CN110127016A - A kind of doublejointed mechanical fish tail portion propulsive mechanism and its working method - Google Patents
A kind of doublejointed mechanical fish tail portion propulsive mechanism and its working method Download PDFInfo
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- CN110127016A CN110127016A CN201910460981.0A CN201910460981A CN110127016A CN 110127016 A CN110127016 A CN 110127016A CN 201910460981 A CN201910460981 A CN 201910460981A CN 110127016 A CN110127016 A CN 110127016A
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- 241000251468 Actinopterygii Species 0.000 title claims abstract description 35
- 230000007246 mechanism Effects 0.000 title claims abstract description 22
- 230000001141 propulsive effect Effects 0.000 title claims abstract description 21
- 238000000034 method Methods 0.000 title claims abstract description 11
- 239000007787 solid Substances 0.000 claims 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 238000004134 energy conservation Methods 0.000 abstract 1
- 238000011160 research Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 239000011664 nicotinic acid Substances 0.000 description 4
- 241001635206 Conger conger Species 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 241001481833 Coryphaena hippurus Species 0.000 description 1
- 241000238413 Octopus Species 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000013421 nuclear magnetic resonance imaging Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
Abstract
The present invention relates to a kind of doublejointed mechanical fish tail portion propulsive mechanism and its working methods, including fixed bracket, tail swing frame and tail fin, the upside of tail swing frame is equipped with the front rod A hinged with fixed bracket, the front end front rod A and the front end of tail swing frame are hinged, tail swing frame front end lower part is fixedly connected with front rod B, and front rod B and support bracket fastened lower end are hinged；The front end of tail fin is fixedly connected with back link, back link and tail swing back-end framework are hinged, the inside of tail swing frame is equipped with preceding servo-actuated frame and afterwards servo-actuated frame, preceding servo-actuated frame upper end and the rear end front rod A are hinged, pre-eccentric wheel is equipped with inside preceding servo-actuated frame, it is servo-actuated frame upper end afterwards and back link front end is hinged, the inside of rear servo-actuated frame, which is equipped with rear eccentric wheel, pre-eccentric wheel and rear eccentric wheel and drives through DC Propulsion Motor, to rotate.Not only there is the present invention having a double meaning energy conservation preferably to emulate to the tail portion of biology, but also can get higher fltting speed, be suitable for the occasion used for a long time.
Description
Technical field:
The present invention relates to a kind of doublejointed mechanical fish tail portion propulsive mechanism and its working methods.
Background technique:
With it, fast and efficiently mobility has won the praise of the mankind to fish, and the 1990s is bionical previously for fish
Research focuses primarily upon theoretical side, and the nineties, various countries researched and developed new submarine navigation device with fish promotion tactics one after another.
The M.Triantafyllou study group of MIT in 1994 successfully has developed first bionic machine fish truly in the world.
Hereafter, the research of bionic machine fish is increasingly becoming the research hotspot of robot field.There are also the U.S. for external representational achievement
Marine Science Center, Northeastern University develops the machine sea eel of undulatory propulsion using marmem (SMA) and link mechanism.
Japan Nagoya university ToshioFukuda professor conducts a research in terms of miniature imitative fish underwater propeller, successively develops shape
Memorial alloy drives miniature physical undulations formula underwater propeller and piezoelectric ceramics (the dipterus type Micro-Robot of PZT > driving.Day
This transport province marine technology research institute (NMRI) develops one kind from having carried out a series of machine fish research projects over 1999
Power source of the semi-free piston-type Stirling engine of new engine as machine fish.In China, Harbin Engineering University is opened
The research work of bionic machine octopus is opened up.Machine sea eel, machine are had developed designed by BJ University of Aeronautics & Astronautics's robot research
Device dolphin and SPC bionic machine fish.
There are many organization of research machine fish at present, and machine fish promotes implementation method also very much, mainly there is steering engine propulsion
Two kinds are driven with direct current generator.Use steering engine as the machine fish of power drive motor, since steering engine rotating torque is small, rapid wear
Bad, the disadvantages of response speed is slow, is not suitable for the occasion used for a long time.Therefore, it is necessary to design a kind of new mechanical fish tail
Portion's propulsive mechanism substitutes existing servo driving mode.
Summary of the invention:
The present invention has made improvements in view of the above-mentioned problems of the prior art, i.e., technical problem to be solved by the invention is to provide
A kind of doublejointed mechanical fish tail portion propulsive mechanism and its working method.
To achieve the goals above, the technical solution adopted by the present invention is that: a kind of doublejointed mechanical fish tail portion propulsive mechanism,
Including the fixation bracket, tail swing frame and tail fin set gradually from front to back, set on the upside of the tail swing frame
There is the front rod A hinged with fixed support level, the front end of the front rod A and the front end of tail swing frame are horizontally hinged,
The front lower portion of tail swing frame is fixedly connected with front rod B, and the front rod B and support bracket fastened lower end are horizontally hinged；It is described
The front end of tail fin is fixedly connected with back link, and the rear end of the back link and tail swing frame is horizontally hinged, the tail swing frame
The inside of frame servo-actuated frame and rear servo-actuated frame, rear end of the upper end of servo-actuated frame and front rod A before described before being successively arranged from front to back
Horizontally hinged, the inside of preceding servo-actuated frame is equipped with the pre-eccentric wheel that left and right translational motion is done to frame servo-actuated before driving, it is described after with
The upper end of dynamic frame and the front end of back link are horizontally hinged, and the inside of rear servo-actuated frame, which is equipped with, does left and right translation to be servo-actuated frame after driving
The rear eccentric wheel of movement, the pre-eccentric wheel and rear eccentric wheel are through connecting firmly the DC Propulsion Motor drive in tail swing frame front end
Dynamic rotation.
Further, the preceding servo-actuated frame includes the rectangular-shaped preceding mobile framework positioned at tail swing lower portion, described
The perpendicular preceding guide rod being equipped with through tail swing frame roof in the top of preceding mobile framework, the top of the preceding guide rod is perpendicular be equipped with to
The articulated shaft A horizontally hinged with the rear end of front rod A；Servo-actuated frame includes positioned at the rectangular-shaped of tail swing lower portion after described
Mobile framework afterwards, the perpendicular back-guiding rod being equipped with through tail swing frame roof in top of the rear mobile framework, the back-guiding rod
Top perpendicular be equipped with to the articulated shaft B horizontally hinged with the front end of back link.
Further, the pre-eccentric wheel is located at the inside of preceding mobile framework, the left and right of pre-eccentric wheel and preceding mobile framework
Side wall is tangent；Eccentric wheel is located at the inside of rear mobile framework after described, and rear eccentric wheel and the left and right sidewall of rear mobile framework are tangent.
Further, there are 90 ° of phase differences at the phase angle of the pre-eccentric wheel and rear eccentric wheel.
Further, the front end of the top surface of the tail swing frame and bottom surface front end be respectively equipped with to preceding mobile framework
The preceding longitudinal chute being slidably matched, the top surface rear end and bottom surface rear end of tail swing frame be respectively equipped with to rear mobile framework
The rear longitudinal chute being slidably matched.
Further, the top rear and front end of the tail swing frame is respectively equipped with the preceding strip hole longitudinally extended with after
Strip hole；The preceding guide rod is along longitudinal direction slidably connected through preceding strip hole and with preceding strip hole；The back-guiding rod runs through rear strip
Strip hole is slidably connected along longitudinal direction after Kong Bingyu.
Further, the front end of the top surface of the tail swing frame is fixedly connected with articulated shaft C；The front and back two of the front rod A
End is respectively equipped with U-shaped hinged mouth A, and the articulated shaft A and articulated shaft C extend through the U-shaped hinged mouth A positioned at front and rear sides, when
When tail swing frame laterally swings, articulated shaft A and articulated shaft C are produced relative sliding with U-shaped hinged mouth A in horizontal plane.
Further, the back link is in inverted L-shaped, and the vertical edge of back link is mutually connected firmly with tail fin, the horizontal sides of back link
Middle part and the top surface rear end of tail swing frame are horizontally hinged, and the horizontal sides front end of back link is equipped with U-shaped hinged mouth B, the hinge
Spindle B runs through U-shaped hinged mouth B, and when tail swing frame laterally swings, articulated shaft B and U-shaped hinged mouth B generates phase in horizontal plane
To sliding.
Further, the fixed bracket is in Horizontal U-shaped shape, the middle part of support bracket fastened upper side edge rear end and front rod A
Horizontally hinged, the front end of the front rod B and support bracket fastened lower side rear end are horizontally hinged.
The another technical solution that the present invention uses is: a kind of working method of doublejointed mechanical fish tail portion propulsive mechanism,
When work: DC Propulsion Motor drives pre-eccentric wheel and the rotation of rear eccentric wheel, pre-eccentric wheel and rear eccentric wheel drives respectively it is preceding with
Dynamic frame and afterwards servo-actuated frame do left and right translational motion, and preceding servo-actuated frame drives front rod A to turn around fixed support level by articulated shaft A
Dynamic, front rod A drives tail swing frame to laterally swing by articulated shaft C, afterwards servo-actuated frame by articulated shaft B drive back link around
Tail swing frame horizontally rotate, back link rotate while drive tail fin laterally swing.
Compared with prior art, the present invention has the effect that structure of the invention design is simple, reasonable, not only has double
Joint can preferably emulate biological tail portion, and drive two joints of tail portion simultaneously with direct current generator, can make tail portion
Hunting frequency reaches 4Hz or more, obtains higher fltting speed, is suitable for the occasion used for a long time.
Detailed description of the invention:
Fig. 1 is the D structure schematic diagram of the embodiment of the present invention；
Fig. 2 is the main view organigram of the embodiment of the present invention；
Fig. 3 is the A-A diagrammatic cross-section in Fig. 2；
Fig. 4 is the B-B diagrammatic cross-section in Fig. 2；
Fig. 5 is the vertical view organigram of the embodiment of the present invention；
Fig. 6 is the schematic diagram that fixed bracket upper half structure is omitted in Fig. 1；
Fig. 7 is the D structure schematic diagram one of tail swing frame；
Fig. 8 is the D structure schematic diagram two of tail swing frame；
Fig. 9 is the D structure schematic diagram of preceding servo-actuated frame and rear servo-actuated frame.
In figure:
1- fixes bracket；2- tail swing frame；3- tail fin；4- front rod A；5- front rod B；6- back link；Frame is servo-actuated before 7-；
Frame is servo-actuated after 8-；9- pre-eccentric wheel；Eccentric wheel after 10-；11- DC Propulsion Motor；Mobile framework before 12-；Guide rod before 13-；14-
Articulated shaft A；Mobile framework after 15-；16- back-guiding rod；17- articulated shaft B；Longitudinal chute before 18-；Longitudinal chute after 19-；Before 20-
Strip hole；Strip hole after 21-；22- articulated shaft C；23-U type hinged mouth A；24-U type hinged mouth B.
Specific embodiment:
In order to more clearly explain the present invention, the present invention will be further described with embodiment with reference to the accompanying drawing, it is clear that
Ground, draw figures listed below are only some specific embodiments of the present invention.
As shown in figure 1-9, a kind of doublejointed mechanical fish of the invention tail portion propulsive mechanism, including set gradually from front to back
Fixation bracket 1, tail swing frame 2 and tail fin 3, the upside of the tail swing frame 2 is equipped with and fixed bracket 1 is horizontal
Hinged front rod A4, the front end of the front rod A4 and the front end of tail swing frame 2 are horizontally hinged, tail swing frame 2
Front lower portion be fixedly connected with front rod B5, the lower end of the front rod B5 and fixed bracket 1 is horizontally hinged；Before the tail fin 3
End is fixedly connected with back link 6, and the rear end of the back link 6 and tail swing frame 2 is horizontally hinged, the tail swing frame 2
Inside servo-actuated frame 7 and rear servo-actuated frame 8, rear end of the upper end of servo-actuated frame 7 and front rod A4 before described before being successively arranged from front to back
Horizontally hinged, the inside of preceding servo-actuated frame 7 is equipped with the pre-eccentric wheel 9 that left and right translational motion is done to frame 7 servo-actuated before driving, after described
The upper end of servo-actuated frame 8 and the front end of back link 6 are horizontally hinged, and the inside of rear servo-actuated frame 8, which is equipped with, does a left side to be servo-actuated frame 8 after driving
The rear eccentric wheel 10 of right translation campaign, the pre-eccentric wheel 9 are connected firmly through one in 2 front end of tail swing frame with rear eccentric wheel 10
The driving rotation of DC Propulsion Motor 11.When DC Propulsion Motor 11 drive pre-eccentric wheel 9 with after eccentric wheel 10 synchronize do vertical rotation
Servo-actuated frame 7 and be servo-actuated frame 8 afterwards when transhipment is dynamic, before the driving synchronous with rear eccentric wheel 10 of pre-eccentric wheel 9 and do left and right translational motion, it is preceding with
Dynamic frame 7 drives front rod A4 to horizontally rotate while mobile, and tail swing frame 2 is driven while front rod A4 horizontally rotates
It laterally swings, first that mechanical fish is constituted between front rod A4, tail swing frame 2, front rod B5 and preceding servo-actuated frame 7 is closed
Section；Be servo-actuated frame 8 afterwards drives back link 6 to horizontally rotate while mobile, driven while back link 6 horizontally rotates tail fin 3 around
Tail swing frame 2 laterally swing, tail swing frame 2, back link 6 and tail fin 3 constitute the second joint of mechanical fish.
In the present embodiment, servo-actuated frame 7 includes the rectangular-shaped preceding mobile framework inside tail swing frame 2 before described
12, the top of the preceding mobile framework 12 is perpendicular to be equipped with the preceding guide rod 13 through 2 top of tail swing frame, the preceding guide rod 13
Top is perpendicular to be equipped with to the articulated shaft A14 horizontally hinged with the rear end of front rod A4；Servo-actuated frame 8 includes being located at tail portion to put after described
Perpendicular be equipped in top of rectangular-shaped rear mobile framework 15 inside dynamic frame 2, the rear mobile framework 15 runs through tail swing frame 2
The back-guiding rod 16 at top, the top of the back-guiding rod 16 is perpendicular to be equipped with to the articulated shaft horizontally hinged with the front end of back link 6
B17。
In the present embodiment, the pre-eccentric wheel 9 is located at the inside of preceding mobile framework 12, pre-eccentric wheel 9 and preceding mobile framework
12 left and right sidewall is tangent, and when vertical rotary motion is done in the driving of DC Propulsion Motor 11, pre-eccentric wheel 9 pushes away current eccentric wheel 9
Mobile framework 12 does left and right translational motion along longitudinal direction before dynamic；Eccentric wheel 10 is located at the inside of rear mobile framework 15 after described, retrodeviates
Heart wheel 10 and the left and right sidewall of rear mobile framework 15 are tangent, when after eccentric wheel 10 DC Propulsion Motor 11 driving do vertical rotation
When movement, mobile framework 15 does left and right translational motion along longitudinal direction after rear eccentric wheel 10 pushes.
In the present embodiment, there are 90 ° of phase differences at the phase angle of the pre-eccentric wheel 9 and rear eccentric wheel 10, to make
Laterally swing and the tail fin of tail swing frame laterally swing that there are corresponding phase differences.
In the present embodiment, the front end of the top surface of the tail swing frame 2 and bottom surface front end be respectively equipped with to preceding movement
The preceding longitudinal chute 18 that framework 12 is slidably matched, so that the left and right translational motion to preceding servo-actuated frame play the guiding role, tail swing
The top surface rear end and bottom surface rear end of frame 2 are respectively equipped with the rear longitudinal chute 19 to be slidably matched with rear mobile framework 15, with
Just it play the guiding role to the left and right translational motion of rear servo-actuated frame.
In the present embodiment, the top rear and front end of the tail swing frame 2 is respectively equipped with the preceding strip hole longitudinally extended
20 and rear strip hole 21；The preceding guide rod 13 is along longitudinal direction slidably connected through preceding strip hole 20 and with preceding strip hole 20；After described
Guide rod 16 is along longitudinal direction slidably connected through rear strip hole 21 and with rear strip hole 21.
In the present embodiment, the front end of the top surface of the tail swing frame 2 is fixedly connected with articulated shaft C22；The front rod A4's
Rear and front end is respectively equipped with U-shaped hinged mouth A23, and the articulated shaft A14 and articulated shaft C22 extend through the U positioned at front and rear sides
Type hinged mouth A23, when tail swing frame 2 laterally swings, articulated shaft A14 and articulated shaft C22 exist with U-shaped hinged mouth A23
Horizontal plane produces relative sliding.
In the present embodiment, the back link 6 is in inverted L-shaped, and vertical edge and 3 phase of tail fin of back link 6 connect firmly, back link 6
Horizontally hinged with the top surface rear end of tail swing frame 2 in the middle part of horizontal sides, the horizontal sides front end of back link 6 is equipped with U-shaped hinged mouth
B24, the articulated shaft B17 run through U-shaped hinged mouth B24, when tail swing frame 2 laterally swings, articulated shaft B17 and U-shaped hinge
Interface B24 is produced relative sliding in horizontal plane.
In the present embodiment, the fixed bracket 1 is in Horizontal U-shaped shape, and the upper side edge rear end of fixed bracket 1 is with front rod A4's
Middle part is horizontally hinged, and the front end of the front rod B5 and the lower side rear end of fixed bracket 1 are horizontally hinged.Preferably, fixed branch
Frame is to be docked to constitute up and down by upper and lower two L-shaped upper bracket and lower bracket, and the horizontal edge lengths of upper bracket are greater than lower bracket
Horizontally hinged, the front end of front rod B and lower bracket in the middle part of the length of horizontal sides, the middle part of front rod A and the horizontal sides of upper bracket
Horizontal sides rear end it is horizontally hinged.
In the present embodiment, the DC Propulsion Motor 11 be the direct current generator with retarder, DC Propulsion Motor 11 it is defeated
Shaft protrudes into the inside of tail swing frame 2 and is fixedly connected with pre-eccentric wheel 9 and rear eccentric wheel 10, to drive pre-eccentric wheel
With rear eccentric wheel synchronous rotary.
Specific implementation process: DC Propulsion Motor 11 drives pre-eccentric wheel 9 and rear eccentric wheel 10 to rotate, 9 He of pre-eccentric wheel
Servo-actuated frame 7 and rear servo-actuated frame 8 do left and right translational motion before eccentric wheel 10 drives respectively afterwards, and preceding servo-actuated frame 7 passes through articulated shaft A14 band
Dynamic front rod A4 horizontally rotates around fixed bracket 1, and front rod A4 drives tail swing frame 2 or so to put by articulated shaft C22
Turn, servo-actuated frame 8 drives back link 6 to horizontally rotate around tail swing frame 2 by articulated shaft B17 afterwards, and back link 6 rotates same
When drive tail fin 3 to laterally swing, because there is 90 ° of phase difference in pre-eccentric wheel 9 and rear eccentric wheel 10, thus the first joint of tail portion with
There is also corresponding phase differences between second joint.
The another technical solution that the present invention uses is: a kind of working method of doublejointed mechanical fish tail portion propulsive mechanism,
When work: DC Propulsion Motor 11 drives pre-eccentric wheel 9 and rear eccentric wheel 20 to rotate, and pre-eccentric wheel 9 and rear eccentric wheel 20 are distinguished
Servo-actuated frame 7 and servo-actuated frame 8 does left and right translational motion afterwards before driving, preceding servo-actuated frame 7 by articulated shaft A14 drive front rod A4 around
Fixed bracket 1 horizontally rotates, and front rod A4 drives tail swing frame 2 to laterally swing by articulated shaft C22, and servo-actuated frame 8 is logical afterwards
Crossing articulated shaft B17 drives back link 6 to horizontally rotate around tail swing frame 2, drives tail fin 3 left while back link 6 rotates
Right rotation.
The foregoing is merely presently preferred embodiments of the present invention, all equivalent changes done according to scope of the present invention patent with
Modification, is all covered by the present invention.
Claims (10)
1. a kind of doublejointed mechanical fish tail portion propulsive mechanism, it is characterised in that: including set gradually from front to back fixation bracket,
Tail swing frame and tail fin, the upside of the tail swing frame are equipped with the front rod A hinged with fixed support level, institute
The front end for stating front rod A and the front end of tail swing frame are horizontally hinged, and the front lower portion of tail swing frame connects before being fixedly connected with
Bar B, the front rod B and support bracket fastened lower end are horizontally hinged；The front end of the tail fin is fixedly connected with back link, the back link
It is horizontally hinged with the rear end of tail swing frame, the inside of the tail swing frame before being successively arranged from front to back servo-actuated frame and
It is servo-actuated frame afterwards, the upper end of servo-actuated frame and the rear end of front rod A are horizontally hinged before described, and the inside of preceding servo-actuated frame is equipped with to drive
Preceding servo-actuated frame does the pre-eccentric wheel of left and right translational motion, and the upper end of servo-actuated frame and the front end of back link are horizontally hinged after described, after
The inside for being servo-actuated frame is equipped with the rear eccentric wheel for doing left and right translational motion to be servo-actuated frame after driving, the pre-eccentric wheel and rear bias
Wheel is through connecting firmly the DC Propulsion Motor driving rotation in tail swing frame front end.
2. a kind of doublejointed mechanical fish tail portion according to claim 1 propulsive mechanism, it is characterised in that: servo-actuated frame before described
Rectangular-shaped preceding mobile framework including being located at tail swing lower portion, perpendicular be equipped in the top of the preceding mobile framework run through tail portion
Preceding guide rod at the top of swing frame, the top of the preceding guide rod is perpendicular to be equipped with to the articulated shaft horizontally hinged with the rear end of front rod A
A；Servo-actuated frame includes the rectangular-shaped rear mobile framework positioned at tail swing lower portion, the top of the rear mobile framework after described
The perpendicular back-guiding rod being equipped with through tail swing arch, the top of the back-guiding rod are perpendicular equipped with horizontal to the front end with back link
Hinged articulated shaft B.
3. a kind of doublejointed mechanical fish tail portion according to claim 2 propulsive mechanism, it is characterised in that: the pre-eccentric wheel
Positioned at the inside of preceding mobile framework, pre-eccentric wheel and the left and right sidewall of preceding mobile framework are tangent；Eccentric wheel is located at and moves back after described
The inside of dynamic framework, rear eccentric wheel and the left and right sidewall of rear mobile framework are tangent.
4. a kind of doublejointed mechanical fish tail portion according to claim 1 or 3 propulsive mechanism, it is characterised in that: before described partially
There are 90 ° of phase differences at the phase angle of heart wheel and rear eccentric wheel.
5. a kind of doublejointed mechanical fish tail portion according to claim 2 propulsive mechanism, it is characterised in that: the tail swing
The front end of the top surface of frame and bottom surface front end are respectively equipped with the preceding longitudinal chute to be slidably matched with preceding mobile framework, tail swing
The top surface rear end and bottom surface rear end of frame are respectively equipped with the rear longitudinal chute to be slidably matched with rear mobile framework.
6. a kind of doublejointed mechanical fish tail portion according to claim 2 propulsive mechanism, it is characterised in that: the tail swing
The top rear and front end of frame is respectively equipped with the preceding strip hole and rear strip hole longitudinally extended；The preceding guide rod runs through preceding strip hole
And it is slidably connected along longitudinal direction with preceding strip hole；The back-guiding rod is along longitudinal direction slidably connected through rear strip hole and with rear strip hole.
7. a kind of doublejointed mechanical fish tail portion according to claim 2 propulsive mechanism, it is characterised in that: the tail swing
The front end of the top surface of frame is fixedly connected with articulated shaft C；The rear and front end of the front rod A is respectively equipped with U-shaped hinged mouth A, described hinged
Axis A and articulated shaft C extends through the U-shaped hinged mouth A positioned at front and rear sides, when tail swing frame laterally swings, articulated shaft A
It is produced relative sliding with U-shaped hinged mouth A in horizontal plane with articulated shaft C.
8. a kind of doublejointed mechanical fish tail portion according to claim 2 propulsive mechanism, it is characterised in that: the back link is in
The vertical edge of inverted L-shaped, back link is mutually connected firmly with tail fin, the top surface rear end water at the horizontal sides middle part and tail swing frame of back link
Flat hinged, the horizontal sides front end of back link is equipped with U-shaped hinged mouth B, and the articulated shaft B runs through U-shaped hinged mouth B, works as tail swing
When frame laterally swings, articulated shaft B and U-shaped hinged mouth B is produced relative sliding in horizontal plane.
9. a kind of doublejointed mechanical fish tail portion according to claim 1 propulsive mechanism, it is characterised in that: the fixed bracket
In Horizontal U-shaped shape, support bracket fastened upper side edge rear end and the middle part of front rod A are horizontally hinged, the front end of the front rod B and solid
The lower side rear end of fixed rack is horizontally hinged.
10. a kind of working method of doublejointed mechanical fish tail portion propulsive mechanism, it is characterised in that: including using such as claim 1
A kind of~9 described in any item doublejointed mechanical fish tail portions propulsive mechanisms, when work: DC Propulsion Motor drive pre-eccentric wheel and
Eccentric wheel rotates afterwards, and pre-eccentric wheel and rear eccentric wheel servo-actuated frame and are servo-actuated frame afterwards and do left and right translational motion before driving respectively, it is preceding with
Dynamic frame drives front rod A around fixed support level rotation by articulated shaft A, and front rod A drives tail swing by articulated shaft C
Frame laterally swings, and servo-actuated frame drives back link to horizontally rotate around tail swing frame by articulated shaft B afterwards, back link rotation
While drive tail fin laterally swing.
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| CN201910460981.0A CN110127016B (en) | 2019-05-30 | 2019-05-30 | Double-joint mechanical fish tail propelling mechanism and working method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910460981.0A CN110127016B (en) | 2019-05-30 | 2019-05-30 | Double-joint mechanical fish tail propelling mechanism and working method thereof |
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| CN110127016A true CN110127016A (en) | 2019-08-16 |
| CN110127016B CN110127016B (en) | 2023-12-12 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111824378A (en) * | 2020-07-27 | 2020-10-27 | 洛阳蓝峰智能科技有限公司 | Spatial swing rod mechanism |
| CN113428330A (en) * | 2021-08-10 | 2021-09-24 | 北京理工大学 | Flexible bionic robot fish |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111824378A (en) * | 2020-07-27 | 2020-10-27 | 洛阳蓝峰智能科技有限公司 | Spatial swing rod mechanism |
| CN113428330A (en) * | 2021-08-10 | 2021-09-24 | 北京理工大学 | Flexible bionic robot fish |
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