CN105836083A - Bionic fishtail structure driven by eccentric wheel - Google Patents
Bionic fishtail structure driven by eccentric wheel Download PDFInfo
- Publication number
- CN105836083A CN105836083A CN201610265214.0A CN201610265214A CN105836083A CN 105836083 A CN105836083 A CN 105836083A CN 201610265214 A CN201610265214 A CN 201610265214A CN 105836083 A CN105836083 A CN 105836083A
- Authority
- CN
- China
- Prior art keywords
- eccentric
- caudal peduncle
- eccentric wheel
- fish
- bionic
- 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.)
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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
Abstract
The invention provides a bionic fishtail structure driven by an eccentric wheel. The bionic fishtail structure comprises a deep caudal peduncle, a fishtail, the eccentric wheel and a micro-motor, wherein the deep caudal peduncle and the fishtail are prepared from a fiber reinforced composite material; the micro-motor and the eccentric wheel are contained in the deep caudal peduncle, the motor drives the eccentric wheel to move, and a tail fin of the structure is enabled to move. The bionic fishtail structure can realize complicated motion of fish such as Spanish mackerels, tunas and the like adopting a BCF (body-caudal fin flapping) propulsion mode, and has the advantages of high efficiency, low cost, light weight, simple structure and the like.
Description
Technical field
The present invention relates to a kind of biomimetic features, particularly relate to the bionic fish tail structure of a kind of eccentric transmission, belong to bionic field.
Background technology
The continuous progress and development of subject such as aquatic bionic, robotics, new material, and the growth requirement increase at sea,
The Biomimetic Fish exactly liking equipment for fish shape becomes the study hotspot of mechanical field.Biomimetic Fish can explore and further investigate seabed animals and plants money
Source, be widely used in underwater environment detection, harbour monitoring, search and rescue, humanitarian demining, seashore safety, fisheries management,
Counterterrorism operations and military operation etc..The research of the propelling pattern of Fish becomes the basis of Biomimetic Fish, and the propelling pattern of Fish is divided into spray
Penetrate formula, BCF propulsion mode (tail fin promotion), MPF propulsion mode (pectoral fin or abdomeinal fin promote), wherein BCF propulsion mode
High thrust can be produced and can move about at a high speed.In order to realize Biomimetic Fish miniaturization, motility and range of movement, such as fruit structure
Excessively complicated, Biomimetic Fish is overweight, is limited by material simultaneously, cannot simulate the complicated fortune of the Fish such as Spanish mackerel, tuna with this
Dynamic.
Summary of the invention
The invention aims to solve problem of the prior art and the bionic fish tail structure of a kind of eccentric transmission is provided.
The object of the present invention is achieved like this: includes caudal peduncle height, fish tail, micromachine, eccentric, and described micromachine is pacified
Being contained on caudal peduncle height, eccentric is arranged on the output shaft of micromachine, and fish tail includes afterbody, intermediate bar and body, health
Portion coordinates with described eccentric wheel shape, and the end that intermediate bar is high with caudal peduncle is hinged.
Present invention additionally comprises so some architectural features:
1. the material of caudal peduncle height, eccentric and fish tail is all fibre reinforced composites.
Compared with prior art, the invention has the beneficial effects as follows: present invention employs a kind of new material and type of belt drive, it is achieved
The compound movement of the Fish such as Spanish mackerel, tuna, and there is simple in construction, the advantage that lightweight, efficiency is high.The present invention passes through
Micromachine connecting eccentric wheel, eccentric carries out 360 degree and rotarily drives fish tail and carry out-60 °～60 °, left and right and wave, namely the present invention
Can realize simulating Spanish mackerel, tuna etc. by simple structure and use answering of BCF propulsion mode (tail fin promotion) pattern Fish
Miscellaneous motion.
Accompanying drawing explanation
Fig. 1 is the structural representation of the main apparent direction of the present invention；
Fig. 2 is the structural representation overlooking direction of the present invention.
In figure: 1 caudal peduncle is high；The afterbody of 2 fish tails；3 micromachines；4 eccentrics；The body of 5 fish tails；The centre of 6 fish tails
Bar.
Detailed description of the invention
With detailed description of the invention, the present invention is described in further detail below in conjunction with the accompanying drawings.
In conjunction with Fig. 1 and Fig. 2, the present invention includes that caudal peduncle is high by 1, fish tail, eccentric 4, micromachine 3, fish tail include afterbody 2,
Intermediate bar 6 and body 5, wherein material selects: eccentric selects carbon fibre composite, and caudal peduncle is high and fish tail selects glass
Fiber compound polyurethane material, it is relative to carbon fiber epoxy composite, elastic modelling quantity is less, rigidity is lower, flexible more preferably,
Deform bigger.The micromachine of the present invention uses the small DC motor Driver of the whole series of maxon motor company of Switzerland, and volume is little,
Lightweight, torque is big.Described micro motor is supporting includes decelerator and encoder.By micromachine 2 connecting eccentric wheel 4,
Eccentric 4 carries out shape and coordinates the further transmission realizing motion with the body 5 of fish tail, and the intermediate bar 6 of fish tail is high with caudal peduncle
End be articulated and connected, realize fish tail swing further, eccentric 4 carry out 360 degree rotarily drive fish tail 2 carry out left and right-60 °～
60 ° are waved, and caudal peduncle high 1 is to support is integrally formed, and the bionic fish tail structure of overall eccentric transmission uses pin to position.
The invention belongs to bionic field, study the Fish shape end of the month such as Spanish mackerel, tuna, relate generally to composite feature and
Simple drive mechanism relates to a kind of bionic fish tail, simulates Spanish mackerel, tuna etc. and uses BCF propulsion mode (tail fin promotion)
Pattern Fish compound movement.
The present invention is by the following technical solutions: the bionic fish tail structure of eccentric transmission includes caudal peduncle height, fish tail, eccentric, micro-
Type motor.Described caudal peduncle is high and fish tail is that the glass fibre compound polyurethane material in fibre reinforced composites is made, wherein tail
Handle senior middle school includes micromachine and eccentric, driven by motor wobbler action so that it is tail fin moves, and described motor drives and can make
Fish tail swing reaches-60 °～60 °.
The invention discloses the bionic fish tail structure of eccentric transmission, including caudal peduncle height, fish tail, eccentric, micromachine.Institute
Stating caudal peduncle high is that fibre reinforced composites are made with fish tail, and wherein caudal peduncle senior middle school includes micromachine and eccentric, driven by motor
Wobbler action so that it is tail fin moves, namely fishtailing motion is to be moved by minitype motor driving eccentric.Energy of the present invention
Realize as Spanish mackerel, tuna etc. use BCF propulsion mode (tail fin promotion) pattern Fish compound movement, and have efficiency height,
Low cost, lightweight, advantages of simple structure and simple.
Described caudal peduncle is high and fish tail is that the glass fibre compound polyurethane material in fibre reinforced composites is made, described eccentric
It is also adopted by fibre reinforced composites to make；Eccentric is that carbon fibre composite is made specifically.
Claims (2)
1. the bionic fish tail structure of eccentric transmission, it is characterised in that: include caudal peduncle height, fish tail, micromachine, eccentric,
Described micromachine is arranged on caudal peduncle height, and eccentric is arranged on the output shaft of micromachine, and fish tail includes afterbody, intermediate bar
And body, body coordinates with described eccentric wheel shape, and the end that intermediate bar is high with caudal peduncle is hinged.
The bionic fish tail structure of a kind of eccentric transmission the most according to claim 1, it is characterised in that: caudal peduncle is high, eccentric
The material of wheel and fish tail is all fibre reinforced composites.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610265214.0A CN105836083B (en) | 2016-04-26 | 2016-04-26 | The bionic fish tail structure of eccentric wheel transmission |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610265214.0A CN105836083B (en) | 2016-04-26 | 2016-04-26 | The bionic fish tail structure of eccentric wheel transmission |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105836083A true CN105836083A (en) | 2016-08-10 |
| CN105836083B CN105836083B (en) | 2018-04-17 |
Family
ID=56590027
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610265214.0A Active CN105836083B (en) | 2016-04-26 | 2016-04-26 | The bionic fish tail structure of eccentric wheel transmission |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105836083B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110127016A (en) * | 2019-05-30 | 2019-08-16 | 福州大学 | A kind of doublejointed mechanical fish tail portion propulsive mechanism and its working method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS54104193A (en) * | 1978-01-31 | 1979-08-16 | Agency Of Ind Science & Technol | Driving mechanism of underwater navigating body |
| CN2811163Y (en) * | 2005-04-08 | 2006-08-30 | 哈尔滨工程大学 | Mechanical gear device for fish-tail like propelling system |
| ES2325236A1 (en) * | 2005-02-21 | 2009-08-28 | Universidade Da Coruña, | Waving impulsion system. (Machine-translation by Google Translate, not legally binding) |
| CN201807186U (en) * | 2010-10-14 | 2011-04-27 | 上海海洋大学 | Robotic fish compound turning device |
| CN103895842A (en) * | 2014-04-01 | 2014-07-02 | 上海海洋大学 | Robotic fish capable of carrying water quality detection sensor |
| CN205707258U (en) * | 2016-04-26 | 2016-11-23 | 哈尔滨工程大学 | The bionic fish tail structure of eccentric transmission |
-
2016
- 2016-04-26 CN CN201610265214.0A patent/CN105836083B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS54104193A (en) * | 1978-01-31 | 1979-08-16 | Agency Of Ind Science & Technol | Driving mechanism of underwater navigating body |
| ES2325236A1 (en) * | 2005-02-21 | 2009-08-28 | Universidade Da Coruña, | Waving impulsion system. (Machine-translation by Google Translate, not legally binding) |
| CN2811163Y (en) * | 2005-04-08 | 2006-08-30 | 哈尔滨工程大学 | Mechanical gear device for fish-tail like propelling system |
| CN201807186U (en) * | 2010-10-14 | 2011-04-27 | 上海海洋大学 | Robotic fish compound turning device |
| CN103895842A (en) * | 2014-04-01 | 2014-07-02 | 上海海洋大学 | Robotic fish capable of carrying water quality detection sensor |
| CN205707258U (en) * | 2016-04-26 | 2016-11-23 | 哈尔滨工程大学 | The bionic fish tail structure of eccentric transmission |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110127016A (en) * | 2019-05-30 | 2019-08-16 | 福州大学 | A kind of doublejointed mechanical fish tail portion propulsive mechanism and its working method |
| CN110127016B (en) * | 2019-05-30 | 2023-12-12 | 福州大学 | Double-joint mechanical fish tail propelling mechanism and working method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105836083B (en) | 2018-04-17 |
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