CN214165269U - Stay-supported type robot fish multi-joint mechanism - Google Patents
Stay-supported type robot fish multi-joint mechanism Download PDFInfo
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- CN214165269U CN214165269U CN202120125353.XU CN202120125353U CN214165269U CN 214165269 U CN214165269 U CN 214165269U CN 202120125353 U CN202120125353 U CN 202120125353U CN 214165269 U CN214165269 U CN 214165269U
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Abstract
The utility model provides a stay-supported machine fish multi-joint mechanism belongs to bionical machine technical field for solve current bionical machine fish motion efficiency ratio lower, not nimble enough, the structure is complicated and technical problem that manufacturing cost is high. The utility model discloses a fish body joint skeleton, be used for connecting the internode connecting piece of fish body joint skeleton, tail-end connector and tail fin, fish body joint skeleton is including the head end fish body joint skeleton that connects gradually, a plurality of middle fish body joint skeletons and terminal fish body joint skeleton, head end fish body joint skeleton, through internode connecting piece swing joint between middle fish body joint skeleton and the terminal fish body joint skeleton, through internode connecting piece swing joint between the adjacent two middle fish body joint skeletons, be provided with the drive wire in the fish body joint skeleton, the drive wire is connected with the driver. The multi-joint mechanism of the guyed robotic fish has the advantages of flexible movement, low power consumption, simple structure, convenient assembly and disassembly, low production cost and the like.
Description
Technical Field
The utility model belongs to the technical field of bionic machine, a branch of academic or vocational study machine fish of imitative, especially a stay-supported machine fish multi-joint mechanism is related to.
Background
After millions of years of selection and evolution, the fish can make quick, efficient and agile swimming action. The fish species exceed 2.8 thousands, have various excellent morphological structure characteristics, swim in water with remarkable efficiency, speed, maneuverability and concealment, and greatly exceed the current artificial underwater vehicle. In recent years, as the speed of ocean exploration and development is increasing, underwater robots have been widely noticed and researched as important equipment for developing and utilizing underwater resources. The underwater robot can perform long-time and wide-range related exploration operation in deep sea which can not be born by human beings. The underwater robot has many irreplaceable advantages, and has wide application prospects in the aspects of widely exploited marine resource exploration and the like and in unknown fields of more difficult deep sea exploration research and the like. Among them, the -family-imitated robotic fish becomes one of the important directions for underwater robot research due to its characteristics of high efficiency, low noise, flexibility, easy control, etc.
However, the current -imitated robot fish has the defects of inflexible movement, low efficiency, complex structure and the like, and the robot fish has high cost, cannot exert high maneuverability of the fish and cannot be widely popularized based on various defects.
SUMMERY OF THE UTILITY MODEL
The utility model aims at having the above-mentioned problem to current technique, provided a stay-supported machine fish multi-joint mechanism, the technical problem that the device will solve is: how to design a multi-joint mechanism imitating -family robotic fish, which is in a stay-supported type, flexible in movement, simple in structure and low in production cost.
The purpose of the utility model can be realized by the following technical proposal:
a guyed robot fish multi-joint mechanism comprises a fish body joint framework, an internode connecting piece used for connecting the fish body joint framework, a tail connecting piece and a tail fin; the fish body joint skeleton comprises a head end fish body joint skeleton, a plurality of middle fish body joint skeletons and a tail end fish body joint skeleton which are sequentially connected, a tail connecting piece is connected with a tail fin, internode connecting pieces are fixed in the head end fish body joint skeleton, the middle fish body joint skeleton and the head end fish body joint skeleton, the tail connecting piece is movably connected with the internode connecting pieces in the tail end fish body joint skeleton, the head end fish body joint skeleton is movably connected with the middle fish body joint skeletons through the internode connecting pieces, and two adjacent middle fish body joint skeletons are movably connected through the internode connecting pieces; be provided with the second drive wire in the fish body joint skeleton, the one end of second drive wire is fixed in terminal fish body joint skeleton, all be provided with in head end fish body joint skeleton and the middle fish body joint skeleton and be equipped with the through-hole, the fisheye bearing is equipped with in the through-hole, the cylinder that the band wire hole can be worn the line is equipped with in the fisheye bearing, the other end of second drive wire passes from the cylinder line hole and is connected with the driver, the one end of first drive wire is fixed at the afterbody connecting piece and is passed the through-hole on head end fish body joint skeleton and middle fish body joint skeleton and terminal fish body joint skeleton.
The utility model discloses a theory of operation is: the first fish joint skeleton, the middle fish joint skeleton and the tail fish joint skeleton are movably connected through internode connecting pieces, so that the fish joint skeletons can horizontally rotate like a fish body; the first driving wire penetrates through a fisheye bearing arranged on the fish body joint framework, the front end of the first driving wire is connected with a driver or a steering engine, and the driver or the steering engine drives the driving wire to drive the head end fish body joint framework, the middle fish body joint framework and the tail fin to rotate, so that the motion of fish can be simulated underwater.
The two ends of the internode connecting piece extend out of the tail fish body joint framework, the middle fish body joint framework and the head fish body joint framework, two adjacent internode connecting pieces are sequentially hinged, and one end of the tail connecting piece is hinged with the internode connecting piece connected with the tail fish body joint framework.
The two sides of the internode connecting piece are respectively provided with a single boss and a double boss, and the distance between the double bosses is matched with the height of the single boss.
And a single boss is arranged at one end of the tail connecting piece, and the single boss on the tail connecting piece is matched and connected with the double bosses of the adjacent internode connecting pieces.
The single boss and the double bosses are connected through a pin shaft and an open pin, one end of the pin shaft penetrates through the single boss and the double bosses which are matched with each other, an open pin hole is formed in the insertion end of the pin shaft, and the open pin is installed in the pin hole; the hinge pin is provided with a first bearing and a second bearing, the outer ring of the first bearing is arranged in the single boss, the outer ring of the second bearing is arranged in the double bosses, and the first bearing and the second bearing are preferably deep groove ball bearings.
Structure more than adopting, the opening pin is inserted in the one end of round pin axle, the opening pin is bent after inserting the pin hole and is opened, make the round pin hub connection more firm, single boss and the pair of boss of first bearing of round pin axle cooperation and second bearing and two adjacent internode connecting pieces are connected, high durability and convenient installation, the degree of freedom of a plurality of fish body joint frameworks displacement in the vertical direction has been restricted simultaneously, make a plurality of fish body joint frameworks only can produce relative displacement on the horizontal direction, can simulate the orbit of fish motion better, single boss and the simple processing of being convenient for of pair boss structure simultaneously, low in production cost, simultaneously through first bearing, the cooperation of second bearing and single pair of boss, reduce the frictional force of round pin axle and internode connecting piece, make the motion more nimble.
Through holes for installing internode connecting pieces are formed in the tail fish body joint framework, the head fish body joint framework and the middle fish body joint framework, and the internode connecting pieces are fixed in the through holes in a glue bonding mode.
The appearance of the fish body joint skeleton is designed according to the fish body shape simulated as required, the fish body joint skeleton is in a nearly elliptical shape, and the volumes of the head end fish body joint skeleton, the plurality of middle fish body joint skeletons and the tail end fish body joint skeleton are gradually reduced. By adopting the structure, the fish joint skeleton is arranged according to the shape of the fish species, so that the fish body can be better simulated, and the underwater motion state is more vivid.
The tail fin is connected with the tail connecting piece through a screw, a threaded hole for installing the stringing fastener is formed in the tail connecting piece, and the first driving wire is connected with the universal adjustable ball joint and then fixedly connected with the stringing fastener.
By adopting the structure, the tightness of the first driving line and the second driving line is adjusted by rotating the tightening fastener, and the torque generated by rotating the first driving line and the second driving line in the adjusting process of the tightening fastener can be eliminated by the universal adjustable ball joint.
The outer sides of the fish body joint framework, the internode connecting piece and the tail connecting piece are provided with skin layers.
Through the arrangement of the skin layer, water is prevented from entering the fish joint framework, the tail connecting piece and the internode connecting piece, so that the rigid multi-joint mechanism of the guyed robot fish has good waterproof effect
Compared with the prior art, the guyed robot fish multi-joint mechanism has the following advantages:
1. the head end fish body joint framework, the plurality of middle fish body joint frameworks and the tail end fish body joint framework are movably connected through the internode connecting piece and the tail connecting piece, the structure is simple, the assembly and disassembly are convenient, and the production cost is low.
2. Set up the motion that the fish eye bearing realized the fish body with the drive wire cooperation in the fish body joint skeleton, the junction reduces the frictional force of round pin axle and internode connecting piece through the cooperation design of first bearing, second bearing and single two bosss, makes the motion more nimble, and the fish physique of fish body joint skeleton simulation as required sets up, can simulate the motion of different fishes, vivid under water.
Drawings
FIG. 1 is a schematic side view of the present invention;
fig. 2 is a schematic front view of the present invention;
FIG. 3 is a schematic view of the connection structure of the internode connector of the present invention;
FIG. 4 is a schematic structural view of the middle fish joint skeleton of the present invention;
FIG. 5 is a schematic axial side view of the internode connector of the present invention;
FIG. 6 is a schematic structural view of the middle tail connector of the present invention;
in the figure: 1-first bearing, 2-round pin axle, 3-internode connecting pieces, 4-fisheye bearing, 5-head end fish body joint skeleton, 6-middle fish body joint skeleton, 7-tail end fish body joint skeleton, 8-tail connecting piece, 9-fastener, 10-first drive wire, 11-second drive wire, 12-opening pin, 14-tail fin, 15-second bearing, 16-single boss, 17-double boss.
Detailed Description
The technical solution of the present patent will be described in further detail with reference to the following embodiments.
Reference will now be made in detail to embodiments of the present patent, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present patent and are not to be construed as limiting the present patent.
In the description of this patent, it is to be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for the convenience of describing the patent and for the simplicity of description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the patent.
In the description of this patent, it is noted that unless otherwise specifically stated or limited, the terms "mounted," "connected," and "disposed" are to be construed broadly and can include, for example, fixedly connected, disposed, detachably connected, disposed, or integrally connected and disposed. The specific meaning of the above terms in this patent may be understood by those of ordinary skill in the art as appropriate.
Referring to fig. 1-6, the present embodiment provides a guyed robotic fish multi-joint mechanism, which includes a fish joint frame, an internode connecting piece 3 for connecting the fish joint frame, a tail connecting piece 8 and a tail fin 14; the fish body joint skeleton comprises a head end fish body joint skeleton 5, a plurality of middle fish body joint skeletons 6 and a tail end fish body joint skeleton 7 which are sequentially connected, a tail connecting piece 7 is connected with a tail fin 14, the head end fish body joint skeleton 5, the tail end fish body joint skeleton 7 and the middle fish body joint skeleton 6 are respectively fixed with an internode connecting piece 3, the head end fish body joint skeleton 5, the tail end fish body joint skeleton 7 and the middle fish body joint skeleton 6 are movably connected through the internode connecting pieces 3, and two adjacent middle fish body joint skeletons 6 are movably connected through the internode connecting pieces 3; a second driving wire 11 is arranged in the fish body joint framework, one end of the second driving wire 11 is fixed in a stringing fastener 9 connected with the tail fish body joint framework 7, through holes are respectively arranged in the head fish body joint framework 5 and the middle fish body joint framework 6, a fisheye bearing 4 is arranged in each through hole, a cylinder with a wire hole capable of threading is arranged in each fisheye bearing 4, the other end of the second driving wire 11 penetrates through the corresponding cylindrical wire hole to be connected with a driver, one end of a first driving wire 10 is fixed in the stringing fastener 9 connected with the tail connecting piece 8 and penetrates through the head fish body joint framework, the middle fish body joint framework and the through holes in the tail fish body joint framework;
the head end fish body joint skeleton 5 is movably connected with the middle fish body joint skeleton 6, the tail end fish body joint skeleton 7 and two adjacent middle fish body joint skeletons 6 through the internode connecting piece 3, so that the head end fish body joint skeleton 5 and the middle fish body joint skeleton 6, a plurality of mutually connected middle fish body joint skeletons 6 and the tail end fish body joint skeletons 7 can horizontally rotate like a fish body; the second drive wire 11 passes in the fisheye bearing 4 that sets up from fish body joint skeleton, and the front end and the driver or the steering wheel of second drive wire 11 are connected, and driver or steering wheel drive second drive wire 11 can drive head end fish body joint skeleton 5, middle fish body joint skeleton 6 and tail fin 14 and rotate, can be at the motion of the simulated fish under water, and this guyed robot fish many joint mechanism motion is nimble, simple structure, low in production cost.
The two ends of the internode connecting piece 3 extend out of the middle fish joint framework 6 and the head fish joint framework 5, the two adjacent internode connecting pieces 3 are sequentially hinged, and one end of the tail connecting piece 8 is hinged with the internode connecting piece 3 on the tail fish joint framework 7 and the adjacent middle fish joint framework 6.
The two sides of the internode connecting piece 3 are respectively provided with a single lug boss 16 and a double lug boss 17, and the distance between the double lug bosses 17 is matched with the width of the single lug boss 16.
One end of the tail connecting piece 8 is provided with a single lug boss 16, and the single lug boss 16 on the tail connecting piece 8 is matched and connected with a double lug boss 17 of the adjacent internode connecting piece 3.
The single boss 16 and the double boss 17 are connected through the pin shaft 2 and the opening pin 12, one end of the pin shaft 2 penetrates through the single boss 16 and the double boss 17 which are matched, a pin hole is formed in the insertion end of the pin shaft 2, and the opening pin 12 is installed in the pin hole; the pin shaft 2 is provided with a first bearing 1 and a second bearing 15, the outer ring of the first bearing 1 is arranged in the single boss 1, the outer ring of the second bearing 15 is arranged in the double bosses 17, and the first bearing 1 and the second bearing 15 are preferably deep groove ball bearings; open pin 12 inserts the one end at round pin axle 2, open pin 12 is bent after inserting the pin hole and is opened, make round pin axle 2 connect more firm, through round pin axle 2 cooperation first bearing 1 and second bearing 15 and two adjacent internode connecting piece 3 single boss 16 and two boss 17 be connected, high durability and convenient installation, the degree of freedom of a plurality of fish body joint frameworks displacement in the vertical direction has been restricted simultaneously, make a plurality of fish body joint frameworks only can produce relative displacement on the horizontal direction, can simulate the orbit of fish motion better, single boss 16 is convenient for process with two boss 17 simple structure simultaneously, low in production cost, simultaneously through first bearing 1, the cooperation of second bearing 15 and single two boss, reduce round pin axle 2 and internode connecting piece 3's frictional force, make the motion more nimble.
Through holes for installing the internode connecting pieces 3 are formed in the tail fish body joint framework 7, the head fish body joint framework 5 and the middle fish body joint framework 6, and the internode connecting pieces 3 are fixed in the through holes in a glue bonding mode.
The appearance of the fish body joint skeleton is set according to the fish body shape to be simulated, the fish body joint skeleton is circular or elliptical, and the volumes of the head fish body joint skeleton 5, the plurality of middle fish body joint skeletons 6 and the tail fish body joint skeleton 7 are gradually reduced; the fish joint skeleton is arranged according to the shape of the fish species, so that the fish shape can be better simulated, and the underwater motion state is more vivid.
The tail fin 14 is provided with a threaded hole tail which is connected with the tail connecting piece 8 through a screw, a mounting hole matched with the stringing fastener 9 is formed in the tail connecting piece 8, the second driving wire 11 is connected with the universal adjustable ball joint and then connected with the stringing fastener 9 in the tail connecting piece 8, the tightness of the second driving wire 11 is adjusted through rotating the stringing fastener, and the torque generated by rotating the second driving wire 11 in the adjusting process of rotating the stringing fastener can be eliminated through the universal adjustable ball joint.
The outside of fish body joint skeleton, internode connecting piece 3 and caudal joint 8 is provided with the skin layer, through the setting of skin layer, prevents that water from getting into fish body joint skeleton, caudal joint and internode connecting piece, makes the rigid many joint mechanisms of guyed machine fish have good water-proof effects.
The utility model discloses a theory of operation:
the head end fish body joint skeleton 5, the middle fish body joint skeleton 6, the tail end fish body joint skeleton 7 and two adjacent middle fish body joint skeletons 6 are rotatably connected through the internode connecting piece 3, so that the head end fish body joint skeleton 7, the middle fish body joint skeleton 6 and the tail end fish body joint skeleton 7 can horizontally rotate like a fish body; the joint is designed to be matched with a single boss 16 and a double boss 17, the pin shaft 2 is matched with the first bearing 1 and the second bearing 15 to be connected with the single boss 16 and the double boss 17 of the two adjacent internode connecting pieces 3, the installation is convenient, the freedom degree of displacement of a plurality of fish body joint frameworks in the vertical direction is limited, the plurality of fish body joint frameworks can only generate relative displacement in the horizontal direction, the movement track of fish can be better simulated, meanwhile, the single boss 16 and the double boss 17 are simple in structure and convenient to process, the production cost is low, meanwhile, the friction force of the pin shaft 2 and the internode connecting pieces 3 is reduced through the matching of the first bearing 1, the second bearing 15 and the single and double bosses, and the movement is more flexible; the driving wire 11 penetrates through a fisheye bearing 4 arranged on the fish body joint framework, the first driving wire 10 penetrates through a through hole 18 on the fish body joint framework, the front ends of the second driving wire 11 and the first driving wire 10 are connected with a driver or a steering engine, the driver or the steering engine drives the second driving wire 11 and the first driving wire 10 to drive the first-end fish body joint framework 5, the middle fish body joint framework 6, the first-end fish body joint framework 7 and the tail fin 14 to rotate, and the tightness of the second driving wire 11 and the first driving wire 10 is adjusted by rotating the wire fastening fastener 9; the appearance of the fish body joint skeleton is set according to the fish body to be simulated, so that the motion and the vivid image of different fishes can be simulated underwater.
The utility model provides a guyed machine fish multi-joint mechanism, the head end fish body joint skeleton 5, a plurality of middle fish body joint skeletons 6 and the tail end fish body joint skeleton 7 are movably connected through the internode connecting piece 3 and the tail connecting piece 8, the structure is simple, the assembly and disassembly are convenient, and the production cost is low; set up the motion that the fish eye bearing 4 and drive wire cooperation realized the fish body in the fish body joint skeleton, the junction reduces the frictional force of round pin axle 2 and internode connecting piece 3 through the cooperation design of first bearing 1, second bearing 15 and single two bosss, makes the motion more nimble, and the fish physique of the appearance simulation as required of fish body joint skeleton sets up, can simulate the motion of different fishes, vivid under water.
Although the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present patent within the knowledge of those skilled in the art.
Claims (9)
1. A guyed multi-joint mechanism of a robot fish comprises a fish body joint framework, an internode connecting piece (3), a tail connecting piece (8) and a tail fin (14), wherein the internode connecting piece (3), the tail connecting piece (8) and the tail fin (14) are used for connecting the fish body joint framework, the fish body joint framework comprises a head end fish body joint framework (5), a plurality of middle fish body joint frameworks (6) and a tail end fish body joint framework (7) which are sequentially connected, the tail connecting piece (8) is connected with the tail fin (14), the head end fish body joint framework (5), the tail end fish body joint framework (7) and the middle fish body joint framework (6) are respectively and fixedly provided with the internode connecting piece (3), the head end fish body joint framework (5) is movably connected with the middle fish body joint framework (6) through the internode connecting piece (3), the tail end fish body joint framework (7) is movably connected with the middle fish body joint framework (6) through the internode connecting piece (3), two adjacent middle fish body joint frameworks (6) are movably connected through an internode connecting piece (3); be provided with second drive wire (11) in the fish body joint skeleton, the one end of second drive wire (11) is fixed in terminal fish body joint skeleton (7), the one end of first drive wire (10) is fixed in afterbody connecting piece (8), all be provided with in head end fish body joint skeleton (5) and middle fish body joint skeleton (6) and be equipped with the through-hole, fisheye bearing (4) are equipped with in the through-hole, the cylinder that the band wire hole can be worn the line is equipped with in fisheye bearing (4), the other end of second drive wire (11) passes from the cylinder line hole and is connected with the driver, the other end of first drive wire (10) passes from through-hole (18) and is connected with another driver.
2. The guyed robotic fish multi-joint mechanism according to claim 1, wherein two ends of the internode connecting piece (3) extend out of the middle fish body joint skeleton (6), the tail fish body joint skeleton (7) and the head fish body joint skeleton (5), two adjacent internode connecting pieces (3) are sequentially hinged, and one end of the tail connecting piece (8) is hinged with the internode connecting piece (3) connected with the tail fish body joint skeleton (7).
3. The guyed robotic fish multijoint mechanism according to claim 2, wherein the internode connector (3) is provided with a single boss (16) and a double boss (17) on both sides, respectively, and the distance between the double bosses (17) matches the height of the single boss (16).
4. A guyed robotic fish multi-joint mechanism according to claim 3, wherein one end of the tail connector (8) is provided with a single boss (16), and the single boss (16) on the tail connector (8) is in mating connection with the double boss (17) of the adjacent internode connector (3).
5. The guyed robotic fish multi-joint mechanism according to claim 4, wherein the single boss (16) and the double boss (17) are connected through a pin shaft (2) and an open pin (12), one end of the pin shaft (2) passes through the single boss (16) and the double boss (17) which are matched, an open pin hole is formed in the insertion end of the pin shaft (2), and the open pin (12) is installed in the open pin hole; a first bearing (1) and a second bearing (15) are arranged on the pin shaft (2), the outer ring of the first bearing (1) is arranged in a single boss (16), and the outer ring of the second bearing (15) is arranged in a double boss (17); the first bearing (1) and the second bearing (15) are deep groove ball bearings.
6. The guyed robotic fish multi-joint mechanism according to claim 5, wherein the tail fish joint skeleton (7), the head fish joint skeleton (5) and the middle fish joint skeleton (6) are provided with through holes for mounting the internode connecting piece (3), and the internode connecting piece (3) is fixed in the through holes by glue.
7. A guyed robotic fish multi-joint mechanism according to any of claims 1-6, wherein the fish joint skeleton is near-elliptical, and the volume of the head fish joint skeleton (5), the plurality of intermediate fish joint skeletons (6) and the tail fish joint skeleton (7) is gradually reduced.
8. The guyed robotic fish multi-joint mechanism according to claim 1, wherein the tail fin is provided with a threaded hole, the tail connector (8) is connected with the tail fin through a screw, a mounting hole for matching with the end tightening fastener (9) is formed in the tail connector (8), and the first drive wire (10) and the second drive wire (11) are connected with the universal adjustable ball joint and then fixedly connected with the tightening fastener (9).
9. The guyed robotic fish multi-joint mechanism according to claim 8, wherein the outer side of the fish body joint skeleton, the internode connecting piece (3) and the tail connecting piece (8) is provided with a skin layer.
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| CN202120125353.XU CN214165269U (en) | 2021-01-18 | 2021-01-18 | Stay-supported type robot fish multi-joint mechanism |
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| CN202120125353.XU CN214165269U (en) | 2021-01-18 | 2021-01-18 | Stay-supported type robot fish multi-joint mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114834618A (en) * | 2022-04-12 | 2022-08-02 | 浙江理工大学 | Rigid-flexible coupling type bionic fish robot |
| WO2023039724A1 (en) * | 2021-09-14 | 2023-03-23 | 西湖大学 | Bionic aircraft |
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2021
- 2021-01-18 CN CN202120125353.XU patent/CN214165269U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023039724A1 (en) * | 2021-09-14 | 2023-03-23 | 西湖大学 | Bionic aircraft |
| CN114834618A (en) * | 2022-04-12 | 2022-08-02 | 浙江理工大学 | Rigid-flexible coupling type bionic fish robot |
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