CN109050851B - Line-driven robot fish - Google Patents
Line-driven robot fish Download PDFInfo
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- CN109050851B CN109050851B CN201810957829.9A CN201810957829A CN109050851B CN 109050851 B CN109050851 B CN 109050851B CN 201810957829 A CN201810957829 A CN 201810957829A CN 109050851 B CN109050851 B CN 109050851B
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- 241000251468 Actinopterygii Species 0.000 title claims abstract description 154
- 230000005540 biological transmission Effects 0.000 claims abstract description 51
- 230000007246 mechanism Effects 0.000 claims abstract description 46
- 230000000712 assembly Effects 0.000 claims abstract description 4
- 238000000429 assembly Methods 0.000 claims abstract description 4
- 239000000463 material Substances 0.000 claims abstract description 4
- 210000000006 pectoral fin Anatomy 0.000 claims description 17
- 230000003247 decreasing effect Effects 0.000 claims description 2
- 230000006872 improvement Effects 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 8
- 239000011664 nicotinic acid Substances 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 230000003592 biomimetic effect Effects 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000003365 glass fiber Substances 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000009182 swimming Effects 0.000 description 1
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
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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)
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Abstract
The invention discloses a line-driven robot fish, which comprises a fish head, a fish body and a fish tail, wherein the fish tail comprises a tail fin and a support plate assembly, the support plate assembly consists of a support plate I, at least one support plate II and a support plate III which are sequentially connected from front to back, the front side of the support plate I is fixedly connected with the fish body, the rear side of the support plate III is fixedly connected with the tail fin, and the support plate I and the support plate II, the adjacent support plate II and the support plate III are all connected through joint assemblies; the fish tail driving mechanism is connected with the fish tail driving mechanism, and the rear end of the fish tail driving mechanism sequentially penetrates through the supporting plate I and the supporting plate II and is fixedly connected with the supporting plate III; the two transmission lines are made of flexible materials and are sequentially stretched under the drive of the fish tail driving mechanism so as to drive the support plates II and III to swing left and right; the line-driven robot fish has a simple joint structure, and reduces the overall weight of the robot fish while providing self-driving force.
Description
Technical Field
The invention relates to the field of bionic robots, in particular to a line-driven robot fish.
Background
The fish swimming has the advantages of high efficiency, maneuverability, low noise and the like. Therefore, research on biomimetic robotic fish has become a hotspot in the field of robot research. Along with the continuous deep research of the bionic robot fish, the bionic robot fish plays an important role in the fields of underwater search and rescue, water quality detection, marine resource exploration and the like. The bionic robot fish is based on continuous and periodic deformation of fish bodies under the condition that the propelling movement of fish is simplified to be ideal. The bionic mechanical fish is used as a novel underwater robot, and can adapt to challenges brought by requirements of complex environments, efficient operation and the like, so that extensive research and development are achieved.
With the continuous development of bionics, the university of Massa Medicata in 1994 successfully developed the first 1.2m robot fish Robotuna in the world, and then various mechanisms of bionic fish appeared successively. Patent CN101322878A proposes a toy robot fish with a fixed skeleton inside, a propeller for adjusting sinking and floating, and a whole fishskin sleeved outside, wherein the elastic swinging part of the robot fish is not filled, and can not maintain a good streamline shape, and the sinking and floating operation is unstable; patent CN201240497Y proposes a single-joint swinging robot fish supported by a skeleton, which has a poor streamline structure and is only suitable for water surfaces; the patent CN107380386A discloses a three joint swing of robot fish, including three main drive joints, every main drive joint all includes a steering wheel and actuating lever, and the swing of fish tail is realized through three joint ring looks knot, drives in proper order, and this robot fish joint structure is complicated, and the use of steering wheel increases fish body quality, and the assembly is difficult, and the effect of sinking and floating is unstable.
Most of the existing robot fish adopts an integrated structure, is driven by three-joint swing, adopts a skeleton supporting skin mode, occupies large space, is not beneficial to carrying other functional modules, and is inconvenient to study and apply in later period.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a line-driven robot fish, which has a simple joint structure and reduces the overall weight of the robot fish while providing a self-driving force.
The invention relates to a line-driven robot fish which comprises a fish head, a fish body and a fish tail which are sequentially connected, wherein the fish tail comprises a tail fin and a support plate assembly, the support plate assembly consists of a support plate I, at least one support plate II and a support plate III which are sequentially connected from front to back, the front side of the support plate I is fixedly connected with the fish body, the rear side of the support plate III is fixedly connected with the tail fin, and the support plate I and the support plate II, the adjacent support plate II and the support plate III are all connected through joint assemblies; the robot fish further comprises two parallel driving lines, wherein the front ends of the driving lines are connected with the fish tail driving mechanism, and the rear ends of the driving lines sequentially penetrate through the supporting plate I and the supporting plate II and are fixedly connected with the supporting plate III; the two driving lines are made of flexible materials and are driven by the fish tail driving mechanism to stretch out and draw back successively so as to drive the support plates II and III to swing left and right;
the fish tail driving mechanism is arranged on the fish body and comprises a driving motor, a driving shaft and two driving turntables respectively arranged at two ends of the driving shaft, and an output shaft of the driving motor is in transmission connection with the driving shaft; convex handles are arranged on the two driving turntables in a dislocation mode, and the two driving wires are respectively connected with the two convex handles;
the fish body comprises a flat fish body main board; the fish head comprises a head plate, a head plate swinging mechanism, a pectoral fin and a pectoral fin swinging mechanism; the head plate is arranged above the fish body main board in parallel, and the head plate swinging mechanism is arranged on the fish body main board, and the power output end of the head plate swinging mechanism is connected with the head plate and drives the head plate to swing left and right; the two pectoral fins are symmetrically arranged at two ends of a swinging shaft, and the swinging shaft is fixed on the head plate through a swinging shaft mounting bracket; the pectoral fin swinging mechanism is arranged on the main board of the fish body, and the power output end of the pectoral fin swinging mechanism is in transmission connection with the swinging shaft and drives the swinging shaft to swing up and down.
As a further improvement to the technical scheme, the longitudinal sectional area of the fish body main board is gradually increased from front to back, and a motor mounting bracket for mounting the driving motor and a driving shaft mounting bracket for mounting the driving shaft are respectively connected to the upper side and the lower side of the fish body main board in a detachable mode.
As a further improvement to the technical scheme, the output shaft of the driving motor is connected with a driving belt pulley, the driving shaft is fixedly provided with a driven belt pulley, and the driving belt pulley is connected with the driven belt pulley through a transmission belt; the fish body main board is provided with a transmission belt through hole for the transmission belt to pass through.
As a further improvement to the above technical solution, the joint assembly includes a first connecting block, a second connecting block, and a hinge shaft, one end of the first connecting block is vertically connected to the first transverse plate, and one end of the second connecting block is vertically connected to the second transverse plate; the end part of the first connecting block far away from the first transverse plate is provided with a hinge groove parallel to the main board of the fish body, the end part of the second connecting block far away from the second transverse plate is inserted into the hinge groove and is connected and positioned by a hinge shaft to form a single-degree-of-freedom rotation connecting structure, and the hinge shaft is parallel to the first transverse plate.
As a further improvement to the technical scheme, the front side surface of the supporting plate I is fixed with two L-shaped plates which are oppositely arranged, and a clamping area for clamping and fixing the main board of the fish body is formed between the two L-shaped plates.
As a further improvement to the technical scheme, the supporting plate I, the supporting plate II and the supporting plate III are all circular plate structures, and the diameters of the circular plates are gradually decreased from front to back; the supporting plate I and the supporting plate II are correspondingly provided with kidney-shaped transmission line through holes for transmission lines to pass through, the supporting plate III is provided with transmission line fixing holes for fixing the transmission lines, and the transmission line through holes and the transmission line fixing holes are all located on the same horizontal plane.
As a further improvement to the technical scheme, the rear end of the fish body main board is connected with a guide plate, and the guide plate is provided with a guide hole for a transmission line to pass through and guide.
As a further improvement to the technical scheme, the head plate swinging mechanism comprises a first steering engine arranged at the bottom of the fish body main board; the pectoral fin swinging mechanism comprises a second steering engine which is arranged at the top of the head plate; the output shaft of the second steering engine is connected with a cam, the swinging shaft is vertically connected with a swinging rod, the cam is connected with the swinging rod through a connecting rod, one end of the connecting rod is hinged to the position, deviating from the axis, on the cam, and the other end of the connecting rod is hinged to the swinging rod.
Through the above disclosure, the invention has the following beneficial technical effects:
according to the line-driven robot fish, when the transmission line on one side is shortened, the joint component is pulled to rotate towards the one side, and the transmission line on the other side is extended to conform to the rotation of the joint component, because the two transmission lines are in sequential motion, the joint component can swing left and right periodically or reciprocally so as to drive the support plate II and the support plate III to swing left and right, and the tail fin swings left and right along with the transmission line to generate power for the robot fish to travel; because each joint subassembly is pulled by the driving wire, need not independent joint actuating mechanism for joint simple structure has effectively alleviateed robot fish whole weight when providing self driving force.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a left side view of the present invention;
FIG. 3 is a perspective view of the present invention;
FIG. 4 is an enlarged view of FIG. 3 at A;
fig. 5 is an enlarged view at B in fig. 3.
Detailed Description
In order to make the technical scheme of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 to 5: the line-driven robot fish of the embodiment comprises a fish head, a fish body and a fish tail which are sequentially connected, wherein the fish tail comprises a tail fin 1 and a support plate assembly, the support plate assembly consists of a support plate I2, at least one support plate II 3 and a support plate III 4 which are sequentially connected from front to back, the front side of the support plate I2 is fixedly connected with the fish body, the rear side of the support plate III 4 is fixedly connected with the tail fin 1, and the support plate I2 is connected with the support plate II 3, the adjacent support plates II 3 and the support plate III 4 through joint assemblies; the robot fish further comprises two parallel driving lines 5, wherein the front ends of the driving lines 5 are connected with a fish tail driving mechanism, and the rear ends of the driving lines pass through a supporting plate I2 and a supporting plate II 3 in sequence and are fixedly connected with a supporting plate III 4; the two driving lines 5 are made of flexible materials and are driven by the fish tail driving mechanism to stretch out and draw back successively so as to drive the supporting plates II 3 and III 4 to swing left and right.
The fish head, the fish body and the fish tail are all provided with structures simulating real fish, for example, some streamline structures are basically the same as those of the existing robot fish, and are not repeated here; the motion power of the robot fish is mainly generated by the swing of the fish tail, the direction of the fish head is mainly controlled, and the fish body is a mounting main body; the tail fin 1 is plate-shaped and fan-shaped; "front" refers to the direction of approach to the fish head, and "rear" refers to the direction of approach to the tail fin 1; when the robot fish is in a static and straight state, the supporting plate I2, the supporting plate II 3 and the supporting plate III 4 are parallel; the number of the supporting plates II 3 can be set according to the requirement, and at least one supporting plate II is provided, and three supporting plates II are arranged in the embodiment; the joint components form rotating joints between adjacent support plates, and the joint components are positioned on the same plane and positioned on the same straight line when the robot fish is in a static and straight state; the transmission line 5 can be made of glass fiber or carbon fiber, the thickness of which can be determined according to the requirement, and can be not necessarily a fine line structure but also a rope-shaped or rod-shaped structure; the fish tail driving mechanism is an electric control mechanism and can drive the two driving wires 5 to sequentially extend and shorten (the length refers to the length of the fish tail part), the two driving wires 5 are symmetrically arranged, when one driving wire 5 is shortened, the joint component is pulled to rotate towards the one side, the driving wire 5 on the other side is extended to conform to the rotation of the joint component, and as the two driving wires 5 sequentially move, the joint component can periodically or reciprocally swing left and right to drive the supporting plate II 3 and the supporting plate III 4 to swing left and right, and the tail fin 1 swings left and right to generate power for the robot fish to travel; because each joint assembly is pulled by the transmission line 5, an independent joint driving mechanism is not needed, so that the joint structure is simple, and the whole weight of the robot fish is effectively lightened while the driving force of the robot fish is provided.
In this embodiment, the fish tail driving mechanism is disposed on the fish body and includes a driving motor 6, a driving shaft 7, and two driving turntables 8 respectively disposed at two ends of the driving shaft 7, where an output shaft of the driving motor 6 is in transmission connection with the driving shaft 7; convex handles 9 are arranged on the two driving turntables 8 in a dislocation mode, and the two driving wires 5 are respectively connected with the two convex handles 9; the fish tail driving mechanism is arranged on the fish body, so that the weight of the fish tail can be reduced, and the fish tail can move more flexibly; the driving motor 6 can be of a speed reduction motor structure, can provide larger moment and is easy to control the rotating speed; the driving shafts 7 are arranged along the width direction (i.e. left-right direction) of the robot fish, and the two driving turntables 8 are arranged along the radial direction of the driving shafts 7; the two driving turntables 8 can be of a disc structure and are symmetrically arranged; the convex handle 9 is a component for directly pulling the transmission line 5 and rotates along with the driving turntable 8; the dislocation means that the two convex handles 9 are respectively arranged at different positions of the two driving turntables 8 in the using state, so that the two convex handles 9 can respectively drive the two driving wires 5 to stretch and shorten in sequence; preferably, the projection of the lug 9 of one of the drive discs 8 on the other drive disc 8 has a symmetrical relationship with the lug 9 on that drive disc 8, so that when one of the drive lines 5 is at the elongation limit, the other drive line 5 is at the contraction limit; by adopting the structure, the continuous driving of the two transmission lines 5 can be realized without changing the steering of the output shaft of the driving motor 6, so that continuous power can be generated by the fish tail.
In this embodiment, the fish body includes a flat fish body main board 10, the longitudinal cross-sectional area of the fish body main board 10 gradually increases from front to back, and a motor mounting bracket 11 for mounting the driving motor 6 and a driving shaft mounting bracket 12 for mounting the driving shaft 7 are detachably connected to the upper and lower sides of the fish body main board 10 respectively; the fish body main board 10 is of a flat plate structure; the motor mounting bracket 11 and the driving shaft mounting bracket 12 can be connected to the fish body main board 10 in a threaded manner, so that the fish body main board is convenient to mount and dismount; with the structure, the motor mounting bracket 11 and the driving shaft mounting bracket 12 are respectively arranged on the upper side and the lower side of the fish body main board 10, so that the weight distribution of the fish body main board 10 is balanced, and the balance degree of the robot fish motion is improved; the drive shaft mounting bracket 12 may be provided with associated shaft bores and bearings.
In this embodiment, the output shaft of the driving motor 6 is connected with a driving pulley 13, the driving shaft 7 is fixed with a driven pulley 14, and the driving pulley 13 is connected with the driven pulley 14 through a driving belt (not shown in the figure); the fish body main board 10 is provided with a transmission belt through hole 15 for a transmission belt to pass through; the driving belt pulley 13 and the driven belt pulley 14 are respectively arranged on the upper side and the lower side of the fish body main board 10 and are positioned on the same plane; the transmission belt through hole 15 is preferably a rectangular hole, which is beneficial to the movement of the transmission belt; the driving motor 6 and the driving shaft 7 transmit power in a belt transmission mode, and the structure ensures that the transmission is stable, the cost is low, the use and the maintenance are convenient, the flexibility and the elasticity are good, and the motor can slip under the overload condition.
In this embodiment, the joint assembly includes a first connection block 16, a second connection block 17, and a hinge shaft 18, wherein one end of the first connection block 16 is vertically connected to a first transverse plate 19, and one end of the second connection block 17 is vertically connected to a second transverse plate 20; the end part, far away from the first transverse plate 19, of the first connecting block 16 is provided with a hinge groove 16a parallel to the fish body main board 10, the end part, far away from the second transverse plate 20, of the second connecting block 17 is inserted into the hinge groove 16a and is connected and positioned by a hinge shaft 18 to form a single-degree-of-freedom rotation connecting structure, and the hinge shaft 18 is parallel to the first transverse plate 19; in use, the first transverse plate 19 is mounted on the rear side of the support plate, the second transverse plate 20 is mounted on the front side of the support plate, the mounting modes are all preferably screw connection, and the hinge shaft 18 can also be selected as a bolt, so that the mounting, the dismounting and the maintenance are convenient; the centers of the first and second cross plates 19, 20 are preferably arranged concentrically with the centers of the respective support plates; the hinge groove 16a is a transverse groove formed along the width direction of the robot fish, so that the fish tail can swing left and right.
In this embodiment, two opposite L-shaped plates 21 are fixed on the front side of the support plate i 2, and a clamping area for clamping and fixing the main board 10 of the fish body is formed between the two L-shaped plates 21; the robot fish may be further provided with an elastic support rod (not shown) which is disposed parallel to the main body plate 10 of the fish and sequentially passes through the L-shaped plate 21, the support plate I2, the support plate II 3 and the support plate III 4; the "L" shaped plate 21 has a transverse portion and a longitudinal portion, "opposite arrangement" means that the two "L" shaped plates 21 are arranged in an axisymmetric manner; the transverse part of the L-shaped plate 21 is connected with the supporting plate I2, the longitudinal part is connected with the main fish body plate 10, and the connection mode is preferably screw connection; the two support rods are respectively arranged on the upper side and the lower side of the joint assembly, so that the support plates can be further connected, and the structural strength and the flatness of the robot fish are improved; the support bars have a certain elasticity and can be deformed to adapt to the movement of the adjacent support plates when the adjacent support plates relatively move.
In this embodiment, the supporting plates i 2, ii 3 and iii 4 are all circular plate structures, and the diameters of the circular plates (i.e. the supporting plates) decrease from front to back, so as to simulate the tail of a real fish from thick to thin, so that the tail looks more attractive, and the bearing capacity is improved and the supporting function is achieved; the supporting plates I2 and II 3 are correspondingly provided with kidney-shaped transmission line through holes 22 for the transmission lines 5 to pass through, the supporting plate III 4 is provided with transmission line fixing holes 23 for fixing the transmission lines 5, and each transmission line through hole 22 and each transmission line fixing hole 23 are positioned on the same horizontal plane; the kidney-shaped drive line via 22 provides sufficient movement space for the stretching movement of the drive line 5 and also serves to constrain the drive line 5.
In this embodiment, a guide plate 24 is connected to the rear end of the main board 10, and a guide hole 24a for guiding the driving wire 5 is provided on the guide plate 24; the guide plate 24 limits the position of the driving wire 5 so that the driving wire 5 can move in the driving wire through hole 22; fixed pulleys can be arranged in the guide holes to realize smooth steering of the transmission line 5, prevent the transmission line 5 from being worn improperly and prolong the service life of the transmission line 5.
In this embodiment, the fish head includes a head plate 25, a head plate swinging mechanism, a pectoral fin 26, and a pectoral fin swinging mechanism; the head plate 25 is arranged above the fish body main board 10 in parallel, and the head plate swinging mechanism is arranged on the fish body main board 10, and the power output end of the head plate swinging mechanism is connected with the head plate 25 and drives the head plate 25 to swing left and right; the two pectoral fins 26 are symmetrically arranged at two ends of a swinging shaft 27, and the swinging shaft 27 is fixed on the head plate 25 through a swinging shaft mounting bracket 28; the pectoral fin swinging mechanism is arranged on the fish body main board 10, and the power output end of the pectoral fin swinging mechanism is in transmission connection with the swinging shaft 27 and drives the swinging shaft 27 to swing up and down; a gap is formed between the head plate 25 and the fish body main plate 10; the head plate 25 is driven by the head plate swinging mechanism, the pectoral fins 26 are driven by the pectoral fin swinging mechanism, and the steering of the robot fish can be controlled by the cooperation of the head plate 25 and the pectoral fin swinging mechanism, so that the robot fish can move upwards and downwards.
In this embodiment, the head board swinging mechanism includes a first steering engine 29 installed at the bottom of the main board 10; the pectoral fin swinging mechanism comprises a second steering engine 30 which is arranged at the top of the head plate 25; the output shaft of the second steering engine 30 is connected with a cam 31, the swing shaft 27 is vertically connected with a swing rod 32, the cam 31 is connected with the swing rod 32 through a connecting rod 33, one end of the connecting rod 33 is hinged to the cam 31 at a position deviating from the axis (namely, the connection position of the cam 31 and the output shaft of the second steering engine 30), and the other end of the connecting rod 33 is hinged to the swing rod; an output shaft of the first steering engine 29 penetrates through the fish body main board 10 and is connected with the head board 25; the output shaft of the second steering engine 30 is connected with the swinging shaft 27 through a cam connecting rod assembly, and the cam connecting rod assembly has the advantages of simple structure, high transmission precision, stability and high efficiency.
Finally, it is pointed out that the principles and embodiments of the invention have been described herein with reference to specific examples, which are intended to be merely illustrative of the core idea of the invention, and that several improvements and modifications can be made to the invention without departing from the principles of the invention, which also fall within the scope of protection of the invention.
Claims (6)
1. The utility model provides a line drive formula robot fish, includes consecutive fish head, fish body and fish tail, its characterized in that: the fish tail comprises a tail fin and a support plate assembly, the support plate assembly consists of a support plate I, at least one support plate II and a support plate III which are sequentially connected from front to back, the front side of the support plate I is fixedly connected with the fish body, the rear side of the support plate III is fixedly connected with the tail fin, and the support plate I and the support plate II, the adjacent support plate II and the support plate III are all connected through joint assemblies; the robot fish further comprises two parallel driving lines, wherein the front ends of the driving lines are connected with the fish tail driving mechanism, and the rear ends of the driving lines sequentially penetrate through the supporting plate I and the supporting plate II and are fixedly connected with the supporting plate III; the two driving lines are made of flexible materials and are driven by the fish tail driving mechanism to stretch out and draw back successively so as to drive the support plates II and III to swing left and right;
the fish tail driving mechanism is arranged on the fish body and comprises a driving motor, a driving shaft and two driving turntables respectively arranged at two ends of the driving shaft, and an output shaft of the driving motor is in transmission connection with the driving shaft; convex handles are arranged on the two driving turntables in a dislocation mode, and the two driving wires are respectively connected with the two convex handles;
the fish body comprises a flat fish body main board; the fish head comprises a head plate, a head plate swinging mechanism, a pectoral fin and a pectoral fin swinging mechanism; the head plate is arranged above the fish body main board in parallel, and the head plate swinging mechanism is arranged on the fish body main board, and the power output end of the head plate swinging mechanism is connected with the head plate and drives the head plate to swing left and right; the two pectoral fins are symmetrically arranged at two ends of a swinging shaft, and the swinging shaft is fixed on the head plate through a swinging shaft mounting bracket; the pectoral fin swinging mechanism is arranged on the main board of the fish body, and the power output end of the pectoral fin swinging mechanism is in transmission connection with the swinging shaft and drives the swinging shaft to swing up and down;
the joint assembly comprises a first connecting block, a second connecting block and a hinge shaft, wherein one end of the first connecting block is vertically connected with the first transverse plate, and one end of the second connecting block is vertically connected with the second transverse plate; the end part, far away from the first transverse plate, of the first connecting block is provided with a hinge groove parallel to the main board of the fish body, the end part, far away from the second transverse plate, of the second connecting block is inserted into the hinge groove and is connected and positioned by a hinge shaft to form a single-degree-of-freedom rotation connecting structure, and the hinge shaft is parallel to the first transverse plate;
the rear end of the fish body main board is connected with a guide plate, and a guide hole for a transmission line to pass through and guide is formed in the guide plate.
2. The line-driven robot fish according to claim 1, wherein: the longitudinal section area of the fish body main board is gradually increased from front to back, and a motor mounting bracket for mounting the driving motor and a driving shaft mounting bracket for mounting the driving shaft are respectively connected to the upper side and the lower side of the fish body main board in a detachable mode.
3. The line-driven robot fish according to claim 2, wherein: the output shaft of the driving motor is connected with a driving belt pulley, the driving shaft is fixedly provided with a driven belt pulley, and the driving belt pulley is connected with the driven belt pulley through a transmission belt; the fish body main board is provided with a transmission belt through hole for the transmission belt to pass through.
4. The line-driven robot fish according to claim 1, wherein: the front side of the support plate I is fixed with two L-shaped plates which are oppositely arranged, and a clamping area for clamping and fixing the main board of the fish body is formed between the two L-shaped plates.
5. The line-driven robot fish according to claim 1, wherein: the supporting plate I, the supporting plate II and the supporting plate III are all circular plate structures, and the diameters of the circular plates are gradually decreased from front to back; the supporting plate I and the supporting plate II are correspondingly provided with kidney-shaped transmission line through holes for transmission lines to pass through, the supporting plate III is provided with transmission line fixing holes for fixing the transmission lines, and the transmission line through holes and the transmission line fixing holes are all located on the same horizontal plane.
6. Line-driven robot fish according to any of claims 1 to 5, characterized in that: the head plate swinging mechanism comprises a first steering engine arranged at the bottom of the fish body main board; the pectoral fin swinging mechanism comprises a second steering engine which is arranged at the top of the head plate; the output shaft of the second steering engine is connected with a cam, the swinging shaft is vertically connected with a swinging rod, the cam is connected with the swinging rod through a connecting rod, one end of the connecting rod is hinged to the position, deviating from the axis, on the cam, and the other end of the connecting rod is hinged to the swinging rod.
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| Application Number | Priority Date | Filing Date | Title |
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| 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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| CN109050851A CN109050851A (en) | 2018-12-21 |
| CN109050851B true 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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| CN111409799B (en) * | 2020-04-22 | 2021-07-09 | 北京大学 | Line-driven continuous bionic robotic dolphin |
| CN112319753B (en) * | 2020-11-16 | 2021-09-24 | 华南理工大学 | Deep-diving bionic wire-pulling machine fish |
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