CN209719882U

CN209719882U - A kind of bionic fish tail fin apparatus of tandem crank rocker device

Info

Publication number: CN209719882U
Application number: CN201822136449.7U
Authority: CN
Inventors: 陈磊; 陈芳; 陈俊
Original assignee: Wuhan Flying Robot Technology Co Ltd
Current assignee: Wuhan Flying Robot Technology Co Ltd
Priority date: 2018-12-19
Filing date: 2018-12-19
Publication date: 2019-12-03
Anticipated expiration: 2028-12-19

Abstract

The utility model discloses a kind of bionic fish tail fin apparatus of tandem crank rocker device, including bracket, the surface of bracket is fixed with power motor and shaft seat, the surface pivots of shaft seat are connected with steering-engine, the output shaft of power motor is rotatably connected to crank, crank is rotatably connected to connecting rod, link rotatable is connected with tail fin rocking bar, tail fin rocking bar is fixedly connected far from one end of connecting rod with steering-engine, the output shaft of steering-engine is connected with tail fin swing arm, and tail fin swing arm is connected with tail fin far from one end of steering-engine.The bionic fish tail fin apparatus of the tandem crank rocker device is connected using crank and rocker mechanism with steering engine, and steering engine working strength is slowed down, so that Biomimetic Fish driving effect is more ideal.

Description

A kind of bionic fish tail fin apparatus of tandem crank rocker device

Technical field

The utility model belongs to Biomimetic Fish tail fin actuation techniques field, and in particular to a kind of tandem crank rocker device is imitated Raw fish tail fin apparatus.

Background technique

Biomimetic Fish is manufactured and designed according to bionics principle, they move about to get up to exactly like real carp, and body is in electricity It swings back and forth under the promotion of machine, and changes their swimming direction with fin and tail.Biomimetic Fish has been used for watching extensively, entertain, The fields such as water quality monitoring, scientific research.

Currently, Biomimetic Fish in the market mostly uses steering engine to be driven, especially with servo driving tail fin.This needs steering engine It constantly moves reciprocatingly, steering engine inverts suddenly, wears to it very greatly, low efficiency, service life are short.Therefore we need a novel The bionic fish tail fin apparatus of tandem crank rocker device solve the above problems, meet the needs of people.

Utility model content

The purpose of this utility model is to provide a kind of bionic fish tail fin apparatus of tandem crank rocker device, existing to solve There is the abrasion of steering engine in Biomimetic Fish technology big, low efficiency, service life short problem.

To achieve the above object, the utility model provides the following technical solutions: a kind of tandem crank rocker device it is bionical Fish tail fin apparatus, including bracket, the surface of the bracket are fixed with power motor and shaft seat, the surface pivots of the shaft seat It is connected with steering-engine, the output shaft of the power motor is rotatably connected to crank, and the crank is rotatably connected to connecting rod, described Link rotatable is connected with tail fin rocking bar, and the tail fin rocking bar is fixedly connected far from one end of connecting rod with steering-engine, the steering The output shaft of steering engine is connected with tail fin swing arm, and the tail fin swing arm is connected with tail fin far from one end of steering-engine.

Preferably, the tail fin rocking bar coincides with steering-engine junction and steering-engine axle center.

Preferably, the tail fin is using thinning as the even width of starting point to tail fin tail end close to tail fin swing arm one end.

Preferably, the power motor is high-power brushless motor.

The technical effect and advantage of the utility model: the bionic fish tail fin apparatus of the tandem crank rocker device shakes crank Linkage is connected with steering engine.Oscillating motion, the movement of control biomimetics fish, In are done by brushless power motor driven crank and rocker mechanism It connects on crank rocker terminal shaft steering engine, is turned to for controlling.It changes traditional single steering engine control direction and provides dynamic The phenomenon that power, improves steering engine service life.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of the utility model.

In figure: 1- crank, 2- connecting rod, 3- power motor, 4- bracket, 5- tail fin rocking bar, 6- steering-engine, 7- tail fin pendulum Arm, 8- tail fin, 9- shaft seat.

Specific embodiment

The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work Every other embodiment obtained, fall within the protection scope of the utility model.

The utility model provides a kind of bionic fish tail fin apparatus of tandem crank rocker device as illustrated in the drawing, including Bracket 4, the surface of bracket 4 are fixed with power motor 3 and shaft seat 9, and the surface pivots of shaft seat 9 are connected with steering-engine 6, turn The axis rotation of shaft seat 9 can be surrounded to steering engine 6 itself,

Power motor 3 provides major impetus, and the output shaft of power motor 3 is rotatably connected to the connecting rod song for making integral cycle rotating Handle 1, crank 1 are rotatably connected to connecting rod 2, and connecting rod 2 is rotatably connected to tail fin rocking bar 5, the one end of tail fin rocking bar 5 far from connecting rod 2 with Steering-engine 6 is fixedly connected, and the rotation of tail fin rocking bar 5 drives steering-engine 6 around the axis rotation of shaft seat 9, steering-engine 6 Output shaft be connected with tail fin swing arm 7, the rotation of steering-engine 6 drives tail fin swing arm 7 to rotate, and tail fin swing arm 7 rotates tail fin pendulum Arm 7 makees oscillating motion using the output shaft of steering engine 6 as the center of circle, and tail fin swing arm 7 is connected with tail fin 8 far from one end of steering-engine 6, Tail fin swing arm 7, which is swung, drives waving for tail fin 8.

Specifically, tail fin rocking bar 5 coincides with 6 junction of steering-engine and 6 axle center of steering-engine, can tail fin be shaken Bar 5 surrounds 6 axis rotation of steering-engine.

Specifically, tail fin 8 is thinning as the even width of starting point to 8 tail end of tail fin using close 7 one end of tail fin swing arm, meet fish Body engineering science is convenient for bionical fish swimming.

Specifically, power motor 3 is high-power brushless motor, continuous integral cycle rotating can be with stepless time adjustment

Working principle: in travelling, the continuous integral cycle rotating of crank 1 drives tail fin rocking bar 5 to make oscillating motion by connecting rod 2. Steering-engine 6 has locked the angle 7 of tail fin rocking bar 5 Yu tail fin swing arm, and tail fin 8 follows tail fin rocking bar 5 to make oscillating motion.

When turning to, steering-engine 6 controls the angle of tail fin rocking bar 5 and tail fin swing arm 7, the side that controllable tail fin 8 waves To change swimming direction.

During the work time, the maximum two component power motors 3 of quality and steering-engine 6, position does not change, Gu The center of gravity of Biomimetic Fish will not be had an impact, guarantee the balance of Biomimetic Fish.

Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention, it is not limited to this Utility model, although the utility model is described in detail with reference to the foregoing embodiments, for those skilled in the art For, it is still possible to modify the technical solutions described in the foregoing embodiments, or to part of technical characteristic It is equivalently replaced, within the spirit and principle of the utility model, any modification, equivalent replacement, improvement and so on, It should be included within the scope of protection of this utility model.

Claims

1. a kind of bionic fish tail fin apparatus of tandem crank rocker device, including bracket (4), it is characterised in that: the bracket (4) Surface be fixed with power motor (3) and shaft seat (9), the surface pivots of the shaft seat (9) are connected with steering-engine (6), The output shaft of the power motor (3) is rotatably connected to crank (1), and the crank (1) is rotatably connected to connecting rod (2), the company Bar (2) is rotatably connected to tail fin rocking bar (5), and one end and steering-engine (6) far from connecting rod (2) of the tail fin rocking bar (5) are fixed Connection, the output shaft of the steering-engine (6) are connected with tail fin swing arm (7), and the tail fin swing arm (7) is far from steering-engine (6) One end be connected with tail fin (8).

2. a kind of bionic fish tail fin apparatus of tandem crank rocker device according to claim 1, it is characterised in that: described Tail fin rocking bar (5) coincides with steering-engine (6) junction and steering-engine (6) axle center.

3. a kind of bionic fish tail fin apparatus of tandem crank rocker device according to claim 1, it is characterised in that: described Tail fin (8) is using thinning as the even width of starting point to tail fin (8) tail end close to tail fin swing arm (7) one end.

4. a kind of bionic fish tail fin apparatus of tandem crank rocker device according to claim 1, it is characterised in that: described Power motor (3) is high-power brushless motor.