CN105775083A - Biomimetic robotic fish tail swing mechanism - Google Patents
Biomimetic robotic fish tail swing mechanism Download PDFInfo
- Publication number
- CN105775083A CN105775083A CN201610128483.2A CN201610128483A CN105775083A CN 105775083 A CN105775083 A CN 105775083A CN 201610128483 A CN201610128483 A CN 201610128483A CN 105775083 A CN105775083 A CN 105775083A
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- Prior art keywords
- bearing
- swing mechanism
- tail
- machine fish
- tail swing
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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
Abstract
The invention belongs to the technical field of robotic fishes and aims to provide a biomimetic robotic fish tail swing mechanism of which the tail swing frequency and the robotic fish speed are increased. A motor is used for driving an eccentric wheel to rotate to drive a frame to move linearly left and right in an upper limiting groove and a lower limiting groove according to the sine rule, the frame acts on one end of a swing rod, and finally output of the swing rod in the sine angle change rule is achieved. The tail swing mechanism provided by the invention can achieve continuous rotating motion of the motor and output angles changing according to the sine rule and is universally suitable for biomimetic robotic fishes. Compared with a traditional driving mode, energy loss caused by tail swing inertia is reduced through the swing rod output motion mode, and the tail swing frequency of the robotic fishes is greatly increased and is identical with the swing frequency of carangidae fishes in nature, so that the advancing speed of the robotic fishes is increased, and the practicability of the robotic fishes is improved.
Description
Technical field
The invention belongs to machine fish technical field, particularly relate to a kind of bionic machine fish tail swing mechanism.
Background technology
Being no matter the exploration of marine resources, the collection of variation of seawater information, the collection of halobiontic research or military investigation and information all relies on the development of Underwater Technology.Traditional underwater propulsion mode such as propeller advances can not meet the demand that people are day by day various.Along with the development of bionics, electronic technology, material science and control technology, research worker is imitated the motion mode of Fish and is wished to obtain the underwater propeller having the same excellent performance of Fish.Having succeeded in developing in the world after Article 1 bionic machine fish truly from MIT in 1994, bionic machine fish is increasingly becoming the focus of research both at home and abroad.
For engineer, they more pay close attention to the section's class in Fish, because section's class is compared to other fish locomotion speed faster, and have higher sport efficiency.At present, imitative section class machine fish mostly adopts steering wheel or controls DC motor positive and negative rotation to realize tail swing mode, and not only hunting frequency is limited by the machinery inertial of motor, and control circuit is complicated, and electric energy significantly consumes and drives on servosystem at tail fin.These factors limit small machines fish range of application in real life.
CN105129062A discloses the operation principle of a kind of Biomimetic Fish and fish tail thereof, fish tail includes a plurality of first support body, it is hinged successively that a plurality of first support bodys can rotate in the horizontal direction, form fish tail main body, during fish tail swing, driver control axis of rotation makes drivewheel, driven pulley rotates, driven pulley makes triframe body swing back and forth in the horizontal direction relative to connector with hinged place for fixing point by the limited block of both sides when rotating, owing to fish tail main body and triframe body are hinged, fish tail main body is followed the swing of triframe body and is swung, simultaneously because be hinged between adjacent two first support bodys of fish tail main body, making fish tail main body is the soft swing of bending.Above-mentioned patent has the drawback that fish tail main body includes a plurality of first support body, is driven multiple first support body to swing successively by triframe body, cause that fish tail swing frequency is low, Biomimetic Fish limited speed during swing.
Summary of the invention
The technical problem to be solved in the present invention is to provide and a kind of improves tail swing frequency, improves the bionic machine fish tail swing mechanism of machine fish speed.
For solving above-mentioned technical problem, the present invention adopts the following technical scheme that
A kind of bionic machine fish tail swing mechanism, including motor, wherein also include eccentric, framework, swing arm, motor is arranged on electric machine support, rotary shaft rack is fixing with electric machine support to be connected, the top board of rotary shaft rack and base plate are respectively provided with, lower limit groove, top and the bottom of framework lay respectively at, in lower limit groove, setting-up eccentricity wheel on the output shaft of motor, eccentric is installed clutch shaft bearing, clutch shaft bearing is positioned at framework, the top of framework arranges installation axle, install and axle installs the second bearing, mounting groove is offered in the front end of swing arm, second bearing is positioned at mounting groove, rotary shaft rack is installed rotating shaft, swing arm is offered installing hole, 3rd bearing is installed in installing hole, 3rd bearing is arranged in rotating shaft, the rear end of swing arm is fixing with tail fin to be connected.
Bionic machine fish of the present invention tail swing mechanism, further, described eccentric eccentric throw is e, shaft axis and on framework the vertical dimension installed between axle axis be d, d, e selection meet following formula:
Wherein d, e are not zero.
Bionic machine fish of the present invention tail swing mechanism, further, described clutch shaft bearing is rolling bearing, adopts matched in clearance between clutch shaft bearing and framework medial wall.
Bionic machine fish of the present invention tail swing mechanism, further, is axially positioned clutch shaft bearing by the first back-up ring.
Bionic machine fish of the present invention tail swing mechanism, further, described second bearing is rolling bearing, adopts matched in clearance between the second bearing and the inwall of mounting groove.
Bionic machine fish of the present invention tail swing mechanism, further, is axially positioned the second bearing by the second back-up ring.
Bionic machine fish of the present invention tail swing mechanism, further, four angles of described framework are all set to rounding.
Bionic machine fish of the present invention tail swing mechanism, further, described rotary shaft rack top mounting and fixing support, by fixed mount, the 3rd bearing is axially positioned.
Bionic machine fish of the present invention tail swing mechanism, further, is respectively provided with pad between described swing arm and rotary shaft rack, fixed mount.
Bionic machine fish of the present invention tail swing mechanism, further, the top board of described rotary shaft rack and base plate is respectively provided with upper and lower limited block, forms described upper and lower stopper slot between upper and lower limited block and rotary shaft rack respectively.
Bionic machine fish of the present invention tail swing mechanism compared with prior art, has the advantages that
1. bionic machine fish of the present invention tail swing mechanism, driven by motor eccentric is utilized to rotate, driver framework is by sinusoidal rule left and right rectilinear motion in upper and lower stopper slot, and framework acts on one end of swing arm, finally realizes the sinusoidal angle Changing Pattern output of swing arm.The invention provides a kind of tail swing mechanism that can realize and changing by sinusoidal rule from the continuous rotary motion of motor to output angle, a kind of blanket tail swing mechanism is provided for bionic machine fish, compared to traditional type of drive, the energy loss that tail swing inertia brings is reduced by the mode of swing arm output motion, substantially increase the tail swing frequency of machine fish, it is made to coincide with the Fish hunting frequency of section's class in nature, thus improve the fltting speed of machine fish, increase the practicality of machine fish.In swing mechanism running of the present invention, motor can rotate by continuous high-efficient, enormously simplify control circuit, decreases electric energy consumption on servosystem.
2. the present invention adopts eccentric replacement crank to make structure compacter, improves in running and contacts with the steady of framework.
3. eccentric acts on framework by clutch shaft bearing, and framework acts on swing arm by the second bearing, to reduce friction, reduces noise, improves mechanical efficiency.
Below in conjunction with accompanying drawing, the bionic machine fish tail swing mechanism of the present invention is described further.
Accompanying drawing explanation
Fig. 1 is the axonometric chart of bionic machine fish of the present invention tail swing mechanism；
Fig. 2 is the front view of bionic machine fish of the present invention tail swing mechanism；
Fig. 3 is the top view of bionic machine fish of the present invention tail swing mechanism；
Fig. 4 is B place A-A amplification view in Fig. 3；
Fig. 5 is the structural representation being arranged on bionic machine fish by bionic machine fish of the present invention tail swing mechanism.
Detailed description of the invention
As Figure 1-Figure 4, bionic machine fish of the present invention tail swing mechanism includes motor 1, eccentric 2, framework 3, swing arm 4, motor 1 is arranged on electric machine support 11, rotary shaft rack 5 is arranged on electric machine support 11 side, rotary shaft rack 5 and electric machine support 11 are bolted to connection, the top board 51 of rotary shaft rack 5 and base plate 52 are respectively provided with upper and lower limited block 53,54, forming upper and lower stopper slot 55,56 between upper and lower limited block 53,54 and rotary shaft rack 5 respectively, the top of framework 3 and bottom lay respectively in upper and lower stopper slot 55,56.Four angles of framework 3 are all set to rounding, make framework 3 run more steady.The side of electric machine support 11 and rotary shaft rack 5 offers screwed hole 12,57 respectively, facilitates the fixing of swing mechanism and machine fish shell.
Setting-up eccentricity wheel 2 on the output shaft 12 of motor 1, eccentric 2 is installed clutch shaft bearing 21 and is axially positioned by the first back-up ring 22, clutch shaft bearing 21 is positioned at framework 3, adopt matched in clearance between clutch shaft bearing 21 and framework 3 medial wall, make clutch shaft bearing 21 run well when eccentric 2 is with framework 3 relative motion.Clutch shaft bearing adopts rolling bearing.
The top of framework 3 arranges installation axle 31, install and axle 31 is installed the second bearing 32 and is axially positioned by the second back-up ring 33, mounting groove 41 is offered in the front end of swing arm 4, second bearing 32 is positioned at mounting groove 41, adopt matched in clearance between second bearing 32 and the inwall of mounting groove 41, make the second bearing 32 run well when framework 3 is with swing arm 4 relative motion.Second bearing adopts rolling bearing.
Rotating shaft 6 is installed at the top of rotary shaft rack 5, and swing arm 4 is offered installing hole 43, installs the 3rd bearing 44 in installing hole 43, and the 3rd bearing 44 is arranged in rotating shaft 6, and is axially positioned by fixed mount 45, and fixed mount 45 is arranged on rotary shaft rack 5 top by bolt.Pad 46,47 it is respectively provided with, it is to avoid friction between swing arm 4 and rotary shaft rack 5, fixed mount 45 between swing arm 4 and rotary shaft rack 5, fixed mount 45.Adopt the 3rd bearing 44, it is to avoid sliding friction between swing arm and rotating shaft, reduce the swing arm frictional force when rotating.Axially positioned by fixed mount 45, it is ensured that the demand of high-speed cruising.The rear end of swing arm 4 is connected by union joint 71 is fixing with tail fin 7.
As shown in Figure 5, it is applied to the schematic diagram on bionic machine fish for bionic machine fish of the present invention tail swing mechanism, the shell of bionic machine fish is divided into two parts, front end is stiff case 8, rear end is the flexible rubber sleeve 9 with bracing frame, macromolecule glue adhesive seal is adopted, it is achieved water-proof function between stiff case 8 and rubber sleeve 9.Stiff case 8 is fixed by bolt be connected with electric machine support 11, rotary shaft rack 5, macromolecule glue adhesive seal is adopted between rear end and the tail fin 7 of rubber sleeve 9, the purpose adopting rubber sleeve 9 is to realize seamlessly transitting of machine fish tail swing process, also helps increase propulsive force and reduces fluid resistance.
Bionic machine fish of the present invention tail swing mechanism, the pendulum angle of afterbody is together decided on by following two length: eccentric eccentric distance e, shaft axis and the vertical dimension d installed on framework between axle axis.The Fish research of section's pattern is shown: the Fish of section's pattern tail swing part in efficient motor process accounts for the 1/3 of body length, and amplitude of fluctuation is between 0.1～0.12 times of body length.Therefore bionic machine fish of the present invention tail swing mechanism, the pendulum angle design of afterbody is as follows:
Motor speed n (r/min), angular velocity
The rule of eccentric drive framework left and right displacement change is: x=e*sin ω t.
Tail swing angle, θ is:
Afterbody full swing angle is:
Bionic machine fish fish length is L, and swing part length is L/3, and amplitude of fluctuation is:
Amplitude of fluctuation should meet: 0.1L≤k≤0.12L.
Can being drawn by above formula, eccentric eccentric distance e, shaft axis and framework are installed the vertical dimension d between axle axis, and the preferred value of the two parameter should meet following formula:
Wherein d, e are not zero.
The work process of bionic machine fish of the present invention tail swing mechanism is:
Motor 1 is adjusted break-make and rotating speed by the control circuit in machine fish, after motor 1 starts, motor output shaft 12 band movable eccentric wheel 2 rotates, eccentric 2 acts on framework 3 by clutch shaft bearing 21, promote framework 3 bilateral reciprocation, framework 3 acts on swing arm 4 one end by second bearing 32 at its top, drives swing arm 4 to rotate around rotating shaft 6, forms the sinusoidal variations output of machine fish tail angle.
When mechanism runs, 1, motor need to export lasting rotary motion, swing arm 4 will according to the pendulum angle reciprocally swinging designed in advance, control circuit just can change the hunting frequency of afterbody in real time by changing the voltage of motor, reduce the complexity of control circuit, also reduce the energy loss of servosystem.Motor 1 each rotation, swing arm 4 swings a cycle, and namely the number of turns of per second turn of motor is exactly the output frequency of swing arm.Therefore by selecting suitable motor model, it is possible to be greatly improved the hunting frequency of machine fish afterbody.
Embodiment described above is only that the preferred embodiment of the present invention is described; not the scope of the present invention is defined; under the premise designing spirit without departing from the present invention; various deformation that technical scheme is made by those of ordinary skill in the art and improvement, all should fall in the protection domain that claims of the present invention is determined.
Claims (10)
1. a bionic machine fish tail swing mechanism, including motor, it is characterized in that: also include eccentric, framework, swing arm, motor is arranged on electric machine support, rotary shaft rack is fixing with electric machine support to be connected, the top board of rotary shaft rack and base plate are respectively provided with, lower limit groove, top and the bottom of framework lay respectively at, in lower limit groove, setting-up eccentricity wheel on the output shaft of motor, eccentric is installed clutch shaft bearing, clutch shaft bearing is positioned at framework, the top of framework arranges installation axle, install and axle installs the second bearing, mounting groove is offered in the front end of swing arm, second bearing is positioned at mounting groove, rotary shaft rack is installed rotating shaft, swing arm is offered installing hole, 3rd bearing is installed in installing hole, 3rd bearing is arranged in rotating shaft, the rear end of swing arm is fixing with tail fin to be connected.
2. bionic machine fish according to claim 1 tail swing mechanism, it is characterised in that: described eccentric eccentric throw is e, shaft axis and on framework the vertical dimension installed between axle axis be d, d, e selection meet following formula:
Wherein d, e are not zero.
3. bionic machine fish according to claim 1 tail swing mechanism, it is characterised in that: described clutch shaft bearing is rolling bearing, adopts matched in clearance between clutch shaft bearing and framework medial wall.
4. bionic machine fish according to claim 3 tail swing mechanism, it is characterised in that: by the first back-up ring, clutch shaft bearing is axially positioned.
5. bionic machine fish according to claim 1 tail swing mechanism, it is characterised in that: described second bearing is rolling bearing, adopts matched in clearance between the second bearing and the inwall of mounting groove.
6. bionic machine fish according to claim 5 tail swing mechanism, it is characterised in that: by the second back-up ring, the second bearing is axially positioned.
7. bionic machine fish according to claim 1 tail swing mechanism, it is characterised in that: four angles of described framework are all set to rounding.
8. bionic machine fish according to claim 1 tail swing mechanism, it is characterised in that: described rotary shaft rack top mounting and fixing support, by fixed mount, the 3rd bearing is axially positioned.
9. bionic machine fish according to claim 8 tail swing mechanism, it is characterised in that: it is respectively provided with pad between described swing arm and rotary shaft rack, fixed mount.
10. bionic machine fish according to claim 1 tail swing mechanism, it is characterised in that: the top board of described rotary shaft rack and base plate are respectively provided with upper and lower limited block, between upper and lower limited block and rotary shaft rack, form described upper and lower stopper slot respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610128483.2A CN105775083A (en) | 2016-03-07 | 2016-03-07 | Biomimetic robotic fish tail swing mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610128483.2A CN105775083A (en) | 2016-03-07 | 2016-03-07 | Biomimetic robotic fish tail swing mechanism |
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| CN105775083A true CN105775083A (en) | 2016-07-20 |
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| CN201610128483.2A Pending CN105775083A (en) | 2016-03-07 | 2016-03-07 | Biomimetic robotic fish tail swing mechanism |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106364649A (en) * | 2016-09-28 | 2017-02-01 | 博雅工道（北京）机器人科技有限公司 | Fishtail structure of robotic fish |
| CN107089314A (en) * | 2017-04-10 | 2017-08-25 | 安徽理工大学 | A kind of Novel bionic fishtail propulsion plant |
| CN107757849A (en) * | 2016-08-18 | 2018-03-06 | 深圳市中科莲花净水科技有限公司 | Driven combination drive is actively added to imitate fish tail underwater propulsion unit |
| CN108839783A (en) * | 2018-06-04 | 2018-11-20 | 吕梁学院 | A kind of flexibility submerged floating bionic machine fish and its control method |
| CN111824378A (en) * | 2020-07-27 | 2020-10-27 | 洛阳蓝峰智能科技有限公司 | Spatial swing rod mechanism |
| CN112937820A (en) * | 2021-04-27 | 2021-06-11 | 中国科学院自动化研究所 | Bionic machine tuna |
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| JPH06298177A (en) * | 1993-04-13 | 1994-10-25 | Toshio Kawakami | Oscillating fin propulsion ship |
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| CN101318546A (en) * | 2008-05-20 | 2008-12-10 | 北京航空航天大学 | Double-cam single-degree-of-freedom machine fish flapping mechanism |
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| CN104724269A (en) * | 2015-03-25 | 2015-06-24 | 江苏科技大学 | Space engine-driven tail swing propelling plant |
| CN205469736U (en) * | 2016-03-07 | 2016-08-17 | 北京大学 | Bionical machine fish tail swing mechanism of portion |
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Patent Citations (8)
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| JPH06298177A (en) * | 1993-04-13 | 1994-10-25 | Toshio Kawakami | Oscillating fin propulsion ship |
| JPH08258790A (en) * | 1995-03-24 | 1996-10-08 | Shigeo Suzuki | Propulsion unit using paddle plate performing reciprocating movement |
| CN1373308A (en) * | 2001-01-01 | 2002-10-09 | 熊介良 | 'Menneimasi pendulum arm' and flapping-wing propeller |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107757849A (en) * | 2016-08-18 | 2018-03-06 | 深圳市中科莲花净水科技有限公司 | Driven combination drive is actively added to imitate fish tail underwater propulsion unit |
| CN106364649A (en) * | 2016-09-28 | 2017-02-01 | 博雅工道（北京）机器人科技有限公司 | Fishtail structure of robotic fish |
| CN106364649B (en) * | 2016-09-28 | 2018-06-19 | 博雅工道（北京）机器人科技有限公司 | A kind of machine fish fish tail structure |
| CN107089314A (en) * | 2017-04-10 | 2017-08-25 | 安徽理工大学 | A kind of Novel bionic fishtail propulsion plant |
| CN108839783A (en) * | 2018-06-04 | 2018-11-20 | 吕梁学院 | A kind of flexibility submerged floating bionic machine fish and its control method |
| CN108839783B (en) * | 2018-06-04 | 2023-10-20 | 吕梁学院 | Flexible submerged bionic robot fish and control method thereof |
| CN111824378A (en) * | 2020-07-27 | 2020-10-27 | 洛阳蓝峰智能科技有限公司 | Spatial swing rod mechanism |
| CN112937820A (en) * | 2021-04-27 | 2021-06-11 | 中国科学院自动化研究所 | Bionic machine tuna |
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