CN105799895A - Swing mechanism of bionic intelligent robot fish - Google Patents
Swing mechanism of bionic intelligent robot fish Download PDFInfo
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- CN105799895A CN105799895A CN201510557116.XA CN201510557116A CN105799895A CN 105799895 A CN105799895 A CN 105799895A CN 201510557116 A CN201510557116 A CN 201510557116A CN 105799895 A CN105799895 A CN 105799895A
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- steering wheel
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- fish
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- output shaft
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Abstract
The invention discloses a swing mechanism of a bionic intelligent robot fish. A fish body with a streamline shell and a fish tail are included. The fish body comprises a first part, a second part and a third part. Gaps of 2-5 mm exist between the first part and the second part, between the second part and the third part and between the third part and the fish tail sequentially. The first part and the second part, the second part and the third part, and the third part and the fish tail are connected sequentially through a first steering engine, a second steering engine, a third steering engine and a rail roller type connecting rod device, friction force between swing mechanisms is further reduced, and overall energy consumption is reduced.
Description
Technical field
The application belongs to machine fish technical field, is specifically related to the swing mechanism of a kind of bionic intelligence machine fish.
Background technology
In nature, Fish evolved out brilliance swimming skill.More common underwater propeller, it has the advantages such as good, the abundant sense organ of propulsive efficiency height, mobility.The research crossing bionic machine fish based on these advantages people also gets more and more, and the function of bionic machine fish is also more and more perfect, and the application of current bionic machine fish covers the fields such as science, education and amusement.
What Fish adopted is the travelling mode of undulatory propulsion, and the swing of health is flexible motion, so, the more many flexible swings that more can imitate out Fish of the swinging joint of bionic machine fish.But swinging joint is more many, junction point between is more many, then friction point and rubbing surface when swinging are more many, then will not only affect the motility of the swing of whole bionic machine fish, also can increase energy consumption.
Summary of the invention
It is an object of the invention to provide the swing mechanism of a kind of bionic intelligence machine fish, solve that bionic intelligence machine fish swing mechanism energy consumption in prior art is big, the technical problem of very flexible.
In order to solve above-mentioned technical problem, technical scheme is as follows:
The swing mechanism of a kind of bionic intelligence machine fish, including having the fish body of fairing, fish tail, described fish body includes Part I, Part II, Part III.Described Part I includes Biomimetic Fish shell one and the control module being arranged in Biomimetic Fish shell one, the first driving mechanism, and described first driving mechanism includes the first steering wheel, the first steering wheel shell, the first track, first connecting rod, first pair of O RunddichtringO；Part II includes Biomimetic Fish shell two and the second driving mechanism being arranged in Biomimetic Fish shell two, and the second driving mechanism includes the second track, the second steering wheel, the second steering wheel shell, second connecting rod, second pair of O RunddichtringO；Part III includes Biomimetic Fish shell three and the 3rd driving mechanism being arranged in Biomimetic Fish shell three, and the 3rd driving mechanism includes the 3rd steering wheel, the 3rd steering wheel shell, the 3rd pair of O RunddichtringO, gear one, gear two, rotary gear shaft.
Described first steering wheel fixing seal is in the first steering wheel shell, first steering wheel shell is fixed in bionical shell one, and first steering wheel output shaft straight up, sheathed first pair of O RunddichtringO and first connecting rod successively from bottom to top on the output shaft of the first steering wheel, the other end of first connecting rod and the fixing connection of the second steering wheel shell, and first connecting rod is vertical with the output shaft of the first steering wheel；Being fixedly installed the first track of arc on described first steering wheel shell, the bottom of the middle part of first connecting rod is provided with the first roller, and the first roller is fastened in the first track；When first connecting rod is along with the output shaft rotation of the first steering wheel, the first roller rolls along the first track.First connecting rod is played a supporting role by the first track, prevent the output shaft at the first steering wheel from deforming because the pulling force being subject to first connecting rod produces moment of flexure, simultaneously by arranging the first roller in the bottom of first connecting rod middle part, reduce first connecting rod and the first interorbital friction during the output shaft rotation of the first steering wheel, reduce energy consumption.
Described second steering wheel fixing seal is in the second steering wheel shell, second steering wheel shell is fixed in bionical shell two, and second steering wheel output shaft straight up, the output shaft of the second steering wheel is arranged with second pair of O RunddichtringO and second connecting rod from bottom to top successively, the other end of second connecting rod and the fixing connection of the 3rd steering wheel shell, and second connecting rod is vertical with the output shaft of the second steering wheel；Being fixedly installed the second track of arc on described second steering wheel shell, the bottom of the middle part of second connecting rod is provided with the second roller, and the second roller is fastened in the second track；When second connecting rod is along with the output shaft rotation of the second steering wheel, the second roller is rolling along the second track.Equally, second connecting rod is played a supporting role by the second track, prevent the output shaft at the second steering wheel from deforming because the pulling force being subject to second connecting rod produces moment of flexure, simultaneously by arranging the second roller in the bottom of second connecting rod middle part, reduce second connecting rod and the second interorbital friction during the second steering wheel output shaft rotation, reduce energy consumption.
Described 3rd steering wheel is fixedly installed in the 3rd steering wheel shell, 3rd steering wheel shell is fixed in bionical shell three, and the 3rd steering wheel output shaft straight down, the output shaft of the 3rd steering wheel is arranged with the 3rd pair of O RunddichtringO and gear one from top to bottom successively, gear two engagement that gear one is located on rotary gear shaft with fixed cover is connected, rotary gear shaft rotates the end being arranged on the 3rd steering wheel shell near fish tail, the connector that rotary gear shaft passes through to be fixedly positioned thereon is fixed with fish tail and is connected, fish tail is imparted power to engaging of gear two by gear one, make fish tail swing soft, transition is natural.
In order to make the flexible swinging of bionic machine fish, vividly, described control module and the first steering wheel, second steering wheel, it is electrically connected between 3rd steering wheel, first steering wheel drives Part II to rotate, second steering wheel is by first connecting rod secondary rotation drive Part III to rotate on the basis that the first steering wheel rotates, same 3rd steering wheel is again rotated on the basis that the second steering wheel rotates and is driven the fish tail swing of bionic intelligence machine fish by gear shaft, ensure the fish body flexible swinging of bionic machine fish, can move about by straight line, can also quickly form " C " word shape, it is easy to bionic machine fish swerve when running into barrier.
Described Part I, Part II, Part III and fish tail successively between all there is the gap of 2-5mm.First, the existence in gap ensure that the work of three driving mechanism independences is not subject to reciprocal influence, and additionally small-gap suture ensure that the apparent continuity of bionic machine fish.
In order to make bionic machine fish closer to real fish body, increasing ornamental and interesting, described Biomimetic Fish shell one, Biomimetic Fish shell two, Biomimetic Fish shell three and fish tail adopt 3D printing and making.
The present invention adopts technique scheme to have technique effect will be apparent below:
1, the swing mechanism of bionic intelligence machine fish of the present invention, connecting rod is played a supporting role by respective rail, prevent the output shaft at steering wheel from deforming because the pulling force being subject to connecting rod produces moment of flexure, simultaneously by arranging roller in the bottom of connecting rod middle part, reduce connecting rod and interorbital friction during steering wheel output shaft rotation, reduce energy consumption.
2, the swing mechanism of bionic intelligence machine fish of the present invention, first steering wheel, second steering wheel, it is electrically connected between 3rd steering wheel, first steering wheel drives Part II to rotate, second steering wheel secondary rotation drive Part III to rotate on the basis that the first steering wheel rotates, same 3rd steering wheel is again rotated on the basis that the second steering wheel rotates and is driven the fish tail swing of bionic intelligence machine fish by gear shaft, ensure the fish body flexible swinging of whole bionic machine fish, can move about by straight line, can also quickly form " C " word shape, it is easy to bionic machine fish swerve when running into barrier.
3, the swing mechanism of bionic intelligence machine fish of the present invention, provide the fish shell one of a kind of bionic machine fish based on 3D printing technique, Biomimetic Fish shell two, Biomimetic Fish shell three and fish tail, so that bionic machine fish is closer to real fish body, increase ornamental and interesting.
4, the swing mechanism of bionic intelligence machine fish of the present invention, has efficiently, ability of cruising under water flexibly, and sport efficiency is high, and mobility is good, and has good water-proof function.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present application or technical scheme of the prior art, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the application, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 shows the front view of bionic intelligence machine fish of the present invention；
Fig. 2 shows the top view of bionic intelligence machine fish of the present invention；
Fig. 3 is the A-A sectional view of Fig. 1；
Fig. 4 is the B-B sectional view of Fig. 2；
Fig. 5 shows the driving structural representation of bionic intelligence machine fish swing mechanism of the present invention.
Detailed description of the invention
For making the purpose of the application and technical scheme clearly, below in conjunction with the embodiment of the present application, the technical scheme of the application is clearly and completely described.
As Figure 1-5, the swing mechanism of a kind of bionic intelligence machine fish, including having the fish body 1 of fairing, fish tail 2, described fish body 1 includes Part I 11, Part II 12, Part III 13.Described Part I 11 includes Biomimetic Fish shell 1 and control module the 112, first driving mechanism 113 being arranged in Biomimetic Fish shell 1, described first driving mechanism 113 includes first steering wheel the 1131, first steering wheel shell 1132, the first track 1133,1134, first pair of O RunddichtringO 1135 of first connecting rod；Part II 12 includes Biomimetic Fish shell 2 121 and the second driving mechanism 122 being arranged in Biomimetic Fish shell 2 121, and the second driving mechanism 122 includes second track the 1223, second steering wheel the 1221, second steering wheel shell 1222,1224, second pair of O RunddichtringO 1225 of second connecting rod；Part III 13 includes Biomimetic Fish shell 3 131 and the 3rd driving mechanism 132 being arranged in Biomimetic Fish shell 3 131, and the 3rd driving mechanism 132 includes the 3rd steering wheel the 1321, the 3rd steering wheel shell 1322, the 3rd pair of O RunddichtringO 1323, gear 1, gear 2 1325, rotary gear shaft 1326.
Described first steering wheel 1131 fixing seal is in the first steering wheel shell 1132, first steering wheel shell 1132 is fixed in bionical shell 1, and first steering wheel 1131 output shaft straight up, sheathed first pair of O RunddichtringO 1135 and first connecting rod 1134 successively from bottom to top on the output shaft of the first steering wheel 1131, the other end of first connecting rod 1134 and the second fixing connection of steering wheel shell 1222, and first connecting rod 1134 is vertical with the output shaft of the first steering wheel 1131；Being fixedly installed the first track 1133 of arc on described first steering wheel shell 1132, the bottom of the middle part of first connecting rod 1134 is provided with the first roller 1136, and the first roller 1136 is fastened in the first track 1133；When first connecting rod 1134 is along with the output shaft rotation of the first steering wheel 1131, the first roller 1136 rolls along the first track 1133.First connecting rod 1134 is played a supporting role by the first track 1133, prevent the output shaft at the first steering wheel 1131 from deforming because the pulling force being subject to first connecting rod 1134 produces moment of flexure, simultaneously by arranging the first roller 1136 in the bottom of first connecting rod 1134 middle part, reduce the friction of first connecting rod 1134 and the first interorbital 1133 during the output shaft rotation of the first steering wheel 1131, reduce energy consumption.
Described second steering wheel 1221 fixing seal is in the second steering wheel shell 1222, second steering wheel shell 1222 is fixed in bionical shell 2 121, and second steering wheel 1221 output shaft straight up, the output shaft of the second steering wheel 1221 is arranged with second pair of O RunddichtringO 1225 and second connecting rod 1224 from bottom to top successively, the other end of second connecting rod 1224 and the 3rd fixing connection of steering wheel shell 1322, and second connecting rod 1224 is vertical with the output shaft of the second steering wheel 1221；Being fixedly installed the second track 1223 of arc on described second steering wheel shell 1222, the bottom of the middle part of second connecting rod 1224 is provided with the second roller 1226, and the second roller 1226 is fastened in the second track 1223；When second connecting rod 1224 is along with the output shaft rotation of the second steering wheel 1221, the second roller 1226 rolls in the second track 123.Equally, second connecting rod 1224 is played a supporting role by the second track 1223, prevent the output shaft at the second steering wheel 1221 from deforming because the pulling force being subject to second connecting rod 1224 produces moment of flexure, simultaneously by arranging the second roller 1226 in the bottom of second connecting rod 1224 middle part, reduce the friction of second connecting rod 1224 and the second interorbital 1223 during the second steering wheel 1221 output shaft rotation, reduce energy consumption.
Described 3rd steering wheel 1321 is fixedly installed in the 3rd steering wheel shell 1322,3rd steering wheel shell 1322 is fixed in bionical shell 3 131, and the 3rd steering wheel 1321 output shaft straight down, the output shaft of the 3rd steering wheel is arranged with the 3rd pair of O RunddichtringO 1323 and gear 1 from top to bottom successively, gear 2 1325 engagement that gear 1 is located on rotary gear shaft 1326 with fixed cover is connected, rotary gear shaft 1326 is fixed on the afterbody of the 3rd steering wheel shell 1322, and rotary gear shaft 1326 is connected by connector 1327 is fixing with fish tail 2.Imparting power to fish tail 2 by gear 1 with engaging of gear 2 1325 so that fish tail 2 swings soft, transition is natural.
In order to make the flexible swinging of bionic machine fish, vividly, described control module 112 and the first steering wheel 1131, second steering wheel 1221, it is electrically connected between 3rd steering wheel 1321, first steering wheel 1131 drives Part II 12 to rotate, second steering wheel 1221 secondary rotation drive Part III 13 to rotate on the basis that the first steering wheel 1131 rotates, same 3rd steering wheel 1321 again rotates on the basis that the second steering wheel 1221 rotates and drives the fish tail 2 of bionic intelligence machine fish to swing by connector 1327, ensure the fish body flexible swinging of whole bionic machine fish, can move about by straight line, can also quickly form " C " word shape, it is easy to bionic machine fish swerve when running into barrier.
The rotational angle of described first steering wheel 1131 output shaft is left 45 degree to right 45 degree, and the rotational angle of the second steering wheel 1221 output shaft is left 40 degree to right 40 degree, and the rotational angle of the 3rd steering wheel 1321 output shaft is left 45 degree to right 45 degree.
Described Part I 11, Part II 12, Part III 13 and fish tail 2 successively between all there is the gap of 2-5mm.First, the existence in gap ensure that three driving mechanisms work alone and are not subject to reciprocal influence, and additionally small-gap suture ensure that the apparent continuity of bionic machine fish.In order to make bionic machine fish closer to real fish body, increasing ornamental and interesting, described Biomimetic Fish shell 1, Biomimetic Fish shell 2 121, Biomimetic Fish shell 3 131 and fish tail 2 adopt 3D printing and making.
The present invention does not do illustrate be prior art or can be realized by prior art, and the heretofore described case that is embodied as is only the preferably case study on implementation of the present invention, is not used for limiting the practical range of the present invention.Namely all equivalences made according to the content of the present patent application the scope of the claims change and modify, all should as the technology category of the present invention.
Claims (4)
1. the swing mechanism of a bionic intelligence machine fish, it is characterised in that including having the fish body of fairing, fish tail, described fish body includes Part I, Part II, Part III；
Described Part I includes Biomimetic Fish shell one and the control module being arranged in Biomimetic Fish shell one, the first driving mechanism, and described first driving mechanism includes the first steering wheel, the first steering wheel shell, the first track, first connecting rod, first pair of O RunddichtringO；
Part II includes Biomimetic Fish shell two and the second driving mechanism being arranged in Biomimetic Fish shell two, and the second driving mechanism includes the second track, the second steering wheel, the second steering wheel shell, second connecting rod, second pair of O RunddichtringO；
Part III includes Biomimetic Fish shell three and the 3rd driving mechanism being arranged in Biomimetic Fish shell three, and the 3rd driving mechanism includes the 3rd steering wheel, the 3rd steering wheel shell, the 3rd pair of O RunddichtringO, gear one, gear two, rotary gear shaft；
Described first steering wheel fixing seal is in the first steering wheel shell, first steering wheel shell is fixed in bionical shell one, and first the output shaft of steering wheel arrange straight up, sheathed first pair of O RunddichtringO and first connecting rod successively from bottom to top on the output shaft of the first steering wheel, the other end of first connecting rod and the fixing connection of the second steering wheel shell, and first connecting rod is vertical with the output shaft of the first steering wheel；Being fixedly installed the first track of arc on described first steering wheel shell, the bottom of the middle part of first connecting rod is provided with the first roller, and the first roller is fastened in the first track；When first connecting rod is along with the output shaft rotation of the first steering wheel, the first roller rolls along the first track；
Described second steering wheel fixing seal is in the second steering wheel shell, second steering wheel shell is fixed in bionical shell two, and second the output shaft of steering wheel arrange straight up, the output shaft of the second steering wheel is arranged with second pair of O RunddichtringO and second connecting rod from bottom to top successively, the other end of second connecting rod and the fixing connection of the 3rd steering wheel shell, and second connecting rod is vertical with the output shaft of the second steering wheel；Being fixedly installed the second track of arc on described second steering wheel shell, the bottom of the middle part of second connecting rod is provided with the second roller, and the second roller is fastened in the second track；When second connecting rod is along with the output shaft rotation of the second steering wheel, the second roller is rolling along the second track；
Described 3rd steering wheel is fixedly installed in the 3rd steering wheel shell, 3rd steering wheel shell is fixed in bionical shell three, and the 3rd the output shaft of steering wheel arrange straight down, the output shaft of the 3rd steering wheel is arranged with the 3rd pair of O RunddichtringO and gear one from top to bottom successively, gear two engagement that gear one is located on rotary gear shaft with fixed cover is connected, rotary gear shaft rotates the end being arranged on the 3rd steering wheel shell near fish tail, and the connector that rotary gear shaft passes through to be fixedly positioned thereon is fixed with fish tail and is connected；
It is electrically connected between described control module and the first steering wheel, the second steering wheel, the 3rd steering wheel.
2. the swing mechanism of the bionic intelligence machine fish according to claim 1, it is characterized in that: the rotational angle of described first steering wheel output shaft is left 45 degree to right 45 degree, the rotational angle of the second steering wheel output shaft is left 40 degree to right 40 degree, and the rotational angle of the 3rd steering wheel output shaft is left 45 degree to right 45 degree.
3. the swing mechanism of bionic intelligence machine fish according to claim 1, it is characterised in that: described Part I, Part II, Part III and fish tail successively between all there is the gap of 2-5mm.
4. the swing mechanism of bionic intelligence machine fish according to claim 1, it is characterised in that: described Biomimetic Fish shell one, Biomimetic Fish shell two, Biomimetic Fish shell three and fish tail adopt 3D printing and making.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510557116.XA CN105799895B (en) | 2015-09-02 | 2015-09-02 | A kind of swing mechanism of bionic intelligence machine fish |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510557116.XA CN105799895B (en) | 2015-09-02 | 2015-09-02 | A kind of swing mechanism of bionic intelligence machine fish |
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| CN105799895A true CN105799895A (en) | 2016-07-27 |
| CN105799895B CN105799895B (en) | 2018-07-24 |
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| CN201510557116.XA Active CN105799895B (en) | 2015-09-02 | 2015-09-02 | A kind of swing mechanism of bionic intelligence machine fish |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107380386A (en) * | 2017-07-12 | 2017-11-24 | 河海大学 | A kind of three articulation structures of machine fish |
| CN107444597A (en) * | 2017-07-12 | 2017-12-08 | 河海大学 | A kind of machine fish with three articulation structures |
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| CN101456341A (en) * | 2007-12-12 | 2009-06-17 | 中国科学院自动化研究所 | Multimode bionic amphibious robot |
| CN102303700A (en) * | 2011-05-26 | 2012-01-04 | 中国科学院自动化研究所 | Multiple control surface robotic fish with embedded vision |
| CN104149954A (en) * | 2014-07-25 | 2014-11-19 | 苏州大学应用技术学院 | Intelligent ornamental bionic fish and method for controlling same |
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| RU2291813C2 (en) * | 2004-02-24 | 2007-01-20 | Геннадий Прохорович Соболь | Vehicle for motion in fluid medium |
| CN1962358A (en) * | 2006-12-11 | 2007-05-16 | 北京大学 | Modularized bionic robot fish |
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| CN107444597A (en) * | 2017-07-12 | 2017-12-08 | 河海大学 | A kind of machine fish with three articulation structures |
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| CN105799895B (en) | 2018-07-24 |
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Effective date of registration: 20190122 Address after: 210043 Dongjiang Villagers'Committee A Office 5-017, Baguazhou Street, Qixia District, Nanjing, Jiangsu Province Patentee after: Nanjing pipe Intelligent Technology Co., Ltd. Address before: 210019 4th Floor, Building 01, New Town Science and Technology Building, 69 Olympic Sports Street, Jianye District, Nanjing City, Jiangsu Province Patentee before: NANJING LEPENG ELECTRONIC TECHNOLOGY CO., LTD. |
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Address after: Room 713-2, Building 2, Zhicheng Park, No. 6 Zhida Road, Jiangbei New District, Nanjing, Jiangsu Province, 211800 Patentee after: Nanjing pipe Intelligent Technology Co., Ltd. Address before: 210043 Dongjiang Villagers'Committee A Office 5-017, Baguazhou Street, Qixia District, Nanjing, Jiangsu Province Patentee before: Nanjing pipe Intelligent Technology Co., Ltd. |
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