CN105799895B - A kind of swing mechanism of bionic intelligence machine fish - Google Patents
A kind of swing mechanism of bionic intelligence machine fish Download PDFInfo
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- CN105799895B CN105799895B CN201510557116.XA CN201510557116A CN105799895B CN 105799895 B CN105799895 B CN 105799895B CN 201510557116 A CN201510557116 A CN 201510557116A CN 105799895 B CN105799895 B CN 105799895B
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- steering engine
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Abstract
The invention discloses a kind of swing mechanisms of bionic intelligence machine fish, include fish body, fish tail with fairing, and the fish body includes first part, second part, Part III.Wherein, first part, second part, Part III and fish tail successively between exist 2 5mm gap, and the first steering engine is passed sequentially through between first part, second part, Part III and fish tail, the second steering engine is connected with the linkage of third steering engine and track roller formula, the frictional force between swing mechanism is further reduced, whole energy consumption is reduced.
Description
Technical field
The application belongs to machine fish technical field, and in particular to a kind of swing mechanism of bionic intelligence machine fish.
Background technology
In nature, fish have evolved remarkable swimming skill.For more common underwater propeller, it, which has, pushes away
Into the advantages that efficient, mobility is good, abundant sense organ.The research that bionic machine fish is crossed based on these advantages people is also more next
More, the function of bionic machine fish is also more and more perfect, and the application field of bionic machine fish covers science, education and joy at present
The fields such as happy.
For fish using the travelling mode of undulatory propulsion, the swing of body is flexible movement, so, bionic machine fish
Swinging joint more mostly more the flexible of fish can be imitated out swing.But swinging joint is more, between tie point get over
More, then the friction point and rubbing surface when swinging are more, then by the flexibility for the swing for not only influencing entire bionic machine fish,
Energy consumption can also be increased.
Invention content
The object of the present invention is to provide a kind of swing mechanisms of bionic intelligence machine fish, solve bionic intelligence in the prior art
The technical problem that machine fish swing mechanism energy consumption is big, flexibility is poor.
In order to solve the above-mentioned technical problem, technical scheme is as follows：
A kind of swing mechanism of bionic intelligence machine fish includes fish body, fish tail with fairing, the fish body packet
Include first part, second part, Part III.The first part includes Biomimetic Fish shell one and is arranged in Biomimetic Fish shell one
In control module, the first driving mechanism, first driving mechanism include the first steering engine, the first steering engine shell, the first track,
First connecting rod, first pair of O-ring seal；Second part include Biomimetic Fish shell two and be arranged in Biomimetic Fish shell two second
Driving mechanism, the second driving mechanism include the second track, the second steering engine, the second steering engine shell, second connecting rod, second pair it is O-shaped close
Seal；Part III includes Biomimetic Fish shell three and the third driving mechanism that is arranged in Biomimetic Fish shell three, third driving machine
Structure includes third steering engine, third steering engine shell, third to O-ring seal, gear one, gear two, rotary gear shaft.
In the first steering engine shell, the first steering engine shell is fixed in bionical shell one the first steering engine fixing seal,
And first steering engine output shaft straight up, be arranged first pair of O-ring seal on the output shaft of the first steering engine successively from bottom to top
And first connecting rod, the other end of first connecting rod is fixedly connected with the second steering engine shell, and the output of first connecting rod and the first steering engine
Axis is vertical；The first track of arc is fixedly installed on the first steering engine shell, the bottom at the intermediate position of first connecting rod is set
It is equipped with the first idler wheel, and the first idler wheel is fastened in the first track；When first connecting rod is rotated with the output shaft of the first steering engine,
First idler wheel is rolled along the first track.First track plays a supporting role to first connecting rod, prevents the output shaft in the first steering engine
It is deformed due to being generated moment of flexure by the pulling force of first connecting rod, while passing through first rolling of bottom setting at the position among first connecting rod
Wheel, the friction of first connecting rod and the first interorbital, reduces energy consumption when reducing the output shaft rotation of the first steering engine.
In the second steering engine shell, the second steering engine shell is fixed in bionical shell two the second steering engine fixing seal,
And second steering engine output shaft straight up, be arranged with second pair of O-shaped sealing on the output shaft of the second steering engine successively from bottom to top
Circle and second connecting rod, the other end of second connecting rod are fixedly connected with third steering engine shell, and second connecting rod and the second steering engine is defeated
Shaft is vertical；The second track of arc, the bottom at the intermediate position of second connecting rod are fixedly installed on the second steering engine shell
It is provided with the second idler wheel, and the second idler wheel is fastened in the second track；When second connecting rod is rotated with the output shaft of the second steering engine
When, the second idler wheel is rolled along the second track.Equally, the second track plays a supporting role to second connecting rod, prevents second
The output shaft of steering engine deforms due to being generated moment of flexure by the pulling force of second connecting rod, while passing through the bottom at the position among second connecting rod
The second idler wheel is arranged in portion, and the friction of second connecting rod and the second interorbital, reduces energy when reducing the rotation of the second steering engine output shaft
Consumption.
The third steering engine is fixedly installed in third steering engine shell, and third steering engine shell is fixed in bionical shell three,
And the output shaft of third steering engine is straight down, the output shaft of third steering engine is arranged with third to O-ring seal successively from top to bottom
With gear one, gear one engages connection with the fixed gear two being set on rotary gear shaft, and rotary gear shaft is rotatably arranged on third
It is fixedly connected, is led to fish tail by the connector being fixedly positioned thereon close to the end of fish tail, rotary gear shaft on steering engine shell
It crosses gear one and imparts power to fish tail with engaging for gear two so that fish tail swing is soft, and transition is natural.
For the flexible swinging for making bionic machine fish, lively, the control module and the first steering engine, the second steering engine, third
It is electrically connected between steering engine, the first steering engine drives second part rotation, the second steering engine to turn in the first steering engine by first connecting rod
Secondary rotation and Part III is driven to rotate on the basis of dynamic, same third steering engine turns again on the basis of the second steering engine rotates
Fish tail swing dynamic and that bionic intelligence machine fish is driven by gear shaft, ensures the fish body flexible swinging of bionic machine fish, can
It is moved about with straight line, can also quickly form " C " word shape, be swerved convenient for bionic machine fish when encountering barrier.
The first part, second part, Part III and fish tail successively between there is the gap of 2-5mm.First,
The presence of gap ensure that the independent work of three driving mechanisms without by reciprocal influence, in addition small―gap suture ensure that bionic machine
The apparent continuity of fish.
In order to make bionic machine fish closer to true fish body, increase ornamental value and interest, the Biomimetic Fish shell
One, Biomimetic Fish shell two, Biomimetic Fish shell three and fish tail are made of 3D printing.
The present invention has technique effect as is evident below using above-mentioned technical proposal：
1, the swing mechanism of bionic intelligence machine fish of the present invention, respective rail play a supporting role to connecting rod, prevent
Only the output shaft of steering engine because by connecting rod pulling force generate moment of flexure due to deform, while by among connecting rod the bottom at position set
Idler wheel is set, the friction of connecting rod and interorbital, reduces energy consumption when reducing the rotation of steering engine output shaft.
2, the swing mechanism of bionic intelligence machine fish of the present invention, between the first steering engine, the second steering engine, third steering engine
It is electrically connected, the first steering engine drives second part rotation, and secondary rotation is simultaneously on the basis of the first steering engine rotates for the second steering engine
Part III rotation, same third steering engine is driven to rotate and driven by gear shaft imitative again on the basis of the second steering engine rotates
The fish tail swing of raw intelligence machine fish, is ensured the fish body flexible swinging of whole bionic machine fish, can be moved about with straight line, can also
" C " word shape is quickly formed, is swerved convenient for bionic machine fish when encountering barrier.
3, the swing mechanism of bionic intelligence machine fish of the present invention provides a kind of based on the bionical of 3D printing technique
Fish shell one, Biomimetic Fish shell two, Biomimetic Fish shell three and the fish tail of machine fish, to make bionic machine fish closer to true
Fish body, increase ornamental value and interest.
4, the swing mechanism of bionic intelligence machine fish of the present invention has efficient, flexible ability of cruising under water, fortune
Efficiency of movement is high, and mobility is good, and has good water-proof function.
Description of the drawings
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of application for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 shows the front view of bionic intelligence machine fish of the present invention；
Fig. 2 shows the vertical view of bionic intelligence machine fish of the present invention；
Fig. 3 is the A-A sectional views of Fig. 1；
Fig. 4 is the B-B sectional views of Fig. 2；
Fig. 5 shows the driving structure schematic diagram of bionic intelligence machine fish swing mechanism of the present invention.
Specific implementation mode
It is clearer for the purpose and technical solution that make the application, below in conjunction with the embodiment of the present application to the skill of the application
Art scheme is clearly and completely described.
As shown in Figs. 1-5, a kind of swing mechanism of bionic intelligence machine fish includes fish body 1 with fairing, fish
Tail 2, the fish body 1 include first part 11, second part 12, Part III 13.The first part 11 includes outside Biomimetic Fish
Shell 1 and control module 112, the first driving mechanism 113 being arranged in Biomimetic Fish shell 1, first driving machine
Structure 113 includes the first steering engine 1131, the first steering engine shell 1132, and the first track 1133,1134, first pairs of first connecting rod are O-shaped close
Seal 1135；Second part 12 includes Biomimetic Fish shell 2 121 and the second driving mechanism being arranged in Biomimetic Fish shell 2 121
122, the second driving mechanism 122 includes the second track 1223, the second steering engine 1221, the second steering engine shell 1222, second connecting rod
1224, second pair of O-ring seal 1225；Part III 13 includes Biomimetic Fish shell 3 131 and is arranged in Biomimetic Fish shell 3 131
In third driving mechanism 132, third driving mechanism 132 includes third steering engine 1321, third steering engine shell 1322, third is to O
Type sealing ring 1323, gear 1, gear 2 1325, rotary gear shaft 1326.
In the first steering engine shell 1132, the first steering engine shell 1132 is fixed on imitative first steering engine, 1131 fixing seal
In raw shell 1, and the output shaft of the first steering engine 1131 is straight up, on the output shaft of the first steering engine 1131 from bottom to top according to
It is secondary to be arranged first pair of O-ring seal 1135 and first connecting rod 1134, the other end of first connecting rod 1134 and the second steering engine shell
1222 are fixedly connected, and first connecting rod 1134 is vertical with the output shaft of the first steering engine 1131；On the first steering engine shell 1132
It is fixedly installed the first track 1133 of arc, the bottom at the intermediate position of first connecting rod 1134 is provided with the first idler wheel 1136,
And first idler wheel 1136 be fastened in the first track 1133；When first connecting rod 1134 is rotated with the output shaft of the first steering engine 1131
When, the first idler wheel 1136 is rolled along the first track 1133.First track 1133 plays a supporting role to first connecting rod 1134, prevents
It is deformed due to being generated moment of flexure by the pulling force of first connecting rod 1134 in the output shaft of the first steering engine 1131, while by connecting first
The first idler wheel 1136 is arranged in the bottom at 1134 intermediate position of bar, first connecting rod when reducing the output shaft rotation of the first steering engine 1131
1134 and first interorbital 1133 friction, reduce energy consumption.
In the second steering engine shell 1222, the second steering engine shell 1222 is fixed on imitative second steering engine, 1221 fixing seal
In raw shell 2 121, and the output shaft of the second steering engine 1221 is straight up, on the output shaft of the second steering engine 1221 from bottom to top according to
It is secondary to be arranged with second pair of O-ring seal 1225 and second connecting rod 1224, the other end and the third steering engine shell of second connecting rod 1224
1322 are fixedly connected, and second connecting rod 1224 is vertical with the output shaft of the second steering engine 1221；On the second steering engine shell 1222
It is fixedly installed the second track 1223 of arc, the bottom at the intermediate position of second connecting rod 1224 is provided with the second idler wheel 1226,
And second idler wheel 1226 be fastened in the second track 1223；When second connecting rod 1224 is rotated with the output shaft of the second steering engine 1221
When, the second idler wheel 1226 rolls in the second track 123.Equally, the second track 1223 plays support to second connecting rod 1224 and makees
With preventing the output shaft in the second steering engine 1221 from being deformed due to being generated moment of flexure by the pulling force of second connecting rod 1224, pass through simultaneously
When the second idler wheel 1226 is arranged in the bottom at 1224 intermediate position of second connecting rod, reduces the rotation of 1221 output shaft of the second steering engine the
The friction of two connecting rods 1224 and the second interorbital 1223, reduces energy consumption.
The third steering engine 1321 is fixedly installed in third steering engine shell 1322, and third steering engine shell 1322 is fixed on imitative
In raw shell 3 131, and the output shaft of third steering engine 1321 is straight down, and the output shaft of third steering engine is arranged successively from top to bottom
There is third to O-ring seal 1323 and gear 1, gear 1 is set in the gear on rotary gear shaft 1326 with fixation
2 1325 engagement connections, rotary gear shaft 1326 are fixed on the tail portion of third steering engine shell 1322, and rotary gear shaft 1326 passes through connection
Part 1327 is fixedly connected with fish tail 2.By gear 1 fish tail 2 is imparted power to engaging for gear 2 1325 so that
Fish tail 2 swings soft, transition nature.
For the flexible swinging for making bionic machine fish, lively, the control module 112 and the first steering engine 1131, the second rudder
It is electrically connected between machine 1221, third steering engine 1321, the first steering engine 1131 drives second part 12 to rotate, the second steering engine 1221
On the basis of the first steering engine 1131 rotates secondary rotation and drive Part III 13 rotate, same third steering engine 1321 is second
Steering engine 1221 rotates on the basis of rotating and drives the fish tail 2 of bionic intelligence machine fish to swing by connector 1327 again, protects
The fish body flexible swinging for demonstrate,proving whole bionic machine fish, can be moved about with straight line, can also quickly form " C " word shape, convenient for bionical
Machine fish swerves when encountering barrier.
The rotational angle of first steering engine, 1131 output shaft is left 45 degree to 45 degree of the right side, 1221 output shaft of the second steering engine
Rotational angle is left 40 degree to 40 degree right, and the rotational angle of 1321 output shaft of third steering engine is 45 degree of 45 degree of a left side to the right side.
The first part 11, second part 12, Part III 13 and fish tail 2 successively between there is the gap of 2-5mm.
First, the presence in gap ensure that three driving mechanisms work independently without by reciprocal influence, in addition small―gap suture ensure that imitative
The apparent continuity of raw machine fish.In order to make bionic machine fish closer to true fish body, increase ornamental value and interest,
The Biomimetic Fish shell 1, Biomimetic Fish shell 2 121, Biomimetic Fish shell 3 131 and fish tail 2 are made of 3D printing.
Do not done in the present invention illustrate be the prior art or can be realized by the prior art, and the present invention
Described in specific implementation case be only the present invention preferable case study on implementation, practical range not for the purpose of limiting the invention.
That is equivalent changes and modifications made by all contents according to scope of the present invention patent all should be used as the technology scope of the present invention.
Claims (3)
1. a kind of swing mechanism of bionic intelligence machine fish, which is characterized in that include fish body, fish tail with fairing,
The fish body includes first part, second part, Part III, the first part, second part, Part III and fish tail according to
There is the gap of 2-5mm between secondary；
The first part includes Biomimetic Fish shell one and the control module, the first driving machine that are arranged in Biomimetic Fish shell one
Structure, first driving mechanism include the first steering engine, the first steering engine shell, the first track, first connecting rod, first pair of O-shaped sealing
Circle；
Second part includes Biomimetic Fish shell two and the second driving mechanism for being arranged in Biomimetic Fish shell two, the second driving mechanism
Including the second track, the second steering engine, the second steering engine shell, second connecting rod, second pair of O-ring seal；
Part III includes Biomimetic Fish shell three and the third driving mechanism that is arranged in Biomimetic Fish shell three, third driving mechanism
Including third steering engine, third steering engine shell, third to O-ring seal, gear one, gear two, rotary gear shaft；
In the first steering engine shell, the first steering engine shell is fixed in bionical shell one the first steering engine fixing seal, and the
The output shaft of one steering engine is arranged straight up, is arranged first pair of O-ring seal on the output shaft of the first steering engine successively from bottom to top
And first connecting rod, the other end of first connecting rod is fixedly connected with the second steering engine shell, and the output of first connecting rod and the first steering engine
Axis is vertical；The first track of arc is fixedly installed on the first steering engine shell, the bottom at the intermediate position of first connecting rod is set
It is equipped with the first idler wheel, and the first idler wheel is fastened in the first track；When first connecting rod is rotated with the output shaft of the first steering engine,
First idler wheel is rolled along the first track；
In the second steering engine shell, the second steering engine shell is fixed in bionical shell two the second steering engine fixing seal, and the
The output shaft of two steering engines is arranged straight up, is arranged with second pair of O-shaped sealing on the output shaft of the second steering engine successively from bottom to top
Circle and second connecting rod, the other end of second connecting rod are fixedly connected with third steering engine shell, and second connecting rod and the second steering engine is defeated
Shaft is vertical；The second track of arc, the bottom at the intermediate position of second connecting rod are fixedly installed on the second steering engine shell
It is provided with the second idler wheel, and the second idler wheel is fastened in the second track；When second connecting rod is rotated with the output shaft of the second steering engine
When, the second idler wheel is rolled along the second track；
The third steering engine is fixedly installed in third steering engine shell, and third steering engine shell is fixed in bionical shell three, and the
The output shaft of three steering engines is arranged straight down, and the output shaft of third steering engine is arranged with third to O-ring seal successively from top to bottom
With gear one, gear one engages connection with the fixed gear two being set on rotary gear shaft, and rotary gear shaft is rotatably arranged on third
It is fixedly connected with fish tail by the connector being fixedly positioned thereon close to the end of fish tail, rotary gear shaft on steering engine shell；
It is electrically connected between the control module and the first steering engine, the second steering engine, third steering engine.
2. according to the swing mechanism of the bionic intelligence machine fish described in claim 1, it is characterised in that：First steering engine is defeated
The rotational angle of shaft is left 45 degree to 45 degree of the right side, and the rotational angle of the second steering engine output shaft is left 40 degree to 40 degree of the right side, third
The rotational angle of steering engine output shaft is left 45 degree to 45 degree of the right side.
3. the swing mechanism of bionic intelligence machine fish according to claim 1, it is characterised in that：The Biomimetic Fish shell
One, Biomimetic Fish shell two, Biomimetic Fish shell three and fish tail are made of 3D printing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510557116.XA CN105799895B (en) | 2015-09-02 | 2015-09-02 | A kind of swing mechanism of bionic intelligence machine fish |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510557116.XA CN105799895B (en) | 2015-09-02 | 2015-09-02 | A kind of swing mechanism of bionic intelligence machine fish |
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| Publication Number | Publication Date |
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| CN105799895A CN105799895A (en) | 2016-07-27 |
| CN105799895B true CN105799895B (en) | 2018-07-24 |
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| Application Number | Title | Priority Date | Filing Date |
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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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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107380386B (en) * | 2017-07-12 | 2023-05-16 | 河海大学 | Three-joint structure of robot fish |
| CN107444597B (en) * | 2017-07-12 | 2023-05-16 | 河海大学 | Robot fish with three-joint structure |
Citations (6)
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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 |
| CN101003301A (en) * | 2007-01-19 | 2007-07-25 | 哈尔滨工程大学 | Underwater propelling plant imitating hydrofoil |
| 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 |
-
2015
- 2015-09-02 CN CN201510557116.XA patent/CN105799895B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN101003301A (en) * | 2007-01-19 | 2007-07-25 | 哈尔滨工程大学 | Underwater propelling plant imitating hydrofoil |
| 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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| CN105799895A (en) | 2016-07-27 |
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Address after: 01, 210019 floor, Metro science and technology building, 69 Olympic Sports Avenue, Jianye District, Jiangsu, Nanjing, 4 Applicant after: NANJING LEPENG ELECTRONIC TECHNOLOGY CO., LTD. Address before: 210006 Jiangning Road 5, Qinhuai District, Jiangsu, Nanjing Applicant before: NANJING LEPENG ELECTRONIC TECHNOLOGY CO., LTD. |
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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. |