CN104443332A

CN104443332A - Bionic robotic fish jointly driven by driving joint and driven joint

Info

Publication number: CN104443332A
Application number: CN201410768766.4A
Authority: CN
Inventors: 胡永辉; 谭传玉
Original assignee: North China Electric Power University
Current assignee: North China Electric Power University
Priority date: 2014-12-12
Filing date: 2014-12-12
Publication date: 2015-03-25
Anticipated expiration: 2034-12-12
Also published as: CN104443332B

Abstract

The invention relates to a bionic robotic fish jointly driven by a driving joint and a driven joint and belongs to the technical field of bionic-propelling underwater robots. The bionic robotic fish comprises a sealed bin and a tail fin propeller, various load parts are accommodated in the sealed bin, the tail fin propeller is provided with a two-degree-of-freedom swing arm structure, a main motor drives a swing arm to horizontally move on the water level by a bevel gear, the tail end of the swing arm is connected with a tail handle and a tail fin through a hinge, and the front end of the tail handle is connected with an extension spring. When the swing arm flaps from left to right, the tail fin can passively rotate under the coaction of the extension spring and a fluid field. A reel is mounted on an output shaft of an adjusting motor, a steel wire connected with the extension spring is wound on the reel, the adjusting motor can rotate to change pretension of the extension spring, and rigidity of the driven joint can be changed thereby. By means of elastic components, cyclic utilization of mechanical energy can be realized, inherent frequency of a mechanical system corresponding to different swimming speeds can be obtained by adjusting the driven joint, and self-adaptive efficient swimming is realized.

Description

A kind of bionic machine fish of being combined driving by active joint and passive joint

Technical field

The present invention relates to a kind of bionic coatings under-water robot, particularly a kind of bionic machine fish of being combined driving by active joint and passive joint.

Background technology

Bionic machine fish is a kind of new type water diving device imitating fish locomotion and realize advancing, compared with the underwater hiding-machine advanced with traditional propeller, bionic machine fish has that energy efficiency is high, maneuvering performance good, low noise and be easy to the advantage such as hidden, therefore obtains in recent years and studies widely.The joint of bionic machine fish is controlled by the servo drive system of high-torque, High Gain Feedback usually, accurate tracking can predefine track, effectively suppresses flow field disturbance on the impact of travelling gait.Because the afterbody of bionic machine fish does reciprocally swinging, joint motor is in the process of lasting acceleration-braking-oppositely acceleration, and compared with the propeller of motor continuous rotation, the angle of rake whole efficiency of bionic machine fishtail fin is not significantly improved.Biological study shows, animal muscle has the effect of elastic energy storage, and fish can utilize muscle to realize the recycle of mechanical energy, and by effectively utilizing the intrinsic dynamics of health-flow field coupled system to reduce muscle energy consumption; Fish can also regulate the elasticity of muscle, and the natural frequency of health-flow field coupled system and tail fin frequency of flapping is matched, thus realize the efficient propelling under different trip speed.Inspire by this, adopt elastic energy storage element simulate muscular can realize storage and the release of energy, the kinetic energy that afterbody is flapped and the potential energy of elastic element are changed mutually, by the rigidity of adjustable elastic element, obtain and the different mechanical system natural frequency of swimming speed and adapting, self-adapted high-efficient can be realized and move about.

Summary of the invention

The object of this invention is to provide a kind of bionic machine fish of being combined driving by active joint and passive joint, by effectively utilizing the intrinsic dynamics of mechanical system, improving the energy efficiency of bionical underwater propeller, realize self-adapted high-efficient and move about.

For achieving the above object, the present invention takes following technical scheme:

This bionic machine fish is made up of sealing cabin and tail fin propelling unit; Sealing cabin has Torpedo Shape, the loaded components hold in it and comprise mair motor, regulating motor, function unit, power supply and sensor;

Described tail fin propelling unit comprises the swing arm be connected by swing arm axis of rotation with sealing cabin rear end, and the caudal peduncle that swing arm end is rotationally connected with it by caudal peduncle rotating shaft, affixed tail fin on caudal peduncle; Tail fin propelling unit has two-freedom, drives tail fin to do translation-rotation compound motion;

The main motor output shaft of described mair motor is connected with swing arm rotating shaft by bevel-gear sett, the rotation of main motor output shaft is converted into the swing of swing arm;

The adjustment motor output shaft of described adjustment motor is connected with reel, and swing arm is hollow stem, arranges extension spring in it, and one end of extension spring is connected with caudal peduncle, and the other end is connected with reel by steel wire.

The afterbody of described sealing cabin arranges end cap, installs fairing outside end cap.

Described main motor output shaft and adjustment motor output shaft are arranged on end cap respectively by dynamic seal.

Described main motor output shaft, regulate parallel longitudinal respectively with machine fish of motor output shaft.

Beneficial effect of the present invention is:

(1) tail fin of described bionic machine fish can do translation-rotation compound motion, and translational motion produces main action of striking waters, and rotational motion provides the suitable angle of attack for action of striking waters.Translation joint is active joint, by DC machine Direct driver; Rotary joint is passive joint, and can produce action under the combined action in spring and flow field, the rigidity of spring can regulate continuously, to change the natural frequency of mechanical system, thus realizes self-adapted high-efficient and moves about.

(2) rigidity of passive joint can be adjusted accurately and rapidly by the adjustment motor of closed loop control, the frequency of the natural frequency of tail fin passive rotation and tail fin active translation is adapted, thus tail fin is run under resonance condition, improve the propulsion coefficient of tail fin.

(3) active joint is combined with passive joint, controllability and the energy efficiency of machine fish can be taken into account.

Accompanying drawing explanation

Fig. 1 is perspective view of being combined the bionic machine fish of driving by active joint and passive joint of the present invention.

Fig. 2 is the angle of rake generalized section of tail fin.

Fig. 3 is the angle of rake principle schematic of tail fin.

Number in the figure:

1-sealing cabin; 2-tail fin propelling unit; 3-swing arm; 4-caudal peduncle; 5-tail fin; 6-fairing; 7-end cap; 8-mair motor; 9-regulates motor; 10-electric machine support; 11-coupler; 12-main motor output shaft; 13-dynamic seal; 14-finishing bevel gear cuter; 15-swing arm rotating shaft; The rotating shaft of 16-caudal peduncle; 17-extension spring; 18-steel wire; 19-regulates motor output shaft; 20-reel.

Detailed description of the invention

The invention provides a kind of bionic machine fish of being combined driving by active joint and passive joint, below in conjunction with drawings and Examples, the present invention is explained.

As shown in Figure 1, agent structure of the present invention is sealing cabin 1 and tail fin propelling unit 2.Sealing cabin 1 is stiff case and has Torpedo Shape, its inner mounted motor, actuator, controller, power supply and sensor capacity weight; Sealing cabin 1 tail end connects tail fin propelling unit 2, tail fin propelling unit 2 has two-freedom swing arm structure, and wherein swing arm 3 drives tail fin 5 to do translational motion, to produce main action of striking waters, caudal peduncle 4 drives tail fin 5 to rotate motion, thinks the angle of attack that action of striking waters provides suitable.Install fairing 6 at sealing cabin 1 tail end, the transmission device of protection tail fin propelling unit 2, suppresses the flow-disturbing of sealing cabin 1 afterbody on the other hand on the one hand, reduces travelling resistance.

As shown in Figure 2, have an end cap 7 at sealing cabin 1 tail end, end cap 7 is tightly connected as the angle of rake main support structure of tail fin and sealing cabin 1; Mair motor 8 is fixed in sealing cabin 1 by electric machine support 10; Mair motor 8 drives main motor output shaft 12 to rotate by coupler 11, and main motor output shaft 12 is through dynamic seal 13 by movement output, and dynamic seal 13 is fixed on end cap 7; Because main motor output shaft 12 and machine fish are parallel longitudinal, adopt bevel-gear sett 14 to change transmission direction, finishing bevel gear cuter 14 drives swing arm rotating shaft 15 to rotate, and swing arm rotating shaft 15 and swing arm 3 are connected, thus realize swing arm 3 swinging in the horizontal direction, i.e. the translational motion of tail fin 5.

As shown in Figure 3, arrange a caudal peduncle rotating shaft 16 at swing arm 3 end, caudal peduncle 4 is rotated by caudal peduncle rotating shaft 16 opposed swing arms 3; Swing arm 3 is hollow structure, and extension spring 17 is positioned at the cavity of swing arm 3, and does fore and aft motion along swing arm 3, and the rear end of extension spring 17 connects caudal peduncle 4; The front end of extension spring 17 connects steel wire 18, and steel wire 18 through the internal cavities of swing arm 3, and is drawn from the center hole of swing arm rotating shaft 15; Motor 9 is regulated to adopt the drive mechanism identical with mair motor 8 by movement output, adjustment motor output shaft 19 installs reel 20, steel wire 18 is wrapped on reel 20, regulate the rotation of motor output shaft 19 that extension spring 17 can be made to stretch, thus change the predetermincd tension of extension spring 17, realize the adjustment of passive joint rigidity.

When swing arm about 3 is flapped, by the application force of water, opposed swing arms 3 rotates tail fin 5, and extension spring 17 makes tail fin 5 be tending towards replying balance position by caudal peduncle 4, tail fin 5 produces the passive rotation motion that phase place lags behind translational motion under the combined action in extension spring 17 and flow field.

The present invention should not be restricted to the described embodiments, and every replacing and improvement that just can draw parts according to technical solution of the present invention without creative work, all should be included within protection scope of the present invention.

Claims

1. combined a bionic machine fish for driving by active joint and passive joint, be made up of sealing cabin (1) and tail fin propelling unit (2); Sealing cabin (1) has Torpedo Shape, the loaded components hold in it and comprise mair motor (8), regulating motor (9), function unit, power supply and sensor; It is characterized in that,

Described tail fin propelling unit (2) comprises the swing arm (3) be rotationally connected by swing arm rotating shaft (15) with sealing cabin (1) rear end, and the caudal peduncle (4) that swing arm (3) end is rotationally connected with it by caudal peduncle rotating shaft (16), the upper affixed tail fin (5) of caudal peduncle (4); Tail fin propelling unit (2) has two-freedom, drives tail fin (5) to do translation-rotation compound motion;

The main motor output shaft (12) of described mair motor (8) is connected with swing arm rotating shaft (15) by bevel-gear sett (14), the rotation of main motor output shaft (12) is converted into the swing of swing arm (3);

The adjustment motor output shaft (19) of described adjustment motor (9) is connected with reel (20), swing arm (3) is hollow stem, extension spring (17) is set in it, one end of extension spring (17) is connected with caudal peduncle (4), and the other end is connected with reel (20) by steel wire (18).

2. a kind of bionic machine fish of being combined driving by active joint and passive joint according to claim 1, it is characterized in that, the afterbody of described sealing cabin (1) arranges end cap (7), and fairing (6) is installed in end cap (7) outside.

3. a kind of bionic machine fish of being combined driving by active joint and passive joint according to claim 2, it is characterized in that, described main motor output shaft (12) and adjustment motor output shaft (19) are arranged on end cap (7) respectively by dynamic seal (13).

4. a kind of bionic machine fish of being combined driving by active joint and passive joint according to claim 1, is characterized in that, described main motor output shaft (12), regulates parallel longitudinal respectively with machine fish of motor output shaft (19).