CN105501420B - Bionic robot fish based on double tail fin drive - Google Patents
Bionic robot fish based on double tail fin drive Download PDFInfo
- Publication number
- CN105501420B CN105501420B CN201510921337.0A CN201510921337A CN105501420B CN 105501420 B CN105501420 B CN 105501420B CN 201510921337 A CN201510921337 A CN 201510921337A CN 105501420 B CN105501420 B CN 105501420B
- Authority
- CN
- China
- Prior art keywords
- tail fin
- tail
- steering wheel
- finses
- machine fish
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- 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
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, and in particular to a kind of bionic machine fish driven based on double tail finses.
Background technology
The ocean area of the earth is 3.61 hundred million sq-kms, accounts for the 71% of the earth gross area, and wide ocean is contained
Abundant mineral resources, and species resource reserves in ocean are huge, turn into Jiao of concern in the world with resource
The development of point and marine surveys technology, the development and utilization for marine resources turns into countries in the world focus of attention.Under water
Robot be from drive and structure, realize for aquatic organism (fish) profile and its motion mode it is bionical, use intelligence
Energy equipment realizes undersea detection instead of the mankind, is had broad application prospects and huge potential valency in fields such as military investigations
Value.
The difference of the fish body part imitated according to advancing movement, current bionic machine fish is broadly divided into two kinds：
One kind is body, tail fin propulsion pattern, i.e., swung using the periodic reverse of body bending or tail fin and produce propulsive force；It is another
It is middle fin, pattern is advanced to fin, i.e., produces propulsive force using middle fin, the periodic wobble to fin or fluctuation.It is middle fin, right
Fin propulsion pattern generally existing is moved about slow deficiency, and uses the bionic machine fish of tail fin propulsion mode activated due to it
With outstanding acceleration and efficient propulsion capability, therefore under the occasion required to speed and propulsive efficiency, this propulsion module
Formula has obtained people and has more paid close attention to.
Research institution has developed various machine fishs driven based on the propulsion of single tail fin both at home and abroad at present, and single tail fin drives
The advantage of machine fish be simple structure, easily controllable, but single tail fin is inevitably produced when swinging and producing propulsive force
The obvious side force of life so that machine fish is in motion process, it may appear that obvious yawing phenomenon, so as to influence its propulsion effect
Rate.
On this basis, the double tail finses machine fish of parallel arranged structure type is occurred in that, by the counter motion of double tail finses
A pair side forces equal in magnitude, in opposite direction can be produced so that the overall side force of machine fish is zero, so as to eliminate machine
The yawing phenomenon of device fish.But, the starting point of this structure design realizes forward ship more like by paddle, and with the trip of fish
Dynamic forward mechanism simultaneously misfits, additionally, such structure design can cause that the lateral dimension of machine fish increases, drops to a certain extent
The low mobility of machine fish.
The content of the invention
In view of this, the present invention provides a kind of bionic machine fish driven based on double tail finses, it is intended to driven by tail fin
Mode realizes the travelling action of bionic machine fish.
The technical solution adopted by the present invention is specially：
A kind of bionic machine fish driven based on double tail finses, including matrix and the drive division that is placed in described matrix；Its
In：
The drive division includes that internal fixed mount and tail fin driver element and center of gravity located at the internal fixed mount are adjusted
Section mechanism, tail fin driver element includes two groups of tail fin drive devices of structure identical, and tail fin drive device is symmetrically divided described in two groups
The both sides of the internal fixed mount are not placed in；
Described matrix includes cavity and tail fin group, and the cavity is fastened by the first housing and the second housing and formed, the tail
Fin group includes the first tail fin and the second tail fin, and first tail fin and second tail fin are longitudinal, be symmetrically set in the second shell
Body, and it is respectively connecting to the corresponding tail fin drive device.
In the above-mentioned bionic machine fish driven based on double tail finses, the gravity center adjusting mechanism includes steering wheel and balance weight,
Wherein：
The steering wheel is fixed on the internal fixed mount by steering wheel support；
The balance weight is connected by steering wheel arm with the steering wheel, and the steering wheel arm can be along in the revolution at steering wheel end
The heart is rotated；
The rotational motion of steering wheel output drives steering wheel upper-arm circumference to do oscillating motion around its centre of gyration, so that band dynamic balancing fortune
It is dynamic, realize that bionic machine fish floats or dive campaign by center-of-gravity regulating.
In the above-mentioned bionic machine fish driven based on double tail finses, the balance weight is metal derby.
In the above-mentioned bionic machine fish driven based on double tail finses, first tail fin and the second tail fin pass through tail fin respectively
Link is connected with the corresponding tail fin drive device, and tail fin drive device is separate described in two groups, and the tail fin
Link carries out dynamic sealing and is connected with second housing using star-like circle.
In the above-mentioned bionic machine fish driven based on double tail finses, the tail fin drive device includes motor, reversible biography
Motivation structure and rotating shaft；Wherein：
The motor is fixed on the internal fixed mount, the power intake of the motor and the reversible transmission mechanism
It is connected；
One end of the rotating shaft is logical to be connected with the internal fixed mount, and the power through the reversible transmission mechanism is defeated
After going out end, the other end is connected to tail fin link；
The rotational motion of motor output is delivered to tail fin connecting bracket after output campaign is turned to through reversible transmission mechanism,
And then make corresponding tail fin realize swinging.
In the above-mentioned bionic machine fish driven based on double tail finses, the rotating shaft is respectively arranged at two ends with interior copper sheathing and outer copper
Set, the interior copper sheathing is fixed on the internal fixed mount, and the outer copper sheathing is fixed on electric machine support, and the motor is through the motor
Support is fixed on the internal fixed mount, the rotating shaft through adaptor with and the tail fin link be connected.
In the above-mentioned bionic machine fish driven based on double tail finses, the reversible transmission mechanism is bevel gear pair or snail
Worm and gear gear pair.
The beneficial effect comprise that：
Bionic machine fish of the invention can realize that the travelling state as true fish, double tail finses are mutual between driving in water
Do not interfere, can be adjusted by the center of gravity of inside cavity by jointly controlling the forward travel for realizing bionic machine fish in water
Section mechanism realizes floating/dive campaign of the bionic machine fish in water；
Bionic machine fish structure novel and unique of the invention, by the double tail finses of longitudinal arrangement, can either solve bionical machine
The yawing problem of device fish, maintains good mobility, is particularly suitable for operation intensity and required precision spy under water high
Survey and military investigation field, have broad application prospects；Meanwhile, can be carried out on the basis of double tail finses of the invention further
Extension and extension, with considerable potentiality to be exploited.
Additionally, by setting the built-in power supplies such as battery in power unit so that bionic machine fish can be without external
Worked under water in the state of power supply.
Brief description of the drawings
When considered in conjunction with the accompanying drawings, the present invention can more completely be more fully understood.Accompanying drawing described herein is used for providing
A further understanding of the present invention, embodiment and its illustrates, for explaining the present invention, not constitute inappropriate limitation of the present invention.
Fig. 1 is a kind of structural representation of the bionic machine fish driven based on double tail finses of the present invention；
Fig. 2-1 is shown for a kind of structure of the inside gravity center adjusting mechanism of the bionic machine fish driven based on double tail finses of the present invention
It is intended to；
Fig. 2-2 is a kind of inside center of gravity of the double tail finses drive device of the bionic machine fish driven based on double tail finses of the present invention
The explosive view of governor motion；
Fig. 3-1 is a kind of structural representation of the double tail finses drive device of the bionic machine fish driven based on double tail finses of the present invention
Figure；
Fig. 3-2 is a kind of explosive view of the double tail finses drive device of the bionic machine fish driven based on double tail finses of the present invention.
In figure：
Procapsid 11, back casing 12, the first tail fin 13, the second tail fin 14, the first tail fin link 15, the connection of the second tail fin
Frame 16；
Steering wheel 21, the first steering wheel support 22, the second steering wheel support 23, the first steering wheel steering wheel arm 24, the second steering wheel arm 25, copper
Block 26；
Internal fixed mount 31, motor 32, electric machine support 33, bevel gear transmission 34, rotating shaft 35, adaptor 36, interior copper
Set 37, outer copper sheathing 38, axle sleeve 39.
Specific embodiment
Below in conjunction with the accompanying drawings and embodiment is described in further detail to technical scheme.
A kind of bionic machine fish driven based on double tail finses as shown in Figure 1, main matrix including contour structures and
The double tail finses drive division and gravity center adjusting mechanism being placed in matrix；Wherein：
Matrix mainly includes the cavity fastened by procapsid 11, back casing 12 and including on back casing 12
, in interior tail fin group, the first tail fin 13, the second tail fin 14 pass through the first tail fin link respectively for first tail fin 13, the second tail fin 14
15th, the tail fin drive device that the second tail fin link 16 is each connected to through back casing 12；As a kind of preferred, have resilient
First tail fin 13, the second tail fin 14 can be made using glass mat or carbon fiber board.
First tail fin 13, the second tail fin 14 pass through the first tail fin link 15, the second tail fin link 16 and tail of cavity body
Dynamic sealing connection is carried out using star-like circle, can effectively 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, including steering wheel 21, the first steering wheel support 22, second
Steering wheel support 23, the first steering wheel steering wheel arm 24, the second steering wheel arm 25 and copper billet (in fact, as balance weight copper billet it is specific
Material does not have strict limitation, and in order to substantially realize the effect of adjustment center of gravity, the material of the balance weight of weight balance function is preferred
For the sufficiently large metal of density it is not limited to metal, can realize the other materials of equal function can also substitute) 26；Its
In：Steering wheel 21 is fixed on the inside fixed mount 31 of double tail finses drive division by the first steering wheel support 22, the second steering wheel support 23,
Copper billet 26 is connected by the first steering wheel steering wheel arm 24, the second steering wheel arm 25 with steering wheel 21, it is ensured that copper during centre of gravity adjustment
The accuracy of the motion of block 26, and then ensure that accuracy of the bionic machine fish during center of gravity regulation.
In underwater exercise, steering wheel 21 output rotational motion, drive the first steering wheel steering wheel arm 24, the second steering wheel arm 25 around
Its centre of gyration does oscillating motion, so as to drive copper billet 26 to move, by adjusting the center of gravity of bionic machine fish, realizes bionic machine
The floating of fish and dive campaign, by gravity center adjusting mechanism realize floating/dive campaign principle be：
When dive is needed, make center of gravity with centre of buoyancy not in 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 a pitching power counterclockwise
Square, coordinates the motion of tail fin, and machine fish will dive；Conversely, machine fish will rise.
The tail that the structure of double tail finses drive division is each connected to further reference to Fig. 3-1 and 3-2, two groups of tail fin drive devices
Fin, two groups of tail fin drive devices are located at internal fixed mount 31, and right about 31 on the inside fixed mount as horizontal pedestal
Claim, the structure only to the tail fin drive device of one of them is illustrated below：
Mainly include motor 32, bevel gear transmission 34, rotating shaft 35 and adaptor 36；Wherein：Motor 32 passes through motor
Support 33 is arranged on internal fixed mount 31, and is connected with bevel gear one in bevel gear transmission 34, for entering to tail fin
Action edge is input into；
The wherein interior copper sheathing 37 and outer copper sheathing 38 that are respectively arranged at two ends with equivalent to bearing function of rotating shaft 35, interior copper sheathing 37 is consolidated
Due to internal fixed mount 31, and outer copper sheathing 38 is fixed on electric machine support 32, and rotating shaft 35 penetrates the cone of bevel gear transmission 34
After gear two, the other end is connected to tail fin link by adaptor 36, be provided between adaptor 36 and tail fin link for
Ensure the axle sleeve 39 of precision.
In underwater exercise, the motor 32 in two groups of tail fin drive devices exports rotational motion respectively, is passed using bevel gear
Motivation structure 34 is delivered to tail fin and connects the first tail fin link 15, the second tail fin link 16 after output campaign is turned to, and then
Make the first tail fin 13, the second tail fin 14 according to the output of motor 32, swung according to certain movement rule；
Provided of course that can produce input with output 90 ° steering, it would however also be possible to employ such as worm and gear gear pair or its
He can reliably realize the type of belt drive of above-mentioned transmission requirement to substitute the bevel gear transmission 34 in the present embodiment.
Two groups of tail fin drive devices use separate control mode, when identical turn of the output of upper and lower two motors 32
When fast and direction is consistent, bionic machine fish makees forward travel under double tail finses driving, and works as upper and lower two motors 32 and export identical
When rotating speed but inconsistent direction, bionic machine fish does turning motion under double tail finses driving.
By the reasonable combination to double tail finses drive division and the output campaign of gravity center adjusting mechanism, realize of the invention bionical
Various motions of the machine fish in water.
Embodiments of the invention are explained above in association with accompanying drawing, accompanying drawing herein is for providing to this
That invents further understands.Obviously, the present invention preferably specific embodiment, but protection scope of the present invention be the foregoing is only
It is not limited thereto, any is to one skilled in the art can readily occurring in, of the invention essentially without departing from
Change or replacement, are also all contained within protection scope of the present invention.
Claims (7)
1. a kind of bionic machine fish driven based on double tail finses, it is characterised in that including matrix and be placed in described matrix
Drive division；Wherein：
The drive division includes internal fixed mount and the tail fin driver element located at the internal fixed mount and center of gravity regulation machine
Structure, tail fin driver element includes two groups of tail fin drive devices of structure identical, and tail fin drive device is symmetrically put respectively described in two groups
In the both sides of the internal fixed mount；
Described matrix includes cavity and tail fin group, and the cavity is fastened by the first housing and the second housing and formed, the tail fin group
Including the first tail fin and the second tail fin, first tail fin and second tail fin are longitudinal, be symmetrically set in second housing, and
It is respectively connecting to the corresponding tail fin drive device.
2. the bionic machine fish driven based on double tail finses according to claim 1, it is characterised in that the center of gravity adjusts machine
Structure includes steering wheel and balance weight, wherein：
The steering wheel is fixed on the internal fixed mount by steering wheel support；
The balance weight is connected by steering wheel arm with the steering wheel, and the steering wheel arm can turn along the centre of gyration located at steering wheel end
It is dynamic；
The rotational motion of steering wheel output drives steering wheel upper-arm circumference to do oscillating motion around its centre of gyration, so as to drive balance exercise, leads to
Overregulate center of gravity and realize that bionic machine fish floats or dive campaign.
3. it is according to claim 2 based on double tail finses drive bionic machine fish, it is characterised in that the balance weight for gold
Category block.
4. it is according to claim 2 based on double tail finses drive bionic machine fish, it is characterised in that first tail fin and
Second tail fin is connected by tail fin link with the corresponding tail fin drive device respectively, tail fin drive device described in two groups
It is separate, and the tail fin link and second housing carry out dynamic sealing and be connected using star-like circle.
5. the bionic machine fish driven based on double tail finses according to claim 4, it is characterised in that the tail fin drives dress
Put including motor, reversible transmission mechanism and rotating shaft；Wherein：
The motor is fixed on the internal fixed mount, and the motor is connected with the power intake of the reversible transmission mechanism
Connect；
One end of the rotating shaft is logical to be connected with the internal fixed mount, through the clutch end of the reversible transmission mechanism
Afterwards, the other end is connected to tail fin link；
The rotational motion of motor output is delivered to tail fin connecting bracket after output campaign is turned to through reversible transmission mechanism, and then
Corresponding tail fin is set to realize swinging.
6. it is according to claim 5 based on double tail finses drive bionic machine fish, it is characterised in that the two ends of the rotating shaft
Interior copper sheathing and outer copper sheathing are respectively equipped with, the interior copper sheathing is fixed on the internal fixed mount, and the outer copper sheathing is fixed on motor branch
Frame, the motor is fixed on the internal fixed mount through the electric machine support, and the rotating shaft connects through adaptor and with the tail fin
Frame is connect to be connected.
7. it is according to claim 5 based on double tail finses drive bionic machine fish, it is characterised in that the reversible transmission
Mechanism 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 |
Applications Claiming Priority (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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105501420A CN105501420A (en) | 2016-04-20 |
| CN105501420B true CN105501420B (en) | 2017-05-24 |
Family
ID=55709830
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510921337.0A Expired - Fee Related CN105501420B (en) | 2015-12-12 | 2015-12-12 | Bionic robot fish based on double tail fin drive |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105501420B (en) |
Families Citing this family (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 |
| 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 |
| 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 |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4084372B2 (en) * | 2005-05-27 | 2008-04-30 | Ｍｈｉソリューションテクノロジーズ株式会社 | Fish robot structure |
| CN100465065C (en) * | 2006-12-11 | 2009-03-04 | 北京大学 | Modularized bionic robot fish |
| CN101913419A (en) * | 2010-08-11 | 2010-12-15 | 中国科学院自动化研究所 | Biomimetic robotic dolphin |
| CN103803041A (en) * | 2012-11-15 | 2014-05-21 | 上海市闵行区知识产权保护协会 | Caudal fin power plant underwater vehicle |
| CN204688345U (en) * | 2015-06-05 | 2015-10-07 | 帅晓华 | Foot-operated riding fish shape is wagged the tail ship |
-
2015
- 2015-12-12 CN CN201510921337.0A patent/CN105501420B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN105501420A (en) | 2016-04-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11161578B2 (en) | Biomimetic robotic manta ray | |
| CN105501420B (en) | Bionic robot fish based on double tail fin drive | |
| CN112406431B (en) | Flexible fin fluctuation propulsion type amphibious bionic robot | |
| CN205273823U (en) | Bionical machine fish based on drive of simple joint tail fin | |
| CN102962843B (en) | Porpoising robotic dolphin | |
| CN104527352B (en) | A kind of novel ball amphibious robot and its method of work | |
| CN209956198U (en) | Synchronous lifting and submerging series-connection steering engine bionic robotic fish | |
| CN110920334B (en) | Foot paddle-wing hybrid drive type amphibious operation bionic robot and movement method | |
| CN101513927B (en) | Tilt rotor vector propeller based on wave energy | |
| CN105775082A (en) | Bionic robotic dolphin for water quality monitoring | |
| CN102039994B (en) | Bionic ribbonfish for exploration | |
| CN201511768U (en) | Paddlewheel leg integrally-driven amphibian robot | |
| CN107985537B (en) | Novel duct type amphibious underwater vehicle | |
| CN111267567B (en) | Heavy pendulum eccentric driving amphibious reconnaissance spherical robot | |
| CN102180249B (en) | Intelligent biomimetic robotic dolphin | |
| CN109334932B (en) | Series-parallel driving mechanism for underwater bionic propulsion system | |
| CN102050162A (en) | Amphibious robot with integrally-driven wheel paddle legs | |
| CN107458565A (en) | A kind of flexible body Biomimetic Fish and its drive control method | |
| CN108058799A (en) | A kind of novel bionic mechanical fish | |
| CN110203359A (en) | Imitative leopard triangular bream Fu fish underwater robot | |
| CN102059927A (en) | Paddle-pedal plate hybrid driving-based amphibious robot | |
| CN113059968A (en) | Small-size amphibious exploration robot of sea and land | |
| CN110775233B (en) | Bionic flexible diving device with gliding and flapping wing movement | |
| CN108423145A (en) | A kind of quadrotor submarine navigation device that vector promotes | |
| CN106585935A (en) | Marine sailing machine driven by bionic mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170524 Termination date: 20201212 |