CN109760810A - The dolphin pectoral fin butterfly stroke formula flapping mechanism of elliptical orbit can be achieved - Google Patents
The dolphin pectoral fin butterfly stroke formula flapping mechanism of elliptical orbit can be achieved Download PDFInfo
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- CN109760810A CN109760810A CN201910015413.XA CN201910015413A CN109760810A CN 109760810 A CN109760810 A CN 109760810A CN 201910015413 A CN201910015413 A CN 201910015413A CN 109760810 A CN109760810 A CN 109760810A
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- pectoral fin
- elliptical orbit
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Abstract
The invention discloses a kind of dolphin pectoral fin butterfly stroke formula flapping mechanisms of achievable elliptical orbit, including a pair of of bionic pectoral fin and for driving this to realize that the driving executing agency of the movement of striking waters, strike and commutate of elliptical orbit, the driving executing agency are connected by output shaft with a pair of of bionic pectoral fin to bionic pectoral fin；Wherein the driving executing agency includes that bionic pectoral fin is driven to realize that the pectoral fin flapping mechanism of the movement of striking waters and strike of elliptical orbit realizes the pectoral fin rotating mechanism of commutation movement with drive bionic pectoral fin.The present invention realizes the two degree-of-freedom motion of mechanism; flap with rotation not only separate but also can be compound; the elliptical orbit that pectoral fin can both completed in a cycle is struck waters and strikes movement; it can also strike waters for it and provide the suitable angle of attack with arm stroke; reach ideal angle in a short time; so that mechanism has better flexibility ratio, the mobility of bionic pectoral fin is improved.
Description
Technical field
Flap machine the present invention relates to the dolphin pectoral fin butterfly stroke formula of bio-mechanism more particularly to a kind of achievable elliptical orbit
Structure.
Background technique
Bionics Study show biomimetic robotic dolphin by the coordinated movement of various economic factors of pectoral fin and tail fin, it can be achieved that forward-reverse, on
Dive and motor-driven turning etc. are risen, while can realize the jump water sport and station keeping of dolphin.With high efficiency, high stability,
The advantages such as excellent mobility, low noise, small to environmental perturbation.
The research of biomimetic robotic dolphin not only can be the hydrodynamics of research dolphin movement, travelling mechanism, motion control
Method provides experiment body, and compared with traditional propeller propeller, robotic dolphin has that noise is low, high-efficient, consumes energy low
The advantages that, robot field under water, dolphin performance of moving about, jump water sport, drag reduction mechanisms, in terms of have than
The more brilliant performance of fish.
Dolphin has half moon-shaped tail fin, swim into when using trunk and tail fin do above and below fluctuation compound motion push body
Advance, is aided with the movement of flapping of pectoral fin, further improves the propulsion of dolphin and rise to performance.Dolphin butterfly be from butterfly stroke develop and
Come, its both arms strength of striking waters is maximum one kind in competitive swimming, and effect of striking waters is obvious, be provided simultaneously with flexibility with it is motor-driven
Property.
Therefore the dolphin pectoral fin butterfly stroke formula flapping mechanism for designing a achievable elliptical orbit, can be with hoisting machine dolphin
Linear advancement and auxiliary rise to performance, while ensure that the mobility and stability of robotic dolphin.
Summary of the invention
Goal of the invention: speed is directly swum the object of the present invention is to provide a kind of quickening machine and greatly improves robotic dolphin straight line
The dolphin pectoral fin butterfly stroke formula flapping mechanism of propulsive performance and the achievable elliptical orbit for rising to performance.
Technical solution: in order to achieve the above object, the invention discloses a kind of dolphin pectoral fin butterfly strokes of achievable elliptical orbit
Formula flapping mechanism, which is characterized in that including a pair of of bionic pectoral fin and for driving this to realize elliptical orbit to bionic pectoral fin
Strike waters, strike and commutate movement driving executing agency, the driving executing agency by output shaft with a pair of bionic pectoral fin be connected
It connects；Wherein the driving executing agency includes that bionic pectoral fin is driven to realize that the pectoral fin of the movement of striking waters and strike of elliptical orbit is flapped
Mechanism and the pectoral fin rotating mechanism for driving bionic pectoral fin to realize that commutation moves.
Wherein, the pectoral fin flapping mechanism includes cross chute, sequentially connected servo motor, bevel gear set and driving
Axis, the both ends of the drive shaft pass through crank respectively and are connected with swing connecting bar, with the company of crank and swing connecting bar in the swing connecting bar
Sliding block is symmetrically arranged with centered on the place of connecing, when the servo motor driving bevel gear group engagement drives drive shaft turns, drive shaft band
The junction of dynamic crank and crank and swing connecting bar circles jointly, and then two sliding blocks is driven back and forth to transport along cross chute
It is dynamic, so that the swing connecting bar end output elliptical orbit movement being connected with bionic pectoral fin.
Preferably, further include the oval plate and roundel being arranged with one heart, the roundel be set in oval plate and the two it
Between interval form round wire casing, the cross chute is provided on oval plate and roundel.
Further, the bevel gear set includes the bevel gear of two intermeshings and central axis setting.
Furthermore the pectoral fin rotating mechanism includes the steering engine for driving output shaft to rotate and the steering engine for fixing steering engine
Bracket.
Further, universal joint and slide bar component are connected in turn between the pectoral fin flapping mechanism and pectoral fin rotating mechanism,
The slide bar component includes mutually matched slide bar and sleeve.
Preferably, further include for coat driving executing agency bionical shell and be set in output shaft, with it is bionical outside
The flake bearing of shell phase connection.
The utility model has the advantages that compared with prior art, the present invention has following remarkable advantage:
1, the present invention realizes the two degree-of-freedom motion of mechanism, flaps not only separable with rotation but also can be compound, can both make chest
The elliptical orbit that fin is completed in a cycle is struck waters and strikes movement, can also be struck waters to provide with arm stroke for it and suitably be met
Angle reaches desired angle in a short time, so that mechanism has better flexibility ratio, improves the mobility of bionic pectoral fin；
2, the present invention makes bionic pectoral fin realize the pendulum of elliptical orbit using mechanisms such as cross chute, crank and swing connecting bars
It is dynamic, the efficiency that pectoral fin strikes waters, strikes is improved, the efficiency that biomimetic robotic dolphin is directly swum and risen to is improved, keeps bionic machine extra large
Globefish movenent performance is more bonded bionical biology；
3, the butterfly stroke formula for the elliptical orbit that the present invention drives the pectoral fin realization of two sides synchronous simultaneously by a servo motor
Flap, ensure that the stability and movenent performance of pectoral fin；
4, the present invention installs flake bearing on bionical shell can meet the two degree-of-freedom motion of output shaft, have both preferable
Sealing performance facilitates the installation of shell He its internal unit.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is the structural schematic diagram of pectoral fin flapping mechanism in the present invention；
Fig. 3 is the structural schematic diagram in the present invention at the crank of pectoral fin flapping mechanism；
Fig. 4 is one schematic diagram of extreme position of the elliptical orbit of bionic pectoral fin in the present invention；
Fig. 5 is two schematic diagram of extreme position of the elliptical orbit of bionic pectoral fin in the present invention；
Fig. 6 is three schematic diagram of extreme position of the elliptical orbit of bionic pectoral fin in the present invention；
Fig. 7 is four schematic diagram of extreme position of the elliptical orbit of bionic pectoral fin in the present invention；
Fig. 8 is the structural schematic diagram of pectoral fin rotating mechanism in the present invention；
Fig. 9 is the structural schematic diagram of the bionical shell of entirety of the invention.
Specific embodiment
Technical solution of the present invention is described further with reference to the accompanying drawing.
As shown in Fig. 1 and Fig. 9, a kind of dolphin pectoral fin butterfly stroke formula flapping mechanism of achievable elliptical orbit of the present invention, including
A pair of of bionic pectoral fin 1, output shaft 2, driving executing agency and the bionical shell 18 for coating driving executing agency, flake bearing
19 are set on output shaft 2, are connected with bionical shell 18.Driving executing agency is for driving this to realize bionic pectoral fin 1
The movement of striking waters, strike and commutate of elliptical orbit, the driving executing agency are connected by output shaft 2 with a pair of of bionic pectoral fin 1；
Wherein driving executing agency include drive bionic pectoral fin realize elliptical orbit movement of striking waters and strike pectoral fin flapping mechanism and
Bionic pectoral fin is driven to realize the pectoral fin rotating mechanism of commutation movement.
As shown in Figures 2 and 3, pectoral fin flapping mechanism of the invention includes servo motor 4, bevel gear set 5, drive shaft 6, song
Handle 7, swing connecting bar 8, sliding block 9, oval plate 10 and roundel 11.Servo motor 4, bevel gear set 5 and drive shaft 6 are sequentially connected,
The both ends of drive shaft 6 pass through crank 7 respectively and are connected with swing connecting bar 8, with the company of crank 7 and swing connecting bar 8 in the swing connecting bar 8
Two sliding blocks 9 are symmetrically arranged with centered on the place of connecing；Bevel gear set 5 includes the bevel gear of two intermeshings and central axis setting.
Both oval plate 10 and roundel 11 are arranged with one heart, which is set in oval plate 10 and interval forms circle between the two
Shape wire casing 12, and cross chute 3 is being opened up on oval plate 10 and roundel 11.When 4 driving bevel gear group 5 of servo motor is nibbled
When crossed belt moves the rotation of drive shaft 6, drive shaft 6 drives the junction of crank 7 and crank 7 and swing connecting bar 8 along round wire casing 12
It circles jointly, and then drives two sliding blocks 9 reciprocating along cross chute 3, so that the pendulum being connected with bionic pectoral fin 1
Dynamic 8 end of connecting rod output elliptical orbit movement.
As shown in figures 3 and 8,8 end of swing connecting bar, which is connected with, is connected with universal joint 15 and slide bar component in turn, the slide bar
Component includes mutually matched slide bar 16 and sleeve 17, and one end of slide bar component is connected with universal joint 15, the other end and steering engine branch
Frame 14 is connected.When pectoral fin flapping mechanism works, by the cooperation of universal joint 15, sleeve 17 and slide bar 16, guarantee 2 He of output shaft
Bionic pectoral fin 1 makees the movement of elliptical orbit in a plane.Pectoral fin rotating mechanism includes the rudder for driving output shaft 2 to rotate
Machine 13 and steering engine bracket 14 for fixing steering engine 13.Steering engine 13 rotation drive output shaft 2 rotate, for adjust pectoral fin strike waters and
The angle of attack of playback.
As shown in figure 4, mechanism is in extreme position one, at this point for pectoral fin flapping mechanism, it is sliding that end sliding block is in cross
At the center of slot, another sliding block is on the right side of cross chute in long axis, and the position of swing connecting bar and the long axis of cross chute are parallel,
Universal joint is on right side；For pectoral fin rotating mechanism, rotational angle is adjusted, bionic pectoral fin and the water surface is made to have maximum contact area,
It is vertical with the tangent line of elliptical trajectory, so that effect of striking waters is best.
As shown in figure 5, mechanism is in extreme position two, at this point for pectoral fin flapping mechanism, it is sliding that end sliding block is in cross
On the downside of slot in short axle, another sliding block is in the center of cross chute, and the position of swing connecting bar and the short axle of cross chute are parallel, and ten thousand
To section in upside；For pectoral fin rotating mechanism: adjustment rotational angle makes bionic pectoral fin and the water surface have maximum contact area, makes
The effect that must strike waters is best.
As shown in fig. 6, mechanism is in extreme position three, at this point for pectoral fin flapping mechanism, it is sliding that end sliding block is in cross
At the center of slot, another sliding block is on the left of cross chute in long axis, and the position of swing connecting bar and the long axis of cross chute are parallel,
Universal joint is in left side；For pectoral fin rotating mechanism: adjustment rotational angle makes bionic pectoral fin gradually be tangential on elliptical trajectory,
So that pectoral fin and the water surface have the smallest contact area, accelerates striking for pectoral fin, reduce the resistance that this process promotes dolphin.
As shown in fig. 7, mechanism is in extreme position four, at this point for pectoral fin flapping mechanism, it is sliding that end sliding block is in cross
On the upside of slot in short axle, another sliding block is in the center of cross chute, and the position of swing connecting bar and the short axle of cross chute are parallel, and ten thousand
To section in downside；For pectoral fin rotating mechanism: adjustment rotational angle makes bionic pectoral fin gradually be tangential on elliptical trajectory, makes
Obtaining pectoral fin and the water surface has the smallest contact area, accelerates striking for pectoral fin, reduces the resistance that this process promotes dolphin.
The dolphin pectoral fin butterfly stroke formula flapping mechanism of elliptical orbit can be achieved in the present invention, and component is symmetrically distributed in fish body axis
Line two sides are fixed on the upper position of bionical shell 18, output shaft and bionic pectoral fin and are stretched out outside fish body by flake bearing.
In pectoral fin flapping mechanism, swing connecting bar is connect with crank, and junction is that swing connecting bar connects with two sliding blocks
The midpoint for meeting place, the crank being connected with drive shaft circle in round wire casing, then the junction of swing connecting bar and crank
Also it circles, therefore two sliding blocks is driven to move back and forth in cross chute, so that the end of swing connecting bar exports ellipse
The movement of track.By means of pectoral fin flapping mechanism, the elliptical orbit that pectoral fin can complete in a cycle is struck waters and homing action,
By means of pectoral fin rotating mechanism, it can strike waters for the elliptical orbit of pectoral fin and provide the suitable angle of attack with homing action.
Claims (7)
1. a kind of dolphin pectoral fin butterfly stroke formula flapping mechanism of achievable elliptical orbit, it is characterised in that: including a pair of of bionic pectoral fin
(1) and for driving this to realize the driving execution machine of the movement of striking waters, strike and commutate of elliptical orbit to bionic pectoral fin (1)
Structure, the driving executing agency are connected by output shaft (2) with a pair of of bionic pectoral fin (1)；The wherein driving executing agency packet
It includes the pectoral fin flapping mechanism for the movement of striking waters and strike for driving bionic pectoral fin to realize elliptical orbit and bionic pectoral fin realization is driven to change
To the pectoral fin rotating mechanism of movement.
2. the dolphin pectoral fin butterfly stroke formula flapping mechanism of achievable elliptical orbit according to claim 1, it is characterised in that: institute
Stating pectoral fin flapping mechanism includes cross chute (3), sequentially connected servo motor (4), bevel gear set (5) and drive shaft (6), is somebody's turn to do
The both ends of drive shaft (6) pass through crank (7) respectively and are connected with swing connecting bar (8), with crank (7) and pendulum in the swing connecting bar (8)
It is symmetrically arranged with sliding block (9) centered on the junction of dynamic connecting rod (8), servo motor (4) driving bevel gear group (5) engagement drives
When drive shaft (6) rotates, drive shaft (6) drives the junction of crank (7) and crank (7) and swing connecting bar (8) to make to justify jointly
Zhou Yundong, and then drive two sliding blocks (9) reciprocating along cross chute (3), so that the swing being connected with bionic pectoral fin (1)
Connecting rod (8) end exports elliptical orbit movement.
3. the dolphin pectoral fin butterfly stroke formula flapping mechanism of achievable elliptical orbit according to claim 2, it is characterised in that: also
Including the oval plate (10) and roundel (11) being arranged with one heart, which is set in oval plate (10) and between the two
Interval forms round wire casing (12), and the cross chute (3) is provided on oval plate (10) and roundel (11).
4. the dolphin pectoral fin butterfly stroke formula flapping mechanism of achievable elliptical orbit according to claim 2, it is characterised in that: institute
State the bevel gear that bevel gear set (5) includes two intermeshings and central axis setting.
5. the dolphin pectoral fin butterfly stroke formula flapping mechanism of achievable elliptical orbit according to claim 1, it is characterised in that: institute
Stating pectoral fin rotating mechanism includes the steering engine (13) for driving output shaft (2) to rotate and the steering engine bracket for fixing steering engine (13)
(14)。
6. the dolphin pectoral fin butterfly stroke formula flapping mechanism of achievable elliptical orbit according to claim 1, it is characterised in that: institute
It states and is connected with universal joint (15) and slide bar component between pectoral fin flapping mechanism and pectoral fin rotating mechanism in turn, which includes
Mutually matched slide bar (16) and sleeve (17).
7. the dolphin pectoral fin butterfly stroke formula flapping mechanism of achievable elliptical orbit according to claim 1, it is characterised in that: also
Including the bionical shell (18) for coating driving executing agency and it is set in output shaft (2), is connected with bionical shell (18)
The flake bearing (19) connect.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910015413.XA CN109760810B (en) | 2019-01-08 | 2019-01-08 | Dolphin pectoral fin butterfly stroke type flapping mechanism capable of realizing elliptic orbit |
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|---|---|---|---|
| CN201910015413.XA CN109760810B (en) | 2019-01-08 | 2019-01-08 | Dolphin pectoral fin butterfly stroke type flapping mechanism capable of realizing elliptic orbit |
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| CN109760810B CN109760810B (en) | 2020-01-07 |
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| CN109911155A (en) * | 2019-03-20 | 2019-06-21 | 东南大学 | The underwater robot that the bionical fin unit of elliptical orbit can be achieved and promoted using it |
| CN111137436A (en) * | 2020-01-19 | 2020-05-12 | 广州佳禾创新科技有限公司 | Aerocar wing tilting mechanism and aerocar comprising same |
| CN112623161A (en) * | 2020-12-04 | 2021-04-09 | 山东大学 | Bionic robot and application |
| CN112918644A (en) * | 2021-01-26 | 2021-06-08 | 南京航空航天大学 | Bionic motion method of multi-pair parallel pectoral fin bionic ray robot based on MPF |
| CN114954877A (en) * | 2022-05-19 | 2022-08-30 | 南京航空航天大学 | Single-mode sandwich type piezoelectric driven oscillating fin device and driving method |
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| CN114954877B (en) * | 2022-05-19 | 2023-04-07 | 南京航空航天大学 | Single-mode sandwich type piezoelectric driven oscillating fin device and driving method |
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