CN105501420A - Bionic robot fish based on double tail fin drive - Google Patents
Bionic robot fish based on double tail fin drive Download PDFInfo
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- CN105501420A CN105501420A CN201510921337.0A CN201510921337A CN105501420A CN 105501420 A CN105501420 A CN 105501420A CN 201510921337 A CN201510921337 A CN 201510921337A CN 105501420 A CN105501420 A CN 105501420A
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- tail fin
- tail
- steering wheel
- machine fish
- fixed mount
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H23/00—Transmitting power from propulsion power plant to propulsive elements
- B63H23/02—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing
- B63H23/06—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing for transmitting drive from a single propulsion power unit
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Toys (AREA)
Abstract
The invention provides a bionic robot fish based on double tail fin drive. The bionic robot fish comprises a base body and a driving part arranged in the base body, wherein the driving part comprises an inner fixing frame as well as a tail fin driving unit and a gravity center adjusting mechanism which are arranged in the inner fixing frame, the tail fin driving unit comprises two tail fin driving devices with the same structure, and the two tail fin driving devices are symmetrically arranged on two sides of the inner fixing frame; the base body comprises a cavity and a tail fin group, the cavity is formed by buckling a first casing and a second casing, and the tail fin group comprises a first tail fin and a second tail fin which are longitudinally and symmetrically arranged in the second casing and connected to the tail fin driving devices corresponding to the first tail fin and the second tail fin. The bionic robot fish can solve the problem of yawing of a tail fin pushing type robot fish and can keep good maneuverability.
Description
Technical field
The present invention relates to underwater hiding-machine, be specifically related to a kind of bionic machine fish driven based on double tail fins.
Background technology
The ocean area of the earth is 3.61 hundred million sq-kms, account for 71% of the earth gross area, wide ocean is richly stored with mineral resources, and species resource reserves in ocean are huge, along with resource becomes the focus of concern and the development of marine surveys technology in the world, the development and utilization for marine resources becomes the focus that countries in the world are paid close attention to.Under-water robot is from driving and structure, realize for the profile of aquatic organism (fish) and the bionical of mode of motion thereof, replace the mankind to realize underwater exploration with smart machine, have broad application prospects in fields such as military investigations and huge potential value.
The difference of the fish body part imitated according to ahead running, current bionic machine fish is mainly divided into two kinds: one be health, tail fin advance pattern, namely utilize health to bend or tail fin periodic reverse swing produce propulsive force; Another kind is middle fin, advances pattern to fin, fin in the middle of namely utilizing, produces propulsive force to the periodic wobble of fin or fluctuation.Middle fin, pattern ubiquity is advanced to move about slow deficiency to fin, and adopt tail fin to advance pattern-driven bionic machine fish to have outstanding acceleration and efficient propulsion capability due to it, therefore, under the occasion having requirement to speed and propulsion coefficient, this propelling pattern obtains people and more pays close attention to.
Research institution has developed the multiple machine fish advancing driving based on single tail fin both at home and abroad at present, the advantage of the machine fish that single tail fin drives is that structure is simple, is easy to control, but single tail fin inevitably produces obvious side force when swinging and producing propulsive force, make machine fish in motion process, there will be obvious yawing phenomenon, thus affect its propulsion coefficient.
On this basis, there is the double tail fins machine fish of parallel arranged version, the contrary side force in a pair equal and opposite in direction, direction can be produced by the counter motion of double tail fins, make the side force of machine fish entirety be zero, thus eliminate the yawing phenomenon of machine fish.But the departure point of this structure design similarly is more realize by paddle the ship that moves ahead, and to move ahead mechanism misfitting with fish travelling, in addition, such structure design can make the lateral dimension of machine fish increase, and reduces the manoevreability of machine fish to a certain extent.
Summary of the invention
In view of this, the invention provides a kind of bionic machine fish driven based on double tail fins, the mode being intended to be driven by tail fin realizes the travelling action of bionic machine fish.
The technical solution used in the present invention is specially:
Based on the bionic machine fish that double tail fins drives, comprise matrix and be placed in the drive division in described matrix; Wherein:
Described drive division comprises inner fixed mount and is located at tail fin driver element and the gravity center adjusting mechanism of described inner fixed mount, tail fin driver element comprises two groups of identical tail fin actuating devices of structure, and described in two groups, tail fin actuating device symmetry is placed in the both sides of described inner fixed mount respectively;
Described matrix comprises cavity and tail fin group, described cavity is fastened by the first housing and the second housing and forms, described tail fin group comprises the first tail fin and the second tail fin, described first tail fin and described second tail fin longitudinally, be symmetrically set in described second housing, and be connected to described tail fin actuating device corresponding with it respectively.
In the above-mentioned bionic machine fish driven based on double tail fins, described gravity center adjusting mechanism comprises steering wheel and balance block, wherein:
Described steering wheel is fixed on described inner fixed mount by steering wheel support;
Described balance block is connected with described steering wheel by steering wheel arm, and described steering wheel arm can rotate along the center of gyration being located at steering wheel end;
The rotational motion that steering wheel exports drives steering wheel upper-arm circumference to do hunting motion around its center of gyration, thus drives balance exercise, realizes bionic machine fish float or dive campaign by center-of-gravity regulating.
In the above-mentioned bionic machine fish driven based on double tail fins, described balance block is derby.
In the above-mentioned bionic machine fish driven based on double tail fins, described first tail fin is connected with corresponding described tail fin actuating device respectively by tail fin link span with the second tail fin, described in two groups, tail fin actuating device is separate, and described tail fin link span and described second housing adopt star-like circle to carry out dynamic seal is connected.
In the above-mentioned bionic machine fish driven based on double tail fins, described tail fin actuating device comprises motor, reversible transmission device and rotating shaft; Wherein:
Described motor is fixed on described inner fixed mount, and described motor is connected with the power intake of described reversible transmission device;
One end of described rotating shaft is logical to be connected with described inner fixed mount, and after running through the clutch end of described reversible transmission device, the other end is connected to tail fin link span;
The rotational motion that motor exports is delivered to tail fin connection bracket after output movement turns to by reversible transmission device, and then makes corresponding tail fin realize swinging.
In the above-mentioned bionic machine fish driven based on double tail fins, the two ends of described rotating shaft are respectively equipped with interior copper sheathing and outer copper sheathing, described interior copper sheathing is fixed on described inner fixed mount, described outer copper sheathing is fixed on electric machine support, described motor is fixed on described inner fixed mount through described electric machine support, and described rotating shaft is connected with described tail fin link span through adaptor.
In the above-mentioned bionic machine fish driven based on double tail fins, described reversible transmission device is bevel-gear pair or worm and gear gear pair.
The beneficial effect that the present invention produces is:
Bionic machine fish of the present invention can realize the travelling state as true fish in water, double tail fins is non-interference between driving, the forward movement of bionic machine fish in water can be achieved by jointly controlling, achieving the bionic machine fish floating in water/dive campaign by the gravity center adjusting mechanism of inside cavity;
Bionic machine fish novel structure of the present invention is unique, by the double tail fins of longitudinal arrangement, the yawing problem of bionic machine fish can either be solved, maintain good manoevreability simultaneously, be particularly suitable for operation intensity and the high underwater exploration of accuracy requirement and military investigation field, have broad application prospects; Meanwhile, double tail fins basis of the present invention can further be expanded and extend, there is considerable potentiality to be exploited.
In addition, by arranging the built-in power supplies such as battery in power unit, bionic machine fish can be worked under without the state of external source under water.
Accompanying drawing explanation
When considered in conjunction with the accompanying drawings, more completely the present invention can be understood better.Accompanying drawing described herein is used to provide a further understanding of the present invention, and embodiment and explanation thereof, for explaining the present invention, do not form inappropriate limitation of the present invention.
Fig. 1 is the structural representation of a kind of bionic machine fish based on double tail fins driving of the present invention;
Fig. 2-1 is the structural representation of the inside gravity center adjusting mechanism of a kind of bionic machine fish based on double tail fins driving of the present invention;
Fig. 2-2 is the exploded view of the inside gravity center adjusting mechanism of the double tail fins actuating device of a kind of bionic machine fish based on double tail fins driving of the present invention;
Fig. 3-1 is the structural representation of the double tail fins actuating device of a kind of bionic machine fish based on double tail fins driving of the present invention;
Fig. 3-2 is the exploded view of the double tail fins actuating device of a kind of bionic machine fish based on double tail fins driving of the present invention.
In figure:
11, front case 12, rear housing 13, first tail fin 14, second tail fin 15, first tail fin link span 16, second tail fin link span;
21, steering wheel 22, first steering wheel support 23, second steering wheel support 24, first steering wheel steering wheel arm 25, second steering wheel arm 26, copper billet;
31, inner fixed mount 32, motor 33, electric machine support 34, bevel gear transmission 35, rotating shaft 36, adaptor 37, interior copper sheathing 38, outer copper sheathing 39, axle sleeve.
Detailed description of the invention
Below in conjunction with drawings and Examples, technical scheme of the present invention is described in further detail.
A kind of bionic machine fish driven based on double tail fins as shown in Figure 1, mainly comprises the matrix of contour structures and the double tail fins drive division be placed in matrix and gravity center adjusting mechanism; Wherein:
Matrix mainly comprises the cavity fastened by housing (11,12) and the tail fin group comprising tail fin (13,14) be located on rear housing 12, and tail fin (13,14) is connected to respective tail fin actuating device respectively by tail fin link span (15,16) through rear housing 12; As one preferably, having elastomeric tail fin (13,14) can adopt glass mat or carbon fiber board to make.
Tail fin (13,14) adopts star-like circle to carry out dynamic seal by tail fin link span (15,16) and tail of cavity body to be connected, can effectively to prevent the water in working environment from entering cavity.
The structure of gravity center adjusting mechanism is with further reference to Fig. 2-1 and 2-2, comprise steering wheel 21, steering wheel support (22,23), steering wheel arm (24,25) and copper billet (in fact, concrete material as the copper billet of balance block does not have strict restriction, in order to the effect adjusting center of gravity obviously can be realized, the material of the balance block of weight balance function is preferably the enough large metal of density but is not limited in metal, and other materials that can realize same function also can substitute) 26; Wherein: steering wheel 21 is fixed on the inside fixed mount 31 of double tail fins drive division by steering wheel support (22,23), copper billet 26 is connected with steering wheel 21 by steering wheel arm (24,25), ensure that the accuracy that in centre of gravity adjustment process, copper billet 26 moves, and then ensure that the accuracy of bionic machine fish in center of gravity control process.
When underwater exercise, steering wheel 21 exports rotational motion, steering wheel arm (24,25) is driven to do hunting motion around its center of gyration, thus drive copper billet 26 to move, by regulating the center of gravity of bionic machine fish, realize floating and the dive campaign of bionic machine fish, the principle being realized floating/dive campaign by gravity center adjusting mechanism is:
When needs dive, make center of gravity and centre of buoyancy not on a vertical straight line by gravity center adjusting mechanism, at this moment machine fish can be subject to a pitching moment, if gravity centre adjustment mechanism clockwise oscillation, at this moment can produce the pitching moment of a conter clockwise, coordinate the motion of tail fin, machine fish will dive; On the contrary, machine fish will rise.
The structure of double tail fins drive division is with further reference to Fig. 3-1 and 3-2, two groups of tail fin actuating devices are connected to respective tail fin, inner fixed mount 31 is all located at by two groups of tail fin actuating devices, and symmetrical about the inside fixed mount about 31 as horizontal pedestal, only the structure of the tail fin actuating device of one of them is described below:
Mainly comprise motor 32, bevel gear transmission 33, rotating shaft 35 and adaptor 36; Wherein: motor 32 is arranged on inner fixed mount 31 by electric machine support 33, and be connected with finishing bevel gear cuter one in bevel gear transmission 34, for carrying out power input to tail fin;
The two ends of its shaft 35 are respectively equipped with the interior copper sheathing 37 and outer copper sheathing 38 that are equivalent to bearing function, interior copper sheathing 37 is fixed on inner fixed mount 31, and outer copper sheathing 38 is fixed on electric machine support 32, after rotating shaft 35 penetrates the finishing bevel gear cuter two of bevel gear transmission 33, the other end is connected to tail fin link span by adaptor 36, is provided with the axle sleeve 39 for ensureing precision between adaptor 36 and tail fin link span.
When underwater exercise, motor 32 in two groups of tail fin actuating devices exports rotational motion respectively, tail fin connection bracket (15,16) is delivered to after utilizing bevel gear transmission 34 to be turned to by output movement, and then make tail fin (13,14) according to the output of motor 32, swing according to certain movement rule;
As long as 90 ° that certainly can produce constrained input turn to, also can adopt as worm and gear gear pair or etc. other type of belt drive that reliably can realize above-mentioned transmission requirement carry out in alternative the present embodiment bevel gear transmission 34.
Two groups of tail fin actuating devices adopt separate mode, when the output same rotational speed of upper and lower two motors 32 and direction is consistent time, bionic machine fish makes forward movement under double tail fins drives, and when upper and lower two motors 32 export same rotational speed but direction is inconsistent, bionic machine fish does turning motion under double tail fins drives.
By the reasonable combination of the output movement to double tail fins drive division and gravity center adjusting mechanism, realize the various motions of bionic machine fish of the present invention in water.
Below explain embodiments of the invention by reference to the accompanying drawings, accompanying drawing is herein used to provide a further understanding of the present invention.Obviously; the foregoing is only the present invention's preferably detailed description of the invention; but protection scope of the present invention is not limited thereto; any be to one skilled in the art can expect easily, do not depart from change of the present invention or replacement in fact, be also all included within protection scope of the present invention.
Claims (7)
1., based on the bionic machine fish that double tail fins drives, it is characterized in that, comprise matrix and be placed in the drive division in described matrix; Wherein:
Described drive division comprises inner fixed mount and is located at tail fin driver element and the gravity center adjusting mechanism of described inner fixed mount, tail fin driver element comprises two groups of identical tail fin actuating devices of structure, and described in two groups, tail fin actuating device symmetry is placed in the both sides of described inner fixed mount respectively;
Described matrix comprises cavity and tail fin group, described cavity is fastened by the first housing and the second housing and forms, described tail fin group comprises the first tail fin and the second tail fin, described first tail fin and described second tail fin longitudinally, be symmetrically set in described second housing, and be connected to described tail fin actuating device corresponding with it respectively.
2. the bionic machine fish driven based on double tail fins according to claim 1, it is characterized in that, described gravity center adjusting mechanism comprises steering wheel and balance block, wherein:
Described steering wheel is fixed on described inner fixed mount by steering wheel support;
Described balance block is connected with described steering wheel by steering wheel arm, and described steering wheel arm can rotate along the center of gyration being located at steering wheel end;
The rotational motion that steering wheel exports drives steering wheel upper-arm circumference to do hunting motion around its center of gyration, thus drives balance exercise, realizes bionic machine fish float or dive campaign by center-of-gravity regulating.
3. the bionic machine fish driven based on double tail fins according to claim 2, it is characterized in that, described balance block is derby.
4. the bionic machine fish driven based on double tail fins according to claim 2, it is characterized in that, described first tail fin is connected with corresponding described tail fin actuating device respectively by tail fin link span with the second tail fin, described in two groups, tail fin actuating device is separate, and described tail fin link span and described second housing adopt star-like circle to carry out dynamic seal is connected.
5. the bionic machine fish driven based on double tail fins according to claim 4, it is characterized in that, described tail fin actuating device comprises motor, reversible transmission device and rotating shaft; Wherein:
Described motor is fixed on described inner fixed mount, and described motor is connected with the power intake of described reversible transmission device;
One end of described rotating shaft is logical to be connected with described inner fixed mount, and after running through the clutch end of described reversible transmission device, the other end is connected to tail fin link span;
The rotational motion that motor exports is delivered to tail fin connection bracket after output movement turns to by reversible transmission device, and then makes corresponding tail fin realize swinging.
6. the bionic machine fish driven based on double tail fins according to claim 5, it is characterized in that, the two ends of described rotating shaft are respectively equipped with interior copper sheathing and outer copper sheathing, described interior copper sheathing is fixed on described inner fixed mount, described outer copper sheathing is fixed on electric machine support, described motor is fixed on described inner fixed mount through described electric machine support, and described rotating shaft is connected with described tail fin link span through adaptor.
7. the bionic machine fish driven based on double tail fins according to claim 5, it is characterized in that, described reversible transmission device is bevel-gear pair or worm and gear gear pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510921337.0A CN105501420B (en) | 2015-12-12 | 2015-12-12 | Bionic robot fish based on double tail fin drive |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510921337.0A CN105501420B (en) | 2015-12-12 | 2015-12-12 | Bionic robot fish based on double tail fin drive |
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| Publication Number | Publication Date |
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| CN105501420A true CN105501420A (en) | 2016-04-20 |
| CN105501420B CN105501420B (en) | 2017-05-24 |
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| CN201510921337.0A Expired - Fee Related CN105501420B (en) | 2015-12-12 | 2015-12-12 | Bionic robot fish based on double tail fin drive |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106081034A (en) * | 2016-06-28 | 2016-11-09 | 河北工业大学 | A kind of bionic machine fish afterbody actuating device |
| 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 |
| CN109367746A (en) * | 2018-11-26 | 2019-02-22 | 华中科技大学 | A kind of underwater biomimetic robotic based on Flow vibration driving |
| CN109733576A (en) * | 2019-03-04 | 2019-05-10 | 沈阳航天新光集团有限公司 | For ornamental fish humanoid robot |
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2015
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106081034A (en) * | 2016-06-28 | 2016-11-09 | 河北工业大学 | A kind of bionic machine fish afterbody actuating device |
| 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 |
| 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 |
| CN109367746A (en) * | 2018-11-26 | 2019-02-22 | 华中科技大学 | A kind of underwater biomimetic robotic based on Flow vibration driving |
| CN109367746B (en) * | 2018-11-26 | 2020-09-08 | 华中科技大学 | Flow-induced vibration-driven underwater bionic tadpole |
| CN109733576A (en) * | 2019-03-04 | 2019-05-10 | 沈阳航天新光集团有限公司 | For ornamental fish humanoid robot |
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| CN105501420B (en) | 2017-05-24 |
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