CN208021697U - Doublejointed bionic mechanical fish tail portion propulsive mechanism based on link mechanism - Google Patents
Doublejointed bionic mechanical fish tail portion propulsive mechanism based on link mechanism Download PDFInfo
- Publication number
- CN208021697U CN208021697U CN201721636448.8U CN201721636448U CN208021697U CN 208021697 U CN208021697 U CN 208021697U CN 201721636448 U CN201721636448 U CN 201721636448U CN 208021697 U CN208021697 U CN 208021697U
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- fish tail
- fish
- tail
- block
- pull rod
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Abstract
The utility model discloses the doublejointed bionic mechanical fish tail portion propulsive mechanisms based on link mechanism, including fish tail supporting rack and deceleration direct-current motor and crank disk, sliding block is arranged by two optical axises between two fish tail supporting racks, fish tail supporting rack end is equipped with U-shaped supporting block, bar one end is flexibly connected with U-shaped supporting block in fish tail pull rod and fish tail, U-shaped limited block is fixed at below fish tail pull rod, sliding block both ends are separately connected fish tail pull rod and crank disk, bar is connect with fish tail link block in fish tail, fish tail link block is also connected with fish tail brace one end and tail fin, the fish tail brace other end is fixed on fish tail pull rod.The tail portion propulsive mechanism for the novel doublejointed that the utility model is developed according to the fish tail portion characteristics of motion, its doublejointed is with the cycle movement of constant 90 ° of phase differences for its main feature, bionical performance can greatly be enhanced, improve propulsive efficiency, energy consumption is saved, the problem that the bionical characteristic of bionic mechanical fish tail swing is low on existing market is avoided.
Description
Technical field
The utility model belongs to bionical product technical field, and in particular to a kind of bionical machine of doublejointed based on link mechanism
Tool fish tail portion propulsive mechanism.
Background technology
In recent years, the rapid growth of population in the world, the gradual scarcity of land resources, the ocean for occupying ground sphere area 71% must
It will be as the main battle ground of mankind's development of resources from now on.Therefore, to research of the exploration of marine resources, marine organisms etc. in future
It can become particularly important.Which kind of mode to carry out detection to marine resources using is a particularly important problem, unquestionably, right
The underwater detectoscope that ocean is detected must have the characteristics that efficient, speed is fast, flexibility is high, and substantial amounts in ocean
Fish have these features just.And the bionic fish tail propulsive mechanism on existing market is mostly based on crank and rocker mechanism,
Bio-imitability is low, some even directly control motor positive and inverse and realize that reciprocally swinging, motor consume are serious.
Utility model content
For above-mentioned existing problem, the utility model some is designed to provide a kind of doublejointed based on link mechanism
Bionic mechanical fish tail portion propulsive mechanism, it can greatly improve the propulsive efficiency of bionic mechanical fish, energy saving, and improve machine
The bionical degree of tool fish.
The doublejointed bionic mechanical fish tail portion propulsive mechanism based on link mechanism, it is characterised in that exist including setting
Fish tail supporting rack on fish body interior furring channels, deceleration direct-current motor and crank disk setting in fish tail supporting rack upper and lower position and
It is connected with each other, sliding block is arranged by two optical axises between two fish tail supporting racks, and fish tail supporting rack end is equipped with U-shaped support
Block, bar one end is flexibly connected by shaft with U-shaped supporting block in U-shaped limited block, fish tail pull rod and fish tail, and U-shaped limited block is located at
Below fish tail pull rod, sliding block one end connects fish tail pull rod by the first fish tail connecting rod, and the other end is connected by the second fish tail connecting rod
Crank disk, the bar other end is connect with fish tail link block in fish tail, and fish tail link block is also connected with fish tail brace one end and tail fin, fish
The tail brace other end is fixed on fish tail pull rod, and deceleration direct-current motor connects control box and battery case.
The doublejointed bionic mechanical fish tail portion propulsive mechanism based on link mechanism, it is characterised in that fish tail link block
For structure of right angle tyoe, the tie point of bar and fish tail link block is square position, fish tail brace, tail fin and fish tail link block in fish tail
Tie point be respectively two right-angle sides outer end.
The above-mentioned doublejointed bionic mechanical fish tail portion propulsive mechanism based on link mechanism, it is characterised in that exist including setting
Fish tail supporting rack on fish body interior furring channels, deceleration direct-current motor and crank disk setting in fish tail supporting rack upper and lower position and
It is connected with each other, sliding block is arranged by two optical axises between two fish tail supporting racks, and fish tail supporting rack end is equipped with U-shaped support
Block, bar one end is flexibly connected by shaft with U-shaped supporting block in fish tail pull rod and fish tail, and U-shaped limited block is fixed at fish tail
Below pull rod, sliding block one end connects fish tail pull rod by the first fish tail connecting rod, and the other end passes through the second fish tail connecting rod connecting crank
Disk, the bar other end is connect with fish tail link block in fish tail, and fish tail link block is also connected with fish tail brace one end and tail fin, and fish tail is oblique
The bar other end is fixed on fish tail pull rod, and deceleration direct-current motor connects control box and battery case.The utility model is according to fish tail portion
The tail portion propulsive mechanism for the novel doublejointed that the characteristics of motion is developed, its doublejointed are transported with the periodicity of constant 90 ° of phase differences
It moves as its main feature, can greatly enhance bionical performance, improve propulsive efficiency, save energy consumption, avoid and imitated on existing market
The low problem of the bionical characteristic of life tool fish tail swing.
Description of the drawings
FIG. 1 is a schematic structural view of the utility model；
Fig. 2 is the overlooking structure diagram of the utility model.
In figure：1- deceleration direct-current motors；2- optical axises；3- sliding blocks；4- the first fish tail connecting rods；5-U type limited blocks；In 6- fish tails
Bar；7- fish tail link blocks；8- tail fins；9- fish tail braces；10-U type supporting blocks；11- fish tail pull rods；12- the second fish tail connecting rods；
13- crank disks；14- fish tail supporting racks.
Specific implementation mode
Below in conjunction with Figure of description, the utility model will be further described, but the scope of protection of the utility model is simultaneously
It is not limited only to this：
If Fig. 1-2 shows, the doublejointed bionic mechanical fish tail portion propulsive mechanism based on link mechanism of the utility model is main
Including bar 6 in deceleration direct-current motor 1, optical axis 2, sliding block 3, the first fish tail connecting rod 4, U-shaped limited block 5, fish tail, fish tail link block 7,
Tail fin 8, fish tail brace 9, U-shaped supporting block 10, fish tail pull rod 11, the second fish tail connecting rod 12, crank disk 13 and fish tail supporting rack
14, fish tail supporting rack 14 is arranged on fish body interior furring channels, and deceleration direct-current motor 1 and crank disk 13 are arranged in fish tail supporting rack
14 upper and lower positions and interconnection, sliding block 3 are arranged by two optical axises 2 between two fish tail supporting racks 14, and above is fish tail
First segment, the section of fish tail second includes bar 6 in tail fin 8, fish tail brace 9 and the fish tail connected by fish tail link block 7, fish tail supporting rack
14 ends are equipped with U-shaped supporting block 10, and 6 one end of bar passes through shaft and U-shaped supporting block in U-shaped limited block 5, fish tail pull rod 11 and fish tail
10 flexible connections, shaft run through fish tail pull rod 11, and U-shaped limited block 5 is located at 11 lower section of fish tail pull rod, and 3 one end of sliding block passes through first
Fish tail connecting rod 4 connects fish tail pull rod 11, and the other end is by 12 connecting crank disk 13 of the second fish tail connecting rod, and bar 6 is another in fish tail
End is connect with fish tail link block 7, and fish tail link block 7 is also connected with 9 one end of fish tail brace and tail fin 8, in the utility model embodiment
Fish tail link block 7 be structure of right angle tyoe, the tie point of bar 6 and fish tail link block 7 is square position in fish tail, fish tail brace 9,
The tie point of tail fin 8 and fish tail link block 7 is respectively the outer end of two right-angle sides；9 other end of fish tail brace is fixed on fish tail drawing
On bar 11, deceleration direct-current motor 1 connects control box 5 and battery case 6, and there are skies in fish body interior furring channels middle and lower part for the utility model
Between, it according to circumstances can suitably increase counterweight.
As shown, the course of work of fish tail 1 is as follows：Deceleration direct-current motor 1 is connected by crank disk 13 and the second fish tail
The oscillation cycle that rotary motion is changed into sliding block 3 by bar 12 moves, and tail portion first segment is by a U-shaped supporting block 10 by one
Axis connects bar 6 in U-shaped limited block 5, fish tail pull rod 11 and fish tail, this three can be dynamic around the shaft rotation, fish tail second is saved by fish
Bar 6 in the connection of tail link block 7 tail fin 8, fish tail brace 9 and fish tail is passed the reciprocating motion of sliding block 3 by the first fish tail connecting rod 4
Fish tail pull rod 11 is passed, fish tail pull rod 11 drives U-shaped limited block 5 to move reciprocatingly, since bar 6 follows suit in position-limiting action fish tail
It moves back and forth, while power is transmitted to fish tail link block 7 by fish tail pull rod 11 by fish tail brace 9 so that bar 6 and tail fin in fish tail
8 match resultant motion, and integrated model realizes tail portion first segment and the second section with constant phase difference under the drive of deceleration direct-current motor 1
Periodic reverse motion.
Claims (2)
1. the doublejointed bionic mechanical fish tail portion propulsive mechanism based on link mechanism, it is characterised in that including being arranged inside fish body
Fish tail supporting rack on keel（14）, deceleration direct-current motor（1）And crank disk（13）It is arranged in fish tail supporting rack（14）Above and below
Position and interconnection, sliding block（3）Pass through two optical axises（2）It is arranged in two fish tail supporting racks（14）Between, fish tail supporting rack
（14）End is equipped with U-shaped supporting block（10）, U-shaped limited block（5）, fish tail pull rod（11）With bar in fish tail（6）One end passes through shaft
With U-shaped supporting block（10）Flexible connection, U-shaped limited block（5）Positioned at fish tail pull rod（11）Lower section, sliding block（3）One end passes through first
Fish tail connecting rod（4）Connect fish tail pull rod（11）, the other end passes through the second fish tail connecting rod（12）Connecting crank disk（13）, in fish tail
Bar（6）The other end and fish tail link block（7）Connection, fish tail link block（7）It is also connected with fish tail brace（9）One end and tail fin（8）, fish
Tail brace（9）The other end is fixed on fish tail pull rod（11）On, deceleration direct-current motor（1）Connect control box and battery case.
2. the doublejointed bionic mechanical fish tail portion propulsive mechanism according to claim 1 based on link mechanism, feature exist
In fish tail link block（7）For structure of right angle tyoe, bar in fish tail（6）With fish tail link block（7）Tie point be square position, fish tail
Brace（9）, tail fin（8）With fish tail link block（7）Tie point be respectively two right-angle sides outer end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721636448.8U CN208021697U (en) | 2017-11-30 | 2017-11-30 | Doublejointed bionic mechanical fish tail portion propulsive mechanism based on link mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721636448.8U CN208021697U (en) | 2017-11-30 | 2017-11-30 | Doublejointed bionic mechanical fish tail portion propulsive mechanism based on link mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208021697U true CN208021697U (en) | 2018-10-30 |
Family
ID=63897123
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721636448.8U Expired - Fee Related CN208021697U (en) | 2017-11-30 | 2017-11-30 | Doublejointed bionic mechanical fish tail portion propulsive mechanism based on link mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208021697U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109927867A (en) * | 2019-02-20 | 2019-06-25 | 博雅工道（北京）机器人科技有限公司 | A kind of fish tail mechanism of bionic machine fish |
| CN110077566A (en) * | 2019-05-17 | 2019-08-02 | 东南大学 | Multi-joint link-type tail structure and the bionic machine fish promoted using it |
| CN110522625A (en) * | 2019-08-04 | 2019-12-03 | 赵强 | The minimally invasive intrathoracic press device of one kind and its application method |
| CN110901867A (en) * | 2019-12-03 | 2020-03-24 | 哈尔滨工程大学 | Bionic fishtail based on gear connecting rod mechanism |
| CN111173911A (en) * | 2020-01-13 | 2020-05-19 | 哈尔滨工程大学 | Gear and gear ring transmission connecting rod type bionic fishtail |
| 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 |
| CN111976932A (en) * | 2020-08-20 | 2020-11-24 | 中国科学院自动化研究所 | Dolphin-like propelling mechanism |
-
2017
- 2017-11-30 CN CN201721636448.8U patent/CN208021697U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109927867A (en) * | 2019-02-20 | 2019-06-25 | 博雅工道（北京）机器人科技有限公司 | A kind of fish tail mechanism of bionic machine fish |
| CN109927867B (en) * | 2019-02-20 | 2024-03-01 | 博雅工道（北京）机器人科技有限公司 | Fishtail mechanism of bionic robot fish |
| CN110077566A (en) * | 2019-05-17 | 2019-08-02 | 东南大学 | Multi-joint link-type tail structure and the bionic machine fish promoted using it |
| CN110077566B (en) * | 2019-05-17 | 2020-03-31 | 东南大学 | Multi-joint connecting rod type tail mechanism and bionic robot fish propelled by same |
| CN110522625A (en) * | 2019-08-04 | 2019-12-03 | 赵强 | The minimally invasive intrathoracic press device of one kind and its application method |
| CN110901867A (en) * | 2019-12-03 | 2020-03-24 | 哈尔滨工程大学 | Bionic fishtail based on gear connecting rod mechanism |
| CN111173911A (en) * | 2020-01-13 | 2020-05-19 | 哈尔滨工程大学 | Gear and gear ring transmission connecting rod type bionic fishtail |
| 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 |
| CN111976932A (en) * | 2020-08-20 | 2020-11-24 | 中国科学院自动化研究所 | Dolphin-like propelling mechanism |
| CN111976932B (en) * | 2020-08-20 | 2021-10-08 | 中国科学院自动化研究所 | Dolphin-like propelling mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181030 Termination date: 20211130 |