CN206068107U - A kind of bionic machine fish afterbody actuating device - Google Patents
A kind of bionic machine fish afterbody actuating device Download PDFInfo
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- CN206068107U CN206068107U CN201620656166.3U CN201620656166U CN206068107U CN 206068107 U CN206068107 U CN 206068107U CN 201620656166 U CN201620656166 U CN 201620656166U CN 206068107 U CN206068107 U CN 206068107U
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- gear
- arm
- actuating device
- bionic machine
- machine fish
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Abstract
This practicality provides a kind of bionic machine fish afterbody actuating device, belong to bionic machine fish technical field, including steering wheel, closure and fish tail, also include transverse gear, longitudinal gear, master arm, the first supporting table, swinging block, rocking arm, the second supporting table and enter water sensor, the power transmission shaft of described steering wheel is connected with transverse gear, transverse gear and longitudinal engaged gears, the connecting shaft of longitudinal gear is connected with master arm, master arm, rocking arm and slave arm are sequentially connected, and the other end of rocking arm is connected with fish tail by swinging block.This practicality has the beneficial effect that：Simple structure, designs ingenious, using crank cranking-block device, it is possible to achieve single steering engine and simple joint drive, and transmission efficiency, control are sensitive, and can facilitate the adjustment of adjusting amplitude scope and pendulum angle, and reliability is high.
Description
Technical field
This utility model is related to bionic machine fish technical field, more particularly to a kind of bionic machine fish afterbody actuating device.
Background technology
Bionics occupy in the design of robot under water as an of paramount importance subject in Robot Design field
Key player, by the research design to bionic machine fish, can be very good some for avoiding underwater robot propeller from advancing
Shortcoming, machine fish are exploring marine resources, collect marine information data, military to explore, public recreation, the aspect tool such as ocean rescue
There is extremely wide application prospect.In machine fish design, one of the most key mechanism is exactly afterbody actuating device, existing skill
The afterbody actuating device being related in art is mostly driven using multiple stage steering wheel and multi-joint form, and structure is excessively complicated, and
Some can not reach the rational angle of attack, and efficiency comparison is low.
Utility model content
This utility model provides a kind of bionic machine fish afterbody actuating device, and simple structure designs ingenious, using crank
Swinging block device, it is possible to achieve single steering engine and simple joint drive, and transmission efficiency, control are sensitive, and can facilitate adjusting amplitude
The adjustment of scope and pendulum angle, reliability are high.
To solve above-mentioned technical problem, the embodiment of the present application provides a kind of bionic machine fish afterbody actuating device, including
Steering wheel, closure and fish tail, also including transverse gear, longitudinal gear, master arm, the first supporting table, swinging block, rocking arm, second
Support and enters water sensor at platform, and the power transmission shaft of described steering wheel be connected with transverse gear, transverse gear and longitudinal direction engaged gears, longitudinal
The connecting shaft of gear is connected with master arm, and master arm, rocking arm and slave arm are sequentially connected, and the other end of rocking arm passes through swinging block and fish
WEILIAN connects.
Used as the preferred embodiment of this programme, described transverse gear is angular wheel with longitudinal gear, both axis
Arrange into vertical direction.
Used as the preferred embodiment of this programme, one end of described master arm is bolted with longitudinal gear connecting shaft
Connection.
Used as the preferred embodiment of this programme, the upper surface of the first described supporting table is provided with and swinging block bottom connecting shaft phase
The material of the stopper slot of matching, connecting shaft and the first supporting table is plastics.
As the preferred embodiment of this programme, connected by bearing pin between the second described supporting table and slave arm.
As the preferred embodiment of this programme, it is provided with into water sensor on the outside of described closure, and the control with steering wheel
Device connection processed.
One or more technical schemes provided in the embodiment of the present application, at least have the following technical effect that or advantage：
Simple structure, designs ingenious, using crank cranking-block device, it is possible to achieve single steering engine and simple joint drive, transmission effect
Rate is high, and control is sensitive, and can facilitate the adjustment of adjusting amplitude scope and pendulum angle, and reliability is high.
Description of the drawings
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or accompanying drawing to be used is briefly described needed for description of the prior art, it should be apparent that, drawings in the following description are only
Some embodiments of the present utility model, for those of ordinary skill in the art, in the premise for not paying creative labor
Under, can be with according to these other accompanying drawings of accompanying drawings acquisition.
Fig. 1 is the structural representation of the embodiment of the present application；
Fig. 2 is the overlooking the structure diagram of the embodiment of the present application.
In Fig. 1-Fig. 2：1st, steering wheel, 2, closure, 3, transverse gear, 4, longitudinal gear, 5, master arm, 6, connecting shaft, 7,
Fish tail, the 8, first supporting table, 9, swinging block, 10, rocking arm, the 11, second supporting table, 12, slave arm, 13, enter water sensor.
Specific embodiment
This utility model provides a kind of bionic machine fish afterbody actuating device, and simple structure designs ingenious, using crank
Swinging block device, it is possible to achieve single steering engine and simple joint drive, and transmission efficiency, control are sensitive, and can facilitate adjusting amplitude
The adjustment of scope and pendulum angle, reliability are high.
In order to be better understood from above-mentioned technical proposal, below in conjunction with Figure of description and specific embodiment to upper
State technical scheme to be described in detail.
As Figure 1-Figure 2, a kind of bionic machine fish afterbody actuating device, including steering wheel 1, closure 2 and fish tail 7, also
Including transverse gear 3, longitudinal gear 4, master arm 5, the first supporting table 8, swinging block 9, rocking arm 10, the second supporting table 11 and enter water biography
Sensor 13, the power transmission shaft of described steering wheel 1 are connected with transverse gear 3, and transverse gear 3 is engaged with longitudinal gear 4, longitudinal gear 4
Connecting shaft be connected with master arm 5, master arm 5, rocking arm 10 and slave arm 12 are sequentially connected, and the other end of rocking arm 10 passes through swinging block
9 are connected with fish tail 7.
Wherein, in actual applications, described transverse gear 3 and longitudinal gear 4 are angular wheel, both axis into
Vertical direction is arranged, realizes the change of 1 transmission direction of steering wheel, drive the rotation of longitudinal gear 4, and then band by transverse gear 3
The rotation of dynamic crank cranking-block device so that fish tail 7 is swung.
Wherein, in actual applications, one end of described master arm 5 is bolted company with longitudinal 4 connecting shaft of gear
Connect, fixation.
Wherein, in actual applications, the upper surface of the first described supporting table 8 is provided with and 9 bottom connecting shaft of swinging block, 6 phase
The material of the stopper slot matched somebody with somebody, connecting shaft 6 and the first supporting table 8 is plastics, prevents swinging block 9 from occurring slipping when rotating, while
The frictional force between connecting shaft 6 and the first supporting table 8 can be reduced, transmission performance is improved.
Wherein, in actual applications, between the second described supporting table 11 and slave arm 12 by bearing pin connect, by from
Swing arm 12 is fixed to crank cranking-block setting position.
Wherein, in actual applications, the outside of described closure 2 is provided with into water sensor 13, and the control with steering wheel 1
Device connects, and detects machine fish local environment by entering water sensor 13, and when in air, steering wheel 1 is closed；When
When in water, steering wheel 1 is active.
Operation principle：During use, machine fish is put in water, enters after water sensor 13 detects water and transfer signals to
Controller, controller send instruction so that steering wheel 1 drives transverse gear 3 to rotate, and is driven by the occlusion of gear, drives longitudinal direction
Gear 4 is rotated, and then drives master arm 5, rocking arm 10 and slave arm 12 to move in a circle so that fish tail 7 is swung, and is shaken
Width size can be changed by the length of rocking arm 10, when needing to turn round, control the interaction week that steering wheel 1 is rotated and reverse
Phase so that fish tail 7 enters and swung in the side of central shaft, realize turning.
The above, is only preferred embodiment of the present utility model, not makees any formal to this utility model
Restriction, although this utility model is disclosed above with preferred embodiment, but is not limited to this utility model, any ripe
Professional and technical personnel is known, in the range of without departing from technical solutions of the utility model, when in the technology using the disclosure above
Appearance is made a little change or is modified to the Equivalent embodiments of equivalent variations, as long as without departing from technical solutions of the utility model
Hold, any simple modification, equivalent variations and modification above example made according to technical spirit of the present utility model, still
Belong in the range of technical solutions of the utility model.
Claims (6)
1. a kind of bionic machine fish afterbody actuating device, including steering wheel (1), closure (2) and fish tail (7), it is characterised in that also
Support including transverse gear (3), longitudinal gear (4), master arm (5), the first supporting table (8), swinging block (9), rocking arm (10), second
Platform (11) and enter water sensor (13), the power transmission shaft of described steering wheel (1) is connected with transverse gear (3), transverse gear (3) with it is vertical
It is engaged to gear (4), the connecting shaft of longitudinal gear (4) is connected with master arm (5), master arm (5), rocking arm (10) and slave arm
(12) it is sequentially connected, the other end of rocking arm (10) is connected with fish tail (7) by swinging block (9).
2. a kind of bionic machine fish afterbody actuating device according to claim 1, it is characterised in that described transverse gear
(3) and longitudinal gear (4) is angular wheel, both axis are arranged into vertical direction.
3. a kind of bionic machine fish afterbody actuating device according to claim 1, it is characterised in that described master arm
(5) one end is bolted to connection with longitudinal gear (4) connecting shaft.
4. a kind of bionic machine fish afterbody actuating device according to claim 1, it is characterised in that the first described support
The upper surface of platform (8) is provided with the stopper slot matched with swinging block (9) bottom connecting shaft (6), connecting shaft (6) and the first supporting table
(8) material is plastics.
5. a kind of bionic machine fish afterbody actuating device according to claim 1, it is characterised in that the second described support
Connected by bearing pin between platform (11) and slave arm (12).
6. a kind of bionic machine fish afterbody actuating device according to claim 1, it is characterised in that described closure
(2) it is provided with the outside of into water sensor (13), and is connected with the controller of steering wheel (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620656166.3U CN206068107U (en) | 2016-06-28 | 2016-06-28 | A kind of bionic machine fish afterbody actuating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620656166.3U CN206068107U (en) | 2016-06-28 | 2016-06-28 | A kind of bionic machine fish afterbody actuating device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206068107U true CN206068107U (en) | 2017-04-05 |
Family
ID=58421598
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620656166.3U Expired - Fee Related CN206068107U (en) | 2016-06-28 | 2016-06-28 | A kind of bionic machine fish afterbody actuating device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206068107U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106081034A (en) * | 2016-06-28 | 2016-11-09 | 河北工业大学 | A kind of bionic machine fish afterbody actuating device |
| CN111572742A (en) * | 2020-05-25 | 2020-08-25 | 中国科学院自动化研究所 | Underwater robot fish-imitating propelling mechanism |
-
2016
- 2016-06-28 CN CN201620656166.3U patent/CN206068107U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106081034A (en) * | 2016-06-28 | 2016-11-09 | 河北工业大学 | A kind of bionic machine fish afterbody actuating device |
| CN111572742A (en) * | 2020-05-25 | 2020-08-25 | 中国科学院自动化研究所 | Underwater robot fish-imitating propelling mechanism |
| CN111572742B (en) * | 2020-05-25 | 2021-06-25 | 中国科学院自动化研究所 | Underwater robot fish-imitating propelling mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20170405 Termination date: 20200628 |