rolling bearing 602 is sleeved on the drive shaft 6c of the cam assembly 6; B shaft hole 16 is placed with a B The rolling bearing 74, the B rolling bearing 74 is sleeved on the lower end of the B transmission shaft 7d of the transmission assembly 7;

In the present invention, the A-axis hole 15 and the D-axis hole 18 are kept on the same axis; the B-axis hole 16 , the C-axis hole 17 and the E-axis hole 19 are kept on the same axis.

3, FIG. 3A, FIG. 3B, FIG. 3C, FIG. 3D, FIG. 3E, and FIG. The linear guide rail 3a, the linear guide rail B 3b, the linear guide rail C 3c, the linear guide rail D 3d, and eight linear bearings installed on the four linear guide rails, the eight linear bearings refer to the linear bearing A 315, the linear bearing B 316, C linear bearing 317 , D linear bearing 318 , E linear bearing 325 , F linear bearing 326 , G linear bearing 327 , and H linear bearing 328 .

Referring to shown in Fig. 3 A, A slide block 31 has A arc-shaped rectangular hole 311 (the size of A arc-shaped rectangular hole 311 is adapted to the size of A eccentric wheel 6a on the drive assembly 6), and the two sides of A slide block 31 There are I through holes 319 and J through holes 320 on the side, and one end of the A slider 31 is provided with an A fixing groove 312, and the A fixing groove 312 is provided with an A oblong hole 313 and a B oblong hole 314; the I through hole 319 is used for A The linear guide rail 3a passes through, and the J through hole 320 is used for the B linear guide rail 3b to pass through; in the present invention, the A oblong hole 313 and the B oblong hole 314 pass through the jacking screws respectively, and the jacking screws are used to finely adjust the A rack 33 meshes with the A gear 7b.

Referring to Fig. 3B, A linear guide rail 3a is sequentially sleeved with B collar 302, B linear bearing 316, A linear bearing 315, and A collar 301 along the transverse direction; ) to set the A collar 301, which solves the problem that when the A slider 31 moves in the lateral direction on the A linear guide rail 3a, the A linear bearing 315 shifts or falls off; a B collar is set at one end (outer side) of the B linear bearing 316 302, when the A slider 31 moves in the lateral direction on the A linear guide rail 3a, the B linear bearing 316 shifts or falls off;

Referring to Fig. 3C, C linear guide rail 3c is sequentially sleeved with D collar 304, D linear bearing 318, C linear bearing 317, and C collar 303 along the transverse direction; ) set the C collar 303 to solve the problem that the C linear bearing 317 shifts or falls off when the A slider 31 moves in the lateral direction on the C linear guide rail 3c; a D collar is set at one end (outer side) of the D linear bearing 318 304, when the A slider 31 moves in the lateral direction on the C linear guide rail 3c, the D linear bearing 318 shifts or falls off;

Referring to shown in Fig. 3D, B slide block 32 has B arc-shaped rectangular hole 321 (the size of B arc-shaped rectangular hole 321 is adapted to the size of B eccentric wheel 6b on drive assembly 6), the two sides of B slide block 32 There are K through holes 329 and L through holes 330 on the side, and one end of the B slider 32 is provided with a B fixing groove 322, and the B fixing groove 322 is provided with a C oblong hole 323 and a D oblong hole 324; the K through hole 329 is used for the B The linear guide rail 3b passes through, and the L through hole 330 is used for the D linear guide rail 3d to pass through; in the present invention, the C oblong hole 323 and the D oblong hole 324 respectively pass through jacking screws, and the jacking screws are used to finely adjust the B rack 34 meshes with the B gear 7c.

Referring to Fig. 3E, B linear guide rail 3b is sequentially sleeved with F collar 306, F linear bearing 326, E linear bearing 325, and E collar 305 along the transverse direction; ) set the E collar 305 to solve the problem that the E linear bearing 325 shifts or falls off when the B slider 32 moves in the lateral direction on the B linear guide rail 3b; an F collar is set at one end (outer surface) of the F linear bearing 326 306, when the B slider 32 moves in the lateral direction on the B linear guide rail 3b, the F linear bearing 326 shifts or falls off;

Referring to Fig. 3F, D linear guide rail 3d is sequentially sleeved with H collar 308, H linear bearing 328, G linear bearing 327, and G collar 307 along the transverse direction; ) set the G collar 307 to solve the problem that when the B slider 32 moves in the lateral direction on the D linear guide rail 3d, the G linear bearing 327 shifts or falls off; an H collar is set at one end (outer surface) of the H linear bearing 328 308, when the B slider 32 moves in the lateral direction on the D linear guide rail 3d, the H linear bearing 328 shifts or falls off;

Referring to Fig. 4, Fig. 4A, and Fig. 4B, the driving assembly 6 mainly includes two eccentric wheels and a drive shaft 6c. The two eccentric wheels refer to A eccentric wheel 6a, B eccentric wheel 6b, A eccentric wheel 6a, The B eccentric wheel 6b has the same structure, with a diameter of 30mm; the drive shaft 6c is provided with G keyway 6d, E keyway 61c, and F keyway 62c from top to bottom, and the G keyway 6d and E keyway 61c are kept on the same axis; the G keyway The phase difference angle β between 6d and F key groove 62c is 45° to 90°, and the phase difference angle β between G key groove 6d and F key groove 62c shown in FIG. 4B is 75°. The double cam (eccentric wheel) structure designed in the driving assembly 6 of the present invention can adjust the swing amplitude of the boom 21 and the small arm 22 by changing the eccentricity of the eccentric wheel.

By placing a key in the G keyway 6d, the output shaft of the motor 5 can be connected to the drive shaft 6c through a coupling, thereby driving the drive shaft 6c to rotate.

By placing the A key 61 in the E key groove 61c (one end of the A key 61 is placed in the E key groove 61c, and the other end of the A key 61 is placed in the A key groove 61b), the assembly of the A eccentric wheel 6a and the drive shaft 6c can be realized.

By placing the B key 62 in the F key groove 62c (one end of the B key 62 is placed in the F key groove 62c, and the other end of the B key 62 is placed in the B key groove 62b), the assembly of the B eccentric wheel 6b and the drive shaft 6c can be realized.

The A eccentric wheel 6a has an A eccentric hole 61a, and the A eccentric hole 61a is provided with an A keyway 61b (A keyway 61b is used to place the A key 61, so that the A eccentric wheel 6a passes through the A key 61 and the A keyway 61b, E keyway 61c The fit makes it fit on the drive shaft 6c);

The B eccentric wheel 6b has a B eccentric hole 62a, and the B eccentric hole 62a is provided with a B keyway 62b (the B keyway 62b is used to place the B key 62, so that the B eccentric wheel 6b passes through the B key 62 and the B keyway 62b, F keyway 62c The fit makes it fit on the drive shaft 6c).

Drive shaft 6c is sleeved with D rolling bearing 601, A sleeve 611, A eccentric wheel 6a, C sleeve 613, B sleeve 612, B eccentric wheel 6b, A rolling bearing 602 from top to bottom, and A eccentric wheel 6a passes through The A key 61 is engaged on the drive shaft 6c, the B eccentric wheel 6b is engaged on the drive shaft 6c through the B key 62; and the D rolling bearing 601 is placed in the D shaft hole 18 of the upper cover plate 1a, and the A rolling bearing 602 is placed on the bottom Inside the A-axis hole 15 of the bottom plate 1c.

In the present invention, the motor 5, the drive assembly 6, and the guide block assembly 3 constitute a transmission unit, which is used to convert the rotation of the motor 5 into the linear motion of the A slider 31 and the B slider 32, thereby driving and The A gear 7b engaged with the A rack 33 and the B gear 7c engaged with the B rack 34 rotate.

5, the motor 5 is installed on the motor base 5a, the motor base 5a is provided with a through hole 55, and the motor output shaft 56 of the motor 5 passes through the through hole 55 and then sleeves a shaft coupling (not shown in the figure). Out), the other end of the coupling is connected with the drive shaft 6c of the cam assembly 6, and the motor base 5a is connected with the upper cover plate 1a of the base 1 through four pillars. The four pillars are I pillar 51 , J pillar 52 , K pillar 53 , and L pillar 54 .

Referring to Fig. 6, Fig. 6A and Fig. 7, the four-bar parallel assembly 2 includes a large arm 21, a small arm 22, an A connecting rod 23, and a B connecting rod 24;

The small arm 22 is V-shaped, and one end of the small arm 22 has a long slot 225, the tail fin 4 is installed in the long slot 225, the other end has an E pin hole 222, and the center of the small arm 22 has a D pin hole 221;

One end of the boom 21 is provided with an A pin hole 213, and the other end is provided with an M through hole 211, and the outer edge of the M through hole 211 is provided with a C keyway 212;

One end of the A connecting rod 23 has a B pin hole 231, and the other end has a C pin hole 232;

One end of the B connecting rod 24 has an F pin hole 243, and the other end has an N through hole 241, and the outer edge of the N through hole 241 is provided with a D keyway 242;

The M through hole 211 at one end of the boom 21 is sleeved on the upper end of the A transmission shaft 7a, and the connection between the one end of the boom 21 and the upper end of the A transmission shaft 7a is realized through the cooperation of the key and the C keyway 212, and the other end of the boom 21 is connected by the A pin 223 cooperates with A pin hole 213 and D pin hole 221 to realize the connection between the other end of the big arm 21 and the central part of the forearm 22; one end of the A connecting rod 23 cooperates with the B pin hole 231 and F pin hole 243 through the C pin 244 , to realize the connection between one end of A connecting rod 23 and one end of B connecting rod 24, and the other end of A connecting rod 23 cooperates with C pin hole 232 and E pin hole 222 through B pin 224 to realize the other end of A connecting rod 23 and forearm 22 The connection at one end; the N through hole 241 at one end of the B connecting rod 24 is sleeved on the lower end of the B transmission shaft 7d, and the connection between the one end of the B connecting rod 24 and the lower end of the B transmission shaft 7d is realized through the cooperation of the key and the D keyway 242, and the B connection The other end of the rod 24 realizes the connection between the other end of the B connecting rod 24 and the other end of the A connecting rod 23 through the cooperation of the C pin 244 with the F pin hole 243 and the B pin hole 231 .

The transmission assembly 7 includes two transmission shafts, two gears, and four rolling bearings. The two transmission shafts refer to the A transmission shaft 7a and the B transmission shaft 7d. The two gears refer to the A gear 7b and the B gear 7c. Rolling bearings refer to E rolling bearing 71, C rolling bearing 72, rolling bearing 73, and B rolling bearing 74; two key grooves are opened on the same axis of A transmission shaft 7a, and C key 711 and D key 712 are placed in the key groove; There are two key grooves on the same axis of the key groove, and E key 713 and F key 714 are placed in the key groove;

The A transmission shaft 7a of the transmission assembly 7 is sequentially sleeved with E rolling bearing 71, A pad 701, B pad 702, A gear 7b, C pad 703, C rolling bearing 72, A pad 701 and The B liner 702 is used to tighten one end of the boom 21 of the transmission assembly 7 (the end of the boom 21 is provided with a M through hole 211, and a C keyway 212 is opened in the M through hole 211, and the M through hole 211 is sleeved on the A transmission shaft 7a, and realize the connection between one end of the boom 21 and the A transmission shaft 7a through the C key 711), so as to ensure that the boom 21 does not move in the axial direction; the B gasket 702 and the C gasket 703 tighten the A gear 7b The upper and lower end faces of the A gear 7b ensure that the A gear 7b does not move in the axial direction; the A gear 7b is assembled with the A transmission shaft 7a through the D key 712; the A gear 7b meshes with the A rack 33 of the guide block assembly 3, so that in Driven by the motor 5, the rotation of the A gear 7b is realized; the E rolling bearing 71 is placed in the E-axis hole 19 of the upper cover plate 1a, and the C rolling bearing 72 is placed in the C-axis hole 17 of the connecting plate 1b (the C-axis hole 17 places two rolling bearings )Inside.

The B transmission shaft 7d of the transmission assembly 7 is sequentially sleeved with rolling bearings 73, D pads 704, B gears 7c, E pads 705, F pads 706, B rolling bearings 74, D pads 704 and E gears. The gasket 705 tightens the upper and lower end surfaces of the B gear 7c to ensure that the B gear 7c does not move in the axial direction; the B gear 7c is assembled with the B transmission shaft 7d through the E key 713; the B gear 7c and the guide block assembly 3 The B rack 34 meshes, so that the rotation of the B gear 7c is realized under the drive of the motor 5; the E pad 704 and the F pad 706 are used to tighten one end of the B connecting rod 24 of the transmission assembly 7 (the end of the B connecting rod 24 is set There is an N through hole 241, and a D keyway 242 is opened in the N through hole 241, and the N through hole 241 is sleeved on the lower part of the B transmission shaft 7d, and one end of the B connecting rod 24 is connected to the B transmission shaft 7d through the F key 714) , to ensure that the B connecting rod 24 does not move in the axial direction; the rolling bearing 73 is placed in the C-axis hole 17 of the connecting plate 1b (the C-axis hole 17 places two rolling bearings), and the B rolling bearing 74 is placed in the B-axis of the lower bottom plate 1c In hole 15.

The double-cam type single-degree-of-freedom robotic fish flapping mechanism of the present invention drives the two eccentric wheels on the drive assembly 6 to rotate when the motor 5 rotates, and the guide block assembly 3 is made to work on the linear guide rail under the rotation condition of the eccentric wheels. Linear motion, thereby make the parallel four-bar mechanism 2 rotate by the engagement of the rack and the gear, and drive the tail fin 4 of the mechanical fish mechanism to flap under the rotation of the parallel four-bar mechanism 2 .

Claims (5)

1. A double-cam type single-degree-of-freedom robotic fish flapping mechanism, including a tail fin (4), is characterized in that: it also includes a base (1), a parallel four-bar assembly (2), a guide block assembly (3 ), motor (5), drive assembly (6), transmission assembly (7); the motor (5) is installed on the upper cover (1a) of the base (1) through the motor base (5a); the guide block assembly (3 The four linear guide rails of ) are installed on the four supporting seats of the base (1); the driving assembly (6) is placed in the arc-shaped rectangular hole of the guide block assembly (3); the transmission assembly (7) passes through the A transmission shaft ( 7a), the B transmission shaft (7d) is installed on the upper cover plate (1a), the connecting plate (1b) and the lower base plate (1c) of the base (1); the big arm (21) of the parallelogram assembly (2) It is connected to the A transmission shaft (7a) of the transmission assembly (7), and the B connecting rod (24) of the parallel four-bar assembly (2) is connected to the A transmission shaft (7a) and the B transmission shaft (7d) of the transmission assembly (7). ), the small arm (22) of the parallelogram assembly (2) is connected with a tail fin (4); the base (1) includes an upper cover plate (1a), a connecting plate (1b), a lower base plate (1c), A support seat (11), B support seat (12), C support seat (13), D support seat (14); A pillar (101), B pillar (102), C pillar (103), D pillar (104) ), E pillar (105), F pillar (106), G pillar (107), H pillar (108); A support seat (11), B support seat (12), C support seat (13), D support seat (14) Evenly distributed between the upper cover plate (1a) and the lower base plate (1c); A pillar (101), B pillar (102), C pillar (103), D pillar (104) are evenly distributed on the connecting plate ( Between 1b) and the lower base plate (1c), E pillars (105), F pillars (106), G pillars (107), and H pillars (108) are evenly distributed between the upper cover plate (1a) and the connecting plate (1b) between; An A through hole (111) and a B through hole (112) are provided on the A support seat (11); C through hole (121) and D through hole (122) are provided on B support seat (12); An E through hole (131) and an F through hole (132) are provided on the C support seat (13); On D supporting base (14), be provided with G through hole (141) and H through hole (142); And A through hole (111), C through hole (121), E through hole (131), G through hole ( 141) keep on the same level; B through hole (112), D through hole (122), F through hole (132), H through hole (142) keep on the same level; The A linear guide (3a) is installed on the A through hole (111) and the C through hole (121), the B linear guide (3b) is installed on the B through hole (112), and the D through hole (122), and the E through hole ( 131), C linear guide rail (3c) is installed on G through hole (141), D linear guide rail (3d) is installed on F through hole (132), H through hole (142); The upper cover plate (1a) is provided with a D shaft hole (18) and an E shaft hole (19), and a D rolling bearing (601) is placed in the D shaft hole (18), and the D rolling bearing (601) is sleeved on the cam assembly (6 ) on the drive shaft (6c); the E rolling bearing (71) is placed in the E shaft hole (19), and the E rolling bearing (71) is sleeved on the upper end of the A transmission shaft (7a) of the transmission assembly (7); The central position of the connecting plate (1b) is provided with a C-axis hole (17), and a C rolling bearing (72) and an F rolling bearing (73) are placed in the C-axis hole (17), and the C rolling bearing (72) is sleeved on the transmission assembly (7 ), the lower end of the A transmission shaft (7a) of ), the F rolling bearing (73) is sleeved on the upper end of the B transmission shaft (7d) of the transmission assembly (7); A shaft hole (15) and a B shaft hole (16) are arranged on the lower bottom plate (1c). A rolling bearing (602) is placed in the A shaft hole (15), and the A rolling bearing (602) is sleeved on the cam assembly (6). on the driving shaft (6c); the B rolling bearing (74) is placed in the B shaft hole (16), and the B rolling bearing (74) is sleeved on the lower end of the B transmission shaft (7d) of the transmission assembly (7); The guide block assembly (3) consists of A slider (31), B slider (32), A rack (33), B rack (34), A linear guide (3a), B linear guide (3b), C Linear guide (3c), D linear guide (3d), A linear bearing (315), B linear bearing (316), C linear bearing (317), D linear bearing (318), E linear bearing (325), F linear bearing Bearing (326), G linear bearing (327), H linear bearing (328); Have A arc-shaped rectangular hole (311) on the A slide block (31), the both sides of A slide block (31) have I through hole (319), J through hole (320), the A slide block (31) One end is provided with A fixing groove (312), A fixing groove (312) is provided with A oblong hole (313), B oblong hole (314); I through hole (319) is used for A linear guide rail (3a) to pass through, J The through hole (320) is used for B linear guide rail (3b) to pass through; A linear guide rail (3a) is sequentially sleeved with B collar (302), B linear bearing (316), and A linear bearing (315) along the transverse direction , A collar (301); C linear guide rail (3c) is sequentially sleeved with D collar (304), D linear bearing (318), C linear bearing (317), and C collar (303) along the transverse direction ; Have B arc-shaped rectangular hole (321) on the B slide block (32), the both sides of B slide block (32) have K through hole (329), L through hole (330), the B slide block (32) One end is provided with B fixing groove (322), and B fixing groove (322) is provided with C oblong hole (323), D oblong hole (324); K through hole (329) is used for B linear guide rail (3b) to pass through, L The through hole (330) is used for D linear guide rail (3d) to pass through; B linear guide rail (3b) is sequentially sleeved with F collar (306), F linear bearing (326), and E linear bearing (325) along the transverse direction , E collar (305); D linear guide rail (3d) is sequentially sleeved with H collar (308), H linear bearing (328), G linear bearing (327), G collar (307) along the transverse direction ; Drive assembly (6) comprises A eccentric wheel (6a), B eccentric wheel (6b), drive shaft (6c), and the structure of A eccentric wheel (6a), B eccentric wheel (6b) is identical; Drive shaft (6c) from There are G keyway (6d), E keyway (61c), F keyway (62c) in order from top to bottom, G keyway (6d), E keyway (61c) are kept on the same axis; The A eccentric wheel (6a) is provided with an A eccentric hole (61a), and the A eccentric hole (61a) is provided with an A keyway (61b), and the A keyway (61b) is used for placing the A key (61); The B eccentric wheel (6b) has a B eccentric hole (62a), the B eccentric hole (62a) is provided with a B keyway (62b), and the B keyway (62b) is used to place the B key (62); The drive shaft (6c) is sequentially sleeved with D rolling bearing (601), A sleeve (611), A eccentric wheel (6a), C sleeve (613), B sleeve (612), B eccentric Wheel (6b), A rolling bearing (602), A eccentric wheel (6a) is engaged on the drive shaft (6c) through A key (61), B eccentric wheel (6b) is engaged on the drive shaft through B key (62) (6c); and the D rolling bearing (601) is placed in the D shaft hole (18) of the upper cover plate (1a), and the A rolling bearing (602) is placed in the A shaft hole (15) of the lower base plate (1c); Motor (5) is installed on the motor base (5a), has through hole (55) on the motor base (5a), and the motor output shaft (56) of motor (5) passes through this through hole (55) after socketing a Coupling, the other end of the coupling is connected with the drive shaft (6c) of the drive assembly (6), and the motor seat (5a) is connected with the upper cover plate (1a) of the base (1) through four pillars; four A pillar refers to I pillar (51), J pillar (52), K pillar (53), L pillar (54); The four-bar parallel assembly (2) includes a boom (21), a small arm (22), an A connecting rod (23), and a B connecting rod (24); The small arm (22) is V-shaped, and one end of the small arm (22) has a long groove (225), and the caudal fin (4) is installed in the long groove (225), and the other end has an E pin hole (222), and the small arm The center of (22) has D pin hole (221); One end of the big arm (21) has an A pin hole (213), the other end has an M through hole (211), and the outer edge of the M through hole (211) is provided with a C keyway (212); One end of the A connecting rod (23) has a B pin hole (231), and the other end has a C pin hole (232); One end of the B connecting rod (24) has an F pin hole (243), the other end has an N through hole (241), and the outer edge of the N through hole (241) is provided with a D keyway (242); The M through hole (211) at one end of the boom (21) is socketed on the upper end of the A transmission shaft (7a), and the transmission between the boom (21) and the A transmission is realized through the cooperation of the C key (711) and the C keyway (212). The connection of the upper end of the shaft (7a), the other end of the big arm (21) is matched with the A pin hole (213) and the D pin hole (221) through the A pin (223), so as to realize the other end of the big arm (21) and the small arm ( 22) The connection of the central part; one end of the A connecting rod (23) cooperates with the B pin hole (231) and the F pin hole (243) through the C pin (244) to realize the connection between the A connecting rod (23) and the B connecting rod ( 24) Connection at one end, the other end of the A connecting rod (23) cooperates with the C pin hole (232) and the E pin hole (222) through the B pin (224) to realize the other end of the A connecting rod (23) and the small arm ( 22) Connection at one end; the N through hole (241) at one end of the B connecting rod (24) is sleeved on the lower end of the B transmission shaft (7d), and the B connection is realized through the cooperation of the F key (714) and the D keyway (242). One end of the rod (24) is connected to the lower end of the B transmission shaft (7d), and the other end of the B connecting rod (24) cooperates with the F pin hole (243) and the B pin hole (231) through the C pin (244) to realize the B connection. The connection between the other end of the rod (24) and the other end of the A connecting rod (23); Transmission assembly (7) comprises A transmission shaft (7a), B transmission shaft (7d), A gear (7b), B gear (7c), E rolling bearing (71), C rolling bearing (72), rolling bearing (73), B rolling bearing (74); on the same axis of A transmission shaft (7a), there are two key grooves, and C keys (711) and D keys (712) are placed in the key grooves; on the same axis of B transmission shaft (7d) There are two key grooves, and E key (713) and F key (714) are placed in the key groove; The A transmission shaft (7a) of the transmission assembly (7) is sequentially sleeved with the E rolling bearing (71), the A liner (701), the B liner (702), the A gear (7b), the C liner Pad (703), C rolling bearing (72); The B transmission shaft (7d) of the transmission assembly (7) is sequentially sleeved with rolling bearings (73), D pads (704), B gears (7c), E pads (705), F pads (706), B rolling bearing (74). 2. The double-cam single-degree-of-freedom robotic fish flapping mechanism according to claim 1, characterized in that: the A-axis hole (15) and the D-axis hole (18) in the base (1) are kept at On the same axis; the B-axis hole (16), the C-axis hole (17), and the E-axis hole (19) remain on the same axis. 3. The double-cam single-degree-of-freedom robotic fish flapping mechanism according to claim 1, characterized in that: the phase difference angle β between the G keyway (6d) and the F keyway (62c) in the drive assembly (6) = 45°～90°. 4. The double-cam single-degree-of-freedom robotic fish flapping mechanism according to claim 3, characterized in that: the phase difference angle β between the G keyway (6d) and the F keyway (62c) in the drive assembly (6) = 75°. 5. The double-cam type single-degree-of-freedom robotic fish flapping mechanism according to claim 1, characterized in that: the motor (5), the drive assembly (6) and the guide block assembly (3) constitute a transmission unit, the The transmission unit is used to convert the rotation of the motor (5) into the linear motion of the A slider (31) and the B slider (32), thereby driving the A gear (7b) and the B rack meshed with the A rack (33) (34) The meshed B gear (7c) rotates.

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