CN207225628U - A kind of Three Degree Of Freedom imitates Scad sections autonomous machine fish - Google Patents
A kind of Three Degree Of Freedom imitates Scad sections autonomous machine fish Download PDFInfo
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- CN207225628U CN207225628U CN201720689223.2U CN201720689223U CN207225628U CN 207225628 U CN207225628 U CN 207225628U CN 201720689223 U CN201720689223 U CN 201720689223U CN 207225628 U CN207225628 U CN 207225628U
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Abstract
Bionic machine fish technical field is the utility model is related to, a kind of particularly Three Degree Of Freedom imitates Scad sections autonomous machine fish.The bionic machine fish of the basic exercises such as the advance of bionic machine fish, retrogressing, turning is realized by chest tail fin Coordinate development.Including output shaft, frame, bionic pectoral fin, flexible covering, bionic machine fish shell, bionic caudal fin and driving executing agency, the executing agency includes pectoral fin drive component and tail fin drive component, executing agency is driven to drive bionic pectoral fin and bionic caudal fin movement, output shaft, bionic machine fish shell are connected on the frame, output shaft is connected with bionic pectoral fin, and flexible covering is equipped with the outside of frame.Set up pectoral fin drive component and tail fin drive component separately, pectoral fin and tail fin joint, which drive, makes travelling, the mobility with higher of machine fish more freely, stable, the efficiency of higher, stable under water equipped with flexible covering guarantee mechanical fish on the outside of frame.
Description
Technical field
Bionic machine fish technical field is the utility model is related to, a kind of particularly Three Degree Of Freedom imitates Scad sections autonomous machine fish.
The bionic machine fish of the basic exercises such as the advance of bionic machine fish, retrogressing, turning is realized by chest tail fin Coordinate development.
Background technology
In recent years, greatly developing and being showing improvement or progress day by day with science and technology, operation on the sea receives people increasingly
More concerns, including underwater prospecting, pipe inspection, water quality monitoring, marine resources exploitation, cable laying etc..
Traditional underwater detectoscope has the shortcomings that efficiency is low, mobility is poor, high noise cannot meet scientific research because of it
With the needs in engineering.Bionics Study shows, bionic machine fish by the coordinated drive of chest tail fin, it can be achieved that it is quick start,
Forward-reverse, rise dive, station keeping and motor-driven turning etc., has high efficiency, high stability, excellent mobility, makes an uproar
Sound is low, advantage, the submarine navigation device that market in urgent need development efficiency is high, mobility is good and noise is low such as small to environmental perturbation meet need
Ask.But there are great difficulty, most bionic machine fish existing at present for the coordinated drive development and collaborative work of mechanical fish
All it is to realize the driving of machine fish, single-degree-of-freedom or two degree-of-freedom motion machinery using the single drive form of pectoral fin or tail fin
Fish is in the majority, and three-degree-of-freedom motion mechanical fish much designs incomplete place, and there are many deficiencies in actual use causes machine
Tool fish can not meet market and scientific research demand.
Utility model content
The utility model solve the deficiencies in the prior art provide it is a kind of move freely, stable Three Degree Of Freedom imitates Scad sections
Autonomous machine fish.
Technical solution is used by the utility model solves prior art problem：
A kind of Three Degree Of Freedom imitates Scad sections autonomous machine fish, including output shaft, frame, bionic pectoral fin, flexible covering, bionical machine
Device fish shell, bionic caudal fin and driving executing agency, the executing agency include pectoral fin drive component and tail fin drive component, drive
Dynamic executing agency drives bionic pectoral fin and bionic caudal fin movement, and output shaft, bionic machine fish shell, output are connected on the frame
Axis is connected with bionic pectoral fin, and flexible covering is equipped with the outside of frame.
The pectoral fin drive component includes clapping wing mechanism, and the output shaft for clapping wing mechanism is located on intermediate slider, middle
The two-way slide bar of transverse and longitudinal is connected on sliding block, frame is held equipped with belt pulley, rack and spool, and connecting rod is equipped between rack, even
Extension bar is equipped with movable block, and movable block is connected with slide bar, and belt is equipped between belt pulley, claps wing driving stepper motor belt and drives
Movable block, connecting rod and slide bar movement, connecting rod and slide bar drive intermediate slider movement.
The pectoral fin drive component, which further includes, shakes wing mechanism, and the wing mechanism that shakes sets bottom plate on frame, is set on bottom plate
There is connection sheet, connected in connection sheet and shake wing stepper motor, gear mesh, bearing block；Shake wing stepper motor driven by gear mesh it is defeated
Shaft rotates.
The bionic machine fish shell is equipped with fish shell support chip, and three section activity tail fin driving groups are connected on fish shell support chip
Part, caudal peduncle and bionic caudal fin piece composition bionic caudal fin, the driving of first segment activity tail fin are connected on three section activity tail fin drive components
Component includes first support, the first steering engine, the first connector, the first disk；Second section activity tail fin drive component includes second
Stent, the second steering engine, the second connector, the second disk；Section three, activity tail fin drive component includes the 3rd stent, the 3rd rudder
Machine, the 3rd connector.
The bionic machine fish shell includes mechanism supports frame, battery module region and covering position, on mechanism supports frame
Connection framework, battery is connected on battery module region, and battery connect with driving executing agency, and covering position is equipped with flexible illiteracy
Skin.
The bionic machine fish shell further includes seal, and seal is silica gel thin film, and seal is located at output shaft and frame
Bridge joint synapsis.
The bionic machine fish shell dimidiation, two half shells are fastened integral by cascade groove.
The cascade groove fills 703 silicon rubber.
Long 400-500mm, width 200-260mm, the high 220-280mm of the bionic machine fish shell.
The flexible covering is connected on bionic machine fish shell by 703 silicon rubber, and flexible covering 4 is imitative fish-skin rubber
Glue.
The beneficial effects of the utility model are：
1st, a kind of Three Degree Of Freedom imitates Scad sections autonomous machine fish, including output shaft, frame, bionic pectoral fin, flexible covering, bionical
Machine fish shell, bionic caudal fin and driving executing agency, the executing agency include pectoral fin drive component and tail fin drive component,
Drive executing agency to drive bionic pectoral fin and bionic caudal fin movement, output shaft, bionic machine fish shell are connected on the frame, it is defeated
Shaft is connected with bionic pectoral fin, and flexible covering is equipped with the outside of frame.Set up pectoral fin drive component and tail fin drive component separately, pectoral fin and
Tail fin joint driving makes travelling, the mobility with higher of machine fish more freely, stable, the efficiency of higher, frame
Flexible covering is equipped with the outside of frame and ensures that mechanical fish is stable under water.
2nd, pectoral fin drive component includes clapping wing mechanism and shakes wing mechanism, it is possible to achieve bionic machine fish in water a variety of multiple
Miscellaneous action, such as forward-reverse, rising dive, hovering turn etc., while coordinate bionic caudal fin Union Movement, realize machine
The complex three-dimensional movement of fish in space.Exercise performance is more preferably bonded bionical biology.
3rd, bionic machine fish shell is equipped with fish shell support chip, and three section activity tail fin driving groups are connected on fish shell support chip
Part, caudal peduncle and bionic caudal fin piece composition bionic caudal fin, three section activity tail fin driving groups are connected on three section activity tail fin drive components
Part causes tail fin to have more preferable flexibility ratio, is equipped with flexible covering on the outside of tail fin, seal is silica gel thin film, and seal is located at defeated
At shaft and contact therewith, ensure flexibility ratio and safe for operation, flexible covering is imitative fish-skin rubber, and kinetic characteristic is closer to bionical
Biology.
4th, bionic machine fish shell dimidiation, two half shells are fastened integral by cascade groove.It is described stepped
Groove fills 703 silicon rubber.Housing combination and internal unit is facilitated to install.The long 400-500mm of the bionic machine fish shell,
Wide 200-260mm, high 220-280mm.Ensure that shape is bonded with Scad sections fish by the dimension limitation of length, width and height.
In conclusion the Three Degree Of Freedom of the offer of the utility model imitates Scad sections autonomous machine fish, and most of machines in the past
Fish is compared, either the diversity either on number of degrees of freedom, in drive form, there is the advantage for being difficult analogy, so as to so that
Machine fish more freely, stablize it is travelling.Contribute to the research of chest, tail fin joint Push Technology, improve robot fish movement performance,
And development and the research tendency of following bionic machine fish, therefore the research to Biomimetic Fish has far-reaching significance.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of the utility model；
Fig. 2 is the structure diagram that the utility model pectoral fin claps wing mechanism；
Fig. 3 is the structure diagram that the utility model pectoral fin shakes wing mechanism；
Fig. 4 is the structure diagram of the utility model pectoral fin drive component；
Fig. 5 is the structure diagram of the utility model tail fin drive component；
Fig. 6 is the structure diagram of the utility model fish shell housing；
Fig. 7 is the connection diagram of the utility model fish shell housing.
Embodiment
A kind of Three Degree Of Freedom imitates Scad sections autonomous machine fish, including output shaft 1, frame 2, bionic pectoral fin 3, flexible covering 4, imitative
Raw machine fish shell 5, bionic caudal fin and driving executing agency, the executing agency include pectoral fin drive component and tail fin driving group
Part, driving executing agency drive bionic pectoral fin 3 and bionic caudal fin movement, output shaft 1, bionic machine fish are connected on the frame 2
Shell 5, output shaft 1 are connected with bionic pectoral fin 3, and the outside of frame 2 is equipped with flexible covering 4.
The pectoral fin drive component includes clapping wing mechanism, and the output shaft 1 for clapping wing mechanism is located on intermediate slider 20, in
Between connect the two-way slide bar 29 of transverse and longitudinal on sliding block 20, frame 2 holds 25 equipped with belt pulley 22, rack 26 and spool, rack 26 it
Between be equipped with connecting rod 28, connecting rod 28 is equipped with movable block 27, and movable block 27 is connected with slide bar 29, and skin is equipped between belt pulley 22
Band 23, claps 21 drive belt 23 of wing stepper motor and drives movable block 27, connecting rod 28 and slide bar 29 to move, connecting rod 28 and slide bar
29 drive intermediate sliders 20 move.The pectoral fin drive component, which further includes, shakes wing mechanism, and the wing mechanism that shakes is set on the frame 2
Bottom plate 34, bottom plate 34 are equipped with connection sheet 31, are connected in connection sheet 31 and shake wing stepper motor 30, gear mesh 32, bearing block 33；Shake
Wing stepper motor 30 drives output shaft 1 to rotate by gear mesh 32.
The bionic machine fish shell 5 is equipped with fish shell support chip 41, and three section activity tail fins are connected on fish shell support chip 41
Drive component, caudal peduncle 45 is connected on three section activity tail fin drive components and bionic caudal fin piece 46 forms bionic caudal fin, and first segment is lived
Dynamic tail fin drive component includes first support 421, the first steering engine 422, the first connector 423, the first disk 424；Second section is lived
Dynamic tail fin drive component includes second support 431, the second steering engine 432, the second connector 433, the second disk 434；Section three, work
Dynamic tail fin drive component includes the 3rd stent 441, the 3rd steering engine 442, the 3rd connector 443.
The bionic machine fish shell 5 includes mechanism supports frame 51, battery module region 52 and covering position 54, mechanism branch
Connection framework 2 on support 51, battery is connected on battery module region 52, and battery is connected with driving executing agency, covering position 54
It is equipped with flexible covering 4.The bionic machine fish shell 5 further includes seal 53, and seal 53 is silica gel thin film, seal 53
It is located at output shaft 1 and 2 contact position of frame.5 dimidiation of bionic machine fish shell, two half shells pass through cascade groove 55
Fasten integral.The cascade groove 55 fills 703 silicon rubber.Long 400-500mm, the width of the bionic machine fish shell 5
200-260mm, high 220-280mm.The flexible covering 4 is connected on bionic machine fish shell 5 by 703 silicon rubber, flexible
Covering 4 is imitative fish-skin rubber.
Scad sections autonomous machine fish is imitated to a kind of Three Degree Of Freedom of the utility model below in conjunction with the accompanying drawings to be described further.
With reference to shown in Fig. 1-6, the utility model is that a kind of Three Degree Of Freedom imitates Scad sections autonomous type robotic fish, pectoral fin drive component
Wing mechanism to be clapped including pectoral fin and pectoral fin shakes wing mechanism, main pectoral fin drive component is symmetrically distributed in fish body central axes both sides, Gu
The middle and lower part position of bionic machine fish shell 5 is scheduled on, tail fin drive component is fixed on the afterbody of bionic machine fish shell 5, while outside
Flexible covering 4 is all wrapped up in portion.
In use, according to sub-marine situations chest, tail fin can be selected to work independently or work together.Concrete condition is as follows：
1st, pectoral fin drive component moves, when tail fin drive component is motionless, that is, a stepper motor 21 being fastened on frame
Operating, the stepper motor 30 being connected with connection sheet operate or work as two stepper motors 21 being fastened on frame and operate, with connecting
When the stepper motor 30 that contact pin 31 connects operates, bionic pectoral fin 3 realizes the composite move clapped the wing and shake the wing, at this time bionic machine fish
Propulsive force is provided by pectoral fin drive component, it can be achieved that the straight forms of motion swum or turn of bionic machine fish.
2. pectoral fin drive component is motionless, when tail fin drive component moves, i.e., fish shell support chip 41 drives three joint steering engine chains,
Make first steering engine 422 in each joint, the second steering engine 432, the 3rd steering engine 442 provides propulsive force, is allowed to drive tail fin 46 to realize
Swing back and forth, so that bionic machine fish realizes the straight forms of motion swum or turn using tail fin driving force.
3. chest tail fin Coordinate development, i.e. pectoral fin drive component and tail fin drive component provide respective driving force at the same time, make
Pectoral fin 3 moves at the same time with tail fin 46, can also realize the straight forms of motion swum or turn of bionic machine fish.Because rotate and flap
Angle, the frequency and amplitude flapped non-interference, can be rotated by adjusting pectoral fin, realize the propulsive force on any direction,
Realize multi-motion mode.The movement angle of attack of both sides pectoral fin can be adjusted individually in the range of 0~90 degree, and both sides are transported during linear motion
The dynamic angle of attack is identical, realizes and posteriorly or anteriorly flaps at the same time, while obtains the propulsive force of equidirectional, realizes and advances or retreat fortune
It is dynamic.The different motion angle of attack can be selected during turning, bionic machine fish can realize turning motion.
Claims (10)
1. a kind of Three Degree Of Freedom imitates Scad sections autonomous machine fish, it is characterised in that including output shaft（1）, frame（2）, bionic pectoral fin
（3）, flexible covering（4）, bionic machine fish shell（5）, bionic caudal fin and driving executing agency, the executing agency includes pectoral fin
Drive component and tail fin drive component, driving executing agency drive bionic pectoral fin（3）Moved with bionic caudal fin, the frame（2）
Upper connection output shaft（1）, bionic machine fish shell（5）, output shaft（1）With bionic pectoral fin（3）Connection, frame（2）Outside is equipped with
Flexible covering（4）.
2. a kind of Three Degree Of Freedom according to claim 1 imitates Scad sections autonomous machine fish, it is characterised in that the pectoral fin driving
Component includes clapping wing mechanism, the output shaft for clapping wing mechanism（1）It is located at intermediate slider（20）On, intermediate slider（20）Upper connection
The two-way slide bar of transverse and longitudinal（29）, frame（2）It is equipped with belt pulley（22）, rack（26）Held with spool（25）, rack（26）Between
Equipped with connecting rod（28）, connecting rod（28）It is equipped with movable block（27）, movable block（27）With slide bar（29）Connection, belt pulley（22）
Between be equipped with belt（23）, clap wing stepper motor（21）Drive belt（23）Drive movable block（27）, connecting rod（28）And slide bar
（29）Movement, connecting rod（28）And slide bar（29）Drive intermediate slider（20）It is mobile.
3. a kind of Three Degree Of Freedom according to claim 2 imitates Scad sections autonomous machine fish, it is characterised in that the pectoral fin driving
Component, which further includes, shakes wing mechanism, and the wing mechanism that shakes is in frame（2）Upper setting bottom plate（34）, bottom plate（34）It is equipped with connection sheet
（31）, connection sheet（31）Wing stepper motor is shaken in upper connection（30）, gear mesh（32）, bearing block（33）；Shake wing stepper motor（30）
Pass through gear mesh（32）Drive output shaft（1）Rotation.
4. a kind of Three Degree Of Freedom according to claim 1 imitates Scad sections autonomous machine fish, it is characterised in that the bionic machine
Fish shell（5）It is equipped with fish shell support chip（41）, fish shell support chip（41）Three section activity tail fin drive components of upper connection, three sections are lived
Caudal peduncle is connected on dynamic tail fin drive component（45）With bionic caudal fin piece（46）Form bionic caudal fin, first segment activity tail fin driving group
Part includes first support（421）, the first steering engine（422）, the first connector（423）, the first disk（424）；Second section movable tail
Fin drive component includes second support（431）, the second steering engine（432）, the second connector（433）, the second disk（434）；3rd
Section activity tail fin drive component includes the 3rd stent（441）, the 3rd steering engine（442）, the 3rd connector（443）.
5. a kind of Three Degree Of Freedom according to claim 1 imitates Scad sections autonomous machine fish, it is characterised in that the bionic machine
Fish shell（5）Including mechanism supports frame（51）, battery module region（52）With covering position（54）, mechanism supports frame（51）Upper company
Connect frame（2）, battery module region（52）Upper connection battery, battery are connected with driving executing agency, covering position（54）On set
Flexible covering（4）.
6. a kind of Three Degree Of Freedom according to claim 5 imitates Scad sections autonomous machine fish, it is characterised in that the bionic machine
Fish shell（5）Further include seal（53）, seal（53）For silica gel thin film, seal（53）It is located at output shaft（1）With frame
（2）Contact position.
7. a kind of Three Degree Of Freedom according to claim 1 imitates Scad sections autonomous machine fish, it is characterised in that the bionic machine
Fish shell（5）Dimidiation, two half shells pass through cascade groove（55）Fasten integral.
8. a kind of Three Degree Of Freedom according to claim 7 imitates Scad sections autonomous machine fish, it is characterised in that described stepped recessed
Groove（55）Fill 703 silicon rubber.
9. a kind of Three Degree Of Freedom according to claim 1 imitates Scad sections autonomous machine fish, it is characterised in that the bionic machine
Fish shell（5）Long 400-500mm, width 200-260mm, high 220-280mm.
10. a kind of Three Degree Of Freedom according to claim 1 imitates Scad sections autonomous machine fish, it is characterised in that the flexible covering
（4）Bionic machine fish shell is connected to by 703 silicon rubber（5）On, flexible covering（4）To imitate fish-skin rubber.
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| CN201720689223.2U CN207225628U (en) | 2017-06-14 | 2017-06-14 | A kind of Three Degree Of Freedom imitates Scad sections autonomous machine fish |
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| CN201720689223.2U CN207225628U (en) | 2017-06-14 | 2017-06-14 | A kind of Three Degree Of Freedom imitates Scad sections autonomous machine fish |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107161305A (en) * | 2017-06-14 | 2017-09-15 | 兰州交通大学 | A kind of Three Degree Of Freedom imitates Scad sections autonomous machine fish |
| CN108545165A (en) * | 2018-06-19 | 2018-09-18 | 河海大学 | A kind of bionic machine fish pitching regulating device |
| CN110683028A (en) * | 2019-09-30 | 2020-01-14 | 上海海洋大学 | Underwater propelling device imitating squid tentacles |
| CN110758689A (en) * | 2019-11-22 | 2020-02-07 | 中国科学院自动化研究所 | Bionic robot fish |
| CN114394219A (en) * | 2022-01-14 | 2022-04-26 | 中国科学院深圳先进技术研究院 | Intelligent bionic robot fish based on head and multi-fin cooperative motion |
-
2017
- 2017-06-14 CN CN201720689223.2U patent/CN207225628U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107161305A (en) * | 2017-06-14 | 2017-09-15 | 兰州交通大学 | A kind of Three Degree Of Freedom imitates Scad sections autonomous machine fish |
| CN108545165A (en) * | 2018-06-19 | 2018-09-18 | 河海大学 | A kind of bionic machine fish pitching regulating device |
| CN108545165B (en) * | 2018-06-19 | 2023-11-07 | 河海大学 | Bionic robot fish pitching adjusting device |
| CN110683028A (en) * | 2019-09-30 | 2020-01-14 | 上海海洋大学 | Underwater propelling device imitating squid tentacles |
| CN110758689A (en) * | 2019-11-22 | 2020-02-07 | 中国科学院自动化研究所 | Bionic robot fish |
| CN114394219A (en) * | 2022-01-14 | 2022-04-26 | 中国科学院深圳先进技术研究院 | Intelligent bionic robot fish based on head and multi-fin cooperative motion |
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Granted publication date: 20180413 Termination date: 20210614 |