CN206294102U - A kind of bionical tadpole motion - Google Patents
A kind of bionical tadpole motion Download PDFInfo
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- CN206294102U CN206294102U CN201621305995.3U CN201621305995U CN206294102U CN 206294102 U CN206294102 U CN 206294102U CN 201621305995 U CN201621305995 U CN 201621305995U CN 206294102 U CN206294102 U CN 206294102U
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- tail
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- plane
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- 230000033001 locomotion Effects 0.000 title claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 239000011152 fibreglass Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 239000002184 metal Substances 0.000 claims description 2
- 229910052751 metal Inorganic materials 0.000 claims description 2
- 230000008450 motivation Effects 0.000 claims 1
- 239000002245 particle Substances 0.000 abstract description 3
- 230000005284 excitation Effects 0.000 abstract description 2
- 230000008859 change Effects 0.000 description 5
- 230000003592 biomimetic effect Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 238000012913 prioritisation Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 2
- 239000010931 gold Substances 0.000 description 2
- 229910052737 gold Inorganic materials 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 238000013021 overheating Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The utility model discloses a kind of bionical tadpole motion, comprising head shell, two drive mechanisms, four cylinders and tails；Cavity, outer wall are provided with head shell and are provided with the through hole communicated with cavity；Tail is continuous variable cross section structure, and its thicker one end in cavity is provided with symmetrical first mounting plane and the second mounting plane；It is raised raised with second that the upper and lower part of cavity is provided with symmetrical first；Two drive mechanisms are separately positioned between the end face of the first projection, the first mounting plane and end face, second mounting plane of the second projection between, drive tail to swing for coordinating；Drive mechanism includes piezoelectric stack and two pre-tightening apparatus.During work, encourage two piezoelectric stacks to make its produce dilatation, the particle on excitation tail to produce elliptic motion respectively using two groups of electric signals for having pi/2 phase difference, simulate tadpole it is travelling when tail surge movement.The utility model simple structure, is capable of achieving miniaturization, easy to control.
Description
Technical field
The utility model is related to bio-robot field, more particularly to a kind of bionical tadpole motion.
Background technology
In recent years, South Sea situation is persistently overheating, and China has put into substantial amounts of manpower and materials in South Sea field, with many to complexity
The situation of change makes fast reaction.But the mode for sending naval vessels to go on patrol not only needs substantial amounts of defense spending, and nothing is not accomplished also
The round-the-clock acquisition of information omitted.At present, bionic mechanical fish has turned into a study hotspot, and Biomimetic Fish can turn into an information
The instrument of acquisition, constantly goes on patrol at the South Sea.It is the device driving of wagging the tail for leaning on joint series that existing Biomimetic Fish technology was beaten,
This mode controls complexity, and Biomimetic Fish weight is big, and structure is big；The Biomimetic Fish high cost and control driven using artificial-muscle are answered
Miscellaneous, both the above technology is all unsuitable for practicality.
Utility model content
Technical problem to be solved in the utility model is directed to involved defect in background technology, there is provided Yi Zhongfang
Raw tadpole motion.
The utility model uses following technical scheme to solve above-mentioned technical problem：
A kind of bionical tadpole motion, comprising head shell, two drive mechanisms, four cylinders and tails；
The head shell is spherical structure, and cavity is provided with it, and its outer wall is provided with and is mutually common to peace with the cavity
Fill the through hole of tail；
The tail is continuous variable cross section structure, and its thicker one end is arranged in the cavity of head shell, thinner one
By the through hole extended tips housing, thicker one end cannot pass through the through hole at end, and to be provided with left and right right for thicker one end
The first mounting plane and the second mounting plane for claiming；
The upper and lower part of the head shell cavity is provided with symmetrical the first projection and the second raised, first projection
End face, the second projection end face respectively correspond to the first mounting plane, the second mounting plane；
One in described two drive mechanisms is arranged between the end face of the first projection and the first mounting plane, and in addition one
It is individual to be arranged between the end face of the second projection and the second mounting plane, drive tail to swing for coordinating；
The drive mechanism includes piezoelectric stack and two pre-tightening apparatus；Wherein, two one end of pre-tightening apparatus respectively and
The two ends of piezoelectric stack are fixedly linked, and v-depression is equipped with the end face of the other end；Described two pre-tightening apparatus are used to adjust institute
State the pretightning force of piezoelectric stack；
First mounting plane, the second mounting plane, the end face of the first projection, the end face correspondence described two of the second projection
V-depression in individual drive mechanism is provided with the v-depression of matching so that described two drive mechanisms and the first mounting plane,
Two mounting planes, the end face of the first projection, the joint of the end face of the second projection form four rhombus spaces；
Four cylinders are separately positioned in four rhombus spaces, and four cylinders of cylinder are and its is right
Four planes in rhombus space are answered to offset, the tangential masterpiece that piezoelectric stack is subject in drive mechanism during for alleviating adjustment pretightning force
With.
Used as a kind of bionical further prioritization scheme of tadpole motion of the utility model, the tail is logical with described
Hole is provided with arc-shaped step on the inside of contact position, for ensureing that the tail does not depart from above-mentioned head shell in stress.
Used as a kind of bionical further prioritization scheme of tadpole motion of the utility model, the pre-tightening apparatus include two
Individual wedge and a bolt；
The inclined-plane of described two wedges offsets, and the inclined-plane of one of wedge is provided with and adjusts direction with pre-tightening apparatus
Vertical through hole, the inwall of the through hole is provided with the screw thread matched with the bolt；The inclined-plane of another wedge is along pre-
Tight device regulation direction is provided with the chute slided for the bolt；
The bolt is connected through the chute and the through hole whorl, is slided by the inclined-plane for adjusting two wedges
Length that is dynamic and then adjusting pre-tightening apparatus.
Used as a kind of bionical further prioritization scheme of tadpole motion of the utility model, the head shell is using gold
Category or fiberglass are made.
Used as a kind of bionical further prioritization scheme of tadpole motion of the utility model, the tail is in flat.
The invention also discloses a kind of method of work based on the bionical tadpole motion, it is characterised in that bag
Containing step in detail below：
Encourage the piezoelectric stack in described two drive mechanisms respectively using two groups of electric signals for having pi/2 phase difference, make it
Dilatation, the particle on excitation tail is produced to do elliptic motion, so as to produce a refracted traveling wave in above-mentioned tail；
Because water is to the damping action of tail shock, the traveling wave reflection of tail end is reduced significantly can avoid the shape of standing wave
Into so as to simulate tail surge movement when tadpole moves about；
The motion of 360 degree of space is realized by changing the travelling speed of voltage swing change, the voltage difference of two phase signals of change.
The utility model uses above technical scheme compared with prior art, with following technique effect：
1. simple structure, is easy to miniaturization；
2. control mode is simple, has broad application prospects.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the structural representation of head shell in the utility model；
Fig. 3 is the structural representation of pre-tightening apparatus in the utility model；
Fig. 4 is pre-tightening apparatus assembling and the schematic diagram for adjusting pretightning force in the utility model；
Fig. 5 is the structural representation of tail in the utility model.
In figure, 1- head shells, 2- cylinders, 3- piezoelectric stacks, 4- pre-tightening apparatus, 5- tails, 6-V connected in stars.
Specific embodiment
The technical solution of the utility model is described in further detail below in conjunction with the accompanying drawings：
As shown in figure 1, the utility model discloses a kind of bionical tadpole motion, comprising head shell, two drivings
Mechanism, four cylinders and tail.
As shown in Fig. 2 head shell is spherical structure, cavity is provided with it, its outer wall is provided with and is mutually common to cavity
The through hole of tail is installed.
Head shell can use any type of cavity structure, and material can be the enough materials of any intensity, such as gold
Category or fiberglass.
Tail is continuous variable cross section structure, and its thicker one end is arranged in the cavity of head shell, and thinner one end leads to
Through hole extended tips housing is crossed, thicker one end cannot pass through through hole, and thicker one end to be provided with symmetrical first and install
Plane and the second mounting plane.
The upper and lower part of head shell cavity is provided with symmetrical first raised and second raised, the end face of the first projection,
The end face of the second projection corresponds to the first mounting plane, the second mounting plane respectively；
One in two drive mechanisms is arranged between the end face of the first projection and the first mounting plane, and another sets
Put between the end face and the second mounting plane of the second projection, drive tail to swing for coordinating；
Drive mechanism includes piezoelectric stack and two pre-tightening apparatus；Wherein, two one end of pre-tightening apparatus are respectively and piezoelectricity
The two ends for stacking are fixedly linked, and v-depression is equipped with the end face of the other end；Two pre-tightening apparatus are used to adjust piezoelectric stack
Pretightning force；
First mounting plane, the second mounting plane, the end face of the first projection, end face two driving machines of correspondence of the second projection
V-depression in structure is provided with the v-depression of matching so that two drive mechanisms and the first mounting plane, the second mounting plane,
The end face of one projection, the joint of the end face of the second projection form four rhombus spaces；
Four cylinders are separately positioned in four rhombus spaces, and four cylinders of cylinder are equal and its correspondence rhombus is empty
Four planes of gap are offseted, and the tangential force that piezoelectric stack is subject in drive mechanism during for alleviating adjustment pretightning force is acted on.
As shown in figure 3, pre-tightening apparatus include two wedges and a bolt；The inclined-plane of two wedges offsets, wherein
The inclined-plane of one wedge is provided with the through hole vertical with prior-warning device regulation direction, and the inwall of through hole is provided with and bolt phase
The screw thread matched somebody with somebody；The inclined-plane of another wedge is provided with the chute slided for bolt along prior-warning device regulation direction；Bolt is passed through to be slided
Groove and through hole whorl are connected.
Regulating bolt can make two wedges produce relative slip along inclined-plane, so that change the length of pre-tightening apparatus,
Pretightning force can be changed with this.
As shown in figure 4, in drive mechanism, piezoelectric stack is arranged between two pre-tightening apparatus, four cylinders set respectively
Put in corresponding four v-depressions, the tangential force that piezoelectric stack is subject to when changing pretightning force to alleviate is acted on.
Tail is made up of the material that can propagate vibration, for example metal.Tail is in flat, is continuous variable cross section structure, more
It is smaller away from head section
Tail with the through hole contact position on the inside of be provided with arc-shaped step so that the thicker one end of tail is buckled in head shell
The inner side of body, to ensure that tail does not depart from head head shell when by X-axis positive force, tail structure is as shown in Figure 5.
Bionical tadpole is sealed in silica gel mode.Remaining space can place other annexes and realize different work(in head shell
Can, such as camera, Infrared Detectors, small-sized Sonar system etc..
During two piezoelectric stacks installations at an angle, encouraged using two groups of electric signals for having pi/2 phase difference.Piezoelectric stack
Dilatation can be produced when being encouraged by electric signal, because having pi/2 phase difference and two piezoelectric stacks between two groups of electric signals
Between have certain angle, the particle on tail be activated produce elliptic motion（As shown in Figure 5）, elliptic motion is with tail biography
Broadcast, so as to produce a traveling wave.Because water is kept away the damping action of tail shock, the traveling wave reflection that tail end is reduced significantly
Exempt from the generation of standing wave, so as to simulate tail surge movement when tadpole moves about.Can change travelling speed by changing voltage swing,
Changing the voltage difference of two phase signals can realize turning to.
Those skilled in the art of the present technique it is understood that unless otherwise defined, all terms used herein（Including skill
Art term and scientific terminology）With with the utility model art in those of ordinary skill general understanding identical anticipate
Justice.It should also be understood that those terms defined in such as general dictionary should be understood that with upper with prior art
The consistent meaning of meaning hereinafter, and unless defined as here, will not with idealization or excessively formal implication come
Explain.
Above-described specific embodiment, is entered to the purpose of this utility model, technical scheme and beneficial effect
One step is described in detail, be should be understood that and be the foregoing is only specific embodiment of the present utility model, is not used to limit
The utility model processed, all within spirit of the present utility model and principle, any modification, equivalent substitution and improvements done etc.,
Should be included within protection domain of the present utility model.
Claims (5)
1. a kind of bionical tadpole motion, it is characterised in that comprising head shell（1）, two drive mechanism, four cylinders
（2）And tail（5）；
The head shell（1）It is spherical structure, cavity is provided with it, its outer wall is provided with and is mutually common to installation with the cavity
Tail（5）Through hole；
The tail（5）It is continuous variable cross section structure, its thicker one end is arranged on head shell（1）Cavity in, it is thinner
One end passes through the through hole extended tips housing（1）, thicker one end cannot pass through the through hole, and thicker one end is provided with a left side
Right symmetrical the first mounting plane and the second mounting plane；
The head shell（1）The upper and lower part of cavity is provided with symmetrical the first projection and the second raised, first projection
End face, the second projection end face respectively correspond to the first mounting plane, the second mounting plane；
One in described two drive mechanisms is arranged between the end face of the first projection and the first mounting plane, and another sets
Put between the end face and the second mounting plane of the second projection, tail is driven for coordinating（5）Swing；
The drive mechanism includes piezoelectric stack（3）With two pre-tightening apparatus（4）；Wherein, two pre-tightening apparatus（4）One end point
Other and piezoelectric stack（3）Two ends be fixedly linked, be equipped with v-depression on the end face of the other end；Described two pre-tightening apparatus（4）
For adjusting the piezoelectric stack（3）Pretightning force；
First mounting plane, the second mounting plane, the end face of the first projection, the end face described two drives of correspondence of the second projection
V-depression in motivation structure is provided with the v-depression of matching so that described two drive mechanisms and the first mounting plane, the second peace
Dress plane, the end face of the first projection, the joint of the end face of the second projection form four rhombus spaces；
Four cylinders（2）It is separately positioned in four rhombus spaces, and four cylinders（2）Cylinder and its
Four planes in correspondence rhombus space offset, piezoelectric stack in drive mechanism during for alleviating adjustment pretightning force（3）What is be subject to cuts
Acted on to power.
2. bionical tadpole motion according to claim 1, it is characterised in that
The tail（5）With the through hole contact position on the inside of be provided with arc-shaped step, for ensureing the tail（5）In stress
When do not depart from above-mentioned head shell（1）.
3. bionical tadpole motion according to claim 1, it is characterised in that the pre-tightening apparatus（4）Comprising two
Wedge and a bolt；
The inclined-plane of described two wedges offsets, and the inclined-plane of one of wedge is provided with and pre-tightening apparatus（4）Regulation direction
Vertical through hole, the inwall of the through hole is provided with the screw thread matched with the bolt；The inclined-plane of another wedge is along pre-
Tight device（4）Regulation direction is provided with the chute slided for the bolt；
The bolt is connected through the chute and the through hole whorl, is entered line slip by the inclined-plane for adjusting two wedges and is entered
And adjust pre-tightening apparatus（4）Length.
4. bionical tadpole motion according to claim 1, it is characterised in that the head shell（1）Using metal
Or fiberglass is made.
5. bionical tadpole motion according to claim 1, it is characterised in that the tail（5）In flat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621305995.3U CN206294102U (en) | 2016-12-01 | 2016-12-01 | A kind of bionical tadpole motion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621305995.3U CN206294102U (en) | 2016-12-01 | 2016-12-01 | A kind of bionical tadpole motion |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206294102U true CN206294102U (en) | 2017-06-30 |
Family
ID=59096245
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621305995.3U Withdrawn - After Issue CN206294102U (en) | 2016-12-01 | 2016-12-01 | A kind of bionical tadpole motion |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206294102U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106787936A (en) * | 2016-12-01 | 2017-05-31 | 南京航空航天大学 | A kind of bionical tadpole motion and its method of work |
| CN111559482A (en) * | 2020-04-28 | 2020-08-21 | 浙江大学 | Bionic tadpole robot with passively deformed tail and motion implementation method thereof |
-
2016
- 2016-12-01 CN CN201621305995.3U patent/CN206294102U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106787936A (en) * | 2016-12-01 | 2017-05-31 | 南京航空航天大学 | A kind of bionical tadpole motion and its method of work |
| CN111559482A (en) * | 2020-04-28 | 2020-08-21 | 浙江大学 | Bionic tadpole robot with passively deformed tail and motion implementation method thereof |
| CN111559482B (en) * | 2020-04-28 | 2021-10-08 | 浙江大学 | Bionic tadpole robot with passively deformed tail and motion implementation method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170630 Effective date of abandoning: 20181123 |