CN203306216U - Power fin type robotic fish - Google Patents
Power fin type robotic fish Download PDFInfo
- Publication number
- CN203306216U CN203306216U CN201320242287XU CN201320242287U CN203306216U CN 203306216 U CN203306216 U CN 203306216U CN 201320242287X U CN201320242287X U CN 201320242287XU CN 201320242287 U CN201320242287 U CN 201320242287U CN 203306216 U CN203306216 U CN 203306216U
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- steering wheel
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- power fin
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Abstract
The utility model discloses a power fin type robotic fish. The power fin type robotic fish is mainly characterized in that power fins are symmetrically arranged on the two sides of the middle of an existing robotic fish; each power fin is composed of a power transmission mechanism and a power fin body, wherein the power transmission mechanism and the power fin body are arranged in a robotic fish shell body, the power transmission mechanism comprises a fixed platform, a steering engine support, a power fin steering engine, an airtight transmission device and a link mechanism, the power fin steering engine drives a rocker of the link mechanism to swing, the rocker drives the power fin body to swing, and therefore the power fin type robotic fish can generate high advancing power. According to the power fin type robotic fish, an ingenious mechanical structure is used for completing the actions that the power fin bodies swing forward and backward at different speeds and then fin blades are opened and closed on the premise that the turning direction of the steering engines is not changed, therefore, the power fin type robotic fish is pushed forward, and the purposes of high moving speed, high efficiency, low noise and no waterweed winding are achieved.
Description
Technical field
The utility model relates to a kind of machine fish.
Background technology
Machine fish or title under-water robot are the machines of working in water of a kind of outer image fish.
At present, some machine fishs adopts imitative fish tail fin profile, by fin, swing onward impulse be provided, imitation be the arm stroke of fish or dolphin.But due to the elasticity of fish fin, and fish are not easy imitatedly to good controlled of eddy current, make efficiency very low.So a lot of machine fishs or under-water robot kinematic velocity are slow, move dumb.Some machine fish or under-water robot adopt screw propeller as propelling unit, easily twine grass and foreign material, and noise are larger.So the propelling unit of machine fish is the critical component that affects the machine fish performance.
Along with the increasing of mankind's undersea search dynamics and the popularization of aquaculture,, flexible movements fast in the urgent need to a kind of safe, kinematic velocity and the little machine fish of noise.
The utility model content
Robot fish movement speed is slow, action is dumb, noise is large, inefficient problem in order to solve, and the utility model provides a kind of power fin formula machine fish.
Technical scheme is: a kind of power fin formula machine fish, by upper shell, the fin that drifts along, lower house and tail fin, formed, and it is characterized in that, it also comprises that symmetry is located at the power fin of both sides, machine fish middle part; The power fin is comprised of the Power train and the power fin wing that are arranged in the machine fish housing; Power train comprises: fixed platform, steering wheel support, power fin steering wheel, leak tightness driving device and connecting rod mechanism; Wherein:
Described steering wheel support is arranged on fixed platform, and power fin steering wheel is arranged on the steering wheel support, power fin steering wheel drivening rod mechanism, and connecting rod mechanism is connected with the transmission shaft of leak tightness driving device, and when transmission shaft rotated, drivening rod mechanism swung back and forth;
Described connecting rod mechanism comprises crank, connecting rod and rocking bar, and crank is connected with the steering wheel dish on power fin steering wheel; Rocking bar is connected with the transmission shaft of Power train; By adjusting the length adjustment advanceto returntime ratio of each rod member, make rocking bar dextrorotation rotational speed rate be less than left-hand revolution speed;
Described leak tightness driving device comprises inner sleeve, overcoat and transmission shaft, wherein, overcoat is fixed on the machine fish lower house, its inner chamber bottom is provided with negative thread, top is that hole is the semisphere inner chamber, transmission shaft top is provided with the semisphere boss coordinated with the semisphere inner chamber, inner sleeve top is provided with outside thread, and overcoat and inner sleeve are threaded connection and are nested together, and transmission shaft coordinates and realizes sealing by sphere with overcoat;
Described power fin wing is comprised of wing frame and the some wing leaves that are arranged on the wing frame; Concrete structure is, the upper and lower frame of wing frame is provided with corresponding axis hole, and a side of wing leaf is provided with axle, and the wing leaf is arranged on the axis hole of upper and lower frame by axle, and the wing leaf is towards rear and can swing; On the upper and lower frame of wing frame, also be provided with position-limitting pin, limit by position-limitting pin the angle that the wing leaf rotates.
This machine fish forward motion is achieved in that the rocking bar of power fin steering wheel drivening rod mechanism swings, rocking bar drives power fin wing and swings, when power fin wing during to tail swing, the wing leaf is rotating closed under the effect of water resistance, thereby make power fin wing form the plane of a complete closure, with water, form antagonistic force, make machine fish produce very large onward impulse; When power fin wing swung to head, the wing leaf is Unscrew under the effect of water resistance, made and in moving on, removed resistance.Because quadric linkage has good advanceto returntime ratio, make power fin wing be greater than to the speed of tail swing the speed swung to head in addition, can obtain larger advancing and make a concerted effort.
The utlity model has following useful technique effect:
By physical construction cleverly, realize that steering wheel turns under constant prerequisite the swing of the front and back friction speed that completes power fin wing and the switching of wing leaf, thereby machine fish is pushed ahead, reach that kinematic velocity is fast, efficiency is high, noise is little and the purpose of straw winding.
The accompanying drawing explanation
Fig. 1 is the assembly drawing of the utility model machine fish embodiment;
Fig. 2 is the assembly drawing after Fig. 1 opens upper shell;
Fig. 3 is the steering wheel external structure;
Fig. 4 a is leak tightness driveline front view;
Fig. 4 b is leak tightness driveline birds-eye view;
Fig. 4 c is leak tightness driveline left view;
Fig. 4 d is leak tightness driveline block diagram;
Fig. 5 is power fin wing block diagram;
Fig. 6 is the connecting rod mechanism constructional drawing;
Fig. 7 is coupler structure figure;
Fig. 8 is the tail fin transmission diagram.
In figure, the 1-upper shell; 2-power fin wing, the 201-upper ledge; 202 wing leaves; The 203-position-limitting pin; The 204-lower frame; 205 pillar stiffeners; The 206-screw; The 3-fin that drifts along; The 4-lower house; The 5-tail fin; 501-tail fin main body; 502-tail fin link span; 601-tail fin steering wheel; 6011-steering wheel steering wheel; 6012 steering wheel fixed orifices; 602-power fin steering wheel; The 603-fin steering wheel that drifts along; The 7-power supply; The 8-fixed platform; 9-leak tightness driving device; The 901-inner sleeve; The 902-overcoat; The 903-transmission shaft; 10-steering wheel support; The 11-connecting rod mechanism; The 1101-crank; The 1102-connecting rod; The 1103-rocking bar; The 12-coupler.
The specific embodiment
As shown in Figure 1 and Figure 2, a kind of power fin formula machine fish, be comprised of upper shell 1, the fin 3 that drifts along, lower house 4, tail fin 5 and the symmetrical power fin that is located at both sides, machine fish middle part; Wherein as shown in Figure 8, the transmission shaft 903 by tail fin steering wheel 601 in coupler 12 and leak tightness driving device 9 drives tail fin 5; The fin 3 that drifts along is driven by the transmission shaft 903 of fin steering wheel 603 in coupler 12 and leak tightness driving device 9 that drift along; The power fin is comprised of the Power train and the power fin wing 2 that are arranged in the machine fish housing; Upper shell 1 and lower house 4 peripheries form the housing of imitative fish profile by bolted, junction is by sealing band and the sealant sealing placed.Power supply 7 is a kind of rechargable power supplies, can be arranged in the locus of lower house 4.
Above-mentioned Power train comprises: fixed platform 8, steering wheel support 10, power fin steering wheel 602, leak tightness driving device 9 and connecting rod mechanism 11; Described fixed platform 8 is fixed on lower house 4, steering wheel support 10 is arranged on fixed platform 8, power fin steering wheel 602 is arranged on steering wheel support 10, power fin steering wheel 10 drivening rod mechanisms 11, connecting rod mechanism 11 is connected with the transmission shaft 903 of leak tightness driving device 9, and transmission shaft 903 drives power fin wing 2 and swings back and forth;
As shown in Figure 3, described tail fin steering wheel 601, power fin steering wheel 602 are all identical with Fig. 3 with the fin steering wheel construction profile of drifting along; 6,012 two structures of steering wheel steering wheel 6011 and steering wheel fixed orifice are arranged on steering wheel.Four holes on its medium power fin steering wheel steering wheel 6011 are for coordinating with coupler 12, and power fin steering wheel fixed orifice 6012 is fixed on fixed platform 8 by steering wheel support 10.
As shown in Fig. 4 a, 4b, 4c, 4d, leak tightness driving device 9 is that transmission shaft 903 is arranged in sealing shroud; Sealing shroud is comprised of the inner sleeve 901 of bottom and the overcoat 902 on top; Wherein, overcoat 902 inner chamber bottoms are provided with negative thread, top is that hole is the semisphere inner chamber, transmission shaft 903 tops are provided with the semisphere boss coordinated with the semisphere inner chamber, inner sleeve 901 tops are provided with outside thread, overcoat 902 is threaded connection and is nested together with inner sleeve 901, and transmission shaft 903 coordinates and realizes sealing by sphere with overcoat 902.Described inner sleeve 901 bottom surfaces are provided with four breach and facilitate the degree of tightness screw thread;
Described transmission shaft 903 tops are provided with circular hole and large semi-circular boss, circular hole inserts after pin for coupler 12, being connected with rocking bar 1103, transmission shaft 903 bottoms are the rhombus boss, for the diamond hole cooperation of the lower frame 204 with power fin wing 2, play the effect of transferring power.
As shown in Figure 6, above-mentioned connecting rod mechanism 11 comprises crank 1101, connecting rod 1102 and rocking bar 1103; On crank 1101, there are three holes to be connected for the steering wheel dish with on power fin steering wheel 602; Rocking bar 1103 is connected with the transmission shaft 903 of leak tightness driving device 9 by the large semi-circular hole; By adjusting the adjustable in length advanceto returntime ratio of each rod member, make rocking bar 1103 dextrorotation rotational speed rates be less than left-hand revolution speed.
As shown in Figure 7, the large semi-circular hole in the round boss of described coupler 12 is for being connected with transmission shaft 901, and four holes on the disk of coupler 12 are for being connected with steering wheel.
In Fig. 2, tail fin 5 can move under the drive of tail fin steering wheel 601, when tail fin steering wheel 601 does not stop rotating back and forth, just can drive tail fin 5 swings back and forth, tail fin when being similar to fish and advancing swings, thereby also can promote this machine fish, travel forward, make this underwater have the ability of efficient and high forward.
Claims (1)
1. a power fin formula machine fish, be comprised of upper shell, the fin that drifts along, lower house and tail fin, it is characterized in that, it also comprises that symmetry is located at the power fin of both sides, machine fish middle part; The power fin is comprised of the Power train and the power fin wing that are arranged in the machine fish housing; Power train comprises: fixed platform, steering wheel support, power fin steering wheel, leak tightness driving device and connecting rod mechanism; Wherein:
Described steering wheel support is arranged on fixed platform, and power fin steering wheel is arranged on the steering wheel support, power fin steering wheel drivening rod mechanism, and connecting rod mechanism is connected with the transmission shaft of leak tightness driving device, and when transmission shaft rotated, drivening rod mechanism swung back and forth;
Described connecting rod mechanism comprises crank, connecting rod and rocking bar, and crank is connected with the steering wheel dish on power fin steering wheel; Rocking bar is connected with the transmission shaft of Power train; By adjusting the length adjustment advanceto returntime ratio of each rod member, make rocking bar dextrorotation rotational speed rate be less than left-hand revolution speed;
Described leak tightness driving device comprises inner sleeve, overcoat and transmission shaft, wherein, overcoat is fixed on the machine fish lower house, its inner chamber bottom is provided with negative thread, top is that hole is the semisphere inner chamber, transmission shaft top is provided with the semisphere boss coordinated with the semisphere inner chamber, inner sleeve top is provided with outside thread, and overcoat and inner sleeve are threaded connection and are nested together, and transmission shaft coordinates and realizes sealing by sphere with overcoat;
Described power fin wing is comprised of wing frame and the some wing leaves that are arranged on the wing frame; Concrete structure is, the upper and lower frame of wing frame is provided with corresponding axis hole, and a side of wing leaf is provided with axle, and the wing leaf is arranged on the axis hole of upper and lower frame by axle, and the wing leaf is towards rear and can swing; On the upper and lower frame of wing frame, also be provided with position-limitting pin, limit by position-limitting pin the angle that the wing leaf rotates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320242287XU CN203306216U (en) | 2013-05-07 | 2013-05-07 | Power fin type robotic fish |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320242287XU CN203306216U (en) | 2013-05-07 | 2013-05-07 | Power fin type robotic fish |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203306216U true CN203306216U (en) | 2013-11-27 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320242287XU Withdrawn - After Issue CN203306216U (en) | 2013-05-07 | 2013-05-07 | Power fin type robotic fish |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203306216U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103241354A (en) * | 2013-05-07 | 2013-08-14 | 山东科技大学 | Robotic fish with power fins and method for realizing swimming action |
| CN104192287A (en) * | 2014-09-09 | 2014-12-10 | 哈尔滨工程大学 | Wing paddle for variable structure ship |
| CN105173044A (en) * | 2015-10-15 | 2015-12-23 | 哈尔滨工程大学 | Two-degree-of-freedom bionic tail fin |
| CN111017122A (en) * | 2018-10-08 | 2020-04-17 | 王三保 | Multipurpose boat |
-
2013
- 2013-05-07 CN CN201320242287XU patent/CN203306216U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103241354A (en) * | 2013-05-07 | 2013-08-14 | 山东科技大学 | Robotic fish with power fins and method for realizing swimming action |
| CN103241354B (en) * | 2013-05-07 | 2015-06-03 | 山东科技大学 | Robotic fish with power fins and method for realizing swimming action |
| CN104192287A (en) * | 2014-09-09 | 2014-12-10 | 哈尔滨工程大学 | Wing paddle for variable structure ship |
| CN104192287B (en) * | 2014-09-09 | 2016-11-23 | 哈尔滨工程大学 | A kind of structure changes wing peculiar to vessel oar |
| CN105173044A (en) * | 2015-10-15 | 2015-12-23 | 哈尔滨工程大学 | Two-degree-of-freedom bionic tail fin |
| CN111017122A (en) * | 2018-10-08 | 2020-04-17 | 王三保 | Multipurpose boat |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20131127 Effective date of abandoning: 20150603 |
|
| RGAV | Abandon patent right to avoid regrant |