CN206068107U - A kind of bionic machine fish afterbody actuating device - Google Patents

A kind of bionic machine fish afterbody actuating device Download PDF

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Publication number
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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CN
China
Prior art keywords
gear
arm
actuating device
bionic machine
machine fish
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201620656166.3U
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Chinese (zh)
Inventor
武建国
林兴华
成玉强
李素华
张润锋
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Hebei University of Technology
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Hebei University of Technology
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Filing date
Publication date
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Priority to CN201620656166.3U priority Critical patent/CN206068107U/en
Application granted granted Critical
Publication of CN206068107U publication Critical patent/CN206068107U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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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

A kind of bionic machine fish afterbody actuating device
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).
CN201620656166.3U 2016-06-28 2016-06-28 A kind of bionic machine fish afterbody actuating device Expired - Fee Related CN206068107U (en)

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

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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 (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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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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