CN112093017A - Bionic mechanical fish based on integral stretching principle - Google Patents
Bionic mechanical fish based on integral stretching principle Download PDFInfo
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- CN112093017A CN112093017A CN202010961613.7A CN202010961613A CN112093017A CN 112093017 A CN112093017 A CN 112093017A CN 202010961613 A CN202010961613 A CN 202010961613A CN 112093017 A CN112093017 A CN 112093017A
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- 241000251468 Actinopterygii Species 0.000 title claims abstract description 69
- 239000011664 nicotinic acid Substances 0.000 title abstract description 32
- 230000002146 bilateral effect Effects 0.000 claims description 6
- 239000000725 suspension Substances 0.000 claims description 3
- 230000003592 biomimetic effect Effects 0.000 claims 9
- 230000009471 action Effects 0.000 abstract description 4
- 210000000988 bone and bone Anatomy 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000036544 posture Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 239000013013 elastic material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 210000000006 pectoral fin Anatomy 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 210000001015 abdomen Anatomy 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003344 environmental pollutant Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 231100000719 pollutant Toxicity 0.000 description 1
- 230000009182 swimming Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- 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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Abstract
The invention relates to the technical field of bionic machinery, and aims to provide a bionic mechanical fish based on the integral tensioning principle, which has the advantages of large rotating range, high rotating efficiency, accurate control of action posture and high reliability. The mechanical fish comprises a head part, a body part and a tail part which are sequentially connected, wherein the body part comprises at least one group of tensioning propulsion parts, each tensioning propulsion part comprises a first rotating part and a second rotating part, the axes of the first rotating part and the second rotating part are vertically arranged, the upper parts of the first rotating part and the second rotating part are connected through a first connecting frame, the lower parts of the first rotating part and the second rotating part are connected through a second connecting frame, and the first connecting frame is connected with the first rotating part and the second connecting frame is connected with the first rotating part and the second rotating part through elastic elements with pretightening force; the middle parts of the first rotating part and the second rotating part are connected with the tensioning driving assembly, so that the first rotating part and the second rotating part rotate automatically. The invention solves the problems of small rotation range and poor rotation efficiency of the existing mechanical fish.
Description
Technical Field
The invention relates to the technical field of bionic mechanical equipment, in particular to a bionic mechanical fish based on a stretching integral principle.
Background
The bionic mechanical fish is bionic mechanical equipment combining a fish propulsion mechanism and a robot technology, and is a novel underwater vehicle. Because the shape is similar to that of fish, compared with the common underwater propeller, the bionic mechanical fish can simulate the swimming of fish and has the advantages of high propelling efficiency, good maneuvering characteristic, high concealment and the like. The bionic mechanical fish can also carry various detection sensors, is used for detecting underwater environment and pollutants, drawing a riverbed picture, and even can play an important role in aspects such as military reconnaissance, underwater rescue, marine organism observation, archaeology and the like, and has important research value and wide application prospect.
The mechanical pushing mechanism of the bionic mechanical fish is a key structure of the advancing performance of the bionic mechanical fish, and the existing bionic mechanical fish such as Chinese patent document CN206766306U discloses a mechanical fish suitable for underwater noise monitoring, which comprises a fish head, a pectoral fin, an equipment cabin, a tail driving device, an underwater sound monitoring device and a waterproof fish skin; the pectoral fin is fixed on a thin rod passing through the fish head; the equipment cabin is arranged in the fish head; the tail driving device is connected with the equipment cabin and connected with the fish head; the waterproof fishskin is fixed at the rear part of the fishhead through the interface and wraps the whole fishtail; the middle part of the fish head is provided with an equipment cabin and a balance weight cabin, the front part and the abdomen of the fish head are provided with instrument cabins, and the rear part of the fish head is provided with a fish skin interface; the tail driving device comprises a steering engine, a steering wheel, a traction line, two bone sections and a tail fin, wherein the steering engine is arranged on a steering engine frame, and the steering wheel is meshed with the steering engine through a gear of the steering engine. The bone joints of the bionic mechanical fish are connected through universal joints, the connection mode belongs to rigid connection, parts are easy to wear, and the bone joints provide supporting force and restoring force through elastic rods, which means that the mechanical fish cannot accurately control the postures of the bone joints; in addition, the mechanical fish is driven by only one motor, and the mechanical fish cannot work once the motor fails. For another example, chinese patent document CN109110095A discloses a tensioning integral type swing propulsion mechanism, which comprises a head, a flexible trunk and a tail, wherein the head is connected with the tail through a flexible trunk, a driving system is arranged in the head, the flexible trunk comprises a plurality of groups of tensioning floating flexible joints, each group of tensioning floating flexible joints comprises a base platform, a driven platform and a plurality of groups of tension elements, an upper structure of the base platform is connected with a lower structure of the driven platform through a plurality of groups of horizontal tension elements, an upper structure of the base platform is connected with an upper structure of the driven platform through a plurality of groups of axial tension elements, thereby being capable of suspending and supporting the driven platform, each group of the tensioning floating flexible joints are sequentially connected in series, wherein the axial tension elements provide a vertically downward pulling force and the horizontal tension elements provide a vertically upward pulling force to oppose such that the driven platform can perform a floating rotation about the base platform without direct mechanical contact; the driving system is connected with one or more groups of tensioning floating flexible joints. The base platform and the driven platform of the bionic mechanical fish are connected through a plurality of groups of horizontal and axial tension elements, and in order to generate mutual resistance force to enable the driven platform to suspend, the lower structure of the driven platform is arranged below the hollow disc of the base platform, so that the rotation range of a mechanical fish joint is limited; in addition, the lower structure of the driven platform is fixedly connected with one end of a plurality of groups of horizontal tension elements, so that the driven platform needs to overcome the tension generated by the tension elements in the rotating process, and the rotating efficiency of the driven platform is poor.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is that the bionic mechanical fish in the prior art is limited in rotation range and poor in rotation efficiency, and cannot meet increasingly wide application requirements, so that the bionic mechanical fish based on the integral tension principle is large in rotation range, high in rotation efficiency, capable of accurately controlling action posture and high in reliability.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a bionic mechanical fish based on a stretching integral principle comprises a head part, a trunk part and a tail part which are sequentially connected, wherein the trunk part comprises at least one group of stretching propulsion parts, and the adjacent stretching propulsion parts and the stretching propulsion parts are fixedly connected with the head part and the tail part; each group of the tensioning and propelling parts comprises a first rotating part and a second rotating part, the axes of the first rotating part and the second rotating part are vertically arranged, the upper parts of the first rotating part and the second rotating part are connected through a first connecting frame, the lower parts of the first rotating part and the second rotating part are connected through a second connecting frame, and the first connecting frame and the first rotating part and the second rotating part as well as the second connecting frame and the first rotating part and the second rotating part are connected through elastic elements with pretightening force, so that the head part, the body part and the tail part are kept in suspension balance; the middle parts of the first rotating part and the second rotating part are connected with a tensioning driving assembly, so that the first rotating part and the second rotating part rotate.
Preferably, an intermediate strut with a vertical axis and located between the first rotating member and the second rotating member is arranged between the connecting frame and the second connecting frame, and the tensioning driving assembly comprises a first wide pulling belt, a second wide pulling belt, a third wide pulling belt and a fourth wide pulling belt with pretightening force;
one end of the first wide pull belt is fixedly connected with the cylindrical surface of the first rotating member, and the other end of the first wide pull belt penetrates through a gap between the first rotating member and the middle strut and is connected with a first driving member arranged at a corresponding position on the cylindrical surface of the middle strut;
the second wide drawstring is positioned below the first wide drawstring and is arranged in bilateral symmetry with the first wide drawstring, one end of the second wide drawstring is fixedly connected with the cylindrical surface of the first rotating piece, and the other end of the second wide drawstring penetrates through the gap between the first rotating piece and the middle strut and is further connected with a second driving piece arranged at a corresponding position on the cylindrical surface of the middle strut;
one end of the third wide pull belt is connected with a third driving piece arranged at a corresponding position on the cylindrical surface of the middle supporting column, and the other end of the third wide pull belt penetrates through a gap between the middle supporting column and the second rotating piece and is further fixedly connected with the cylindrical surface of the second rotating piece;
the fourth wide drawstring is located below the third wide drawstring and is arranged in a bilateral symmetry mode with the third wide drawstring, one end of the fourth wide drawstring is connected with a fourth driving piece arranged at a corresponding position on the cylindrical surface of the middle supporting column, and the other end of the fourth wide drawstring penetrates through the gap between the middle supporting column and the second rotating piece and then is fixedly connected with the cylindrical surface of the second rotating piece.
Preferably, the first rotating part and the first wide drawstring, the contact surface of the second wide drawstring is an arc surface, the second rotating part and the third wide drawstring, the contact surface of the fourth wide drawstring is an arc surface, and the middle strut and the first wide drawstring, the second wide drawstring, the third wide drawstring, the contact surface of the fourth wide drawstring is an arc surface.
Preferably, the first rotating part and the first wide drawstring, the contact surface of the second wide drawstring is a smooth arc surface, the second rotating part and the third wide drawstring, the contact surface of the fourth wide drawstring is a smooth arc surface, and the middle strut and the first wide drawstring, the second wide drawstring, the third wide drawstring and the fourth wide drawstring are smooth arc surfaces.
Preferably, the third wide pulling belt and the first wide pulling belt are in the same horizontal position, and the fourth wide pulling belt and the second wide pulling belt are in the same horizontal position.
Preferably, the first driving element, the second driving element, the third driving element and the fourth driving element are servo motors or linear motors for providing horizontal tension.
Preferably, the first connecting frame and the second connecting frame are identical in structure and both have a bifurcated structure which horizontally extends towards the head part and the tail part respectively, the bifurcated structure comprises a first supporting rod and a second supporting rod, the root part of the first supporting rod is provided with a first boss, and the root part of the second supporting rod is provided with a second boss; the upper ends of the first rotating piece and the second rotating piece are provided with first connecting columns, and the lower ends of the first rotating piece and the second rotating piece are provided with second connecting columns;
elastic element includes first narrow stretching strap and the narrow stretching strap of second, first narrow stretching strap cover in first spliced pole on the second spliced pole and both ends respectively with first boss second boss fixed connection, the narrow stretching strap of second also cover in first spliced pole on the second spliced pole and both ends respectively with first branch the tip fixed connection of second branch.
Preferably, the cylindrical surfaces of the first connecting column and the second connecting column are provided with a first groove and a second groove which are horizontally formed, the first narrow drawstring is embedded into the first groove, and the second narrow drawstring is embedded into the second groove.
Preferably, the first connecting column and the second connecting column are cylinders, and the first groove and the second groove are annular grooves.
Preferably, steps are formed at the end parts of the first supporting rod and the second supporting rod, and two ends of the second narrow pull belt are fixed at the steps.
Compared with the prior art, the technical scheme of the invention has the following advantages:
(1) the bionic mechanical fish based on the integral stretching principle is connected by the integral stretching principle, has a large rotation range, high rotation efficiency, high reliability and the capability of performing forward motion and yaw motion in water, can accurately control the action posture, has no friction or abrasion among rigid parts, and prolongs the service life of the parts.
(2) According to the bionic mechanical fish based on the integral tensioning principle, the wide pull belts arranged on the first rotating piece and the second rotating piece are in a cross shape from the perspective of projection, each rotating piece is controlled by the two driving pieces to swing forwards and backwards respectively, the motion posture can be accurately controlled, each rotating piece is driven by the two driving pieces, even if a certain driving piece (motor) breaks down, the whole mechanical fish can still work, and the robustness is good; the narrow drawstrings arranged on the first rotating part and the second rotating part are also in a cross shape from the perspective of projection, and two groups of narrow drawstrings at the upper part and the lower part play a role of a revolute pair, so that a larger rotating range and a better rotating effect exist between joints.
Drawings
In order that the present disclosure may be more readily and clearly understood, reference is now made to the following detailed description of the embodiments of the present disclosure taken in conjunction with the accompanying drawings, in which
FIG. 1 is a schematic diagram of the overall structure of a bionic mechanical fish based on the integral principle of tension;
FIG. 2 is a top view of the bionic mechanical fish based on the integral tension principle;
FIG. 3 is a front view of the bionic mechanical fish based on the integral principle of tension;
FIG. 4 is an overall schematic view of the tension propulsion section of the present invention
FIG. 5 is a schematic view of a first and second connecting frame of the present invention;
FIG. 6 is a schematic view of a first rotating member in the present invention;
FIG. 7 is a schematic view of a second rotatable member of the present invention;
fig. 8 is a schematic sectional view taken along line a-a in fig. 3.
The reference numbers in the figures denote: 1-head, 2-tail, 3-tensioning propulsion, 4-first rotation, 5-second rotation, 6-first link, 7-second link, 8-middle strut, 9-first wide drawstring, 10-second wide drawstring, 11-third wide drawstring, 12-fourth wide drawstring, 13-first drive, 14-second drive, 15-third drive, 16-fourth drive, 17-first strut, 18-second strut, 19-first boss, 20-second boss, 21-first link, 22-second link, 23-first narrow drawstring, 24-second narrow drawstring, 25-first recess, 26-second recess, 27-step, 28-link.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1-3, it is a preferred embodiment of the bionic mechanical fish based on the integral principle of tension. The bionic mechanical fish comprises a head part 1, a trunk part and a tail part 2 which are connected in sequence. The trunk part comprises at least one group of stretching and propelling parts 3, and the adjacent stretching and propelling parts 3 as well as the stretching and propelling parts 3 and the head part 1 and the tail part 2 are fixedly connected. In this embodiment, the trunk portion includes two sets of the tensioning propulsion portions 3, the adjacent tensioning propulsion portions 3 are fixedly connected through a connecting rod 28, the tensioning propulsion portion 3 near the head portion is fixedly connected with the head portion 1, and the tensioning propulsion portion 3 near the tail portion is fixedly connected with the tail portion 2. The body parts of the bionic mechanical fish are bilaterally symmetrical, and the following steps are added: in the present invention, "left and right" refer to the left and right sides facing the head of the mechanical fish, with the body of the fish being the axis.
As shown in fig. 4, each set of the tension propulsion unit 3 includes a first rotating member 4 and a second rotating member 5 with their axes arranged vertically, that is, the axes of the first rotating member 4 and the second rotating member 5 are parallel to each other. The upper parts of the first rotating member 4 and the second rotating member 5 are connected through a first connecting frame 6, the lower parts of the first rotating member 4 and the second rotating member 5 are connected through a second connecting frame 7, the first connecting frame 6 and the first rotating member 4, the second rotating member 5 and the second connecting frame 7 and the first rotating member 4 and the second rotating member 5 are connected through elastic elements with pretightening force, and the elastic elements provide opposite acting forces to keep the head part 1, the trunk part and the tail part 2 in suspension balance so as to ensure that the first rotating member 4 and the second rotating member 5 can rotate along the axis and play a role of a rotating pair. The middle parts of the first rotating piece 4 and the second rotating piece 5 are connected with a tensioning driving assembly, so that the first rotating piece 4 and the second rotating piece 5 rotate.
As shown in fig. 5, the first connecting frame 6 and the second connecting frame 7 are identical in structure and each have a bifurcated structure extending horizontally toward the head portion 1 and the tail portion 2, respectively, and the bifurcated structure includes a first strut 17 and a second strut 18, a root portion of the first strut 17 has a first boss 19, and a root portion of the second strut 18 has a second boss 20.
As shown in fig. 6 and 7, the upper ends of the first rotating member 4 and the second rotating member 5 have a first connecting post 21, and the lower ends of the first rotating member 4 and the second rotating member 5 have a second connecting post 22.
Elastic element includes first narrow stretching strap 23 and second narrow stretching strap 24, first narrow stretching strap 23 overlap in first spliced pole 21 on the second spliced pole 22 and both ends respectively with first boss 19 second boss 20 fixed connection, second narrow stretching strap 24 also overlap in first spliced pole 21 on the second spliced pole 22 and both ends respectively with first branch 17 the tip fixed connection of second branch 18. Further, steps 27 are formed at the ends of the first support bar 17 and the second support bar 18, and both ends of the second narrow pull strip 24 are fixed at the steps 27. Both ends of each narrow drawstring are connected with corresponding positions through screws.
In order to prevent the narrow drawstrings from offsetting in the movement process of the mechanical fish, the cylindrical surfaces of the first connecting column 21 and the second connecting column 22 are provided with a first groove 25 and a second groove 26 which are horizontally formed, the first groove 25 and the second groove 26 are arranged in parallel from top to bottom, the first narrow drawstrings 23 are embedded into the first groove 25, and the second narrow drawstrings 24 are embedded into the second groove 26, so that the limiting effect is achieved. In order to reduce friction between the narrow pulling strip and each connecting column in the movement process of the mechanical fish and prolong the service life of the narrow pulling strip, the first connecting column 21 and the second connecting column 22 are preferably cylinders, and the first groove 25 and the second groove 26 are annular grooves.
The first narrow drawstring 23 and the second narrow drawstring 24 are only under tension when playing a role of tensioning cable elements in the integral structure, the first rotating part 4 and the second rotating part 5 are only under pressure when playing a role of tensioning rod elements in the integral structure, and the first narrow drawstring and the second narrow drawstring form the integral structure. The narrow pull belt has a certain pretightening force, and the rigidity of the connection structure of the integral tensioning principle can be adjusted by controlling the pretightening force.
An intermediate strut 8 with a vertical axis and located between the first rotating member 4 and the second rotating member 5 is arranged between the connecting frame 6 and the second connecting frame 7, namely, the axis of the intermediate strut 8 is parallel to the axes of the first rotating member 4 and the second rotating member 5.
The tensioning driving assembly comprises a first wide pulling belt 9, a second wide pulling belt 10, a third wide pulling belt 11 and a fourth wide pulling belt 12 which have pre-tightening forces.
One end of the first wide pull strap 9 is fixedly connected with the cylindrical surface of the first rotating member 4, and the other end of the first wide pull strap passes through the gap between the first rotating member 4 and the middle pillar 8 to be connected with a first driving member 13 arranged at a corresponding position on the cylindrical surface of the middle pillar 8, as shown in fig. 8.
The second wide drawstring 10 is located below the first wide drawstring 9 and is arranged in bilateral symmetry with the first wide drawstring 9, one end of the second wide drawstring 10 is fixedly connected with the cylindrical surface of the first rotating member 4, and the other end of the second wide drawstring passes through the gap between the first rotating member 4 and the middle strut 8 and is further connected with a second driving member 14 arranged at a corresponding position on the cylindrical surface of the middle strut 8.
One end of the third broad pull belt 11 is connected with a third driving piece 15 arranged at a corresponding position on the cylindrical surface of the middle supporting column 8, and the other end of the third broad pull belt passes through the gap between the middle supporting column 8 and the second rotating piece 5 and is further fixedly connected with the cylindrical surface of the second rotating piece 5. In this embodiment, the third broad stretching belt 11 and the first broad stretching belt 9 have the same horizontal position, which is beneficial to the balance of force and enables the movement of the mechanical fish to be more harmonious.
The fourth broad stretching strap 12 is located below the third broad stretching strap 11 and is arranged in a bilateral symmetry mode with the third broad stretching strap 11, one end of the fourth broad stretching strap 12 is connected with a fourth driving part 16 arranged at a corresponding position on the cylindrical surface of the middle supporting column 8, and the other end of the fourth broad stretching strap passes through the middle supporting column 8 and the second rotating part 5 so as to rotate the gap of the part 5 and further fixedly connect the cylindrical surface of the part 5 with the second rotating part.
In this embodiment, the fourth broad stretching belt 12 and the second broad stretching belt 10 have the same horizontal position, which is beneficial to the balance of force and enables the movement of the mechanical fish to be more harmonious. The first driving member 13, the second driving member 14, the third driving member 15 and the fourth driving member 16 are servo motors or linear motors for providing a horizontal pulling force. Each driving piece provides pulling force for the corresponding wide pulling belt, so that the head part, the body part and the tail part can be driven to swing left and right or keep still at a certain position. From overlooking the angle, the wide stretching strap that transmits power is the fork form installation, can be more accurate control machinery fish's motion gesture.
In order to reduce friction force and prolong the service life of each wide drawstring, the contact surfaces of the first rotating member 4 and the first wide drawstring 9 and the second wide drawstring 10 are arc surfaces, preferably smooth arc surfaces. The contact surfaces of the second rotating part 5 and the third and fourth broad stretching belts 11 and 12 are smooth arc surfaces, preferably arc surfaces. The contact surfaces of the middle strut 8 and the first wide pull belt 9, the second wide pull belt 10, the third wide pull belt 11 and the fourth wide pull belt 12 are arc-shaped surfaces, preferably smooth arc surfaces.
In the invention, the narrow drawstring and the wide drawstring are both made of elastic materials with smooth surfaces. The wide drawstring made of elastic material is connected with the power driving part and each rotating joint, so that the power driving part is buffered, and the service life of the power driving part is prolonged.
The working process of the bionic mechanical fish based on the integral stretching principle is detailed as follows:
when the bionic mechanical fish works, the second driving piece 14 and the fourth driving piece 16 do not provide pulling force when the first driving piece 13 and the third driving piece 15 provide pulling force simultaneously, so that the first rotating piece 4 and the second rotating piece 5 can only swing towards one direction under the action of the upper half part of the wide pull belt and are not influenced by the lower half part of the wide pull belt; similarly, when the second driving element 14 and the fourth driving element 16 simultaneously provide the pulling force, the first driving element 13 and the third driving element 15 do not provide the pulling force, so that the first rotating element 4 and the second rotating element 5 can only swing towards the other direction under the action of the lower half wide pull belt without being influenced by the upper half wide pull belt; according to the principle, the driving pieces of the upper half part and the lower half part alternately provide tension for the corresponding wide pull belts, and the bionic mechanical fish body can swing and move. When the first rotating part 4 and the second rotating part 5 keep a certain position motionless, all the driving parts simultaneously apply pulling force to each wide pulling belt, so that the bionic mechanical fish keeps balance. When the head part is kept still, the rotating parts at the body part and the tail part swing left and right, so that the mechanical fish can move forwards; when the head part rotates leftwards or rightwards, the rotating parts of the body part and the tail part swing leftwards and rightwards, so that the mechanical fish can move leftwards or rightwards.
The bionic mechanical fish based on the integral tension principle is connected by the integral tension principle, and has strong impact resistance, good robustness and strong underwater environment adaptation capability. When the device moves, friction or abrasion does not exist among all the rigid parts, so that the service life of the parts is prolonged.
In other embodiments, the number of the tensioning propulsion parts can be increased according to needs, for example, 3 groups, 4 groups and 5 groups of tensioning propulsion parts are arranged, so that the degree of freedom of the bionic mechanical fish is increased to meet the working requirements, and the motion diversity of the mechanical fish is enriched.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (10)
1. The utility model provides a bionical mechanical fish based on whole principle of stretch-draw, includes head (1), trunk and afterbody (2) that connect gradually, its characterized in that: the trunk part comprises at least one group of stretching and propelling parts (3), and the adjacent stretching and propelling parts (3) as well as the stretching and propelling parts (3) are fixedly connected with the head part (1) and the tail part (2); each group of the tensioning and propelling parts (3) comprises a first rotating part (4) and a second rotating part (5) with two vertically arranged axes, the upper parts of the first rotating part (4) and the second rotating part (5) are connected through a first connecting frame (6), the lower parts of the first rotating part (4) and the second rotating part (5) are connected through a second connecting frame (7), and the first connecting frame (6) is connected with the first rotating part (4) and the second rotating part (5) and the second connecting frame (7) is connected with the first rotating part (4) and the second rotating part (5) through elastic elements with pretightening force, so that the head part (1), the body part and the tail part (2) keep suspension balance; the middle parts of the first rotating piece (4) and the second rotating piece (5) are connected with a tensioning driving assembly, so that the first rotating piece (4) and the second rotating piece (5) rotate.
2. A biomimetic mechanical fish based on the tensegrity principle according to claim 1, characterized in that: an intermediate strut (8) which is vertical in axis and located between the first rotating part (4) and the second rotating part (5) is arranged between the connecting frame (6) and the second connecting frame (7), and the tensioning driving assembly comprises a first wide tensioning belt (9), a second wide tensioning belt (10), a third wide tensioning belt (11) and a fourth wide tensioning belt (12) which have pre-tightening force;
one end of the first wide pull belt (9) is fixedly connected with the cylindrical surface of the first rotating member (4), and the other end of the first wide pull belt penetrates through the gap between the first rotating member (4) and the middle strut (8) to be connected with a first driving member (13) arranged at a corresponding position on the cylindrical surface of the middle strut (8);
the second wide pull belt (10) is positioned below the first wide pull belt (9) and is arranged in bilateral symmetry with the first wide pull belt (9), one end of the second wide pull belt (10) is fixedly connected with the cylindrical surface of the first rotating piece (4), and the other end of the second wide pull belt penetrates through a gap between the first rotating piece (4) and the middle strut (8) and is further connected with a second driving piece (14) arranged at a corresponding position on the cylindrical surface of the middle strut (8);
one end of the third wide pull belt (11) is connected with a third driving piece (15) arranged at a corresponding position on the cylindrical surface of the middle supporting column (8), and the other end of the third wide pull belt penetrates through a gap between the middle supporting column (8) and the second rotating piece (5) to be fixedly connected with the cylindrical surface of the second rotating piece (5);
the fourth broad stretching strap (12) is located below the third broad stretching strap (11) and is arranged in a bilateral symmetry mode with the third broad stretching strap (11), one end of the fourth broad stretching strap (12) is connected with a fourth driving part (16) arranged on the cylindrical surface of the middle supporting column (8) in a corresponding position, and the other end of the fourth broad stretching strap penetrates through the middle supporting column (8) and the second rotating part (5) to form a gap and further fixedly connected with the cylindrical surface of the second rotating part (5).
3. A biomimetic mechanical fish based on the tensegrity principle according to claim 2, characterized in that: the first rotating part (4) is arc-shaped, the contact surface of the second wide drawstring (10) is arc-shaped, the second rotating part (5) is arc-shaped, the contact surface of the fourth wide drawstring (12) is arc-shaped, and the middle strut (8) is arc-shaped and is in contact with the first wide drawstring (9), the second wide drawstring (10), the third wide drawstring (11) and the fourth wide drawstring (12).
4. A biomimetic mechanical fish based on the tensegrity principle according to claim 3, characterized in that: the first rotation piece (4) with first wide stretching strap (9), the contact surface of second wide stretching strap (10) is glossy arc surface, the second rotate piece (5) with third wide stretching strap (11), the contact surface of fourth wide stretching strap (12) is glossy arc surface, middle pillar (8) with first wide stretching strap (9), second wide stretching strap (10), third wide stretching strap (11), the contact surface of fourth wide stretching strap (12) is glossy arc surface.
5. A biomimetic mechanical fish based on the tensegrity principle according to claim 4, characterized in that: the third wide pulling belt (11) is the same as the first wide pulling belt (9) in horizontal position, and the fourth wide pulling belt (12) is the same as the second wide pulling belt (10) in horizontal position.
6. A biomimetic mechanical fish based on the tensegrity principle according to claim 2, characterized in that: the first driving piece (13), the second driving piece (14), the third driving piece (15) and the fourth driving piece (16) are servo motors or linear motors and are used for providing horizontal tension.
7. A biomimetic mechanical fish based on the tensegrity principle according to any one of claims 1-6, characterized in that: the first connecting frame (6) and the second connecting frame (7) are of the same structure and are provided with branched structures which horizontally extend towards the head part (1) and the tail part (2) respectively, each branched structure comprises a first supporting rod (17) and a second supporting rod (18), the root of each first supporting rod (17) is provided with a first boss (19), and the root of each second supporting rod (18) is provided with a second boss (20); the upper ends of the first rotating piece (4) and the second rotating piece (5) are provided with a first connecting column (21), and the lower ends of the first rotating piece (4) and the second rotating piece (5) are provided with a second connecting column (22);
elastic element includes first narrow stretching strap (23) and second narrow stretching strap (24), first narrow stretching strap (23) overlap in first spliced pole (21) on second spliced pole (22) and both ends respectively with first boss (19) second boss (20) fixed connection, second narrow stretching strap (24) also overlap in first spliced pole (21) on second spliced pole (22) and both ends respectively with first branch (17) the tip fixed connection of second branch (18).
8. A biomimetic mechanical fish based on the tensegrity principle according to claim 7, characterized in that: the first connecting column (21) and the second connecting column (22) are provided with a first groove (25) and a second groove (26) which are horizontally formed on the cylindrical surfaces, the first narrow drawstring (23) is embedded into the first groove (25), and the second narrow drawstring (24) is embedded into the second groove (26).
9. A biomimetic mechanical fish based on the tensegrity principle according to claim 8, characterized in that: the first connecting column (21) and the second connecting column (22) are cylinders, and the first groove (25) and the second groove (26) are annular grooves.
10. A biomimetic mechanical fish based on the tensegrity principle according to claim 7, characterized in that: the end parts of the first supporting rod (17) and the second supporting rod (18) are formed with steps (27), and two ends of the second narrow pull belt (24) are fixed at the steps (27).
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| CN112917493A (en) * | 2021-01-29 | 2021-06-08 | 电子科技大学 | Fish-like underwater robot |
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