CN105539793A - Bionic robotic fish tail fin included angle changing mechanism with cruising mode and charging mode capable of being interchanged - Google Patents
Bionic robotic fish tail fin included angle changing mechanism with cruising mode and charging mode capable of being interchanged Download PDFInfo
- Publication number
- CN105539793A CN105539793A CN201610136596.7A CN201610136596A CN105539793A CN 105539793 A CN105539793 A CN 105539793A CN 201610136596 A CN201610136596 A CN 201610136596A CN 105539793 A CN105539793 A CN 105539793A
- Authority
- CN
- China
- Prior art keywords
- ratchet
- tail fin
- gear
- cruising
- tooth bar
- 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.)
- Granted
Links
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 28
- 241000251468 Actinopterygii Species 0.000 title abstract description 22
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 abstract 2
- 238000010586 diagram Methods 0.000 description 8
- 230000005611 electricity Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 241001133184 Colletotrichum agaves Species 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
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
- 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
-
- 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
- B63H2023/0291—Trolling gears, i.e. mechanical power transmissions comprising controlled slip clutches, e.g. for low speed propulsion
Abstract
The invention discloses a tail fin included angle changing mechanism with a cruising mode and a charging mode capable of being interchanged. The tail fin included angle changing mechanism with the cruising mode and the charging mode capable of being interchanged is composed of a shell, an electromagnetic switch, a pin, a variable ratchet mechanism, a rack, a gear, a shaft, a tail fin and a spring. The gear and the tail fin are symmetrical about the rack. When a bionic robotic fish needs to be in a cruising (charging) state, the electromagnetic switch is powered on, a movable iron core of the electromagnetic switch drives a left ratchet to move rightwards, the toothed right end of the left ratchet makes contact with a right ratchet and then drives a positioning block on the right ratchet to get away from a positioning groove (sliding groove), and the right ratchet is forced to rotate. After the electromagnetic switch is powered off, the movable iron core drives the left ratchet to move leftwards to reach the initial position, the positioning block of the right ratchet moves leftwards under the action of the spring and is locked at the left end of the sliding groove (positioning groove), and therefore the rack is driven to move leftwards (rightwards), and the rack moves to drive the gear to rotate so that the tail fin can incline backwards relative to a fish body and the cruising (charging) state can be achieved. By means of the tail fin included angle changing mechanism with the cruising mode and the charging mode capable of being interchanged, the cruising capacity of the robotic fish is improved, and work quality of the robotic fish is guaranteed.
Description
Technical field
The present invention relates to one to cruise and charge mode interchangeable bionic machine fishtail fin angle varying mechanism, especially relate to a kind of tail fin angle varying mechanism flowing the bionic machine fish that can generate electricity based on vibration hydrofoil sea (tide).
Background technology
Bionic machine fish is mainly used in the fields such as the detection of marine environment.Current machine fish adopts motor to drive mostly, carrys out work by the energy of deposit itself.Be limited to the technology of current storage battery, the limited energy of storage, cause the flying power of bionic machine fish poor.Therefore want the flying power extending bionic machine fish, improve its usage space further, this bottleneck problem of the energy must be solved.If bionic machine fish self can utilize ocean energy to carry out the supplementary energy and just can address this problem, the self-charging function of sea (tide) stream energy is utilized in order to realize bionic machine fish, the tail fin of bionic machine fish must be in different location statuss (tail fin is different from the angle of fish body) when the pattern of cruising and charge mode, this just needs a kind of mechanism that can realize tail fin and switch between two kinds of patterns, and the present invention produces like this.
Summary of the invention
Technical matters to be solved by this invention is, one is provided to cruise and charge mode interchangeable bionic machine fishtail fin angle varying mechanism for bionic machine fish realizes self-charging, when bionic machine fishtail fin is in the state of cruising (tail fin inclines after one's death relative to fish), motor drives tail fin to swing, and provides power to cruising; When bionic machine fishtail fin is in charge condition (tail fin is perpendicular to fish body), under (tide) stream effect of sea, utilizes tail fin oscillation power generation, realize self-charging energy storage.
In order to achieve the above object, technic relization scheme of the present invention is: design one is cruised and charge mode interchangeable bionic machine fishtail fin angle varying mechanism, comprise shell, electromagnetic switch, pin, become ratchet device, tooth bar, gear, axle, tail fin, spring, described electromagnetic switch is placed in shell, the movable core of described electromagnetic switch passes through pin connecting with change ratchet device, described change ratchet device and tooth bar are fixed by interference fit, described rack drives a pair pinion rotation, described gear is arranged symmetrically with about tooth bar and is arranged on axle, the connecting panel that described axle is fixedly connected on tail fin is arranged in the fixed orifice of shell, in described fixed orifice, bearing is housed, the other end of described tooth bar is guide rod, on described guide rod, cover has a spring, described spring-compressed is between tooth bar and shell.
Described shell has a left part cavity and a right part cavity, and left part cavity installs electromagnetic switch, and right part cavity is installed and become ratchet device and rack-and-gear, and for rack-and-gear motion.
Described tail fin is symmetrical arranged about tooth bar.
Of the present inventionly to cruise and charge mode interchangeable bionic machine fishtail fin angle varying mechanism is arranged on the afterbody of bionic machine fish, utilize the expansion performance becoming ratchet device to make tail fin angle cruise and change between charge mode.When bionic machine fish need be in cruise state time, electromagnetic switch is energized, the movable core of electromagnetic switch drives left ratchet to move right, locating piece on right ratchet is taken away positioning groove after touching right ratchet and forces right ratchet to rotate by the dentation right-hand member of left ratchet, after electromagnetic switch dead electricity, movable core drives left ratchet to be moved to the left to initial position, the locating piece of right ratchet is moved to the left under the action of the spring, be locked in sliding tray left end, and then band carry-over bar is moved to the left, the Sports band moving gear of tooth bar rotates and tail fin is inclined after one's death relative to fish reach the state of cruising, when bionic machine fish needs to be in charge condition, electromagnetic switch is energized, the movable core of electromagnetic switch drives left ratchet to move right, locating piece on right ratchet is taken away sliding tray after touching right ratchet and forces right ratchet to rotate by the zig-zag right-hand member of left ratchet, after electromagnetic switch dead electricity, movable core drives left ratchet to be moved to the left to initial position, under the action of the spring, the locating piece of right ratchet is locked in the groove of the limiting stopper on ratchet cylinder, this hour rack relative to cruise state time to have moved right a segment distance, the Sports band moving gear of tooth bar rotates and makes tail fin reach charge condition perpendicular to fish body.
Of the present invention cruise and charge mode interchangeable bionic machine fishtail fin angle varying mechanism feature as follows:
1, of the present invention cruise and charge mode interchangeable bionic machine fishtail fin angle varying mechanism by being symmetrical arranged gear, the motion of translation of tooth bar can be converted into the rotary motion of gear, to reach the function of tail fin angle.
2, of the present inventionly to cruise and the change ratchet device of charge mode interchangeable bionic machine fishtail fin angle varying mechanism coordinates spring can realize the self-locking of tail fin two stations (pattern of cruising and charge mode), simply effectively, good stability.
Accompanying drawing explanation
Concrete structure of the present invention is provided by following embodiment and accompanying drawing thereof.
Fig. 1 is that the present invention cruises and charge mode interchangeable bionic machine fishtail fin angle varying mechanism integral structure schematic diagram.
Fig. 2 is electromagnetic switch schematic diagram of the present invention.
Fig. 3 is shell schematic diagram of the present invention.
Fig. 4 is that the present invention becomes ratchet device structural entity schematic diagram.
Fig. 5 is that the present invention becomes the left ratchet schematic diagram of ratchet device.
Fig. 6 is that the present invention becomes ratchet device ratchet cylinder schematic diagram.
Fig. 7 is that the present invention becomes the right ratchet schematic diagram of ratchet device.
Fig. 8 is the pinion and rack schematic diagram that the present invention removes shell.
Detailed description of the invention
To cruise and charge mode interchangeable bionic machine fishtail fin angle varying mechanism is described in further detail to of the present invention below with reference to accompanying drawing.
See Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7 and Fig. 8, cruising and charge mode interchangeable bionic machine fishtail fin angle varying mechanism of this invention, comprises shell (1), electromagnetic switch (2), pin (3), become ratchet device (4), tooth bar (5), gear (6), axle (7), tail fin (8), spring (9), described shell (1) comprises left side cavity (11) and the right cavity (12), described the right cavity (12) is provided with four fixed orifices (121), described fixed orifice is equipped with bearing in (121), electromagnetic switch (2) is installed in described left side cavity (11), movable core (21) place of described electromagnetic switch (2) is provided with connecting bore (211), described tooth bar (5) left end has assembly opening (51), the upper cover of guide rod (52) of described tooth bar (5) right-hand member has spring (9), and described spring (9) is compressed between tooth bar (5) and shell (1).
Described change ratchet device (4) comprises left ratchet (41), ratchet cylinder (42) and right ratchet (43), described left ratchet (41) is provided with knock hole (411), slide block (412) and profile of tooth termination (413), described knock hole (411) is connected by pin (3) with connecting bore (211), described ratchet cylinder (42) is provided with sliding tray (421) and limiting stopper (422), described limiting stopper (422) has guide groove (4221), guiding surface (4222) and groove (4223), in the sliding tray (421) that the slide block (412) of described left ratchet (41) inserts ratchet cylinder (42) and guide groove (4221), described right ratchet (43) is provided with locating piece (431) and spindle nose (432), the termination of described locating piece (431) has inclined-plane, location (4311), described locating piece (431) is arranged in the sliding tray (421) of ratchet cylinder (42), described ratchet cylinder (42) is fixed on shell (1), the motion process of described change ratchet device (4) into: when left ratchet (41) moves right, slide block (412) on left ratchet (41) moves to right in the sliding tray (421) and guide groove (4221) of ratchet cylinder (42), the locating piece (431) that profile of tooth termination (413) promotes same right ratchet (43) in sliding tray (421) moves to right, thus promote right ratchet (43) and move to right.Locating piece (431) when right ratchet (43) moves to right to low order end position, under the elastic force of spring (9) and the combined action of guiding surface (4222) and inclined-plane, location (4311), by locating piece (431) dieback in the groove (4221) of limiting stopper (422).
The spindle nose (432) of described right ratchet (43) and the assembly opening (51) of tooth bar (5) left end are fixed by interference fit, described tooth bar (5) engages with gear (6), described gear (6) is arranged on axle (7), described axle (7) is fixedly connected on the connecting panel (81) of tail fin (8), and described axle (7) is arranged in the bearing of the upper fixed orifice (121) of shell (1).
Described gear (6), axle (7) and tail fin (8) respectively have two, are arranged symmetrically with about tooth bar (5).
Claims (2)
1. cruise and charge mode interchangeable bionic machine fishtail fin angle varying mechanism for one kind, comprise shell (1), electromagnetic switch (2), pin (3), become ratchet device (4), tooth bar (5), gear (6), axle (7), tail fin (8), spring (9), it is characterized in that described shell (1) comprises left side cavity (11) and the right cavity (12), described the right cavity (12) is provided with four fixed orifices (121), described fixed orifice is equipped with bearing in (121), electromagnetic switch (2) is installed in described left side cavity (11), movable core (21) place of described electromagnetic switch (2) is provided with connecting bore (211), described change ratchet device (4) comprises left ratchet (41), ratchet cylinder (42) and right ratchet (43), described left ratchet (41) is provided with knock hole (411), slide block (412) and profile of tooth termination (413), described knock hole (411) is connected by pin (3) with connecting bore (211), described ratchet cylinder (42) is provided with sliding tray (421) and limiting stopper (422), described limiting stopper (422) has guide groove (4221), guiding surface (4222) and groove (4223), in the sliding tray (421) that the slide block (412) of described left ratchet (41) inserts ratchet cylinder (42) and guide groove (4221), described right ratchet (43) is provided with locating piece (431) and spindle nose (432), the termination of described locating piece (431) has inclined-plane, location (4311), described locating piece (431) is arranged in the sliding tray (421) of ratchet cylinder (42), described ratchet cylinder (42) is fixed on shell (1), described tooth bar (5) has assembly opening (51) and guide rod (52), the spindle nose (432) of described right ratchet (43) and the assembly opening (51) of tooth bar (5) left end are fixed by interference fit, the upper cover of described guide rod (52) has spring (9), described spring (9) is compressed between tooth bar (5) and shell (1), described tooth bar (5) engages with gear (6), described gear (6) is arranged on axle (7), described axle (7) is fixedly connected on the connecting panel (81) of tail fin (8), described axle (7) is arranged in the bearing of the upper fixed orifice (121) of shell (1), described gear (6), axle (7) and tail fin (8) respectively have two, be arranged symmetrically with about tooth bar (5).
2. cruise according to claim 1 and charge mode interchangeable bionic machine fishtail fin angle varying mechanism, it is characterized in that described gear (6), axle (7) and tail fin (8) are symmetrical arranged about tooth bar (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610136596.7A CN105539793B (en) | 2016-03-10 | 2016-03-10 | Cruise and the interchangeable bionic machine fishtail fin angle varying mechanism of charge mode |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610136596.7A CN105539793B (en) | 2016-03-10 | 2016-03-10 | Cruise and the interchangeable bionic machine fishtail fin angle varying mechanism of charge mode |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105539793A true CN105539793A (en) | 2016-05-04 |
| CN105539793B CN105539793B (en) | 2017-06-30 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610136596.7A Expired - Fee Related CN105539793B (en) | 2016-03-10 | 2016-03-10 | Cruise and the interchangeable bionic machine fishtail fin angle varying mechanism of charge mode |
Country Status (1)
| Country | Link |
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| CN (1) | CN105539793B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105905265A (en) * | 2016-06-30 | 2016-08-31 | 上海海洋大学 | Included angle and gravity center varying mechanism for tail fins of bio-robotic fish |
| CN106143852A (en) * | 2016-07-05 | 2016-11-23 | 杭州畅动智能科技有限公司 | Bionic machine fish |
| CN113978676A (en) * | 2021-11-25 | 2022-01-28 | 中国科学院沈阳自动化研究所 | Underwater self-locking mechanism suitable for unmanned submersible vehicle |
| CN114455045A (en) * | 2022-03-09 | 2022-05-10 | 哈尔滨工业大学 | Bionic ray swinging mechanism with same frequency and different amplitude pectoral fins |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5686890A (en) * | 1979-12-18 | 1981-07-15 | Minoru Nagai | Fish fin underwater propelling device |
| JPH11321786A (en) * | 1998-05-14 | 1999-11-24 | Ishikawajima Harima Heavy Ind Co Ltd | Oscillating propulsion device |
| CN1903657A (en) * | 2006-07-28 | 2007-01-31 | 哈尔滨工业大学 | Shape memory alloy string driven pectoral wave pushing bionic underwater robot |
| CN1916800A (en) * | 2006-09-01 | 2007-02-21 | 北京大学 | Biomimetic machine fish in multiple modes |
| CN201807186U (en) * | 2010-10-14 | 2011-04-27 | 上海海洋大学 | Robotic fish compound turning device |
| CN202574602U (en) * | 2012-04-20 | 2012-12-05 | 朱延波 | Electromagnetic power bionic robotic fish |
| CN103895842A (en) * | 2014-04-01 | 2014-07-02 | 上海海洋大学 | Robotic fish capable of carrying water quality detection sensor |
| CN205396501U (en) * | 2016-03-10 | 2016-07-27 | 上海海洋大学 | Cruise and bionical machine fish tail fin contained angle of charge mode interchangeable change mechanism |
-
2016
- 2016-03-10 CN CN201610136596.7A patent/CN105539793B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5686890A (en) * | 1979-12-18 | 1981-07-15 | Minoru Nagai | Fish fin underwater propelling device |
| JPH11321786A (en) * | 1998-05-14 | 1999-11-24 | Ishikawajima Harima Heavy Ind Co Ltd | Oscillating propulsion device |
| CN1903657A (en) * | 2006-07-28 | 2007-01-31 | 哈尔滨工业大学 | Shape memory alloy string driven pectoral wave pushing bionic underwater robot |
| CN1916800A (en) * | 2006-09-01 | 2007-02-21 | 北京大学 | Biomimetic machine fish in multiple modes |
| CN201807186U (en) * | 2010-10-14 | 2011-04-27 | 上海海洋大学 | Robotic fish compound turning device |
| CN202574602U (en) * | 2012-04-20 | 2012-12-05 | 朱延波 | Electromagnetic power bionic robotic fish |
| CN103895842A (en) * | 2014-04-01 | 2014-07-02 | 上海海洋大学 | Robotic fish capable of carrying water quality detection sensor |
| CN205396501U (en) * | 2016-03-10 | 2016-07-27 | 上海海洋大学 | Cruise and bionical machine fish tail fin contained angle of charge mode interchangeable change mechanism |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105905265A (en) * | 2016-06-30 | 2016-08-31 | 上海海洋大学 | Included angle and gravity center varying mechanism for tail fins of bio-robotic fish |
| CN106143852A (en) * | 2016-07-05 | 2016-11-23 | 杭州畅动智能科技有限公司 | Bionic machine fish |
| CN113978676A (en) * | 2021-11-25 | 2022-01-28 | 中国科学院沈阳自动化研究所 | Underwater self-locking mechanism suitable for unmanned submersible vehicle |
| CN113978676B (en) * | 2021-11-25 | 2022-12-27 | 中国科学院沈阳自动化研究所 | Underwater self-locking mechanism suitable for unmanned submersible vehicle |
| CN114455045A (en) * | 2022-03-09 | 2022-05-10 | 哈尔滨工业大学 | Bionic ray swinging mechanism with same frequency and different amplitude pectoral fins |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105539793B (en) | 2017-06-30 |
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Granted publication date: 20170630 |