CN207241989U - A kind of machine fish with three joint structures - Google Patents
A kind of machine fish with three joint structures Download PDFInfo
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- CN207241989U CN207241989U CN201720838577.9U CN201720838577U CN207241989U CN 207241989 U CN207241989 U CN 207241989U CN 201720838577 U CN201720838577 U CN 201720838577U CN 207241989 U CN207241989 U CN 207241989U
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Abstract
The utility model discloses a kind of machine fish with three joint structures, several are provided with from driving joint along fish body length direction between main driving joint, each include support ring, vertebrae hinge and vertebrae articulated mast from driving joint, there is the card slot for being used for fixing vertebrae hinge in support ring, it is multiple to join end to end to form the vertebra of machine fish from the diarthrodial vertebrae hinge of drive；The stress supporting rod of three a diameter of 4mm is provided with the inside of fish head mouth, at before mouth 1/3.Machine fish described in the utility model have it is main driving joint and from driving joint, increase the freedom of motion of machine fish, machine fish swimming is got up preferably and suit fish locomotion curve, discrepancy does not occur again when moving about and be also more nearly real fish, and moving about；The load of drive rod is alleviated from driving joint, avoids the fracture of drive rod；The stress supporting rod of design on the inside of fish head mouth, adds the compression strength on head, so as to avoid the breakage on head.
Description
Technical field
Bionic machine fish technical field is the utility model is related to, particularly a kind of machine fish with three joint structures.
Background technology
The joint structure of existing machine fish, such as Application No. 201510557116X, a kind of entitled bionical intelligence of utility model
The patent of the swing mechanism of energy machine fish, its fish body includes three main driving joints, as shown in 5a, 5b in Fig. 5, each main driving
Joint includes steering engine (4) and drive rod (3), is drawn through the applicant's many experiments experience, this only three main driving joints
Structure, limit the swing free degree of machine fish, result in its it is travelling when easily disconnect, and the pars intermedia at drive rod
Position is easily broken, and is drawn according to researching and analysing：Drive rod should bear the power on swaying direction (i.e. horizontal direction), again
Self gravitation (i.e. vertical direction) is born, drive rod is born larger with joint efforts, easily causes stress in joint drive bar junction
Concentrate, therefore be easy to cause fracture.Drawn further accordance with the applicant's many experiments experience, the fish head head of existing machine fish is easy
Generation is damaged.
Utility model content
The technical problems to be solved in the utility model is in view of the above shortcomings of the prior art, in three main driving joint knots
On the basis of structure is linked, increase driven joint vertebrae hinge arrangement side by side, to increase its free degree, avoid travelling appearance
Discrepancy, the driven joint added make drive rod throw the reins in vertical direction, so that only to bear its own gravity
Acted on by power on swaying direction, the fracture of drive rod will not be caused.
The technical solution adopted in the utility model is：
A kind of machine fish with three joint structures, including fish head, fish body and fish tail, fish body include fixed part and swing
Portion, swing part include three main driving joints, and the first main driving joint, the second main driving joint and the 3rd main driving joint are along fish
Body length direction is set gradually, and fixed part one end is fixedly connected with fish head, and the other end is connected with the first main driving arthrodesis, often
A main driving joint includes the output axis connection of a steering engine and drive rod, drive rod one end and steering engine, the other end with it is adjacent
It is main to drive diarthrodial steering engine and be fixedly connected, it is characterised in that between fixed part and the first main driving joint, the first main driving joint
Between the second main driving joint, between the second main driving joint and the 3rd driving joint, between the 3rd driving joint and fish tail
Several are provided with from driving joint along fish body length direction, each include support ring, vertebrae hinge and ridge from driving joint
Vertebra articulated mast, has the card slot for being used for fixing vertebrae hinge in support ring, and vertebrae hinge has first connecting portion
And second connecting portion, second connecting portion is U-shaped, and second connecting portion is arranged in the card slot of support ring, and first connecting portion passes through ridge
For vertebra articulated mast with previous from diarthrodial second connecting portion rotation connection is driven, second connecting portion passes through vertebrae hinge
Connecting rod is rotatablely connected with the latter from diarthrodial first connecting portion is driven, multiple from the diarthrodial vertebrae hinge head and the tail phase of drive
Company forms the vertebra of machine fish；The stress support of three a diameter of 4mm is provided with the inside of fish head mouth, at before mouth 1/3
Bar.
Control module, rechargeable battery and sink-float mechanism are provided with fixed part, is electrically connected between rechargeable battery and control module
Connect, for providing electric energy to whole bionic intelligence machine fish；Sink-float mechanism is fixedly installed on the lower section of control module, and in imitative
The centre position of raw machine fish length direction, sink-float mechanism include weight slide block, screw, direct current generator and linear position sensor
Device, the screw are set along bionic intelligence machine fish fish body length direction, and weight slide block is arranged on screw and and wire rod thread
Connection, screw are fixed on the output terminal of DC motor shaft, and linear position sensor links together with weight slide block, and directly
Galvanic electricity machine and linear position sensor are electrically connected with control module respectively.
The lower part of fish head is provided with the receiving terminal mechanism of wireless charging module, and the transmitting terminal mechanism of wireless charging module includes
Underwater waterproof charging pile is arranged at, receiving terminal mechanism carries out wireless charging close to charging pile, and electricity is stored in charging electricity
Chi Zhong.
Steering engine is provided with fish mouth, the output shaft of the steering engine is fixedly connected with the lower jaw of fish mouth, and the rotation of the steering engine drives
The opening and closing of lower jaw, the steering engine are electrically connected with three main diarthrodial steering engines of drive between control module.
In order to make, from the standardization of driving joint, to be conveniently processed, therefore vertebrae hinge design is uniform sizes, i.e., each
Vertebrae hinge all same.The first main diarthrodial steering engine of drive drives drive rod rotation thereon, band while which rotates
Dynamic the second main diarthrodial steering engine of drive being fixedly connected with the drive rod other end rotates, and the second main diarthrodial steering engine itself of drive
Drive second is main again drives diarthrodial drive rod rotation, and so transmission, makes the swing of fish body, connect between each main driving joint
Connect from driving joint while fish body is swung, swung together also with fish body, add the swing free degree, avoided travelling
When disconnect, the travelling curve movement for being more in line with true fish.
The exterior contour size of multiple support rings is coincide with machine fish fish body contour shape, and fish-skin is wrapped in these support rings
On.
There is a connecting rod at the fish back of the body inside support ring, being offered up and down on two end faces for the connecting rod is used for
The card slot of vertebrae hinge second connecting portion is clamped, inside the support ring being connected with the steering engine in active drive joint, in close to fish
There is a card slot for being used to be clamped steering engine at abdomen.
It is fixed in each main diarthrodial steering engine of drive with support ring access section by bolt, to drive and limit from drive
Movable joint moves.
Further, in order to increase the buoyancy in water of machine fish, inside support ring with vertebrae hinge and steering engine it
Between be provided with foam, with waterproof tinfoil, aluminium foil or sealing glue sticking.
In order to mitigate the weight of fish body, the support ring is carbon materials, and vertebrae hinge is plastic material, and vertebrae is cut with scissors
Chain link bar is aluminum alloy material, and support ring is made with vertebrae hinge using 3D printing.
It is further preferred that steering engine is arranged in steering engine shell, arc track is offered on steering engine shell, among drive rod
Position is connected with a supporting rod downward vertically, and the bottom of supporting rod is connected with a spin, and steering engine drives drive rod to rotate, and drives
Lever drives supporting rod to be rolled around together with spin in arc track.
Supporting rod is used to support drive rod, makes drive rod while being rotated with steering engine, and the middle part being easily broken off will
Institute's stress passes to supporting rod, and supporting rod is needed as drive rod rotates together, when being rotated for smaller supporting rod and steering engine
Friction, supporting rod bottom sets spin, sets arc track on steering engine, and while drive rod reciprocally swinging, supporting rod exists
Swing back and forth in the arc track；In addition the support ring of driven joint and vertebrae hinge can also bear a part of gravity, make drive
Lever throws the reins in vertical direction, so that only acted on by power on swaying direction, the stress for the drive rod that various aspects mitigate,
So that drive rod will not cause to be broken.
As the presently preferred embodiments, between the first main driving joint and the second main driving joint and the second main driving joint
Set between the 3rd driving joint from driving joint be respectively four, the first main driving joint, the second main driving joint and the
The three main diarthrodial length ratios of drive are 1:1:1.2.
Using the method for curve matching, fitting show that each main diarthrodial motion control equation of drive is：
Wherein：J=1...3；ajFor the wobble amplitude in each joint；T0 jFor j-th joint when turning the contraction phase
Used time；T1 jThe used time in stage is discharged when turning for j-th of joint.
The kinematical equation in each joint is controlled, the ability that bionic machine fish can be made to have fast steering, enables machine fish
The turning torque of bigger is obtained, finally machine fish can be made to possess good propulsive performance.
The utility model has the technical effect that：
Machine fish described in the utility model has main driving joint and from joint is driven, and makes the freedom of motion of machine fish
Increase, machine fish swimming is got up preferably and suit fish locomotion curve, when moving about and be also more nearly real fish, and moving about
Discrepancy does not occur again；The load of drive rod is alleviated from driving joint, avoids the fracture of drive rod；In fish head mouth
The stress supporting rod of side design, adds the compression strength on head, so as to avoid the breakage on head.
Brief description of the drawings
Fig. 1 shows influence of the amplitude of oscillation change to body length change；
Fig. 2 shows main driving joint motions curve matching figure；
Fig. 3 show main driving joint with from driving diarthrodial motion fitting curve；
Fig. 4 shows the structure of machine fish；
Fig. 5 shows the main diarthrodial structure of drive, and wherein 5a shows the main diarthrodial vertical view graph structure of drive, and 5b is shown
It is main to drive diarthrodial side view graph structure；
Fig. 6 shows the structure of vertebrae hinge；
Fig. 7-8 shows the structure of support ring；
Fig. 9 shows the structures such as arc track, supporting rod；
Figure 10 shows three joint structures of machine fish；
Figure 11 shows the structure that supporting rod is set on the inside of fish head mouth.
Embodiment
The utility model is described in further detail presently in connection with attached drawing.These attached drawings are simplified schematic diagram,
Only illustrate the basic structure of the utility model in a schematic way, therefore it only shows the composition related with the utility model.
Embodiment 1
As shown in figure 4, a kind of machine fish with three joint structures, including fish head 6, fish body and fish tail 7, fish body include solid
Determine portion 8 and swing part 9, be provided with fixed part for control robot fish movement posture, wireless charging control mechanism, swing part
Including three main driving joints, the first main driving joint, the second main driving joint and the 3rd main driving joint are rectangular along fish body
To setting gradually, fixed part one end is fixedly connected with fish head, and the other end is connected with the first main driving arthrodesis, each main driving
Joint includes a steering engine 4 and drive rod 3, and the output shaft 2 of drive rod one end and steering engine connects, and junction is sealing structure 5,
Interface is sealed by modes such as fluid sealants, prevents steering engine inner inlet, the other end and the steering engine in adjacent driven joint
Shell 1 is fixedly connected.Three joints robot fish movement joint tailing portion be first and last one reciprocating motion, the main driving of each of which
Joint is also the reciprocating motion carried out on the basis of upper one main driving joint.
As shown in Figure 10, between fixed part and the first main driving joint, the first main driving joint and the second main driving joint
Between, second it is main driving joint and the 3rd driving joint between, the 3rd driving joint and fish tail between set along fish body length direction
Four are equipped with from driving joint, each includes support ring 10, vertebrae hinge 11 and vertebrae articulated mast from driving joint
12, exterior contour size and the machine fish fish body contour shape of multiple support rings coincide, and fish-skin is wrapped up in support ring；In support ring
With the card slot for fixing vertebrae hinge.
By numerical radius, the method using curve matching, fitting draws each main diarthrodial motion control equation of drive
For：
Wherein：J=1...3；ajFor the wobble amplitude in each joint；T0 jFor j-th joint when turning the contraction phase
Used time；T1 jThe used time in stage is discharged when turning for j-th of joint.
By above-mentioned formula it can be seen that the mass motion track of the movable joint of bionic machine fish is along varies with sinusoidal function,
Mainly with upper one section movement angle and in the cycle, the time determines that the cycle swung with movable joint does not have for each main driving joint motions
There is relation, set main driving joint motions cycle T=2s herein.
(1) the first main diarthrodial movement of drive
The first main diarthrodial equation of motion of drive is as follows：
F (t)=A1*sin(t*π)
Wherein：T represents the time；A1The amplitude peak swung for the first main driving joint.
(2) the second main diarthrodial movements of drive
Second main driving joint moves reciprocatingly under the first main diarthrodial basis of drive, still becomes in accordance with SIN function
Change, there is phase difference, its phase difference during exercise for the first main driving joint and the second main driving jointThen
The equation of motion of two active movements is as follows：
As t ＜ 1s,
F (t)=t*A2*sin(t*π-0.4)
Work as t>During 1s,
F (t)=A2*sin(t*π-0.4)
Wherein：T represents the time；A2The amplitude peak swung for the second main driving joint.
(3) the 3rd main diarthrodial movements of drive
Reciprocal fortune is done under the second main diarthrodial basis of drive in 3rd main driving joint as the second main driving joint
Dynamic, still in accordance with varies with sinusoidal function, there is bigger phase during exercise for the second main driving joint and the 3rd main driving joint
Difference, its phase differenceThen the equation of motion of the 3rd active movement is as follows：
The 3rd main diarthrodial equation of motion of drive is as follows：
As t ＜ 1s,
F (t)=t*A3*sin(t*π-1.75)
Work as t>During 1s,
F (t)=A3*sin(t*π-1.75)
Wherein：T represents the time；A3The amplitude peak swung for the 3rd main driving joint.
It can show that swing angle of three main driving joints within the cycle changes by above formula.
As shown in Fig. 6,10, vertebrae hinge has first connecting portion and second connecting portion, and second connecting portion is U-shaped, the
Two connecting portions are arranged in the card slot of support ring, and first connecting portion is by vertebrae articulated mast with previous from driving joint
Second connecting portion rotation connection, second connecting portion connected by vertebrae articulated mast and the latter from driving diarthrodial first
Socket part is rotatablely connected, multiple to join end to end to form the vertebra of machine fish from the diarthrodial vertebrae hinge of drive.It is diarthrodial from driving
Movement relation is changed according to main driving joint motions joint.
Three joint bionic machine fish its maximum pressure point within a cycle must be had according to simulation analysis to be concentrated mainly on
Head, is specifically focused among 1/3 before mouth.When body is kept upright, its maximum pressure point is appeared in immediately ahead of head；Fortune
After movable joint is swung, its maximum pressure point deviates immediately ahead of head to swaying direction, to head side.Since three joints are bionical
Machine fish need to go ahead it is travelling, head its be obstructed frequently, hence it is evident that occur it is damaged, in order to increase the compression strength on head, from
And reduce the breakage on head, as shown in figure 11, be provided with the inside of fish head mouth, at before mouth 1/3 three it is a diameter of
The stress supporting rod 18 of 4mm.
Fish can produce a kind of traveling wave during travelling, and this traveling wave passes ripple from fish head to fish tail, and wave amplitude is cumulative in line
Trend, is defined as fish body ripple.Fish body ripple fluctuation starting point is fish head and the tie point of fish tail, is got over closer to fish tail fish body ripple wave amplitude
Greatly, the wave amplitude of wherein tail fin is maximum.The slender body theory proposed according to Lighthill, fish body wave equation are represented by：
fB(x, t)=(c1x+c2x2)sin(ωt+kx) (1)
In formula：
fB(x, t) is the lateral displacement of fish body；
c1For the Monomial coefficient of fish body ripple amplitude envelope line；
c2For the secondary term coefficient of fish body ripple amplitude envelope line；
K is fish body ripple wave number (k=2 π/λ, λ are fish bulk wave wavelength)；
ω is fish body wave frequency rate (ω=2 π f=2 π/T).
According to the description of slender body theory, each particle only exists the reciprocating motion in side direction in fish body, and there is no body length
The displacement in direction.Yet with fish body in the non-telescoping property of body length direction, each particle in fish body also must in body length direction
So there is a reciprocating motion.The influence changed is grown to body as Fig. 1 gives amplitude of oscillation change, can intuitively find out that the amplitude of oscillation is grown with body
Relation, with the increase of the amplitude of oscillation, body length change rate also significantly increase, the particle in fish body along body length direction displacement also with
And become larger.But slender body theory have ignored this reciprocating motion, the change of actually its amplitude does not have small to can ignore.
So the movement of each point is compound with the reciprocating motion of an individual length direction by moving back and forth for an individual side direction in fish body
Movement.
In order to improve the mildness of bionic machine fish swimming curve, more accurate description bionic machine fish fish body particle is needed
Movement.Particle improves original fish body in fish body wave equation is considered in the reciprocating motion of body length direction when fish body is moved about
Wave equation.
For apart from a length of mL of coordinate origin body0The lateral displacement of the particle at place, is represented by：
fB(t,mL0)=(c1mL0+c2(mL0)2)sin(ωt+kmL0) (2)
Wherein L0For fish body physical length, m is the coefficient of the particle, its value range is (0,1).
Make s=mL0, it is known that the arc length formula of curve is：
According to given c1,c2, with L0, t is independent variable, and position of the particle along body length direction can be obtained by coordinate transform
Function is moved, with x (L0, t) represent.Therefore the equation of motion of any one particle can be described as in fish body：
In formula：It is apart from coordinate origin L0Amplitude of the particle at place in body length direction；
It is apart from coordinate origin L0The particle at place is on body length direction relative to the leading time of lateral displacement；
It is apart from coordinate origin L0The zero-bit coordinate that the particle at place vibrates on body length direction.
By improved fish body wave equation, three main driving joints are carried out curve fitting, as shown in Fig. 2, to solve three
Ratio problems between a main driving joint.First main diarthrodial starting point of drive is (0,0) for the fluctuation starting point of curve, eventually
Point is to draw to justify with joint length, and the intersection point of circle and curve is the terminal in joint；Similarly obtain second main driving joint and the
Three main diarthrodial beginning and ends of drive.θ in Fig. 21,θ2,θ3For each main driving articulation angle.
To make the effect that winner drives joint to be fitted fish body wave equation best, the application is used as mark so that error of fitting is minimum
Standard, is carried out curve fitting with the curve of fish body wave equation any time, and the main diarthrodial length of drive is determined so as to calculate.Its
Error formula is：
In addition also there are two constraintss for formula：
Equality constraint：
h(X)：L1+L2+L3=450 (7)
The i.e. main diarthrodial total length of drive is 450mm；
Inequality constraints：
g(X)：min(L1,L2,L3)>Articulation mechanism limits minimum length (8)
The i.e. main diarthrodial size of drive must can accommodate down corresponding steering engine.Steering engine length selected by this paper is l=
50mm。
Therefore corresponding penalty is constructed：
Wherein, r(k)For penalty factor.Take c1=0.05, c2=0.03, according to the optimization result of calculation of formula, obtain bionical
The joint ratio of machine fish is 1:1:1.2.
The main driving joint ratio obtained from above and main driving joint total length, can obtain each main driving joint length
Degree：
L1=93mm, L2=93mm, L3=114mm.
Because a biomimetic robot fish movement articular portion generally flexible line segment, therefore by the first main driving joint and the
It is assumed to be a short bionic machine fish from driving articular portion between two main driving joints.
Also preferably to be fitted fish body wave equation curve from driving joint, with the minimum standard of error of fitting, fish is used
The curve of bulk wave equation carries out curve fitting.From driving joint designs, in order to make to standardize from driving joint, conveniently carry out
Processing, therefore be uniform sizes from driving joint vertebrae hinge design, therefore it need to only calculate each drive between joint from drive
Diarthrodial optimum number.
Driven joint first between the first main driving joint and the second main driving joint is calculated, according to fish body ripple
Improve equation (formula 3 and formula 4) and carry out error fit, error formula is
Two constraints is：
(a) equality constraint：
h(X):n1L=93 (11)
The i.e. first main diarthrodial total length of drive is 93mm；
(b) inequality constraints：
g(X):l>l' (12)
In formula：L' can hold minimum dimension for chain structure.Selected due to installation and shaft, simple joint chain can be held
Minimum size l'=18mm.
Again by constructing penalty formula (formula 7), c is taken1=0.05, c2=0.03, calculated and tied according to the optimization of formula
What fruit was calculated, calculate to obtain n1=4, i.e., four are set from driving joint between the first main driving joint and the second main driving joint.Similarly
Obtain setting four from driving joint between the second main driving joint and the 3rd main driving joint.
As shown in figure 3, to drive joint and from postarticular robot fish movement matched curve is driven there is provided main, can by figure
Will become apparent from increase behind driving joint, fish body wave profile can be more nearly.Freedom of motion increases, and joint motions become
Smoothly, make the travelling of machine fish that more there is mildness.
Embodiment 2
As shown in Figure 7,8, the present embodiment and embodiment 1 difference lies in：There is one inside support ring at the fish back of the body
Connecting rod, the card slot 14 offered up and down on two end faces for being clamped vertebrae hinge second connecting portion of the connecting rod 13,
Inside the support ring being connected with the steering engine in active drive joint, there is a card slot for being used to be clamped steering engine at close fish belly
15, support ring is fixedly connected on steering engine by screw.
In order to increase the buoyancy of machine fish, foam is provided between vertebrae hinge and steering engine inside support ring.
Embodiment 3
As shown in figure 9, the present embodiment and embodiment 1 difference lies in：Steering engine is arranged in steering engine shell 1, steering engine shell
For waterproof material, for protecting steering engine not soak, arc track 16 is offered on steering engine shell.
External force suffered by drive rod mostly come from steering engine drive it is main driving joint swing when, the reaction force for the water being subject to.
The applicant utilizes ANSYS Workbench, and statics Analysis has been carried out to drive rod, obtained conclusion be pressure maximum point and
Maximum distortion is in drive rod center section, therefore is connected with a supporting rod 17 downward vertically in drive rod middle part, support
The bottom of bar is connected with a spin, and steering engine drives drive rod to rotate, and drive rod drives supporting rod together with spin in arc track
Inside roll around.
Using the above-mentioned desirable embodiment according to the utility model as enlightenment, pass through above-mentioned description, related work people
Member can carry out various changes and amendments in the range of without departing from this item utility model technological thought completely.This item is real
The content being not limited to new technical scope on specification, it is necessary to which its technology is determined according to right
Property scope.
Claims (7)
1. a kind of machine fish with three joint structures, including fish head, fish body and fish tail, fish body includes fixed part and swing part,
Be provided with fixed part for control robot fish movement posture, wireless charging control mechanism, swing part includes three main drivings
Joint, the first main driving joint, the second main driving joint and the 3rd main driving joint are set gradually along fish body length direction, fixed
Portion one end is fixedly connected with fish head, and the other end is connected with the first main driving arthrodesis, and each main driving joint includes one
The output axis connection of steering engine and drive rod, drive rod one end and steering engine, the other end is fixed with the adjacent main diarthrodial steering engine of drive to be connected
Connect, it is characterised in that fixed part and first it is main driving joint between, first it is main driving joint and second it is main driving joint between,
If it is provided between the second main driving joint and the 3rd driving joint, between the 3rd driving joint and fish tail along fish body length direction
Dry from driving joint, each includes support ring, vertebrae hinge and vertebrae articulated mast from driving joint, in support ring
With the card slot for fixing vertebrae hinge, vertebrae hinge has first connecting portion and second connecting portion, second connecting portion
U-shaped, second connecting portion is arranged in the card slot of support ring, first connecting portion by vertebrae articulated mast with it is previous from
Drive the rotation connection of diarthrodial second connecting portion, second connecting portion is by vertebrae articulated mast and the latter from driving joint
First connecting portion rotation connection, it is multiple to join end to end to form the vertebra of machine fish from driving diarthrodial vertebrae hinge；Fish head
The stress supporting rod of three a diameter of 4mm is provided with the inside of mouth, at before mouth 1/3.
2. the machine fish with three joint structures according to claim 1, it is characterised in that：The outer wheels of multiple support rings
Wide size is coincide with machine fish fish body contour shape.
3. the machine fish with three joint structures according to claim 2, it is characterised in that：Carried on the back inside support ring close to fish
Place has a connecting rod, which offers on two end faces for being clamped vertebrae hinge second connecting portion up and down
Card slot, inside the support ring being connected with the steering engine in active drive joint, is used to be clamped steering engine in having one at fish belly
Card slot.
4. the machine fish with three joint structures according to claim 3, it is characterised in that：Support ring inside and vertebrae
Foam is provided between hinge and steering engine.
5. the machine fish with three joint structures according to claim 1, it is characterised in that：Steering engine is arranged at steering engine shell
It is interior, arc track is offered on steering engine shell, drive rod middle part is connected with a supporting rod, the bottom of supporting rod downward vertically
End is connected with a spin, and steering engine drives drive rod to rotate, drive rod drive supporting rod together with spin in arc track back and forth
Roll.
6. the machine fish with three joint structures according to claim 1, it is characterised in that：First main driving joint and the
It is respectively four from joint is driven to be set between two main driving joints and between the second main driving joint and the 3rd driving joint
It is a.
7. the machine fish with three joint structures according to claim 1, it is characterised in that：First main driving joint, the
Two main driving joints are 1 with the 3rd main diarthrodial length ratio of drive:1:1.2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720838577.9U CN207241989U (en) | 2017-07-12 | 2017-07-12 | A kind of machine fish with three joint structures |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720838577.9U CN207241989U (en) | 2017-07-12 | 2017-07-12 | A kind of machine fish with three joint structures |
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| Publication Number | Publication Date |
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| CN207241989U true CN207241989U (en) | 2018-04-17 |
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ID=61877942
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| CN201720838577.9U Expired - Fee Related CN207241989U (en) | 2017-07-12 | 2017-07-12 | A kind of machine fish with three joint structures |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107444597A (en) * | 2017-07-12 | 2017-12-08 | 河海大学 | A kind of machine fish with three articulation structures |
| CN114954857A (en) * | 2022-06-23 | 2022-08-30 | 哈尔滨理工大学 | Underwater automatic robot with bionic structure |
-
2017
- 2017-07-12 CN CN201720838577.9U patent/CN207241989U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107444597A (en) * | 2017-07-12 | 2017-12-08 | 河海大学 | A kind of machine fish with three articulation structures |
| CN114954857A (en) * | 2022-06-23 | 2022-08-30 | 哈尔滨理工大学 | Underwater automatic robot with bionic structure |
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