CN217496511U - Multi-connecting-rod bionic fishtail fin propelling device and bionic fishtail fin - Google Patents
Multi-connecting-rod bionic fishtail fin propelling device and bionic fishtail fin Download PDFInfo
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- CN217496511U CN217496511U CN202221368907.XU CN202221368907U CN217496511U CN 217496511 U CN217496511 U CN 217496511U CN 202221368907 U CN202221368907 U CN 202221368907U CN 217496511 U CN217496511 U CN 217496511U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T70/00—Maritime or waterways transport
- Y02T70/50—Measures to reduce greenhouse gas emissions related to the propulsion system
- Y02T70/5218—Less carbon-intensive fuels, e.g. natural gas, biofuels
- Y02T70/5236—Renewable or hybrid-electric solutions
Abstract
The utility model provides a bionical fish tail fin advancing device of many connecting rods and bionical fish tail fin relates to bionical fish technical field, include: the swinging component: comprising one or more parallelogram articulated four-bar linkages; flexible fish tail subassembly: the flexible fishtail assembly is fixedly connected with a rod piece at the driven end of the parallelogram hinge four-bar mechanism; a drive assembly: two groups of driving components are arranged at the active end of the parallelogram hinge four-bar mechanism, and the two groups of driving components are respectively and rotationally connected with two mutually parallel bar pieces at the active end of the parallelogram hinge four-bar mechanism. The bionic fish tail fin has the advantages that the double-joint flexible bionic fish tail fin is formed, the two groups of driving assemblies act on the parallelogram hinge four-bar mechanism and drive the flexible fish tail fin to move, transverse movement and swinging fitting of the tail portion of the bionic fish tail fin are facilitated, the bionic fish body can deform, appropriate propelling force and transmission efficiency are provided, and motor loss is low.
Description
Technical Field
The utility model relates to a bionical fish technical field specifically, relates to a bionical fish tail fin advancing device of many connecting rods and bionical fish tail fin.
Background
The bionic technology is a leading-edge technology of mechanical design, fish can freely swim, turn and ascend and submerge underwater, has the characteristic of clustering, and is an important bionic design direction. The BCF tail fin propulsion mode is a common propulsion mode of the bionic fish.
Currently, bionic fish in the market often adopt a simple crank and rocker mechanism or a multi-hinge type propelling structure. The single-joint bionic fish is easy to control, the reliability of the propulsion system is high, and the tail part is difficult to fit in transverse moving and swinging. The joint number is increased, the water hitting area of the bionic fish is increased, the water discharging volume is increased, and the propelling force is increased. However, the multiple joint number increases the complexity of the mechanism and reduces the transmission efficiency of the mechanism.
The existing Chinese patent application with publication number CN209719882U discloses a bionic fish tail fin device of a serial crank rocker mechanism, which comprises a bracket, wherein a power motor and a rotating shaft seat are fixed on the surface of the bracket, a steering engine is connected to the surface of the rotating shaft seat in a rotating manner, a crank is connected to the output shaft of the power motor in a rotating manner, a connecting rod is connected to the crank in a rotating manner, a tail fin rocker is connected to the connecting rod in a rotating manner, one end, far away from the connecting rod, of the tail fin rocker is fixedly connected with the steering engine, a tail fin swing arm is connected to the output shaft of the steering engine, and one end, far away from the steering engine, of the tail fin swing arm is connected with a tail fin.
The bionic fish tail fin device in the prior art is difficult to fit tail transverse movement and swing, and a bionic fish tail fin propulsion device which can deform a bionic fish body, is moderate in propulsion and transmission efficiency and low in motor loss is urgently needed in the market.
SUMMERY OF THE UTILITY MODEL
To the defect among the prior art, the utility model aims at providing a bionical fish tail fin advancing device of many connecting rods and bionical fish tail fin.
According to the utility model provides a pair of bionical fish tail fin advancing device of many connecting rods, include: the swinging component: comprising one or more parallelogram articulated four-bar linkages; flexible fish tail subassembly: the flexible fishtail assembly is fixedly connected with a rod piece at the driven end of the parallelogram hinge four-bar mechanism; a driving component: two groups of driving assemblies are arranged at the driving end of the parallelogram hinge four-bar mechanism, and the two groups of driving assemblies are respectively and rotationally connected with two mutually parallel bars at the driving end of the parallelogram hinge four-bar mechanism.
Preferably, the swing assembly comprises a fifth rod, a tenth rod, an eleventh rod, a twelfth rod and a third fixed hinge support; the fifth rod piece, the twelfth rod piece, the eleventh rod piece and the tenth rod piece are sequentially and rotatably connected and matched to form a parallelogram hinge four-rod mechanism, and the twelfth rod piece is a driven end rod piece of the parallelogram hinge four-rod mechanism; and one side of the fifth rod piece, which is far away from the twelfth rod piece, is connected with the third fixed hinge support to form a revolute pair, and one end of the tenth rod piece, which is far away from the eleventh rod piece, is connected with the third fixed hinge support to form a revolute pair.
Preferably, the fifth rod piece comprises a first rod part and a second rod part, the minimum included angle between the first rod part and the second rod part is a right angle, and the joint of the first rod part and the second rod part is connected with the third fixed hinge support to form a revolute pair.
Preferably, a fourth rod is connected between the fifth rod and the corresponding driving assembly, one end of the fourth rod is rotatably connected with one end of the fifth rod, which is far away from the twelfth rod, and the other end of the fourth rod is rotatably connected with the output end of the corresponding driving assembly.
Preferably, a ninth rod is connected between the eleventh rod and the corresponding driving assembly, one end of the ninth rod, one end of the eleventh rod far away from the twelfth rod, and one end of the tenth rod close to the eleventh rod are rotatably connected, and the other end of the eleventh rod is rotatably connected to the output end of the corresponding multi-link group.
Preferably, the two groups of driving assemblies are arranged in parallel at intervals, and the spatial position of the third fixed hinge support is located between the two groups of driving assemblies.
Preferably, the driving assembly comprises a crank-link mechanism and a servo motor, the servo motor drives a driven end of the crank-link mechanism to slide, and the driven end of the crank-link mechanism is rotatably connected with a rod piece at the driving end of the parallelogram hinge four-bar mechanism through a rod piece.
Preferably, the driving assembly includes a first servo motor, a first rod, a second rod, a third rod, a first fixed hinge support and a first fixed end; one end of the first rod piece is rotatably connected with the first fixed hinge support, the other end of the first rod piece is rotatably connected with one end of the second rod piece, the other end of the second rod piece is rotatably connected with one end of the third rod piece, and the other end of the third rod piece is a driven end of the crank link mechanism; the third rod piece is limited by the first fixed end and is matched with the first fixed end to form a sliding pair, and the first servo motor drives the first rod piece to rotate.
Preferably, the flexible fishtail assembly comprises a fishtail member and a spring connecting the fishtail member and the lever of the driven end of the parallelogram articulated four-bar linkage.
According to the utility model provides a pair of bionic fish tail fin, including many connecting rods bionic fish tail fin advancing device.
Compared with the prior art, the utility model discloses following beneficial effect has:
1. the utility model discloses a swing subassembly, flexible fish tail subassembly and the drive assembly who comprises servo motor and crank link mechanism that constitute by parallelogram hinge four-bar linkage, form the flexible bionical fish tail fin of double joint, two sets of drive assembly all act on parallelogram hinge four-bar linkage and drive flexible fish tail fin motion, help realizing bionical fish tail fin afterbody sideslip and wobbling fitting, provide suitable propulsive force and transmission efficiency, and the motor loss is low.
2. The utility model discloses a spring is connected fishtail component and twelfth member to make flexible fishtail subassembly can produce and warp, help in bionical fishtail fin afterbody fit sideslip and swing.
3. The utility model discloses a drive assembly drive that two sets of crank link mechanism are constituteed, the swing subassembly of constituteing by parallelogram hinge four-bar linkage helps improving the stability and the reliability of fishtail fin advancing device structure, and makes the bionical fish body can produce and warp.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic view of the whole rod member structure of the bionic fish tail fin of the present invention;
fig. 2 is a schematic view of the bionic fishtail fin fixing member structure of the present invention;
fig. 3 is a schematic view of the overall structure of a driving assembly of the present invention;
fig. 4 is a schematic view of the present invention mainly embodying another overall structure of the driving assembly;
fig. 5 is a schematic view of the overall structure of the flexible fishtail assembly of the present invention.
Reference numerals:
first bar 1 eleventh bar 11
Second fixed end 17 of seventh rod 7
Tenth rod member 10 first servo motor 21
Detailed Description
The present invention will be described in detail with reference to the following embodiments. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that various changes and modifications can be made by one skilled in the art without departing from the spirit of the invention. All of which belong to the protection scope of the present invention.
As shown in fig. 1, according to the present invention, a multi-link bionic fish tail fin propulsion device comprises a swing assembly, a flexible fish tail assembly and a driving assembly. The swing assembly comprises one or more parallelogram hinged four-bar mechanisms, the flexible fishtail assembly is positioned at the driven end of the parallelogram hinged four-bar mechanisms, and the flexible fishtail assembly is fixedly connected with the rod piece at the driven end of the parallelogram hinged four-bar mechanisms. Two groups of driving components are arranged at the active end of the parallelogram hinge four-bar mechanism, and the two groups of driving components are respectively and rotationally connected with two mutually parallel bars at the active end of the parallelogram hinge four-bar mechanism.
Furthermore, the driving assembly comprises a crank connecting rod mechanism and a servo motor, the servo motor drives the driven end of the crank connecting rod mechanism to slide, and the driven end of the crank connecting rod mechanism is rotatably connected with the rod piece at the driving end of the parallelogram hinge four-bar mechanism through the rod piece.
In particular, the oscillating assembly comprises a fifth bar 5, a tenth bar 10, an eleventh bar 11, a twelfth bar 12 and a third fixed hinge support 15. The fifth rod 5, the twelfth rod 12, the eleventh rod 11 and the tenth rod 10 are sequentially and rotatably connected and matched to form a parallelogram hinged four-bar mechanism. And the twelfth bar 12 is a driven-end bar of the parallelogram articulated four-bar mechanism.
As shown in fig. 1 and 2, the fifth rod 5 includes a first rod part and a second rod part, a minimum included angle between the first rod part and the second rod part is a right angle, and a joint of the first rod part and the second rod part is connected with the third fixed hinge support 15 to form a revolute pair. One end, far away from the first rod part, of the second rod part of the fifth rod part 5 is rotatably connected with one end of a twelfth rod part 12, the other end of the twelfth rod part 12 is rotatably connected with one end of an eleventh rod part 11, the other end of the eleventh rod part 11 is rotatably connected with one end of a tenth rod part 10, the other end of the eleventh rod part 11 is rotatably connected with one end of the tenth rod part 10, and the other end of the tenth rod part 10 is connected with a third fixed hinge support 15 to form a revolute pair. The side of the fifth rod 5 far away from the twelfth rod 12 is connected with the third fixed hinge support 15 to form a rotation pair, and the end of the tenth rod 10 far away from the eleventh rod 11 is connected with the third fixed hinge support 15 to form a rotation pair.
As shown in fig. 1, 2 and 3, more specifically, one set of driving components includes a first servo motor 21, a first rod 1, a second rod 2, a third rod 3, a first fixed hinge support 13 and a first fixed end 16. One end of the first rod member 1 is rotatably connected with the first fixed hinge support 13, the other end of the first rod member 1 is rotatably connected with one end of the second rod member 2, and the other end of the second rod member 2 is rotatably connected with one end of the third rod member 3. And the other end of the third rod 3 is the driven end of the crank link mechanism and also the output end of the driving assembly. The third rod 3 is limited by the first fixed end 16 and forms a sliding pair in a matching manner, the first servo motor 21 drives the first rod 1 to rotate, and the first rod 1 drives the second rod 2 to swing so as to drive the third rod 3 to move.
As shown in fig. 1, 2 and 4, another set of driving components includes a second servo motor 22, a sixth rod 6, a seventh rod 7, an eighth rod 8, a second fixed hinge support 14 and a second fixed end 17. One end of the sixth rod 6 is rotatably connected to the second fixed hinge support 14, the other end of the sixth rod 6 is rotatably connected to one end of the seventh rod 7, and the other end of the seventh rod 7 is rotatably connected to one end of the eighth rod 8. And the other end of the eighth rod 8 is the driven end of the crank link mechanism and also the output end of the driving assembly. The eighth rod 8 is limited by the second fixed end 17 and is matched to form a sliding pair, the second servo motor 22 drives the sixth rod 6 to rotate, and the sixth rod 6 drives the seventh rod 7 to swing, so that the eighth rod 8 is driven to move.
As shown in fig. 1, fig. 2, fig. 3 and fig. 4, two sets of driving components are disposed in parallel and spaced manner, the first fixing end 16 and the second fixing end 17 are disposed in parallel and spaced manner, and the spatial position of the third fixing hinge support 15 is located between the first fixing end 16 and the second fixing end 17. The first rod part of the fifth rod part 5 extends towards the direction close to the first fixed end 16, the other end of the third rod part 3, which is the driven end of the driving component corresponding to the fifth rod part 5, is rotatably connected with a fourth rod part 4, and one end of the fourth rod part 4 far away from the third rod part 3 is rotatably connected with one end of the first rod part of the fifth rod part 5 far away from the second rod part. The third rod 3 moves to drive the fourth rod 4 to swing, and further drive the fifth rod 5 to move.
A ninth lever 9 is rotatably connected to the other end of the eighth lever 8, which is a driven end of the driving unit corresponding to the eleventh lever 11. The end of the ninth rod 9 far away from the eighth rod 8, the end of the eleventh rod 11 far away from the twelfth rod 12, and the end of the tenth rod 10 near the eleventh rod 11 are rotatably connected. The eighth rod 8 moves to drive the ninth rod 9 to swing, and further drive the tenth rod 10 and the eleventh rod 11 to move.
The fifth rod piece 5 acts on one end of the twelfth rod piece 12, the eleventh rod piece 11 acts on the other end of the twelfth rod piece 12, so that the twelfth rod piece 12 swings, the twelfth rod piece 12 drives the flexible fishtail assembly to move, and the double-joint bionic fishtail structure is utilized to achieve high propelling force and transmission efficiency.
As shown in fig. 1, 2 and 5, the flexible fishtail assembly further comprises a fishtail member 20 and a spring 18, the spring 18 is connected between the fishtail member 20 and the middle of the twelfth rod 12, the flexible fishtail assembly is driven by the twelfth rod 12 to move, and the flexible fishtail assembly can deform by means of the spring 18, so that the tail of the bionic fish can be fitted and transversely moved and swung, and a good bionic effect can be achieved.
The multi-connecting-rod bionic fish tail fin propulsion device can be suitable for various types of bionic fish structures, and can be matched according to requirements in actual use.
Principle of operation
The first servo motor 21 drives the first rod member 1 to rotate, the first rod member 1 drives the second rod member 2 to swing, and further drives the third rod member 3 to move, and the third rod member 3 moves to drive the fourth rod member 4 to swing, and further drives the fifth rod member 5 to move; the second servo motor 22 drives the sixth rod 6 to rotate, the sixth rod 6 drives the seventh rod 7 to swing, and further drives the eighth rod 8 to move, and the eighth rod 8 moves and drives the ninth rod 9 to swing, and further drives the tenth rod 10 and the eleventh rod 11 to move; the fifth rod piece 5 acts on one end of the twelfth rod piece 12, the eleventh rod piece 11 acts on the other end of the twelfth rod piece 12, so that the twelfth rod piece 12 swings, the flexible fishtail assembly moves under the driving of the twelfth rod piece 12, the flexible fishtail assembly can deform by means of the spring 18, the tail of the bionic fish can be fitted, transversely moved and swung, and a good bionic effect is achieved.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of the specific embodiments of the invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A multi-link biomimetic skeg propulsion device, comprising:
the swinging component: comprising one or more parallelogram articulated four-bar linkages;
flexible fish tail subassembly: the flexible fishtail assembly is fixedly connected with a rod piece at the driven end of the parallelogram hinge four-bar mechanism;
a driving component: two groups of driving components are arranged at the active end of the parallelogram hinge four-bar mechanism, and the two groups of driving components are respectively and rotationally connected with two mutually parallel bar pieces at the active end of the parallelogram hinge four-bar mechanism.
2. The multi-link biomimetic fish tail fin propulsion device according to claim 1, wherein the swing assembly includes a fifth rod (5), a tenth rod (10), an eleventh rod (11), a twelfth rod (12), and a third fixed hinge mount (15);
the fifth rod piece (5), the twelfth rod piece (12), the eleventh rod piece (11) and the tenth rod piece (10) are sequentially and rotatably connected and matched to form a parallelogram hinge four-bar mechanism, and the twelfth rod piece (12) is a driven end rod piece of the parallelogram hinge four-bar mechanism;
and one side of the fifth rod piece (5) far away from the twelfth rod piece (12) is connected with the third fixed hinge support (15) to form a revolute pair, and one end of the tenth rod piece (10) far away from the eleventh rod piece (11) is connected with the third fixed hinge support (15) to form a revolute pair.
3. The multi-link biomimetic skeg propulsion device according to claim 2, characterized in that the fifth rod (5) comprises a first rod part and a second rod part, the minimum included angle of the first rod part and the second rod part is a right angle, and the joint of the first rod part and the second rod part is connected with a third fixed hinge support (15) to form a revolute pair.
4. The multi-link bionic fish tail fin propulsion device as claimed in claim 3, characterized in that a fourth rod (4) is connected between the fifth rod (5) and the corresponding driving assembly, one end of the fourth rod (4) is rotatably connected with one end of the fifth rod (5) far away from the twelfth rod (12), and the other end of the fourth rod (4) is rotatably connected with the output end of the corresponding driving assembly.
5. The multi-link bionic fish tail fin propulsion device as claimed in claim 2, characterized in that a ninth rod (9) is connected between the eleventh rod (11) and the corresponding driving assembly, one end of the ninth rod (9), one end of the eleventh rod (11) far away from the twelfth rod (12), one end of the tenth rod (10) near the eleventh rod (11) are rotationally connected, and the other end of the eleventh rod (11) is rotationally connected with the output end of the corresponding driving assembly.
6. The fin propulsion device according to claim 2, characterised in that the two sets of driving members are arranged in parallel spaced apart relationship and the third fixed hinge support (15) is spatially located between the two sets of driving members.
7. The multi-link biomimetic skeg propulsion device as recited in claim 1, wherein the drive assembly includes a crank-link mechanism and a servo motor, the servo motor driving a driven end of the crank-link mechanism to move in a sliding motion, the driven end of the crank-link mechanism being rotationally coupled to a lever of the driving end of the parallelogram-hinged four-bar mechanism via a lever.
8. The multi-link biomimetic skeg propulsion device according to claim 7, characterized in that the drive assembly comprises a first servo motor (21), a first rod (1), a second rod (2), a third rod (3), a first fixed hinge support (13), and a first fixed end (16);
one end of the first rod piece (1) is rotatably connected with the first fixed hinge support (13), the other end of the first rod piece (1) is rotatably connected with one end of the second rod piece (2), the other end of the second rod piece (2) is rotatably connected with one end of the third rod piece (3), and the other end of the third rod piece (3) is a driven end of the crank link mechanism;
the third rod piece (3) is limited by the first fixed end (16) and is matched to form a sliding pair, and the first servo motor (21) drives the first rod piece (1) to rotate.
9. The multi-link biomimetic fishtail fin propulsion device in accordance with claim 1, characterized in that the flexible fishtail assembly includes a fishtail member (20) and a spring (18), the spring (18) connecting the fishtail member (20) and the lever of the driven end of the parallelogram-hinged four-bar linkage.
10. A biomimetic tail fin, comprising the multi-link biomimetic tail fin propulsion device of any of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221368907.XU CN217496511U (en) | 2022-06-02 | 2022-06-02 | Multi-connecting-rod bionic fishtail fin propelling device and bionic fishtail fin |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221368907.XU CN217496511U (en) | 2022-06-02 | 2022-06-02 | Multi-connecting-rod bionic fishtail fin propelling device and bionic fishtail fin |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217496511U true CN217496511U (en) | 2022-09-27 |
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ID=83356960
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221368907.XU Active CN217496511U (en) | 2022-06-02 | 2022-06-02 | Multi-connecting-rod bionic fishtail fin propelling device and bionic fishtail fin |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217496511U (en) |
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2022
- 2022-06-02 CN CN202221368907.XU patent/CN217496511U/en active Active
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