CN109720526A - A kind of pendulous device of imitative whale tail - Google Patents
A kind of pendulous device of imitative whale tail Download PDFInfo
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- CN109720526A CN109720526A CN201910031462.2A CN201910031462A CN109720526A CN 109720526 A CN109720526 A CN 109720526A CN 201910031462 A CN201910031462 A CN 201910031462A CN 109720526 A CN109720526 A CN 109720526A
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- gear
- bevel gear
- crank
- pedestal
- tail
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- 241000283153 Cetacea Species 0.000 title claims abstract description 27
- 230000007246 mechanism Effects 0.000 claims abstract description 29
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 21
- 239000000463 material Substances 0.000 claims description 5
- 238000005516 engineering process Methods 0.000 abstract description 3
- 230000001141 propulsive effect Effects 0.000 description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 241000251468 Actinopterygii Species 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000004026 adhesive bonding Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003278 mimic effect Effects 0.000 description 1
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Abstract
The invention belongs to robotic technology fields.Purpose is to provide a kind of pendulous device of imitative whale tail, which should have the characteristics that structure is simple, thrust is big, resistance is small.Technical solution is: a kind of pendulous device of imitative whale tail, it is characterised in that: the device includes motor, tail fin and bevel gear set, crank and rocker mechanism and gear and rack teeth mechanism for successively transmitting motor power to drive tail fin to swing；The bevel gear set includes the first bevel gear fixed with motor output shaft and the second bevel gear for being rotatably positioned on pedestal and engaging with first bevel gear；The gear and rack teeth mechanism includes the rack gear for being rotatably positioned the gear on pedestal and being slidably located on pedestal and engaging with gear；The crank and rocker mechanism includes the connecting rod being rotationally hinged on respectively on crank and rack gear with the co-axially fixed crank of second bevel gear and both ends.
Description
Technical field
The invention belongs to robotic technology fields, are specifically related to a kind of pendulous device of imitative whale.
Background technique
Underwater robot in traditional sense mostly uses greatly propeller as main propulsion mode, and the propulsion mode is in technology
Aspect there is a problem of it is various, these problems because data deficiency also need to make very big improvement, structure size
With weight because the reason of technical deficiency is often all bigger, using the underwater robot of propeller propulsion mode, there are energy for such
The various defects such as source consumption is big, reliability is low, propulsive efficiency is relatively low, mobility is poor, can generate noise pollution and vortex, right
The work of robot generates biggish obstruction.
Travelling ability of the marine organisms after the evolution by 1 years, because of the test by ocean, in ocean
Become more to adapt to Ocean Living.Now, the propulsion mode for imitating fish, is developed whereby with high efficiency and high maneuverability
Underwater robot, one of the main target that the researcher and scholar for being increasingly becoming every field pursue.
As the whale that marine organisms represent, possess higher speed, the various advantages such as better mobility, tail leads to
It crosses to swing up and down and bigger propulsive force can be provided, additionally it is possible to which control is floated and dive.The imitative whale that mimic biology whale develops
Robot, compared to other underwater robots, fltting speed in water can be greatly improved, and mobility can phase
To more preferable, so that machine task efficiency is higher.
In underwater robot field of today, various underwater robots all achieve preferably in practical applications
Achievement.And the underwater robot for imitating whale obtains consequence in following scientific domain for because of its outstanding ability.
It is believed that in the coming period of time, whale robot is all by the leading position in underwater robot field.And machine whale
The thrust that fish relies primarily on tail portion is advanced, therefore in the research of machine whale, the design and research of propulsive mechanism is indispensable
A few important ring.The performance quality of propulsive mechanism is directly related to the fltting speed of machine whale, propulsive efficiency etc..Institute
It is essential a part in the design of whale robot with the design of whale robot propulsion mechanism.
Summary of the invention
It, should the purpose of the present invention is overcoming the shortcomings of to provide a kind of pendulous device of imitative whale tail in above-mentioned background technique
Device should have the characteristics that structure is simple, thrust is big, resistance is small.
The technical scheme is that
A kind of pendulous device of imitative whale tail, it is characterised in that: the device includes motor, tail fin and for successively transmitting
Bevel gear set, crank and rocker mechanism and gear and rack teeth mechanism of the motor power to drive tail fin to swing；
The bevel gear set includes the first bevel gear fixed with motor output shaft and is rotatably positioned on pedestal
And the second bevel gear engaged with first bevel gear；The gear and rack teeth mechanism includes the gear being rotatably positioned on pedestal
And the rack gear for being slidably located on pedestal and being engaged with gear；The crank and rocker mechanism includes same with second bevel gear
The fixed crank of axis and both ends are rotationally hinged on the connecting rod on crank and rack gear respectively；The rotation axis of the machine shaft
The pivot center of line, the pivot center of crank and gear is orthogonal, the pivot center of machine shaft and the mobile axis of rack gear
It is parallel to each other.
The second bevel gear and crank are also secured in connecting shaft, and connecting shaft is rotatably positioned by first support
On pedestal.
The gear is rotatably positioned on pedestal by second support；The second support is equipped with to be slided for rack gear
Sliding slot.
The tail fin is fixed by coccyx bar with gear.
The shape of the tail fin is made by imitative whale tail and of rubber material.
The motor is fixed on the base.
The beneficial effects of the present invention are:
1) present invention employs bevel gear sets to transmit motor power, have long service life, low torsion larger, corrosion-resistant
The feature that property is strong, drive noise is small, can solve the excessive problem of water resistance, and the fixation of pedestal is cooperated damping and can effectively to subtract
Few overall weight, improves travelling efficiency；
2) present invention employs crank and rocker mechanisms to drive tail fin to move with gear and rack teeth mechanism, and tail fin is from top to bottom
Speed is slow when swinging starting, and speed gradually increases in swing, and final velocity gradually decreases, and the variation of movement velocity is sine
Curve, effective improve swing efficiency；
3) tail fin can provide bigger propulsive force using mode is swung up and down, and improve cruising ability, additionally it is possible to effectively control
Floating and dive；Tail fin uses rubber material, there is good waterproofness, and the resistance being subject to when so that swinging is unlikely to excessive, together
When rubber material can deform when moving in water, formed streamlined, to reduce advance resistance reduction, and utilize rubber
The reaction force of good resilience and water, moreover it is possible to greatly improve propulsive force.
Detailed description of the invention
Schematic perspective view Fig. 1 of the invention.
Schematic view of the front view Fig. 2 of the invention.
The schematic diagram of tail fin in Fig. 3 present invention.
Specific embodiment
Below in conjunction with Figure of description, the invention will be further described, but the invention is not limited to following embodiments.
As shown in Figure 1, a kind of pendulous device of imitative whale tail, is made of power section, running part and execution part, tool
Body includes motor 1, bevel gear set, crank and rocker mechanism, gear and rack teeth mechanism, coccyx bar 11 and tail fin 12.
The motor, bevel gear set, crank and rocker mechanism and gear and rack teeth mechanism are installed on pedestal 17, solid on pedestal
Surely there are first support 13 and second support 14.The motor is power section, mainly uses stepper motor.The bevel gear set,
Crank and rocker mechanism and gear and rack teeth mechanism are running part, are arranged between motor and coccyx bar, for successively transmitting motor
Power come drive coccyx bar swing.
The bevel gear set includes the first bevel gear 2 fixed with motor output shaft and is rotatably positioned on pedestal
And the second bevel gear 3 engaged with first bevel gear.The number of teeth of the first bevel gear is 36, and the number of teeth of second bevel gear is
72, transmission ratio 2 effectively reduces revolving speed, so that device swing will not be too fast, while the lighter in weight of bevel gear set and operation
Stablize, while reducing installation weight and vibration, improves swing efficiency.
The crank and rocker mechanism includes rotationally being hinged on the co-axially fixed crank 5 of second bevel gear and both ends
Connecting rod 6 on crank and rack gear.The second bevel gear and crank are separately fixed at the both ends of connecting shaft 4, and connecting shaft passes through axis
It holds and (is omitted in figure) and is rotatably positioned in first support.Pass through between the connecting shaft 4 and second bevel gear and crank
Key connection.
The gear and rack teeth mechanism includes the gear 9 being rotationally vertically oriented on pedestal and horizontally slidable fixed
The rack gear 7 that position is engaged on pedestal and with gear, coccyx bar 11 are fixed with gear.The gear can by bearing (omitting in figure)
It rotationally positions on the secondary support bracket, second support is equipped with the sliding slot 8 slided for rack gear, and sliding slot can be dovetail groove.
The pivot center of the pivot center of the machine shaft, the pivot center of crank and gear is orthogonal, and motor turns
The pivot center of axis and the mobile axis of rack gear are parallel to each other, the pivot center of second bevel gear and the coaxial of crank
Arrangement.
The coccyx bar and tail fin are execution part, and one end and the gear of coccyx bar are fixed and the other end is fixed with coccyx bar
(as seen from the figure: a coccyx bar is fixed in two end faces of gear respectively, and the other end of two coccyx bars is again solid with tail fin grafting simultaneously
It is fixed).The shape of the tail fin is made by imitative whale tail and of rubber material.The tail fin is equipped with to be inserted into for coccyx bar and fix
Blind hole (being omitted in figure), coccyx bar and blind hole are interference fitted and are fixed by gluing knot.
Pivot center of the length direction of the coccyx bar perpendicular to gear.
The working principle of the invention is:
Successively driving bevel gear group, crank and rocker mechanism and gear and rack teeth mechanism work the motor, gear and rack teeth mechanism
Rack gear linear reciprocating motion is done under the drive of crank and rocker mechanism, rack gear does the swing of sinusoidal rule with moving gear again, most
Tail fin is driven to swing up and down according to certain rules by urostyle eventually, meeting after resistance when tail fin is swung by water bends
Quickly rebound is to obtain propulsive force.
Claims (6)
1. a kind of pendulous device of imitative whale tail, it is characterised in that: the device include motor (1), tail fin (12) and for according to
Bevel gear set, crank and rocker mechanism and gear and rack teeth mechanism of the secondary transmitting motor power to drive tail fin to swing；
The bevel gear set includes the first bevel gear (2) fixed with motor output shaft and is rotatably positioned in pedestal (17)
Second bevel gear (3) that is upper and being engaged with first bevel gear；The gear and rack teeth mechanism includes being rotatably positioned on pedestal
Gear (9) and the rack gear (7) that is slidably located on pedestal and is engaged with gear；The crank and rocker mechanism include with
The co-axially fixed crank of second bevel gear (5) and both ends are rotationally hinged on the connecting rod (6) on crank and rack gear respectively；Institute
The pivot center for stating the pivot center of machine shaft, the pivot center of crank and gear is orthogonal, the rotation axis of machine shaft
The mobile axis of line and rack gear is parallel to each other.
2. a kind of pendulous device of imitative whale tail according to claim 1, it is characterised in that: the second bevel gear and song
Handle is also secured on connecting shaft (4), and connecting shaft is rotatably positioned on pedestal by first support (13).
3. a kind of pendulous device of imitative whale tail according to claim 2, it is characterised in that: the gear passes through second
Frame (14) is rotatably positioned on pedestal；The second support is equipped with the sliding slot (8) slided for rack gear.
4. a kind of pendulous device of imitative whale tail according to claim 3, it is characterised in that: the tail fin passes through coccyx bar
It is fixed with gear.
5. a kind of pendulous device of imitative whale tail according to claim 4, it is characterised in that: the shape of the tail fin is imitative
It whale tail and is made of rubber material.
6. a kind of pendulous device of imitative whale tail according to claim 5, it is characterised in that: the motor is fixed on pedestal
On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910031462.2A CN109720526A (en) | 2019-01-14 | 2019-01-14 | A kind of pendulous device of imitative whale tail |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910031462.2A CN109720526A (en) | 2019-01-14 | 2019-01-14 | A kind of pendulous device of imitative whale tail |
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| Publication Number | Publication Date |
|---|---|
| CN109720526A true CN109720526A (en) | 2019-05-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910031462.2A Pending CN109720526A (en) | 2019-01-14 | 2019-01-14 | A kind of pendulous device of imitative whale tail |
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| Country | Link |
|---|---|
| CN (1) | CN109720526A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110562423A (en) * | 2019-08-26 | 2019-12-13 | 浙江理工大学 | Swinging mechanism of imitative beaver tail |
| CN110901867A (en) * | 2019-12-03 | 2020-03-24 | 哈尔滨工程大学 | Bionic fishtail based on gear connecting rod mechanism |
| CN111319741A (en) * | 2020-03-31 | 2020-06-23 | 东华大学 | Bionic robot fish driving device |
| CN112249286A (en) * | 2020-10-27 | 2021-01-22 | 吕梁学院 | Bionic robot fish with multiple driving systems |
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| DE2849027A1 (en) * | 1978-11-11 | 1980-05-14 | Helmut Kraus | Flap drive for boat - uses reciprocating engine in tubular housing slung inside yoke |
| JPH0740887A (en) * | 1992-05-27 | 1995-02-10 | Hiroshi Sugimoto | Manually propelling device for ship |
| CN102730176A (en) * | 2012-07-04 | 2012-10-17 | 中国科学院自动化研究所 | Modularized biomimetic robotic dolphin push mechanism |
| CN105083509A (en) * | 2014-05-14 | 2015-11-25 | Abb有限公司 | Oscillating foil propulsion system and method for controlling motion of oscillating movable foil |
| CN205034323U (en) * | 2015-08-14 | 2016-02-17 | 西北工业大学 | Bionical simple joint machine fish |
| CN206297718U (en) * | 2016-11-08 | 2017-07-04 | 山东科技大学 | A kind of bionic mechanical fish tail portion propulsive mechanism |
| CN209719883U (en) * | 2019-01-14 | 2019-12-03 | 浙江理工大学 | A kind of pendulous device of imitative whale tail |
-
2019
- 2019-01-14 CN CN201910031462.2A patent/CN109720526A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2849027A1 (en) * | 1978-11-11 | 1980-05-14 | Helmut Kraus | Flap drive for boat - uses reciprocating engine in tubular housing slung inside yoke |
| JPH0740887A (en) * | 1992-05-27 | 1995-02-10 | Hiroshi Sugimoto | Manually propelling device for ship |
| CN102730176A (en) * | 2012-07-04 | 2012-10-17 | 中国科学院自动化研究所 | Modularized biomimetic robotic dolphin push mechanism |
| CN105083509A (en) * | 2014-05-14 | 2015-11-25 | Abb有限公司 | Oscillating foil propulsion system and method for controlling motion of oscillating movable foil |
| CN205034323U (en) * | 2015-08-14 | 2016-02-17 | 西北工业大学 | Bionical simple joint machine fish |
| CN206297718U (en) * | 2016-11-08 | 2017-07-04 | 山东科技大学 | A kind of bionic mechanical fish tail portion propulsive mechanism |
| CN209719883U (en) * | 2019-01-14 | 2019-12-03 | 浙江理工大学 | A kind of pendulous device of imitative whale tail |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110562423A (en) * | 2019-08-26 | 2019-12-13 | 浙江理工大学 | Swinging mechanism of imitative beaver tail |
| CN110562423B (en) * | 2019-08-26 | 2020-09-04 | 浙江理工大学 | Swinging mechanism of imitative beaver tail |
| CN110901867A (en) * | 2019-12-03 | 2020-03-24 | 哈尔滨工程大学 | Bionic fishtail based on gear connecting rod mechanism |
| CN111319741A (en) * | 2020-03-31 | 2020-06-23 | 东华大学 | Bionic robot fish driving device |
| CN112249286A (en) * | 2020-10-27 | 2021-01-22 | 吕梁学院 | Bionic robot fish with multiple driving systems |
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