CN106364647B - One kind can play the musical instrument Biomimetic Fish under water - Google Patents
One kind can play the musical instrument Biomimetic Fish under water Download PDFInfo
- Publication number
- CN106364647B CN106364647B CN201610717911.5A CN201610717911A CN106364647B CN 106364647 B CN106364647 B CN 106364647B CN 201610717911 A CN201610717911 A CN 201610717911A CN 106364647 B CN106364647 B CN 106364647B
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- Prior art keywords
- biomimetic fish
- fish
- screw mandrel
- fin
- bracing wire
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H23/00—Transmitting power from propulsion power plant to propulsive elements
- B63H23/02—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing
- B63H23/08—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing with provision for reversing drive
Abstract
The present invention relates to a kind of Biomimetic Fish, more particularly to one kind can play the musical instrument Biomimetic Fish under water.The technical problem to be solved in the present invention is to provide a kind of convenient, Biomimetic Fish that can play the musical instrument under water simple to operate vdiverse in function, mobile.In order to solve the above-mentioned technical problem, the invention provides such a Biomimetic Fish that can be played the musical instrument under water, include Biomimetic Fish, front-end bearing pedestal, fixed pulley, first bracing wire, first fin, first flexible member, second fin, fix bar, driven pulley, driving wheel, motor, flat belt, second bracing wire, first nut, first fixed block, first connecting rod, first screw mandrel and the second fixed block, first bearing seat is provided among Biomimetic Fish right part, first rotating shaft is provided with first bearing seat, first rotating shaft top is connected with curved rod, curved rod right-hand member is connected with fish tail, curved rod left end is connected with first connecting rod.Invention achieves vdiverse in function, mobile convenient, effect simple to operate.
Description
Technical field
The present invention relates to a kind of Biomimetic Fish, more particularly to one kind can play the musical instrument Biomimetic Fish under water.
Background technology
Bionical is the function of mimic biology system and behavior, carrys out a kind of scientific method of building technology system.It breaks
The boundary of biology and machine, a variety of systems are linked up.New machinery can be formulated with bionic method, invention is modern
Instrument is distinguished in change, improves communication system, futuramic technique and development artificial organ etc..Aircraft, polar region such as the modern times is cross-country
Automobile, the electronic frog's eye of radar system, the sonar system of navigation, honeycomb, artificial kidney and the artificial heart of aviation construction engineering
It is dirty etc., all it is bionical crystallization.
Fish is a kind of vertebrate for being very suitable for living in water, and they have squama with it, can be resisted harmful small in water
The infringement of biology；There is fish glue in body, the sink-float of body can be controlled freely；The fin of parts of body, then ensure that it can be
In water with various flexible gestural activities, look for food.So they can only be distributed among each suitable environment.Biomimetic Fish is mould
Function and the behavior of imitative fish system and be designed.
There is the shortcomings that function is single, mobile not convenient, cumbersome in existing Biomimetic Fish, therefore need a kind of work(of research and development badly
Can various, the mobile convenient, Biomimetic Fish that can play the musical instrument under water simple to operate.
The content of the invention
(1) technical problems to be solved
The shortcomings that present invention is in order to overcome existing Biomimetic Fish function single, mobile not convenient, cumbersome, the present invention will
The technical problem of solution is to provide a kind of convenient, Biomimetic Fish that can play the musical instrument under water simple to operate vdiverse in function, mobile.
(2) technical scheme
In order to solve the above-mentioned technical problem, the invention provides such a Biomimetic Fish that can be played the musical instrument under water, include imitative
Raw fish, front-end bearing pedestal, fixed pulley, the first bracing wire, the first fin, the first flexible member, the second fin, fix bar, driven pulley, master
Driving wheel, motor, flat belt, the second bracing wire, the first nut, the first fixed block, first connecting rod, the first screw mandrel, the second fixed block,
Two nuts, first bearing seat, first rotating shaft, curved rod, fish tail, connecting rod, the 3rd bracing wire, the first electromagnet, the second elasticity member
Part, the second electromagnet, hit block, cell body, rear bearing block, the second screw mandrel, second bearing seat and the second rotating shaft；Among Biomimetic Fish right part
First bearing seat is provided with, first rotating shaft is provided with first bearing seat, first rotating shaft top is connected with curved rod, and curved rod is right
End is connected with fish tail, and curved rod left end is connected with first connecting rod, and Biomimetic Fish left part front and back has been hingedly connected first
In fin and the second fin, the first fin and Biomimetic Fish first is respectively connected between front side and the interior rear side of the second fin and Biomimetic Fish
Flexible member, Biomimetic Fish middle part are provided with fix bar, and fix bar is fixedly connected with Biomimetic Fish inner bottom part, bionical on the right side of fix bar
Motor and second bearing seat are provided with after fish on inwall, the second rotating shaft is provided with second bearing seat, is connected on front side of the second rotating shaft
Driven pulley is connected to, driving wheel is connected with front side of motor, flat belt is wound between driving wheel and driven pulley, fix bar front end is with after
End is symmetrically arranged with fixed pulley, rear bearing block and front-end bearing pedestal is provided with the right side of fix bar, after rear bearing block is located at front-end bearing pedestal
Side, is disposed with the first screw mandrel, connecting rod and the second screw mandrel, the first screw mandrel from front to back between rear bearing block and front-end bearing pedestal
It is connected with the second screw mandrel with connecting rod, the first screw mandrel front end is connected with front-end bearing pedestal, and the second screw mandrel passes through rear bearing block, and second
The rear end of screw mandrel is connected with driven pulley, and the second nut is provided with the first screw mandrel, the second fixed block is provided with the right side of the second nut,
The first bracing wire is connected with the right side of second fixed block, the first nut is provided with the second screw mandrel, first is provided with the right side of the first nut
Fixed block, the first fixed block right side are connected with the second bracing wire, and the first bracing wire is connected around front side fixed pulley with the first fin, and second
Bracing wire and it is connected around rear side fixed pulley with the second fin, is hingedly connected with first connecting rod at the top of the first fixed block, in connecting rod
The 3rd bracing wire is wound with, the 3rd end of pulling is connected with cell body, and cell body inner top is provided with the first electromagnet, the first electromagnet bottom
The second flexible member is provided with, the second flexible member bottom is connected with the second electromagnet, and the second electromagnet bottom, which is connected with, hits block.
Preferably, controller and distance detector are also included, cell body left part bottom is provided with distance detector, fix bar
Left side is provided with controller, and distance detector, motor, the first electromagnet and the second electromagnet are respectively connected with controller.
Preferably, also include waterproof cloth, waterproof cloth is provided with the Biomimetic Fish of curved rod right-hand member.
Preferably, also include rubber blanket, hit block bottom and be provided with rubber blanket.
Preferably, motor is servomotor.
Preferably, the first flexible member and the second flexible member are spring.
Preferably, waterproof cloth is elastic waterproof cloth.
Operation principle：Originally, aqueous water bottom is provided with piano.Played the musical instrument under water using Biomimetic Fish when needing to use
When, Biomimetic Fish is placed on to the correct position for being adapted to piano in aqueous water.Manually start motor intermittent it is clockwise and reversion, work as electricity
When machine is clockwise, driving wheel is clockwise, and flat belt is clockwise therewith, drives driven pulley clockwise, inverts the second screw mandrel, the first screw mandrel is suitable
Turn, so that the first nut and the second nut are drawn close to connecting rod position, the first fixed block and the second fixed block pull the respectively
Two bracing wires and the first bracing wire are drawn close to connecting rod position, finally make the first fin clockwise oscillation, the second fin counter-clockwise swing,
When motor reversal, driving wheel reversion, flat belt inverts therewith, drives driven pulley reversion, makes the second screw mandrel clockwise, the first screw mandrel
Reversion, so that the first nut and the second nut, to connecting rod movement outside, now, the second bracing wire and the first bracing wire are by first
The elastic force of flexible member is acted on to left movement, finally makes the first fin counter-clockwise swing, and the second fin clockwise oscillation is same with this
When, the first fixed block is moved forward and backward, and first connecting rod will be driven to move forward and backward, promote curved rod to swing, before driving fish tail
After swing；Therefore swinging for the first fin and the second fin is realized, promotes Biomimetic Fish to move forward and backward.In the process, even
Extension bar, so as to which the 3rd bracing wire is withdrawn and released at intervals, drives cell body to move up and down, block is hit so as to drive also with rotation
Move up and down；When hitting block and moving to the correct position of piano key, manually start the first electromagnet and the second electromagnet is powered, band
Same magnetic is mutually exclusive, makes to hit block and moves downward impact piano key.After piano key sends sound, the first electromagnet and second
Electromagnet powers off.Acted more than repeating, it is possible to realize that Biomimetic Fish is played the musical instrument under water.After fish is played the musical instrument under water, electricity is closed
Machine, fish is stopped movement and hit ringing piano key.
Because also including controller and distance detector, cell body left part bottom is provided with distance detector, and fix bar is left
Side is provided with controller, and distance detector, motor, the first electromagnet and the second electromagnet are respectively connected with controller, institute
With the signal fed back by receiving distance detector, controller can control the first electromagnet with the startup and closing of controlled motor
With the energization and power-off of the second electromagnet, the Intelligent mobile of Biomimetic Fish and intelligent impact piano key are realized.
Because also including waterproof cloth, waterproof cloth is provided with the Biomimetic Fish of curved rod right-hand member, it is possible to prevent liquid
Water is flowed into Biomimetic Fish body.
Because also including rubber blanket, hit block bottom and be provided with rubber blanket, so when hitting block and impacting piano key, rubber
Pad can play a part of protecting piano key.
Because motor is servomotor, it is possible to effective controlled motor, makes operation operation more steady.
Because the first flexible member and the second flexible member are spring, the first flexible member and the second flexible member
Elasticity is good.
Because waterproof cloth is elastic waterproof cloth, during fish tail swing, waterproof cloth will not damage because of pulling force.
Controller selection Xiamen sea is S24S0T type PLCs for the sea that Science and Technology Ltd. produces, outside main frame
24VDC powers, the input of 16 tunnels, the output of 8 tunnels.The definition of input/output port is：X0 is starting switch, and X1 is shutdown switch, X2
For emergency stop switch, X3 is distance detector；Y0 is the first electromagnet, and Y1 is the second electromagnet, and Y2 is motor.According to Fig. 9
Electric control theory figure, those skilled in the art do not need performing creative labour, passes through programming and controller can be achieved
Each part is controlled to be acted by above-mentioned operation principle, the dependent instruction of programming is all prior art, be will not be repeated here.
(3) beneficial effect
Invention achieves vdiverse in function, mobile convenient, effect simple to operate.
Brief description of the drawings
Fig. 1 is the first overlooking the structure diagram of the present invention.
Fig. 2 is the first main structure diagram of the present invention.
Fig. 3 is second of overlooking the structure diagram of the present invention.
Fig. 4 is second of main structure diagram of the present invention.
Fig. 5 is the third overlooking the structure diagram of the present invention.
Fig. 6 is the third main structure diagram of the present invention.
Fig. 7 is A of the present invention the first enlarged diagram.
Fig. 8 is A of the present invention second of enlarged diagram.
Fig. 9 is the electric control theory figure of the present invention.
Mark in accompanying drawing for：1- Biomimetic Fishs, 2- front-end bearing pedestals, 3- fixed pulleys, the bracing wires of 4- first, the fins of 5- first, 6-
First flexible member, the fins of 7- second, 8- fix bars, 9- driven pulleys, 10- driving wheels, 11- motors, 12- flat belts, 13- second
Bracing wire, the nuts of 14- first, the fixed blocks of 15- first, 16- first connecting rods, the screw mandrels of 17- first, the fixed blocks of 18- second, 19- second
Nut, 20- first bearing seats, 21- first rotating shafts, 22- curved rods, 23- fish tails, 24- connecting rods, the bracing wires of 25- the 3rd, 26-
One electromagnet, the flexible members of 27- second, the electromagnet of 28- second, 29- hit block, 30- cell bodies, 31- piano keies, 32- aqueous waters,
33- rear bearing blocks, the screw mandrels of 34- second, 35- second bearing seats, the rotating shafts of 36- second, 37- controllers, 38- distance detectors, 39-
Waterproof cloth, 40- rubber blankets.
Embodiment
The present invention is further illustrated with reference to the accompanying drawings and examples.
Embodiment 1
A kind of Biomimetic Fish that can be played the musical instrument under water, as shown in figs 1-9, include Biomimetic Fish 1, front-end bearing pedestal 2, fixed pulley 3,
It is one bracing wire 4, the first fin 5, the first flexible member 6, the second fin 7, fix bar 8, driven pulley 9, driving wheel 10, motor 11, flat
Belt 12, the second bracing wire 13, the first nut 14, the first fixed block 15, first connecting rod 16, the first screw mandrel 17, the second fixed block 18,
Second nut 19, first bearing seat 20, first rotating shaft 21, curved rod 22, fish tail 23, connecting rod 24, the 3rd the 25, first electricity of bracing wire
Magnet 26, the second flexible member 27, the second electromagnet 28, hit block 29, cell body 30, rear bearing block 33, the second screw mandrel 34, the second axle
The rotating shaft 36 of bearing 35 and second；First bearing seat 20 is provided among the right part of Biomimetic Fish 1, first is provided with first bearing seat 20
Rotating shaft 21, the top of first rotating shaft 21 are connected with curved rod 22, and the right-hand member of curved rod 22 is connected with fish tail 23, the connection of the left end of curved rod 22
There is first connecting rod 16, the left part front and back of Biomimetic Fish 1 has been hingedly connected the first fin 5 and the second fin 7, the first fin
5 and Biomimetic Fish 1 in be respectively connected with the first flexible member 6 between front side and rear side in the second fin 7 and Biomimetic Fish 1, in Biomimetic Fish 1
Portion is provided with fix bar 8, and fix bar 8 is fixedly connected with the inner bottom part of Biomimetic Fish 1, is set after the Biomimetic Fish 1 on the right side of fix bar 8 on inwall
Motor 11 and second bearing seat 35 are equipped with, the second rotating shaft 36, the front side connection of the second rotating shaft 36 are provided with second bearing seat 35
There is driven pulley 9, the front side of motor 11 is connected with driving wheel 10, flat belt 12, fix bar are wound between driving wheel 10 and driven pulley 9
8 front-end and back-end are symmetrically arranged with fixed pulley 3, and the right side of fix bar 8 is provided with rear bearing block 33 and front-end bearing pedestal 2, rear bearing block
33 are located at the rear of front-end bearing pedestal 2, are disposed with the first screw mandrel 17 between rear bearing block 33 and front-end bearing pedestal 2 from front to back, connect
The screw mandrel 34 of extension bar 24 and second, the first screw mandrel 17 and the second screw mandrel 34 are connected with connecting rod 24, and the front end of the first screw mandrel 17 is with before
Bearing block 2 is connected, and the second screw mandrel 34 passes through rear bearing block 33, and the rear end of the second screw mandrel 34 is connected with driven pulley 9, the first screw mandrel 17
On be provided with the second nut 19, the right side of the second nut 19 is provided with the second fixed block 18, and the right side of the second fixed block 18 is connected with the
One bracing wire 4, the first nut 14 is provided with the second screw mandrel 34, the right side of the first nut 14 is provided with the first fixed block 15, and first is solid
Determine the right side of block 15 and be connected with the second bracing wire 13, the first bracing wire 4 is connected around front side fixed pulley 3 with the first fin 5, the second bracing wire 13
It is connected with around rear side fixed pulley 3 with the second fin 7, the top of the first fixed block 15 is hingedly connected with first connecting rod 16, connecting rod
The 3rd bracing wire 25 is wound with 24, the end of the 3rd bracing wire 25 is connected with cell body 30, and the inner top of cell body 30 is provided with the first electromagnet 26,
The bottom of first electromagnet 26 is provided with the second flexible member 27, and the bottom of the second flexible member 27 is connected with the second electromagnet 28, the
The bottom of two electromagnet 28, which is connected with, hits block 29.
Also include controller 37 and distance detector 38, the left part bottom of cell body 30 is provided with distance detector 38, fixed
The left side of bar 8 is provided with controller 37, distance detector 38, motor 11, the first electromagnet 26 and the second electromagnet 28 respectively with
Controller 37 is connected.
Also include waterproof cloth 39, waterproof cloth 39 is provided with the Biomimetic Fish 1 of the right-hand member of curved rod 22.
Also include rubber blanket 40, hit the bottom of block 29 and be provided with rubber blanket 40.
Motor 11 is servomotor.
First flexible member 6 and the second flexible member 27 are spring.
Waterproof cloth 39 is elastic waterproof cloth.
Operation principle：Originally, the bottom of aqueous water 32 is provided with piano.When needing to use underwater bullet is carried out using Biomimetic Fish 1
During qin, Biomimetic Fish 1 is placed on to the correct position for being adapted to piano in aqueous water 32.It is clockwise and anti-to manually start the intermittent of motor 11
Turn, when motor 11 is clockwise, driving wheel 10 is clockwise, and flat belt 12 is clockwise therewith, drives driven pulley 9 clockwise, makes the second screw mandrel 34
Reversion, the first screw mandrel 17 is clockwise, so that the first nut 14 and the second nut 19 are drawn close to the position of connecting rod 24, the first fixed block
15 and second fixed block 18 pull the second bracing wire 13 and the first bracing wire 4 to be drawn close to the position of connecting rod 24 respectively, finally make the first fish
The clockwise oscillation of fin 5, the counter-clockwise swing of the second fin 7, when motor 11 inverts, driving wheel 10 inverts, and flat belt 12 is anti-therewith
Turn, drive driven pulley 9 to invert, make the second screw mandrel 34 clockwise, the first screw mandrel 17 inverts, so that the first nut 14 and the second nut
19 to the movement outside of connecting rod 24, now, the second bracing wire 13 and the first bracing wire 4 by the elastic force of the first flexible member 6 act on to
Left movement, finally makes the counter-clockwise swing of the first fin 5, the clockwise oscillation of the second fin 7, at the same time, the first fixed block 15
It is movable, first connecting rod 16 will be driven to move forward and backward, promote curved rod 22 to swing, so as to drive the swing of fish tail 23；Cause
This realizes swinging for the first fin 5 and the second fin 7, promotes Biomimetic Fish 1 movable.In the process, connecting rod 24
Also with rotation, so as to which the 3rd bracing wire 25 is withdrawn and released at intervals, drive cell body 30 to move up and down, block is hit so as to drive
29 move up and down；When hitting block 29 and moving to the correct position of piano key 31, the first electromagnet 26 and the second electromagnetism are manually started
Iron 28 is powered, and band same magnetic is mutually exclusive, makes to hit block 29 and moves downward impact piano key 31.When piano key 31 sends sound
Afterwards, the first electromagnet 26 and the second electromagnet 28 power off.Acted more than repeating, it is possible to realize that Biomimetic Fish 1 is played the musical instrument under water.Work as fish
After playing the musical instrument under water, motor 11 is closed, makes fish stop moving hit ringing piano key 31.
Because also including controller 37 and distance detector 38, the left part bottom of cell body 30 is provided with distance detector 38,
The left side of fix bar 8 is provided with controller 37, and distance detector 38, motor 11, the first electromagnet 26 and the second electromagnet 28 are divided equally
It is not connected with controller 37, so the signal fed back by receiving distance detector 38, controller 37 can be with controlled motor 11
Startup and closing, control the energization and power-off of the first electromagnet 26 and the second electromagnet 28, realize the intelligent shifting of Biomimetic Fish 1
Dynamic and intelligent impact piano key 31.
Because also including waterproof cloth 39, waterproof cloth 39 is provided with the Biomimetic Fish 1 of the right-hand member of curved rod 22, it is possible to anti-
Only aqueous water 32 is flowed into the body of Biomimetic Fish 1.
Because also including rubber blanket 40, hit the bottom of block 29 and be provided with rubber blanket 40, so impacting piano when hitting block 29
During key 31, rubber blanket 40 can play a part of protecting piano key 31.
Because motor 11 is servomotor, it is possible to effective controlled motor 11, makes operation operation more steady.
Because the first flexible member 6 and the second flexible member 27 are spring, the first flexible member 6 and the second elasticity
The elasticity of element 27 is good.
Because waterproof cloth 39 is elastic waterproof cloth, when fish tail 23 is swung, waterproof cloth 39 will not damage because of pulling force.
It for the sea that Science and Technology Ltd. produces is S24S0T types PLC 37 that controller 37, which selects Xiamen sea, outside main frame
Portion 24VDC powers, the input of 16 tunnels, the output of 8 tunnels.The definition of input/output port is：X0 is starting switch, and X1 is shutdown switch,
X2 is emergency stop switch, and X3 is distance detector 38；Y0 is the first electromagnet 26, and Y1 is the second electromagnet 28, and Y2 is motor 11.Root
According to the electric control theory figure shown in Fig. 9, those skilled in the art does not need performing creative labour, can be real by programming
Existing controller 37 controls each part to be acted by above-mentioned operation principle, and the dependent instruction of programming is all prior art, herein not
Repeat again.
Embodiment described above only expresses the preferred embodiment of the present invention, and its description is more specific and detailed, but simultaneously
Therefore the limitation to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that for one of ordinary skill in the art
For, without departing from the inventive concept of the premise, some deformations can also be made, improves and substitutes, these belong to this hair
Bright protection domain.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (7)
1. a kind of Biomimetic Fish that can be played the musical instrument under water, including Biomimetic Fish (1), the first fin (5), the second fin (7), motor (11) and
Fish tail (23), it is characterised in that also include front-end bearing pedestal (2), fixed pulley (3), the first bracing wire (4), the first flexible member
(6), fix bar (8), driven pulley (9), driving wheel (10), flat belt (12), the second bracing wire (13), the first nut (14), first
Fixed block (15), first connecting rod (16), the first screw mandrel (17), the second fixed block (18), the second nut (19), first bearing seat
(20), first rotating shaft (21), curved rod (22), connecting rod (24), the 3rd bracing wire (25), the first electromagnet (26), the second elasticity
Element (27), the second electromagnet (28), hit block (29), cell body (30), rear bearing block (33), the second screw mandrel (34), second bearing
Seat (35) and the second rotating shaft (36)；First bearing seat (20) is provided among Biomimetic Fish (1) right part, first bearing seat is set on (20)
First rotating shaft (21) is equipped with, first rotating shaft (21) top is connected with curved rod (22), and curved rod (22) right-hand member is connected with fish tail
(23), curved rod (22) left end is connected with first connecting rod (16), and Biomimetic Fish (1) left part front and back has been hingedly connected
One fin (5) and the second fin (7), the first fin (5) and front side in Biomimetic Fish (1) and the second fin (7) and Biomimetic Fish (1) are interior
Be respectively connected with the first flexible member (6) between rear side, be provided with fix bar (8) in the middle part of Biomimetic Fish (1), fix bar (8) with it is bionical
Fish (1) inner bottom part is fixedly connected, and the Biomimetic Fish (1) on the right side of fix bar (8) is provided with motor (11) and second bearing afterwards on inwall
Seat (35), the second rotating shaft (36) is provided with second bearing seat (35), driven pulley (9) is connected with front side of the second rotating shaft (36),
Driving wheel (10) is connected with front side of motor (11), flat belt (12), fix bar are wound between driving wheel (10) and driven pulley (9)
(8) front-end and back-end are symmetrically arranged with fixed pulley (3), and rear bearing block (33) and front-end bearing pedestal are provided with the right side of fix bar (8)
(2), rear bearing block (33) is located at front-end bearing pedestal (2) rear, between rear bearing block (33) and front-end bearing pedestal (2) from front to back successively
The first screw mandrel (17), connecting rod (24) and the second screw mandrel (34) are provided with, the first screw mandrel (17) and the second screw mandrel (34) are with connecting
Extension bar (24) is connected, and the first screw mandrel (17) front end is connected with front-end bearing pedestal (2), and the second screw mandrel (34) passes through rear bearing block (33),
The rear end of second screw mandrel (34) is connected with driven pulley (9), and the second nut (19), the second nut are provided with the first screw mandrel (17)
(19) right side is provided with the second fixed block (18), and the first bracing wire (4), the second screw mandrel (34) are connected with the right side of the second fixed block (18)
On be provided with the first nut (14), the first fixed block (15) is provided with the right side of the first nut (14), on the right side of the first fixed block (15)
The second bracing wire (13) is connected with, the first bracing wire (4) is connected around front side fixed pulley (3) with the first fin (5), the second bracing wire (13)
It is connected with around rear side fixed pulley (3) with the second fin (7), first connecting rod is hingedly connected with the top of the first fixed block (15)
(16) the 3rd bracing wire (25), is wound with connecting rod (24), the 3rd bracing wire (25) end is connected with cell body (30), pushed up in cell body (30)
Portion is provided with the first electromagnet (26), and the first electromagnet (26) bottom is provided with the second flexible member (27), the second flexible member
(27) bottom is connected with the second electromagnet (28), and the second electromagnet (28) bottom, which is connected with, hits block (29).
2. a kind of Biomimetic Fish that can be played the musical instrument under water according to claim 1, it is characterised in that also include controller (37)
With distance detector (38), cell body (30) left part bottom is provided with distance detector (38), control is provided with the left of fix bar (8)
Device (37), distance detector (38), motor (11), the first electromagnet (26) and the second electromagnet (28) respectively with controller
(37) it is connected.
3. a kind of Biomimetic Fish that can be played the musical instrument under water according to claim 1, it is characterised in that also include waterproof cloth
(39), it is provided with waterproof cloth (39) on the Biomimetic Fish (1) of curved rod (22) right-hand member.
4. a kind of Biomimetic Fish that can be played the musical instrument under water according to claim 1, it is characterised in that also include rubber blanket
(40), hit block (29) bottom and be provided with rubber blanket (40).
5. a kind of Biomimetic Fish that can be played the musical instrument under water according to claim 1, it is characterised in that motor (11) is servo electricity
Machine.
A kind of 6. Biomimetic Fish that can be played the musical instrument under water according to claim 1, it is characterised in that the first flexible member (6) and
Second flexible member (27) is spring.
7. a kind of Biomimetic Fish that can be played the musical instrument under water according to claim 3, it is characterised in that waterproof cloth (39) is anti-for elasticity
Water cloth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610717911.5A CN106364647B (en) | 2016-08-24 | 2016-08-24 | One kind can play the musical instrument Biomimetic Fish under water |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610717911.5A CN106364647B (en) | 2016-08-24 | 2016-08-24 | One kind can play the musical instrument Biomimetic Fish under water |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106364647A CN106364647A (en) | 2017-02-01 |
| CN106364647B true CN106364647B (en) | 2017-12-22 |
Family
ID=57878303
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610717911.5A Active CN106364647B (en) | 2016-08-24 | 2016-08-24 | One kind can play the musical instrument Biomimetic Fish under water |
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| CN1128719A (en) * | 1994-05-28 | 1996-08-14 | 冯建光 | Power driven fish |
| CN101033000A (en) * | 2007-04-28 | 2007-09-12 | 哈尔滨工程大学 | Multi-joint fluctuation-propulsion fish-shape robot |
| CN101301926A (en) * | 2008-04-18 | 2008-11-12 | 哈尔滨工业大学 | Bionic robot fish having up-down movement module and tail module |
| CN101767642A (en) * | 2010-02-11 | 2010-07-07 | 北京大学 | Underwater biomimetic robotic fish |
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| JP2011063222A (en) * | 2009-09-18 | 2011-03-31 | Kitakyushu Foundation For The Advancement Of Industry Science & Technology | Propulsion mechanism for underwater vehicle, and underwater vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1128719A (en) * | 1994-05-28 | 1996-08-14 | 冯建光 | Power driven fish |
| CN101033000A (en) * | 2007-04-28 | 2007-09-12 | 哈尔滨工程大学 | Multi-joint fluctuation-propulsion fish-shape robot |
| CN101301926A (en) * | 2008-04-18 | 2008-11-12 | 哈尔滨工业大学 | Bionic robot fish having up-down movement module and tail module |
| CN101767642A (en) * | 2010-02-11 | 2010-07-07 | 北京大学 | Underwater biomimetic robotic fish |
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