CN107839863A - A kind of two degrees of freedom of imitative fish tail swings flexible parallel mechanism - Google Patents
A kind of two degrees of freedom of imitative fish tail swings flexible parallel mechanism Download PDFInfo
- Publication number
- CN107839863A CN107839863A CN201710877915.4A CN201710877915A CN107839863A CN 107839863 A CN107839863 A CN 107839863A CN 201710877915 A CN201710877915 A CN 201710877915A CN 107839863 A CN107839863 A CN 107839863A
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- China
- Prior art keywords
- afterbody
- skeleton
- fish
- flexible
- fish tail
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Classifications
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- 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
- 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
-
- 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
- B63H23/10—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing for transmitting drive from more than one propulsion power unit
- B63H23/12—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing for transmitting drive from more than one propulsion power unit allowing combined use of the propulsion power units
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
Abstract
The present invention provides a kind of two degrees of freedom of imitative fish tail and swings flexible parallel mechanism.The invention mainly comprises trunk, afterbody two large divisions, in the afterbody of Biomimetic Fish multi-rigid body serial mechanism is replaced with compliant mechanism, the compliant mechanism is made up of some flexible links, utilize hinge links, it is driven using two drive devices with linear drives, when linear drive apparatus moves, using the deformation of flexible link, make whole mechanism that the oscillating motion of fish tail be presented.And the double-decker of flexible link and two drive devices can realize fish tail tip and fish tail integrally opposite movement tendency, the function of original structure can be so realized, and it is more compliant, serve bionical effect.The invention reduces mechanism and the complexity of circuit, while can preferably imitate the motion of fish, enhances flexibility and the compliance of motion.
Description
Technical field
The invention belongs to robotic technology field, a kind of fish tail swing mechanism of bionic machine fish is concretely related to,
Available for fish tail swing experimental study, small underwater equipment or small unmanned underwater detector can be extended to.
Background technology
In recent years, bio-robot application constantly expands, and the research to bio-robot is also more and more, for imitative
The robot quantity of raw fish also gradually increases.Fish needs to swing the speed obtained forward by afterbody during travelling
Degree, and the swing of afterbody needs the cooperation of multiple coccygeal joints, is not the independent swing for only relying on afterbody, fish tail tip should be with
The overall direction of motion of fish tail all the time on the contrary, therefore afterbody should be regarded as to the series connection of multi-rigid-body system and non-individual one just
Body, it is necessary to set a driver in afterbody everywhere joint junction in the tail structure of the bionical fish of tradition.Conventional
Imitative fish tail structure simulates the swing of fish tail using eccentric wheel or slider-crank mechanism, but is only capable of realizing the swing of single-degree-of-freedom, no
Can real simulation fish swimming.If using the tail structure of more piece rigid body, machine fish profile is set to exist with swing rough
Problem, in order to realize continuous afterbody deformation, it is necessary to increase amount of articulation, and need to place motor between joint, afterbody can not
Accomplish very thin.Therefore existing bionic fish tail when the free degree is few can not real simulation fish locomotion, be not easy when the free degree
Control.
Therefore posture is moved about, it is necessary to invent a kind of imitation fish tail suitable swing in order to more preferably more imitate the flexibility of fish to the life
Machine fish, in forefathers make, Chinese patent (application number 01219339) seals against each other connecting framework, bone by soft connector
Manipulated, connected by steering wheel between frame；The machine fish that the imitative common eel fluctuation that robot of BJ University of Aeronautics ＆ Astronautics is developed promotes, is relied on
The fluctuation of body, which is realized, advances；Chinese patent (CN1256259C) drives steel wire to drive fish tail and tail respectively using motor
Fin, realize the coordinated movement of various economic factors of fish tail；Chinese patent (CN102963515B) pulls flexible back bone using line driving, can be achieved whole
Afterbody is largely bent back and forth；Chinese patent (CN104015904B) utilizes piezoelectric ceramics manufacturing artificial muscle, passes through two
Loosen the swing that fish tail is realized with tensing in side.And to still suffer from mechanism while fish bionical swing is realized more multiple for foregoing invention
Miscellaneous, the problems such as motion is still not smooth enough, the retrieval to existing patented technology not yet finds that the swing of above mentioned problem can be overcome completely
Device.
The content of the invention
The two degrees of freedom that the present invention devises a kind of imitative fish tail swings flexible parallel mechanism, can utilize compliant mechanism
Outstanding advantage, drive device is completely disposed inside Biomimetic Fish, reduces the complexity of design assembling.
The technical solution adopted for the present invention to solve the technical problems is：Replaced in the afterbody of Biomimetic Fish with compliant mechanism more
Rigid body serial mechanism, outer rim skeleton, inner edge skeleton of the compliant mechanism by flexible material, and rigid afterbody integrated connection
Part, afterbody tip connector composition, utilize hinge links.The rigid link being connected with trunk is provided with afterbody, wherein two bands
There is the drive device of linear drives, one is fixed on trunk, when linear drive apparatus moves, using the deformation of flexible link, makes
The oscillating motion of fish tail is presented in whole mechanism.And the double-decker of flexible link and two drive devices can realize fish tail tip with
The overall opposite movement tendency of fish tail, the function of original structure can be so realized, and it is more compliant, serve bionical effect
Fruit.
The beneficial effect that the present invention designs is, it is proposed that a kind of new Biomimetic Fish tail swing based on compliant mechanism drives
Dynamic device, drive device is completely disposed inside Biomimetic Fish, avoids installation of the drive device in the more compact position of afterbody,
Reduce mechanism and the complexity of circuit while the thickness for reducing fish tail, while can preferably imitate the motion of fish, increase
The flexibility of strong motion and compliance.
Brief description of the drawings
Fig. 1 is the monnolithic case figure that a kind of two degrees of freedom of imitative fish tail of the present invention swings flexible parallel mechanism.
Fig. 2 is that the afterbody that a kind of two degrees of freedom of imitative fish tail of the present invention swings flexible parallel mechanism removes the skeleton after covering
Figure.
Fig. 3 be a kind of two degrees of freedom of imitative fish tail of the present invention swing the top view of the afterbody skeleton drawing of flexible parallel mechanism with
And type of drive.
Fig. 4 is tail when the afterbody that a kind of two degrees of freedom of imitative fish tail of the present invention swings flexible parallel mechanism is integrally swung up
The structure diagram of portion's skeleton.
Fig. 5 is when the afterbody that a kind of two degrees of freedom of imitative fish tail of the present invention swings flexible parallel mechanism is integrally swung up
Monnolithic case figure.
Fig. 6 is that the afterbody that a kind of two degrees of freedom of imitative fish tail of the present invention swings flexible parallel mechanism is integrally swung up simultaneously tail
Structure diagram of portion's tip to afterbody skeleton during lower swing.
Fig. 7 is that the afterbody that a kind of two degrees of freedom of imitative fish tail of the present invention swings flexible parallel mechanism is integrally swung up simultaneously tail
Portion's tip is to monnolithic case figure during lower swing.
Fig. 8 is that a kind of two degrees of freedom of imitative fish tail of the present invention swings the overall to afterbody bone during lower swing of flexible parallel mechanism
The structure diagram of frame.
Fig. 9 is that a kind of two degrees of freedom of imitative fish tail of the present invention swings the overall to entirety during lower swing of flexible parallel mechanism
Outline drawing.
Figure 10 is a kind of two degrees of freedom swing flexible parallel mechanism of imitative fish tail of the present invention integrally to lower swing and afterbody
The structure diagram of afterbody skeleton when tip is swung up.
Figure 11 is a kind of two degrees of freedom swing flexible parallel mechanism of imitative fish tail of the present invention integrally to lower swing and afterbody
Monnolithic case figure when tip is swung up.
Wherein, each reference implication is as follows：
Embodiment
Below in conjunction with drawings and examples, the present invention is described in further detail.
The present invention is a kind of Biomimetic Fish afterbody oscillatory gearing mechanism based on compliant mechanism, will utilize Biomimetic Fish afterbody below
The structure diagrams of swing of different directions describe in detail.
As shown in figure 1, the Biomimetic Fish is made up of torso portion 1 and tail portion 2, and torso portion 1 and tail portion 2 by
Covering is connected.
As shown in Fig. 2 the tail portion 2 of the Biomimetic Fish is made up of afterbody skeleton structure 2A, afterbody covering 2B, and afterbody is put
Dynamic key component is afterbody skeleton structure 2A.
As shown in figure 3, the afterbody skeleton structure 2A of the Biomimetic Fish is by some flexible links, hinge and drive device and admittedly
Determine device composition.Afterbody entirety drive device 1-1 consolidates with trailing outer edges skeleton 2A-9 respectively with afterbody tip drive device 1-3
Even；Fixture 1-2 is fixedly connected with afterbody entirety inner edge skeleton 2A-4；Afterbody integrated connection part 1 (2A-1), afterbody integrated connection part
2 (2A-2), the upper end of afterbody integrated connection part 3 (2A-3) are connected by hinge with trailing outer edges skeleton 2A-9, and lower end passes through hinge
Chain is connected with afterbody entirety inner edge skeleton 2A-4, and hinge can flexible rotating；Afterbody tip connector 1 (2A-5), afterbody tip
Connector 2 (2A-6), afterbody tip connector 3 (2A-7), afterbody tip connector 4 (2A-8) are isometric, their upper end
It is connected by hinge with afterbody entirety inner edge skeleton 2A-4, lower end is connected hinge by hinge with trailing outer edges skeleton 2A-9
Flexible rotating.
As shown in figure 4, the afterbody that a kind of two degrees of freedom of imitative fish tail of the invention swings flexible parallel mechanism needs entirety upward
During swing, afterbody entirety drive device 1-1 is moved to the left, while afterbody tip drive device 1-3 is fixed, drives flexible connect
Bar trailing outer edges skeleton 2A-9 is upturned, if afterbody tip drive device 1-3 moves right, can increase whole skeleton structure
Warpage degree.
As shown in figure 5, when a kind of two degrees of freedom of imitative fish tail of the invention swings the afterbody skeleton structure of flexible parallel mechanism
When upturned, Biomimetic Fish afterbody is swung up.
As shown in fig. 6, when a kind of imitative fish tail of the invention two degrees of freedom swing flexible parallel mechanism afterbody need integrally to
Upper swing but afterbody tip is when need to be to lower swing, afterbody entirety drive device 1-1 is moved to the left, and drives flexible link trailing outer edges
Skeleton 2A-9 is upturned, while afterbody tip drive device 1-3 is also moved to the left, and pulls flexible link trailing outer edges skeleton
2A-9 right-hand member pointed end warpage, while afterbody tip connector 1 (2A-5), afterbody tip connector 2 (2A-6), afterbody end
Tip connector 3 (2A-7), afterbody tip connector 4 (2A-8) provide steady rest for trailing outer edges skeleton 2A-9 two-way warpage
Structure.
As shown in fig. 7, when a kind of two degrees of freedom of imitative fish tail of the invention swings the afterbody skeleton structure of flexible parallel mechanism
During upturned while afterbody tip downsagging, tip to lower swing, meets true fish trip to Biomimetic Fish afterbody simultaneously upwards
Posture when dynamic.
As shown in figure 8, the afterbody that a kind of two degrees of freedom of imitative fish tail of the invention swings flexible parallel mechanism needs entirety downward
During swing, afterbody entirety drive device 1-1 moves right, while afterbody tip drive device 1-3 is fixed, drives flexible connect
Bar trailing outer edges skeleton 2A-9 is upturned, if afterbody tip drive device 1-3 is moved to the left, can increase whole skeleton structure
Warpage degree.
As shown in figure 9, when a kind of two degrees of freedom of imitative fish tail of the invention swings the afterbody skeleton structure of flexible parallel mechanism
During downsagging, in practice, Biomimetic Fish tail down is swung.
As shown in Figure 10, when a kind of imitative fish tail of the invention two degrees of freedom swing flexible parallel mechanism afterbody need integrally to
Lower swing but when afterbody tip need to be swung up, afterbody entirety drive device 1-1 moves right, and drives flexible link trailing outer edges
Skeleton 2A-9 downsaggings, while afterbody tip drive device 1-3 also moves right, and pulls flexible link trailing outer edges skeleton
2A-9 right-hand member point upward warpage.
As shown in figure 11, when a kind of two degrees of freedom of imitative fish tail of the invention swings the afterbody skeleton structure of flexible parallel mechanism
When afterbody tip is upturned simultaneously, in practice, tip is swung up downsagging simultaneously for Biomimetic Fish tail down, is met true
Posture during fish swimming.
The course of work of the Biomimetic Fish is as follows：
First power to drive device 1-1 and 1-3, moved back and forth with rear drive equipment 1-1 and 1-3, drive device 1-1
Phase differs a quarter cycle between 1-3, make Biomimetic Fish afterbody swing back and forth and meanwhile the direction of motion of afterbody tip with
Afterbody is overall all the time on the contrary, such as Fig. 7 and Figure 11 posture iterative motion, meets while the motive force of Biomimetic Fish is provided
The travelling posture of true fish.
Claims (3)
1. a kind of two degrees of freedom of imitative fish tail swings flexible parallel mechanism, it is made up of trunk and afterbody, it is characterised in that：The flexibility
Outer rim skeleton, inner edge skeleton of the mechanism by flexible material, and rigid afterbody integrated connection part, afterbody tip connector group
Into utilizing hinge links.Afterbody entirety drive device 1-1 and afterbody tip drive device 1-3 respectively with trailing outer edges skeleton 2A-
9 are connected；Fixture 1-2 is fixedly connected with afterbody entirety inner edge skeleton 2A-4；Afterbody integrated connection part 1 (2A-1), afterbody integrally connect
Fitting 2 (2A-2), the upper end of afterbody integrated connection part 3 (2A-3) are connected by hinge with trailing outer edges skeleton 2A-9, and lower end leads to
Cross hinge with afterbody entirety inner edge skeleton 2A-4 to be connected, hinge can flexible rotating；Afterbody tip connector 1 (2A-5), afterbody
Tip connector 2 (2A-6), afterbody tip connector 3 (2A-7), afterbody tip connector 4 (2A-8) be it is isometric, they
Upper end is connected by hinge with afterbody entirety inner edge skeleton 2A-4, and lower end is connected hinge by hinge with trailing outer edges skeleton 2A-9
Can flexible rotating.
2. the flexible parallel distribution of afterbody connecting rod according to claim 1, while formed in inner edge skeleton and outer rim skeleton
Triangular structure on the outside of increase afterbody tip and be controlled by the connecting rod of outer rim skeleton and afterbody tip, drive device and
Outer rim skeleton is fixedly connected with.Pendulum is realized in the triangle flexible structure deformation that is characterized by of the Biomimetic Fish afterbody oscillatory gearing mechanism
Dynamic, flexible structure is easy to incorporate in the design of Biomimetic Fish, realizes the continuous modification of profile.
3. the type of drive of drive device according to claim 2 is reciprocal back and forth before and after two linear drive apparatus difference
Motion, in the motion phase difference a quarter cycle of drive device, Biomimetic Fish afterbody is set to carry out the swing of 2DOF.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710877915.4A CN107839863A (en) | 2017-09-26 | 2017-09-26 | A kind of two degrees of freedom of imitative fish tail swings flexible parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710877915.4A CN107839863A (en) | 2017-09-26 | 2017-09-26 | A kind of two degrees of freedom of imitative fish tail swings flexible parallel mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107839863A true CN107839863A (en) | 2018-03-27 |
Family
ID=61661712
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710877915.4A Pending CN107839863A (en) | 2017-09-26 | 2017-09-26 | A kind of two degrees of freedom of imitative fish tail swings flexible parallel mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107839863A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108725722A (en) * | 2018-05-30 | 2018-11-02 | 夏懿 | A kind of hydraulic drive type parallel connected bionic machine fish and its working method |
| WO2022194148A1 (en) * | 2021-03-15 | 2022-09-22 | 江苏科技大学 | Bionic fish propelling device and control method therefor |
| CN116443221A (en) * | 2023-04-20 | 2023-07-18 | 北方工业大学 | Single-drive robot fish and plane motion control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102673759A (en) * | 2012-05-07 | 2012-09-19 | 哈尔滨工业大学 | Variable rigidity bionic swinging propulsion unit |
| CN102963515A (en) * | 2012-12-03 | 2013-03-13 | 深圳市中科莲花净水科技有限公司 | Line drive flexible fishtail-like underwater propulsion unit and bionic mechanism thereof |
| CN102975837A (en) * | 2012-12-12 | 2013-03-20 | 深圳市中科莲花净水科技有限公司 | Line-driven multi-joint underwater vector propulsion device and bionic body thereof |
| CN107757849A (en) * | 2016-08-18 | 2018-03-06 | 深圳市中科莲花净水科技有限公司 | Driven combination drive is actively added to imitate fish tail underwater propulsion unit |
-
2017
- 2017-09-26 CN CN201710877915.4A patent/CN107839863A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102673759A (en) * | 2012-05-07 | 2012-09-19 | 哈尔滨工业大学 | Variable rigidity bionic swinging propulsion unit |
| CN102963515A (en) * | 2012-12-03 | 2013-03-13 | 深圳市中科莲花净水科技有限公司 | Line drive flexible fishtail-like underwater propulsion unit and bionic mechanism thereof |
| CN102975837A (en) * | 2012-12-12 | 2013-03-20 | 深圳市中科莲花净水科技有限公司 | Line-driven multi-joint underwater vector propulsion device and bionic body thereof |
| CN107757849A (en) * | 2016-08-18 | 2018-03-06 | 深圳市中科莲花净水科技有限公司 | Driven combination drive is actively added to imitate fish tail underwater propulsion unit |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108725722A (en) * | 2018-05-30 | 2018-11-02 | 夏懿 | A kind of hydraulic drive type parallel connected bionic machine fish and its working method |
| WO2022194148A1 (en) * | 2021-03-15 | 2022-09-22 | 江苏科技大学 | Bionic fish propelling device and control method therefor |
| CN116443221A (en) * | 2023-04-20 | 2023-07-18 | 北方工业大学 | Single-drive robot fish and plane motion control method thereof |
| CN116443221B (en) * | 2023-04-20 | 2023-10-27 | 北方工业大学 | Single-drive robot fish and plane motion control method thereof |
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Application publication date: 20180327 |