CN203921175U - A kind of machine fish tail fin actuating device and emulation machine fish - Google Patents
A kind of machine fish tail fin actuating device and emulation machine fish Download PDFInfo
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- CN203921175U CN203921175U CN201420256206.6U CN201420256206U CN203921175U CN 203921175 U CN203921175 U CN 203921175U CN 201420256206 U CN201420256206 U CN 201420256206U CN 203921175 U CN203921175 U CN 203921175U
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- tail swing
- machine fish
- tail
- magnet coil
- actuating device
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- 241000251468 Actinopterygii Species 0.000 title claims abstract description 49
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 12
- 238000005265 energy consumption Methods 0.000 abstract description 3
- 239000011664 nicotinic acid Substances 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000011835 investigation Methods 0.000 description 2
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- 239000000956 alloy Substances 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Abstract
The utility model relates to machine fish technical field, discloses a kind of machine fish tail fin actuating device, and it comprises connection bracket, tail swing support, magnet coil and electromagnet, described connection bracket comprises rack body and is located at the support side arm of described rack body both sides, the outer wall of described magnet coil is fixedly connected with the inner side of two described support side arms, the tail swing center link that described tail swing support comprises tail swing main body and is located at the tail swing side lever of described tail swing main body both sides and is located at described tail swing main body middle part, described electromagnet is fixedly connected on the top of described tail swing center link, described electromagnet is along the inner space into described magnet coil that extends axially of described magnet coil, described tail swing side lever is rotatably connected by attaching parts with corresponding described support side arm.The invention also discloses a kind of emulation machine fish.The utility model can be realized the machine fish swing state as true fish under water, and energy consumption is low, can be for a long time without external source work.
Description
Technical field
The utility model relates to bionic machine fish technical field, particularly relates to a kind of machine fish tail fin actuating device and emulation machine fish.
Background technology
Bionic machine fish, as a kind of carrier under water, has demonstrated great preceence and practicality at aspects such as hydrospace detection, accident rescue and ocean sightseeings, and the appearance of bionic machine fish has further expanded the mankind to the exploration degree of depth of ocean.
Machine fish moves about and surveys in complex environment under water, it has multiple type of drive as carrier under water, comprise that motor drives, physical construction drives, memorial alloy drives, these several type of drive are all that solid foundation has been established in the development of machine fish, install corresponding sensor or investigation device on machine fish, just can carry out the tasks such as investigation, detection or personnel's rescue under water.
But traditional type of drive for machine fish the application in some comparatively complicated underwater environments totally unfavorable, as motor drives the machine fish of propeller type as run into underwater environment muddiness, in the situations such as sticky particle thing is many, will make its screw propeller the inside be mingled with foreign matter, thereby it is stopped operating, the more serious electrical motor that also can make burns out, and circuit card such as burns out at the serious consequence.
Utility model content
(1) technical matters that will solve
The technical problems to be solved in the utility model is how to realize the machine fish swing state as true fish under water.
(2) technical scheme
In order to solve the problems of the technologies described above, the utility model provides a kind of machine fish tail fin actuating device, and it comprises connection bracket, tail swing support, magnet coil and electromagnet;
Described connection bracket comprises rack body and is located at the support side arm of described rack body both sides, the space that described rack body and support side arm form forms the mounting groove of described magnet coil, and the outer wall of described magnet coil is fixedly connected with the inner side of two described support side arms;
The tail swing center link that described tail swing support comprises tail swing main body and is located at the tail swing side lever of described tail swing main body both sides and is located at described tail swing main body middle part, described electromagnet is fixedly connected on the top of described tail swing center link, described electromagnet is the inner space into described magnet coil that extends axially along described magnet coil by described tail swing center link, and described tail swing side lever is rotatably connected by attaching parts with corresponding described support side arm.
Wherein, the inner side of the outer wall of described magnet coil and two described support side arms is connected together by gluing.
Wherein, the distance between the described tail swing side lever of described tail swing support both sides is greater than the distance between the described support side arm of described rack body both sides.
Wherein, the end of described support side arm is provided with vertical through holes, and the end correspondence of described tail swing side lever is provided with vertical through holes, and described tail swing side lever and described support side arm are rotatably connected by bearing pin.
Wherein, in described tail swing main body, a side relative with described tail swing center link is provided with tail fin pipe link.
Wherein, this actuating device also comprises external drive circuit, and described external drive circuit is connected with described magnet coil.
The utility model also provides a kind of emulation machine fish, and it comprises the machine fish tail fin actuating device as described in above-mentioned arbitrary technical scheme.
(3) beneficial effect
Compared with prior art, the utlity model has following advantage:
A kind of machine fish tail fin actuating device and emulation machine fish that the utility model provides, described machine fish tail fin actuating device adopts installs magnet coil in connection bracket, on tail swing support, electromagnet is set, and electromagnet is extended into the inner space of described magnet coil, when magnet coil is switched on, portion produces magnetic field within it, now described magnet coil will be with motor magnet to rotate, thereby drive the described tail swing support being connected with described electromagnet to rotate, realize thus machine fish and can realize the swing state as true fish in water, and energy consumption is low, can be under water for a long time without external source work.
Accompanying drawing explanation
Fig. 1 is the block diagram of a kind of machine fish tail fin of the utility model actuating device;
Fig. 2 is the block diagram of another angle of Fig. 1.
In figure: 1: connection bracket; 11: rack body; 12: support side arm; 2: tail swing support; 21: tail swing main body; 22: tail swing side lever; 23: tail swing center link; 24: tail fin pipe link; 3: magnet coil; 4: electromagnet; 5: bearing pin.
The specific embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present utility model is described in further detail.Following instance is used for illustrating the utility model, but is not used for limiting scope of the present utility model.
In description of the present utility model, it should be noted that, term " " center ", " longitudinally ", " laterally ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end " " interior ", orientation or the position relationship of indications such as " outward " are based on orientation shown in the drawings or position relationship, only the utility model and simplified characterization for convenience of description, rather than device or the element of indication or hint indication must have specific orientation, with specific orientation structure and operation, therefore can not be interpreted as restriction of the present utility model.
In description of the present utility model, it should be noted that, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection " should be interpreted broadly, and for example, can be to be fixedly connected with, and can be also to removably connect, or connect integratedly; Can be mechanical connection, can be to be also electrically connected to; Can be to be directly connected, also can indirectly be connected by intermediary, can be the connection of two element internals.For the ordinary skill in the art, can particular case understand the concrete meaning of above-mentioned term in the utility model.
As depicted in figs. 1 and 2, a kind of machine fish tail fin actuating device providing for the utility model, it comprises connection bracket 1, tail swing support 2, magnet coil 3 and electromagnet 4, described connection bracket 1 is connected for the fish body with machine fish, described tail swing support 2 is for being connected with the tail fin of machine fish, and described connection bracket 1 and tail swing support 2 interconnect for supporting described magnet coil 3 and electromagnet 4;
Described magnet coil 3 is fixed in described connection bracket 1, described connection bracket 1 comprises rack body 11 and is located at the support side arm 12 of described rack body 11 both sides, the space that described rack body 11 and support side arm 12 form forms the mounting groove of described magnet coil 3, and the outer wall of described magnet coil 3 is fixedly connected with the inner side of two described support side arms 12;
Described electromagnet 4 is fixed on described tail swing support 2, described tail swing support 2 comprises tail swing main body 21 and is located at the tail swing side lever 22 of described tail swing main body 21 both sides and the tail swing center link 23 of being located at described tail swing main body 21 middle parts, preferably, described tail swing side lever 22 and tail swing center link 23 be arranged in parallel, described electromagnet 4 is fixedly connected on the top of described tail swing center link 23, described electromagnet 4 is extending axially into the inner space of described magnet coil 3 along described magnet coil 3 by described tail swing center link 23, described tail swing side lever 22 is rotatably connected by attaching parts with corresponding described support side arm 12, for realizing described connection bracket 1, be connected with the swing of tail swing support 2, so that machine fish is turned under water neatly.
The inner side of the outer wall of described magnet coil 3 and two described support side arms 12 can be connected together by gluing, also can be by other connection mode.
The modes such as described electromagnet 4 also can be by gluingly connecing, welding are connected with described tail swing center link 23.
For the ease of being connected between described connection bracket 1 and described tail swing support 2, be preferably the distance between the described support side arm 12 that distance between the described tail swing side lever 22 of described tail swing support 2 both sides is greater than described rack body 11 both sides.
Described connection bracket 1 with the concrete connection mode of described tail swing support 2 can be: the end of described support side arm 12 is provided with vertical through holes, the end correspondence of described tail swing side lever 22 is provided with the vertical through holes that size is identical, described tail swing side lever 22 is rotatably connected by bearing pin 5 with the vertical through holes on described support side arm 12, simple in structure, easy to operate.
A side relative with described tail swing center link 23 in described tail swing main body 21 is provided with tail fin pipe link 24, described tail fin pipe link 24 preferably with described tail swing center link 23 point-blank, described tail fin pipe link 24 is for connecting the tail fin of machine fish.
Described machine fish tail fin actuating device also comprises external drive circuit, described external drive circuit is connected with described magnet coil 3, be used to described magnet coil 3 power supplies, particularly, utilize described external drive circuit that the square-wave voltage of certain frequency is provided, and this voltage signal is input in described magnet coil 3, after described magnet coil 3 energisings, portion produces magnetic field within it, and magnetic direction changes with the change of energising direction, now described magnet coil 3 will be with motor magnet 4 to rotate, thereby drive the tail swing center link 23 being connected with described electromagnet 4 to rotate, and finally drive described tail swing support 2 to rotate around bearing pin 5, thereby drive subsidiary tail fin to swing below, by this kind of design, can realize carrier swing state as true fish in water under water, and energy consumption is little, can realize machine fish long passive work in water.
The utility model also provides a kind of emulation machine fish, and it comprises the machine fish tail fin actuating device as described in above-mentioned arbitrary technical scheme.
The utility model is simple in structure, is easy to making, use, maintenance and assembly and disassembly; Next good stability; And can need to carry out parallel connection expansion to member according to concrete, to reach the structure meeting the demands.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; 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 (7)
1. a machine fish tail fin actuating device, is characterized in that, comprises connection bracket, tail swing support, magnet coil and electromagnet;
Described connection bracket comprises rack body and is located at the support side arm of described rack body both sides, the space that described rack body and support side arm form forms the mounting groove of described magnet coil, and the outer wall of described magnet coil is fixedly connected with the inner side of two described support side arms;
The tail swing center link that described tail swing support comprises tail swing main body and is located at the tail swing side lever of described tail swing main body both sides and is located at described tail swing main body middle part, described electromagnet is fixedly connected on the top of described tail swing center link, described electromagnet is the inner space into described magnet coil that extends axially along described magnet coil by described tail swing center link, and described tail swing side lever is rotatably connected by attaching parts with corresponding described support side arm.
2. machine fish tail fin actuating device as claimed in claim 1, is characterized in that, the inner side of the outer wall of described magnet coil and two described support side arms is connected together by gluing.
3. machine fish tail fin actuating device as claimed in claim 1, is characterized in that, the distance between the described tail swing side lever of described tail swing support both sides is greater than the distance between the described support side arm of described rack body both sides.
4. machine fish tail fin actuating device as claimed in claim 1, it is characterized in that, the end of described support side arm is provided with vertical through holes, and the end correspondence of described tail swing side lever is provided with vertical through holes, and described tail swing side lever and described support side arm are rotatably connected by bearing pin.
5. machine fish tail fin actuating device as claimed in claim 1, is characterized in that, a side relative with described tail swing center link in described tail swing main body is provided with tail fin pipe link.
6. machine fish tail fin actuating device as claimed in claim 1, is characterized in that, also comprises external drive circuit, and described external drive circuit is connected with described magnet coil.
7. an emulation machine fish, is characterized in that, it comprises the machine fish tail fin actuating device as described in claim 1-6 any one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420256206.6U CN203921175U (en) | 2014-05-19 | 2014-05-19 | A kind of machine fish tail fin actuating device and emulation machine fish |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420256206.6U CN203921175U (en) | 2014-05-19 | 2014-05-19 | A kind of machine fish tail fin actuating device and emulation machine fish |
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| Publication Number | Publication Date |
|---|---|
| CN203921175U true CN203921175U (en) | 2014-11-05 |
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| CN201420256206.6U Expired - Fee Related CN203921175U (en) | 2014-05-19 | 2014-05-19 | A kind of machine fish tail fin actuating device and emulation machine fish |
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| CN (1) | CN203921175U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN105711785A (en) * | 2016-04-14 | 2016-06-29 | 山东大学 | Flow rate self-adaptive fish-simulating underwater thruster |
| CN107089311A (en) * | 2017-06-15 | 2017-08-25 | 肖志东 | A kind of bathyscaph under water |
| CN107344025A (en) * | 2017-06-05 | 2017-11-14 | 中国矿业大学(北京) | A kind of two degrees of freedom drive device and the equipment comprising the device |
| CN109720527A (en) * | 2019-01-31 | 2019-05-07 | 中国矿业大学(北京) | A kind of machine fish and its paths planning method |
| CN112874739A (en) * | 2021-02-05 | 2021-06-01 | 浙江大学 | Quick swing type underwater propulsion device based on magnetic driving mechanism |
-
2014
- 2014-05-19 CN CN201420256206.6U patent/CN203921175U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN105711785A (en) * | 2016-04-14 | 2016-06-29 | 山东大学 | Flow rate self-adaptive fish-simulating underwater thruster |
| CN107344025A (en) * | 2017-06-05 | 2017-11-14 | 中国矿业大学(北京) | A kind of two degrees of freedom drive device and the equipment comprising the device |
| CN107089311A (en) * | 2017-06-15 | 2017-08-25 | 肖志东 | A kind of bathyscaph under water |
| CN109720527A (en) * | 2019-01-31 | 2019-05-07 | 中国矿业大学(北京) | A kind of machine fish and its paths planning method |
| CN112874739A (en) * | 2021-02-05 | 2021-06-01 | 浙江大学 | Quick swing type underwater propulsion device based on magnetic driving mechanism |
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| Date | Code | Title | Description |
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| 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: 20141105 Termination date: 20160519 |
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| CF01 | Termination of patent right due to non-payment of annual fee |