CN109941415B - Rope traction bionic cartilage robotic fish - Google Patents
Rope traction bionic cartilage robotic fish Download PDFInfo
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- CN109941415B CN109941415B CN201910348677.7A CN201910348677A CN109941415B CN 109941415 B CN109941415 B CN 109941415B CN 201910348677 A CN201910348677 A CN 201910348677A CN 109941415 B CN109941415 B CN 109941415B
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Abstract
The invention relates to a rope traction bionic cartilage machine fish, which comprises a fish head, a fish body and a fish tail and is characterized in that a fish body joint structure and a rope traction structure are arranged in the fish body; the rope traction structure comprises a rope driving structure, an expansion acting force arm structure and a rope; the fish body joint structures are connected in series, one end of each fish body joint structure is connected with the fish head, and the other end of each fish body joint structure is connected with the fish tail; the rope driving structure and the expansion acting force arm structure are fixedly arranged on the fish body joint structure, and the rope driving structure is close to one side of the fish head; one end of the rope is connected with the rope driving structure, the other end of the rope is connected with the fish body joint structure/fish tail, and the middle section of the rope penetrates through the expansion force arm structure. The bionic cartilage machine fish has higher flexibility and can realize the rigidity changing characteristic of the fish body by using the metamorphic fish body joint structure, and can better fit the swimming model of the cartilage fish; the device has the advantages of simple structure, light weight, easy control, small inertia and high response speed.
Description
Technical Field
The invention relates to the technical field of bionic robots, in particular to a rope-traction bionic cartilage robot fish.
Background
With the increasing scarcity of land resources, people turn attention to the marine world with rich resources and huge development value. Compare with traditional screw propulsion mode, bionic machine fish has higher efficiency, better operability, advantages such as lower environmental impact degree can be applied to the underwater operation in a plurality of fields, if: environmental monitoring operation, tracking operation on underwater organisms, detecting operation on underwater equipment, detecting an enemy water area and the like.
The cartilaginous fish has good flexibility, maneuverability and adaptability in the underwater swimming process due to the characteristics of the cartilage of the cartilaginous fish, and can be fused with the environment to the maximum extent during underwater movement so as to greatly reduce the influence on the surrounding ecology. If emergency happens in underwater environment, the bionic cartilage robot fish can move quickly and flexibly in water by using the advantages of the self structure, which is the relatively deficient capability of other underwater robots, and the energy consumption can be saved by adopting the wave-type propulsion mode compared with the traditional propeller propulsion mode.
Disclosure of Invention
The invention aims to provide a rope-traction bionic cartilage machine fish which has the advantages of simple structure, light weight, easiness in control, small inertia and high response speed.
The purpose of the invention is realized as follows:
a rope traction bionic cartilage machine fish comprises a fish head, a fish body and a fish tail, wherein a fish body joint structure and a rope traction structure are arranged in the fish body; the rope traction structure comprises a rope driving structure, an expansion acting force arm structure and a rope; the fish body joint structures are connected in series, one end of each fish body joint structure is connected with the fish head, and the other end of each fish body joint structure is connected with the fish tail; the rope driving structure and the expansion acting force arm structure are fixedly arranged on the fish body joint structure, and the rope driving structure is close to one side of the fish head; one end of the rope is connected with the rope driving structure, the other end of the rope is connected with the fish body joint structure/fish tail, and the middle section of the rope penetrates through the expansion force arm structure.
The invention also includes such features:
1. the fish body joint structure comprises a joint bottom, a joint body fixedly arranged outside the joint bottom, a spring arranged at one end of the joint bottom, and a hinged support arranged at the other end of the joint bottom, wherein the hinged support is fixed on the joint bottom through a pin shaft, a torsion spring is arranged on the pin shaft, and a plurality of fish body joint structures are matched and connected in series with the hinged support through the spring;
2. the rope driving structure comprises a rope motor and a winch connected with an output shaft of the rope motor, and the expansion force arm structure comprises a force arm motor, a connecting rod connected with the output shaft of the force arm motor and a third wheel connected with the connecting rod; the rope is connected with the fish body joint structure/fish tail through a winch and a pulley;
3. the rope motor and the force arm motor are fixed on a framework supporting plate of the fish body joint structure;
4. mounting windows are formed at the upper end and the lower end of the fish body closing structure;
5. the rope driving structure is arranged on a first fish body joint structure close to the fish head; the expansion force arm structure is arranged on a third fish body joint structure close to the fish head.
The invention relates to a rope traction bionic cartilage machine fish, which simulates the tail swinging posture of a cartilaginous fish in the swimming process through a metamorphic fish body joint structure and a rope traction mode. The metamorphic fish body joint structure realizes tail swinging drive self-adaptation through the configuration of 2 groups of springs, and limits the tail swinging direction through a constraint mechanism, so that the bionic fish can realize higher flexibility and variable rigidity characteristics. The distribution arrangement of rope traction and the adjustment of the force arm are used for tail-swinging drive power transmission, so that the swimming of cartilaginous fish is simulated, and the bionic fish has the characteristics of simplified structure, small inertia and high response speed; the metamorphic fish body joint structure enables a certain axial displacement to be allowed among all joints of the bionic fish, the length obtained by compressing the position of the axial spring is used for realizing the function of adjusting the swing rigidity of the fish body of the bionic fish, and meanwhile, a plane hinge mechanism containing a torsion spring and a restraint device are installed. 2 springs are combined to realize the swing of the fish body with adjustable rigidity, and a restraint device limits the swing direction; six groups of ropes are arranged at different metamorphic joints of the fish body and driven by a motor through a winch, and the movable connecting rods of the distributed ropes which bypass the idler wheels separated from each other can be driven by the motor to swing, so that the acting force arm of the driving rope relative to the bionic fish body is changed, and the swinging effect during different swinging frequencies and amplitudes is adjusted.
The invention has the beneficial effects that:
1. the bionic cartilage machine fish has higher flexibility and can realize the rigidity changing characteristic of the fish body by using the metamorphic fish body joint structure, and can better fit the swimming model of the cartilage fish.
2. The rope traction structure adopted by the invention has the characteristics of simple structure, small inertia and high response speed.
3. The bionic fish body swinging device can change the acting force arm of the rope for pulling the bionic fish body by using the acting force arm adjustable structure, meet the requirements of rope pulling on the acting force arm under different conditions, and improve the swinging effect.
Drawings
FIG. 1 is a three-dimensional schematic view of a robotic fish of the present invention;
FIG. 2 is a schematic top view of the fish body of the present invention;
FIG. 3 is a two-dimensional view of the structure of the fish joint of the present invention;
FIG. 4 is a two-dimensional view of the robotic fish cord drive configuration of the present invention;
FIG. 5 is a two-dimensional view of an adjustable arm of force configuration of the present invention;
fig. 6 is a side view of the robotic fish of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The invention relates to a rope traction bionic cartilage machine fish, which comprises a fish body joint structure and a rope traction structure. The fish body joint structure IV can enable the bionic cartilaginous fish to realize higher flexibility and rigidity adjustable function by simulating fish body joints, and each joint of the fish body has certain axial displacement. The rope traction structure can be used as a power and transmission device to drive the bionic fish tail fin to swing; the fish joint structure comprises a joint body, a joint bottom, a spring, a torsional spring and a hinged support. The joint body is wrapped outside the joint bottom, and the joint body and the joint bottom are connected through screws. The joint bottom is connected with a hinged support through a spring. One end of the hinged support is connected with a spring, and the function of adjusting the swing stiffness is realized through different lengths of the stretching positions of the spring. The other end is hinged with a rod piece fixedly connected with the bottom of the next joint, and a torsional spring is arranged on the hinged support and enables the joint structure of the fish body to be more flexible. The joint body is internally provided with a sliding chute, so that a rod piece fixedly connected with the joint bottom can do reciprocating swing with a certain angle in a bionic fish advancing plane, and the sliding chute can limit the separation between a plane hinge mechanism in the joint body and the joint bottom; the rope traction structure comprises a rope wheel winch, a motor and a wheel passing structure with an adjustable acting force arm. One end of the rope is connected to the rope wheel winch and driven by a motor fixed on a first joint of the bionic robot fish, and the rope is connected to different joints close to the tail of the bionic fish after bypassing the wheel; the idle wheel structure with the adjustable acting force arm comprises a motor, a connecting rod, an idle wheel and a pin shaft. The motor fixed on the bionic fish joint skeleton supporting plate drives the connecting rod to swing, so that the acting force arm of the driving rope relative to the bionic fish body is changed; 3 groups of idle wheels which are separated from each other are hinged on a connecting rod by a pin shaft, and 1 set of idle wheels is respectively arranged on the left and the right of the fish body.
With reference to fig. 1 and 2, the main structure of the rope-drawn bionic cartilage machine fish is divided into a fish head, a rope driving structure I, a fish joint structure IV, an expansion force arm structure II and a fish tail. Rope drive structure I is located the first joint that bionical fish is close to the head, and expansion effect arm of force structure II is located the third joint that bionical fish is close to the head, and rope drive structure and expansion effect arm of force structure have constituteed rope traction structure, and rope traction structure realizes the swing of the tail fin of bionical cartilaginous fish through control rope III is flexible. The fish body joint structure IV is a device for connecting each fish body joint, so that the fish body has the characteristics of flexibility and rigidity change, and the muscle and bone integrated simulation of cartilaginous fish is realized.
Referring to fig. 3, the fish joint structure is composed of a spring 1, a hinged support 2, a torsion spring 3, a joint body 4, a pin shaft 5 and a joint bottom 6. The joint body 4 is wrapped outside the joint bottom 6, and the joint body and the joint bottom are connected through screws. The joint body 4 is provided with a mounting window for facilitating observation and mounting of internal parts, and four through holes are processed near the mounting window of the joint body 4 so as to be connected with the joint framework supporting plate through bolts. The front end of the structure is a joint bottom 6 of a previous joint and is connected with a hinged support 2 through a spring 1, a rod piece fixedly connected with the hinged support 2 and the joint bottom 6 of a next joint is connected through a pin shaft 5 and is fixed with the pin shaft 5 through a cotter pin, meanwhile, a torsion spring 3 is arranged on the pin shaft 5, and the torsion spring 3 can increase the flexibility of the robot fish. The joint body 4 is internally provided with a sliding chute, so that a rod piece fixedly connected with the joint bottom 6 can do reciprocating swing with a certain angle in a bionic fish advancing plane, and the sliding chute can also play a role in limiting.
Referring to fig. 4 and 5, the rope traction structure is divided into an expansion force arm structure and a rope driving structure.
The rope drive structure is shown in fig. 4, and the mechanism consists of a rope motor 7 and a winch 8. Rope motor 7 passes through the bolt fastening in bionical fish joint skeleton backup pad, and 8 covers of capstan winch are on 7 output shafts of rope motor, and capstan winch 8 rotates with the output shaft together under the effect of key, accomplishes the flexible of rope.
The expansion force arm structure II consists of a force arm motor 10, a transition wheel 11 and a connecting rod 12. The arm motor 10 is connected with the connecting rod 12 through a key by an output shaft and fixed by a sleeve, the other end of the connecting rod is hinged with 3 idle wheels 11 which are separated from each other through a pin shaft, each idle wheel is respectively connected with a fish body joint structure and a fish tail by a rope which bypasses the idle wheels 11. When the force arm motor works, the connecting rod 12 is driven to swing, so that the acting force arm of the driving rope relative to the bionic fish body is changed, and the swinging effect is improved.
In summary, the following steps:
the invention aims to provide a rope traction bionic cartilage robot fish which is simple in structure, strong in driving capability and good in flexibility and maneuverability in an underwater swimming process on the basis of analyzing a motion mode of tail swinging swimming of a cartilage fish. The bionic fish can simulate the tail fin swing of cartilaginous fish in the swimming process. The main innovation point is the innovation of a fish body metamorphic joint structure and a rope traction driving structure, each metamorphic joint structure of the fish body is configured by 2 groups of springs to realize tail swinging driving self-adaption, and the tail swinging direction is limited by a constraint mechanism; the distribution of the rope traction and the adjustment of the force arm are used for tail swing driving power transmission, so that the simulation of the integration of the muscle and bone of the bionic fish is realized, and the rope traction can enable the transmission structure of the bionic fish to have the characteristics of simplified structure, small inertia and high response speed.
Claims (5)
1. A rope traction bionic cartilage machine fish comprises a fish head, a fish body and a fish tail, and is characterized in that a fish body joint structure and a rope traction structure are arranged in the fish body; the rope traction structure comprises a rope driving structure, an expansion acting force arm structure and a rope; the fish body joint structures are connected in series, one end of each fish body joint structure is connected with the fish head, and the other end of each fish body joint structure is connected with the fish tail; the rope driving structure and the expansion acting force arm structure are fixedly arranged on the fish body joint structure, and the rope driving structure is close to one side of the fish head; one end of the rope is connected with the rope driving structure, the other end of the rope is connected with the fish body joint structure/fish tail, and the middle section of the rope penetrates through the expansion acting force arm structure; the fish body joint structure comprises a joint bottom, a joint body fixedly arranged outside the joint bottom, a spring arranged at one end of the joint bottom, and a hinged support arranged at the other end of the joint bottom, wherein the hinged support is fixed on the joint bottom through a pin shaft, a torsion spring is arranged on the pin shaft, and a plurality of fish body joint structures are matched and connected in series with the hinged support through the spring; the rope driving structure comprises a rope motor and a winch connected with an output shaft of the rope motor, and the expansion force arm structure comprises a force arm motor, a connecting rod connected with the output shaft of the force arm motor and a third wheel connected with the connecting rod; the rope is connected with the fish body joint structure/fish tail through a winch and a pulley; the expansion force arm structure consists of a force arm motor, a transition wheel and a connecting rod; the arm of force motor passes through between output shaft and the connecting rod with the key-type connection and with the sleeve fixed, the connecting rod other end is articulated with 3 third of the ten heavenly stems that separate each other with the round pin axle, passes through a rope respectively on every third of the ten heavenly stems, and the rope is walked around the third of the ten heavenly stems and is linked to each other with fish body joint structure and fish tail respectively.
2. The rope-towed bionic cartilage robotic fish of claim 1, wherein said rope motor and said moment arm motor are fixed to a skeletal support plate of a joint structure of the fish body.
3. The rope-towed bionic cartilage robotic fish of claim 1 or 2, wherein the upper and lower ends of said fish body closing structure are provided with mounting windows.
4. The rope-towed biomimetic cartilage robotic fish of claim 1 or 2, wherein said rope-driving structure is mounted on a first fish body articulation structure near the head of the fish; the expansion force arm structure is arranged on a third fish body joint structure close to the fish head.
5. The rope-towed biomimetic cartilage robotic fish of claim 3, wherein said rope-powered structure is mounted on a first fish body articulation structure near the head of the fish; the expansion force arm structure is arranged on a third fish body joint structure close to the fish head.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910348677.7A CN109941415B (en) | 2019-04-28 | 2019-04-28 | Rope traction bionic cartilage robotic fish |
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| CN201910348677.7A CN109941415B (en) | 2019-04-28 | 2019-04-28 | Rope traction bionic cartilage robotic fish |
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| CN109941415B true CN109941415B (en) | 2021-01-05 |
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| CN110510091B (en) * | 2019-09-05 | 2021-04-20 | 西北工业大学 | Bionic fin propulsion mechanism with fin rays as variable cross-section fork reeds and triple-crossing reeds |
| CN111806662B (en) * | 2020-06-24 | 2021-10-15 | 浙江大学 | Hairtail-like high-speed soft robot driven based on chemical energy release reaction |
| CN112319753B (en) * | 2020-11-16 | 2021-09-24 | 华南理工大学 | Deep-diving bionic wire-pulling machine fish |
| CN113146602B (en) * | 2021-03-30 | 2022-09-02 | 黑龙江工程学院 | Robot structure suitable for computer control |
| CN113602458B (en) * | 2021-08-16 | 2022-09-06 | 中山大学 | Bionic robot fish |
| CN114044138B (en) * | 2021-11-01 | 2023-11-07 | 上海智能制造功能平台有限公司 | Suspension aircraft for bionic whales and control method thereof |
| CN114735178B (en) * | 2022-05-24 | 2023-03-31 | 哈尔滨工业大学 | Variable-rigidity bionic flexible swinging propelling mechanism |
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