CN103241354A - Robotic fish with power fins and method for realizing swimming action - Google Patents
Robotic fish with power fins and method for realizing swimming action Download PDFInfo
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- CN103241354A CN103241354A CN2013101653763A CN201310165376A CN103241354A CN 103241354 A CN103241354 A CN 103241354A CN 2013101653763 A CN2013101653763 A CN 2013101653763A CN 201310165376 A CN201310165376 A CN 201310165376A CN 103241354 A CN103241354 A CN 103241354A
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Abstract
The invention discloses a robotic fish with power fins and a method for realizing swimming action. The power fins are mainly symmetrically arranged on two sides of the middle of an existing robotic fish and each comprises a power driving mechanism and a power fin wing, wherein the power driving mechanism is arranged in a casing of the robotic fish and comprises a fixed platform, a steering engine support, a power fin steering engine, a hermetic driving device and a connecting mechanism. The power fin steering engines drive rocker rods of the connecting rod mechanisms to swing, and the rocker rods drive the power fin wings to swing, so that high swimming-forward power can be generated for the robotic fish. By skillful mechanical structure, the power fin wings can swing back and forth at different speeds and fin vanes can be opened and closed on the premise of keeping a steering engine constant in steering direction, and thereby the robotic fish can swim forwards, and purposes of high swimming speed and efficiency, low noise and no weed winding are achieved.
Description
Technical field
The present invention relates to a kind of machine fish.
Background technology
Machine fish or title under-water robot are the machines of working in water of a kind of outer image fish.
At present, some machine fishes is adopted imitative fish tail fin profile, and swing provides onward impulse by fin, imitation be the arm stroke of fish or dolphin.But because the elasticity of fish fin, and fish are not easy imitatedly to good controlled of eddy current, make efficient very low.So a lot of machine fishes or under-water robot kinematic velocity are slow, move dumb.Some machine fish or under-water robot adopt screw propeller as propelling unit, twine grass and foreign material easily, and noise are bigger.So the propelling unit of machine fish is the critical component that influences machine piscinity energy.
Along with the scale of the increasing of human undersea search dynamics and aquaculture enlarges, press for a kind of safe, kinematic velocity fast, flexible movements and the little machine fish of noise.
Summary of the invention
Robot fish movement speed is slow, action is dumb, noise is big, inefficient problem, the invention provides a kind of power fin formula machine fish in order to solve.
Technical scheme is: a kind of power fin formula machine fish, formed by upper shell, the fin that drifts along, lower house and tail fin, and it is characterized in that it comprises that also symmetry is located at the power fin of both sides, machine fish middle part; The power fin is made up of the Power train and the power fin wing that are arranged in the machine fish housing; Power train comprises: fixed platform, steering wheel support, power fin steering wheel, leak tightness driving device and connecting rod mechanism; Wherein:
Described steering wheel support is installed on the fixed platform, and power fin steering wheel is installed on the steering wheel support, power fin steering wheel drivening rod mechanism, and connecting rod mechanism is connected with the transmission shaft of leak tightness driving device, and drivening rod mechanism swung back and forth when transmission shaft rotated;
Described connecting rod mechanism comprises crank, connecting rod and rocking bar, and crank is connected with steering wheel dish on the power fin steering wheel; Rocking bar links to each other with the transmission shaft of Power train; By adjusting the length adjustment advanceto returntime ratio of each rod member, make rocking bar dextrorotation rotational speed rate less than left-hand revolution speed;
Described leak tightness driving device comprises interior cover, overcoat and transmission shaft, wherein, overcoat is fixed on the machine fish lower house, its inner chamber bottom is provided with negative thread, top is that the hole is the semisphere inner chamber, transmission shaft top is provided with the semisphere boss that cooperates with the semisphere inner chamber, interior cover top is provided with outside thread, and overcoat is nested together by being threaded with interior cover, and transmission shaft cooperates by sphere with overcoat realizes sealing;
Described power fin wing is made up of wing frame and the some wing leaves that are arranged on the wing frame; Concrete structure is, the upper and lower frame of wing frame is provided with corresponding axis hole, and a side of wing leaf is provided with axle, and the wing leaf is installed on the axis hole of upper and lower frame by axle, and the wing leaf is towards the rear and can swing; On the upper and lower frame of wing frame, also be provided with position-limitting pin, by the angle of position-limitting pin restriction wing leaf rotation.
This machine fish forward motion is achieved in that the rocking bar swing of power fin steering wheel drivening rod mechanism, rocking bar drives the swing of power fin wing, when power fin wing during to tail swing, the wing leaf is rotating closed under the effect of water resistance, thereby make power fin wing form the plane of a complete closure, form antagonistic force with water, make the machine fish produce very big onward impulse; When power fin wing was swung to head, the wing leaf is Unscrew under the effect of water resistance, makes and remove resistance in moving on.In addition because quadric linkage has good advanceto returntime ratio, make power fin wing to the speed of tail swing greater than the speed to the head swing, can obtain bigger advancing and make a concerted effort.
The present invention has following useful technique effect:
By physical construction cleverly, realize that steering wheel turns to the swing of the front and back friction speed of finishing power fin wing under the constant prerequisite and the switching of wing leaf, thereby the machine fish is pushed ahead, reach that kinematic velocity is fast, efficient is high, noise is little and the purpose of straw winding.
Description of drawings
Fig. 1 is the assembly drawing of machine fish embodiment of the present invention;
Fig. 2 is the assembly drawing after Fig. 1 opens upper shell;
Fig. 3 is the steering wheel external structure;
Fig. 4 a is leak tightness driveline front view;
Fig. 4 b is leak tightness driveline birds-eye view;
Fig. 4 c is leak tightness driveline left view;
Fig. 4 d is leak tightness driveline block diagram;
Fig. 5 is power fin wing block diagram;
Fig. 6 is the connecting rod mechanism constructional drawing;
Fig. 7 is coupler structure figure;
Fig. 8 is the tail fin transmission diagram.
Among the figure, the 1-upper shell; 2-power fin wing, the 201-upper ledge; 202 wing leaves; The 203-position-limitting pin; The 204-lower frame; 205 pillar stiffeners; The 206-screw; The 3-fin that drifts along; The 4-lower house; The 5-tail fin; 501-tail fin main body; 502-tail fin link span; 601-tail fin steering wheel; 6011-steering wheel steering wheel; 6012 steering wheel fixed orifices; 602-power fin steering wheel; The 603-fin steering wheel that drifts along; The 7-power supply; The 8-fixed platform; 9-leak tightness driving device; Cover in the 901-; The 902-overcoat; The 903-transmission shaft; 10-steering wheel support; The 11-connecting rod mechanism; The 1101-crank; The 1102-connecting rod; The 1103-rocking bar; The 12-coupler.
The specific embodiment
As shown in Figure 1 and Figure 2, a kind of power fin formula machine fish, the power fin that is located at both sides, machine fish middle part by upper shell 1, the fin 3 that drifts along, lower house 4, tail fin 5 and symmetry is formed; Wherein tail fin 5 is driven by the transmission shaft 903 of tail fin steering wheel 601 in coupler 12 and leak tightness driving device 9 as shown in Figure 8; The fin 3 that drifts along is driven by the transmission shaft 903 of fin steering wheel 603 in coupler 12 and leak tightness driving device 9 that drift along; The power fin is made up of the Power train and the power fin wing 2 that are arranged in the machine fish housing; Upper shell 1 and lower house 4 peripheries constitute the housing of imitating the fish profile with bolted, and the junction is by the sealing band of placing and sealant sealing.Power supply 7 is a kind of rechargable power supplies, can be arranged in the locus of lower house 4.
Above-mentioned Power train comprises: fixed platform 8, steering wheel support 10, power fin steering wheel 602, leak tightness driving device 9 and connecting rod mechanism 11; Described fixed platform 8 is fixed on the lower house 4, steering wheel support 10 is installed on the fixed platform 8, power fin steering wheel 602 is installed on the steering wheel support 10, power fin steering wheel 10 drivening rod mechanisms 11, connecting rod mechanism 11 is connected with the transmission shaft 903 of leak tightness driving device 9, and transmission shaft 903 drives power fin wing 2 and swings back and forth;
As shown in Figure 3, described tail fin steering wheel 601, power fin steering wheel 602 are all identical with Fig. 3 with the fin steering wheel construction profile of drifting along; 6,012 two structures of steering wheel steering wheel 6011 and steering wheel fixed orifice are arranged on the steering wheel.Four holes on its medium power fin steering wheel steering wheel 6011 are used for and coupler 12 cooperates, and power fin steering wheel fixed orifice 6012 is fixed on the fixed platform 8 by steering wheel support 10.
Shown in Fig. 4 a, 4b, 4c, 4d, leak tightness driving device 9 is that transmission shaft 903 is installed in the sealing shroud; Sealing shroud is made up of the interior cover 901 of bottom and the overcoat 902 on top; Wherein, overcoat 902 inner chamber bottoms are provided with negative thread, top is that the hole is the semisphere inner chamber, transmission shaft 903 tops are provided with the semisphere boss that cooperates with the semisphere inner chamber, interior cover 901 tops are provided with outside thread, overcoat 902 is nested together by being threaded with interior cover 901, and transmission shaft 903 cooperates by sphere with overcoat 902 realizes sealing.Described interior cover 901 bottom surfaces are provided with four breach and make things convenient for the degree of tightness screw thread;
Described transmission shaft 903 tops are provided with circular hole and large semi-circular boss, circular hole is used for being connected with rocking bar 1103 with coupler 12 after inserting pin, transmission shaft 903 bottoms are the rhombus boss, are used for and the diamond hole of the lower frame 204 of power fin wing 2 cooperates, and play the effect of transferring power.
As shown in Figure 6, above-mentioned connecting rod mechanism 11 comprises crank 1101, connecting rod 1102 and rocking bar 1103; There are three holes to be used for being connected with steering wheel dish on the power fin steering wheel 602 on the crank 1101; Rocking bar 1103 links to each other with the transmission shaft 903 of leak tightness driving device 9 by the large semi-circular hole; By adjusting the adjustable in length advanceto returntime ratio of each rod member, make rocking bar 1103 dextrorotation rotational speed rates less than left-hand revolution speed.
As shown in Figure 7, the large semi-circular hole in the round boss of described coupler 12 is used for and transmission shaft 901 is connected, and four holes on the disk of coupler 12 are used for being connected with steering wheel.
In Fig. 2, tail fin 5 can move under the drive of tail fin steering wheel 601, just can drive tail fin 5 when tail fin steering wheel 601 does not stop rotating back and forth swings back and forth, tail fin swing when being similar to fish and advancing, travel forward thereby also can promote this machine fish, make that originally machine has efficiently and the ability of high forward under water.
Claims (2)
1. a power fin formula machine fish is made up of upper shell, the fin that drifts along, lower house and tail fin, it is characterized in that, it comprises that also symmetry is located at the power fin of both sides, machine fish middle part; The power fin is made up of the Power train and the power fin wing that are arranged in the machine fish housing; Power train comprises: fixed platform, steering wheel support, power fin steering wheel, leak tightness driving device and connecting rod mechanism; Wherein:
Described steering wheel support is installed on the fixed platform, and power fin steering wheel is installed on the steering wheel support, power fin steering wheel drivening rod mechanism, and connecting rod mechanism is connected with the transmission shaft of leak tightness driving device, and drivening rod mechanism swung back and forth when transmission shaft rotated;
Described connecting rod mechanism comprises crank, connecting rod and rocking bar, and crank is connected with steering wheel dish on the power fin steering wheel; Rocking bar links to each other with the transmission shaft of Power train; By adjusting the length adjustment advanceto returntime ratio of each rod member, make rocking bar dextrorotation rotational speed rate less than left-hand revolution speed;
Described leak tightness driving device comprises interior cover, overcoat and transmission shaft, wherein, overcoat is fixed on the machine fish lower house, its inner chamber bottom is provided with negative thread, top is that the hole is the semisphere inner chamber, transmission shaft top is provided with the semisphere boss that cooperates with the semisphere inner chamber, interior cover top is provided with outside thread, and overcoat is nested together by being threaded with interior cover, and transmission shaft cooperates by sphere with overcoat realizes sealing;
Described power fin wing is made up of wing frame and the some wing leaves that are arranged on the wing frame; Concrete structure is, the upper and lower frame of wing frame is provided with corresponding axis hole, and a side of wing leaf is provided with axle, and the wing leaf is installed on the axis hole of upper and lower frame by axle, and the wing leaf is towards the rear and can swing; On the upper and lower frame of wing frame, also be provided with position-limitting pin, by the angle of position-limitting pin restriction wing leaf rotation.
2. the implementation method of power fin formula machine fish forward motion as claimed in claim 1, it is characterized in that, when advancing, the swing of the rocking bar of power fin steering wheel drivening rod mechanism, rocking bar drive the swing of power fin wing, when power fin wing during to tail swing, the wing leaf is rotating closed under the effect of water resistance, thereby make power fin wing form the plane of a complete closure, form antagonistic force with water, make the machine fish produce very big onward impulse; When power fin wing was swung to head, the wing leaf is Unscrew under the effect of water resistance, makes and remove resistance in moving on; Because quadric linkage has good advanceto returntime ratio, make power fin wing to the speed of tail swing greater than the speed to the head swing, can obtain bigger advancing and make a concerted effort.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310165376.3A CN103241354B (en) | 2013-05-07 | 2013-05-07 | Robotic fish with power fins and method for realizing swimming action |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310165376.3A CN103241354B (en) | 2013-05-07 | 2013-05-07 | Robotic fish with power fins and method for realizing swimming action |
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| CN103241354A true CN103241354A (en) | 2013-08-14 |
| CN103241354B CN103241354B (en) | 2015-06-03 |
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| CN201310165376.3A Expired - Fee Related CN103241354B (en) | 2013-05-07 | 2013-05-07 | Robotic fish with power fins and method for realizing swimming action |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104149954A (en) * | 2014-07-25 | 2014-11-19 | 苏州大学应用技术学院 | Intelligent ornamental bionic fish and method for controlling same |
| CN104743088A (en) * | 2015-03-30 | 2015-07-01 | 山东科技大学 | Bionic underwater robot fish driving mechanism and working method thereof |
| CN105030298A (en) * | 2015-06-19 | 2015-11-11 | 王晶怡 | Miniature cable-free swimming robot |
| CN105197218A (en) * | 2015-10-15 | 2015-12-30 | 哈尔滨工程大学 | Suspension-structured oar |
| CN111976932A (en) * | 2020-08-20 | 2020-11-24 | 中国科学院自动化研究所 | Dolphin-like propelling mechanism |
| CN113148078A (en) * | 2021-05-17 | 2021-07-23 | 沈阳农业大学 | Machine fish operating under mud |
| CN114802660A (en) * | 2022-04-08 | 2022-07-29 | 中国科学院深圳先进技术研究院 | Underwater robot |
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| CN203306216U (en) * | 2013-05-07 | 2013-11-27 | 山东科技大学 | Power fin type robotic fish |
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2013
- 2013-05-07 CN CN201310165376.3A patent/CN103241354B/en not_active Expired - Fee Related
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104149954A (en) * | 2014-07-25 | 2014-11-19 | 苏州大学应用技术学院 | Intelligent ornamental bionic fish and method for controlling same |
| CN104149954B (en) * | 2014-07-25 | 2017-06-13 | 苏州大学应用技术学院 | A kind of intelligence views and admires Biomimetic Fish and its control method |
| CN104743088A (en) * | 2015-03-30 | 2015-07-01 | 山东科技大学 | Bionic underwater robot fish driving mechanism and working method thereof |
| CN104743088B (en) * | 2015-03-30 | 2016-10-19 | 山东科技大学 | A kind of bionical underwater fish drive mechanism and method of work thereof |
| CN105030298A (en) * | 2015-06-19 | 2015-11-11 | 王晶怡 | Miniature cable-free swimming robot |
| CN105197218A (en) * | 2015-10-15 | 2015-12-30 | 哈尔滨工程大学 | Suspension-structured oar |
| CN111976932A (en) * | 2020-08-20 | 2020-11-24 | 中国科学院自动化研究所 | Dolphin-like propelling mechanism |
| CN111976932B (en) * | 2020-08-20 | 2021-10-08 | 中国科学院自动化研究所 | Dolphin-like propelling mechanism |
| CN113148078A (en) * | 2021-05-17 | 2021-07-23 | 沈阳农业大学 | Machine fish operating under mud |
| CN113148078B (en) * | 2021-05-17 | 2023-11-10 | 沈阳农业大学 | Robotic fish running under mud |
| CN114802660A (en) * | 2022-04-08 | 2022-07-29 | 中国科学院深圳先进技术研究院 | Underwater robot |
| CN114802660B (en) * | 2022-04-08 | 2024-01-12 | 中国科学院深圳先进技术研究院 | Underwater robot |
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| CN103241354B (en) | 2015-06-03 |
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Granted publication date: 20150603 Termination date: 20190507 |