CN213620195U

CN213620195U - Mechanical fish capable of moving in multiple degrees of freedom

Info

Publication number: CN213620195U
Application number: CN202022664703.8U
Authority: CN
Inventors: 吴俣翰; 庄宇璠; 张程涵; 马晓宇
Original assignee: Beijing Chuanglo Education Consulting Co ltd
Current assignee: Beijing Chuanglo Education Consulting Co ltd
Priority date: 2020-11-17
Filing date: 2020-11-17
Publication date: 2021-07-06
Anticipated expiration: 2030-11-17

Abstract

The utility model discloses a mechanical fish capable of moving with multiple degrees of freedom, which comprises a fish tail, a first shell, a first joint, a second shell, a second joint, a third shell, a third joint, a fourth shell, a switch button, a controller and a transmission mechanism, wherein the transmission mechanism is arranged at the inner side of the first shell, an electric motor output shaft drives a disc to rotate, the disc drives the connecting block to rotate, and the connecting block drives the sliding plate and the cylinder to circularly and horizontally move in the left and right directions by matching with the transmission plate, the column is matched with the groove to drive the U-shaped plate, the mounting rod and the fishtail to circularly swing back and forth, the screw rod can be driven to rotate by rotating the rotating plate, so that the connecting block vertically moves, therefore, the rotation amplitude of the fish tail is finally adjusted, the mechanical fish can move in multiple degrees of freedom, and meanwhile, the beneficial effect of quickly adjusting the movement amplitude is achieved.

Description

Mechanical fish capable of moving in multiple degrees of freedom

Technical Field

The utility model particularly relates to a but mechanical fish of multi freedom motion relates to the relevant field of mechanical fish.

Background

In recent years, human beings continuously progress in sea exploration, including underwater archaeology salvage sunken ships, detection of submarine pipeline tightness, submarine mineral exploration, high-energy waste treatment and the like, the exploration and research of the items have great significance, such as solving link pollution, perfecting historical information, accelerating liquid and gas resource transmission, obtaining more mineral resources, solving global contradictions and the like, along with continuous exploration to deep sea, the effects of ship sonar and a conventional underwater detector are gradually reduced, and the research of a brand-new underwater detector of bionic mechanical fish species becomes important.

When the in-process of using, its whole flexibility of mechanical fish is relatively poor, is difficult to realize the motion of stable whole body multi-angle, is not convenient for carry out the research of more aspect to mechanical fish to and be not convenient for adjust the swing range of mechanical fish rain body, bring inconvenience for work.

SUMMERY OF THE UTILITY MODEL

Therefore, in order to solve the above-mentioned deficiencies, the present invention provides a mechanical fish with multiple degrees of freedom.

The utility model is realized in such a way, a mechanical fish capable of moving with multiple degrees of freedom is constructed, the device comprises a fish tail and a first shell, the fish tail is hinged at the right end outside the first shell, a transmission mechanism is arranged inside the first shell, the transmission mechanism comprises an electric motor, a disc, a transmission plate, a connecting mechanism, a sliding plate, a fixing frame, a cylinder, an installation rod, a U-shaped plate and a groove, the electric motor is arranged at the left front end inside the first shell, an output shaft at the rear end of the electric motor is fastened at an inner ring of the disc, the transmission plate is connected at the rear end of the disc through the connecting mechanism, the transmission plate is hinged at the middle part of the left end surface of the sliding plate, the sliding plate is arranged at the middle part of the inner side of the fixing frame, the fixing frame is locked at the middle part of the bottom end surface inside the first shell, the cylinder is arranged at the, the middle parts of the upper end and the lower end of the installation rod are rotatably connected with the right ends of the upper end surface and the lower end surface of the inner side of the fixing frame through rotating shafts, the installation rod is fastened in the middle of the left end of the fishtail, and the U-shaped plate is fixedly locked in the middle of the front end surface of the installation rod.

Preferably, the first shell is hinged to the right end face of the second shell through a first joint, the second shell is hinged to the right end face of the third shell through a second joint, the third shell is hinged to the right end face of the fourth shell through a third joint, a switch button is embedded into the left end of the rear end face of the fourth shell, and a controller is installed at the left end of the front end face of the inner side of the fourth shell.

Preferably, coupling mechanism includes well hollow plate, commentaries on classics board, screw rod, connecting block and backup pad, well hollow plate lock is in disc rear end face border department, commentaries on classics board bottom end face middle part fastening has the screw rod, the screw rod runs through in well hollow plate and connecting block top end face middle part after, and screw rod outside bottom rotates with backup pad top end face middle part and is connected, connecting block slidable mounting is inboard in well hollow plate, and connecting block rear end face middle part is connected through the rotation of pivot and the preceding terminal surface left end of driving plate, the backup pad lock is in well hollow plate bottom end face admittedly.

Preferably, the number of the transmission mechanisms is four, and the four transmission mechanisms are respectively located inside the first shell, the second shell, the third shell and the fourth shell.

Preferably, the width of the inner side of the U-shaped plate is 0.2cm to 0.5cm larger than the thickness of the sliding plate, and the vertical distance between the right end surface of the U-shaped plate and the right end surface of the sliding plate is 0.25 cm.

Preferably, the outer diameter of the cylinder corresponds to the width of the inner side of the groove, and the length of the inner side of the groove is twice of the outer diameter of the cylinder.

Preferably, the left end of the top of the fixing frame is provided with an opening, and the size of the opening corresponds to the transmission plate.

Preferably, a screw hole is formed in the top end face of the connecting block, and the end face of the inner side of the screw hole is in threaded fit with the side surface of the screw rod.

The utility model has the advantages of as follows: the utility model discloses an improve and provide a but mechanical fish of multi freedom motion here, compare with equipment of the same type, have following improvement:

the method has the advantages that: but mechanical fish of multi freedom motion, it is inboard in first casing through having set up drive mechanism, it rotates to drive the disc through the electric motor output shaft, and the disc then drives the connecting block and rotates, the connecting block drives slide and cylinder through the cooperation driving plate simultaneously and carries out left right direction circulation horizontal migration, and the cylinder then cooperates the recess and drives the U template, installation pole and fish tail carry out the front and back circulation swing, and can drive the screw rod through rotating the board and rotate, make the connecting block vertical migration, thereby finally realize that the amplitude of rotation of fish tail obtains adjusting, reached and carried out multi freedom's motion to mechanical fish, carry out quick adjustment's beneficial effect to the amplitude of motion simultaneously.

The method has the advantages that: but mechanical fish of multi freedom motion has seted up the screw through connecting block top end face, and screw medial surface and screw rod side surface screw-thread fit, and the screw rod of being convenient for drives the connecting block through the cooperation screw and carries out the vertical migration at the pivoted in-process.

Drawings

FIG. 1 is a schematic structural view of the present invention;

fig. 2 is a schematic view of the overall front sectional structure of the present invention;

fig. 3 is a schematic structural view of the front section of the transmission mechanism of the present invention;

FIG. 4 is a schematic view of the connection structure of the mounting rod of the present invention;

fig. 5 is an enlarged schematic view of a structure in fig. 3 according to the present invention.

Wherein: the fish tail-1, the first shell-2, the first joint-3, the second shell-4, the second joint-5, the third shell-6, the third joint-7, the fourth shell-8, the switch button-10, the controller-11, the transmission mechanism-9, the electric motor-91, the disc-92, the transmission plate-93, the connecting mechanism-94, the sliding plate-95, the fixed frame-96, the cylinder-97, the mounting rod-98, the U-shaped plate-99, the groove-910, the hollow plate-941, the rotating plate-942, the screw-943, the connecting block-944 and the supporting plate-945.

Detailed Description

The present invention will be described in detail with reference to the accompanying fig. 1-5, and the technical solutions in the embodiments of the present invention will be clearly and completely described, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Please refer to fig. 1 and fig. 2, the utility model provides a but mechanical fish of multi freedom motion through the improvement here, including fish tail 1 and first casing 2, fish tail 1 articulates in the 2 outside right-hand members of first casing, and first casing 2 articulates in second casing 4 right-hand member face through first joint 3, and second casing 4 articulates in third casing 6 right-hand member face through second joint 5, and third casing 6 articulates in fourth casing 8 right-hand member face through third joint 7, and 8 rear end of fourth casing left ends embedding have shift knob 10, and controller 11 is installed to 8 inboard front end left ends of fourth casing.

Referring to fig. 3 and 4, the present invention provides a mechanical fish with multiple degrees of freedom, wherein four transmission mechanisms 9 are disposed inside a first housing 2, four transmission mechanisms 9 are disposed inside the first housing 2, four transmission mechanisms 9 are disposed inside a second housing 4, a third housing 6 and a fourth housing 8, respectively, so as to facilitate independent and free movement of a fish tail 1, the first housing 2, the second housing 4 and the third housing 6, each transmission mechanism 9 includes an electric motor 91, a disc 92, a transmission plate 93, a connection mechanism 94, a sliding plate 95, a fixing frame 96, a cylinder 97, a mounting rod 98, a U-shaped plate 99 and a groove 910, the electric motor 91 is mounted at the left front end of the inner side of the first housing 2, and an output shaft at the rear end of the electric motor 91 is fastened at the inner ring of the disc 92, the transmission plate 93 is connected to the rear end of the disc 92 through the connection mechanism 94, and the transmission plate 93 is hinged to the middle portion of the left end surface, the sliding plate 95 is slidably mounted in the middle of the inner side of the fixing frame 96, the fixing frame 96 is locked in the middle of the bottom end face of the inner side of the first shell 2, the left end of the top of the fixing frame 96 is provided with an opening, the position of the opening corresponds to the transmission plate 93, so that the transmission plate 93 can rotate at a larger angle, the cylinder 97 is arranged at the right ends of the upper and lower end faces of the sliding plate 95, the cylinder 97 movably extends into the inner side of a groove 910 formed in the front of the upper and lower end faces of the inner side of the U-shaped plate 99, the outer diameter of the cylinder 97 corresponds to the inner width of the groove 910, the length of the inner side of the groove 910 is twice the outer diameter of the cylinder 97, so that the cylinder 97 can drive the U-shaped plate 99 and the mounting rod 98 to rotate by matching with the groove 910, the middle parts of the upper and lower ends, the width of the inner side of the U-shaped plate 99 is 0.2cm to 0.5cm larger than the thickness of the sliding plate 95, and the vertical distance between the right end surface of the U-shaped plate 99 and the right end surface of the sliding plate 95 is 0.25cm, so that the sliding plate 95 drives the U-shaped plate 99 to rotate.

Please refer to fig. 5, the utility model provides a but mechanical fish of multi freedom motion here through the improvement, coupling mechanism 94 includes cavity plate 941, rotating plate 942, screw rod 943, connecting block 944 and backup pad 945, cavity plate 941 locks in disc 92 rear end face border department, the fastening of rotating plate 942 bottom end face middle part has screw rod 943, screw rod 943 runs through behind cavity plate 941 and connecting block 944 top end face middle part, and screw rod 943 outside bottom is connected with the rotation of backup pad 945 top end face middle part, connecting block 944 slidable mounting is inboard in cavity plate 941, and connecting block 944 rear end face middle part is connected with the rotation of driving plate 93 front end face left end through the pivot, the screw has been seted up to connecting block 944 top end face, and screw rod 943 side surface screw-thread fit in the screw rod 943 side face, be convenient for the screw rod 943 rotates and drives connecting block 944 vertical movement, backup pad 945 is fixed in cavity plate 941.

The utility model provides a mechanical fish capable of moving with multiple degrees of freedom through improvement, and the working principle is as follows;

firstly, the whole device is placed at a designated position, the controller 11 is connected to an external debugging device, and then the rotating speed and the rotating direction of the electric motor 91 in the first shell 2, the second shell 4, the third shell 6 and the fourth shell 8 can be adjusted through the external debugging device;

secondly, when the mechanical fish is in use, the controller 11 can be operated by external debugging equipment to start the corresponding electric motor 91, the electric output shaft of the electric motor 91 drives the disc 92 to rotate, the disc 92 drives the hollow plate 941 and the connecting block 944 to rotate, meanwhile, the connecting block 944 drives the sliding plate 95 and the cylinder 97 to circularly and horizontally move in the left-right direction by matching with the transmission plate 93, the cylinder 97 drives the U-shaped plate 99, the mounting rod 98 and the fishtail 1 to circularly and horizontally swing by matching with the groove 910 in the horizontal moving process, and the first shell 2, the second shell 4 and the third shell 6 can independently move through the first joint 3, the second joint 5 and the third joint 7 by a plurality of arranged transmission mechanisms 9;

thirdly, when the motion amplitude of the mechanical fish needs to be adjusted, the screw 943 can be driven to rotate by rotating the rotating plate 942, so that the connecting block 944 can vertically move under the driving of the screw 943, the moving distance of the sliding plate 95 driven by the connecting block 944 can be adjusted, and finally the rotation amplitude of the fish tail 1 can be adjusted.

The utility model provides a but mechanical fish of multi freedom motion through the improvement, it rotates to drive disc 92 through electric motor 91 circular output shaft, and disc 92 then drives cavity plate 941 and connecting block 944 and rotates, and connecting block 944 drives slide 95 and cylinder 97 through cooperation driving plate 93 and carries out left and right direction circulation horizontal migration, and cylinder 97 drives U template 99, installation pole 98 and fish tail 1 through cooperation recess 910 in the horizontal migration process and carries out the front and back circulation swing, can make first casing 2, second casing 4 and third casing 6 carry out the independent motion through first joint 3, second joint 5 and third joint 7 through the drive mechanism 9 of a plurality of settings, can drive screw 943 through rotating rotor 942, make connecting block 944 drive under screw 943 drive vertical migration, thereby realize that the sliding plate 95 displacement distance that connecting block 944 drives is adjusted, finally, the rotation amplitude of the fish tail 1 is adjusted, the mechanical fish can move in multiple degrees of freedom, and meanwhile, the beneficial effect of quickly adjusting the movement amplitude is achieved; the top end face of the connecting block 944 is provided with a screw hole, and the end face of the inner side of the screw hole is in threaded fit with the side surface of the screw 943, so that the screw 943 can drive the connecting block 944 to vertically move through matching with the screw hole in the rotating process.

Claims

1. A mechanical fish capable of moving in multiple degrees of freedom comprises a fish tail (1) and a first shell (2), wherein the fish tail (1) is hinged to the right end of the outer side of the first shell (2);

the method is characterized in that: the automatic feeding device is characterized by further comprising a transmission mechanism (9), the transmission mechanism (9) is arranged inside the first shell (2), the transmission mechanism (9) comprises an electric motor (91), a disc (92), a transmission plate (93), a connecting mechanism (94), a sliding plate (95), a fixing frame (96), a cylinder (97), an installation rod (98), a U-shaped plate (99) and a groove (910), the electric motor (91) is installed at the left front end of the inner side of the first shell (2), an output shaft at the rear end of the electric motor (91) is fastened on the inner ring of the disc (92), the transmission plate (93) is connected to the rear end of the disc (92) through the connecting mechanism (94), the transmission plate (93) is hinged to the middle of the left end face of the sliding plate (95), the sliding plate (95) is slidably installed in the middle of the inner side of the fixing frame (96), the fixing frame (96) is locked in the middle of, the cylinder (97) is arranged at the right ends of the upper end face and the lower end face of the sliding plate (95), the cylinder (97) movably extends into the inner side of a groove (910) formed in the front portion of the upper end face and the lower end face of the inner side of the U-shaped plate (99), the middle portions of the upper end face and the lower end face of the upper end face of the mounting rod (98) are rotatably connected with the right ends of the upper end face and the lower end face of the inner.

2. The mechanical fish capable of moving in multiple degrees of freedom according to claim 1, wherein: first casing (2) articulate in second casing (4) right-hand member face through first joint (3), second casing (4) articulate in third casing (6) right-hand member face through second joint (5), third casing (6) articulate in fourth casing (8) right-hand member face through third joint (7), fourth casing (8) rear end face left end embedding has shift knob (10), and controller (11) are installed to fourth casing (8) inboard front end face left end.

3. The mechanical fish capable of moving in multiple degrees of freedom according to claim 1, wherein: coupling mechanism (94) include cavity board (941), commentaries on classics board (942), screw rod (943), connecting block (944) and backup pad (945), cavity board (941) closure is in disc (92) rear end face border department, commentaries on classics board (942) bottom end face middle part fastening has screw rod (943), screw rod (943) run through behind cavity board (941) and connecting block (944) top end face middle part, and screw rod (943) outside bottom is connected with backup pad (945) top end face middle part rotation, connecting block (944) slidable mounting is inboard in cavity board (941), and connecting block (944) rear end face middle part is connected through pivot and driving plate (93) front end face left end rotation, backup pad (945) lock is in cavity board (941) bottom end face.

4. The mechanical fish capable of moving in multiple degrees of freedom according to claim 1, wherein: the four transmission mechanisms (9) are arranged, and the four transmission mechanisms (9) are respectively positioned in the first shell (2), the second shell (4), the third shell (6) and the fourth shell (8).

5. The mechanical fish capable of moving in multiple degrees of freedom according to claim 1, wherein: the width of the inner side of the U-shaped plate (99) is 0.2cm to 0.5cm larger than the thickness of the sliding plate (95), and the vertical distance between the right end face of the U-shaped plate (99) and the right end face of the sliding plate (95) is 0.25 cm.

6. The mechanical fish capable of moving in multiple degrees of freedom according to claim 1, wherein: the outer diameter of the cylinder (97) corresponds to the width of the inner side of the groove (910), and the length of the inner side of the groove (910) is twice of the outer diameter of the cylinder (97).

7. The mechanical fish capable of moving in multiple degrees of freedom according to claim 1, wherein: the left end of the top of the fixed frame (96) is provided with an opening, and the size of the position of the opening corresponds to that of the transmission plate (93).

8. The mechanical fish capable of moving in multiple degrees of freedom according to claim 3, wherein: the top end face of the connecting block (944) is provided with a screw hole, and the end face of the inner side of the screw hole is in threaded fit with the side surface of the screw rod (943).