CN101318546A - Double-cam single-degree-of-freedom machine fish flapping mechanism - Google Patents
Double-cam single-degree-of-freedom machine fish flapping mechanism Download PDFInfo
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- CN101318546A CN101318546A CNA2008101120077A CN200810112007A CN101318546A CN 101318546 A CN101318546 A CN 101318546A CN A2008101120077 A CNA2008101120077 A CN A2008101120077A CN 200810112007 A CN200810112007 A CN 200810112007A CN 101318546 A CN101318546 A CN 101318546A
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Abstract
The invention discloses a flapping mechanism of a double-cam type single freedom degree robot fish. The flapping mechanism provides a power for the robot fish and comprises a pedestal (1), a parallel four-rod component (2), a guide block component (3), a motor (5), a drive component (6) and a transmission component (7); the motor (5) is arranged on the upper cover plate (1a) of the pedestal (1) by a motor seat (5a); the four linear lead rails of the guide block component (3) are arranged at the four supporting seats of the pedestal (1); the drive component (6) is arranged in the arc rectangle hole of the guide block component (3); the transmission component (7) is arranged on the upper cover plate (1a), the connection plate (1b) and the lower bottom plate (1c) of the pedestal (1) by a transmission shaft A (7a) and a transmission shaft B (7b); the large arm (21) of the parallel four-rod component (2) is connected with the transmission shaft A (7a) of the transmission component (7); the connection rod B (24) of the parallel four-rod component (2) is connected with the transmission shaft A (7a) and the transmission shaft B (7b) of the transmission component (7); the small arm (22) of the parallel four-rod component (2) is connected with a tail fin (4). The flapping of the invention is realized by adopting the motor to drive two eccentric wheels to move, thereby driving two slide blocks to move straightly along the lead rails; the rotation of the parallel four-rod component is realized by the matching between the racks arranged on the slide blocks and the gears on the transmission component.
Description
Technical field
The present invention relates to a kind of actuating unit that is applicable to bionic machine fish, more particularly say, be meant the machine fish flapping mechanism of the wheeled single degree of freedom of a kind of biconvex.
Background technology
A large amount of theories and experimental study by vertebrate zoology and fluid mechanics aspect, the fish swimming mode through evolving in more than one hundred million years that it is found that is comprising deep fluid mechanics and biology mechanism, some fish aspect propulsion coefficient, maneuverability and the manipulative capability than the world today on any water surface, underwater research vehicle performance all high.Therefore, many famous research institutions more and more pay close attention to the mode of efficiently moving about of various fish under water both at home and abroad, drop into special human and material resources and financial resources one after another, explore the cutting edge technology research of this emerging multidisciplinary intersection of bionic machine fish.
Massachusetts Institute Technology ocean engineering laboratory, Woods Hole Oceanographic Institution and New York University constitute jointly the research that research group is carrying out the bionical propelling mechanism of relevant fish.From 1994 to 1999, based on the research group of Triantafyllou M.S. successively design study 1.2 meters long machine tuna and 0.8 meter long machine pike; U.S. C.S.DRAPAR laboratory development the imitative yellowfin tuna VCUUV of 2.4 meters of length, speed reaches 1.2 meter per seconds in the time of 1 hertz.The movement mechanism of perch pectoral fin has been studied by Japan N.Kato research group; MIT has also organized the technological development of fish bio-robot, has realized length 60cm, the machine fish that weight is 6 pounds, and speed can reach 0.25m/s; The Tokyo Institute of Technology has made binode dolphin type self-navigation model recently, and this model length overall 1.75m is close with real dolphin length, and fltting speed is 1.15m/s in the time of 1.5 hertz.But, owing to the fugitiveness of body movement, imitate the machine fish scheme of dolphin and tuna profile merely, all fail to reach the design-calculated rate request, distortion has appearred in the afterbody motion.The Beijing Institute of Aeronautics robot research carried out the research of machine fish since 1999, made successfully domestic article one machine eel ROBOFISH the earliest, and multimachine device fish coordinated movement of various economic factors control system.But find in the research: fish body profile multiarticulate, elongate distribution always produces unnecessary rocking, and has increased resistance, has consumed energy.
Require problem such as high, that efficient is lower to propose a kind of flapping mechanism of new single degree of freedom at the control accuracy of present two-freedom flapping mechanism, utilize physical construction to associate in two joints in the former mechanism, reduce the complexity of control.
Summary of the invention
The flapping mechanism that the purpose of this invention is to provide the wheeled single degree of freedom of a kind of biconvex, this flapping mechanism utilizes flapping of tail fin 4 that the power of propelling is provided, flapping of tail fin 4 is by two wobbler actions of driven by motor, thereby drive two slide blocks along the guide rail moving linearly, by being installed in tooth bar on the slide block and the gear matched on the transmission component, realized the rotation of parallel four-bar assembly.
The machine fish flapping mechanism of the wheeled single degree of freedom of a kind of biconvex of the present invention, this flapping mechanism provides power for the machine fish.The machine fish flapping mechanism of the wheeled single degree of freedom of biconvex of the present invention includes pedestal 1, parallel four-bar assembly 2, guide block assembly 3, motor 5, driven unit 6, transmission component 7.Motor 5 is installed on the upper cover plate 1a of pedestal 1 by motor cabinet 5a; Four line slideways of guide block assembly 3 are installed on four supporting seats of pedestal 1; Driven unit 6 is positioned in the arc slot of guide block assembly 3; Transmission component 7 is installed on upper cover plate 1a, the connecting panel 1b and lower shoe 1c of pedestal 1 by A transmission shaft 7a, B transmission shaft 7d; The big arm 21 of parallel four-bar assembly 2 is connected on the A transmission shaft 7a of transmission component 7, and the B connecting rod 24 of parallel four-bar assembly 2 is connected on A transmission shaft 7a, the B transmission shaft 7d of transmission component 7, is connected with tail fin 4 on the forearm 22 of parallel four-bar assembly 2.
The advantage of the machine fish flapping mechanism of the wheeled single degree of freedom of biconvex of the present invention: (1) driven unit 6 has adopted twin cam (A eccentric wheel, B eccentric wheel) structure, and phase difference angle β by two keyways having on axle drive shaft of two-jawed position relation (β=45 °～90 °) is regulated, guaranteed the phase difference of big arm 21 and forearm 22 with physical construction; Can regulate the amplitude of fluctuation of big arm 21, forearm 22 by changing eccentric eccentric throw in addition.(2) adopt between driven unit 6 and the guide block assembly 3 that cam is secondary to be connected, make that guide block transition in the straight-line motion process is steady and noise is little.(3) adopt the segmentation connection mode between transmission component 7 and the parallel four-bar assembly 2, make big arm 21 horizontal translation of realization under the condition of flapping of tail fin 4 in the parallel four-bar assembly 2; Forearm 22 is then realized rotating around A pin 223 under the condition of flapping of tail fin 4.
Description of drawings
Fig. 1 is the constructional drawing of flapping mechanism of the present invention.
Figure 1A is the constructional drawing of the flapping mechanism of unassembled upper cover plate, motor.
Fig. 2 is the blast diagrammatic sketch of pedestal of the present invention.
Fig. 3 is the constructional drawing of guide block assembly of the present invention.
Fig. 3 A is the constructional drawing of A slide block of the present invention.
Fig. 3 B is the assembly drowing of A line slideway of the present invention.
Fig. 3 C is the assembly drowing of C line slideway of the present invention.
Fig. 3 D is the constructional drawing of B slide block of the present invention.
Fig. 3 E is the assembly drowing of B line slideway of the present invention.
Fig. 3 F is the assembly drowing of D line slideway of the present invention.
Fig. 4 is the constructional drawing of driven unit.
Fig. 4 A is the blast diagrammatic sketch of driven unit.
Fig. 4 B is the A-A view of Fig. 4 A of amplification.
Fig. 5 is the assembling diagrammatic sketch of motor and motor cabinet.
Fig. 6 is the assembling diagrammatic sketch of parallel four-bar assembly and lower shoe.
Fig. 6 A is the assembling diagrammatic sketch of parallel four-bar assembly and transmission component.
Fig. 6 B is the blast diagrammatic sketch of parallel four-bar assembly.
Fig. 7 is the constructional drawing of transmission component.
Fig. 7 A is the part blast diagrammatic sketch of Fig. 7.
Among the figure: 1. pedestal 1a. upper cover plate 1b. connecting panel 1c. lower shoe
11.A supporting seat 111.A through hole 112.B through hole 12.B supporting seat 121.C through hole
122.D through hole 13.C supporting seat 131.E through hole 132.F through hole 14.D supporting seat
141.G through hole 142.H through hole 15.A axis hole 16.B axis hole 17.C axis hole
18.D axis hole 19.E axis 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. big arm 211.M through hole 212.C keyway 213.A pin-and-holes
22. forearm 221.D pin-and-hole 222.E pin-and-hole 223.A pin 224.B pin
225. elongated slot 23.A connecting rod 231.B pin-and-hole 232.C pin-and-hole 24.B connecting rod
241.N through hole 242.D keyway 243.F pin-and-hole 244.C pin 3. guide block assemblies
31.A slide block 32.B slide block 33.A tooth bar 34.B tooth bar 3a.A line slideway
3b.B line slideway 3c.C line slideway 3d.D line slideway 311.A arc slot
312.A hold down groove 313.A slotted hole 314.B slotted 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 collar
302.B collar 303.C collar 304.D collar 305.E collar 306.F collar
307.G collar 308.H collar 321.B arc slot 322.B hold down groove
323.C slotted hole 324.D slotted 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 fins 5. motors
5a. motor cabinet 51.I pillar 52.J pillar 53.K pillar 54.L pillar
55.O through hole 56. motor output shafts 6. driven unit 6a.A eccentric wheel 6b.B eccentric wheel
6c. axle drive shaft 6d.G keyway 61.A key 61a.A eccentric orfice 61b.A keyway
61c.E keyway 62.B key 62a.B eccentric orfice 62b.B keyway 62c.F keyway
601.D antifriction-bearing box 602.A antifriction-bearing box 611.A sleeve 612.B sleeve 613.C sleeve
7. transmission component 7a.A transmission shaft 7b.A gear 7c.B gear 7d.B transmission shaft
71.E antifriction-bearing box 72.C antifriction-bearing box 73.F antifriction-bearing box 74.B antifriction-bearing box 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
The specific embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
Shown in Fig. 1, Figure 1A, the present invention is the machine fish flapping mechanism of the wheeled single degree of freedom of a kind of biconvex, and this flapping mechanism provides power for the machine fish.The machine fish flapping mechanism of the wheeled single degree of freedom of biconvex of the present invention includes pedestal 1, parallel four-bar assembly 2, guide block assembly 3, motor 5, driven unit 6, transmission component 7.Motor 5 is installed on the upper cover plate 1a of pedestal 1 by motor cabinet 5a; Four line slideways of guide block assembly 3 are installed on four supporting seats of pedestal 1; Driven unit 6 is positioned in the arc slot of guide block assembly 3; Transmission component 7 is installed on upper cover plate 1a, the connecting panel 1b and lower shoe 1c of pedestal 1 by A transmission shaft 7a, B transmission shaft 7d; The big arm 21 of parallel four-bar assembly 2 is connected on the A transmission shaft 7a of transmission component 7, and the B connecting rod 24 of parallel four-bar assembly 2 is connected on A transmission shaft 7a, the B transmission shaft 7d of transmission component 7, is connected with tail fin 4 on the forearm 22 of parallel four-bar assembly 2.
Referring to shown in Figure 2, pedestal 1 includes upper cover plate 1a, connecting panel 1b, lower shoe 1c, four supporting seats, eight pillars; Four supporting seats are meant A supporting seat 11, B supporting seat 12, C supporting seat 13, D supporting seat 14.Eight pillars are meant A pillar 101, B pillar 102, C pillar 103, D pillar 104, E pillar 105, F pillar 106, G pillar 107, H pillar 108.Four supporting seats are installed between upper cover plate 1a and the lower shoe 1c, these four supporting seats are used to support upper cover plate 1a on the one hand and are installed in motor cabinet 5a on the upper cover plate 1a, be used to support four line slideways (A line slideway 3a, B line slideway 3b, C line slideway 3c, D line slideway 3d) on the other hand, guarantee the straight-line motion of two slide blocks (A slide block 31, B slide block 32) on four line slideways simultaneously; A pillar 101, B pillar 102, C pillar 103, D pillar 104 are installed between connecting panel 1b and the lower shoe 1c, and E pillar 105, F pillar 106, G pillar 107, H pillar 108 are installed between upper cover plate 1a and the connecting panel 1b; In the present invention, adopt screw that a plurality of supporting seats are installed between upper cover plate 1a and the lower shoe 1c, a plurality of pillars are installed between upper cover plate 1a and the connecting panel 1b, between connecting panel 1b and the lower shoe 1c, help the installation of guide block assembly 3, driven unit 6, transmission component 7 is regulated, and structure design is simple, and is easy to assembly.
On A supporting seat 11, be provided with A through hole 111 and B through hole 112;
On B supporting seat 12, be provided with C through hole 121 and D through hole 122;
On C supporting seat 13, be provided with E through hole 131 and F through hole 132;
On D supporting seat 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 remain on the same horizon; B through hole 112, D through hole 122, F through hole 132, H through hole 142 remain on the same horizon;
A line slideway 3a is installed on A through hole 111, the C through hole 121, B line slideway 3b is installed on B through hole 112, the D through hole 122, C line slideway 3c is installed on E through hole 131, the G through hole 141, D line slideway 3d is installed on F through hole 132, the H through hole 142;
Upper cover plate 1a is provided with D axis hole 18, E axis hole 19, is placed with D antifriction-bearing box 601 in the D axis hole 18, and D antifriction-bearing box 601 is socketed on the axle drive shaft 6c of cam pack 6; Be placed with E antifriction-bearing box 71 in the E axis hole 19, E antifriction-bearing box 71 is socketed in the upper end of the A transmission shaft 7a of transmission component 7;
The center of connecting panel 1b is provided with C axis hole 17, is placed with C antifriction-bearing box 72, F antifriction-bearing box 73 in the C axis hole 17, and C antifriction-bearing box 72 is socketed in the lower end of the A transmission shaft 7a of transmission component 7, and F antifriction-bearing box 73 is socketed in the upper end of the B transmission shaft 7d of transmission component 7;
In the present invention, A axis hole 15 remains on the same axis with D axis hole 18; B axis hole 16, C axis hole 17, E axis hole 19 remain on the same axis.
Shown in Fig. 3, Fig. 3 A, Fig. 3 B, Fig. 3 C, Fig. 3 D, Fig. 3 E, Fig. 3 F, guide block assembly 3 is by A slide block 31, B slide block 32, A tooth bar 33, B tooth bar 34, A line slideway 3a, B line slideway 3b, C line slideway 3c, D line slideway 3d, and eight linear bearings that are installed on four line slideways form, and eight linear bearings are meant A linear bearing 315, B linear bearing 316, C linear bearing 317, D linear bearing 318, E linear bearing 325, F linear bearing 326, G linear bearing 327, H linear bearing 328.
Shown in Fig. 3 A, have A arc slot 311 (size of A arc slot 311 and the A eccentric wheel 6a's on the driven unit 6 is big or small adaptive) on the A slide block 31, the both sides of A slide block 31 have I through hole 319, J through hole 320, one end of A slide block 31 is provided with A hold down groove 312, and A hold down groove 312 is provided with A slotted hole 313, B slotted hole 314; I through hole 319 is used for A line slideway 3a to be passed through, and J through hole 320 is used for B line slideway 3b to be passed through; In the present invention, respectively by holding out against screw, this holds out against screw and is used for the engagement that A tooth bar 33 and A gear 7b are regulated in fine motion in A slotted hole 313, the B slotted hole 314.
Shown in Fig. 3 B, A line slideway 3a is along being socketed with B collar 302, B linear bearing 316, A linear bearing 315, A collar 301 in a lateral direction in turn; In an end of A linear bearing 315 (lateral surface) A collar 301 is set, when having solved the horizontal direction motion of A slide block 31 on the A line slideway 3a, A linear bearing 315 displacements or come off; In an end of B linear bearing 316 (lateral surface) B collar 302 is set, when having solved the horizontal direction motion of A slide block 31 on the A line slideway 3a, B linear bearing 316 displacements or come off;
Shown in Fig. 3 C, C line slideway 3c is along being socketed with D collar 304, D linear bearing 318, C linear bearing 317, C collar 303 in a lateral direction in turn; In an end of C linear bearing 317 (lateral surface) C collar 303 is set, when having solved the horizontal direction motion of A slide block 31 on the C line slideway 3c, C linear bearing 317 displacements or come off; In an end of D linear bearing 318 (lateral surface) D collar 304 is set, when having solved the horizontal direction motion of A slide block 31 on the C line slideway 3c, D linear bearing 318 displacements or come off;
Shown in Fig. 3 D, have B arc slot 321 (size of B arc slot 321 and the B eccentric wheel 6b's on the driven unit 6 is big or small adaptive) on the B slide block 32, the both sides of B slide block 32 have K through hole 329, L through hole 330, one end of B slide block 32 is provided with B hold down groove 322, and B hold down groove 322 is provided with C slotted hole 323, D slotted hole 324; K through hole 329 is used for B line slideway 3b to be passed through, and L through hole 330 is used for D line slideway 3d to be passed through; In the present invention, respectively by holding out against screw, this holds out against screw and is used for the engagement that B tooth bar 34 and B gear 7c are regulated in fine motion in C slotted hole 323, the D slotted hole 324.
Shown in Fig. 3 E, B line slideway 3b is along being socketed with F collar 306, F linear bearing 326, E linear bearing 325, E collar 305 in a lateral direction in turn; In an end of E linear bearing 325 (lateral surface) E collar 305 is set, when having solved the horizontal direction motion of B slide block 32 on the B line slideway 3b, E linear bearing 325 displacements or come off; In an end of F linear bearing 326 (lateral surface) F collar 306 is set, when having solved the horizontal direction motion of B slide block 32 on the B line slideway 3b, F linear bearing 326 displacements or come off;
Shown in Fig. 3 F, D line slideway 3d is along being socketed with H collar 308, H linear bearing 328, G linear bearing 327, G collar 307 in a lateral direction in turn; In an end of G linear bearing 327 (lateral surface) G collar 307 is set, when having solved the horizontal direction motion of B slide block 32 on the D line slideway 3d, G linear bearing 327 displacements or come off; In an end of H linear bearing 328 (lateral surface) H collar 308 is set, when having solved the horizontal direction motion of B slide block 32 on the D line slideway 3d, H linear bearing 328 displacements or come off;
Shown in Fig. 4, Fig. 4 A, Fig. 4 B, driven unit 6 mainly includes two eccentric wheel, an axle drive shaft 6c forms, and two eccentric wheel are meant A eccentric wheel 6a, B eccentric wheel 6b, and the structure of A eccentric wheel 6a, B eccentric wheel 6b is identical, and diameter is 30mm; Axle drive shaft 6c has G keyway 6d, E keyway 61c, F keyway 62c from top to bottom in turn, and G keyway 6d, E keyway 61c remain on the same axis; The phase difference angle β of G keyway 6d and F keyway 62c=45 °～90 °, the phase difference angle β of G keyway 6d shown in Fig. 4 B and F keyway 62c=75 °.Design-calculated twin cam (eccentric wheel) structure in the driven unit 6 of the present invention can be regulated the amplitude of fluctuation of big arm 21, forearm 22 by changing eccentric eccentric throw.
By in G keyway 6d, placing a key, can realize motor 5 output shafts by being connected of coupler and axle drive shaft 6c, thus the rotation of drive axle drive shaft 6c.
By in E keyway 61c, placing A key 61 (end of A key 61 is placed in the E keyway 61c, and the other end of A key 61 is placed in the A keyway 61b), can realize the assembling of A eccentric wheel 6a and axle drive shaft 6c.
By in F keyway 62c, placing B key 62 (end of B key 62 is placed in the F keyway 62c, and the other end of B key 62 is placed in the B keyway 62b), can realize the assembling of B eccentric wheel 6b and axle drive shaft 6c.
Have A eccentric orfice 61a on the A eccentric wheel 6a, A eccentric orfice 61a is provided with A keyway 61b (A keyway 61b is used to place A key 61, makes A eccentric wheel 6a by A key 61 and cooperating of A keyway 61b, E keyway 61c it is assemblied on the axle drive shaft 6c);
Have B eccentric orfice 62a on the B eccentric wheel 6b, B eccentric orfice 62a is provided with B keyway 62b (B keyway 62b is used to place B key 62, makes B eccentric wheel 6b by B key 62 and cooperating of B keyway 62b, F keyway 62c it is assemblied on the axle drive shaft 6c).
In the present invention, motor 5, driven unit 6 have constituted a gear unit with guide block assembly 3, this gear unit is used for the rotation of motor 5 is converted to the straight-line motion of A slide block 31, B slide block 32, rotates thereby drive with A tooth bar 33 ingear A gear 7b, B tooth bar 34 ingear B gear 7c.
Referring to shown in Figure 5, motor 5 is installed on the motor cabinet 5a, have through hole 55 on the motor cabinet 5a, the motor output shaft 56 of motor 5 passes this through hole 55 back sockets one coupler (not shown), the other end of coupler is connected with the axle drive shaft 6c of cam pack 6, and the upper cover plate 1a of motor cabinet 5a by four pillars and pedestal 1 is connected.Four pillars are meant I pillar 51, J pillar 52, K pillar 53, L pillar 54.
Referring to Fig. 6, Fig. 6 A, shown in Figure 7, the parallel assembly 2 of four bars includes big arm 21, forearm 22, A connecting rod 23, B connecting rod 24;
One end of big arm 21 has A pin-and-hole 213, and the other end has M through hole 211, and the outer rim of M through hole 211 is provided with C keyway 212;
One end of A connecting rod 23 has B pin-and-hole 231, the other end has C pin-and-hole 232;
One end of B connecting rod 24 has F pin-and-hole 243, and the other end has N through hole 241, and the outer rim of N through hole 241 is provided with D keyway 242;
The M through hole 211 of big arm 21 1 ends is socketed in the upper end of A transmission shaft 7a, and realize being connected of big arm 21 1 ends and A transmission shaft 7a upper end by the key and the cooperation of C keyway 212, big arm 21 other ends cooperate by A pin 223 and A pin-and-hole 213, D pin-and-hole 221, realize being connected of big arm 21 other ends and forearm 22 centres; A connecting rod 23 1 ends cooperate by C pin 244 and B pin-and-hole 231, F pin-and-hole 243, realization A connecting rod 23 1 ends are connected with B connecting rod 24 1 ends, A connecting rod 23 other ends cooperate by B pin 224 and C pin-and-hole 232, E pin-and-hole 222, and realization A connecting rod 23 other ends are connected with forearm 22 1 ends; The N through hole 241 of B connecting rod 24 1 ends is socketed in the lower end of B transmission shaft 7d, and by cooperation realization B connecting rod 24 1 ends of key and D keyway 242 and being connected of B transmission shaft 7d lower end, B connecting rod 24 other ends cooperate by C pin 244 and F pin-and-hole 243, B pin-and-hole 231, and realization B connecting rod 24 other ends are connected with A connecting rod 23 other ends.
Be socketed with E antifriction-bearing box 71, A liner 701, B liner 702, A gear 7b, C liner 703, C antifriction-bearing box 72 on the A transmission shaft 7a of transmission component 7 from top to bottom in turn, A liner 701 and B liner 702 are used to hold out against big arm 21 1 ends of transmission component 7, and (big arm 21 ends are provided with in M through hole 211, the M through hole 211 and have C keyway 212, M through hole 211 is socketed in the top of A transmission shaft 7a, and realize being connected of big arm 21 1 ends and A transmission shaft 7a by C key 711), it is mobile to guarantee that big arm 21 does not produce in the axial direction; B liner 702 and C liner 703 hold out against the upper and lower end face of A gear 7b, guarantee that A gear 7b does not produce mobile in the axial direction; A gear 7b is by the assembling of D key 712 realizations with A transmission shaft 7a; A tooth bar 33 engagement of A gear 7b and guide block assembly 3 makes the rotation that realizes A gear 7b under the drive of motor 5; E antifriction-bearing box 71 places in the E axis hole 19 of upper cover plate 1a, and C antifriction-bearing box 72 places in the C axis hole 17 (C axis hole 17 is placed two antifriction-bearing boxs) of connecting panel 1b.
Be socketed with antifriction-bearing box 73, D liner 704, B gear 7c, E liner 705, F liner 706, B antifriction-bearing box 74 on the B transmission shaft 7d of transmission component 7 from top to bottom in turn, D liner 704 and E liner 705 hold out against the upper and lower end face of B gear 7c, guarantee that B gear 7c does not produce mobile in the axial direction; B gear 7c is by the assembling of E key 713 realizations with B transmission shaft 7d; B tooth bar 34 engagement of B gear 7c and guide block assembly 3 makes the rotation that realizes B gear 7c under the drive of motor 5; E liner 704 and F liner 706 are used to hold out against B connecting rod 24 1 ends of transmission component 7, and (B connecting rod 24 ends are provided with in N through hole 241, the N through hole 241 and have D keyway 242, N through hole 241 is socketed in the bottom of B transmission shaft 7d, and realize being connected of B connecting rods 24 1 ends and B transmission shaft 7d by F key 714), assurance B connecting rod 24 does not produce mobile in the axial direction; Antifriction-bearing box 73 places in the C axis hole 17 (C axis hole 17 is placed two antifriction-bearing boxs) of connecting panel 1b, and B antifriction-bearing box 74 places in the B axis hole 15 of lower shoe 1c.
The machine fish flapping mechanism of the wheeled single degree of freedom of biconvex of the present invention, two eccentric wheel that drive on the driven unit 6 when motor 5 rotates rotate, under eccentric rotation condition, make guide block assembly 3 moving linearly on line slideway, thereby the engagement by rack and pinion is rotated parallelogram lindage 2, and the tail fin 4 that drives machine fish mechanism under parallelogram lindage 2 rotates is flapped.
Claims (5)
1, the machine fish flapping mechanism of the wheeled single degree of freedom of a kind of biconvex includes tail fin (4), it is characterized in that: also include pedestal (1), parallel four-bar assembly (2), guide block assembly (3), motor (5), driven unit (6), transmission component (7); Motor (5) is installed on the upper cover plate (1a) of pedestal (1) by motor cabinet (5a); Four line slideways of guide block assembly (3) are installed on four supporting seats of pedestal (1); Driven unit (6) is positioned in the arc slot of guide block assembly (3); Transmission component (7) is installed on upper cover plate (1a), connecting panel (1b) and the lower shoe (1c) of pedestal (1) by A transmission shaft (7a), B transmission shaft (7d); The big arm (21) of parallel four-bar assembly (2) is connected on the A transmission shaft (7a) of transmission component (7), the B connecting rod (24) of parallel four-bar assembly (2) is connected on the A transmission shaft (7a), B transmission shaft (7d) of transmission component (7), is connected with tail fin (4) on the forearm (22) of parallel four-bar assembly (2); Pedestal (1) includes upper cover plate (1a), connecting panel (1b), lower shoe (1c), A supporting seat (11), B supporting seat (12), C supporting seat (13), D supporting 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 supporting seat (11), B supporting seat (12), C supporting seat (13), D supporting seat (14) are distributed between upper cover plate (1a) and the lower shoe (1c); A pillar (101), B pillar (102), C pillar (103), D pillar (104) are distributed between connecting panel (1b) and the lower shoe (1c), and E pillar (105), F pillar (106), G pillar (107), H pillar (108) are distributed between upper cover plate (1a) and the connecting panel (1b);
On A supporting seat (11), be provided with A through hole (111) and B through hole (112);
On B supporting seat (12), be provided with C through hole (121) and D through hole (122);
On C supporting seat (13), be provided with E through hole (131) and F through hole (132);
On D supporting seat (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) remain on the same horizon; B through hole (112), D through hole (122), F through hole (132), H through hole (142) remain on the same horizon;
On A through hole (111), the C through hole (121) A line slideway (3a) is installed, on B through hole (112), the D through hole (122) B line slideway (3b) is installed, on E through hole (131), the G through hole (141) C line slideway (3c) is installed, on F through hole (132), the H through hole (142) D line slideway (3d) is installed;
Upper cover plate (1a) is provided with D axis hole (18), E axis hole (19), is placed with D antifriction-bearing box (601) in the D axis hole (18), and D antifriction-bearing box (601) is socketed on the axle drive shaft (6c) of cam pack (6); Be placed with E antifriction-bearing box (71) in the E axis hole (19), E antifriction-bearing box (71) is socketed in the upper end of the A transmission shaft (7a) of transmission component (7);
The center of connecting panel (1b) is provided with C axis hole (17), be placed with C antifriction-bearing box (72), F antifriction-bearing box (73) in the C axis hole (17), C antifriction-bearing box (72) is socketed in the lower end of the A transmission shaft (7a) of transmission component (7), and F antifriction-bearing box (73) is socketed in the upper end of the B transmission shaft (7d) of transmission component (7);
Lower shoe (1c) is provided with A axis hole (15), B axis hole (16), is placed with A antifriction-bearing box (602) in the A axis hole (15), and A antifriction-bearing box (602) is socketed on the axle drive shaft (6c) of cam pack (6); Be placed with B antifriction-bearing box (74) in the B axis hole (16), B antifriction-bearing box (74) is socketed in the lower end of the B transmission shaft (7d) of transmission component (7);
Guide block assembly (3) is by A slide block (31), B slide block (32), A tooth bar (33), B tooth bar (34), A line slideway (3a), B line slideway (3b), C line slideway (3c), D line slideway (3d), A linear bearing (315), B linear bearing (316), C linear bearing (317), D linear bearing (318), E linear bearing (325), F linear bearing (326), G linear bearing (327), H linear bearing (328);
Have A arc slot (311) on the A slide block (31), the both sides of A slide block (31) have I through hole (319), J through hole (320), one end of A slide block (31) is provided with A hold down groove (312), and A hold down groove (312) is provided with A slotted hole (313), B slotted hole (314); I through hole (319) is used for A line slideway (3a) to be passed through, and J through hole (320) is used for B line slideway (3b) to be passed through; A line slideway (3a) is along being socketed with B collar (302), B linear bearing (316), A linear bearing (315), A collar (301) in a lateral direction in turn; C line slideway (3c) is along being socketed with D collar (304), D linear bearing (318), C linear bearing (317), C collar (303) in a lateral direction in turn;
Have B arc slot (321) on the B slide block (32), the both sides of B slide block (32) have K through hole (329), L through hole (330), one end of B slide block (32) is provided with B hold down groove (322), and B hold down groove (322) is provided with C slotted hole (323), D slotted hole (324); K through hole (329) is used for B line slideway (3b) to be passed through, and L through hole (330) is used for D line slideway (3d) to be passed through; B line slideway (3b) is along being socketed with F collar (306), F linear bearing (326), E linear bearing (325), E collar (305) in a lateral direction in turn; D line slideway (3d) is along being socketed with H collar (308), H linear bearing (328), G linear bearing (327), G collar (307) in a lateral direction in turn;
Driven unit (6) includes A eccentric wheel (6a), B eccentric wheel (6b), axle drive shaft (6c), and the structure of A eccentric wheel (6a), B eccentric wheel (6b) is identical; Axle drive shaft (6c) has G keyway (6d), E keyway (61c), F keyway (62c) from top to bottom in turn, and G keyway (6d), E keyway (61c) remain on the same axis;
Have A eccentric orfice (61a) on the A eccentric wheel (6a), A eccentric orfice (61a) is provided with A keyway (61b), and A keyway (61b) is used to place A key (61);
Have B eccentric orfice (62a) on the B eccentric wheel (6b), B eccentric orfice (62a) is provided with B keyway (62b), and B keyway (62b) is used to place B key (62);
Axle drive shaft (6c) is socketed with D antifriction-bearing box (601), A sleeve (611), A eccentric wheel (6a), C sleeve (613), B sleeve (612), B eccentric wheel (6b), A antifriction-bearing box (602) from top to bottom in turn, A eccentric wheel (6a) is fastened on the axle drive shaft (6c) by A key (61), and B eccentric wheel (6b) is fastened on the axle drive shaft (6c) by B key (62); And D antifriction-bearing box (601) places in the D axis hole (18) of upper cover plate (1a), and A antifriction-bearing box (602) places in the A axis hole (15) of lower shoe (1c);
Motor (5) is installed on the motor cabinet (5a), have through hole (55) on the motor cabinet (5a), the motor output shaft (56) of motor (5) passes this through hole (55) back socket one coupler, the other end of coupler is connected with the axle drive shaft (6c) of driven unit (6), and upper cover plate (1a) of motor cabinet (5a) by four pillars and pedestal (1) is connected; Four pillars are meant I pillar (51), J pillar (52), K pillar (53), L pillar (54);
The parallel assembly of four bars (2) includes big arm (21), forearm (22), A connecting rod (23), B connecting rod (24);
Forearm (22) is a vee shape, and an end of forearm (22) has elongated slot (225), and tail fin (4) is installed in the elongated slot (225), and the other end has E pin-and-hole (222), and the center of forearm (22) has D pin-and-hole (221);
One end of big arm (21) has A pin-and-hole (213), and the other end has M through hole (211), and the outer rim of M through hole (211) is provided with C keyway (212);
One end of A connecting rod (23) has B pin-and-hole (231), the other end has C pin-and-hole (232);
One end of B connecting rod (24) has F pin-and-hole (243), and the other end has N through hole (241), and the outer rim of N through hole (241) is provided with D keyway (242);
The M through hole (211) of big arm (21) one ends is socketed in the upper end of A transmission shaft (7a), and realize being connected of big arm (21) one ends and A transmission shaft (7a) upper end by the C key (711) and the cooperation of C keyway (212), big arm (21) other end cooperates by A pin (223) and A pin-and-hole (213), D pin-and-hole (221), realizes being connected of big arm (21) other end and forearm (22) centre; A connecting rod (23) one ends cooperate by C pin (244) and B pin-and-hole (231), F pin-and-hole (243), realization A connecting rod (23) one ends are connected with B connecting rod (24) one ends, A connecting rod (23) other end cooperates by B pin (224) and C pin-and-hole (232), E pin-and-hole (222), and realization A connecting rod (23) other end is connected with forearm (22) one ends; The N through hole (241) of B connecting rod (24) one ends is socketed in the lower end of B transmission shaft (7d), and by cooperation realization B connecting rod (24) one ends of F key (714) and D keyway (242) and being connected of B transmission shaft (7d) lower end, B connecting rod (24) other end cooperates by C pin (244) and F pin-and-hole (243), B pin-and-hole (231), and realization B connecting rod (24) other end is connected with A connecting rod (23) other end;
Transmission component (7) includes A transmission shaft (7a), B transmission shaft (7d), A gear (7b), B gear (7c), E antifriction-bearing box (71), C antifriction-bearing box (72), antifriction-bearing box (73), B antifriction-bearing box (74); On the same axis of A transmission shaft (7a), have two keyways, be placed with C key (711), D key (712) in the keyway; On the same axis of B transmission shaft (7d), have two keyways, be placed with E key (713), F key (714) in the keyway;
Be socketed with E antifriction-bearing box (71), A liner (701), B liner (702), A gear (7b), C liner (703), C antifriction-bearing box (72) on the A transmission shaft (7a) of transmission component (7) from top to bottom in turn;
Be socketed with antifriction-bearing box (73), D liner (704), B gear (7c), E liner (705), F liner (706), B antifriction-bearing box (74) on the B transmission shaft (7d) of transmission component (7) from top to bottom in turn.
2, the machine fish flapping mechanism of the wheeled single degree of freedom of biconvex according to claim 1 is characterized in that: the A axis hole (15) in the described pedestal (1) remains on the same axis with D axis hole (18); B axis hole (16), C axis hole (17), E axis hole (19) remain on the same axis.
3, the machine fish flapping mechanism of the wheeled single degree of freedom of biconvex according to claim 1 is characterized in that: the G keyway (6d) in the driven unit (6) and the phase difference angle β of F keyway (62c)=and 45 °～90 °.
4, the machine fish flapping mechanism of the wheeled single degree of freedom of biconvex according to claim 3 is characterized in that: the G keyway (6d) in the driven unit (6) and the phase difference angle β of F keyway (62c)=and 75 °.
5, the machine fish flapping mechanism of the wheeled single degree of freedom of biconvex according to claim 1, it is characterized in that: motor (5), driven unit (6) have constituted a gear unit with guide block assembly (3), this gear unit is used for the rotation of motor (5) is converted to the straight-line motion of A slide block (31), B slide block (32), rotates thereby drive with A tooth bar (33) ingear A gear (7b), B tooth bar (34) ingear B gear (7c).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101120077A CN101318546B (en) | 2008-05-20 | 2008-05-20 | Double-cam single-degree-of-freedom machine fish flapping mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101120077A CN101318546B (en) | 2008-05-20 | 2008-05-20 | Double-cam single-degree-of-freedom machine fish flapping mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101318546A true CN101318546A (en) | 2008-12-10 |
| CN101318546B CN101318546B (en) | 2010-06-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008101120077A Expired - Fee Related CN101318546B (en) | 2008-05-20 | 2008-05-20 | Double-cam single-degree-of-freedom machine fish flapping mechanism |
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| Country | Link |
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| CN (1) | CN101318546B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101767642A (en) * | 2010-02-11 | 2010-07-07 | 北京大学 | Underwater biomimetic robotic fish |
| CN105775083A (en) * | 2016-03-07 | 2016-07-20 | 北京大学 | Biomimetic robotic fish tail swing mechanism |
| CN106218842A (en) * | 2016-08-24 | 2016-12-14 | 合肥凌翔信息科技有限公司 | A kind of Biomimetic Fish detecting river composition |
| CN108839783A (en) * | 2018-06-04 | 2018-11-20 | 吕梁学院 | A kind of flexibility submerged floating bionic machine fish and its control method |
| CN112896473A (en) * | 2021-02-20 | 2021-06-04 | 天津大学 | Bionic fish single-degree-of-freedom modular structure based on cam mechanism |
| CN113930956A (en) * | 2020-07-14 | 2022-01-14 | 青岛海尔滚筒洗衣机有限公司 | Clothes shaking device and clothes care equipment comprising same |
-
2008
- 2008-05-20 CN CN2008101120077A patent/CN101318546B/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101767642A (en) * | 2010-02-11 | 2010-07-07 | 北京大学 | Underwater biomimetic robotic fish |
| CN105775083A (en) * | 2016-03-07 | 2016-07-20 | 北京大学 | Biomimetic robotic fish tail swing mechanism |
| CN106218842A (en) * | 2016-08-24 | 2016-12-14 | 合肥凌翔信息科技有限公司 | A kind of Biomimetic Fish detecting river composition |
| CN106218842B (en) * | 2016-08-24 | 2018-03-06 | 合肥凌翔信息科技有限公司 | A kind of Biomimetic Fish for detecting river composition |
| CN108839783A (en) * | 2018-06-04 | 2018-11-20 | 吕梁学院 | A kind of flexibility submerged floating bionic machine fish and its control method |
| CN108839783B (en) * | 2018-06-04 | 2023-10-20 | 吕梁学院 | Flexible submerged bionic robot fish and control method thereof |
| CN113930956A (en) * | 2020-07-14 | 2022-01-14 | 青岛海尔滚筒洗衣机有限公司 | Clothes shaking device and clothes care equipment comprising same |
| CN112896473A (en) * | 2021-02-20 | 2021-06-04 | 天津大学 | Bionic fish single-degree-of-freedom modular structure based on cam mechanism |
| CN112896473B (en) * | 2021-02-20 | 2022-08-12 | 天津大学 | Bionic fish single-degree-of-freedom modular structure based on cam mechanism |
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| Publication number | Publication date |
|---|---|
| CN101318546B (en) | 2010-06-30 |
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