CN101435739B - Bionic long fin fluctuating propulsion experimental apparatus - Google Patents
Bionic long fin fluctuating propulsion experimental apparatus Download PDFInfo
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- CN101435739B CN101435739B CN2007101774033A CN200710177403A CN101435739B CN 101435739 B CN101435739 B CN 101435739B CN 2007101774033 A CN2007101774033 A CN 2007101774033A CN 200710177403 A CN200710177403 A CN 200710177403A CN 101435739 B CN101435739 B CN 101435739B
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 75
- 239000000725 suspension Substances 0.000 claims abstract description 27
- 230000033001 locomotion Effects 0.000 claims abstract description 15
- 238000005096 rolling process Methods 0.000 claims description 26
- 238000005452 bending Methods 0.000 claims description 3
- 238000011160 research Methods 0.000 abstract description 11
- 238000000034 method Methods 0.000 abstract description 4
- 230000001141 propulsive effect Effects 0.000 abstract description 2
- 230000009182 swimming Effects 0.000 abstract 1
- 241000251468 Actinopterygii Species 0.000 description 11
- 238000010586 diagram Methods 0.000 description 6
- 241001415775 Rajidae Species 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 241001417101 Gymnotidae Species 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 239000007767 bonding agent Substances 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 230000033772 system development Effects 0.000 description 1
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Abstract
The invention provides a bionic long fin undulating propulsion experimental facility. The facility comprises a bionic long fin mechanism, a follow-up system and a mechanical connecting piece, wherein the follow-up system is formed by a suspension bracket and a parallel guide rail, is used as a bracket and motion guide for the bionic long fin mechanism, and provides convenience for measuring the movement performance of the bionic long fin mechanism. The bionic long fin mechanism is formed by a plurality of steering gears which are fixed together through a support bracket and connecting block, wherein a turnplate of each steering gear is provided with fine cylindrical fins; an elastic film with the width corresponding to the length of the fins is used to connect all the fine cylindrical fins; and the bionic long fin mechanism is fixed with the suspension bracket in the follow-up system through the mechanical connecting piece. Propulsive force can be generated by means of harmoniously controlling the plurality of steering gears so as to realize swimming forward and backward and rotating movement around the self center shaft. The device can be used to research the movement principle and an optimized control method of the bionic long fin mechanism, and can also be further developed into an underwater exploring robot, an entertaining robot and the like.
Description
Technical field
The present invention relates to the bionic machine fish technical field, belong to electromechanical integrated device, specifically a kind of bionic long fin fluctuating propulsion experimental apparatus that designs for move about mechanism and the optimal control method of research Gymnotidae, Rajidae.
Background technology
Mainly was the research work of carrying out theoretical side for the bionic research of fish in the past in the nineties.After the nineties, along with the fast development of electronic technology, new material, Robotics, the research of bionic machine fish is at home and abroad progressively carried out.The seminar that U.S. MIT university is arranged that obtains better achievement in this respect is the bionic machine tuna that eddy current control and drag reduction Mechanism Study are developed.The machine eel that U.S. Northeastern University utilizes marmem and linkage assembly to develop.Professor Fukuda of Japan Nagoya university has begun angle of rake research under the miniature imitative fish and water, and he successively develops the dipterus type Micro-Robot that marmem (SMA) drives miniature health fluctuation formula underwater propeller and piezoelectric ceramics (PZT) driving.The fish that these research work of front are primarily aimed at high cruise speed and the high efficient of the moving about work that conducts a research is then studied relative with experimental system development work less at the fish of high maneuverability.With Gymnotidae, Rajidae is that the research work of the fish with high maneuverability of representative has special significance.At home, the bionic long-fin that the National University of Defense technology carries out at " Nile devil " fish motion study that moves about is the most outstanding, has developed the bionic long-fin device that moves about.Osaka, Japan university has developed the robot system that the bilateral long-fin undulatory advances on the basis of Rajidae fish research.Northwestern Univ USA has also developed long fin fluctuating propulsion experimental apparatus and has detected the propelling power that long fin produces under the different control strategies.The NTU university of Singapore has carried out the research work that long-fin undulatory advances, and has developed corresponding long-fin undulatory propulsive mechanism and experimental provision.Also introduced a kind of structure of bionic long-fin among the U.S. Pat 6089178A, on structure, function, all be very different but propose a whole set of bionic long fin fluctuating propulsion experimental apparatus with the present invention.
Summary of the invention
The object of the present invention is to provide a kind of bionic long fin fluctuating propulsion experimental apparatus, the Control Node of bionic long-fin mechanism is many in this experimental provision, and is real-time, flexible and changeable, can imitate freely rotating, moving about of long flexible fin; Can realize that along the guide rail of servomechanism orientation moves about, around rotatablely moving of self axle center.
Another purpose of the present invention is, the hydrodynamics, the mechanism of moving about, the motion control method that move for imitation fish motion/researching fish provide experimental provision, for manufacturing efficient height, maneuverability is good, noise is low, provide basic experiment porch to the little transportation equipment under water of environmental perturbation.
For achieving the above object, technical solution of the present invention is:
A kind of bionic long fin fluctuating propulsion experimental apparatus comprises bionic long-fin mechanism, servomechanism and mechanical fastener, moves about and sway in the front and back that can realize bionic long-fin mechanism; Its bionic long-fin mechanism comprises bracing frame, most steering wheels, fin ray and fin faces; Bracing frame has two parallel support bars that structure is identical, and each steering wheel two ends is affixed with the inboard quadrature of two parallel support bars respectively;
In-plane is installed with web joint on each support bar, mechanical fastener is fixed on the web joint of support bar by fastener, and mechanical fastener and bionic long-fin mechanism are connected; Fin ray is identical with the number of steering wheel, and the output shaft of each steering wheel is connected with the upper end of a fin ray, is covered to link together by fexible film between each fin ray to constitute the fin face;
Servomechanism comprises suspension bracket, guide rail, rolling bearing, base plate;
Article two, parallel guide rail places top, pond or supporting object upper end;
The shaped as frame crossbeam two side ends of suspension bracket upper end is dynamically connected through rolling bearing and guide rail surface;
A space framework is stretched out at the shaped as frame crossbeam middle part of suspension bracket upper end downwards, and the space framework bottom surface is installed with a base plate, and the base plate center links to each other with mechanical fastener, and the relative servomechanism of mechanical fastener can be rotated relatively; Mechanical fastener is connected with servomechanism.
Described bionic long fin fluctuating propulsion experimental apparatus, its described each steering wheel two ends are affixed with the inboard quadrature of two parallel support bars respectively, the side that is each support bar is provided with the screw that two rows connect, gib screw is inboard fixing with steering wheel both sides and support bar by passing this screw in the lateral, steering wheel both sides and two parallel support bar quadratures.
Described bionic long fin fluctuating propulsion experimental apparatus, its described each steering wheel two ends are affixed with the inboard quadrature of two parallel support bars respectively, be that the steering wheel shell is T-shaped, steering wheel output shaft institute at one end respectively continues to both sides stretches out a boss, side relative with the steering wheel output shaft on the boss is furnished with contiguous block, at least one screw and at least one screw on the boss on the contiguous block are suitable, and are connected with screw; The side that two contiguous blocks are relative with two support bars of bracing frame respectively is provided with at least two screws, two screws respectively with support bar at least two through holes in the screw that connects of two rows suitable, and each is connected with gib screw, make steering wheel both sides and support bar inboard fixing, and steering wheel two ends and two parallel support bar quadratures.
Described bionic long fin fluctuating propulsion experimental apparatus, the output shaft of its described each steering wheel is connected with the upper end of a fin ray, be that each fin ray upper end has a circular discs, circular discs one side vertically is convexly equipped with an axle sleeve, the shaft sleeve inwall is provided with internal tooth, and the external tooth on this internal tooth and the steering wheel output shaft periphery circle is suitable;
Axially there is a screw output shaft outer end, and there is a screw in axle sleeve bottom centre on circular discs, and two screws are suitable; After the axle sleeve of fin ray upper end being enclosed within on the output shaft of steering wheel, revolving two screws with gib screw the output shaft of fin ray upper end and steering wheel was fixed together.
Described bionic long fin fluctuating propulsion experimental apparatus, its described mechanical fastener comprises connecting screw rod, cover cap, web joint, most individual screw and screw, bearing;
Cap-type hood hd top face center is provided with through hole, and lower end side is evenly equipped with most screws to being extended with annulus on the annulus; Be provided with a dish type rolling bearing in the cavity volume of cover cap, the moving company of subsides of its upper surface and cover cap end face downside, cover cap can be rotated at dish type rolling bearing upper surface, successively pass rolling bearing center pit, through hole with a connecting screw rod, be solidly connected with servomechanism again, mechanical fastener is linked to each other with servomechanism;
Web joint middle part is provided with most screws, and the individual screws of the majority on this majority screw and the annulus are suitable, and it is affixed with cover cap and web joint successively to revolve two relative screws with screw; The length of web joint and the width of bracing frame are isometric, and the two ends of its length direction respectively are provided with fastener, and mechanical fastener is linked to each other with bionic long-fin mechanism.
Described bionic long fin fluctuating propulsion experimental apparatus, the shaped as frame crossbeam two side ends of its described suspension bracket upper end is dynamically connected through rolling bearing and guide rail surface, it is the middle part that the square frame shape crossbeam two side ends of suspension bracket upper end respectively is fixed in a strip support plate, support plate is boundary's bending one angle downwards with the axis, a through hole is respectively established at the flanging two ends, screw rod passes each through hole and a rolling bearing is connected, and rolling bearing and triangular guide medial surface are dynamically connected.
Described bionic long fin fluctuating propulsion experimental apparatus, it is generated the rotational angle control command of each fin ray steering wheel in real time by microcontroller, control command data sends to field programmable gate array by microcontroller, convert each steering wheel rotational angle control command to pulse-width signal that the working control steering wheel is used by programmable gate array, export to each fin ray control steering wheel after signal amplifies through overdriving and drive the fin ray swing; Provide the pendulum angle order of different steering wheels in real time by microcontroller, by programmable gate array with drive amplifying circuit, finally form the surge movement of the fin ray and the fin face of bionic long-fin mechanism.
Described bionic long fin fluctuating propulsion experimental apparatus, the base plate center of its described suspension bracket links to each other with mechanical fastener, be that the base plate center has a screw, screw matches with the connecting screw rod of mechanical fastener and is spirally connected, or be fixed on the suspension bracket base plate with the screw rod that nut will pass the base plate center screw, mechanical fastener is linked to each other with servomechanism.
Described bionic long fin fluctuating propulsion experimental apparatus, its described fastener is bolt, screw.
The bionic long-fin mechanism of bionic long fin fluctuating propulsion experimental apparatus of the present invention moves about before and after can realizing by external control and around the rotational motion of self axis.Can study bionic long-fin motion of mechanism principle and optimal control method with the present invention, also can be developed further into to reconnoitring robot, amusement robot etc. under water.
Description of drawings
Fig. 1 is a bionic long fin fluctuating propulsion experimental apparatus structural representation of the present invention;
Fig. 2 is a bionic long-fin mechanism structure synoptic diagram of the present invention;
Fig. 3 is the interconnected relationship synoptic diagram of steering wheel, bracing frame and fin ray in the bionic long-fin of the present invention mechanism;
Fig. 4 is the mechanical fastener structural representation between bionic long-fin mechanism of the present invention and servomechanism; Wherein, Fig. 4 (a) is the stereographic map of mechanical fastener, and Fig. 4 (b) is inner each the part synoptic diagram of mechanical fastener;
Fig. 5 is a servomechanism structural representation of the present invention;
Fig. 6 is a control system structural representation of the present invention;
Fig. 7 (a), Fig. 7 (b) are control system circuit diagrams of the present invention.
Embodiment
Below in conjunction with accompanying drawing the physical construction of long fin and servomechanism is explained.
A kind of bionic long fin fluctuating propulsion experimental apparatus of the present invention comprises bionic long-fin mechanism, servomechanism and mechanical fastener.
Fig. 1 is a bionic long fin fluctuating propulsion experimental apparatus structural representation of the present invention.Wherein, bionic long-fin mechanism 1, servomechanism 3, mechanical fastener 2 links together bionic long-fin mechanism and servomechanism.Bionic long-fin mechanism 1 is made up of a plurality of steering wheels, and each steering wheel output shaft and fin ray are fixed together, and the fin face that all fin rays are made by a monoblock elastic film links together.Servomechanism is made up of, suspension bracket and rolling bearing closed slide; Suspension bracket by each two rolling bearing of both sides and closed slide to contacting, and can be along guide rail movement.Mechanical fastener links together bionic long-fin mechanism and servomechanism.At bionic long-fin mechanism, mechanical fastener and servomechanism three parts, further describe its structure below by Fig. 2-5.
Fig. 2, Fig. 3 are bionic long-fin of the present invention mechanism 1 structural representation.Wherein, bracing frame 11; Steering wheel 12; Contiguous block 13; Contiguous block 13 is connected the gib screw 14 of usefulness with steering wheel 12; Contiguous block 13 is connected the gib screw 15 of usefulness with bracing frame 11; The gib screw 16 of fin ray and steering wheel output shaft; The screw 17 of the fixedly usefulness that cooperates with mechanical fastener; Fin ray 18; Fin face 19.The bracing frame 11 of bionic long-fin mechanism has two parallel support bars that structure is identical, the side of each support bar is provided with the screw that two rows connect, gib screw 15 is inboard fixing with steering wheel 12 both sides and support bar by passing this screw in the lateral, steering wheel 12 both sides and two parallel support bar quadratures.In-plane respectively is provided with several screws on each support bar, and gib screw 17 matches with screw and mechanical fastener 2 is fixed on the last plane of support bar.Fin ray 18 is identical with the number of steering wheel 12, and the output shaft of each steering wheel 12 is connected with the upper end of a fin ray 18, is covered to link together by fexible film between each fin ray 18 to constitute fin face 19.
Fig. 3 has drawn a steering wheel 12, the support bar of bracing frame 11 and the interconnected relationship synoptic diagram of fin ray 18.Among the figure, bracing frame 11; Steering wheel 12; Contiguous block 13; Fin ray 18; The screw 110 that is connected usefulness on the contiguous block with bracing frame; The screw 111 that is connected usefulness on the contiguous block with steering wheel; The screw 112 that is connected usefulness on the bracing frame with contiguous block; The screw 113 that is connected usefulness on the steering wheel with contiguous block; Steering wheel output shaft 114; On the steering wheel output shaft with the fixing screw 115 of usefulness of fin ray; The axle sleeve 116 that cooperates with the steering wheel output shaft on the fin ray; Be used on the fin ray and the fixing screw 117 of usefulness of steering wheel output shaft.
There is a circular discs each fin ray 18 upper end, and circular discs one side vertically is convexly equipped with an axle sleeve 116, and the shaft sleeve inwall is provided with internal tooth, and the external tooth on this internal tooth and the steering wheel output shaft 114 peripheries circle is suitable.Axially there is a screw 115 output shaft 114 outer ends, and there is a screw 117 in axle sleeve 116 bottom centre on circular discs, and screw 115 and screw 117 are suitable.After the axle sleeve 116 of fin ray 18 upper ends being enclosed within on the output shaft 114 of steering wheel 12, revolving screw 117 and screw 115 with gib screw 16 (with reference to Fig. 2) output shaft 114 of fin ray 18 upper ends and steering wheel 12 was fixed together.
Fig. 4 is the structural representation of the mechanical fastener 2 of 3 of bionic long-fin mechanism 1 of the present invention and servomechanisms; Fig. 4 (a) is the stereographic map of mechanical fastener 2, and Fig. 4 (b) is mechanical fastener 2 inner each part synoptic diagram.Wherein, connecting screw rod 21; Cover cap 22; Web joint 23; On the web joint with the fixing screw 24 of usefulness of bionic long-fin mechanism supports frame; The screw 25 that connects cover cap and web joint; Through hole 26 on the cover cap; On the cover cap with the fixing screw 27 of usefulness of web joint; Axis hole 28 on the bearing; Bearing 29; On the web joint with the fixing screw 210 of usefulness of cover cap.
Rectangle web joint 23 middle parts are provided with four screws 210, and screw 210 is suitable with screw 27, with screw 25 successively revolved screw 27, screw 210 is affixed with cover cap 22 and web joint 23.The width of the length of web joint 23 and bracing frame 11 is isometric, the two ends of its length direction respectively are provided with four screws 24, screw 24 is suitable with the screw 17 (with reference to Fig. 2) on the support bar, successively pass screw 24, screw 17 with screw (scheming not shown), mechanical fastener 2 is linked to each other with bionic long-fin mechanism 1.
Fig. 5 is servomechanism 3 structural representations of the present invention; Be the enlarged drawing of suspension bracket bottom surface base plate in the ellipse among Fig. 5.Servomechanism 3 comprises, suspension bracket 31; Triangular guide 32; Lay the supporting object 33 of guide rail; Rolling bearing 34; The screw rod 35 that rolling bearing is connected with suspension bracket; Be fixed in the base plate 36 on the suspension bracket; Mechanical fastener is connected the screw 37 of usefulness with suspension bracket.
Article two, parallel triangular guide 32 places top, pond or supporting object 33 upper ends.
The square frame shape crossbeam two side ends of shaped as frame suspension bracket 31 upper ends respectively is fixed in the middle part of a strip support plate 38, support plate 38 is 60 ° of boundary's bendings downwards with the axis, a through hole (with reference to Fig. 1) is respectively established at the flanging two ends, screw rod 35 passes each through hole and a rolling bearing 34 is connected, and rolling bearing 34 is dynamically connected with triangular guide 32 medial surfaces.
A cube framework is stretched out at the square frame shape crossbeam middle part of shaped as frame suspension bracket 31 upper ends downwards, cube framework bottom surface is installed with a base plate 36, there is a screw 37 at base plate 36 centers, screw 37 matches with the connecting screw rod 21 of mechanical fastener 2 and is spirally connected, or be fixed on the suspension bracket base plate 36 with the screw rod 21 that nut will pass screw 37, mechanical fastener 2 is linked to each other with servomechanism 3.
Fig. 6 has provided the control system structural drawing of bionic long-fin mechanism.Total system by microcontroller, field programmable gate array (FPGA), drive several parts such as starting circuit and form.Generate the rotational angle control command of each fin ray steering wheel in real time by microcontroller, control command data sends to field programmable gate array (FPGA) by microcontroller, convert each steering wheel rotational angle control command to pulse-width signal (pwm signal) that the working control steering wheel is used by FPGA, export to each fin ray control steering wheel after pwm signal amplifies through overdriving and drive the fin ray swing.Provide the pendulum angle order of different steering wheels in real time by microcontroller, by FPGA with drive amplifying circuit, finally form the surge movement of the fin ray and the fin face of bionic long-fin mechanism.
Motion by motor in the control bionic long-fin mechanism can produce thrust, and thrust can make bionic long-fin mechanism drive suspension bracket in the servomechanism along guide rail movement, and also can make bionic long-fin mechanism serve as spool freely to rotate with the screw rod 21 of mechanical fastener 2.
Embodiment
According to the illustrated physical construction of the present invention, control circuit structure, made bionic long fin fluctuating propulsion experimental apparatus.Its major part closed slide 32, suspension bracket 31, bracing frame 11 adopt stainless steel materials to make.Contiguous block 13 is made by aluminium.Fin face 19 has adopted the rubber of 0.5 millimeters thick to make, and fin face 19 is fixed together by bonding agent and fin ray 18.The driving steering wheel 12 of fin ray 18 adopts the S3003 of FUTABA.Control circuit figure as shown in Figure 7, microcontroller adopts AVR series, choosing FPGA is the motor PWM signal generator module, adopts the power supply of rechargeable battery as motor, control circuit.
Claims (8)
1. a bionic long fin fluctuating propulsion experimental apparatus comprises bionic long-fin mechanism, servomechanism and mechanical fastener, moves about and sway in the front and back that can realize bionic long-fin mechanism; It is characterized in that bionic long-fin mechanism comprises bracing frame, most steering wheels, fin ray and fin faces; Bracing frame has two parallel support bars that structure is identical, and each steering wheel two ends is affixed with the inboard quadrature of two parallel support bars respectively;
In-plane is installed with web joint on each support bar, mechanical fastener is fixed on the described web joint of support bar by fastener, and mechanical fastener and bionic long-fin mechanism are connected; Fin ray is identical with the number of steering wheel, and the output shaft of each steering wheel is connected with the upper end of a fin ray, is covered to link together by fexible film between each fin ray to constitute the fin face;
Servomechanism comprises suspension bracket, triangular guide, rolling bearing, base plate;
Article two, parallel triangular guide places top, pond or supporting object upper end;
The square frame shape crossbeam two side ends of suspension bracket upper end is dynamically connected through rolling bearing and triangular guide surface;
A space framework is stretched out at the square frame shape crossbeam middle part of suspension bracket upper end downwards, and the space framework bottom surface is installed with a base plate, and the base plate center links to each other with mechanical fastener, and the relative servomechanism of mechanical fastener can be rotated relatively; Mechanical fastener is connected with servomechanism;
Described mechanical fastener comprises connecting screw rod, hat cover cap, described web joint, a plurality of screw and screw, dish type rolling bearing;
Cap-type hood hd top face center is provided with through hole, and lower end side is evenly equipped with a plurality of screws to being extended with annulus on the annulus; Be provided with a dish type rolling bearing in the cavity volume of hat cover cap, the moving company of subsides of its upper surface and cap-type hood hd top face downside, the hat cover cap can be rotated at dish type rolling bearing upper surface, successively pass dish type rolling bearing center pit, through hole with a connecting screw rod, base plate center with servomechanism is solidly connected again, and mechanical fastener is linked to each other with servomechanism;
Described web joint middle part is provided with a plurality of screws, and a plurality of screws on these a plurality of screws and the annulus are suitable, and it is affixed with hat cover cap and described web joint successively to revolve two relative screws with screw; The length of described web joint and the width of bracing frame are isometric, and the two ends of its length direction respectively are provided with fastener, and mechanical fastener is linked to each other with bionic long-fin mechanism.
2. bionic long fin fluctuating propulsion experimental apparatus as claimed in claim 1, it is characterized in that, described each steering wheel two ends are affixed with the inboard quadrature of two parallel support bars respectively, the side that is each support bar is provided with the screw that two rows connect, gib screw is inboard fixing with steering wheel both sides and support bar by passing this screw in the lateral, steering wheel both sides and two parallel support bar quadratures.
3. bionic long fin fluctuating propulsion experimental apparatus as claimed in claim 1, it is characterized in that, described each steering wheel two ends are affixed with the inboard quadrature of two parallel support bars respectively, be that the steering wheel shell is T-shaped, steering wheel output shaft institute at one end respectively continues to both sides stretches out a boss, side relative with the steering wheel output shaft on the boss is furnished with contiguous block, and at least one screw and at least one screw on the boss on the contiguous block are suitable, and is connected with screw; The side that two contiguous blocks are relative with two support bars of bracing frame respectively is provided with at least two screws, this at least two screw respectively with support bar at least two through holes in the screw that connects of two rows suitable, and each is connected with gib screw, make steering wheel both sides and support bar inboard fixing, and steering wheel two ends and two parallel support bar quadratures.
4. bionic long fin fluctuating propulsion experimental apparatus as claimed in claim 1, it is characterized in that, the output shaft of described each steering wheel is connected with the upper end of a fin ray, be that each fin ray upper end has a circular discs, circular discs one side vertically is convexly equipped with an axle sleeve, the shaft sleeve inwall is provided with internal tooth, and the external tooth on this internal tooth and the steering wheel output shaft periphery circle is suitable;
Axially there is a screw output shaft outer end, and there is a screw in axle sleeve bottom centre on circular discs, and two screws are suitable; After the axle sleeve of fin ray upper end being enclosed within on the output shaft of steering wheel, revolving two screws with gib screw the output shaft of fin ray upper end and steering wheel was fixed together.
5. bionic long fin fluctuating propulsion experimental apparatus as claimed in claim 1, it is characterized in that, the square frame shape crossbeam two side ends of described suspension bracket upper end is dynamically connected through rolling bearing and triangular guide surface, it is the middle part that the square frame shape crossbeam two side ends of suspension bracket upper end respectively is fixed in a strip support plate, support plate is boundary's bending one angle downwards with the axis, a through hole is respectively established at the flanging two ends, and screw rod passes each through hole and a rolling bearing is connected, and rolling bearing and triangular guide medial surface are dynamically connected.
6. as claim 1 or 5 described bionic long fin fluctuating propulsion experimental apparatus, it is characterized in that,
Generate the rotational angle control command of each fin ray steering wheel in real time by microcontroller, control command data sends to field programmable gate array by microcontroller, convert each steering wheel rotational angle control command to pulse-width signal that the working control steering wheel is used by programmable gate array, export to each fin ray control steering wheel after signal amplifies through overdriving and drive the fin ray swing; Provide the pendulum angle order of different steering wheels in real time by microcontroller, by programmable gate array with drive amplifying circuit, finally form the surge movement of the fin ray and the fin face of bionic long-fin mechanism.
7. bionic long fin fluctuating propulsion experimental apparatus as claimed in claim 1, it is characterized in that, described base plate center links to each other with mechanical fastener, be that the base plate center has a screw, screw matches with the connecting screw rod of mechanical fastener and is spirally connected, or be fixed on the suspension bracket base plate with the screw rod that nut will pass the base plate center screw, mechanical fastener is linked to each other with servomechanism.
8. bionic long fin fluctuating propulsion experimental apparatus as claimed in claim 1 is characterized in that, described fastener is bolt, screw.
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| CN2007101774033A CN101435739B (en) | 2007-11-15 | 2007-11-15 | Bionic long fin fluctuating propulsion experimental apparatus |
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| CN2007101774033A CN101435739B (en) | 2007-11-15 | 2007-11-15 | Bionic long fin fluctuating propulsion experimental apparatus |
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| CN102490884A (en) * | 2011-12-01 | 2012-06-13 | 中国科学院合肥物质科学研究院 | Ray-imitating robot body structure with underwater three-dimensional athletic ability |
| CN103192951B (en) * | 2013-02-26 | 2015-12-23 | 国家海洋技术中心 | Hydrofoil preflow push efficiency experimental installation |
| CN104816808B (en) * | 2015-05-25 | 2017-03-08 | 中国科学院自动化研究所 | A kind of long fin underwater propeller of bionical fluctuation |
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| CN209910869U (en) * | 2019-03-21 | 2020-01-07 | 中国科学院自动化研究所 | Test platform for underwater bionic propeller |
| CN110702396B (en) * | 2019-10-28 | 2021-08-20 | 中船黄埔文冲船舶有限公司 | Pressure test tool for fin stabilizer |
| CN111633628A (en) * | 2020-04-22 | 2020-09-08 | 上海沃典工业自动化有限公司 | Ground rail equipment of large robot |
| CN112345204B (en) * | 2020-11-27 | 2022-06-17 | 江苏科技大学 | Underwater bionic fin immersion type propulsion testing device and method |
| CN113155410B (en) * | 2021-03-12 | 2024-03-29 | 西安交通大学 | Fin surface performance test experimental device |
| CN113348973A (en) * | 2021-06-02 | 2021-09-07 | 唐继红 | Fungus class is cultivated and uses water conservation spraying apparatus |
| CN114954877B (en) * | 2022-05-19 | 2023-04-07 | 南京航空航天大学 | Single-mode sandwich type piezoelectric driven oscillating fin device and driving method |
| CN117452806B (en) * | 2023-12-18 | 2024-03-19 | 广东海洋大学 | Course control method of underwater bionic fish robot |
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| CN2549555Y (en) * | 2002-07-04 | 2003-05-07 | 中国科学院自动化研究所 | Remote-control multi-articulation driving bionic machine fish |
| CN1595312A (en) * | 2003-09-10 | 2005-03-16 | 中国科学院自动化研究所 | Motion control method for multi-joint bionic machine fish |
| CN1939805A (en) * | 2005-09-26 | 2007-04-04 | 中国科学院自动化研究所 | Bionic robot fish |
-
2007
- 2007-11-15 CN CN2007101774033A patent/CN101435739B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2549555Y (en) * | 2002-07-04 | 2003-05-07 | 中国科学院自动化研究所 | Remote-control multi-articulation driving bionic machine fish |
| CN1595312A (en) * | 2003-09-10 | 2005-03-16 | 中国科学院自动化研究所 | Motion control method for multi-joint bionic machine fish |
| CN1939805A (en) * | 2005-09-26 | 2007-04-04 | 中国科学院自动化研究所 | Bionic robot fish |
Non-Patent Citations (1)
| Title |
|---|
| 林龙信等.柔性长鳍波动仿生推进器的波动控制研究.信息与控制36 5.2007,36(5),628-633. * |
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