CN202987484U - Multi-joint movement waterproof mechanism for bionic robot fish - Google Patents
Multi-joint movement waterproof mechanism for bionic robot fish Download PDFInfo
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- CN202987484U CN202987484U CN 201220669123 CN201220669123U CN202987484U CN 202987484 U CN202987484 U CN 202987484U CN 201220669123 CN201220669123 CN 201220669123 CN 201220669123 U CN201220669123 U CN 201220669123U CN 202987484 U CN202987484 U CN 202987484U
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- machine fish
- bionic machine
- steering wheel
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Abstract
The utility model discloses a multi-joint movement waterproof mechanism for a bionic robot fish. The multi-joint movement waterproof mechanism comprises three same movement joints and a water splashing tail part which are connected with one another in sequence; the middle part of each movement joint is formed by threaded occlusion and connection of a waterproof shell and a bottom plate; a connecting block is arranged at one end of the waterproof shell, a U-shaped block is arranged at the other end of the waterproof shell, and a steering machine is arranged inside the waterproof shell; a bulge is formed at the bottom of the bottom plate and is connected with one end of the U-shaped block through a bearing; the top end of the steering machine is connected with the other end of the U-shaped block through an elongated shaft; and a sealing ring is arranged between the elongated shaft and the waterproof shell. The multi-joint movement waterproof mechanism has the advantages of high movement efficiency, good maneuverability and good waterproof function.
Description
Technical field
The utility model relates to a kind of motion proof mechanism of water field, is specifically related to a kind of multi joint motion proof mechanism of water for bionic machine fish.
Background technology
Fish are the earliest vertebrates on the earth, have passed through the evolution of at least 5 hundred million years in the Nature, and its profile structure and motion principle are fit to undersea habitat very much.Moving about of fish has following characteristics: (1) sport efficiency is high, and resistance is little; (2) manoevreability is high; Fish have good startup, accelerate, and turn to, and braking is hovered, the maneuverabilities such as rising dive.(3) noise is little, little to the disturbance of environment.Along with bionic development, increasing scholar is devoted to study bionic machine fish both at home and abroad, copy the profile of fish and the mechanism of moving about, produce that bionic machine fish makes it to have efficiently, the ability of cruising flexibly under water, can be applied to the fields such as resource detection, biological study and military surveillance under complex environment.
What fish were adopted is the mode of moving about that fluctuation advances, and the swing of health is flexible motion, so the more flexibilities that just more can imitate out fish of the swinging joint of bionic machine fish swing.Simultaneously, bionic machine fish moves about in water, at first the most important thing is the waterproof problem of waterproof problem, particularly turning cylinder, and designs good motion proof mechanism of water, is the most important condition that bionic machine fish is realized sink-float and various maneuvers.
Summary of the invention
The purpose of this utility model is to overcome the above problem that prior art exists, and a kind of multi joint motion proof mechanism of water for bionic machine fish is provided, and the utility model sport efficiency is high, and manoevreability is good, and has good water-proof function.
For realizing above-mentioned technical purpose, reach above-mentioned technique effect, the utility model is achieved through the following technical solutions:
A kind of multi joint motion proof mechanism of water for bionic machine fish, comprise by three identical movable joints and the afterbody of striking waters and connecting to form successively, described movable joint centre portion is connected by water proof case and base thread and forms, described water proof case one end is provided with contiguous block, the other end is provided with U-shaped, and inside is provided with steering wheel, described base plate bottom is provided with projection, described projection is connected with a U-shaped end by bearing, described steering wheel top is connected with the U-shaped other end by extending shaft, is provided with seal ring between described extending shaft and water proof case.
Further, be provided with butter in the space of described steering wheel and water proof case.
Further, described seal ring is fixed on water proof case by pressing plate.
Further, described two adjacent movable joints are connected with U-shaped by contiguous block.
Further, the described tail shape of striking waters is meniscus, and material is flexiplast, and the described afterbody of striking waters is captiveed joint with U-shaped by two L-type fixed blocks.
Further, described water proof case one side is provided with through hole, and is provided with silica gel with the threaded engagement junction of base plate.
The beneficial effects of the utility model are:
The utlity model has the ability of cruising efficiently, flexibly under water, sport efficiency is high, and manoevreability is good, and has good water-proof function.
Above-mentioned explanation is only the general introduction of technical solutions of the utility model, for can clearer understanding technological means of the present utility model, and can be implemented according to the content of specification sheets, below with preferred embodiment of the present utility model and coordinate accompanying drawing to be described in detail as follows.The specific embodiment of the present utility model is provided in detail by following examples and accompanying drawing thereof.
Description of drawings
Accompanying drawing described herein is used to provide further understanding of the present utility model, consists of the application's a part, and illustrative examples of the present utility model and explanation thereof are used for explaining the utility model, do not consist of improper restriction of the present utility model.In the accompanying drawings:
Fig. 1 is integral structure schematic diagram of the present utility model
Fig. 2 is the cutaway view of the utility model movable joint;
Fig. 3 is the utility model tail structure figure that strikes waters.
Number in the figure explanation: 1, contiguous block, 2, water proof case, 3, butter, 4, pressing plate, 5, extending shaft, 6, seal ring, 7, U-shaped, 8, movable joint, 9, steering wheel, 10, through hole, 11, silica gel, 12, base plate, 13, bearing, 14, the afterbody of striking waters, 15, the L-type fixed block.
The specific embodiment
Below with reference to the accompanying drawings and in conjunction with the embodiments, describe the utility model in detail.
referring to figs. 1 through shown in Figure 3, a kind of multi joint motion proof mechanism of water for bionic machine fish, comprise by three identical movable joints 8 and the afterbody 14 of striking waters and connecting to form successively, described movable joint 8 centre portions are connected to form by water proof case 2 and base plate 12 threaded engagement, described water proof case 2 one ends are provided with contiguous block 1, the other end is provided with U-shaped 7, and inside is provided with steering wheel 9, described base plate 12 bottoms are provided with projection, described projection is connected with U-shaped 7 one ends by bearing 13, described steering wheel 9 tops are connected with U-shaped 7 other ends by extending shaft 5, be provided with seal ring 6 between described extending shaft 5 and water proof case 2.
Further, be provided with butter 3 in the space of described steering wheel 9 and water proof case 2.
Further, described seal ring 6 is fixed on water proof case 2 by pressing plate 4.
Further, described two adjacent movable joints 8 are connected with U-shaped 7 by contiguous block 1.
Further, the described afterbody 14 of striking waters is shaped as meniscus, and material is flexiplast, and described 14 ones, the tail of striking waters is captiveed joint with U-shaped 7 by two L-type fixed blocks 15.
Further, described water proof case 2 one sides are provided with through hole 10, and are provided with silica gel 11 with the threaded engagement junction of base plate 12.
The principle of work of the present embodiment is as follows:
As shown in Figure 1, the utility model comprises the movable joint 8 of three series connection and the afterbody 14 of striking waters.Each movable joint is driven by steering wheel 9, and steering wheel 9 is sealed in waterproof case 2 the insides, and turning cylinder is connected on U-shaped 7, and contiguous block 4 joins end to end former and later two movable joints 8.The motion in each joint is independently, maximum pendulum angle is 180 ° (each 90 ° of left and right), according to certain sequential motion, three movable joints 8 can form the undulatory motion that the amplitude of oscillation increases gradually, the straight line that is used for bionic machine fish moves about, and also can form fast " C " word shape, is used for swerving of bionic machine fish, also can form the undulatory motion that fluctuation axis of symmetry biasing one section moves, be used for the adjustment of direction by a small margin of bionic machine fish.The afterbody 14 of striking waters is half moon-shaped flexible plastic sheet, is directly connected to above steering wheel 9 output shafts by U-shaped 7, and the drive by steering wheel 9 comes the left and right to strike waters provides forward thrust for bionic machine fish.
As shown in Figure 2, be the cutaway view of movable joint 8.Movable joint 8 is the most important component units of motion proof mechanism of water, and the dynamic seal (packing) waterproof is the key problem in technology of movable joint.Steering wheel 9 is fixed on water proof case 2 by four screws, the axle of steering wheel 9 is connected with U-shaped 7 by extending shaft 5, carry out affixed with holding screw, closely put special sealing ring 6 above extending shaft 5, and special sealing ring 6 is pressed in the shrinkage pool of water proof case 2, simultaneously with pressing plate 4, insert dense thick butter 3 in the first half space of steering wheel 9 and water proof case 2, like this, by two-layer seal approach, the rotating shaft of steering wheel 9 just can have good water-proof function in swing process.The bottom of steering wheel 9 belongs to non-movable parts, want simple compared with the sealing of turning cylinder, base plate 12 is aluminium sheets of " protruding " font, is threaded connection above water proof case 2, and spread silica gel 11 in contact portion and screw thread place, the gap in connecting is thoroughly filled up.The below of base plate 12 is the turning cylinder of movable joint, is connected on U-shaped 7 by bearing 13, and like this, steering wheel 9 just can swing with U-shaped 7.Through hole 10 is cable-through holes of steering wheel 9 electric wires, realizes water-tight by filling up silica gel.
As shown in Figure 3, be afterbody 14 constructionals drawing of striking waters.The afterbody 14 of striking waters is half moon-shaped flexible plastic sheet, is connected by screw on two L-type fixed blocks 15, and L-type fixed block 15 is connected by screw on U-shaped 7.Strike waters afterbody 14 in the middle of the swing of left and right, because it has elasticity, can form the suitable angle of striking waters, for bionic machine fish provides larger propulsive force.
The above is only preferred embodiment of the present utility model, is not limited to the utility model, and for a person skilled in the art, the utility model can have various modifications and variations.All within spirit of the present utility model and principle, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection domain of the present utility model.
Claims (6)
1. multi joint motion proof mechanism of water that is used for bionic machine fish, it is characterized in that: comprise by three identical movable joints (8) and the afterbody of striking waters (14) connecting to form successively, described movable joint (8) centre portion is connected to form by water proof case (2) and base plate (12) threaded engagement, described water proof case (2) one ends are provided with contiguous block (1), the other end is provided with U-shaped (7), and inside is provided with steering wheel (9), described base plate (12) bottom is provided with projection, described projection is connected with U-shaped (7) one ends by bearing (13), described steering wheel (9) top is connected with U-shaped (7) other end by extending shaft (5), be provided with seal ring (6) between described extending shaft (5) and water proof case (2).
2. a kind of multi joint motion proof mechanism of water for bionic machine fish according to claim 1, is characterized in that: be provided with butter (3) in the space of described steering wheel (9) and water proof case (2).
3. a kind of multi joint motion proof mechanism of water for bionic machine fish according to claim 1, it is characterized in that: described seal ring (6) is fixed on water proof case (2) by pressing plate (4).
4. a kind of multi joint motion proof mechanism of water for bionic machine fish according to claim 1 is characterized in that: described adjacent two movable joints (8) are connected with U-shaped (7) by contiguous block (1).
5. a kind of multi joint motion proof mechanism of water for bionic machine fish according to claim 1, it is characterized in that: the described afterbody of striking waters (14) is shaped as meniscus, and material is flexiplast, and the described tail of striking waters (14) section captives joint with U-shaped (7) by two L-type fixed blocks (15).
6. a kind of multi joint motion proof mechanism of water for bionic machine fish according to claim 1, it is characterized in that: described water proof case (2) one sides are provided with through hole (10), and are provided with silica gel (11) with the threaded engagement junction of base plate (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220669123 CN202987484U (en) | 2012-12-07 | 2012-12-07 | Multi-joint movement waterproof mechanism for bionic robot fish |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220669123 CN202987484U (en) | 2012-12-07 | 2012-12-07 | Multi-joint movement waterproof mechanism for bionic robot fish |
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| Publication Number | Publication Date |
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| CN202987484U true CN202987484U (en) | 2013-06-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201220669123 Expired - Fee Related CN202987484U (en) | 2012-12-07 | 2012-12-07 | Multi-joint movement waterproof mechanism for bionic robot fish |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103697145A (en) * | 2013-12-24 | 2014-04-02 | 中国科学院自动化研究所 | Steering engine protection device |
| CN103847943A (en) * | 2012-12-07 | 2014-06-11 | 苏州科技学院 | Multiple-joint movement water-proof mechanism used for bionic robot fish |
-
2012
- 2012-12-07 CN CN 201220669123 patent/CN202987484U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103847943A (en) * | 2012-12-07 | 2014-06-11 | 苏州科技学院 | Multiple-joint movement water-proof mechanism used for bionic robot fish |
| CN103697145A (en) * | 2013-12-24 | 2014-04-02 | 中国科学院自动化研究所 | Steering engine protection device |
| CN103697145B (en) * | 2013-12-24 | 2016-03-30 | 中国科学院自动化研究所 | A kind of steering wheel protective gear |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130612 Termination date: 20141207 |
|
| EXPY | Termination of patent right or utility model |