CN107097921A - A kind of Flexible Multi-joint structure of Novel imitation fish underwater robot propulsion system - Google Patents

A kind of Flexible Multi-joint structure of Novel imitation fish underwater robot propulsion system Download PDF

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Publication number
CN107097921A
CN107097921A CN201710222573.2A CN201710222573A CN107097921A CN 107097921 A CN107097921 A CN 107097921A CN 201710222573 A CN201710222573 A CN 201710222573A CN 107097921 A CN107097921 A CN 107097921A
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CN
China
Prior art keywords
fish
joint
rubber strip
elastic rubber
imitative fish
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CN201710222573.2A
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Chinese (zh)
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CN107097921B (en
Inventor
赵刚
季操
李佳乐
刘爽
吴昱达
韦成业
杨俊杰
王志杰
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哈尔滨工程大学
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Priority to CN201710222573.2A priority Critical patent/CN107097921B/en
Publication of CN107097921A publication Critical patent/CN107097921A/en
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Publication of CN107097921B publication Critical patent/CN107097921B/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63HMARINE PROPULSION OR STEERING
    • B63H1/00Propulsive elements directly acting on water
    • B63H1/30Propulsive elements directly acting on water of non-rotary type
    • B63H1/36Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type

Abstract

The present invention provides a kind of Flexible Multi-joint structure of Novel imitation fish underwater robot propulsion system, elastic rubber strip, the baffle plate for fixing rubber strip including multiple flat imitative fish-bone joints in irregular hexagon, each imitative fish-bone joint of connection, installed in the center of imitative fish underwater human body, UNICOM's head and the tail, instead of the position of fish spine;The tow sides in flat imitative fish-bone joint have the circular hole for also having insertion on the projection with holes of cylinder, elastic rubber strip accordingly, for connecting each imitative fish-bone joint.The present invention replaces the mechanical rotation that conventional rigid is connected using flexible connection elastic deformation between joint, make fish tail that there is the autonomous reaction force for adapting to underwater complex operating mode to adjust the fish tail swing amplitude of itself, it is simple in construction, cost of manufacture is cheap, the quantity for using imitative fish-bone joint can be freely adjusted according to the actual size of made imitative fish underwater robot, change the length of this power set, be particularly suitable for the making of the underwater robot of various imitative fish.

Description

A kind of Flexible Multi-joint structure of Novel imitation fish underwater robot propulsion system

Technical field

The present invention relates to a kind of the Nomenclature Composition and Structure of Complexes of the underwater robot propulsion system of imitative fish, more particularly to one kind are new The Flexible Multi-joint structure of imitative fish underwater robot propulsion system.

Background technology

Imitative fish underwater robot is as an important detection system in ocean, with small volume, lightweight, noise The characteristics of low, good concealment, maritime rights and interests safeguard and ocean development in played important function.And propulsion system is imitative fish The most important components of class underwater robot.Traditional imitative fish underwater robot propulsion system uses screw propeller, Energy utilization rate is low, and physical dimension and weight are big, big to environmental perturbation, and noise is big, Acceleration of starting poor performance, lack flexibility; Many shortcomings cause the underwater robot of imitative fish can not be a wide range of, operation under water for a long time, so as to greatly limit Its application.The imitative fish underwater robot propulsion system of tail-swinging, energy utilization rate is high, and noise is small, and flexibility is good, possesses pole It is widely applied prospect, but the imitative fish underwater robot propulsion system of tail-swinging, and complicated, stability is poor, it would be highly desirable to change Enter.

Proposed in a kind of " multi-joint pushing bionic machine fish research " article of Liaoning Journal of Teachers College in March, 2010 publication The design philosophy that binary bionic machine fish afterbody is promoted, side equal in magnitude using being produced during two tail swings of machine fish Make machine fish is overall to be in stress balance state all the time to opposite horizontal force principle of cancelling out each other.This design philosophy mistake Divide the balance for laying particular stress on and considering stress, have ignored the complexity of underwater robot work operating mode, it is impossible to make flexible yaw To evade the operating mode that some are dangerous, movable limitation is very big;Number of patent application is 201510726877.3, entitled《It is a kind of Underwater robot propulsion system》Chinese patent, not only complicated, cost is higher, and using propeller promote, the energy profit With rate it is low and can not long-time underwater operation, flexibility is poor.

The content of the invention

The invention aims to provide a kind of Flexible Multi-joint knot of Novel imitation fish underwater robot propulsion system Structure, material is cheap, it is easy to obtain, and the elastic rubber strip in the imitative fish-bone joint of connection ensure that the flexibilities of whole vertebral structures, So as to ensure that the flexibility of imitative fish underwater robot yaw.

The object of the present invention is achieved like this:At least include two joint units, the elasticity for connecting joint unit The baffle plate of rubber strip, fixed elastic rubber strip, each joint unit is a flat imitative fish-bone joint in irregular hexagon, Projection with holes is respectively arranged with any four relative angles of joint unit upper surface and lower surface, the elastic rubber strip has Four, be provided with the manhole with male cooperation on every elastic rubber strip, four elastic rubber strips by manhole with Raised to coordinate two-by-two for one group of upper surface and lower surface for being separately positioned on joint unit, the number of the baffle plate is that joint is single Two times of first number and baffle plate setting is provided with four connecting holes on the outer face of every group of elastic rubber strip, on baffle plate, each Joint unit, elastic rubber strip, corresponding two baffle plates are connected by bolt and nut, are also set on the other two angle of joint unit It is equipped with the structure of " handle " formula for connecting power source.

Present invention additionally comprises some such architectural features:

1. described in baffle plate be to be provided with four connecting holes on cross structure smooth, without corner angle, the baffle plate to refer to ten The end of four arms of word structure is respectively arranged with holes convex on connecting hole, and the size and joint unit in the aperture of connecting hole The pore size in the hole risen is consistent.

2. described in joint unit have six.

Compared with prior art, the beneficial effects of the invention are as follows:1st, material environment friendly is cheap, it is easy to process:Elastic rubber strip It is made of elastomeric material, material used in imitative fish-bone joint and baffle plate is all polyvinyl chloride, cheap, and environmentally friendly nothing Pollution;These texture materials are all soft, and processing cost is low.2nd, it is easy to disassembly and maintenance:Total is all by imitating fish Bones and joints, elastic rubber strip and baffle plate composition, three are easily changed, and simple in construction, easy to disassemble and assembling.3rd, it is flexible Preferably, waterproof not corrosion:Because the elasticity of elastomeric material is preferable, it is possible to realize the flexible yaw of propulsion plant, together When due to elastomeric material and polyvinyl chloride not with the biochemical reaction of aquatic products, will not corrosion, durable is highly suitable under water The manufacture of robot.

Brief description of the drawings

Fig. 1 is overall structure sketch of the present invention;

Fig. 2 is imitative fish-bone joint assembly sketch (1 imitative fish-bone joint, 2 elastic rubber strips, 3 baffle plates, 4 bolts, 5 packing rings, 6 spiral shells It is female);

Fig. 3 is that imitative fish-bone joint assembly coordinates sketch with elastic rubber strip;

Fig. 4 is the matching relationship sketch in imitative fish-bone joint, elastic rubber strip and baffle plate three;

Fig. 5 is the sketch that bolt fixes imitative fish-bone joint, elastic rubber strip and baffle plate;

Fig. 6 is finished figure of the invention.

Embodiment

The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings.

With reference to Fig. 1 to Fig. 6, the present invention is a kind of Flexible Multi-joint knot of Novel imitation fish underwater robot propulsion system Structure.It is main by many flat imitative fish-bone joints 1 in irregular hexagon, connects the elastic rubber strip 2 in each imitative fish-bone joint And constituted for the baffle plate 3 for fixing rubber strip;There are the projection with holes of cylinder, bullet on the tow sides in flat imitative fish-bone joint Also there is the circular hole of insertion on property rubber strip accordingly, for connecting each imitative fish-bone joint;Imitative fish-bone joint, elastic rubber strip and gear Plate is coupled by bolt 4, nut 6, packing ring 5, forms an entirety;It is equipped with imitative fish-bone joint for connecting power source The structure of " handle " formula, can connect medium by draught line etc. and transmit tractive force, so as to realize the transmission of power.

The front view in the flat imitative fish-bone joint of the present invention is an irregular hexagon, and thickness is smaller, in flat, and Its size can be adjusted with thickness according to the size for the imitative fish underwater robot to be designed, and imitate fish-bone joint just There is cylindrical projection near four angles on anti-two sides, the inside of cylindrical projection is through hole (through hole is used for assigning bolt), with suitable length The bolt of degree is coordinated, so that fixed elastic rubber strip and baffle plate, specifically:Projection be used for and elastic rubber strip on Through hole is inlayed, and imitative fish-bone joint and rubber strip is linked to be an entirety;Imitative two other angle of fish-bone joint is provided with " handle type " structure, for fixed traction line, so as to transmit power;The imitative fish-bone joint is in a row used, each imitative fish-bone joint Between strung by elastic sheet rubber, formed similar to spine structure;The present invention elastic caoutchouc slip be on the whole Flat strip, its length can be adjusted according to the quantity in used imitative fish-bone joint, so that whole piece rubber strip Can fix the imitative fish-bone joint in need used;Cavernous structure is uniform-distribution with elastic rubber strip, is used to and imitates fish-bone Cylindrical projection on joint is coordinated, and the length of rubber strip will be adapted with the use number in imitative fish-bone joint, imitated fish-bone and closed The usage quantity of section is more, and the length of total is bigger, so that the length of rubber strip is longer;Rubber strip is whole mechanism Important part, is responsible for providing the elastic force that structure is swung.The elastic sheet rubber of the present invention is used in pairs, each spine knot Structure will use 4 elastic sheet rubbers, and the tow sides in imitative fish-bone joint respectively fill two elastic sheet rubbers;The baffle plate of the present invention is big It is in smooth crosswise structure on body, edges and corners are all processed into smooth curvilinear structures, add its security, its four arms End is all provided with through hole, and the size of the diameter in hole is consistent with the hole size on imitative fish-bone joint;Baffle plate is used in pairs, passes through spiral shell Bolt fixes elastic rubber strip and imitative fish-bone joint;Baffle plate is used in pairs, and the tow sides in each imitative fish-bone joint will be distinguished Use a piece of baffle plate.The length of bolt will be adapted to, and consider 1 imitative fish-bone joint, 2 elastic rubber strips and 2 gears The sum of plate thickness, to select the bolt of appropriate length to be fixed.

The assembling process of the present invention is as follows:Prepare appropriate number of imitative fish-bone joint, arrange bunchiness;According to imitative fish-bone joint Quantity, prepare two appropriate lengths elastic rubber strip;By the projection on the circular hole on elastic rubber strip and imitative fish-bone joint Coordinated;On elastic rubber strip, baffle plate is placed, and be fixed with the bolt of appropriate length;, will be whole after assembling is completed Individual structural arrangement connects draught line and power set to the inside of imitative fish underwater robot, completes the peace of propulsion system Dress;

The present invention a kind of Novel imitation fish underwater robot propulsion system Flexible Multi-joint structure as shown in figure 1, its It is main to be made up of imitative fish-bone joint 1, elastic rubber strip 2, baffle plate 3 and the part of bolt and nut pad four.

Imitative fish-bone joint block near its four angles as shown in Fig. 2 have four cylindrical projections, the inside of circular protrusions has Through hole;The assembling of imitative fish-bone joint and elastic rubber strip is as shown in figure 3, the projection in imitative fish-bone joint is embedded into elastic rubber strip In through hole, each joint connection bunchiness, the spine shape structure of the imitative fish of composition;

After to imitating being completed of fish-bone joint block and elastic rubber strip, it is possible to baffle plate is installed, as shown in figure 4, gear The effect of plate is exactly that imitative fish-bone joint is fixed with elastic rubber strip, prevents elastic rubber strip from being taken off during work Fall;The fixation of baffle plate makes what is be achieved by bolt, as shown in figure 5, the bolt of appropriate length is by three big groups of the above Part is connected, and forms an entirety.

The course of work of the above is repeated, the flexibility that may finally complete whole imitative fish underwater robot propulsion system is closed more Nodule structure, finished figure is as shown in Figure 6.

To sum up, structure of the invention is mounted in the center of imitative fish underwater human body, UNICOM's head and the tail, instead of fish ridge The position of bone;The tow sides in flat imitative fish-bone joint have also to be passed through accordingly on the projection with holes of cylinder, elastic rubber strip Logical circular hole, for connecting each imitative fish-bone joint;The structure of " handle " formula for connecting power source is equipped with imitative fish-bone joint, Medium is connected by draught line etc. and transmits tractive force, so as to realize the transmission of power;The use joint of patent innovation of the present invention Between flexible connection elastic deformation replace the mechanical rotation that conventional rigid is connected, make fish tail that there is the autonomous underwater complex operating mode that adapts to Reaction force adjusts the fish tail swing amplitude of itself, while simple in construction, cost of manufacture is cheap, and can be according to made The actual size of imitative fish underwater robot freely adjust the quantity for using imitative fish-bone joint, so as to change this power set Length, be particularly suitable for use in the making of the underwater robot of various imitative fish.

Claims (3)

1. a kind of Flexible Multi-joint structure of Novel imitation fish underwater robot propulsion system, its feature is being:At least include Two joint units, the elastic rubber strip for connecting joint unit, the baffle plates of fixed elastic rubber strip, each joint unit is On any four relative angles of one flat imitative fish-bone joint in irregular hexagon, joint unit upper surface and lower surface Projection with holes is respectively arranged with, the elastic rubber strip has the circle being provided with four, every elastic rubber strip with male cooperation Shape through hole, four elastic rubber strips are separately positioned on the upper of joint unit for one group two-by-two by manhole with raised coordinating End face and lower surface, the number of the baffle plate are two times of joint unit number and baffle plate setting in every group of elastic rubber strip Four connecting holes are provided with outer face, on baffle plate, each joint unit, elastic rubber strip, corresponding two baffle plates pass through spiral shell Bolt nut is connected, and the structure of " handle " formula for connecting power source is additionally provided with the other two angle of joint unit.
2. a kind of Flexible Multi-joint structure of Novel imitation fish underwater robot propulsion system according to claim 1, its Feature is being:The baffle plate is to be provided with four connecting holes on cross structure smooth, without corner angle, the baffle plate to refer to ten The end of four arms of word structure is respectively arranged with holes convex on connecting hole, and the size and joint unit in the aperture of connecting hole The pore size in the hole risen is consistent.
3. a kind of Flexible Multi-joint structure of Novel imitation fish underwater robot propulsion system according to claim 1 or 2, Its feature is being:The joint unit has six.
CN201710222573.2A 2017-04-07 2017-04-07 A kind of Flexible Multi-joint structure of imitative fish underwater robot propulsion system CN107097921B (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109110095A (en) * 2018-08-09 2019-01-01 哈尔滨工业大学 A kind of tensioning monoblock type swing propulsive mechanism

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103129724A (en) * 2011-12-02 2013-06-05 中国科学院沈阳自动化研究所 Propulsion system for underwater robot
CN104401866A (en) * 2014-11-14 2015-03-11 中国船舶科学研究中心上海分部 Hoisting cable automatic connection device for underwater robot
KR20160116643A (en) * 2015-03-31 2016-10-10 정주리 Apparatus for playing in the water
CN106043630A (en) * 2016-06-13 2016-10-26 西北工业大学 Multi-degree-of-freedom underwater robot
CN106394843A (en) * 2016-09-19 2017-02-15 哈尔滨工程大学 Dolphin-imitating marine propulsion device

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103129724A (en) * 2011-12-02 2013-06-05 中国科学院沈阳自动化研究所 Propulsion system for underwater robot
CN104401866A (en) * 2014-11-14 2015-03-11 中国船舶科学研究中心上海分部 Hoisting cable automatic connection device for underwater robot
KR20160116643A (en) * 2015-03-31 2016-10-10 정주리 Apparatus for playing in the water
CN106043630A (en) * 2016-06-13 2016-10-26 西北工业大学 Multi-degree-of-freedom underwater robot
CN106394843A (en) * 2016-09-19 2017-02-15 哈尔滨工程大学 Dolphin-imitating marine propulsion device

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109110095A (en) * 2018-08-09 2019-01-01 哈尔滨工业大学 A kind of tensioning monoblock type swing propulsive mechanism

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