CN104118549B - Simple joint machine fish and underwater propulsion platform - Google Patents
Simple joint machine fish and underwater propulsion platform Download PDFInfo
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- CN104118549B CN104118549B CN201410392357.9A CN201410392357A CN104118549B CN 104118549 B CN104118549 B CN 104118549B CN 201410392357 A CN201410392357 A CN 201410392357A CN 104118549 B CN104118549 B CN 104118549B
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- shell body
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- simple joint
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Abstract
Simple joint machine fish of the present invention and underwater propulsion platform relate to the propeller in a kind of water.Its purpose is to provide a kind of simple in construction, low cost, simple joint machine fish easy and simple to handle and underwater propulsion platform.Simple joint machine fish of the present invention and underwater propulsion platform include shell body, bionic coatings mechanism, power source module, communication control module and attitude regulation mechanism, wherein bionic coatings mechanism includes tail fin, c-type skeleton and upper and lower main shaft, tail fin is fixedly connected on the rear end of c-type skeleton, and the outer end of upper and lower main shaft is fixing with the two ends of c-type skeleton respectively to be connected；Power source module includes battery and propelling drive apparatus, and the outfan of propelling drive apparatus is connected with the inner of upper and lower main shaft；Communication control module includes integrated master control borad and antenna；Attitude regulation mechanism includes rotate in a circumferential direction driving means and the counterweight that rotates in a circumferential direction being arranged in shell body, and the driving means that rotates in a circumferential direction rotates for driving the axis in the counterweight direction before and after shell body that rotates in a circumferential direction.
Description
Technical field
The present invention relates to a kind of propeller acted directly in water, particularly relate to the underwater robot of a kind of bionical Fish.
Background technology
Along with the development of human civilization, the land resources can exploited and utilize reduces and exhausted the most day by day.Ocean area takes up an area ball
The 71% of area, the living resources that are richly stored with in ocean and mineral resources.21 century is the century of ocean, human development sea
Ocean and the step utilizing ocean, along with the development of science and technology is gradually accelerated.There is marine surveys, seabed is detected, ocean salvage, sea
Bottom pipeline detection and under water investigation and the underwater robot of following function, it has also become explore ocean, exploitation ocean and ocean and prevent
The important tool defended.
Bionic machine fish can carry out for a long time, on a large scale, underwater performance that operating mode is more complicated, may be used for mobility requirement
Higher occasion, carries out the many occasions of marine organisms investigation, sea floor exploration and ocean lifesaving etc..Military aspect, due to bionical
The machine fish form of expression on sonar is almost identical with biological Fish, has noise low, and little to environmental perturbation, enemy is not easy
The features such as discovery, this is highly advantageous to hidden in view of the plurality of advantages of bionic machine fish, and Chinese scholars increasingly payes attention to Novel bionic
The research and development of machine fish, achieve a lot of interim achievement, devise various machine fish model machine, machine fish
Theoretical and experimentation has faded in scale.
At present, the propulsion and steering of domestic and international bionic machine fish mainly relies on the cooperation of two-freedom pectoral fin and tail fin to realize phase
The action answered, rising dive relies primarily on pectoral fin, change center of gravity or water storehouse mode and realizes, and these modes are required for more complicated
Frame for movement and control program, i.e. have influence on the mobility of machine fish, be also unfavorable for that bionic machine fish is in the middle of fan
Popularize and promote.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of simple in construction, low cost, simple joint machine fish easy and simple to handle and water
Lower propelling platform.
Simple joint machine fish of the present invention, including shell body, bionic coatings mechanism, power source module and communication control module, its
Described in bionic coatings mechanism include tail fin, c-type skeleton and upper and lower main shaft, after the two ends of described c-type skeleton are positioned at shell body
The upper and lower both sides in portion, described tail fin is fixedly connected on the rear end of c-type skeleton, the outer end of described upper and lower main shaft respectively with c-type
The two ends of skeleton are fixing to be connected, and the inner of upper and lower main shaft enters in shell body through the axis hole at shell body rear portion；Described kinetic force
Source module includes that battery and propelling drive apparatus, described battery and propelling drive apparatus are fixedly mounted in shell body, described propelling
The outfan of driving means is connected with the inner of upper and lower main shaft, is used for driving upper and lower main shaft reciprocating rotary；Described control is led to
News module includes that integrated master control borad and antenna, described antenna are fixedly mounted on shell body, and described integrated master control borad is fixed on shell
Internal；
Rotating in a circumferential direction that described machine fish also includes that attitude regulation mechanism, described attitude regulation mechanism include being arranged in shell body is driven
Dynamic device and the counterweight that rotates in a circumferential direction, described in rotate in a circumferential direction driving means for driving the counterweight direction before and after shell body that rotates in a circumferential direction
Axis rotate.
Simple joint machine fish of the present invention, the wherein said driving means that rotates in a circumferential direction includes front retainer ring, rear retainer ring and rotary part,
Described front retainer ring and rear retainer ring are relatively fixed on the inwall of shell body, and the face that front retainer ring is relative with rear retainer ring is offered
There is annular groove, in described annular groove, be respectively arranged with roller, connected by connecting rod between two described rollers, described week
Being arranged in connecting rod to rotating weight, described rotary part is arranged in front retainer ring or rear retainer ring, and is connected with connecting rod
Connect.
Simple joint machine fish of the present invention, wherein said upper and lower main shaft is installed with ring for fixing at the axis hole of shell body, institute
State and on the main shaft inside ring for fixing, be set with elastic seal ring, between described elastic seal ring and ring for fixing, circlip is installed.
Simple joint machine fish of the present invention, wherein said propelling drive apparatus is steering wheel, and described steering wheel is fixedly mounted by steering wheel support
In shell body, the inner of described upper main shaft is fixedly connected with upper chuck, and the lower surface of upper chuck is provided with some projections, institute
State and on the outfan of steering wheel, be fixedly installed lower chuck, the edge of described lower chuck is provided with the some and protruding draw-in groove matched,
Described upper chuck fits with lower chuck, described some protrudes out in corresponding draw-in groove.
Simple joint machine fish of the present invention, wherein said battery is fixedly mounted in shell body by battery bracket, described integrated master control
Plate is fixedly mounted on above battery bracket.
Simple joint machine fish of the present invention, wherein said shell body includes procapsid, back casing, thread bush and bonnet, described screw thread
It is respectively arranged with female thread, the rear end of described procapsid and the front end of back casing on two ends before and after the inner surface of set to be respectively arranged with
External screw thread, procapsid and back casing are threadeded with two ends before and after thread bush respectively, and described bonnet is threaded in back casing
Rear end, the front end of described procapsid is hemisphere build.
Simple joint machine fish of the present invention, wherein said front retainer ring and rear retainer ring are fixed on procapsid and back cover by snap fit respectively
On the inwall of body, described steering wheel support is fixed on the inwall of back casing by snap fit and inserting slot construction, and described battery bracket passes through
Bolt and inserting slot construction are fixed on the inwall of back casing, and described integrated master control borad is fixed on battery by bolt and coupler construction and props up
The upper surface of frame.
Simple joint machine fish of the present invention, the junction of wherein said procapsid, thread bush and back casing is respectively arranged with sealing ring；
Charging connector and inflatable interface are installed on described back casing.
Simple joint machine fish of the present invention, symmetric figure centered by the cross section of wherein said shell body: circular, oval, square
Shape or regular polygon.
Underwater propulsion platform of the present invention, including at least two simple joint machine fish, passes through between described adjacent simple joint machine fish
Connect the fixing connection of ring.
Simple joint machine fish difference from prior art of the present invention be simple joint machine fish of the present invention only with tail fin as single
Propulsive mechanism, simultaneously attitude regulation structure is installed in shell body, the driving means that rotates in a circumferential direction in attitude regulation structure can
To drive the counterweight axis rotation around shell body that rotates in a circumferential direction, make machine fish certain angle of axis rolling around shell body in water
Degree reaches to adjust the purpose of attitude in water, by the change of attitude in water and the cooperation of tail fin, such that it is able to realize machine fish at water
In carry out advancing, turn, float and the action such as dive.Due to the simple in construction of the propulsive mechanism of simple joint machine fish of the present invention,
Make the good seal performance of shell body, low cost, it is easy to control.At the same time it can also be by multiple simple joint machine fishs are carried out
Connect composition underwater propulsion platform side by side, be used for carrying other underwater installations.
Simple joint machine fish and underwater propulsion platform to the present invention are described further below in conjunction with the accompanying drawings.
Accompanying drawing explanation
Fig. 1 is the front view of simple joint machine fish of the present invention；
Fig. 2 is the top view of simple joint machine fish of the present invention；
Fig. 3 a is the side view of procapsid in simple joint machine fish of the present invention；
Fig. 3 b is the axis side view of procapsid in simple joint machine fish of the present invention；
Fig. 4 is the axis side view of thread bush in simple joint machine fish of the present invention；
Fig. 5 a is the side view of back casing in simple joint machine fish of the present invention；
Fig. 5 b is the axis side view of back casing in simple joint machine fish of the present invention；
Fig. 6 is the axis side view of bonnet in simple joint machine fish of the present invention；
Fig. 7 is the axis side view (removal shell body) of simple joint machine fish of the present invention；
Fig. 8 is bionic coatings mechanism and the decomposition texture schematic diagram of propelling drive apparatus in simple joint machine fish of the present invention；
Fig. 9 is battery and the axis side view of battery bracket in simple joint machine fish of the present invention；
Figure 10 is the axis side view of attitude regulation structure in simple joint machine fish of the present invention；
Figure 11 is the structural representation of underwater propulsion platform of the present invention.
Detailed description of the invention
Simple joint machine fish of the present invention and underwater propulsion platform include shell body, bionic coatings mechanism, power source module, control
Communication module and attitude regulation mechanism, wherein power source module, communication control module and attitude regulation mechanism are arranged on shell body
In, bionic coatings mechanism is connected with power source module, is arranged on rear outside shell body.
As shown in Figure 1, Figure 2, shown in Fig. 3 b, Fig. 4, Fig. 5 b and Fig. 6, the cross section of shell body is circular, before shell body includes
Housing 501, back casing 502, thread bush 503 and bonnet 504, be respectively provided with on two ends before and after the inner surface of thread bush 503
Having female thread, the rear end of procapsid 501 and the front end of back casing 502 are respectively arranged with external screw thread, procapsid 501 and back casing
502 threaded with two ends before and after thread bush 503 respectively, and bonnet 504 is threaded in the rear end of back casing 502, fore shell
The junction of body 501, thread bush 503 and back casing 502 is respectively arranged with sealing ring 505, and back casing 502 is provided with charging
Joint 506 and inflatable interface 507.The threaded assembling made between shell body each several part is easier, and each several part junction is arranged
Sealing ring make the sealing property of shell body more preferable.
As shown in Fig. 1, Fig. 7 and Fig. 8, bionic coatings mechanism include tail fin 101, c-type skeleton 102 and upper and lower main shaft 103,
104, the two ends of c-type skeleton 102 are positioned at the upper and lower both sides at shell body rear portion, and tail fin 101 is fixedly connected on c-type skeleton 102
Rear end, the outer end of upper and lower main shaft 103,104 is fixing with the two ends of c-type skeleton 102 respectively to be connected, upper and lower main shaft 103,
The inner of 104 enters in shell body through the axis hole at shell body rear portion.Upper and lower main shaft 103,104 passes at the axis hole of shell body
Be installed with ring for fixing 105, the main shaft inside ring for fixing 105 be set with elastic seal ring 106, elastic seal ring 106 with
Circlip 107 is installed between ring for fixing 105.
Power source module includes battery 201 and propelling drive apparatus, and propelling drive apparatus uses steering wheel 202, and steering wheel 202 is solid
Dingan County is contained in steering wheel support 203, and the inner of upper main shaft 103 is fixedly connected with upper chuck 108, the lower surface of upper chuck 108
On be provided with some protruding 109, the outfan of steering wheel 202 is fixedly installed lower chuck 204, the edge of lower chuck 204 sets
Being equipped with some and protruding 109 draw-in grooves 205 matched, upper chuck 108 fits with lower chuck 204, and some protruding 109 enter
Enter in corresponding draw-in groove 205.Shown in Fig. 5 a, the back lower inwall of back casing 502 is provided with some horizontal propping up
Stay 508, steering wheel support 203 inserts, by the connecting plate of side and bottom, the slot that back casing 502 inner support bar 508 is constituted
In, and by the snap fit 207 of steering wheel support 203 side, steering wheel support 203 is fixed in back casing 502.Steering wheel 202
Outfan drives lower chuck 204 to swing, and lower chuck 204 drives upper chuck 108, upper main shaft 103 to rotate, and upper main shaft 103 carries
C-type skeleton 102 and tail fin 101 swings, thus provide power to machine fish.
As shown in Fig. 1, Fig. 7 and Fig. 9, battery 201 is fixedly mounted in the battery bracket 206 of rectangle, battery bracket 206
Both sides be provided with bolt installing plate 208, shown in Fig. 5 a, the middle part inwall of back casing 502 is provided with a pair horizontal
Gripper shoe 509, one end of gripper shoe 509 is provided with bolt fixed plate 510, and the bottom of battery bracket 206 is sitting in gripper shoe 509
Upper surface on, bolt installing plate 208 is relative with bolt fixed plate 510 fits, and is bolted, thus is propped up by battery
Frame 206 is fixedly mounted in back casing 502.Communication control module includes integrated master control borad 301 and antenna 302, antenna 302
Being fixedly mounted on shell body, integrated master control borad 301 is fixed on the upper surface of battery bracket 206 by bolt and coupler construction.
As illustrated in fig. 7 and fig. 10, attitude regulation mechanism includes that be arranged in shell body rotates in a circumferential direction driving means and rotate in a circumferential direction
Counterweight, the driving means that rotates in a circumferential direction rotates for driving the axis in the counterweight direction before and after shell body that rotates in a circumferential direction.Rotate in a circumferential direction
Driving means includes front retainer ring 401, rear retainer ring 402 and rotary part, front retainer ring 401 and the one of rear retainer ring 402
Some snap fits 404 it are respectively arranged with in the circumference of side, shown in Fig. 3 b and Fig. 5 b, procapsid 501 and back casing 502 interior
Some card articles 511 it are provided with, front retainer ring 401 and rear retainer ring 402 joining by snap fit 404 and card article 511 respectively on wall
Close and be fixed on the inwall of procapsid 501 and back casing 502.Offer on the face that front retainer ring 401 is relative with rear retainer ring 402
There is annular groove 403, in annular groove 403, be respectively arranged with roller, connected by connecting rod between two rollers, circumference rotation
Turning counterweight to be made up of some lamellar balancing weights 405, balancing weight 405 is arranged in connecting rod, and rotary part is arranged on front retainer ring
On 401, and it is connected with connecting rod.By the rotation of rotary part, drive connecting rod along front retainer ring 401 and rear fixing
The annular groove 403 of ring 402 slides, and makes the counterweight center axis thereof around shell body that rotates in a circumferential direction, thus changes machine fish
Position of centre of gravity in the circumferential, regulates machine fish attitude in water, adds and the coordinating of tail fin 101, it is achieved machine fish exists
Water advances, turn to, float and the action of dive.
Wherein, the rotary part in attitude regulation mechanism can have multiple concrete form, such as planetary wheeling mechanism, its objective is to lead to
The rotation crossing self certain part drives the counterweight that rotates in a circumferential direction to rotate around shell body axis.It addition, at battery bracket 206 and steering wheel
When 202 supports are installed, the center of gravity of battery 201 and steering wheel 202 will be made to be positioned on the axis of shell body as far as possible, reduce machine fish
Attitude change too much affected by battery 201 and steering wheel 202 center of gravity.The shape of cross section of shell body than circular,
Can also be other centrosymmetric images, such as: square, oval or regular polygon.
As shown in figure 11, utilize connection ring 6 to be linked together by several simple joint machine fishs and constitute underwater propulsion platform,
For delivering other underwater installations, connecting ring 6 is 8 font rings, can be enclosed within outside the shell body of two simple joint machine fishs simultaneously
Two simple joint machine fishs are linked together by portion.
Embodiment described above is only to be described the preferred embodiment of the present invention, not carries out the scope of the present invention
Limiting, on the premise of designing spirit without departing from the present invention, technical scheme is made by those of ordinary skill in the art
Various deformation and improvement, all should fall in the protection domain that claims of the present invention determines.
Claims (9)
1. a simple joint machine fish, including shell body, bionic coatings mechanism, power source module and communication control module, its
It is characterised by: described bionic coatings mechanism includes tail fin (101), c-type skeleton (102) and upper and lower main shaft (103,104),
The two ends of described c-type skeleton (102) are positioned at the upper and lower both sides at shell body rear portion, and described tail fin (101) is fixedly connected on C
The rear end of type skeleton (102), the outer end of described upper and lower main shaft (103,104) respectively with the two ends of c-type skeleton (102)
Fixing connection, the inner of upper and lower main shaft (103,104) enters in shell body through the axis hole at shell body rear portion；Described power
Energy module includes that battery (201) and propelling drive apparatus, described battery (201) and propelling drive apparatus fixedly mount outside
In housing, the outfan of described propelling drive apparatus is connected with the inner of upper and lower main shaft (103,104), be used for driving,
Lower main axis (103,104) reciprocating rotary；Described communication control module includes integrated master control borad (301) and antenna (302), institute
Stating antenna (302) to be fixedly mounted on shell body, described integrated master control borad (301) is fixed in shell body；
Rotating in a circumferential direction that described machine fish also includes that attitude regulation mechanism, described attitude regulation mechanism include being arranged in shell body is driven
Dynamic device and the counterweight that rotates in a circumferential direction, described in rotate in a circumferential direction driving means for driving the counterweight direction before and after shell body that rotates in a circumferential direction
Axis rotate, described in the driving means that rotates in a circumferential direction include front retainer ring (401), rear retainer ring (402) and rotary part, institute
State front retainer ring (401) and rear retainer ring (402) is relatively fixed on the inwall of shell body, front retainer ring (401) and rear solid
Determining to offer on the face that ring (402) is relative annular groove (403), described annular groove is respectively arranged with roller in (403),
Connected by connecting rod between two described rollers, described in the counterweight that rotates in a circumferential direction be arranged in connecting rod, described rotary part is installed
In front retainer ring (401) or rear retainer ring (402), and it is connected with connecting rod.
Simple joint machine fish the most according to claim 1, it is characterised in that: described upper and lower main shaft (103,104) is worn
Cross and at the axis hole of shell body, be installed with ring for fixing (105), the main shaft of described ring for fixing (105) inner side is set with elastic close
Seal (106), is provided with circlip (107) between described elastic seal ring (106) and ring for fixing (105).
Simple joint machine fish the most according to claim 1, it is characterised in that: described propelling drive apparatus is steering wheel (202),
Described steering wheel (202) is fixedly mounted in shell body by steering wheel support (203), and the inner of described upper main shaft (103) is fixed
Connect and have upper chuck (108), the lower surface of upper chuck (108) is provided with some projections (109), described steering wheel (202)
Outfan on be fixedly installed lower chuck (204), the edge of described lower chuck (204) is provided with some with protruding (109)
The draw-in groove (205) matched, described upper chuck (108) fits with lower chuck (204), and described some projections (109) are entered
Enter in corresponding draw-in groove (205).
Simple joint machine fish the most according to claim 3, it is characterised in that: described battery (201) passes through battery bracket
(206) being fixedly mounted in shell body, described integrated master control borad (301) is fixedly mounted on battery bracket (206) top.
Simple joint machine fish the most according to claim 4, it is characterised in that: described shell body include procapsid (501),
Back casing (502), thread bush (503) and bonnet (504), divide on two ends before and after the inner surface of described thread bush (503)
Not being provided with female thread, the rear end of described procapsid (501) and the front end of back casing (502) are respectively arranged with external screw thread, front
Housing (501) and back casing (502) are threadeded with two ends before and after thread bush (503) respectively, described bonnet (504)
Being threaded in the rear end of back casing (502), the front end of described procapsid (501) is hemisphere build.
Simple joint machine fish the most according to claim 5, it is characterised in that: described front retainer ring (401) and rear fixing
Ring (402) is fixed on by snap fit on the inwall of procapsid (501) and back casing (502) respectively, described steering wheel support (203)
Being fixed on the inwall of back casing (502) by snap fit and inserting slot construction, described battery bracket (206) passes through bolt and slot
Structure is fixed on the inwall of back casing (502), and described integrated master control borad (301) is fixed on electricity by bolt and coupler construction
The upper surface of pond support (206).
Simple joint machine fish the most according to claim 5, it is characterised in that: described procapsid (501), thread bush (503)
It is respectively arranged with sealing ring (505) with the junction of back casing (502)；Described back casing is provided with charging connector on (502)
And inflatable interface (507) (506).
Simple joint machine fish the most according to claim 5, it is characterised in that: symmetrical centered by the cross section of described shell body
Figure: circular, oval, square or regular polygon.
9. a underwater propulsion platform, it is characterised in that: include the simple joint machine fish described at least two claim 8, phase
Between adjacent described simple joint machine fish, by connecting, ring (6) is fixing to be connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410392357.9A CN104118549B (en) | 2014-08-11 | 2014-08-11 | Simple joint machine fish and underwater propulsion platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410392357.9A CN104118549B (en) | 2014-08-11 | 2014-08-11 | Simple joint machine fish and underwater propulsion platform |
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| Publication Number | Publication Date |
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| CN104118549A CN104118549A (en) | 2014-10-29 |
| CN104118549B true CN104118549B (en) | 2016-08-17 |
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| CN201410392357.9A Expired - Fee Related CN104118549B (en) | 2014-08-11 | 2014-08-11 | Simple joint machine fish and underwater propulsion platform |
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Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105083511A (en) * | 2015-09-24 | 2015-11-25 | 潘济安 | Bionic fishtail propelling device |
| CN105711778B (en) * | 2016-03-11 | 2018-01-12 | 北京大学 | New autonomous type bionic machine fish |
| CN105811078A (en) * | 2016-03-29 | 2016-07-27 | 中国计量学院 | Retractable satellite antenna of underwater aircraft |
| CN106043644A (en) * | 2016-06-07 | 2016-10-26 | 北京大学 | Family ostraciidae fish-based double degree-of-freedom bionic caudal fin propulsion mechanism |
| CN106347609B (en) * | 2016-11-23 | 2018-03-16 | 哈尔滨工业大学 | Dish-shaped underwater spectroradiometer |
| CN106697240A (en) * | 2016-12-27 | 2017-05-24 | 中电科海洋信息技术研究院有限公司 | Bionic fish-type robot propulsion system and bionic fish-type robot |
| CN106828848B (en) * | 2017-02-06 | 2018-07-24 | 厦门大学 | The skeleton more strings of one kind affecting underwater fish |
| WO2018195918A1 (en) * | 2017-04-28 | 2018-11-01 | 博雅工道（北京）机器人科技有限公司 | Single-joint water machine fish |
| CN109131809A (en) * | 2018-08-28 | 2019-01-04 | 西北工业大学 | It is a kind of to swing the unmanned vehicles promoted based on tail bone |
| CN110539866B (en) * | 2019-07-26 | 2023-11-10 | 北京精密机电控制设备研究所 | Combined propeller |
| CN112896457A (en) * | 2021-01-11 | 2021-06-04 | 白城师范学院 | Underwater auxiliary rescue robot fish and control system thereof |
| CN112896473B (en) * | 2021-02-20 | 2022-08-12 | 天津大学 | Bionic fish single-degree-of-freedom modular structure based on cam mechanism |
| CN113335481A (en) * | 2021-06-29 | 2021-09-03 | 深圳市德创水下智能装备有限公司 | Underwater operation attitude control method for robot |
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| CN104118549A (en) | 2014-10-29 |
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