CN217754064U - Driving structure and pectoral fin driving mechanism of underwater bionic fish - Google Patents

Abstract

The utility model discloses a drive structure and pectoral fin actuating mechanism of bionical fish under water. The pectoral fin driving mechanism comprises a mounting frame and two sets of pectoral fin mechanisms symmetrically extending out along the two transverse ends of the mounting frame, and each pectoral fin mechanism comprises a first pectoral fin steering engine, a transverse shaft, a second pectoral fin steering engine and a pectoral fin; the first pectoral fin steering engine is fixed on the mounting frame, the first end of the cross shaft is fixed on a steering engine shaft of the first pectoral fin steering engine, and the second end of the cross shaft is fixed on a steering engine shaft of the second pectoral fin steering engine; the pectoral fins are fixed on the second pectoral fin steering engine; the axis of the second pectoral fin steering engine is orthogonal to the axis of the first pectoral fin steering engine. The utility model discloses a pectoral fin actuating mechanism can realize the action of paddling of pectoral fin, for the turn of bionical fish, go up to float, sink or go ahead and provide auxiliary power, the sensitivity of bionical fish motion is high.

Description

Driving structure and pectoral fin driving mechanism of underwater bionic fish

Technical Field

The utility model relates to an artificial fish under water especially relates to an artificial fish's under water drive structure and pectoral fin actuating mechanism.

Background

The underwater bionic fish is an underwater submersible device which utilizes the fish swimming mechanism to realize propulsion, is provided with various microminiature sensors, and can form a set of swimming sensors similar to a fish body structure by utilizing advanced control and communication means. The robotic fish with different sensors has good maneuverability and concealment, can work in a narrow space and realize low-noise movement. The underwater bionic fish can play an important role in underwater operation in a complex environment, marine monitoring, marine organism observation, military reconnaissance, mine drainage, mine distribution and the like.

The utility model with publication number CN203996847U discloses an intelligent ornamental bionic fish. The fish head part of the bionic fish comprises two pectoral fin steering engines, a pair of pectoral fins and an L-shaped frame; one end of the L-shaped frame is fixedly connected with the elliptic fish connecting piece, the two pectoral fin steering engines are fixed on the L-shaped frame and symmetrically installed in the middle of the fish head, and the steering engine shafts are meshed with the pectoral fin teeth. The fish body part of the bionic fish comprises a fish tail front steering engine, a fish tail rear steering engine, a steering engine frame, a U-shaped frame and an L-shaped frame; two fishtail steering engines are fixed on two rudder frames respectively, the output shafts of the front fishtail steering engine and the rear fishtail steering engine are connected with two U-shaped frames respectively, the two rudder frames and the two U-shaped frames are connected with each other through two L-shaped frames respectively, and the front fishtail steering engine and the rear fishtail steering engine are connected in series to form a joint capable of rotating relatively. The utility model respectively controls the rotation of the pectoral fins and the swing of the fish tail through four steering engines to finish the postures of fast swimming, slow swimming, diving, floating and the like of the bionic fish; the purpose of enriching the ornamental effect can be achieved by combining different swimming postures.

The utility model discloses a bionical fish leans on two afterbody steering engines, steering engine before the fish tail and the swing of steering engine behind the fish tail, realizes accelerating, speed reduction, turn right and turn left. A pair of pectoral fins with free rotation are arranged at the front part of the bionic fish, and in the swimming process, floating up and submerging can be realized only by changing the postures of the pectoral fins and utilizing the lift force or pressure generated by water flow on the pectoral fins, and the bionic fish cannot generate driving force to play a role in assisting in acceleration, deceleration, right-turning and left-turning motions.

Disclosure of Invention

The to-be-solved technical problem of the utility model is to provide a bionical fish pectoral fin actuating mechanism under water that can produce supplementary helping hand of driving in bionical fish motion, can improve bionical fish motion sensitivity.

The to-be-solved technical problem of the utility model is to provide a pectoral fin can produce supplementary helping hand of driving, the drive structure of the bionic fish under water that the bionic fish motion sensitivity is high.

In order to solve the technical problem, the technical scheme adopted by the utility model is that the pectoral fin driving mechanism for the underwater bionic fish comprises a mounting rack and two sets of pectoral fin mechanisms symmetrically extending out from two transverse ends of the mounting rack, wherein each pectoral fin mechanism comprises a first pectoral fin steering engine, a transverse shaft, a second pectoral fin steering engine and a pectoral fin; the first pectoral fin steering engine is fixed on the mounting frame, the first end of the cross shaft is fixed on a steering engine shaft of the first pectoral fin steering engine, and the second end of the cross shaft is fixed on a steering engine shaft of the second pectoral fin steering engine; the pectoral fins are fixed on the second pectoral fin steering engine; the axis of the second pectoral fin steering engine is orthogonal to the axis of the first pectoral fin steering engine.

The pectoral fin driving mechanism for the underwater bionic fish comprises a first rudder disc, a second rudder disc, a first receiving disc and a second receiving disc, wherein the first rudder disc is fixed on a rudder machine shaft of a first pectoral fin steering machine, and the second rudder disc is fixed on a rudder machine shaft of a second pectoral fin steering machine; the first receiving disc is fixed at the first end of the transverse shaft and is coaxial with the transverse shaft; the second flange is fixed at the second end of the transverse shaft and is orthogonal to the transverse shaft; the first flange is connected with the first rudder disc, and the second flange is connected with the second rudder disc.

The pectoral fin driving mechanism for the underwater biomimetic fish comprises a sealing ring and a steering engine fixing frame, wherein the sealing ring is arranged in the middle of a transverse shaft; the horizontal one end at the mounting bracket is fixed to the steering wheel mount, and first pectoral fin steering wheel is fixed on the steering wheel mount.

The utility model provides a drive structure of imitative living fish under water, includes the fish body, tail actuating mechanism and foretell pectoral fin actuating mechanism of imitative living fish under water, and tail actuating mechanism installs in the rear end of fish body, and pectoral fin actuating mechanism installs in the front portion of fish body, and pectoral fin actuating mechanism's mounting bracket is fixed in the front portion of fish body, and two sets of pectoral fin mechanisms transversely stretch out from the both ends of fish body.

Above drive structure of imitative living fish under water, the anterior horizontal both ends of fish body casing respectively include horizontal shaft hole, pectoral fin mechanism includes the sealing ring, and the horizontal shaft hole is passed to the cross axle of pectoral fin mechanism, and the sealing ring is installed between cross axle and cross shaft hole.

In the driving structure of the underwater bionic fish, the pectoral fin mechanism comprises a first rudder disk, a second rudder disk, a first receiving disk and a second receiving disk, the first rudder disk is fixed on a rudder machine shaft of the first pectoral fin steering machine, and the second rudder disk is fixed on a rudder machine shaft of the second pectoral fin steering machine; the first receiving disc is fixed at the first end of the transverse shaft and is coaxial with the transverse shaft; the second flange is fixed at the second end of the transverse shaft and is orthogonal to the transverse shaft; the first flange is connected with the first rudder disc, and the second flange is connected with the second rudder disc.

The driving structure of the underwater bionic fish comprises the gravity center moving mechanism, and the gravity center moving mechanism is arranged in the fish body along the longitudinal direction of the fish body and is positioned at the lower part of the fish body.

In the driving structure of the underwater biomimetic fish, the gravity center moving mechanism comprises a base, a stepping motor, a linear guide rail pair, a screw-nut pair and a balancing weight, a guide rail of the linear guide rail pair is fixed on the base, and a screw of the screw-nut pair is arranged on the base and is parallel to a guide rail of the linear guide rail pair; the balancing weight is fixed on the slide block of the linear guide rail pair and is connected with the nut of the screw-nut pair.

The underwater bionic fish driving structure comprises a gravity center moving mechanism, two U-shaped photoelectric sensors, wherein the two U-shaped photoelectric sensors are arranged at two ends of a base along the direction of a linear guide rail pair, and light blocking sheets of the U-shaped photoelectric sensors are fixed on sliding blocks of the linear guide rail pair.

The utility model discloses a pectoral fin actuating mechanism can realize the action of paddling of pectoral fin, for the turn of bionical fish, go up to float, sink or go ahead and provide auxiliary power, the sensitivity of bionical fish motion is high.

Drawings

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

Fig. 1 is a perspective view of the underwater bionic fish in the embodiment of the utility model.

Fig. 2 is a front view of the underwater bionic fish of the embodiment of the utility model.

Fig. 3 is a left side view of the underwater bionic fish of the embodiment of the utility model.

Fig. 4 isbase:Sub>A sectional viewbase:Sub>A-base:Sub>A of fig. 3.

Fig. 5 is a sectional view B-B in fig. 2.

Fig. 6 is a front view of the driving mechanism for the pectoral fin of the underwater bionic fish in the embodiment of the invention.

Fig. 7 is a rear view of the pectoral fin driving mechanism of the underwater bionic fish of the embodiment of the present invention.

Fig. 8 is a partial perspective view of the pectoral fin driving mechanism of the underwater bionic fish of the embodiment of the present invention.

Fig. 9 is a perspective view of the gravity center moving mechanism of the underwater bionic fish in the embodiment of the utility model.

Fig. 10 is a front view of the underwater bionic fish gravity center moving mechanism of the embodiment of the present invention.

Fig. 11 is a top view of the gravity center moving mechanism for underwater bionic fish in the embodiment of the present invention.

Detailed Description

The embodiment of the utility model provides an underwater bionic fish's structure and principle are shown in fig. 1 to 11, including fish head 10, fish body 20, swing joint 30, pectoral fin actuating mechanism 50, focus moving mechanism 60, fish tail actuating mechanism 70, power and control circuit.

The tail driving mechanism 70 is installed at the rear end of the fish body 20, the pectoral fin driving mechanism 50 is installed at the front of the fish body 20, and the center of gravity shifting mechanism 60 is installed in the abdomen of the fish body 20.

The front end of the swing joint 30 is connected with the rear end of the fish head 10, and the rear end is connected with the front end of the fish body 20; the outer surface of the swing joint 30 is sleeved with a waterproof telescopic sleeve 80, the front end of the telescopic sleeve 80 is fixed at the rear end of the fish head 10, and the rear end of the telescopic sleeve 80 is fixed at the front end of the fish body 20.

The utility model discloses a fish tail actuating mechanism 70 adopts the form that eccentric wheel mechanism and linear bearing combined together, need not just reverse when motor drive fish tail swings, only need last the syntropy rotate can. The same direction of motor is continuously rotated, can avoid the fish body vibrations that the frequent positive and negative rotation of motor brought, makes the motion of imitative fish more stable.

The pectoral fin driving mechanism 50 includes a mounting frame 51 and two sets of pectoral fin mechanisms 50A symmetrically extending outwards along both ends of the mounting frame 51 in the transverse direction. The mounting frame 51 is fixed inside the fish body 20.

The pectoral fin mechanism 50A comprises a steering engine fixing frame 52, a first pectoral fin steering engine 53, a second pectoral fin steering engine 54, a transverse shaft 55, a sealing ring 56, a first steering wheel 531, a second steering wheel 541, a first connecting plate 551, a second connecting plate 552 and a pectoral fin 57.

A steering engine fixing frame 52 is fixed at one transverse end of the mounting frame 51, and a first pectoral fin steering engine 53 is fixed on the steering engine fixing frame 52. The first rudder plate 531 is fixed to the rudder shaft of the first pectoral fin steering gear 53, and the second rudder plate 541 is fixed to the rudder shaft of the second pectoral fin steering gear 54. First flange 551 is fixed to a first end of transverse shaft 55 and is coaxial with transverse shaft 55. A second flange 552 is secured to a second end of the transverse shaft 55 and is orthogonal to the transverse shaft 55. The first flange 551 is connected to the first rudder plate 531, and the second flange 552 is connected to the second rudder plate 541.

A second pectoral fin actuator 54 is fixed to the back of the pectoral fin. The two transverse ends of the front part of the shell of the fish body 20 are respectively provided with a transverse shaft hole 21, a transverse shaft 55 passes through the transverse shaft holes 21, and a sealing ring 56 is arranged between the transverse shaft 55 and the transverse shaft holes 21 to prevent water outside the fish body from permeating into the fish body.

The utility model discloses pectoral fin actuating mechanism 50 has two degrees of freedom of wing and flapping wing, can realize the action of paddling of pectoral fin, and the action of paddling of pectoral fin includes upwards paddling, the paddling downwards, the paddling backwards and the four kinds of states of paddling forward, and the combination of two sets of pectoral fin mechanisms 50A is paddled the action and is except carrying out the level and turn to supplementary and the vertical direction on the ups and downs supplementary, can also provide power for moving ahead of bionic fish. The pectoral fin driving mechanism 50 can improve the agility of the actions of the bionic fish such as forward movement, turning, upward movement and downward movement and the like through the combined paddling action of the two sets of pectoral fin mechanisms 50A, and increase power for the forward movement of the bionic fish. When the two sets of pectoral fin mechanisms 50A do not act in the same direction, turning of the bionic fish can be achieved, for example, the two pectoral fins can paddling in opposite directions, or one pectoral fin paddling while the other pectoral fin does not move, so that turning of the bionic fish can be assisted.

When the two sets of pectoral fin mechanisms 50A simultaneously paddle backwards, the power for the bionic fish to move forwards can be increased. When the pectoral fin mechanism 50A strokes backward, in an initial state, the pectoral fin 57 is positioned in front of the transverse shaft 55, the second pectoral fin steering engine 54 rotates to firstly open the pectoral fin 57 outward, and the axes of the pectoral fin 57 and the transverse shaft 55 are parallel or approximately parallel. The first pectoral fin steering engine 53 rotates from an initial angle to a final angle, the first pectoral fin steering engine 53 rotates to enable the expanded pectoral fins 57 to move backwards to push water, and the reaction force of the water enables the bionic fish to generate forward motion power; when the backward stroke is completed, the second pectoral fin steering engine 54 rotates to firstly fold the pectoral fins 57 inward, and after the pectoral fins 57 are orthogonal or substantially orthogonal to the axis of the transverse shaft 55, the first pectoral fin steering engine 53 rotates in the reverse direction to enable the folded pectoral fins 57 to move forward and return to the initial state. The stroke angle of the pectoral fins is preferably equal to or less than 90 ° from the initial stroke state to the completion of stroke, which is the angle of rotation (the included angle between the initial angle and the final angle) of the first pectoral fin steering engine 53.

The starting angle and the ending angle of the first pectoral fin steering engine 53 for paddling can be changed to change the paddling state of the pectoral fins.

The gravity center moving mechanism 60 comprises a base 61, a stepping motor 62, a linear guide rail pair 63, a screw nut pair 64, a balancing weight 65 and two U-shaped photoelectric sensors 66, wherein a guide rail of the linear guide rail pair 63 is fixed on the base 61, and a screw rod of the screw nut pair 64 is arranged on the base 61 and is parallel to the guide rail of the linear guide rail pair 63. The nut of the screw-nut pair 64 is fixed on the slide block of the linear guide rail pair 63, and the balancing weight 65 is arranged on the nut of the screw-nut pair 64. The base 61 of the center of gravity shifting mechanism 60 is fixed to the housing of the fish body 20 in the longitudinal direction of the fish body 20, at the lower part of the fish body 20. Two U-shaped photoelectric sensors 66 are arranged at two ends of the base 61 along the direction of the linear guide rail pair 63, and light blocking sheets of the U-shaped photoelectric sensors 66 are fixed on sliding blocks of the linear guide rail pair 63. The control end of the stepping motor 62 and the signal output end of the U-shaped photoelectric sensor 66 are respectively connected with the control circuit, the control circuit adjusts the longitudinal position of the balancing weight 65 in the fish body through the stepping motor, the elevation angle of the bionic fish in water can be changed, and therefore the bionic fish can move upwards or downwards when moving forwards, the motion of the pectoral fin, the tail fin and the head of the bionic fish is assisted, and a better pitching motion effect is achieved.

The utility model discloses the bionic fish under water of above embodiment has following characteristics:

1. the pectoral fin driving mechanism adopts pectoral fins with two degrees of freedom, can realize the paddling action of the pectoral fins, and provides auxiliary power for turning, floating, sinking or advancing of the bionic fish. The motion sensitivity of the bionic fish is high.

2. The bionic fish is difficult to realize pitching motion only by means of deflection of the sternal tail fins and the head, the gravity center moving mechanism realizes adjustment of the gravity center position in the length direction of the bionic fish, and good pitching motion effect is achieved by matching with motion of the sternal tail fins and the head of the sternal tail fins.

3. The fish tail driving mechanism adopts a form of combining an eccentric wheel mechanism and a linear bearing, and the motor does not need to rotate positively and negatively when driving the fish tail to swing and only needs to rotate continuously and directionally. The directional rotation of the motor avoids the fish body vibration caused by frequent forward and reverse rotation of the motor, so that the motion is more stable. The bionic fish can move by using a BCF (bulk continuous membrane) propulsion mode (namely tail fin propulsion), and the bionic fish moving device has the advantages of high efficiency, low cost and simple structure.

Claims (9)

1. A pectoral fin driving mechanism for underwater biomimetic fish comprises a mounting frame and two sets of pectoral fin mechanisms symmetrically extending out along the two transverse ends of the mounting frame, wherein each pectoral fin mechanism comprises a first pectoral fin steering engine and a pectoral fin; the first pectoral fin steering engine is fixed on the mounting frame, and the first pectoral fin mechanism comprises a transverse shaft and a second pectoral fin steering engine, wherein the first end of the transverse shaft is fixed on a steering engine shaft of the first pectoral fin steering engine, and the second end of the transverse shaft is fixed on a steering engine shaft of the second pectoral fin steering engine; the pectoral fins are fixed on the second pectoral fin steering engine; the axis of the second pectoral fin steering engine is orthogonal to the axis of the first pectoral fin steering engine.

2. The pectoral fin driving mechanism for the underwater biomimetic fish as recited in claim 1, wherein the pectoral fin mechanism comprises a first rudder disk, a second rudder disk, a first receiving disk and a second receiving disk, the first rudder disk is fixed on a rudder shaft of the first pectoral fin steering engine, and the second rudder disk is fixed on a rudder shaft of the second pectoral fin steering engine; the first receiving disc is fixed at the first end of the transverse shaft and is coaxial with the transverse shaft; the second flange is fixed at the second end of the transverse shaft and is orthogonal to the transverse shaft; the first flange is connected with the first rudder disc, and the second flange is connected with the second rudder disc.

3. The pectoral fin driving mechanism for the underwater biomimetic fish as recited in claim 1, wherein the pectoral fin mechanism comprises a sealing ring and a steering engine fixing frame, the sealing ring is installed in the middle of the cross shaft; the horizontal one end at the mounting bracket is fixed to the steering wheel mount, and first pectoral fin steering wheel is fixed on the steering wheel mount.

4. The utility model provides a drive structure of imitative biofish under water, includes the fish body, fish tail actuating mechanism and pectoral fin actuating mechanism, and fish tail actuating mechanism installs in the rear end of fish body, and pectoral fin actuating mechanism installs in the front portion of fish body, its characterized in that, pectoral fin actuating mechanism be claim 1 the pectoral fin actuating mechanism of imitative biofish under water, pectoral fin actuating mechanism's mounting bracket is fixed in the front portion of fish body, two sets of pectoral fin mechanisms transversely stretch out from the both ends of fish body.

5. The underwater bionic fish driving structure as claimed in claim 4, wherein the two ends of the front part of the fish body casing in the transverse direction each comprise a transverse shaft hole, the pectoral fin mechanism comprises a sealing ring, the transverse shaft of the pectoral fin mechanism passes through the transverse shaft hole, and the sealing ring is installed between the transverse shaft and the transverse shaft hole.

6. The underwater biomimetic fish driving structure as recited in claim 4, wherein the pectoral fin mechanism includes a first rudder plate, a second rudder plate, a first receiving plate and a second receiving plate, the first rudder plate is fixed on a rudder shaft of the first pectoral fin steering engine, and the second rudder plate is fixed on a rudder shaft of the second pectoral fin steering engine; the first flange is fixed at the first end of the transverse shaft and is coaxial with the transverse shaft; the second flange is fixed at the second end of the transverse shaft and is orthogonal to the transverse shaft; the first flange is connected with the first rudder disc, and the second flange is connected with the second rudder disc.

7. The underwater driving structure for the bionic fish as claimed in claim 5, comprising a center of gravity shifting mechanism installed in the fish body in a longitudinal direction of the fish body at a lower portion of the fish body.

8. The underwater bionic fish driving structure as claimed in claim 7, wherein the gravity center moving mechanism comprises a base, a stepping motor, a linear guide rail pair, a screw nut pair and a counterweight, a guide rail of the linear guide rail pair is fixed on the base, and a screw of the screw nut pair is installed on the base and is parallel to a guide rail of the linear guide rail pair; the balancing weight is fixed on the slide block of the linear guide rail pair and is connected with the nut of the screw-nut pair.

9. The underwater biomimetic fish driving structure as recited in claim 8, wherein the gravity center moving mechanism includes two U-shaped photoelectric sensors, the two U-shaped photoelectric sensors are installed at both ends of the base along a direction of the linear guide pair, and light blocking sheets of the U-shaped photoelectric sensors are fixed on sliders of the linear guide pair.

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