CN203902829U - Low consumption magnetomotive propulsion mechanism for biomimetic robotic fish - Google Patents
Low consumption magnetomotive propulsion mechanism for biomimetic robotic fish Download PDFInfo
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- CN203902829U CN203902829U CN201420202746.6U CN201420202746U CN203902829U CN 203902829 U CN203902829 U CN 203902829U CN 201420202746 U CN201420202746 U CN 201420202746U CN 203902829 U CN203902829 U CN 203902829U
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Abstract
The utility model discloses a low consumption magnetomotive propulsion mechanism for biomimetic robotic fish. The magnetomotive propulsion mechanism comprises a body which is a magnetomotive tail fin; the magnetomotive tail fin comprises a U-shaped connecting frame, a magnetic induction coil, a ferromagnetic swing and a crescent-shaped flexible tail fin; the magnetic induction coil is formed by winding a silk covered wire on a PVC bobbin; the ferromagnetic swing adopts two circular ferromagnetic permanent magnets which are mounted at a central position of a rotating shaft in a pulling manner; the two ends of the rotating shaft are mounted on two small bearings; the inner rings of the small bearings are locked by the tail ends of the rotating shaft through block pins; the U-shaped connecting frame connects a fish body and the crescent-shaped flexible tail fin; the crescent-shaped flexible tail fin comprises a tail handle and a fin surface. The magnetomotive propulsion mechanism is simple in structure, light and small in size, and convenient to process, is provided with excellent insulating waterproof performance, dispenses with any waterproof protection, greatly reduces complex rate of the mechanism, adopts an electromagnetic induction theory to realize zero-noise driving, and is high in external efficiency and relatively wide in running voltage range.
Description
Technical field
The utility model relates to a kind of magnetic motive force propulsive mechanism, is specifically related to a kind of magnetic motive force propulsive mechanism of low energy consumption bionic machine fish.
Background technology
Along with the mankind are to the continually developing of marine resources, the Important Platform that autonomous underwater robot has slowly become the mankind carries out ocean exploration and research.And traditional autonomous underwater robot adopts the conventional propeller of the principle such as screw propeller and vane type mostly, these angle of rake propulsion coefficienies are generally hovered at 40%-60%, in addition, huge structure, noise are large, large to environmental perturbation, very flexible and the disguised shortcoming such as poor, have restricted the application of conventional underwater propeller.At present increasing autonomous underwater robot has been abandoned traditional screw propeller propulsion mode, and adopts the mode of moving about of imitating the performance-oriented fluctuation propelling of fish to produce propulsive force.Fish have been gone through the evolution of at least 5 hundred million years in the Nature, form unique pattern of moving about under water, have the advantages that sport efficiency is high, maneuvering performance is high and noise is little.So the mode of moving about of imitating fish not only can improve efficiency of navigation and the maneuvering performance of under-water robot, more the development of under-water robot and application have improved new thinking and direction.
Bionic machine fish research is at present the focus of domestic and international under-water robot research, and major part all adopts motor-driven pattern, also has some research institutions to adopt the intellectual materials such as marmem, piezoceramic as driver element.As: the RoboTuna of america's MIT development and follow-up fish-swimming imitating propulsor, Japan's transport economizes the PF series machine fish of marine technology Research Institute, the bionic machine carp of Essex university of Britain development, and the fluctuation fin propelling unit of Northwestern Univ USA's development etc.Domestic bionic machine fish mainly contains bionic machine fish and the shape memory alloy bionic fin of SPC series submersible, the bionical bluefin tuna of Harbin Engineering University and the shape memory alloy bionic cuttlefish of Harbin Institute of Technology and the China Science & Technology University of bionic machine fish, the BJ University of Aeronautics & Astronautics of the machine fish of Peking University and bionical dolphin, Institute of Automation, CAS.
The bionic machine fish that above-mentioned motor drives or intellectual material drives, mainly exists volume redundancy, is difficult to waterproof, controls complicated problem, and the particularly waterproof problem of motor rotary drive mechanism brings very large restriction to the application of bionic machine fish.For above problem, the utility model proposes the bionic machine fish propulsive mechanism of a kind of novel employing magnetic motive force as power, energy consumption is low, does not need to consider the waterproof problem of driver train, and controls convenient and simple.
Utility model content
The purpose of this utility model is to overcome the problem that prior art exists, and a kind of magnetic motive force propulsive mechanism of low energy consumption bionic machine fish is provided.
For realizing above-mentioned technical purpose, reach above-mentioned technique effect, the utility model is achieved through the following technical solutions:
A kind of magnetic motive force propulsive mechanism of low energy consumption bionic machine fish, comprise that body is magnetic motive force tail fin, described magnetic motive force tail fin comprises U-shaped link span, magnetic induction coil, strong magnetic pendulum and crescent flexible caudal fin, described magnetic induction coil is wrapped in and is formed on PVC bobbin by silk-covered wire, described strong magnetic pendulum adopts two circular strong magnetic permanent magnet adhesives to be arranged on the center of S. A., the two ends of described S. A. are arranged on two little bearings, and described rotation the tip of the axis pins described little bearing inner ring by bayonet lock, described U-shaped link span is connected fish body with described crescent flexible caudal fin, described in it, crescent flexible caudal fin is made up of caudal peduncle and fin face.
Further, described U-shaped link span adopts duralumin thin plate to process, and the string diameter of described silk-covered wire is 0.2mm.
Preferably, described mechanism adopts electromagnetic kinetic swing flowing mode to drive, and the mode that adopts coil electromagnetism induction and permanent magnetic strong magnetic body to combine, and has good electric conductivity and surface insulated, does not need to do any water-proofing treatment in water.
Further, the fixed form that described strong magnetic pendulum and described crescent flexible caudal fin employing magnetic field adhesive and silica gel are bonding, described crescent flexible caudal fin is half moon-shaped flexible latex plate, in swing process, has the suitable angle of striking waters by distortion, can obtain larger propelling thrust.
The beneficial effects of the utility model:
Adopt technical solutions of the utility model, simple in structure, volume is gently little, easy to process; Magnetic induction coil is to adopt common enamel wire coiling to form, and has good insulative water-proof function, makes to process simple and convenient; The utility model, without any need for waterproofing protection, is directly placed in water and just can works, and greatly reduces the complexity of mechanism; The utility model is not used motor, adopts electromagnetic induction principle, realizes zero noise and drives; Propulsion coefficient is high; As compared with drive source, energy consumption power of the present utility model is only 1/4 of steering wheel with conventional steering wheel, and in other words, propulsion coefficient is 4 times of steering wheel, and meanwhile, the operating voltage range of magnetic motive force propulsive mechanism is wider, can adapt to from 6V-12V.
Brief description of the drawings
Fig. 1 is the constructional drawing of the magnetic motive force propulsive mechanism of a kind of low energy consumption bionic machine fish of the utility model;
Fig. 2 is the structure cutaway view of the magnetic motive force propulsive mechanism of a kind of low energy consumption bionic machine fish of the utility model;
Fig. 3 is the motion control schematic diagram that the utility model provides the propulsive force of advancing;
Fig. 4 is the motion control schematic diagram that the utility model provides right-hand corner power;
Fig. 5 is the motion control schematic diagram that the utility model provides turnon left power.
Number in the figure explanation: 1, fish body, 2, magnetic motive force tail fin, 3, U-shaped link span, 4, enamel wire, 5, PVC bobbin, 6, little bearing, 7, bayonet lock, 8, S. A., 9, strong magnetic permanent magnet, 10, crescent tail fin.
Detailed description of the invention
Below with reference to the accompanying drawings and in conjunction with the embodiments, describe the utility model in detail.
Shown in seeing figures.1.and.2, a kind of magnetic motive force propulsive mechanism of low energy consumption bionic machine fish, comprise that body is magnetic motive force tail fin 2, described magnetic motive force tail fin 2 comprises U-shaped link span 3, magnetic induction coil, strong magnetic pendulum and crescent flexible caudal fin 10, described magnetic induction coil is wrapped in and is formed on PVC bobbin 5 by silk-covered wire 4, described strong magnetic pendulum adopts two circular strong magnetic permanent magnet 9 adhesives to be arranged on the center of S. A. 8, the two ends of described S. A. 8 are arranged on two little bearings 6, and the end of described S. A. 8 pins described little bearing 6 inner rings by bayonet lock 7, described U-shaped link span 3 is connected fish body with described crescent flexible caudal fin 10, described in it, crescent flexible caudal fin 10 is made up of caudal peduncle and fin face.
Further, described U-shaped link span 3 adopts duralumin thin plate to process, and the string diameter of described silk-covered wire 4 is 0.2mm.
Preferably, described mechanism adopts electromagnetic kinetic swing flowing mode to drive, and the mode that adopts coil electromagnetism induction and permanent magnetic strong magnetic body to combine, and has good electric conductivity and surface insulated, does not need to do any water-proofing treatment in water.
Further, described strong magnetic pendulum and described crescent flexible caudal fin 10 adopt magnetic field adhesive and the bonding fixed form of silica gel, described crescent flexible caudal fin 10 is half moon-shaped flexible latex plates, in swing process, has the suitable angle of striking waters by distortion, can obtain larger propelling thrust.
Principle of the present utility model:
The utility model is developed based on electromagnetic induction principle, mainly comprises magnetic induction coil, strong magnetic pendulum and crescent tail fin 10.Described magnetic induction coil is to adopt the enamel wire 4 of string diameter 0.2mm to be closely entwined on PVC bobbin 5; Described strong magnetic pendulum is to adopt circular Ru-Fe-Mn strong magnet, is installed on the turning cylinder of the strength of a certain pole field of magnetic induction coil, changes polarity of the magnetic field by alternately changing the direction of current of coil, freely swings thereby realize left and right; Described crescent tail fin 10, caudal peduncle part adopts harder PVC thin plate to make, fin face adopts latex material to make, be connected on described strong magnetic pendulum, in the time replacing by direction the electric current changing in coil, strong magnetic pendulum will swing and strike waters with flexible caudal fin, produces the propulsive force of moving about forward.
As shown in Figure 3, the utility model provides the motion control of the propulsive force of advancing to be mainly divided into four beats, and 3.A is right quiescence (, upwards for right, being downwards left in figure), and 3.B is that left swing drives, and 3.C is left quiescence, and 3.D is that right pendulum drives.The direction of current of coil
ias shown in 3.E control signal figure, when in 3.A state, now in coil, do not access electric current, in the time swinging left, now coil access+
ielectric current, tail fin motion arrives Far Left, the left quiescence of propulsive mechanism in 3.C, in the time swinging to the right, now coil access-
ielectric current, tail fin motion arrives rightmost.So repeatedly, magnetic motive force propulsive mechanism just can be realized left and right and swing back and forth, and the power of pushing ahead is provided, simultaneously by changing coil current
isize and frequency, just can change the quick and amplitude swinging, thus the size of change propulsive force.
As shown in Figure 4, the utility model provides the motion control of right-hand rotation power to be mainly divided into four beats, and 4.A is right quiescence, and 4.B is that left swing drives, and 4.C is middle quiescence, and 4.D is that right pendulum drives.The direction of current of coil
ias shown in 4.E control signal figure, when in 4.A state, now in coil, do not access electric current, in the time swinging left, now coil access+
ielectric current, tail fin motion swings left and arrives midway location, the middle quiescence of propulsive mechanism in 4.C, in the time swinging to the right, now coil access-
ielectric current, tail fin motion arrives rightmost.So repeatedly, magnetic motive force propulsive mechanism just can be realized in right flank region and swinging back and forth, and the power bending to right is provided, simultaneously by changing coil current
isize and frequency, just can change the quick and amplitude swinging, thus the size of change angle of turn.This kind of situation is just that the time swinging to from left to right while advancing propelling is the same from the different of control signal of the above-mentioned situation of advancing, and the half that the time swinging left when right-hand corner just swings to the right, so flexible caudal fin just only swings back and forth in right flank region, thereby has realized right-hand corner.
As shown in Figure 5, the utility model provides the motion control of left-hand rotation power to be mainly divided into four beats, and 5.A is right quiescence, and 5.B is that left swing drives, and 5.C is middle quiescence, and 5.D is that right pendulum drives.This kind of situation is the same with the situation principle of above-mentioned right-hand corner, and just the direction of control signal is just the opposite.
The foregoing is only preferred embodiment of the present utility model, be not limited to the utility model, 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 amendment of doing, be equal to replacement, improvement etc., within all should being included in protection domain of the present utility model.
Claims (4)
1. the magnetic motive force propulsive mechanism of a low energy consumption bionic machine fish, comprise that body is magnetic motive force tail fin (2), it is characterized in that, described magnetic motive force tail fin (2) comprises U-shaped link span (3), magnetic induction coil, strong magnetic pendulum and crescent flexible caudal fin (10), described magnetic induction coil is wrapped in by silk-covered wire (4) that PVC bobbin (5) is upper to be formed, described strong magnetic pendulum adopts two circular strong magnetic permanent magnet (9) adhesives to be arranged on the center of S. A. (8), the two ends of described S. A. (8) are arranged on two little bearings (6), and the end of described S. A. (8) pins described little bearing (6) inner ring by bayonet lock (7), described U-shaped link span (3) is connected fish body with described crescent flexible caudal fin (10), described in it, crescent flexible caudal fin (10) is made up of caudal peduncle and fin face.
2. the magnetic motive force propulsive mechanism of low energy consumption bionic machine fish according to claim 1, is characterized in that, described U-shaped link span (3) adopts duralumin thin plate to process, and the string diameter of described silk-covered wire (4) is 0.2mm.
3. the magnetic motive force propulsive mechanism of low energy consumption bionic machine fish according to claim 1, is characterized in that, described mechanism adopts electromagnetic kinetic swing flowing mode to drive, and the mode that adopts coil electromagnetism induction and permanent magnetic strong magnetic body to combine.
4. the magnetic motive force propulsive mechanism of low energy consumption bionic machine fish according to claim 1, it is characterized in that, the fixed form that described strong magnetic pendulum and described crescent flexible caudal fin (10) employing magnetic field adhesive and silica gel are bonding, described crescent flexible caudal fin (10) is half moon-shaped flexible latex plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420202746.6U CN203902829U (en) | 2014-04-24 | 2014-04-24 | Low consumption magnetomotive propulsion mechanism for biomimetic robotic fish |
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|---|---|---|---|
| CN201420202746.6U CN203902829U (en) | 2014-04-24 | 2014-04-24 | Low consumption magnetomotive propulsion mechanism for biomimetic robotic fish |
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| CN203902829U true CN203902829U (en) | 2014-10-29 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103950525A (en) * | 2014-04-24 | 2014-07-30 | 苏州科技学院 | Low-energy-consumption magnetomotive propelling mechanism of bionic robot fish |
| CN105015702A (en) * | 2015-07-22 | 2015-11-04 | 成都信息工程大学 | Statistical method of energy consumption of robotic fish with push type tail fin |
| CN106428492A (en) * | 2016-11-09 | 2017-02-22 | 西北大学 | Bionic robotic fish |
| CN107458565A (en) * | 2017-07-19 | 2017-12-12 | 河南大学 | A kind of flexible body Biomimetic Fish and its drive control method |
| CN111319741A (en) * | 2020-03-31 | 2020-06-23 | 东华大学 | Bionic robot fish driving device |
| CN113104184A (en) * | 2021-04-24 | 2021-07-13 | 上海海洋大学 | Pump-shooting type exploration trolley |
-
2014
- 2014-04-24 CN CN201420202746.6U patent/CN203902829U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103950525A (en) * | 2014-04-24 | 2014-07-30 | 苏州科技学院 | Low-energy-consumption magnetomotive propelling mechanism of bionic robot fish |
| CN105015702A (en) * | 2015-07-22 | 2015-11-04 | 成都信息工程大学 | Statistical method of energy consumption of robotic fish with push type tail fin |
| CN105015702B (en) * | 2015-07-22 | 2017-04-12 | 成都信息工程大学 | Statistical method of energy consumption of robotic fish with push type tail fin |
| CN106428492A (en) * | 2016-11-09 | 2017-02-22 | 西北大学 | Bionic robotic fish |
| CN107458565A (en) * | 2017-07-19 | 2017-12-12 | 河南大学 | A kind of flexible body Biomimetic Fish and its drive control method |
| CN107458565B (en) * | 2017-07-19 | 2018-11-23 | 河南大学 | A kind of flexible body Biomimetic Fish and its drive control method |
| CN111319741A (en) * | 2020-03-31 | 2020-06-23 | 东华大学 | Bionic robot fish driving device |
| CN113104184A (en) * | 2021-04-24 | 2021-07-13 | 上海海洋大学 | Pump-shooting type exploration trolley |
| CN113104184B (en) * | 2021-04-24 | 2024-04-19 | 上海海洋大学 | Pump-jet type exploration trolley |
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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 |
Granted publication date: 20141029 Termination date: 20150424 |
|
| EXPY | Termination of patent right or utility model |