CN203780783U - Robot fish provided with independent chain-shaped tail support - Google Patents
Robot fish provided with independent chain-shaped tail support Download PDFInfo
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- CN203780783U CN203780783U CN201420109525.4U CN201420109525U CN203780783U CN 203780783 U CN203780783 U CN 203780783U CN 201420109525 U CN201420109525 U CN 201420109525U CN 203780783 U CN203780783 U CN 203780783U
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- tail
- fin
- pectoral fin
- joint
- steering wheel
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Abstract
The utility model discloses a robot fish provided with an independent chain-shaped tail support. The robot fish comprises a head, a middle support plate, a tail, a pectoral fin and a tail fin, wherein the head comprises a left head case, a right head case, a trapezoid baffle, a pectoral fin steering engine support, a pectoral fin steering engine, a planar double-rocker mechanism, a pectoral fin shaft and a pectoral fin shaft support piece; the tail comprises the chain-shapedtail support, fish skin, a first joint, a second joint, a third joint, a first linkage disc, a second linkage disc, a steering engine fixing piece and a tail fin clamp; the tail fin comprises a tail fin piece and a tail fin insert; the pectoral fin comprises a left pectoral fin piece and a right pectoral fin piece. The robot fish is attractive, delicate and vivid in appearance and can keep reasonable forms during swimming and turning; the independent chain-shaped tail support is compact in structure, convenient to machine, low in cost, high in practicability and capable of being detached independently and well keeping swimming forms of the robot fish underwater.
Description
Technical field
The utility model relates to bionic machine fish technical field, relates in particular to a kind of machine fish with independent chain tail support.
Background technology
The development of machine fish has embodied the exploitation pay attention to day by day of the mankind to marine resources, and the research of machine fish need be in conjunction with bionics, machine design, material science, the multinomial subject such as control technology.Environmental area, military field, bio-science field has embodied the bright prospects of machine fish research invariably, and it has become gradually the another study hotspot of robot field since the nineties in last century.
Within 1994, Massachusetts Polytechnics has developed article one machine fish RoboTuna in the world, and its long 1.2 meters, containing 40 root bones, 6 DC machine, nearly 2843 of whole body parts, complex structure, has developed for 3 years consuming time.Since then, researchers have developed panoramic machine fish successively both at home and abroad, the mode of moving about (BCF) that the health-tail fin of take is master is example, the representative G series machine fish that also has Hu Huosheng team of ESSEX university, be up to now as the machine fish of fish, accurate processing technology and advanced control policy are that it successfully guarantees; Thereby the Christopher Mark Watts of Glasgow university has developed by a motor and has affected two tendon ropes to realize the machine fish swinging on the basis of the preceence of the imitative fish propulsion quality of research, includes 3 anti-water cavity body coverings and is wrapped up by glass fibre; The people such as the Brenden P. Epps of Massachusetts Polytechnics build with the polymeric material that a monoblock is melted the machine fish of having made a whole body softness, have avoided inner body by the possibility of water destruct; The Cao Zhi of Institute of Automation Research of CAS waits by force people to develop a kind of two joints, the machine fish of the foot section brought carriage, and each carriage is cemented on tail fin framework; A kind of multi-joint machine fish that the Xie Guangming team of Peking University develops, fish body is long and narrow, and afterbody does not have carriage, and fish-skin is made water pipe dress with rubber, by inflation, keeps tail shape and adjusts buoyancy.
Making successfully by health---tail fin drives in the machine fish material object of (BCF), can when moving about, keep smooth curve, and thereby health can not affect buoyancy because hydraulic pressure is out of shape under water, all embodied complicated machine design, or expensive processing technology, or advanced material, these all can improve time and the money cost of laboratory manufacturing machine fish, if the above requirement of out of reach, can limit to a certain extent the authenticity of the imitative fish of machine fish, constraint laboratory advances the reliability of research to imitative fish.
Summary of the invention
For existing above problem, the object of the invention is to use as far as possible physical construction and material simply cheaply, a kind of compact conformation is provided, can be for convenience detach, and the machine fish with independent chain tail support of swing form grace.
For achieving the above object, the technical solution of the utility model is as follows:
The machine fish with independent chain tail support comprises head, intermediate support plate, afterbody, pectoral fin, tail fin, described head comprises left head capsule, right head capsule, trapezoidal dividing plate, pectoral fin steering wheel bearing, pectoral fin steering wheel, plane double rocker mechanism, pectoral fin axle, pectoral fin axle strut member, described afterbody comprises chain tail support, fish-skin, the first joint, second joint, the 3rd joint, the first interlock dish, the second interlock dish, steering wheel connecting element, tail fin folder, described tail fin comprises tail fin sheet, tail fin plug-in unit, described pectoral fin comprises left pectoral fin sheet, right pectoral fin sheet, the one side of described intermediate support plate is provided with front annular boss, the another side of intermediate support plate is provided with rear annular boss, described left head capsule and right head capsule form head shell, head shell is fixed on the outer ring surface of front annular boss, head shell inner hollow forms head cavity, trapezoidal dividing plate is located at head cavity middle part head cavity is divided into upper and lower two parts, trapezoidal dividing plate one end is fixed in the one side of intermediate support plate, trapezoidal dividing plate below is fixed with pectoral fin steering wheel bearing, on pectoral fin steering wheel bearing, be fixed with pectoral fin steering wheel, the output shaft of pectoral fin steering wheel is connected with the drive crank of plane double rocker mechanism, the driven rocking bar of plane double rocker mechanism is connected with pectoral fin axle, pectoral fin axle strut member is fixed in the one side of intermediate support plate, pectoral fin axle strut member is provided with axis hole, pectoral fin axle is through axis hole, pectoral fin axle two ends pass respectively left head capsule, right head capsule, pectoral fin axle left end is connected with left pectoral fin sheet, and right-hand member is connected with right pectoral fin sheet,
The first described joint, second joint, the 3rd joint includes a steering engine seat, a steering wheel, a U-shaped attaching parts, steering wheel is fixed on steering engine seat, one of U-shaped attaching parts is connected with steering wheel, the other end of U-shaped attaching parts is connected with steering engine seat, between the first joint and second joint, be provided with the first interlock dish, between second joint and the 3rd joint, be provided with the second interlock dish, the U-shaped attaching parts in the first joint, the steering engine seat of second joint is connected by the first interlock dish, the U-shaped attaching parts of second joint, the steering engine seat in the 3rd joint is connected by the second interlock dish, steering wheel connecting element is fixed on the another side of intermediate support plate, steering wheel connecting element is connected with the steering engine seat in the first joint, the U-shaped attaching parts in the 3rd joint is connected with tail fin folder, tail fin folder is connected with tail fin plug-in unit, tail fin sheet is inserted on tail fin plug-in unit,
Described chain tail support is by the first support ring, a plurality of midship mounting rings, and last support ring forms, and the first support ring is fixed on the outer ring surface of rear annular boss of intermediate support plate, the end that last support ring is tail support, each support ring is hinged between two.
The first described support ring is provided with towards a side of fish tail the laterally zygomorphic step surface stretching out, and step surface is provided with pin-and-hole; Each support ring in described midship mounting ring is provided with towards a side of fish head the laterally zygomorphic step surface stretching out, and step surface is provided with bearing pin, towards a side of fish tail, is provided with the laterally zygomorphic step surface stretching out, and step surface is provided with pin-and-hole; Described last support ring is provided with towards a side of fish head the laterally zygomorphic step surface stretching out, and step surface is provided with bearing pin.
The beneficial effect the utlity model has is: machine fish good looking appearance of the present utility model is exquisite, vivid, when it moves about and turns, can keep rational form; The utility model application module structure, is convenient to assembly and disassembly, and the replacing of parts; The utlity model has a kind of independent chain tail support, be skillfully constructed, with low cost, for convenience detach, and the form that can well keep machine fish to move about under water; Tail fin sheet difficult drop-off of the present utility model, and be easy to dismounting, replaceable different tail fin sheet, is convenient to laboratory to having the move about research of efficiency of the machine fish of different tail fin shapes and tail fin hardness.
Accompanying drawing explanation
Fig. 1 is the contour structures schematic diagram with the machine fish of independent chain tail support;
Fig. 2 is the schematic diagram of assembling completely with the machine fish of independent chain tail support;
Fig. 3 is the head cavity inner structure schematic diagram with the machine fish of independent chain tail support;
Fig. 4 is the tail structure schematic diagram with the machine fish of independent chain tail support;
Fig. 5 is the formal figure of independent chain tail support with the machine fish of independent chain tail support;
Fig. 6 is the birds-eye view of independent chain tail support with the machine fish of independent chain tail support;
Fig. 7 is the structural representation of independent chain tail support with the machine fish of independent chain tail support;
Fig. 8 is the front elevation of intermediate support plate with the machine fish of independent chain tail support;
Fig. 9 is the lateral plan of intermediate support plate with the machine fish of independent chain tail support;
Figure 10 is the first supporting ring structure schematic diagram with the machine fish of independent chain tail support;
Figure 11 is the midship mounting ring structure schematic diagram with the machine fish of independent chain tail support;
Figure 12 is the last supporting ring structure schematic diagram with the machine fish of independent chain tail support;
In figure, intermediate support plate 1, left head capsule 2, right head capsule 3, trapezoidal dividing plate 4, pectoral fin steering wheel bearing 5, pectoral fin steering wheel 6, plane double rocker mechanism 7, pectoral fin axle 8, pectoral fin axle strut member 9, midship mounting ring 10, last support ring 11, fish-skin 12, the first interlock dish 13, the second interlock dishes 14, steering wheel connecting element 15, tail fin folder 16, tail fin sheet 17, tail fin plug-in unit 18, left pectoral fin sheet 19, right pectoral fin sheet 20, steering engine seat 21, steering wheel 22, U-shaped attaching parts 23, the first support rings 24.
The specific embodiment
Below in conjunction with embodiment, the utility model is further described.
Embodiment
As shown in Figures 1 to 12, there is the machine fish of the independent tail support of good conformability, comprise head, intermediate support plate 1, afterbody, pectoral fin, tail fin, described head comprises left head capsule 2, right head capsule 3, trapezoidal dividing plate 4, pectoral fin steering wheel bearing 5, pectoral fin steering wheel 6, plane double rocker mechanism 7, pectoral fin axle 8, pectoral fin axle strut member 9, described afterbody comprises ring-type tail support, fish-skin 12, the first joint, second joint, the 3rd joint, the first interlock dish 13, the second interlock dish 14, steering wheel connecting element 15, tail fin folder 16, described tail fin comprises tail fin sheet 17, tail fin plug-in unit 18, described pectoral fin comprises left pectoral fin sheet 19, right pectoral fin sheet 20, the one side of described intermediate support plate 1 is provided with front annular boss, and the another side of intermediate support plate 1 is provided with rear annular boss, front, on the anchor ring of rear annular boss, be equipped with seal groove, described left head capsule 2 and the outside edge of right head capsule 3 are respectively equipped with counterbore, left head capsule 2, right head capsule 3 is compressed and is formed head shell by 10 screws and pad, be arranged on the outer ring surface of front annular boss, with O type circle, seal, head shell inner hollow forms head cavity, trapezoidal dividing plate 4 is located at head cavity middle part head cavity is divided into upper and lower two parts, trapezoidal dividing plate 4 one end are fixed in the one side of intermediate support plate 1 by 4 screws, pectoral fin steering wheel bearing 5 is fixed on trapezoidal dividing plate 4 belows by 2 screws, pectoral fin steering wheel 6 is fixed on pectoral fin steering wheel bearing 5 by 2 screws, in the toothed opening of the drive crank of the output shaft insertion plane double rocker mechanism 7 of pectoral fin steering wheel 6, one place of pectoral fin axle 8 has radial hole, the driven rocking bar end of plane double rocker mechanism 7 has axial hole, driven rocking bar is by fixing along pectoral fin axle 8 screw and pectoral fin axle 8 radially, pectoral fin axle strut member 9 is fixed in the one side of intermediate support plate 1 by screw, left head capsule 2, the both sides of right head capsule 3 are respectively provided with bearing hole, and bearing is housed on bearing hole, and pectoral fin axle is through the axis hole of pectoral fin axle strut member 9, and both sides pass respectively left head capsule 2, right head capsule 3, by roller bearing end cap, O type circle, grease seal, left pectoral fin sheet 19, right pectoral fin sheet 20 is enclosed within the two ends of pectoral fin axle 8,
The first described joint, second joint, the 3rd joint includes a steering engine seat 21, a steering wheel 22, a U-shaped attaching parts 23, steering wheel 22 is fixed on steering engine seat 21, one of U-shaped attaching parts 23 is passed through steering wheel, screw, be connected with steering wheel 22 output shafts, steering wheel 22 output shafts are the active rotating shaft of U-shaped attaching parts 23, the other end of U-shaped attaching parts 23 has through hole, the bolt portion more smaller than through-hole diameter is screwed into steering engine seat 21, this screw is the passive rotating shaft of U-shaped attaching parts 23, between the first joint and second joint, be provided with the first interlock dish 13, between second joint and the 3rd joint, be provided with the second interlock dish 14, the U-shaped attaching parts in the first joint, the first interlock dish 13, the steering engine seat of second joint is connected by screw, the U-shaped attaching parts of second joint, the second interlock dish 14, the steering engine seat in the 3rd joint is connected by screw, steering wheel connecting element 15 is fixed on the another side of intermediate support plate 1 by screw, the steering engine seat in the first joint is fixed on steering wheel connecting element 15 by screw, by adhesive tape, compress protection, the U-shaped attaching parts in the 3rd joint is connected by screw with tail fin folder 16, tail fin folder 16 is connected by screw with tail fin plug-in unit 18, tail fin sheet 17 is provided with jack, tail fin sheet 17 is inserted on tail fin plug-in unit 18,
The first described support ring 24 is provided with towards a side of fish tail the laterally zygomorphic step surface stretching out, and step surface is provided with pin-and-hole; Each support ring in described midship mounting ring 10 is provided with towards a side of fish head the laterally zygomorphic step surface stretching out, and step surface is provided with bearing pin, towards a side of fish tail, is provided with the laterally zygomorphic step surface stretching out, and step surface is provided with pin-and-hole; Described last support ring 11 is provided with towards a side of fish head the laterally zygomorphic step surface stretching out, and step surface is provided with bearing pin.
Described left head capsule 2, the material of right head capsule 3 can be nylon.
The first described support ring, midship mounting ring, the first interlock dish 13, the second interlock dish 14, last support ring 11 are made by 3D printing technique, and material is PLA.
The material of described tail fin sheet 17, left pectoral fin sheet 19, right pectoral fin sheet 20 is rubber.
Machine fish working process of the present utility model is: pectoral fin steering wheel 6 rotates, the output shaft of pectoral fin steering wheel 6 drives the drive crank of plane double rocker mechanism 7, the passive rocking bar of plane double rocker mechanism 7 drives pectoral fin axle 8 to rotate, the rotation of pectoral fin axle 8 changes the angle of attack of left pectoral fin sheet 19, right pectoral fin sheet 20, in the process of moving about, water also can change the direction of the antagonistic force of left pectoral fin sheet 19, right pectoral fin sheet 20, thereby realizes the floating dive of machine fish.The steering wheel in three joints of machine fish rotates the swing that drives independent chain tail support, realizes advancing of fish move about by the antagonistic force of water.
Claims (2)
1. a machine fish with independent chain tail support, is characterized in that comprising head, intermediate support plate (1), afterbody, pectoral fin, tail fin, described head comprises left head capsule (2), right head capsule (3), trapezoidal dividing plate (4), pectoral fin steering wheel bearing (5), pectoral fin steering wheel (6), plane double rocker mechanism (7), pectoral fin axle (8), pectoral fin axle strut member (9), described afterbody comprises chain tail support, fish-skin (12), the first joint, second joint, the 3rd joint, the first interlock dish (13), the second interlock dish (14), steering wheel connecting element (15), tail fin folder (16), described tail fin comprises tail fin sheet (17), tail fin plug-in unit (18), described pectoral fin comprises left pectoral fin sheet (19), right pectoral fin sheet (20), the one side of described intermediate support plate (1) is provided with front annular boss, the another side of intermediate support plate (1) is provided with rear annular boss, described left head capsule (2) and right head capsule (3) form head shell, head shell is fixed on the outer ring surface of front annular boss, head shell inner hollow forms head cavity, trapezoidal dividing plate (4) is located at head cavity middle part head cavity is divided into upper and lower two parts, trapezoidal dividing plate (4) one end is fixed in the one side of intermediate support plate (1), trapezoidal dividing plate (4) below is fixed with pectoral fin steering wheel bearing (5), on pectoral fin steering wheel bearing (5), be fixed with pectoral fin steering wheel (6), the output shaft of pectoral fin steering wheel (6) is connected with the drive crank of plane double rocker mechanism (7), the driven rocking bar of plane double rocker mechanism (7) is connected with pectoral fin axle (8), pectoral fin axle strut member (9) is fixed in the one side of intermediate support plate (1), pectoral fin axle strut member (9) is provided with axis hole, pectoral fin axle (8) is through axis hole, pectoral fin axle (8) two ends pass respectively left head capsule (2), right head capsule (3), pectoral fin axle (8) left end is connected with left pectoral fin sheet (19), and right-hand member is connected with right pectoral fin sheet (20),
The first described joint, second joint, the 3rd joint includes a steering engine seat (21), a steering wheel (22), a U-shaped attaching parts (23), steering wheel (22) is fixed on steering engine seat (21), one of U-shaped attaching parts (23) is connected with steering wheel (22), the other end of U-shaped attaching parts (23) is connected with steering engine seat (21), between the first joint and second joint, be provided with the first interlock dish (13), between second joint and the 3rd joint, be provided with the second interlock dish (14), the U-shaped attaching parts in the first joint, the steering engine seat of second joint is connected by the first interlock dish (13), the U-shaped attaching parts of second joint, the steering engine seat in the 3rd joint is connected by the second interlock dish (14), steering wheel connecting element (15) is fixed on the another side of intermediate support plate (1), steering wheel connecting element (15) is connected with the steering engine seat in the first joint, the U-shaped attaching parts in the 3rd joint is connected with tail fin folder (16), tail fin folder (16) is connected with tail fin plug-in unit (18), tail fin sheet (17) is inserted on tail fin plug-in unit (18),
Described chain tail support is by the first support ring (24), a plurality of midship mounting rings (10), last support ring (11) forms, the first support ring (24) is fixed on the outer ring surface of rear annular boss of intermediate support plate (1), the end that last support ring (11) is tail support, each support ring is hinged between two.
2. the machine fish with independent chain tail support according to claim 1, is characterized in that described the first support ring (24) is provided with towards a side of fish tail the laterally zygomorphic step surface stretching out, and step surface is provided with pin-and-hole; Each support ring in described midship mounting ring (10) is provided with towards a side of fish head the laterally zygomorphic step surface stretching out, and step surface is provided with bearing pin, towards a side of fish tail, is provided with the laterally zygomorphic step surface stretching out, and step surface is provided with pin-and-hole; Described last support ring (11) is provided with towards a side of fish head the laterally zygomorphic step surface stretching out, and step surface is provided with bearing pin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420109525.4U CN203780783U (en) | 2014-03-12 | 2014-03-12 | Robot fish provided with independent chain-shaped tail support |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420109525.4U CN203780783U (en) | 2014-03-12 | 2014-03-12 | Robot fish provided with independent chain-shaped tail support |
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| Publication Number | Publication Date |
|---|---|
| CN203780783U true CN203780783U (en) | 2014-08-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420109525.4U Expired - Fee Related CN203780783U (en) | 2014-03-12 | 2014-03-12 | Robot fish provided with independent chain-shaped tail support |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203780783U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106005317A (en) * | 2016-05-16 | 2016-10-12 | 浙江大学 | Automatic fish school chasing robot fish for fish school breeding industry and control method thereof |
-
2014
- 2014-03-12 CN CN201420109525.4U patent/CN203780783U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106005317A (en) * | 2016-05-16 | 2016-10-12 | 浙江大学 | Automatic fish school chasing robot fish for fish school breeding industry and control method thereof |
| CN106005317B (en) * | 2016-05-16 | 2017-11-17 | 浙江大学 | Autonomous pursuit shoal of fish machine fish and its control method for shoal of fish aquaculture |
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Legal Events
| 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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140820 Termination date: 20170312 |