CN109050851A - Line drive-type machine fish - Google Patents
Line drive-type machine fish Download PDFInfo
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- CN109050851A CN109050851A CN201810957829.9A CN201810957829A CN109050851A CN 109050851 A CN109050851 A CN 109050851A CN 201810957829 A CN201810957829 A CN 201810957829A CN 109050851 A CN109050851 A CN 109050851A
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- support plate
- fish
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- fish body
- line
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- 241000251468 Actinopterygii Species 0.000 title claims abstract description 147
- 239000000463 material Substances 0.000 claims abstract description 4
- 230000005540 biological transmission Effects 0.000 claims description 14
- 210000000006 pectoral fin Anatomy 0.000 claims description 13
- 230000007423 decrease Effects 0.000 claims description 3
- 230000008450 motivation Effects 0.000 claims description 2
- 230000037431 insertion Effects 0.000 claims 1
- 238000003780 insertion Methods 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 230000033001 locomotion Effects 0.000 description 9
- 239000011664 nicotinic acid Substances 0.000 description 6
- 238000011160 research Methods 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000010276 construction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000003592 biomimetic effect Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000003365 glass fiber Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000003319 supportive effect Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
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
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Processing Of Meat And Fish (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of line drive-type machine fishes, including fish head, fish body and fish tail, fish tail includes tail fin and support plate component, support plate component is made of sequentially connected one piece of support plate I from front to back, at least one piece of support plate II and one piece support plate III, the front side of support plate I is fixedly connected on fish body, the rear side of support plate III is fixedly connected on tail fin, is connected by joint assembly between support plate I and support plate II, between adjacent shore plates II and between support plate II and support plate III；Further include two drive lines disposed in parallel, is fixedly connected on support plate III after the front end of drive line is connected to fish tail driving mechanism, rear end sequentially passes through support plate I and support plate II；Two drive lines are made and are stretched in succession under the driving of fish tail driving mechanism using flexible material, to drive support plate II and support plate III to swing；Line drive-type machine fish of the invention, joint structure is simple, mitigates machine fish overall weight while providing own drive power.
Description
Technical field
The present invention relates to bio-robot field more particularly to a kind of line drive-type machine fishes.
Background technique
The travelling of fish has many advantages, such as high efficiency, mobility and low noise.Therefore, the research of bionic machine fish oneself at
For the hot spot of robot research field.With deepening continuously for bionic machine fish research, bionic machine fish searches and rescues under water, water quality
The fields such as detection and exploration of ocean resources play an important role.Bionic machine fish is established the advancing movement of fish is simple
It turns under ideal conditions, fish body is continuous, on periodic deformation basis.Bionic mechanical fish is as a kind of new type water
Lower robot, be adapted to complex environment and high-efficient homework etc. require brought by challenge, thus obtained it is extensive research with
Exploitation.
With bionic continuous development, Massachusetts Polytechnics in 1994 successfully develops first long 1.2m's in the world
Machine fish RoboTuna, the Biomimetic Fish of various mechanism is come out one after another later.Proposing in one kind in patent CN101322878A has
Fixed skeleton, propeller adjust sink-float, the toy machine fish of housing entirety fish-skin, the machine fish elastics wing part without filling,
It is not able to maintain good stream shape shape, rise and fall fluctuation of service；One kind is proposed in patent CN201240497Y by skeleton branch
Support, the machine fish that simple joint is swung, the streamlined difference of machine fish skeleton structure are only applicable to the water surface；Patent CN107380386A
In disclose a kind of three joint of machine fish and swing, including three main driving joints, each main driving joint includes a steering engine
And drive rod, all linked with one another by three joints, successively the swing of fish tail is realized in driving, and the machine fish joint structure is complicated, rudder
The use increase quality of fishes of machine, assembly difficulty, sink-float effect are unstable.
Existing machine fish mostly uses greatly integral structure, and three joint wobble drives are driven using skeletal support covering mode
Dynamic part occupied space is big, is unfavorable for other functional modules and carries, and later period research application is inconvenient.
Summary of the invention
In view of this, keeping its joint structure simple the purpose of the present invention is to provide a kind of line drive-type machine fish, mentioning
Mitigate machine fish overall weight while for own drive power.
Line drive-type machine fish of the invention, including fish head, fish body and the fish tail being sequentially connected, the fish tail includes tail fin
And support plate component, the support plate component is by sequentially connected one piece of support plate I from front to back, at least one piece of II and of support plate
One piece of support plate III forms, and the front side of the support plate I is fixedly connected on fish body, and the rear side of the support plate III is fixedly connected on
Tail fin passes through between the support plate I and support plate II, between adjacent shore plates II and between support plate II and support plate III
Joint assembly is connected；The machine fish further includes two drive lines disposed in parallel, and the front end of the drive line is connected to fish tail drive
Motivation structure, rear end are fixedly connected on support plate III after sequentially passing through support plate I and support plate II；Two drive lines are using flexible
Material is made and stretches in succession under the driving of fish tail driving mechanism, to drive the support plate II and support plate III to be controlled
It swings；
The fish tail driving mechanism is located at fish body and is respectively provided at drive shaft both ends including driving motor, drive shaft and two
Driving turntable, the output shaft of the driving motor and drive shaft are sequentially connected；It is set in a manner of dislocation on the two driving turntables
There is convex handle, two drive lines are connected to two convex handles；
The fish body includes one piece of straight fish body mainboard；The fish head includes head plate, head plate swing mechanism, pectoral fin and chest
Fin swing mechanism；The head plate is located at the top of fish body mainboard in parallel, the head plate swing mechanism be mounted on fish body mainboard and
Its power output end is connected with head plate and head plate is driven to swing；Two pieces of pectoral fins are symmetrically arranged at the two of swinging axle
End, the swinging axle are fixed in head plate by swinging axle mounting bracket；The pectoral fin swing mechanism is mounted on fish body mainboard
And its power output end is sequentially connected with swinging axle and swinging axle is driven to swing up and down.
As further improvement to above-mentioned technical proposal, the longitudinal section product of the fish body mainboard gradually increases from front to back
Greatly, the drive shaft mounting bracket for installing the motor mounting rack of the driving motor and for installing drive shaft is respectively with can
Disassembly mode is connected to the two sides up and down of fish body mainboard.
As further improvement to above-mentioned technical proposal, the output shaft of the driving motor is connected with driving pulley, institute
It states and is fixed with driven pulley in drive shaft, be connected between the driving pulley and driven pulley by transmission belt；The fish body master
Plate is equipped with the transmission belt via hole for passing through for transmission belt.
As further improvement to above-mentioned technical proposal, the joint assembly includes the first link block, the second link block
And articulated shaft, one end of first link block vertically connect the first transverse slat, one end of second link block vertically connects
Two transverse slats；End on first link block far from the first transverse slat, which is equipped with, is parallel to the hinged groove of fish body mainboard, and described second
End on link block far from the second transverse slat, which is inserted into hinged groove and is positioned by hinged axis connection, forms single-degree-of-freedom rotation connection knot
Structure, the articulated shaft are parallel to the first transverse slat.
As further improvement to above-mentioned technical proposal, the leading flank of the support plate I is fixed with two pieces and is oppositely arranged
L shape plate, form the clamp area for gripping fish body mainboard between the two L shape plates.
As further improvement to above-mentioned technical proposal, the support plate I, support plate II and support plate III are plectane
The diameter of structure and from front to back these plectanes successively decreases；The support plate I and support plate II are correspondingly provided with for logical for drive line
The drive line via hole in kidney-shaped crossed, the support plate III is equipped with the drive line fixation hole for fixed conveyor line, each described
Drive line via hole and drive line fixation hole are respectively positioned on same level.
As further improvement to above-mentioned technical proposal, the rear end of the fish body mainboard is connected with guide plate, described to lead
The pilot hole for passing through and being oriented to for drive line is equipped with to plate.
As further improvement to above-mentioned technical proposal, the head plate swing mechanism includes being mounted on fish body mainboard bottom
The first steering engine；The pectoral fin swing mechanism includes the second steering engine being mounted at the top of head plate；The output shaft of second steering engine
On be connected with a cam, a swing rod is vertically connected on the swinging axle, is connected between the cam and swing rod by a connecting rod,
One end of the connecting rod is articulated with the position of disalignment, the other end on cam and is articulated with swing rod.
By above disclosure, the present invention has following advantageous effects:
Line drive-type machine fish of the invention, when side drive line shorten when pulling joint assembly be biased to this side into
Row rotation, and the drive line of the other side is then extended to comply with the rotation of joint assembly, since two drive lines are to transport in succession
It is dynamic, such joint assembly can carry out periodically or it is reciprocal swing, with drive support plate II and support plate III into
Row swings, and tail fin generates the power for making machine fish advance therewith swinging；Since each joint assembly is drawn by drive line
It is dynamic, machine is effectively reduced while own drive power is provided so that joint structure is simple without independent joint driving mechanism
Device fish overall weight.
Detailed description of the invention
Fig. 1 is main view of the invention；
Fig. 2 is left view of the invention；
Fig. 3 is perspective view of the invention；
Fig. 4 is enlarged drawing at A in Fig. 3；
Fig. 5 is enlarged drawing at B in Fig. 3.
Specific embodiment
Technical solution in order to enable those skilled in the art to better understand the present invention, in the following with reference to the drawings and specific embodiments
The present invention is described in further detail.
It is as shown in Figures 1 to 5: the line drive-type machine fish of the present embodiment, including fish head, fish body and the fish being sequentially connected
Tail, the fish tail include tail fin 1 and support plate component, and the support plate component is by sequentially connected one piece of support plate from front to back
I 2, at least one piece of support plate II 3 and one piece of support plate III 4 form, and the front side of the support plate I 2 is fixedly connected on fish body, described
The rear side of support plate III 4 is fixedly connected on tail fin 1, between the support plate I 2 and support plate II 3, between adjacent shore plates II 3
And it is connected by joint assembly between support plate II 3 and support plate III 4；The machine fish further includes two transmissions disposed in parallel
Line 5, it is fixed after the front end of the drive line 5 is connected to fish tail driving mechanism, rear end sequentially passes through support plate I 2 and support plate II 3
It is connected to support plate III 4；Two drive lines 5 are made and are stretched in succession under the driving of fish tail driving mechanism using flexible material
Contracting, to drive the support plate II 3 and support plate III 4 to swing.
Fish head, fish body and fish tail all have the structure for emulating real fish, such as some streamline structures and existing machine
Fish is essentially identical, and details are not described herein；Robot fish movement power relies primarily on fish tail swing and generates, and fish head is substantially carried out direction
Control, fish body is then mounting body；Tail fin 1 is plate-like, fan-shaped；" preceding " refers to that " rear " is then for close to tail close to the direction of fish head
The direction of fin 1；When machine fish is in static, straight state, support plate I 2, support plate II 3 and support plate III 4 are parallel；Branch
The quantity of fagging II 3 can be set, at least one piece as needed, and the present embodiment is provided with three pieces；Joint assembly forms
Cradle head between adjacent shore plates, each joint assembly are generally aligned in the same plane, and when machine fish is in static, straight state
Positioned at same straight line；Glass fibre can be used in drive line 5 or carbon fibre is made, fineness can as needed depending on,
It is not necessarily filament structure, can also be rope form or club shaped structure；Fish tail driving mechanism is electrical control mechanism, can drive two transmissions
Line 5 is extended in succession, is shortened (length here refers to the length positioned at fish tail part), and two drive lines 5 are symmetrical arranged, when one
It pulls joint assembly to be biased to this side when the drive line 5 of side shortens to be rotated, and the drive line 5 of the other side is then extended
To comply with the rotation of joint assembly, since two drive lines 5 are successive movements, such joint assembly can carry out periodically or
Person is reciprocal to swing, and to drive support plate II 3 and support plate III 4 to swing, tail fin 1 is produced therewith swinging
The raw power for making machine fish advance；Since each joint assembly is pulled by drive line 5, it is not necessarily to independent joint driving mechanism, so that
Joint structure is simple, is effectively reduced machine fish overall weight while providing own drive power.
In the present embodiment, the fish tail driving mechanism is located at fish body and including driving motor 6, drive shaft 7 and two difference
It is located at the driving turntable 8 at 7 both ends of drive shaft, the output shaft and drive shaft 7 of the driving motor 6 are sequentially connected；Two drivings
Convex handle 9 is equipped on turntable 8 in a manner of misplacing, two drive lines 5 are connected to two convex handles 9；Fish tail driving mechanism is located at fish
Body can reduce fish tail weight, keep its movement more flexible；Driving motor 6 can be decelerating motor structure, can provide larger torque, and
Revolving speed is easily-controllable；Drive shaft 7 is arranged along the width direction (i.e. left and right directions) of machine fish, and two driving turntables 8 are the diameter along drive shaft 7
To setting；Two driving turntables 8 can be disc structure and be symmetrical arranged；Convex handle 9 is the component for direct pull drive line 5, with
Driving turntable 8 rotates together with；" dislocation " refers to that two convex handles 9 in a state of use are respectively provided at the different location of two driving turntables 8,
So that two convex handles 9 can drive two drive lines 5 extended, shortened in succession respectively；Preferably, wherein the convex handle 9 of a driving turntable 8
Projection on another driving turntable 8 has symmetric relation with the convex handle 9 on the driving turntable 8, so that one wherein
When drive line 5 is in the elongation limit, another drive line 5 is in shrinkage limit；Using this structure, without changing driving motor
The Continuous Drive to two drive lines 5 can be realized in the steering of 6 output shafts, so that fish tail can produce continuous power.
In the present embodiment, the fish body includes one piece of straight fish body mainboard 10, the longitudinal section product of the fish body mainboard 10
It is gradually increased from front to back, the driving for installing the motor mounting rack 11 of the driving motor 6 and for installing drive shaft 7
Axis mounting bracket 12 is removably connected to the two sides up and down of fish body mainboard 10 respectively；Fish body mainboard 10 is slab construction；
Motor mounting rack 11, drive shaft mounting bracket 12 can be screwed on fish body mainboard 10, convenient for its installation and removal；Using this
One structure, motor mounting rack 11, drive shaft mounting bracket 12 are respectively provided at the two sides up and down of fish body mainboard 10, so that fish body master
The distribution of weight of plate 10 is balanced, improves the degree of balance of robot fish movement；Settable relevant axis hole in drive shaft mounting bracket 12
And bearing.
In the present embodiment, the output shaft of the driving motor 6 is connected with driving pulley 13, is fixed in the drive shaft 7
Driven pulley 14 is connected between the driving pulley 13 and driven pulley 14 by transmission belt (not shown)；The fish body
Mainboard 10 is equipped with the transmission belt via hole 15 for passing through for transmission belt；Driving pulley 13, driven pulley 14 are respectively provided at fish body
The two sides up and down of mainboard 10 are simultaneously generally aligned in the same plane；Transmission belt via hole 15 is preferably rectangular opening, conducive to the movement of transmission belt；Driving
Power is transmitted by way of V belt translation between motor 6 and drive shaft 7, this structure make stable drive, it is at low cost, using dimension
Shield is convenient, has good flexibility and elasticity, and can skid in the event of overloading.
In the present embodiment, the joint assembly includes the first link block 16, the second link block 17 and articulated shaft 18, and described the
One end of one link block 16 vertically connects the first transverse slat 19, and one end of second link block 17 vertically connects the second transverse slat 20；
End on first link block 16 far from the first transverse slat 19 is equipped with the hinged groove 16a for being parallel to fish body mainboard 10, and described the
End on two link blocks 17 far from the second transverse slat 20 is inserted into hinged groove 16a and forms single-degree-of-freedom by the connection positioning of articulated shaft 18
Rotation connection structure, the articulated shaft 18 are parallel to the first transverse slat 19；In use, the first transverse slat 19 is mounted on the rear side of support plate
Face, the second transverse slat 20 are mounted on the leading flank of support plate, and mounting means is both preferably and is spirally connected, and articulated shaft 18 is also chosen as bolt,
In order to mount and dismount, safeguard；First transverse slat 19, the second transverse slat 20 center preferably with the center of respective support plate is concentric sets
It sets；Hinged groove 16a is the translot opened up along machine fish width direction, so that fish tail can swing.
In the present embodiment, the leading flank of the support plate I 2 is fixed with two blocks of L shape plates 21 being oppositely arranged, described in two
The clamp area for gripping fish body mainboard 10 is formed between L shape plate 21；The support rod of the also settable elasticity of the machine fish
(not shown), the support rod are parallel to fish body mainboard 10 and are arranged and sequentially pass through L shape plate 21, support plate I 2, support plate
II 3 and support plate III 4；L shape plate 21 has transverse part and vertical portion, and " being oppositely arranged " refers to two blocks of L shape plates 21 with axisymmetric
Mode is arranged；The transverse part of L shape plate 21 is connected to support plate I 2, vertical portion is connected to fish body mainboard 10, and connection type is preferably spiral shell
It connects；Support rod can be two, be respectively provided at the upper and lower sides of joint assembly, can further connect each support plate, mention
The structural strength and straightness of high machine fish；Support rod has certain elasticity, and shape can occur when adjacent shore plates relative motion
Become to adapt to its movement.
In the present embodiment, the support plate I 2, support plate II 3 and support plate III 4 be Circular plate structure and from front to back this
The diameter of a little plectanes (i.e. each support plate) successively decreases, and to imitate the tail portion from thick to thin of true fish, looks at tail portion more beautiful,
Endurance is improved simultaneously, is played a supportive role；The support plate I 2 and support plate II 3 are correspondingly provided with for passing through for drive line 5
In the drive line via hole 22 of kidney-shaped, the support plate III 4 is equipped with the drive line fixation hole 23 for fixed conveyor line 5, each institute
It states drive line via hole 22 and drive line fixation hole 23 is respectively positioned on same level；The drive line via hole 22 of kidney-shaped is drive line 5
Extensional motion reserves sufficient space, also plays a part of constraining drive line 5.
In the present embodiment, the rear end of the fish body mainboard 10 is connected with guide plate 24, and the guide plate 24 is equipped with and is used for
The pilot hole 24a for passing through and being oriented to for drive line 5；Guide plate 24 limits the position of drive line 5, and drive line 5 is enable to pass
It is moved in moving-wire via hole 22；It can be equipped with fixed pulley in pilot hole, to realize the smooth steering of drive line 5, prevent drive line 5 from occurring
Improper abrasion, prolongs its service life.
In the present embodiment, the fish head includes head plate 25, head plate swing mechanism, pectoral fin 26 and pectoral fin swing mechanism；It is described
Head plate 25 is located at the top of fish body mainboard 10 in parallel, and the head plate swing mechanism is mounted on fish body mainboard 10 and its power output
End is connected with head plate 25 and head plate 25 is driven to swing；Two pieces of pectoral fins 26 are symmetrically arranged at the both ends of swinging axle 27,
The swinging axle 27 is fixed in head plate 25 by swinging axle mounting bracket 28；The pectoral fin swing mechanism is mounted on fish body mainboard
On 10 and its power output end is sequentially connected with swinging axle 27 and swinging axle 27 is driven to swing up and down；Head plate 25 and fish body master
There is gap between plate 10；Head plate 25 is driven by head plate swing mechanism, and pectoral fin 26 is driven by pectoral fin swing mechanism, and the two cooperation can
The steering for controlling machine fish, to realize that machine fish moves downward upwards.
In the present embodiment, the head plate swing mechanism includes the first steering engine 29 for being mounted on 10 bottom of fish body mainboard；It is described
Pectoral fin swing mechanism includes the second steering engine 30 for being mounted on 25 top of head plate；One is connected on the output shaft of second steering engine 30
Cam 31 is vertically connected with a swing rod 32 on the swinging axle 27, passes through 33 phase of a connecting rod between the cam 31 and swing rod 32
Even, one end of the connecting rod 33 is articulated with (the i.e. interconnecting piece of 30 output shaft of cam 31 and the second steering engine of disalignment on cam 31
Position) position, the other end be articulated with swing rod；The output shaft of first steering engine 29 passes through fish body mainboard 10 and is connected with head plate 25；The
The output shaft of two steering engines 30 then passes through cam link component and is connected with swinging axle 27, and cam link modular construction is simple, transmission essence
It spends high, stable, high-efficient.
Finally, it is stated that applying herein, a specific example illustrates the principle and implementation of the invention, with
The explanation of upper embodiment is merely used to help understand the core idea of the present invention, without departing from the principles of the present invention, also
Can several improvements and modifications are made to the present invention, these improvement and modification are also fallen within the scope of the present invention.
Claims (8)
1. a kind of line drive-type machine fish, including fish head, fish body and the fish tail being sequentially connected, it is characterised in that: the fish tail packet
Tail fin and support plate component are included, the support plate component is by sequentially connected one piece of support plate I from front to back, at least one piece support
Plate II and one piece support plate III forms, and the front side of the support plate I is fixedly connected on fish body, and the rear side of the support plate III is fixed
It is connected to tail fin, between the support plate I and support plate II, between adjacent shore plates II and between support plate II and support plate III
It is connected by joint assembly；The machine fish further includes two drive lines disposed in parallel, and the front end of the drive line is connected to
Fish tail driving mechanism, rear end are fixedly connected on support plate III after sequentially passing through support plate I and support plate II；Two drive lines are adopted
Be made of flexible material and stretched in succession under the driving of fish tail driving mechanism, with drive the support plate II and support plate III into
Row swings；
The fish tail driving mechanism is located at fish body and is respectively provided at the drive at drive shaft both ends including driving motor, drive shaft and two
Turn disk, the output shaft and drive shaft of the driving motor are sequentially connected；It is equipped in a manner of misplacing on the two driving turntables convex
Handle, two drive lines are connected to two convex handles；
The fish body includes one piece of straight fish body mainboard；The fish head includes head plate, head plate swing mechanism, pectoral fin and pectoral fin pendulum
Motivation structure；The head plate is located at the top of fish body mainboard in parallel, and the head plate swing mechanism is mounted on fish body mainboard and it is dynamic
Power output end is connected with head plate and head plate is driven to swing；Two pieces of pectoral fins are symmetrically arranged at the both ends of swinging axle, institute
Swinging axle is stated to be fixed in head plate by swinging axle mounting bracket；The pectoral fin swing mechanism is mounted on fish body mainboard and it is dynamic
Power output end is sequentially connected with swinging axle and swinging axle is driven to swing up and down.
2. line drive-type machine fish according to claim 1, it is characterised in that: the longitudinal section product of the fish body mainboard is by preceding
It is gradually increased backward, the drive shaft for installing the motor mounting rack of the driving motor and for installing drive shaft installs branch
Frame is removably connected to the two sides up and down of fish body mainboard respectively.
3. line drive-type machine fish according to claim 2, it is characterised in that: the output shaft of the driving motor is connected with
Driving pulley is fixed with driven pulley in the drive shaft, is connected between the driving pulley and driven pulley by transmission belt；
The fish body mainboard is equipped with the transmission belt via hole for passing through for transmission belt.
4. line drive-type machine fish according to claim 1, it is characterised in that: the joint assembly includes the first connection
Block, the second link block and articulated shaft, one end of first link block vertically connect the first transverse slat, and the one of second link block
The second transverse slat of the vertical connection in end；End on first link block far from the first transverse slat, which is equipped with, is parallel to the hinged of fish body mainboard
Slot, end insertion hinged groove on second link block far from the second transverse slat are simultaneously positioned by hinged axis connection and form single-degree-of-freedom
Rotation connection structure, the articulated shaft are parallel to the first transverse slat.
5. line drive-type machine fish according to claim 1, it is characterised in that: the leading flank of the support plate I is fixed with
Two blocks of L shape plates being oppositely arranged form the clamp area for gripping fish body mainboard between the two L shape plates.
6. line drive-type machine fish according to claim 1, it is characterised in that: the support plate I, support plate II and support
Plate III is Circular plate structure and the diameter of these plectanes successively decreases from front to back；The support plate I and support plate II are correspondingly provided with use
In the drive line via hole in kidney-shaped passed through for drive line, the support plate III is equipped with solid for the drive line of fixed conveyor line
Determine hole, each drive line via hole and drive line fixation hole are respectively positioned on same level.
7. line drive-type machine fish according to claim 1, it is characterised in that: the rear end of the fish body mainboard, which is connected with, leads
To plate, the guide plate is equipped with the pilot hole for passing through and being oriented to for drive line.
8. line drive-type machine fish according to any one of claims 1 to 7, it is characterised in that: the head plate swing mechanism
The first steering engine including being mounted on fish body mainboard bottom；The pectoral fin swing mechanism includes the second rudder being mounted at the top of head plate
Machine；Be connected with a cam on the output shaft of second steering engine, be vertically connected with a swing rod on the swinging axle, the cam with
It is connected between swing rod by a connecting rod, one end of the connecting rod is articulated with the position of disalignment, the other end on cam and is articulated with
Swing rod.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810957829.9A CN109050851B (en) | 2018-08-22 | 2018-08-22 | Line-driven robot fish |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810957829.9A CN109050851B (en) | 2018-08-22 | 2018-08-22 | Line-driven robot fish |
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| Publication Number | Publication Date |
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| CN109050851A true CN109050851A (en) | 2018-12-21 |
| CN109050851B CN109050851B (en) | 2024-02-27 |
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| CN201810957829.9A Active CN109050851B (en) | 2018-08-22 | 2018-08-22 | Line-driven robot fish |
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| CN109693249A (en) * | 2019-03-13 | 2019-04-30 | 长沙紫宸科技开发有限公司 | A kind of office building or household imitate scorpion safety protection robot |
| CN111409799A (en) * | 2020-04-22 | 2020-07-14 | 北京大学 | Line-driven continuous bionic robotic dolphin |
| CN112319753A (en) * | 2020-11-16 | 2021-02-05 | 华南理工大学 | Deep-diving bionic wire-pulling machine fish |
| CN112706907A (en) * | 2021-01-12 | 2021-04-27 | 江西理工大学 | Soft bionic fish based on cable and spacer combined structure |
| CN113650764A (en) * | 2021-09-14 | 2021-11-16 | 西湖大学 | Bionic aircraft |
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| CN113734397A (en) * | 2021-08-30 | 2021-12-03 | 中国科学院自动化研究所 | Rope-traction bionic robot fish driving device and rope-traction bionic robot fish |
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| CN113772066A (en) * | 2021-10-09 | 2021-12-10 | 北京大学 | Mixed line drive continuous bionic machine tuna |
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