CN104875868B - A kind of machine fish based on diclinic deflecting facet joint - Google Patents
A kind of machine fish based on diclinic deflecting facet joint Download PDFInfo
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- CN104875868B CN104875868B CN201510250572.XA CN201510250572A CN104875868B CN 104875868 B CN104875868 B CN 104875868B CN 201510250572 A CN201510250572 A CN 201510250572A CN 104875868 B CN104875868 B CN 104875868B
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Abstract
The present invention provides a kind of machine fish based on diclinic deflecting facet joint, and it includes fish head, fish body, fish tail.The fish head and fish body part scan actual fish by 3D, and mold makes after being modified to CAD model.The fish head is equipped with circuit board, lithium battery or Ni-MH battery, infrared distance sensor, minisize gyroscopes, GPS navigation module etc..The fish body is made up of ABS plastic, PVC material, aluminum alloy materials, nylon material or elastomeric material etc., and there are supporting construction (support ring and supporting plate) and balancing weight in inside.The fish tail is by a diclinic deflecting facet joint drive, the joint outer wrapping bellows, and bellows is fixed on fish tail by snap ring and fish is in, for waterproof sealing.The fish tail is fixed in proximal base.The present invention is based on diclinic deflecting facet joint, possesses the quick propulsion characteristic that swings and rises latent characteristic, and the kinematic parameter of easily controllable tail fin with good.
Description
Technical field
The present invention relates to automation and robotic technology field, the bionic coatings mechanism technology of underwater robot is particularly belonged to
Field, more particularly to a kind of machine fish based on diclinic deflecting facet joint.
Background technology
Have benefited from the evolution of several trillion years, fish have outstanding locomitivity in water.With using propeller or impeller
The conventional subsea propeller of the principles such as formula is compared, and fish locomotion has propulsive efficiency high, and ambient noise is small, and it is excellent that radius of turn is small etc.
Point.The thinking that it has been provided for development efficiency height, the underwater propeller that noise is low and mobility is good.At present, fish are imitated
Profile and travelling mechanism, design and manufacture with high performance bionic machinery fish system and make it possible to be applied to complex environment
Under resource detection and the field such as military surveillance be one important research direction of underwater robot.
The propulsive mechanism of major part bionic machine fish uses motor-driven multi-joint cascade system at present, to realize machine
Fish tail swing, motor needs frequent commutation, is difficult with the high-speed motion characteristic of motor, and the waterproof of propulsive mechanism is asked
Topic also constrains the performance boost and extensive use of machine fish.
The conventional sink-float mode of machine fish mainly has three kinds：Method is adjusted by the displacement for changing own vol size, led to
Overregulate the center of gravity regulation method of fish head pitching inclination angle size and method is adjusted by the pectoral fin for adjusting pectoral fin direction.Displacement adjusts method
Cylinder is needed, and needs to connect with water, on the one hand causes volume larger, on the other hand causes sealing difficult.Center of gravity adjusts method
Balancing weight is adjusted comparatively laborious, in the case of especially loading uncertain.The thrust produced in pectoral fin regulation method using pectoral fin is had
Limit, and add mechanism complexity and cost.
The content of the invention
It is an object of the invention to：A kind of machine fish based on diclinic deflecting facet joint is provided, it is inclined by a double inclined plane
Turn joint to drive the fish tail of machine fish, the joint can make full use of the rated speed of motor, realized by the way that bi-motor is differential
The high frequency wobbles of fish tail, and then realize the quick travelling of machine fish.Meanwhile, machine fish is realized by the direction for adjusting fish tail
Rising, dive and steering.In addition, directly wrapping up bellows outside diclinic deflecting facet joint, good sealing property can be reached.This
Invention realizes bionic machine fish using the differential high frequency wobbles for realizing fish tail of bi-motor, and by the posture direction for adjusting fish tail
The basic function such as advance, turning, sink-float, the quick motion to realize bionic machine fish provides a feasible solution.
The technical solution adopted by the present invention is：A kind of machine fish based on diclinic deflecting facet joint, it includes fish head, fish
Body, fish tail, it is characterised in that the fish head and fish body part scan actual fish by 3D, are opened after being modified to CAD model
Mold Making, the fish head is led equipped with circuit board, lithium battery or Ni-MH battery, infrared distance sensor, minisize gyroscopes and GPS
Model plane block, circuit board be used for control machine fish behavior pattern there is provided infrared distance sensor, minisize gyroscopes and GPS navigation
The interface of module, by analyzing the transducing signal or remote signal of collection, motion of the guiding machine fish in water, lithium battery or
The power supply that Ni-MH battery is used for machine fish is supplied, including circuit board, motor, infrared distance sensor, minisize gyroscopes, GPS are led
The power supply supply of model plane block, infrared distance sensor is used for environment sensing during machine fish autonomous cruise so that machine fish can be with
Safety independently works under water, and minisize gyroscopes are used to obtain posture during machine fish cruise so that machine fish can be steady
Ground works under water；GPS navigation module is used for the positioning of machine fish, and basis is provided for the independent navigation of robot, circuit board by
Supporting plate in fish head is fixed, lithium battery or Ni-MH battery after being connected with circuit board it is fixed on the supporting plate, be placed in fish head
Lower section, infrared distance sensor is fixed on the supporting plate after being connected with circuit board, is placed in front of fish head；Minisize gyroscopes and
GPS navigation module is fixed on the rear of fish head after being connected with circuit board；The fish body is closed by ABS plastic, PVC material, aluminium
Golden material, nylon material or elastomeric material are constituted, and have supporting construction and balancing weight inside fish body, the fish tail is by a double inclined plane
Deflection joint drive, the joint outer wrapping bellows, bellows is fixed on fish tail by snap ring and fish is in, for waterproof sealing,
The fish tail is fixed in the proximal base in diclinic deflecting facet joint.
Further, the diclinic deflecting facet joint includes near-end servomotor, proximal base, the first taper roller axle
Hold, near-end shaft coupling, near-end universal-joint fork, near-end harmonic speed reducer, near-end axle sleeve, proximal slope switch block, the second taper roller
Bearing, flange, cross axle, the 3rd taper roll bearing, the 4th taper roll bearing, distal slope switch block, distal end axle sleeve, distal end
Harmonic speed reducer, distal end universal-joint fork, distal end shaft coupling, the 5th taper roll bearing, distal base and distal end servomotor.Institute
Near-end servomotor is stated in proximal base, near-end universal-joint fork is consolidated with proximal base, and near-end servomotor passes through near
End shaft coupling is connected with near-end harmonic speed reducer input wave producer.The output end of near-end harmonic speed reducer turns with proximal slope
Block is connected.On the distally mounted base of distal end servomotor, distal end universal-joint fork is consolidated with distal base, distal end shaft coupling
It is connected with far-end harmonic decelerator input wave producer.The output end of far-end harmonic decelerator is connected with distal slope switch block.
The near-end universal-joint fork is connected with the distal end universal-joint fork by cross axle, constitutes a universal joint.The proximal slope
Switch block is connected with the distal slope switch block by the flange equipped with the 3rd taper roll bearing, realizes mutually turning on angled end-face
It is dynamic.
Further, during work, the initial position of fish tail can be adjusted by near-end servomotor so that fish tail center line
Position or level or angled, when proximally and distally servomotor differential is rotated, fish tail realizes bidirectional reciprocating
Swing, machine fish then can either fast forward through or rise dive；When only near-end servomotor is rotated, machine fish can be with
Realize or turn right.
Further, the fish body tail fin joint parcel bellows, with water-proof function.
Further, the circuit board includes microcontroller, communication module, electric power detection module and navigation module；Micro-control
Device processed is accurately controlled by interpolative mode to near-end servomotor and distal end servomotor, and microcontroller utilizes and communicates mould
Block realizes and communicated that microcontroller realizes the autokinetic movement of machine fish by navigation module by wireless communication mode and host computer.
Advantages and positive effects of the present invention are：
The machine fish propulsive mechanism of the present invention is based on diclinic deflecting facet joint, possesses quick swing propulsion characteristic and good liter
Latent characteristic, and the kinematic parameter of easily controllable tail fin.Particularly advantage of the invention shows the following aspects：
Firstth, based on diclinic deflecting facet joint, machine fish can realize advance, drift along and the basic function such as turn to, and advance
When motor need not frequently commutate, therefore can realize fish tail quick swing promote；
Secondth, diclinic deflecting facet joint uses servomotor, it is easy to accomplish the accurate adjustment of kinematic parameter；
3rd, by using bellows parcel deflection joint, machine fish can realize good sealing effectiveness.
Present invention could apply to the occasions such as water quality monitoring, resource detection and military surveillance.
Brief description of the drawings
Fig. 1 is the outline drawing of the diclinic deflecting facet joint machine fish of the present invention；
Fig. 2 rises schematic diagram for the diclinic deflecting facet joint machine fish of the present invention；
Fig. 3 is diclinic deflecting facet joint machine fish dive schematic diagram of the invention；
Fig. 4 a and Fig. 4 b are respectively the front view and top view of diclinic deflecting facet intra articular structure chart；
Fig. 5 is diclinic deflecting facet joint motions schematic diagram of the invention；
Fig. 6 is the outline drawing of another embodiment of diclinic deflecting facet joint machine fish of the present invention.
Label declaration in figure：1st, fish tail, 2, bellows, 3, diclinic deflecting facet joint, 4, snap ring, 5, fish body, 6, circuit board,
7th, 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, the 14, first taper roll bearing, 15, near-end shaft coupling, 16, near-end universal-joint fork, 17, near
Hold harmonic speed reducer, 18, near-end axle sleeve, 19, proximal slope switch block, the 20, second taper roll bearing, 21, flange, 22, cross
Axle, the 23, the 3rd taper roll bearing, 24, distal slope switch block, 25, far-end harmonic decelerator, 26, distal end universal-joint fork, 27,
Distal base, 28, distal end servomotor, the 29, the 4th taper roll bearing, 30, distal end axle sleeve, 31, distal end shaft coupling, 32,
Five taper roll bearings, 33, afterbody remote flange, 34, tail bearing, 35, afterbody proximal flange, 36, afterbody motor, 37, tail
Portion's connector.
Embodiment
Come below with reference to the accompanying drawings and in conjunction with the embodiments to be further described the present invention.
As shown in Figure 1 to Figure 3, the machine fish based on diclinic deflecting facet joint includes fish head 9, fish body 5 and fish tail 1.It is described
Fish head include circuit board 6, battery 7 and infrared distance sensor 8 etc..The infrared distance sensor can also be by ultrasonic ranging
Sensor, vision sensor etc. are substituted.The fish head and the fish body scan actual fish then mold manufacture, fish by 3D
The profile of head and fish body can be substituted by other shapes, such as cylindrical shape, torpedo.By supporting construction 10 inside the fish body
Support, can add multiple diclinic deflecting facet joints 3.Sealed between the fish tail and the fish body by wrapping up bellows 2, ripple
Line pipe is fixed on fish tail and fish body end by snap ring 4.The shape of the fish tail can be crescent, sector, can by 1,2
Piece or multi-disc combination are replaced.
As shown in Fig. 4 a and Fig. 4 b, described diclinic deflecting facet joint 3 is made up of two centrosymmetric drive parts, and
By cardan drive, specific motion mode is as described below：Near-end servomotor 12 is fixed in proximal base 13, near-end servo
The output of motor 12 is pivoted on near-end shaft coupling 15, and the other end of near-end shaft coupling 15 is connected with near-end harmonic speed reducer 17,
The output end of near-end harmonic speed reducer 17 is connected with proximal slope switch block 19.Distal end servomotor 28 is fixed on distal base 27
On, the output of distal end servomotor 28 is pivoted on distal end shaft coupling 31, and the other end and the far-end harmonic of distal end shaft coupling 31 subtract
Fast device 25 is connected, and the output end of far-end harmonic decelerator 25 is connected with distal slope switch block 24.Proximal base and near-end universal joint
Fork consolidation, distal base is consolidated with distal end universal-joint fork, near-end universal-joint fork 16 and distal end universal-joint fork 26 and the structure of cross axle 22
Into a universal joint.Proximal slope switch block 19 is connected with distal slope switch block 24 by flange 21, is realized each other on inclined-plane
Mutual rotation.
Described harmonic speed reducer can be by gear reduction unit, worm reducer, planetary reducer, RV decelerator generations
Replace, or without decelerator, be directly driven by a motor.
The described universal joint being made up of universal-joint fork and cross axle can be placed on it is outside inclined-plane switch block or internal, can be with
Replaced by other universal joints or spherical hinge.
Constrained as shown in figure 5, diclinic deflecting facet joint can be reduced to a universal hinge, as can be seen from the figure distal point
Space be spherical crown.When two motors in joint are rotated with differential, the track of distal point is one section of circular arc, pole
Extreme position is as shown in the double dot dash line in figure.Under such a situation, motor can realize the quick of machine fish with rated power operation
Advance.In addition, in space, two motors in joint can be with the track of tracking parameter, and then causes machine fish real
Other existing special progressions.
Described machine fish propulsion mode can swing propulsion, flapping locomotion or screw propulsion.
, can be with as shown in fig. 6, this machine fish afterbody ones degree of freedom many compared to machine fish afterbody shown in Fig. 1~Fig. 3
Realize 360 degree of rotations.Shown afterbody is connected by Caudal connectors 37 with proximal base 13, so as to be connected to the end in inclined-plane joint
End.Afterbody is directly driven by motor 36.Afterbody realizes the relative rotation with Caudal connectors 37 by tail bearing 34.Afterbody
There is afterbody proximal flange disk 35 and the axial restraint of afterbody remote flange 33 in the both sides of bearing 34.In addition, afterbody can also be by pneumatic
Or hydraulic-driven, centre adds transmission mechanism (such as gear, belt wheel, connecting rod).The machine fish can not only be realized above-mentioned
Propulsion mode, can also realize that vector is promoted.
Example described above of applying is only that the preferred of the present invention applies example, the limitation to the application scope is not constituted, for this hair
For bright person of ordinary skill in the field, the present invention can also have some modifications or improvement.The structure of the present invention is not being departed from
Think with principle, any equivalent substitution, modification, improvement for being made etc. all should be within protection scope of the present invention.
Claims (4)
1. a kind of machine fish based on diclinic deflecting facet joint, it includes fish head (9), fish body (5), fish tail (1), and its feature exists
In, the fish head (9) and fish body (5) partly scan actual fish by 3D, and mold makes after being modified to CAD model,
The fish head (9) is equipped with circuit board, lithium battery or Ni-MH battery, infrared distance sensor, minisize gyroscopes and GPS navigation mould
Block, circuit board (6) be used for control machine fish behavior pattern there is provided infrared distance sensor, minisize gyroscopes and GPS navigation mould
The interface of block, by analyzing the transducing signal or remote signal of collection, motion of the guiding machine fish in water, lithium battery or nickel
Hydrogen battery be used for machine fish power supply supply, including circuit board (6), motor, infrared distance sensor (8), minisize gyroscopes,
The power supply supply of GPS navigation module, infrared distance sensor (8) is used for environment sensing during machine fish autonomous cruise so that machine
Device fish independently can work safely under water, and minisize gyroscopes are used to obtain posture during machine fish cruise so that machine fish
Smoothly it can work under water；GPS navigation module is used for the positioning of machine fish, and basis is provided for the independent navigation of robot,
Circuit board (6) is fixed by the supporting plate in fish head (9), and lithium battery or Ni-MH battery are fixed on support after being connected with circuit board
On plate, it is placed in below fish head (9), infrared distance sensor (8) is fixed on the supporting plate after being connected with circuit board (6), is placed in
In front of fish head (9)；Minisize gyroscopes and GPS navigation module are fixed on the rear of fish head (9) after being connected with circuit board (6)；
The fish body (5) is made up of ABS plastic, PVC material, aluminum alloy materials, nylon material or elastomeric material, is had inside fish body (5)
Supporting construction (10) and balancing weight, the fish tail (1) is by a diclinic deflecting facet joint drive, the joint outer wrapping bellows,
Bellows is fixed on fish tail (1) and fish body (5) by snap ring, for waterproof sealing, and the fish tail (1) is fixed on diclinic deflecting facet
In the proximal base in joint；
The diclinic deflecting facet joint include near-end servomotor (12), proximal base (13), the first taper roll bearing (14),
Near-end shaft coupling (15), near-end universal-joint fork (16), near-end harmonic speed reducer (17), near-end axle sleeve (18), proximal slope switch block
(19), the second taper roll bearing (20), flange (21), cross axle (22), the 3rd taper roll bearing (23), the rolling of the 4th circular cone
Sub- bearing (29), distal slope switch block (24), distal end axle sleeve (30), far-end harmonic decelerator (25), distal end universal-joint fork (26),
Distal end shaft coupling (31), the 5th taper roll bearing (32), distal base (27) and distal end servomotor (28)；The near-end is watched
Motor (12) is taken in proximal base (13), proximal base (13) passes through the first taper roll bearing (14) and near-end shaft coupling
Device (15) is connected, and near-end universal-joint fork (16) is consolidated with proximal base (13), and near-end servomotor (12) passes through near-end shaft coupling
(15) it is connected with near-end harmonic speed reducer (17) input harmonic oscillator；The output end and near-end of near-end harmonic speed reducer (17)
Inclined-plane switch block (19) is connected；Near-end axle sleeve (18) is connected by the second taper roll bearing (20) with proximal slope switch block (19)；
On the distally mounted base of the distal end servomotor (28) (27), distal end universal-joint fork (26) is consolidated with distal base (27),
Distal end shaft coupling (31) is connected with far-end harmonic decelerator (25) input harmonic oscillator；Far-end harmonic decelerator (25) it is defeated
Go out end with distal slope switch block (24) to be connected；The near-end universal-joint fork (16) passes through cross with the distal end universal-joint fork (26)
Axle (22) is connected, and constitutes a universal joint；The proximal slope switch block (19) and the distal slope switch block (24) by equipped with
The flange (21) of 3rd taper roll bearing (23) is connected, and realizes the mutual rotation on angled end-face, the 4th taper roll bearing
(29) it is connected with distal end axle sleeve (30), distal end shaft coupling (31) is connected with the 5th taper roll bearing (32).
2. a kind of machine fish based on diclinic deflecting facet joint according to claim 1, it is characterised in that the machine fish work
When making, the initial position of fish tail can be adjusted by near-end servomotor so that the position of fish tail center line or level or
Angled, when proximally and distally servomotor differential is rotated, fish tail realizes that bidirectional reciprocating is swung, machine fish then can with or
Person fast forwards through, or rises dive；When only near-end servomotor is rotated, machine fish can realize left-hand rotation or turn right.
3. a kind of machine fish based on diclinic deflecting facet joint according to claim 1, it is characterised in that the fish body tail
Fin joint wraps up bellows, with water-proof function.
4. a kind of machine fish based on diclinic deflecting facet joint according to claim 1, it is characterised in that the circuit board
Including microcontroller, communication module, electric power detection module and navigation module；Microcontroller is by interpolative mode to near-end servo electricity
Machine and distal end servomotor are accurately controlled, and microcontroller is real by wireless communication mode and host computer using communication module
Now communicate, 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 true CN104875868B (en) | 2017-11-07 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106240776B (en) * | 2016-08-24 | 2018-03-06 | 合肥凌翔信息科技有限公司 | A kind of bottom, which is taken pictures, uses Biomimetic Fish |
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS61252093A (en) * | 1985-04-30 | 1986-11-10 | 株式会社日立製作所 | Wrist mechanism of industrial robot |
| CN1480300A (en) * | 2003-07-09 | 2004-03-10 | 中国科学技术大学 | Pisciform biomimetic robot |
| WO2013080197A1 (en) * | 2011-11-29 | 2013-06-06 | Technion Research & Development Foundation Ltd. | Robotic mechanism with two degrees of freedom |
| CN102785542B (en) * | 2012-08-02 | 2014-12-10 | 中国科学技术大学 | Amphibious robot with deformable foot-web compounded propulsion mechanism |
| CN104608146A (en) * | 2015-01-27 | 2015-05-13 | 中国科学技术大学 | Novel mechanical arm based on double-bevel deflection joints |
| CN204775952U (en) * | 2015-05-15 | 2015-11-18 | 中国科学技术大学 | Machine fish based on diclinic face deflection joint |
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