CN205872412U - Bionical machine fish tail fin contained angle and focus change mechanism - Google Patents
Bionical machine fish tail fin contained angle and focus change mechanism Download PDFInfo
- Publication number
- CN205872412U CN205872412U CN201620669165.2U CN201620669165U CN205872412U CN 205872412 U CN205872412 U CN 205872412U CN 201620669165 U CN201620669165 U CN 201620669165U CN 205872412 U CN205872412 U CN 205872412U
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- China
- Prior art keywords
- tail fin
- balancing weight
- gear
- rack
- fish
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Abstract
The utility model discloses a bionical machine fish tail fin contained angle and focus change mechanism, including shell, lead screw, guide arm, slider, balancing weight, rack, gear, axle and tail fin, guide arm, rack, gear, tail fin are about lead screw symmetrical arrangement. Principle that the rotation that utilizes the lead screw drove the back -and -forth movement of slider, balancing weight and rack make the tail fin contained angle cruise and charge mode between change to the focus automatic adjustment of machine fish is made because of the removal of balancing weight. Need be when cruising the state when bionical machine fish, lead screw forward rotation drives the balancing weight and the rack travels forward, and the motion of rack drives the rotatory tail fin that makes of gear inclines and the focus antedisplacement for the fish after one's death, thus the stable state of cruising that reaches of messenger fish body keep balance, when bionical machine fish need be in the charged state, lead screw reverse rotation drove the balancing weight and the rack moves backward, and the motion of rack drives the gear, and rotatory make tail fin perpendicular to fish body and the focus moves backward, thereby make the stable charged state that reaches of fish body keep balance.
Description
Technical field
The present invention relates to a kind of bionic machine fishtail fin angle and center of gravity varying mechanism, especially relate to a kind of based on vibration
The bionic machine fish that hydrofoil sea (damp) stream can generate electricity is at the tail fin angle cruised and switch between charge mode and center of gravity dynamo-electric machine
Structure.
Background technology
Bionic machine fish is used primarily in the fields such as the detection of marine environment.Machine fish uses motor to drive mostly at present,
Work is carried out by the energy of deposit itself.It is limited to the technology of current accumulator, the limited energy of storage, cause bionic machine fish
Flying power poor.Therefore want to extend the flying power of bionic machine fish, improve its use space further, it is necessary to solve
Certainly this bottleneck problem of the energy, if bionic machine fish self can utilize ocean energy to carry out supplementing the energy just can solve this problem.
The bionic machine fish of self band generating function has two kinds of working methods, mode of i.e. cruising and self-charging mode, these two kinds work
Under mode, the angle between tail fin and fish body needs conversion, simultaneously in order to maintain the stability of bionic machine fish, and the weight of machine fish
The heart needs to adjust along with the change of angle, and the present invention so produces.
Summary of the invention
The technical problem to be solved is, realizes cruising and conversion between self-charging pattern for bionic machine fish
Thering is provided a kind of tail fin angle and center of gravity varying mechanism, when bionic machine fishtail fin is in the state of cruising, (tail fin is relative to fish after one's death
Incline) time, make tail fin center of gravity move forward, motor drives tail fin to swing, and gives offer power of cruising；When bionic machine fishtail fin is in capacitation
During (self-charging) state (tail fin is perpendicular to fish body), move after making tail fin center of gravity, utilize tail fin vibration to send out under (damp) the stream effect of sea
Electricity, it is achieved self-charging energy storage.
For reaching the technic relization scheme of the above-mentioned purpose present invention it is: a kind of bionic machine fishtail fin angle of design and center of gravity
Varying mechanism, including shell, screw mandrel, guide rod, slide block, balancing weight, tooth bar, gear, axle, tail fin, described screw mandrel is placed in shell,
Described screw mandrel passes slide block and balancing weight, and described slide block and balancing weight have screw hole and guide rod hole, described slide block and counterweight
Block keeps movable by pair of guide rods constraint, and described slide block fixes relative position with balancing weight by a pair tooth bar, described
A pair pinion rotation of a pair rack drives, described gear is arranged symmetrically with about screw mandrel and is mounted on an axle, and described axle is fixing to be connected
On the connecting plate of tail fin and be arranged in the fixing hole of shell, equipped with bearing in described fixing hole.
Described tail fin is symmetrical arranged about screw mandrel.
A kind of bionic machine fishtail fin angle of the present invention and center of gravity varying mechanism are arranged on the afterbody of bionic machine fish, profit
With the principle of movement before and after rotational band movable slider, balancing weight and the tooth bar of screw mandrel make tail fin angle cruise and charge mode it
Between change, and make the center of gravity of machine fish automatically adjust due to moving of balancing weight.When bionic machine fish needs to be in cruise
During state, screw mandrel rotates forward drive balancing weight and tooth bar travels forward, and the motion driven gear of tooth bar rotates and makes tail fin phase
Fish is inclined after one's death and center of gravity reach, make fish body keep balance and stability thus reach the state of cruising；When bionic machine fish needs place
When charged state, screw mandrel reversely rotates and drives balancing weight and tooth bar rearward movement, and the motion driven gear of tooth bar rotates and makes
Tail fin is perpendicular to fish body and moves after center of gravity, makes fish body keep balance and stability thus reaches charged state.
A kind of bionic machine fishtail fin angle of the present invention and center of gravity varying mechanism feature are as follows:
1, a kind of bionic machine fishtail fin angle and the center of gravity varying mechanism of the present invention is made by increasing the coordination of balancing weight
With, it is ensured that bionic machine fish automatically adjusts center of gravity when different station works, and fish body is more stable.
2, a kind of bionic machine fishtail fin angle of the present invention and the screw mandrel balance weight mechanism of center of gravity varying mechanism can realize
Being accurately positioned of tail fin two stations (pattern of cruising and charge mode), efficiency is high.
Accompanying drawing explanation
The concrete structure of the present invention is given by below example and accompanying drawing thereof.
Fig. 1 is one bionic machine fishtail fin angle of the present invention and center of gravity varying mechanism overall structure schematic diagram.
Fig. 2 is shell schematic diagram of the present invention.
Fig. 3 is screw mandrel balancing weight structural scheme of mechanism of the present invention.
Fig. 4 is present invention slider schematic diagram.
Fig. 5 is the pinion and rack schematic diagram that the present invention removes shell.
Detailed description of the invention
Below with reference to accompanying drawing, a kind of bionic machine fishtail fin angle and the center of gravity varying mechanism of the present invention are made further
Detailed description.
See Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, a kind of bionic machine fishtail fin angle of this invention and center of gravity dynamo-electric machine
Structure, including shell (1), screw mandrel (2), guide rod (3), slide block (4), balancing weight (5), tooth bar (6), gear (7), axle (8), tail fin
(9), described shell (1) comprises connecting hole (11), fixed cover (12) and mating holes (13), equipped with axle in described fixed cover (12)
Hold, be cased with screw mandrel (2), described screw mandrel (2) and guide rod (3) between described connecting hole (11) and mating holes (13) and be jointly interspersed in one
To in slide block (4) and balancing weight (5), described slide block (4) has screw hole (41), guide rod hole (42) and pilot hole (43), institute
Tooth bar (6) is fixed together with screw by the pilot hole (43) stating slide block (4), and described tooth bar (6) engages with gear (7), described tooth
Wheel (7) is arranged on axle (8), and described axle (8) is fixedly connected on the connecting plate (91) of tail fin (9).
Described axle (8) is arranged in the fixed cover (12) on shell (1), described guide rod (3), tooth bar (6), gear (7), axle
(8) and tail fin (9) is respectively arranged with two, it is arranged symmetrically with about screw mandrel (2).
Claims (1)
1. bionic machine fishtail fin angle and a center of gravity varying mechanism, including shell (1), screw mandrel (2), guide rod (3), slide block
(4), balancing weight (5), tooth bar (6), gear (7), axle (8), tail fin (9), described shell (1) comprises connecting hole (11), fixed cover
(12) and mating holes (13), equipped with bearing in described fixed cover (12), it is cased with between described connecting hole (11) and mating holes (13)
Screw mandrel (2), described screw mandrel (2) and guide rod (3) are interspersed in a pair slide block (4) and balancing weight (5) jointly, on described slide block (4)
Have screw hole (41), guide rod hole (42) and pilot hole (43), the pilot hole (43) of described slide block (4) together with screw by tooth bar
(6) fixing, described tooth bar (6) engages with gear (7), and described gear (7) is arranged on axle (8), and described axle (8) is fixedly connected on
On the connecting plate (91) of tail fin (9), described axle (8) is arranged in the fixed cover (12) on shell (1), described guide rod (3), tooth bar
(6), gear (7), axle (8) and tail fin (9) be respectively arranged with two, be arranged symmetrically with about screw mandrel (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620669165.2U CN205872412U (en) | 2016-06-30 | 2016-06-30 | Bionical machine fish tail fin contained angle and focus change mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620669165.2U CN205872412U (en) | 2016-06-30 | 2016-06-30 | Bionical machine fish tail fin contained angle and focus change mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205872412U true CN205872412U (en) | 2017-01-11 |
Family
ID=57692950
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620669165.2U Expired - Fee Related CN205872412U (en) | 2016-06-30 | 2016-06-30 | Bionical machine fish tail fin contained angle and focus change mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205872412U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105905265A (en) * | 2016-06-30 | 2016-08-31 | 上海海洋大学 | Included angle and gravity center varying mechanism for tail fins of bio-robotic fish |
| CN109733576A (en) * | 2019-03-04 | 2019-05-10 | 沈阳航天新光集团有限公司 | For ornamental fish humanoid robot |
| CN112224368A (en) * | 2020-10-29 | 2021-01-15 | 西湖大学 | Gravity center adjusting mechanism for underwater vehicle and vehicle applying same |
| CN113060262A (en) * | 2021-04-25 | 2021-07-02 | 上海交通大学 | Flapping wing power generation and driving integrated marine robot and working method |
| CN113995339A (en) * | 2021-10-25 | 2022-02-01 | 湖北东燊科技有限公司 | Based on balanced structure for thing networking cleaning robot |
-
2016
- 2016-06-30 CN CN201620669165.2U patent/CN205872412U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105905265A (en) * | 2016-06-30 | 2016-08-31 | 上海海洋大学 | Included angle and gravity center varying mechanism for tail fins of bio-robotic fish |
| CN109733576A (en) * | 2019-03-04 | 2019-05-10 | 沈阳航天新光集团有限公司 | For ornamental fish humanoid robot |
| CN112224368A (en) * | 2020-10-29 | 2021-01-15 | 西湖大学 | Gravity center adjusting mechanism for underwater vehicle and vehicle applying same |
| CN112224368B (en) * | 2020-10-29 | 2022-02-22 | 西湖大学 | Gravity center adjusting mechanism for underwater vehicle and vehicle applying same |
| CN113060262A (en) * | 2021-04-25 | 2021-07-02 | 上海交通大学 | Flapping wing power generation and driving integrated marine robot and working method |
| CN113995339A (en) * | 2021-10-25 | 2022-02-01 | 湖北东燊科技有限公司 | Based on balanced structure for thing networking cleaning robot |
| CN113995339B (en) * | 2021-10-25 | 2023-02-24 | 湖北东燊科技有限公司 | Based on balanced structure for thing networking cleaning robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20170111 Termination date: 20170630 |