CN109383725A - A kind of Magnetic driving machine fish - Google Patents
A kind of Magnetic driving machine fish Download PDFInfo
- Publication number
- CN109383725A CN109383725A CN201811456800.9A CN201811456800A CN109383725A CN 109383725 A CN109383725 A CN 109383725A CN 201811456800 A CN201811456800 A CN 201811456800A CN 109383725 A CN109383725 A CN 109383725A
- Authority
- CN
- China
- Prior art keywords
- annular disk
- fish
- isolation board
- rod piece
- rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 241000251468 Actinopterygii Species 0.000 title claims abstract description 174
- 230000005291 magnetic effect Effects 0.000 title claims abstract description 37
- 230000007246 mechanism Effects 0.000 claims abstract description 106
- 238000002955 isolation Methods 0.000 claims description 101
- 230000000007 visual effect Effects 0.000 claims description 16
- 238000012545 processing Methods 0.000 claims description 13
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims 1
- 235000019688 fish Nutrition 0.000 abstract description 156
- 238000010586 diagram Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 3
- 239000011664 nicotinic acid Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000003321 amplification Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 208000013200 Stress disease Diseases 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000003302 ferromagnetic material Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 239000003643 water by type Substances 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
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of Magnetic driving machine fishs, including fish body ontology, connecting shaft, several fish body driving mechanisms, several fish tail guiding mechanisms and several fluctuation scales；Fish body ontology includes fish body and fish tail, and connecting shaft is disposed longitudinally in fish body ontology, and one end of connecting shaft is connect with the front end of fish body, the rear end connection of the other end and fish tail；Several fish body driving mechanisms are arranged in fish body, and are mounted in connecting shaft, and fish body driving mechanism uses magnetomotive；Several fish tail guiding mechanisms are arranged in fish tail, and are mounted in connecting shaft；Present invention employs the thought of huge freedom degree and calculus, the part of each group of fish body driving mechanisms control fish body certain is swung, and is swung using the part of Magnetic driving control fish body, when driving mechanism quantity is enough, the final natural swing for realizing machine fish.
Description
Technical field
The invention belongs to bio-robot technical fields, and in particular to a kind of Magnetic driving machine fish.
Background technique
Bionic machine fish is carried out by the movement of natural imitation circle Mesichthyes, by simulate fish advance and
Commutation etc..Fish utilize the alternating contractions of trunk and tail muscles, so that body bilateral twisting is hit water flow, fish is produced by striking waters
Raw reaction force, body is pushed forward, and tail fin determines the direction of motion of fish.
Currently, bionic machine fish mainly uses servo driving system, and servo driving system has volume big and energy consumption height
The disadvantages of, the current water surface and underwater research vehicle mostly use traditional propeller as propeller, and volume is big, weight is heavy, energy consumption
Height, and current bionic machine fish cannot realize that well fish naturally swing.
Summary of the invention
Aiming at the shortcomings in the prior art, the present invention provides a kind of Magnetic driving machine fishs, provide one kind by Magnetic driving
As power source, the machine fish of realization is swung.
To achieve the above object, the technical solution of the present invention is as follows:
A kind of Magnetic driving machine fish, including fish body ontology, connecting shaft, several fish body driving mechanisms and several fluctuation scales；
Fish body ontology includes fish body and fish tail, and connecting shaft is disposed longitudinally in fish body ontology, and one end of connecting shaft and the front end of fish body connect
It connects, the rear end connection of the other end and fish tail；Several fish body driving mechanisms are arranged in fish body, and are mounted in connecting shaft；
Fish body driving mechanism includes annular disk, isolation board and drive rod；Magnet, magnetic have been uniformly arranged along the circumference on annular disk
Body can be connected to power supply along the axial-movement of annular disk, magnet；
Annular disk includes first annular disk, the second annular disk and the third annular disk that uniform intervals are set in connecting shaft；
Magnet of second annular disk close to first annular disk side is different with the magnet poles on first annular disk, and position is adapted；
Magnet of second annular disk by third annular disk side is different with the magnet poles on third annular disk, and position is adapted；
Isolation board includes the first isolation board and the second isolation board, the first isolation board with it is close first annular on the second annular disk
The magnet of disk side connects, and the second isolation board is connect with the magnet on the second annular disk close to third annular disk side；
It is connect by drive rod with fluctuation scale on first isolation board, the second isolation board passes through drive rod and fluctuation scale；
Fluctuation scale forms complete fish body for hitting water flow, several fluctuation scales.
Further, drive rod includes the first drive rod and the second drive rod；First drive rod includes the first rod piece, second
Rod piece, third rod piece, the 4th rod piece；First rod piece is L shape rod piece, and the stock of L shape rod piece is isolated with the first isolation board or second
Plate connection, one end of quarter butt are fixedly connected with stock, and the quarter butt other end is connect by revolute pair with one end of the second rod piece；Second
The other end of rod piece is connect by revolute pair with one end of third rod piece；The other end of third rod piece passes through revolute pair and the 4th bar
Part connection；First drive rod and the second driving rod structure are identical, and the first drive rod and the second drive rod are separately positioned on the second ring
The two sides of shape disk and the setting that is centrosymmetric；First drive rod is connect with the first isolation board, the second drive rod and the second isolation board
Connection.
Further, further include torsional spring, the 4th rod piece is connected by one end of rotary pair and torsional spring, the other end of torsional spring with
Fluctuation scale is fixedly connected；Rotary pair is arranged at 2/3 position of third rod piece and the 4th rod piece tie point.
Further, fish body swing mechanism is additionally provided between drive rod and fluctuation scale；Fish body swing mechanism is using flat
Row quadrangular mechanism, the end of drive rod and the long side of parallelogram mechanism connect, and the short side of parallelogram mechanism passes through
Connecting rod is connect with fluctuation scale.
It further, further include sliding rail, sliding rail is arranged between first annular disk and the second annular disk or the second annular disk
Between third annular disk；Sliding rail be fixedly mounted in connecting shaft or the second annular disk on, the orbital direction and connecting shaft of sliding rail
Axis it is parallel, isolation board is mobile by the track of sliding rail.
It further, further include fixed plate, sliding rail is fixedly mounted in fixed plate；Fixed plate is set in connecting shaft, and
It is fixedly connected with connecting shaft or the second annular disk；Spring, one end of spring and fixed plate are provided between fixed plate and isolation board
Connection, the other end are connect with isolation board.
It further, further include fish tail guiding mechanism, fish tail guiding mechanism includes the first fish tail guiding mechanism, the second fish tail
Guiding mechanism and fixed disk；The structure of first fish tail guiding mechanism and the second fish tail guiding mechanism is identical, and the company of being symmetricly set on
The two sides of spindle；First fish tail guiding mechanism and the second fish tail guiding mechanism are fixedly mounted in fixed disk, the center of fixed disk
It is set in connecting shaft；
First fish tail guiding mechanism includes fourth annular disk, the 5th annular disk, the first fixing axle, third isolation board, first
Isolation board connecting rod, the 9th rod piece, the tenth rod piece and spring；It is fixed that fourth annular disk and the 5th annular disk interval are set in first
On axis, the first fixing axle is mounted in fixed disk, and the first fixing axle is arranged in parallel with connecting shaft；Fourth annular disk and the 5th annular
Magnet is uniformly arranged along the circumference on disk respectively, the magnet on magnet and the 5th annular disk on fourth annular disk passes through respectively leads
Line connects to power supply, and magnetic pole is different and position is adapted；Third isolation board is arranged between fourth annular disk and the 5th annular disk,
Third isolation board is fixedly mounted on the connection of the magnet end on the 5th annular disk, is arranged between third isolation board and the 5th annular disk
Spring, fourth annular disk are fixedly connected in fixed disk；
One end of first isolation board connecting rod is connect with third isolation board, and the other end of the first isolation board connecting rod is by turning
Dynamic pair is connect with one end of the 9th rod piece, and the other end of the 9th rod piece is connect by revolute pair with one end of the tenth rod piece, and the tenth
The other end of rod piece is connect with fish tail scale.
Further, fish body head is provided with visual sensor, visual processing unit, the output end and view of visual sensor
Feel processing unit connection, by being wirelessly connected, visual sensor is high using binocular vision for visual processing unit and terminal display
Clear camera.
Further, fish body includes upper skeleton and lower skeleton, and upper skeleton and lower skeleton are set as S type structure；On upper skeleton
Portion and lower skeleton lower part are respectively arranged with fin.
Further, power supply is arranged on power panel, and power panel is mounted on fish tail, and power supply is connect by conducting wire with magnetic patch；
Connecting shaft uses hollow structure, and conducting wire is arranged in connecting shaft.
Compared with prior art, the invention has the benefit that
A kind of Magnetic driving machine fish of the present invention, using the thought of huge freedom degree and calculus, each group of fish body driving machine
The part that structure controls fish body certain is swung, and is swung using the part of Magnetic driving control fish body, when fish body driving mechanism quantity foot
When more than enough, the final natural swing for realizing machine fish；Annular disk size can be changed according to fish body position, more meet the swing of fish body
Actual effect；
Further, fish body both sides are designed to parallelogram changeable mechanism, and fish body can be made to be swung, in the anti-work of water
It is firmly lower that fish body is pushed to advance；
Further, torsional spring is set in the present invention, realizes the reset of drive rod and isolation board, avoids drive rod card
Extremely；
Further, by the way that spring is arranged between isolation board and fixed plate, the reset function of isolation board is realized；
Further, at S type, upper and lower two sides are equipped with fin for lower whole design with fish, advance convenient for fish body.
Detailed description of the invention
Fig. 1 is machine fish overall mechanism schematic diagram of the invention；
Fig. 2 is machine fish overall mechanism schematic diagram of internal structure of the invention；
Fig. 3 is fish tail guiding mechanism structural schematic diagram of the invention；
Fig. 4 is fish body swing mechanism structural schematic diagram of the invention；
Fig. 5 is the front view of fish body driving mechanism of the invention；
Fig. 6 is the top view of fish body driving mechanism of the invention；
Fig. 7 is the side view of fish body driving mechanism of the invention；
Fig. 8 be fish tail guiding mechanism of the invention it is static when kinematic sketch；
The kinematic sketch at Fig. 9 a certain moment when being fish tail guiding mechanism movement of the invention；
Figure 10 is fish body driving mechanism enlarged structure schematic diagram of the invention；
Figure 11 is fish body driving mechanism power enlarged drawing of the invention.
Wherein 1 fish body ontology, 2 connecting shafts, 3 fish body driving mechanisms, 4 fish body swing mechanisms, 5 fish tail guiding mechanisms, 6 fluctuations
Scale, 7 magnets, 8 springs, 9 torsional springs, 10 visual sensors；11 fish bodies, 12 fish tails, 31 annular disks, 32 first sliding rails, 33 second
Sliding rail, 34 springs, 35 drive rods, 36 first isolation boards, 37 second isolation boards, 38 first fixed plates, 39 second fixed plates, 311
First annular disk, 312 second annular disks, 313 third annular disks, 351 first drive rods, 352 second drive rods, 3,511 first bars
Part, 3,512 second rod pieces, 3513 third rod pieces, 3514 the 4th rod pieces, 3521 the 5th rod pieces, 3522 the 6th rod pieces, 3523 the 7th
Rod piece, the 8th rod piece 3524,41 parallelogram mechanisms, 42 connecting rods, 51 first fish tail driving mechanisms, the driving of 52 second fish tails
Mechanism, 53 fixed disks, 54 fish tail scales, 511 fourth annular disks, 512 the 5th annular disks, 513 first isolation board connecting rods, 514
Third isolation board, 515 the 9th rod pieces, 516 the tenth rod pieces, 517 first fixing axles, 521 the 6th annular disks, 522 the 7th annular disks,
523 second isolation board connecting rods, 524 the 4th isolation boards, 525 the 11st rod pieces, 526 the 12nd rod pieces, 527 second fixing axles.
Specific embodiment
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
With reference to shown in attached drawing 1-10, a kind of Magnetic driving machine fish of the present invention, including fish body ontology 1, connecting shaft 2, fish body are driven
Motivation structure 3, fish body swing mechanism 4, fish tail guiding mechanism 5 and fluctuation scale 6；
Fish body ontology 1 includes fish body 11 and fish tail 12, and connecting shaft 2 is disposed longitudinally in fish body ontology 1, and the one of connecting shaft 2
End is connect with the front end of fish body 11, and the other end is connect with the rear end of fish tail 12；Fish body driving mechanism 3 is mounted in connecting shaft 2, fish
Body driving mechanism 3 is connect with fish body swing mechanism 4, and fish body swing mechanism 4 is connect with fluctuation scale 6.Fish tail guiding mechanism 5 includes
Fish tail driving mechanism 51 and fish tail swing mechanism 52, fish tail driving mechanism 51 are arranged in fish tail, fish tail driving mechanism 51 and company
Spindle 2 connects, and fish tail driving mechanism 51 is connect with fish tail swing mechanism 52, and fish tail swing mechanism 52 is connect with fluctuation scale 6.
Fish body 11 includes upper skeleton and lower skeleton, and upper skeleton and lower skeleton are set as S type structure；Upper skeleton top and sending down the fishbone
Frame lower part is respectively arranged with fin；
Fluctuation scale 6 forms complete fish body for hitting water flow, several fluctuation scales 6, fluctuates and is additionally provided on the outside of scale 6
Tactile material or modification scale.
Fish body driving mechanism 3 includes annular disk 31, the first sliding rail 32, the second sliding rail 33, spring 34, drive rod 35, first
Isolation board 36 and the second isolation board 37；Annular disk 31 includes that equidistant interval is set in first annular disk 311 in connecting shaft 2, the
Second ring disk 312 and third annular disk 313, first annular disk 311, the second annular disk 312 and third annular disk 313 with connection
Axis 2 is fixedly connected.
Magnet 7 is provided on annular disk 31, magnet 7 uses cylindrical structure, the axis of magnet 7 and the axis of annular disk 31
In parallel；Magnet 7 is connected to power supply by conducting wire, and the magnetic pole of magnet 7 changes when power supply is powered；
Magnet 7 magnetic pole of second annular disk 312 on the magnet 7 and first annular disk 311 of first annular 311 side of disk
It is different, and position is adapted；Second annular disk 312 is on the magnet 7 and third annular disk 313 of 313 side of third annular disk
7 magnetic pole of magnet is different, and position is adapted；The different respective magnet of magnetic pole on two neighboring annular disk can transport before and after axis
It is dynamic；
Magnet 7 on first annular disk 311 uses horizontal distribution, and the second annular disk 312 is by first annular 311 side of disk
Magnet 7 uses horizontal distribution；Magnet 7 of second annular disk 312 close to 313 side of third annular disk is distributed using vertical direction,
Magnet 7 on third annular disk 313 is using vertical distribution；Four toroidal magnets are along the circumferential direction distributed on second annular disk 312,
Eight magnet blocks are along the circumferential direction distributed in magnet, so that magnetic force is uniform, and neat and artistic, meets force request；First
Annular disk 311 and third annular disk 312 are respectively set there are two toroidal magnet；On first annular disk 311 and third annular disk 313
7 position of magnet it is different, be adapted respectively with the magnet positions close to the side of the second annular disk 312, and magnetic pole is different,
Ferromagnetic material is saved in this way, and is avoided that stress disorder, provides power to annular disk two sides respectively.
First sliding rail 34 is arranged between first annular disk 311 and the second annular disk 312, close to the second annular disk 312 1
Side setting；First sliding rail 32 is fixedly mounted in the first fixed plate 38, the orbital direction of the first sliding rail 32 and the axial direction of connecting shaft 2
In parallel；First fixed plate 38 is set in connecting shaft 2, and is fixedly connected with connecting shaft 2 or the second annular disk 312；
The second annular disk 312 is arranged in close to 7 end of magnet of first annular 311 side of disk in first isolation board 36, and first
Spring 8 is additionally provided between isolation board 36 and the first fixed plate 38；One end of spring 8 is connect with the first fixed plate 38, the other end
It is connect with the first isolation board 36；The sliding block with the cooperation of the first sliding rail 34 is provided on first isolation board 36, the first isolation board 38 is logical
Sliding block is crossed to move on the first sliding rail 32；First isolation board 36 is connect with the front end of drive rod 35.
Second sliding rail 33 is arranged between the second annular disk 312 and third annular disk 313, close to the second annular disk 312 1
Side setting；Second sliding rail 33 is fixedly mounted in the second fixed plate 39, the orbital direction of the second sliding rail 33 and the axial direction of connecting shaft 2
In parallel；Second fixed plate 39 is set in connecting shaft 2, and is fixedly connected with connecting shaft 2 or the second annular disk 312；
Second isolation board 37 is arranged in magnet 7 end of second annular disk 312 close to 313 side of third annular disk, and second
Spring 8 is additionally provided between isolation board 37 and the second fixed plate 39；One end of spring 8 is connect with the second fixed plate 39, the other end
It is connect with the second isolation board 37；The sliding block with the cooperation of the second sliding rail 33 is provided on second isolation board 37, the second isolation board 37 is logical
Sliding block is crossed to move on the second sliding rail 33；Second isolation board 36 is connect with the front end of drive rod 35；
Drive rod 35 includes completely identical in structure first drive rod 351 and the second drive rod 352, the first drive rod 351
312 two sides of the second annular disk are separately positioned on the second drive rod 352, and the setting that is centrosymmetric；
First drive rod 351 includes the first rod piece 3511, the second rod piece 3512, third rod piece 3513 and the 4th rod piece
3514；First rod piece 3511 is L shape rod piece, and the stock of L shape rod piece is connect with the first isolation board 36, and one end of quarter butt and stock are solid
Fixed connection, the quarter butt other end are connect by revolute pair with one end of the second rod piece 3512, and the second rod piece 3512 is rectangular configuration；The
The other end of two rod pieces 3512 and one end of third rod piece 3513 are using articulated connection；The other end of third rod piece 3513 is by turning
Dynamic pair is connect with the 4th rod piece 3514, and third rod piece 3514 is rectangular configuration.
Rotary pair is additionally provided on 4th rod piece 3514, rotary pair is arranged apart from third rod piece 3513 and the 4th rod piece
At 2/3 position of 3514 tie points；4th rod piece 3514 by rotary pair connect with one end of torsional spring 99 connect, torsional spring 9 it is another
One end is connect with fish body swing mechanism 4；Torsional spring 9 is passed the power transmitted by drive rod for realizing the reset function of driving
After being handed to torsional spring 9, torsional spring 9 amplifies power to fish body swing mechanism 4, improves fish body amplitude of fluctuation.
First drive rod (351) is identical with the second drive rod (352) structure, the first drive rod (351) and the second drive rod
(352) two sides of the second annular disk (312) are separately positioned on and the setting that is centrosymmetric；First drive rod (352) with first every
It is connected from plate (36), the second drive rod (352) is connect with the second isolation board (37).
Second drive rod 352 includes the 5th rod piece 3521, the 6th rod piece 3522, the 7th rod piece 3523 and the 8th rod piece
3524；First rod piece 3521 is L shape rod piece, and the stock of L shape rod piece is connect with the second isolation board 37, and one end of quarter butt and stock are solid
Fixed connection, the quarter butt other end are connect by revolute pair with one end of the 6th rod piece 3522, and the 6th rod piece 3522 is rectangular configuration；The
The other end of six rod pieces 3522 and one end of the 7th rod piece 3523 are using articulated connection；The other end of 7th rod piece 3523 is by turning
Dynamic pair is connect with the 8th rod piece 3524, and the 8th rod piece 3524 is rectangular configuration.
Rotary pair is additionally provided on 8th rod piece 3524, rotary pair is arranged in the 7th rod piece 3523 of distance and the 8th rod piece
At 2/3 position of 3524 tie points；8th rod piece 3524 is connect by rotary pair with one end of torsional spring 9, the other end of torsional spring 9 and
Fish body swing mechanism 4 connects；The power transmitted is transferred to torsion by drive rod for realizing the reset function of driving by torsional spring 9
After spring 9, torsional spring 9 amplifies power to fish body swing mechanism 4, improves fish body amplitude of fluctuation.
The operating principle of fish body driving mechanism:
By taking the second drive rod 351 movement between first annular disk 311 and the second annular disk 312 as an example:
Power supply is adjusted, makes the second annular disk 312 on the magnet 7 and first annular disk 311 on first annular disk 311
Magnet 7 is opposite pole；Under the action of opposite pole magnetic attraction, the second annular disk 312 is on first annular disk 311
Magnet 7 drives the first isolation board 36 that can move along the first sliding rail 32 towards first annular 311 direction of disk；
The movement of first isolation board 36, drives the movement of the first drive rod 351, the first rod piece 3511 of the first drive rod 351 to
The direction of first annular disk 31 moves, and then the first rod piece 3511 can make the second rod piece 3512 be lifted up by revolute pair；
Second rod piece 3512 and third rod piece 3513 are hinged, equally will drive third rod piece 3513 and tilt upwards, at this time third
Rod piece 3513 can generate an extruding thrust to the 4th rod piece 3514, so that the 4th rod piece 3514 is that the centre of gyration is inverse with torsional spring 9
Hour hands rotation；Since the centre of gyration of the 4th rod piece 3514 is located at 2/3 position of the 4th rod piece 3514, power will do it in this process
Amplification；
First isolation board 36 is fixed by spring 8 and the first sliding rail 32, and the first isolation board 36 is transported to first annular disk 311
Need to overcome the elastic resistance of spring 8 during dynamic；When between first annular disk 311 and the second annular disk 312 not generate suction
When power, spring 8 can be such that the first isolation board 36 resets；And due to the effect of 9 elastic force of torsional spring, when the 4th rod piece 3514 is not in stress
When, elastic force can be such that the 4th rod piece 3514 resets.
Fish body swing mechanism 4 uses parallelogram mechanism, the long side of parallelogram mechanism and the 4th of drive rod 35
Rod piece 3514 connects, and the short side of parallelogram mechanism is connect by connecting rod with fluctuation scale 6.
Fish body swing mechanism operating principle:
When 4th rod piece 3514 rotates, when driving parallelogram mechanism motion, parallelogram mechanism passes through connecting rod
42 push fluctuation scale 6 to move, and generate promotion to water when fluctuation scale 6 moves, and then realize that fish body is swung；In the 4th rod piece
Under 3514 thrust, by the amplification of parallelogram mechanism, parallelogram mechanism is connect with fluctuation scale 6,
Each group of fish body driving mechanism 3 can all drive fluctuation scale 6 swing, when fluctuation scale quantity 6 it is enough, and with fluctuation squama
Fish body 3 quantity of driving mechanism that piece 6 connects are enough, rationally placed according to fish body 11 and ratio enlargement, in conjunction with micro- product
Divide thought, complete swing will be presented in fish body 11 on the whole.
Fish tail guiding mechanism 5 include the first fish tail guiding mechanism 51, the second fish tail guiding mechanism 52 and fixed disk 53, first
Fish tail guiding mechanism 51 and the second fish tail guiding mechanism 52 are symmetricly set on the two sides of connecting shaft 2；First fish tail guiding mechanism 52
It is fixedly mounted in fixed disk 53 with the second fish tail guiding mechanism 52, the center of fixed disk 53 is set in connecting shaft 2.
First fish tail guiding mechanism 51 includes fourth annular disk 511, the 5th annular disk 512, the first fixing axle 517, third
Isolation board 514, the first isolation board connecting rod 513, the 9th rod piece 515, the tenth rod piece 516 and spring 8；511 He of fourth annular disk
5th annular disk 512 interval is set in the first fixing axle 518, and the first fixing axle 518 is mounted in fixed disk 53, and first is fixed
Axis 517 is arranged in parallel with connecting shaft 2；Magnet there are four being uniformly arranged along the circumference on fourth annular disk 511, the 5th annular disk 512
On be uniformly arranged along the circumference there are four magnet, the magnet 7 on magnet and the 5th annular disk 512 on fourth annular disk 511, respectively
It is connected to power supply by conducting wire, the magnetic pole of magnet is different, and position is adapted；Third isolation board 515 is arranged in fourth annular disk
511 and the 5th between annular disk 512, and third isolation board 514 is fixedly mounted on the connection of the magnet end on the 5th annular disk 512,
Spring 8 is set between third isolation board 514 and the 5th annular disk 512；One end of spring 8 and the side of third isolation board 514 connect
It connects, the other end is connect with the 5th annular disk 512, and spring 8 is resetted for third isolation board 514, and fourth annular disk 512 is fixedly connected
In fixed disk 53；
One end of first isolation board connecting rod 513 is connect with third isolation board 514, the first isolation board connecting rod 513 it is another
One end is connect by revolute pair with one end of the 9th rod piece 515, and the other end of the 9th rod piece 515 passes through revolute pair and the tenth rod piece
516 one end connection, the other end of the tenth rod piece 516 are connect with fish tail scale 54.
Second fish tail guiding mechanism 52 includes the 6th annular disk 521, the 7th annular disk 522, the second fixing axle the 527, the 4th
Isolation board 524, the second isolation board connecting rod 523, the 11st rod piece 525, the 12nd rod piece 526 and spring 8；6th annular disk
521 and the 7th the interval of annular disk 522 be set in the second fixing axle 527, the second fixing axle 527 is mounted in fixed disk 53, the
Two fixing axles 527 are arranged in parallel with connecting shaft 2；Magnet there are four being uniformly arranged along the circumference on 6th annular disk 521, the 7th annular
It is uniformly arranged along the circumference on disk 522 there are four magnet, the magnet on magnet and the 7th annular disk 522 on the 6th annular disk 521
7, it is connected to power supply respectively by conducting wire, the magnetic pole of magnet is different, and position is adapted；4th isolation board 525 is arranged the 6th
Between annular disk 521 and the 7th annular disk 522, the 4th isolation board 524 is fixedly mounted on the magnet end on the 6th annular disk 522
Connection, is arranged spring between the 4th isolation board 524 and the 6th annular disk 522；The side of one end of spring and the 4th isolation board 524
Connection, the other end are connect with the 7th annular disk 522, and spring is resetted for the 4th isolation board 524, and the 6th annular disk 522 is fixed to be connected
It connects in fixed disk 53；
One end of second isolation board connecting rod 523 is connect with the 4th isolation board 524, the second isolation board connecting rod 523 it is another
One end is connect by revolute pair with one end of the 11st rod piece 525, and the other end of the 11st rod piece 525 passes through revolute pair and the tenth
One end of two rod pieces 526 connects, and the other end of the 12nd rod piece 526 is connect with fish tail scale 54.
The operating principle of fish tail guiding mechanism:
By taking the operating principle of the first fish tail driving mechanism as an example:
Startup power supply keeps the magnet magnet on fourth annular disk and the 5th annular disk different, and the 5th annular disk magnet will be
Under the action of magnet suction, one thrust of third isolation board can be given, third isolation board is under the resistance for overcoming spring along first
Fixing axle linear motion will drive the first isolation board connecting rod linear motion, the first isolation board connecting shaft and the 9th rod piece at this time
Between have revolute pair, also there is a revolute pair at the 9th rod piece center, and the linear motion of the first isolation board connecting rod will make the 9th rod piece
It rotates, also there is revolute pair between the 9th rod piece and the tenth rod piece, the deflection meeting of the 9th rod piece at this time is so that the tenth rod piece is sent out
Life is viewed from above to be rotated counterclockwise, and the tenth rod piece is connect with fish tail scale, is allowed for fish tail in this way and is deflected.
It further include power panel in the present invention, power panel is set in connecting shaft and power panel setting is arranged in fish tail 12, electricity
Power supply and conducting wire are provided on source plate, power supply passes through the conducting wire magnet 7 with fish body driving mechanism 3 and fish tail guiding mechanism 4 respectively
Connection, connecting shaft 2 use hollow shaft structure, and conducting wire is arranged in the hollow shaft of connecting shaft 2, are fish body after the energization of magnet 7
Driving mechanism 3 and fish tail guiding mechanism 4 provide power.
It further include visual sensor 10, video processing unit and display terminal in the present invention, the setting of visual sensor 10 exists
The head of fish body 11, visual sensor 10 use binocular vision high-definition camera, and video processing unit is arranged in fish body 11；Depending on
Feel sensor 10 using binocular vision high-definition camera, the input of the output end and video processing unit of visual sensor 10
End uses circuit connection；Video processing unit is connect using wireless network with display terminal, and visual sensor 10 is for monitoring water
Lower environment, by the way that collected underwater environment situation is sent to the video processing unit inside fish body, video processing unit will
Processing result returns on the display terminal of monitoring device.
Claims (10)
1. a kind of Magnetic driving machine fish, which is characterized in that including fish body ontology (1), connecting shaft (2), several fish body driving mechanisms
(3) and several fluctuation scales (6)；Fish body ontology (1) includes fish body (11) and fish tail (12), and connecting shaft (2) is disposed longitudinally on fish
In body ontology (1), one end of connecting shaft (2) is connect with the front end of fish body (11), and the other end is connect with the rear end of fish tail (12)；If
Dry fish body driving mechanism (3) setting is mounted on connecting shaft (2) in fish body (11)；
Fish body driving mechanism (3) includes annular disk (31), isolation board and drive rod (35)；Annular disk is circumferentially uniformly set on (31)
It is equipped with magnet (7), magnet (7) can be connected to power supply along the axial-movement of annular disk (31), magnet (7)；
Annular disk (31) includes first annular disk (311), the second annular disk (312) that uniform intervals are set on connecting shaft (2)
And third annular disk (313)；Magnet (7) and first annular disk of second annular disk (312) close to first annular disk (311) side
(311) magnet (7) magnetic pole on is different, and position is adapted；Second annular disk (312) is by third annular disk (313) side
Magnet is different with magnet (7) magnetic pole on third annular disk (313), and position is adapted；
Isolation board includes the first isolation board (36) and the second isolation board (37), the first isolation board (36) and the second annular disk (312)
The upper magnet (7) close to first annular disk (311) side connects, the second isolation board (37) with it is close on the second annular disk (312)
The magnet (7) of third annular disk (313) side connects；
It is connect by drive rod (35) with fluctuation scale (6) on first isolation board (36), the second isolation board (37) passes through drive rod
(35) and scale (6) are fluctuated；Fluctuation scale (6) forms complete fish body for hitting water flow, several fluctuation scales (6).
2. a kind of Magnetic driving machine fish according to claim 1, which is characterized in that drive rod (35) includes the first drive rod
(351) and the second drive rod (352)；First drive rod (351) includes the first rod piece (3511), the second rod piece (3512), third
Rod piece (3513), the 4th rod piece (3514)；First rod piece (3511) is L shape rod piece, the stock and the first isolation board of L shape rod piece
(36) or the second isolation board (37) connection, one end of quarter butt are fixedly connected with stock, and the quarter butt other end passes through revolute pair and second
One end of rod piece (3512) connects；The other end of second rod piece (3512) is connected by one end of revolute pair and third rod piece (3513)
It connects；The other end of third rod piece (3513) is connect by revolute pair with the 4th rod piece (3514)；First drive rod (351) and second
Drive rod (352) structure is identical, and the first drive rod (351) and the second drive rod (352) are separately positioned on the second annular disk (312)
Two sides and the setting that is centrosymmetric；First drive rod (352) is connect with the first isolation board (36), the second drive rod (352) with
Second isolation board (37) connection.
3. a kind of Magnetic driving machine fish according to claim 2, which is characterized in that further include torsional spring (9), the 4th rod piece
(3514) it is connect by rotary pair with one end of torsional spring (9), the other end of torsional spring (9) is fixedly connected with fluctuation scale (6)；Revolution
Pair setting is at 2/3 position apart from third rod piece (3513) and the 4th rod piece (3514) tie point.
4. a kind of Magnetic driving machine fish according to claim 1, which is characterized in that drive rod (35) and fluctuation scale (6)
Between be additionally provided with fish body swing mechanism (4)；Fish body swing mechanism (4) uses parallelogram mechanism (41), drive rod (35)
End connect with the long side of parallelogram mechanism (41), the short side of parallelogram mechanism (41) by connecting rod (42) with
Fluctuate scale (6) connection.
5. a kind of Magnetic driving machine fish according to claim 1, which is characterized in that further include sliding rail, sliding rail setting is the
Between one annular disk (311) and the second annular disk (312) or between the second annular disk (312) and third annular disk (313)；Sliding rail
It being fixedly mounted on connecting shaft (2) or on the second annular disk (312), the orbital direction of sliding rail is parallel with the axis of connecting shaft (2),
Isolation board is mobile by the track of sliding rail.
6. a kind of Magnetic driving machine fish according to claim 5, which is characterized in that further include fixed plate, the fixed peace of sliding rail
In fixed plate；Fixed plate is set on connecting shaft (2), and is fixedly connected with connecting shaft (2) or the second annular disk (312)；
It is provided between fixed plate and isolation board spring (8), one end of spring (8) is connect with fixed plate, and the other end is connect with isolation board.
7. a kind of Magnetic driving machine fish according to claim 1, which is characterized in that further include fish tail guiding mechanism (5), fish
Tail guiding mechanism (5) includes the first fish tail guiding mechanism (51), the second fish tail guiding mechanism (52) and fixed disk (53)；First fish
Tail guiding mechanism (51) is identical with the structure of the second fish tail guiding mechanism (52), and is symmetricly set on the two sides of connecting shaft (2)；The
One fish tail guiding mechanism (52) and the second fish tail guiding mechanism (52) are fixedly mounted on fixed disk (53), in fixed disk (53)
The heart is set on connecting shaft (2)；
First fish tail guiding mechanism (51) include fourth annular disk (511), the 5th annular disk (512), the first fixing axle (517),
Third isolation board (514), the first isolation board connecting rod (513), the 9th rod piece (515), the tenth rod piece (516) and spring (8)；The
Four annular disks (511) and the 5th annular disk (512) interval are set on the first fixing axle (518), the first fixing axle (518) installation
On fixed disk (53), the first fixing axle (517) is arranged in parallel with connecting shaft (2)；Fourth annular disk (511) and the 5th annular disk
(512) magnet has been uniformly arranged along the circumference on respectively, on the magnet and the 5th annular disk (512) on fourth annular disk (511)
Magnet is connected to power supply by conducting wire respectively, and magnetic pole is different and position is adapted；Third isolation board (515) is arranged in fourth annular
Between disk (511) and the 5th annular disk (512), third isolation board (514) is fixedly mounted on the magnet on the 5th annular disk (512)
End connection, is arranged spring (8) between third isolation board (514) and the 5th annular disk (512), and fourth annular disk (512) is fixed
It is connected on fixed disk (53)；
One end of first isolation board connecting rod (513) is connect with third isolation board (514), the first isolation board connecting rod (513)
The other end connect by revolute pair with one end of the 9th rod piece (515), and the other end of the 9th rod piece (515) passes through revolute pair and the
One end of ten rod pieces (516) connects, and the other end of the tenth rod piece (516) is connect with fish tail scale (54).
8. a kind of Magnetic driving machine fish according to claim 1, which is characterized in that fish body (11) head is provided with vision biography
The output end of sensor (10), visual processing unit, visual sensor (10) is connect with visual processing unit, visual processing unit with
For terminal display by being wirelessly connected, visual sensor (10) uses binocular vision high-definition camera.
9. a kind of Magnetic driving machine fish according to claim 1, which is characterized in that fish body (11) includes upper skeleton and sending down the fishbone
Frame, upper skeleton and lower skeleton are set as S type structure；Upper skeleton top and lower skeleton lower part are respectively arranged with fin.
10. a kind of Magnetic driving machine fish according to claim 1, which is characterized in that power supply is arranged on power panel, power supply
Plate is mounted on fish tail (12), and power supply is connect by conducting wire with magnetic patch (7)；Connecting shaft (2) uses hollow structure, and conducting wire setting is even
In spindle (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811456800.9A CN109383725B (en) | 2018-11-30 | 2018-11-30 | Magnetically driven robot fish |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811456800.9A CN109383725B (en) | 2018-11-30 | 2018-11-30 | Magnetically driven robot fish |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109383725A true CN109383725A (en) | 2019-02-26 |
| CN109383725B CN109383725B (en) | 2024-04-05 |
Family
ID=65430066
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811456800.9A Active CN109383725B (en) | 2018-11-30 | 2018-11-30 | Magnetically driven robot fish |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109383725B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113511299A (en) * | 2021-06-02 | 2021-10-19 | 西湖大学 | Machine fish skin structure of imitative fish scale |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2726247A1 (en) * | 1994-10-28 | 1996-05-03 | Onera (Off Nat Aerospatiale) | Propulsion system for ship or submarine |
| CN2628239Y (en) * | 2003-07-09 | 2004-07-28 | 中国科学技术大学 | Bionic robot fish |
| JP2008018794A (en) * | 2006-07-12 | 2008-01-31 | Ko Yamaguchi | Electromagnetic propulsion device |
| CN201254280Y (en) * | 2008-07-28 | 2009-06-10 | 中国人民解放军国防科学技术大学 | Hydraulic driving body tail fin mode bionic underwater thruster |
| JP2011218964A (en) * | 2010-04-09 | 2011-11-04 | Hamada Bending Service Co Ltd | Rocking propulsion device, catamaran, and fish type robot |
| CN202574602U (en) * | 2012-04-20 | 2012-12-05 | 朱延波 | Electromagnetic power bionic robotic fish |
| CN204916138U (en) * | 2015-09-29 | 2015-12-30 | 南安市腾龙专利应用服务有限公司 | Bionical fish |
| 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 |
| CN209336975U (en) * | 2018-11-30 | 2019-09-03 | 长安大学 | A kind of Magnetic driving machine fish |
-
2018
- 2018-11-30 CN CN201811456800.9A patent/CN109383725B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2726247A1 (en) * | 1994-10-28 | 1996-05-03 | Onera (Off Nat Aerospatiale) | Propulsion system for ship or submarine |
| CN2628239Y (en) * | 2003-07-09 | 2004-07-28 | 中国科学技术大学 | Bionic robot fish |
| JP2008018794A (en) * | 2006-07-12 | 2008-01-31 | Ko Yamaguchi | Electromagnetic propulsion device |
| CN201254280Y (en) * | 2008-07-28 | 2009-06-10 | 中国人民解放军国防科学技术大学 | Hydraulic driving body tail fin mode bionic underwater thruster |
| JP2011218964A (en) * | 2010-04-09 | 2011-11-04 | Hamada Bending Service Co Ltd | Rocking propulsion device, catamaran, and fish type robot |
| CN202574602U (en) * | 2012-04-20 | 2012-12-05 | 朱延波 | Electromagnetic power bionic robotic fish |
| CN204916138U (en) * | 2015-09-29 | 2015-12-30 | 南安市腾龙专利应用服务有限公司 | Bionical fish |
| 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 |
| CN209336975U (en) * | 2018-11-30 | 2019-09-03 | 长安大学 | A kind of Magnetic driving machine fish |
Non-Patent Citations (1)
| Title |
|---|
| 朱红绣等: "电磁驱动机器鱼的运动仿真研究", 机器人技术与应用, no. 06 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113511299A (en) * | 2021-06-02 | 2021-10-19 | 西湖大学 | Machine fish skin structure of imitative fish scale |
| CN113511299B (en) * | 2021-06-02 | 2022-04-29 | 西湖大学 | Machine fish skin structure of imitative fish scale |
| WO2022252324A1 (en) * | 2021-06-02 | 2022-12-08 | 西湖大学 | Bionic fish underwater vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109383725B (en) | 2024-04-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101940844A (en) | Analog dog tail oscillator | |
| CN209336975U (en) | A kind of Magnetic driving machine fish | |
| CN104229087A (en) | Hydroplaning robot imitating water strider | |
| CN109383725A (en) | A kind of Magnetic driving machine fish | |
| CN103213664A (en) | Dual-drive bionic pectoral fin framework | |
| KR101496919B1 (en) | A Multipurpose Rotation Structure | |
| CN108735048B (en) | Braille display device driven by electromagnetic driving cam self-locking connecting rod | |
| CN202654707U (en) | Toy robot | |
| CN203673750U (en) | Spherical four-connecting-rod mechanism demonstration teaching aid | |
| CN203750176U (en) | Robot eyeball capable of conducting multidirectional moving | |
| CN110282106A (en) | A kind of propulsion device of imitative beaver tail swing | |
| CN104071307A (en) | Spiral driving type water surface robot | |
| CN204089553U (en) | Permanent magnet electric generating apparatus | |
| CN202724218U (en) | Massage chair movement massage head | |
| CN209938903U (en) | Electromagnetic drive's tail fin advancing device | |
| CN107494315A (en) | A kind of new pig expelling device of herding | |
| CN211382480U (en) | Vertical vibration body-building device with double parallelogram mechanisms | |
| CN204257119U (en) | A kind of interactive plane mechanism motion demonstrating combined appliance for teaching | |
| CN107403574B (en) | A kind of device of Ampere force and static-electronic driving | |
| CN104842341A (en) | Robot with resonant flapping wings | |
| CN106073186A (en) | A kind of multi-functional easel of the fine arts | |
| CN206968983U (en) | Aircraft | |
| CN204932704U (en) | Skipping rope machine | |
| CN201658839U (en) | Simulated dog tail wagging device | |
| CN201079687Y (en) | Solar energy swinging toy |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |