CN104875868A - Robotic fish based on dual-bevel deflection joint - Google Patents
Robotic fish based on dual-bevel deflection joint Download PDFInfo
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- CN104875868A CN104875868A CN201510250572.XA CN201510250572A CN104875868A CN 104875868 A CN104875868 A CN 104875868A CN 201510250572 A CN201510250572 A CN 201510250572A CN 104875868 A CN104875868 A CN 104875868A
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Abstract
The invention provides a robotic fish based on a dual-bevel deflection joint. The robotic fish comprises a fish head, a fish body, and a fish tail. The fish head and the fish body are made through scanning a real fish by 3D (three-dimension), modifying a CAD (computer-aided design) model and then opening a mould. The fish head is equipped with a circuit board, a lithium battery or a nickel-metal hydride battery, an infrared distance measuring sensor, a mini type gyroscope, a GPS (global positioning system) navigation module, and so on. The fish body is composed of an ABS plastic, a PVC (polyvinyl chloride) material, an aluminum alloy material, a nylon material or a rubber material; the inner part is provided with a supporting structure (a supporting ring and a supporting plate) and a counterweight block. The fish tail is driven by a dual-bevel deflection joint, and a corrugated pipe coats the joint outside and is fixed on the fish tail and the fish body through a blocking ring for waterproof sealing. The fish tail is fixed at a near end base. The robotic fish is based on the dual-bevel deflection joint, possessed of rapid swaying and pushing property and good moving-up and moving-down properties, and easy to control the movement parameter of a tail fin.
Description
Technical field
The present invention relates to automation and robotics, specifically belong to the bionic coatings mechanism technology field of under-water robot, particularly a kind of machine fish based on double inclined plane deflection joint.
Background technology
Have benefited from the evolution of several trillion years, fish have outstanding locomitivity in water.Compared with adopting the conventional subsea propelling unit of the principle such as screw propeller or vane type, the advantages such as it is high that fish locomotion has propulsion coefficient, and environmental noise is little, and turn radius is little.The thinking that it provides for development efficiency is high, noise is low and maneuvering performance is good underwater propeller.At present, imitate the profile of fish and travelling mechanism, Design and manufacture has performance-oriented bionic machinery fish system and the field such as resource detection under making it to be applied to complex environment and the military surveillance research direction that to be under-water robot one important.
The propulsive mechanism of current most of bionic machine fish adopts motor-driven multi-joint cascade system, for realizing machine fish tail swing, motor needs frequent commutation, be difficult to the high-speed motion characteristic using motor, and the waterproof problem of propulsive mechanism also constrains performance boost and the widespread use of machine fish.
The sink-float mode that machine fish is conventional mainly contains three kinds: regulate method by the displacement changing own vol size, by the center of gravity adjustment method of adjustment fish head pitching inclination angle size with by regulating the pectoral fin in pectoral fin direction to regulate method.Displacement regulates method to need cylinder, and needs to be communicated with water, causes volume comparatively large on the one hand, causes sealing difficulty on the other hand.Center of gravity regulates method to regulate clump weight more loaded down with trivial details, especially under the uncertain situation of load.The thrust utilizing pectoral fin to produce in pectoral fin adjustment method is limited, and adds mechanism complexity and cost.
Summary of the invention
The object of the invention is to: a kind of machine fish based on double inclined plane deflection joint is provided, the fish tail of drive machines fish is carried out by a double inclined plane deflection joint, this joint can make full use of the rated speed of rotation of motor, by the differential high frequency wobbles realizing fish tail of double-motor, and then realize the travelling fast of machine fish.Meanwhile, by regulating the direction of fish tail realize rising, the dive of machine fish and turn to.In addition, double inclined plane deflection directly wraps up bellows outside joint, can reach good sealing property.The present invention utilizes the differential high frequency wobbles realizing fish tail of double-motor, and the basic function such as advance, turning, sink-float by regulating the attitude direction of fish tail to realize bionic machine fish, for the rapid movement realizing bionic machine fish provide a feasible solution.
The technical solution used in the present invention is: a kind of machine fish based on double inclined plane deflection joint, it comprises fish head, fish body, fish tail, it is characterized in that, described fish head and fish body part scan actual fish by 3D, after modifying to cad model, mold makes, described fish head is equipped with circuit card, lithium cell or Ni-MH battery, infrared distance sensor, minisize gyroscopes and GPS navigation module, circuit card is used for the behavior pattern of control machine fish, infrared distance sensor is provided, the interface of minisize gyroscopes and GPS navigation module, by analyzing the transducing signal or remote signal that gather, guide the motion of machine fish in water, lithium cell or Ni-MH battery are used for the power supply supply of machine fish, comprise circuit card, motor, infrared distance sensor, minisize gyroscopes, the power supply supply of GPS navigation module, infrared distance sensor is used for environment sensing during machine fish autonomous cruise, machine fish can independently be worked safely under water, minisize gyroscopes is for obtaining attitude when machine fish cruises, machine fish can be worked reposefully under water, GPS navigation module is used for the location of machine fish, autonomous navigation for robot provides basis, circuit card is fixed by the stay bearing plate in fish head, fix on the supporting plate after lithium cell or Ni-MH battery are connected with circuit card, be placed in below fish head, fix on the supporting plate after infrared distance sensor is connected with circuit card, be placed in fish head front, minisize gyroscopes and GPS navigation module are fixed on the rear of fish head after being connected with circuit card, described fish body is made up of ABS plastic, PVC material, aluminum alloy materials, nylon material or elastomeric material, there are supporting construction and clump weight in fish body inside, described fish tail deflects joint drive by a double inclined plane, this joint outer wrapping bellows, bellows is fixed on fish tail by snap ring and fish is in, for water-proff packing, described fish tail is fixed in the proximal base in double inclined plane deflection joint.
Further, described double inclined plane deflection joint comprises near-end servomotor, proximal base, the first tapered roller bearing, near-end coupler, near-end joint yoke, near-end harmonic speed reducer, near-end axle sleeve, proximal slope switch block, the second tapered roller bearing, flange, center cross, the 3rd tapered roller bearing, the 4th tapered roller bearing, distal slope switch block, far-end axle sleeve, far-end harmonic retarder, far-end joint yoke, far-end coupler, the 5th tapered roller bearing, distal base and far-end servomotor.Described near-end servomotor is arranged in proximal base, near-end joint yoke and proximal base consolidation, and near-end servomotor is connected with near-end harmonic speed reducer input end wave producer by near-end coupler.The mouth of near-end harmonic speed reducer is connected with proximal slope switch block.Described far-end servomotor is arranged in distal base, far-end joint yoke and distal base consolidation, and far-end coupler is connected with far-end harmonic retarder input end wave producer.The mouth of far-end harmonic retarder is connected with distal slope switch block.Described near-end joint yoke is connected by center cross with described far-end joint yoke, forms a universal-joint.Described proximal slope switch block is connected by the flange that the 3rd tapered roller bearing is housed with described distal slope switch block, realizes the mutual rotation on angled end-face.
Further, during work, the initial position of fish tail can be adjusted by near-end servomotor, make the position of fish tail line of centers or level or angled, when near-end and far-end servomotor differential rotate, fish tail realizes bidirectional reciprocating and swings, and machine fish then can or advance fast, or rising dive; When only near-end servomotor rotates, machine fish can realize or turn right.
Further, described fish body tail fin joint parcel bellows, has water-proof function.
Further, described circuit card comprises microcontroller, communication module, electric power detection module and navigation module; Microcontroller is accurately controlled near-end servomotor and far-end servomotor by interpolative mode, and microcontroller utilizes communication module to realize communication by wireless communication mode and upper computer, and microcontroller realizes the autokinetic movement of machine fish by navigation module.
Advantage of the present invention and good effect are:
Machine fish propulsive mechanism of the present invention deflects joint based on double inclined plane, possesses and swings propulsive characteristics fast and well rise characteristic of diving, and be easy to the kinematic parameter controlling tail fin.Concrete advantage of the present invention shows the following aspects:
The first, based on double inclined plane deflection joint, machine fish can realize basic function such as advancing, drift along and turn to, and during advance, motor does not need frequent commutation, and the quick swing that therefore can realize fish tail advances;
The second, double inclined plane deflection joint adopts servomotor, is easy to the accurate adjustment realizing kinematic parameter;
Three, by deflecting joint with bellows parcel, machine fish can realize good sealing effectiveness.
The present invention can be applied to the occasions such as water quality monitoring, resource detection and military surveillance.
Accompanying drawing explanation
Fig. 1 is the outside drawing of double inclined plane of the present invention deflection joint machine fish;
Fig. 2 is double inclined plane of the present invention deflection joint machine fish rising schematic diagram;
Fig. 3 is double inclined plane of the present invention deflection joint machine fish dive schematic diagram;
Fig. 4 is double inclined plane of the present invention deflection intra articular constructional drawing, and wherein, Fig. 4 a and Fig. 4 b is respectively front elevation and the birds-eye view of double inclined plane deflection intra articular constructional drawing;
Fig. 5 is double inclined plane of the present invention deflection joint motions schematic diagrams;
Fig. 6 is the outside drawing of double inclined plane of the present invention deflection joint another embodiment of machine fish.
Number in the figure illustrates: 1, fish tail, 2, bellows, 3, double inclined plane deflection joint, 4, snap ring, 5, fish body, 6, circuit card, 7, battery, 8, infrared distance sensor, 9, fish head, 10, supporting construction, 11, minisize gyroscopes and GPS navigation module, 12, near-end servomotor, 13, proximal base, 14, first tapered roller bearing, 15, near-end coupler, 16, near-end joint yoke, 17, near-end harmonic speed reducer, 18, near-end axle sleeve, 19, proximal slope switch block, 20, second tapered roller bearing, 21, flange, 22, center cross, 23, 3rd tapered roller bearing, 24, distal slope switch block, 25, far-end harmonic retarder, 26, far-end joint yoke, 27, distal base, 28, far-end servomotor, 29, 4th tapered roller bearing, 30, far-end axle sleeve, 31, far-end coupler, 32, 5th tapered roller bearing, 33, afterbody remote flange, 34, tail bearing, 35, afterbody proximal flange, 36, afterbody motor, 37, Caudal connectors.
Detailed description of the invention
Below with reference to the accompanying drawings and come to be further described the present invention in conjunction with the embodiments.
As shown in Figure 1 to Figure 3, the machine fish based on double inclined plane deflection joint comprises fish 9, fish body 5 and fish tail 1.Described fish head includes circuit card 6, battery 7 and infrared distance sensor 8 etc.This infrared distance sensor also can be substituted by ultrasonic distance-measuring sensor, vision sensor etc.Described fish head and described fish body scan actual fish then mold manufacture by 3D, and the profile of fish head and fish body can be substituted by other shapes, such as cylindrical shape, torpedo etc.Described fish body inside is supported by supporting construction 10, can add multiple double inclined plane deflection joint 3.Sealed by parcel bellows 2 between described fish tail and described fish body, bellows is fixed on fish tail and fish body end by snap ring 4.The shape of described fish tail can be crescent, fan-shaped, can be combined replace by 1,2 or multi-disc.
As shown in Figure 4, described double inclined plane deflection joint 3 is made up of two centrosymmetric drive parts, and pass through cardan drive, concrete mode of motion is as described below: near-end servomotor 12 is fixed in proximal base 13, the output shaft of near-end servomotor 12 is received on near-end coupler 15, the other end of near-end coupler 15 is connected with near-end harmonic speed reducer 17, and the mouth of near-end harmonic speed reducer 17 is connected with proximal slope switch block 19.Far-end servomotor 28 is fixed in distal base 27, the output shaft of far-end servomotor 28 is received on far-end coupler 31, the other end of far-end coupler 31 is connected with far-end harmonic retarder 25, and the mouth of far-end harmonic retarder 25 is connected with distal slope switch block 24.Proximal base and near-end joint yoke consolidation, distal base and far-end joint yoke consolidation, near-end joint yoke 16 and far-end joint yoke 26 and center cross 22 form a universal-joint.Proximal slope switch block 19 is connected by flange 21 with distal slope switch block 24, realizes the mutual rotation on inclined-plane each other.
Described harmonic speed reducer can be replaced by gear reducer, worm reducer, epicyclic reduction gear, RV retarder, or without retarder, by motor direct-drive.
It is outside or inner that the described universal-joint be made up of joint yoke and center cross can be placed on inclined-plane switch block, can be replaced by other universal-joints or spherical hinge.
As shown in Figure 5, double inclined plane deflection joint can be reduced to a universal hinge constraint, and as can be seen from the figure the motion space of distal point is a spherical crown.When two drive motor in joint rotate with differential, the track of distal point is one section of circular arc, and end position is as shown in the long and two-short dash line in figure.Under this kind of situation, motor with rated power operation, can realize the quick advance of machine fish.In addition, in motion space, two drive motor in joint can the track of tracking parameter, and then makes machine fish realize other special progression.
Described machine fish propulsion mode can be swing propelling, flapping locomotion or screw propulsion.
As shown in Figure 6, this machine fish afterbody compares the many one degree of freedoms of machine fish afterbody shown in Fig. 1 ~ Fig. 3, can realize 360 degree of rotations.Shown afterbody is connected with proximal base 13 by Caudal connectors 37, thus is connected to the end in joint, inclined-plane.Afterbody is by motor 36 Direct driver.Afterbody is realized and the relatively rotating of Caudal connectors 37 by tail bearing 34.Tail bearing 34 both sides also have afterbody proximal flange dish 35 and afterbody remote flange 33 axial restraint.In addition, afterbody can also by pneumatic or hydraulic-driven, and centre adds transmission device (as gear, belt wheel, connecting rod etc.).Described machine fish not only can realize above-mentioned propulsion mode, can also realize vector and advance.
The above is executed example and is only of the present invention and preferably executes example, and do not form the restriction to the application's scope, for those skilled in the art, the present invention can also have some amendments or improvement.Do not departing within design of the present invention and principle, any equivalent replacement, amendment, improvement etc. done, all should within protection scope of the present invention.
Claims (5)
1. the machine fish based on double inclined plane deflection joint, it comprises fish head, fish body, fish tail, it is characterized in that, described fish head and fish body part scan actual fish by 3D, after modifying to cad model, mold makes, described fish head is equipped with circuit card, lithium cell or Ni-MH battery, infrared distance sensor, minisize gyroscopes and GPS navigation module, circuit card is used for the behavior pattern of control machine fish, infrared distance sensor is provided, the interface of minisize gyroscopes and GPS navigation module, by analyzing the transducing signal or remote signal that gather, guide the motion of machine fish in water, lithium cell or Ni-MH battery are used for the power supply supply of machine fish, comprise circuit card, motor, infrared distance sensor, minisize gyroscopes, the power supply supply of GPS navigation module, infrared distance sensor is used for environment sensing during machine fish autonomous cruise, machine fish can independently be worked safely under water, minisize gyroscopes is for obtaining attitude when machine fish cruises, machine fish can be worked reposefully under water, GPS navigation module is used for the location of machine fish, autonomous navigation for robot provides basis, circuit card is fixed by the stay bearing plate in fish head, fix on the supporting plate after lithium cell or Ni-MH battery are connected with circuit card, be placed in below fish head, fix on the supporting plate after infrared distance sensor is connected with circuit card, be placed in fish head front, minisize gyroscopes and GPS navigation module are fixed on the rear of fish head after being connected with circuit card, described fish body is made up of ABS plastic, PVC material, aluminum alloy materials, nylon material or elastomeric material, there are supporting construction and clump weight in fish body inside, described fish tail deflects joint drive by a double inclined plane, this joint outer wrapping bellows, bellows is fixed on fish tail by snap ring and fish is in, for water-proff packing, described fish tail is fixed in the proximal base in double inclined plane deflection joint.
2. a kind of machine fish based on double inclined plane deflection joint according to claim 1, it is characterized in that, described double inclined plane deflection joint comprises near-end servomotor, proximal base, first tapered roller bearing, near-end coupler, near-end joint yoke, near-end harmonic speed reducer, near-end axle sleeve, proximal slope switch block, second tapered roller bearing, flange, center cross, 3rd tapered roller bearing, 4th tapered roller bearing, distal slope switch block, far-end axle sleeve, far-end harmonic retarder, far-end joint yoke, far-end coupler, 5th tapered roller bearing, distal base and far-end servomotor, described near-end servomotor is arranged in proximal base, near-end joint yoke and proximal base consolidation, and near-end servomotor is connected with near-end harmonic speed reducer input end wave producer by near-end coupler, the mouth of near-end harmonic speed reducer is connected with proximal slope switch block, described far-end servomotor is arranged in distal base, far-end joint yoke and distal base consolidation, and far-end coupler is connected with far-end harmonic retarder input end wave producer, the mouth of far-end harmonic retarder is connected with distal slope switch block, described near-end joint yoke is connected by center cross with described far-end joint yoke, forms a universal-joint, described proximal slope switch block is connected by the flange that the 3rd tapered roller bearing is housed with described distal slope switch block, realizes the mutual rotation on angled end-face.
3. a kind of machine fish based on double inclined plane deflection joint according to claim 2, it is characterized in that, during the work of this machine fish, the initial position of fish tail can be adjusted by near-end servomotor, make the position of fish tail line of centers or level or angled, when near-end and far-end servomotor differential rotate, fish tail realizes bidirectional reciprocating and swings, machine fish then can or advance fast, or rising dive; When only near-end servomotor rotates, machine fish can realize or turn right.
4. a kind of machine fish based on double inclined plane deflection joint according to claim 2, is characterized in that, described fish body tail fin joint parcel bellows, has water-proof function.
5. a kind of machine fish based on double inclined plane deflection joint according to claim 2, it is characterized in that, described circuit card comprises microcontroller, communication module, electric power detection module and navigation module; Microcontroller is accurately controlled near-end servomotor and far-end servomotor by interpolative mode, and microcontroller utilizes communication module to realize communication by wireless communication mode and upper computer, and microcontroller realizes the autokinetic movement of machine fish by navigation module.
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| CN201510250572.XA CN104875868B (en) | 2015-05-15 | 2015-05-15 | A kind of machine fish based on diclinic deflecting facet joint |
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| CN201510250572.XA CN104875868B (en) | 2015-05-15 | 2015-05-15 | A kind of machine fish based on diclinic deflecting facet joint |
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| CN104875868B CN104875868B (en) | 2017-11-07 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106240776A (en) * | 2016-08-24 | 2016-12-21 | 合肥凌翔信息科技有限公司 | Take pictures and use Biomimetic Fish in a kind of bottom |
| CN107161308A (en) * | 2017-06-14 | 2017-09-15 | 兰州交通大学 | A kind of modified propulsive mechanism of imitative case Molidae machine fish pectoral fin |
| CN108627315A (en) * | 2018-05-21 | 2018-10-09 | 苏州科技大学 | Aquaculture monitors Bionic impeller three-dimensional emulation method and on-line monitoring method |
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| CN104875868B (en) | 2017-11-07 |
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