CN219096954U - Mechanical fish imitating mechanism of fancy carp - Google Patents
Mechanical fish imitating mechanism of fancy carp Download PDFInfo
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- CN219096954U CN219096954U CN202221994295.5U CN202221994295U CN219096954U CN 219096954 U CN219096954 U CN 219096954U CN 202221994295 U CN202221994295 U CN 202221994295U CN 219096954 U CN219096954 U CN 219096954U
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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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
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Abstract
The utility model discloses a fancy carp imitating mechanism robot fish, which comprises a robot fish device body, wherein the robot fish device body comprises a pectoral fin swinging mechanism, a gravity center adjusting mechanism, a fish tail swinging mechanism and a bottom plate, the pectoral fin swinging mechanism is arranged on two sides of the bottom plate, the gravity center adjusting mechanism is arranged on the upper surface of the bottom plate, and the fish tail swinging mechanism is arranged at the right end of the bottom plate; the pectoral fin swinging mechanism is used for driving pectoral fins to swing so as to enable the robot fish device body to move; the gravity center adjusting mechanism enables the robot fish device body to tilt up and down by changing a gravity center method, so that the robot fish device body can move up and down; the fish tail swing mechanism is used for driving the swing of the tail fin to increase power for the advancing of the robot fish device body. The utility model uses an innovative robotic fish imitation mechanism, has simple structure, uses modularized design, has low production cost and is easy to process and mass production.
Description
Technical Field
The utility model relates to the field of bionic technical equipment, in particular to a mechanical fish imitating a fancy carp mechanism.
Background
At present, the foreign research of the fish propulsion mechanism is mature, and the domestic starting is late. However, as countries pay more attention to ocean resources, more and more scientific institutions begin to conduct research work in this regard. Currently, the propulsion modes that have been summarized and analyzed are eel mode, carangidae mode, tuna mode, and takifugidae mode. However, the study of the bionic robot fish specially for the carp family fish is still in a blank stage.
Disclosure of Invention
Aiming at the defects of the market on the imitation of the fancy carp and the defects of some mechanisms of the robot fish, the patent provides a design scheme of the fancy carp robot fish realized by assembling the intelligent fish parts, and the defects of the fancy carp robot fish on the market at present can be well overcome while the existing robot fish swimming mechanism is improved, so that the efficiency of water environment detection is greatly improved;
the utility model aims to further develop water resources and even familiarize and protect marine ecology. The bionic robot fish designed based on the bionics principle can monitor the surrounding water environment in a complex environment and collect, analyze, screen and return environmental data in water. The underwater monitoring device has important significance for promoting the development of the aquaculture industry and improving the quality of the aquatic products, and simultaneously enriches the research content of bionics;
in order to solve the technical problems, the utility model provides the following technical scheme:
the utility model provides a mechanical fish imitating a fancy carp mechanism,
the robot fish device comprises a robot fish device body, wherein the robot fish device body comprises a pectoral fin swinging mechanism, a gravity center adjusting mechanism, a fish tail swinging mechanism and a bottom plate, the pectoral fin swinging mechanism is arranged on two sides of the bottom plate, the gravity center adjusting mechanism is arranged on the upper surface of the bottom plate, and the fish tail swinging mechanism is arranged at the right end of the bottom plate;
the pectoral fin swinging mechanism is used for driving pectoral fins to swing so as to enable the robot fish device body to move;
the gravity center adjusting mechanism enables the robot fish device body to tilt up and down by changing a gravity center method, so that the robot fish device body can move up and down;
the tail fin swinging mechanism is used for driving the tail fin to swing so as to increase power for the advancing of the robot fish device body.
Optionally, pectoral fin swing mechanism includes first pectoral fin swing mechanism, second pectoral fin swing mechanism, first pectoral fin swing mechanism includes first support, first motor, first eccentric wheel, first crank, first slider, first pivot, first rack, first gear, first transmission shaft, first support sets up one side of bottom plate, first motor sets up on the first support, first motor with first eccentric wheel is connected, first eccentric wheel with first crank connection, first crank with first slider connection, first pivot runs through the front and back lateral wall of first support, just first slider slides and sets up in the first pivot, first rack sets up on the first slider, first transmission shaft rotates and sets up on the first support, first gear sets up on the first transmission shaft, first gear with first gear sets up on the first support, first motor rotates the control first motor with first eccentric wheel is connected, first eccentric wheel with first crank connection, first rack is passed through to rotate first crank and is passed through first pivot, thereby realizes that first crank is rotated one side is followed one side and is passed through first crank.
Optionally, the second pectoral fin swing mechanism includes second support, second motor, second eccentric wheel, second crank, second slider, second pivot, second rack, second gear, second transmission shaft, the second support sets up the opposite side of bottom plate, the second motor sets up on the second support, the second motor with the second eccentric wheel is connected, the second eccentric wheel with the second crank is connected, the second crank with the second slider is connected, the second pivot runs through the front and back lateral wall of second support, just the second slider slides and sets up in the second pivot, the second rack sets up on the second slider, the second transmission shaft rotates and sets up on the second support, the second gear sets up on the second transmission shaft, the second gear with the second rack meshing sets up, the second motor rotation control the rotation of second eccentric wheel, through the second crank drives the second slider is just the second rack is the second and makes a round trip to rotate the opposite side of second fin through the second rack is rotated at last the pivot.
Optionally, the fish tail swing mechanism includes mount, swing motor, incomplete gear, straight-teeth gear, gear shaft, rotation axis, connecting rod, connecting block, axis of rotation, the mount sets up the right side of bottom plate, swing motor sets up on the mount, swing motor's output shaft with incomplete gear connection, incomplete gear meshing is provided with the straight-teeth gear, straight-teeth gear meshing is provided with the gear shaft, the one end of rotation axis is provided with the bevel gear, the rotation axis passes through bevel gear with gear shaft meshing sets up, the other end of rotation axis is connected with the connecting rod, the connecting rod with the connecting block is connected, the axis of rotation rotates to set up on the mount, the connecting block with swivelling joint, the tail fin sets up in the axis of rotation.
Optionally, the focus adjustment mechanism includes accommodate motor, accommodate screw, focus piece, accommodate motor sets up on the bottom plate, accommodate motor's output shaft with accommodate screw connects, accommodate screw is last to be provided with the focus piece, accommodate motor's output shaft drives accommodate screw rotates, thereby drives the focus piece is followed accommodate screw's lateral wall side-to-side slip changes through adjusting the removal of focus piece the focus of robot fish device body.
The utility model has the beneficial effects that
(1) According to the utility model, the gravity center method is changed to enable the body of the robot fish to incline, so that the robot fish has a simple structure and strong practicability, and the upward and downward swimming actions of the koi are better simulated compared with the sinking and floating of other robot fish by a water storage method or a pectoral fin method.
(2) The utility model converts the rotation of the motor into the back and forth swinging motion of the fish tail through the transmission of the universal mechanism, avoids the energy consumption caused by the continuous reversing of the motor, and simultaneously, compared with a cam mechanism and connecting rod mechanism, the design and the manufacture of the universal mechanism are simpler.
(3) According to the utility model, the compound mechanism is adopted to realize the fin swing, the crank slider mechanism is adopted to realize the motor-driven reversing, and the gear rack ground transmission mechanism is adopted to more stably simulate the fin swing back and forth, so that the quick return characteristic of the crank slider is utilized to better simulate the fin swing of the fancy carp.
Drawings
Fig. 1 is a front view of the structure of the present utility model.
Fig. 2 is a top view of the structure of the present utility model.
Fig. 3 is a partial side view of the structure of the present utility model.
Reference numerals illustrate: the device comprises a base plate, a 2-first support, a 3-first eccentric wheel, a 4-first crank, a 5-first sliding block, a 6-first rack, a 7-first rotating shaft, an 8-first gear, a 9-pectoral fin, a 10-second support, a 11-second eccentric wheel, a 12-second crank, a 13-second sliding block, a 14-second rack, a 15-second rotating shaft, a 16-second gear, a 18-incomplete gear, a 19-spur gear, a 20-gear shaft, a 21-bevel gear, a 22-rotating shaft, a 23-connecting rod, a 24-connecting block, a 25-rotating shaft, a 26-pectoral fin, a 27-adjusting screw and a 28-gravity center block.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
Examples
As shown in fig. 1-3, the utility model provides a mechanical fish imitating a fancy carp mechanism,
the robot fish device comprises a robot fish device body, wherein the robot fish device body comprises a pectoral fin swinging mechanism, a gravity center adjusting mechanism, a fish tail swinging mechanism and a bottom plate 1, the pectoral fin swinging mechanism is arranged on two sides of the bottom plate 1, the gravity center adjusting mechanism is arranged on the upper surface of the bottom plate 1, and the fish tail swinging mechanism is arranged at the right end of the bottom plate 1;
the pectoral fin swinging mechanism is used for driving the pectoral fin 9 to swing so as to enable the robot fish device body to move;
the gravity center adjusting mechanism enables the robot fish device body to tilt up and down by changing a gravity center method, so that the robot fish device body can move up and down;
the tail fin swing mechanism is used for driving the tail fin 26 to swing so as to increase power for the advancing of the robot fish device body;
the pectoral fin swinging mechanism comprises a first pectoral fin swinging mechanism and a second pectoral fin swinging mechanism, the first pectoral fin swinging mechanism comprises a first bracket 2, a first motor, a first eccentric wheel 3, a first crank 4, a first sliding block 5, a first rotating shaft 6, a first rack 7, a first gear 8 and a first transmission shaft, the first bracket 2 is arranged on one side of the bottom plate 1, the first motor is arranged on the first bracket 2, the first motor is connected with the first eccentric wheel 3, the first eccentric wheel 3 is connected with the first crank 4, the first crank 4 is connected with the first sliding block 5, the first rotating shaft 6 penetrates through the front side wall and the rear side wall of the first bracket 2, the first sliding block 5 is arranged on the first rotating shaft 6 in a sliding manner, the first rack 7 is arranged on the first sliding block 5, the first transmission shaft is rotatably arranged on one side of the first bracket 2, the first gear 8 is arranged on the first transmission shaft, the first gear 8 is in contact with the first gear 8 and the first sliding block 7 is controlled by the first crank 7, and the first sliding block 5 is driven by the first rotating shaft 8, namely, and the first sliding block 7 is driven by the first rotating shaft 9 to rotate back and forth on one side of the first sliding block 4;
the second pectoral fin swinging mechanism comprises a second bracket 10, a second motor, a second eccentric wheel 11, a second crank 12, a second sliding block 13, a second rotating shaft 15, a second rack 14, a second gear 16 and a second transmission shaft, wherein the second bracket 10 is arranged on the other side of the bottom plate 1, the second motor is arranged on the second bracket 10, the second motor is connected with the second eccentric wheel 11, the second eccentric wheel 11 is connected with the second crank 12, the second crank 12 is connected with the second sliding block 13, the second rotating shaft 15 penetrates through the front side wall and the rear side wall of the second bracket 10, the second sliding block 13 is arranged on the second rotating shaft 15 in a sliding manner, the second rack 14 is arranged on the second sliding block 13 in a rotating manner, the second gear 16 is arranged on the second transmission shaft, the second gear 16 is arranged in a meshing manner with the second rack 14, the second motor is controlled to rotate, and the second motor drives the second crank 11 to rotate back and forth through the second rack 14, so that the second sliding block 13 rotates back and forth through the second rotating shaft 14, and the second sliding block 13 rotates back and forth;
the fish tail swing mechanism comprises a fixed frame, a swing motor, an incomplete gear 18, a spur gear 19, a gear shaft 20, a rotating shaft 22, a connecting rod 23, a connecting block 24 and a rotating shaft 25, wherein the fixed frame is arranged on the right side of the bottom plate 1, the swing motor is arranged on the fixed frame, an output shaft of the swing motor is connected with the incomplete gear 18, the incomplete gear 18 is meshed with the spur gear 19, the spur gear 19 is meshed with the gear shaft 20, one end of the rotating shaft 22 is provided with a bevel gear 21, the rotating shaft 22 is meshed with the gear shaft 20 through the bevel gear 21, the other end of the rotating shaft 22 is connected with the connecting rod 23, the connecting rod 23 is connected with the connecting block 24, the rotating shaft 25 is rotatably arranged on the fixed frame, the connecting block 24 is connected with the rotating shaft 25, and the tail fin 26 is arranged on the rotating shaft 25;
the gravity center adjusting mechanism comprises an adjusting motor, an adjusting screw rod 27 and a gravity center block 28, wherein the adjusting motor is arranged on the bottom plate 1, an output shaft of the adjusting motor is connected with the adjusting screw rod 27, the adjusting screw rod 27 is provided with the gravity center block 28, and the output shaft of the adjusting motor drives the adjusting screw rod 27 to rotate, so that the gravity center block 28 is driven to slide left and right along the side wall of the adjusting screw rod 27, and the gravity center of the robot fish device body is changed by adjusting the movement of the gravity center block 28;
the tail fin swinging mechanism utilizes the working principle of a universal joint, force is transmitted to the incomplete gear 18 through a swinging motor, the back and forth swinging of the incomplete gear 18 drives the spur gear 19 to rotate, torque is increased through the transmission of the spur gear 19, the gear shaft 20 is driven to rotate, the gear shaft 20 drives the rotating shaft 22 to rotate through driving the bevel gear 21 to rotate, the rotating shaft 22 rotates and drives the connecting rod to rotate around the rotating shaft 22 in the circumferential direction, the connecting rod 23 drives the connecting block 24 to swing up and down on the rotating shaft 25, meanwhile, in order to meet the requirement that the connecting rod 23 can rotate in the circumferential direction, the rotating shaft 25 can rotate back and forth along with the connecting rod, the back and forth rotation of the rotating shaft 25 drives the fish tail to swing, the simple universal mechanism is simulated to drive the swing of the tail fin 26, the power is increased for the advancing of the robot fish, and the rotation simulation of the whole shape of the robot fish device body is realized;
in the use process, the first motor and the second motor rotate to drive the crank block mechanism to operate, the quick return characteristic of the crank block mechanism is utilized to drive the first rack 7 and the second rack 14 to regularly rotate, and the racks and the gears are stably meshed to convert movement into back and forth swing, so that the pectoral fin 9 swings; the gravity center adjusting mechanism is characterized in that an adjusting motor controls a gravity center block 28 to move on an adjusting screw rod 27, the gravity center of the robot fish device body is changed by the movement of a weight, and the robot fish device body is helped to float, sink and swim by combining with a pectoral fin swinging mechanism; the tail fin swinging mechanism is the other driving steering device of the robot fish device body, the swinging motor drives the incomplete gear 18 to swing, the whole tail part is driven to swing through the meshing of two pairs of gear teeth, meanwhile, under the driving of the swinging motor, a simple analog universal mechanism converts circumferential rotation into left and right rotation to drive the tail fin 26 to swing, the two motors of the first motor and the second motor are arranged, and the two pectoral fins 9 on two sides are controlled by the differential speed of the remote control motor to realize differential motion, so that power is provided for steering the robot fish;
the utility model uses the innovative robotic fish imitation mechanism, has the advantages of uncomplicated structure, low production cost and easy processing and mass production by using the modularized design.
The utility model has the advantages of small volume, good flexibility, being beneficial to the adaptation of the robot fish to various submarine environments, being capable of monitoring a plurality of water quality indexes and the like, and can be used for monitoring the water quality of various aquaculture places and reminding fishermen to take countermeasures.
The utility model has comprehensive functions, and the camera module, the obstacle avoidance sensor and the WIFI module are added on the fish body, so that corresponding video data or detection data shot by the robot fish in the sea can be transmitted to a user, and the robot fish can be used for underwater detection, underwater archaeology and pollution detection of inland rivers, and real-time, accurate and rich detection data can be provided.
Finally, it should be noted that: the foregoing description is only illustrative of the preferred embodiments of the present utility model, and although the present utility model has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements or changes may be made without departing from the spirit and principles of the present utility model.
Claims (5)
1. A mechanical robot fish imitating a fancy carp mechanism is characterized in that,
the robot fish device comprises a robot fish device body, wherein the robot fish device body comprises a pectoral fin swinging mechanism, a gravity center adjusting mechanism, a fish tail swinging mechanism and a bottom plate, the pectoral fin swinging mechanism is arranged on two sides of the bottom plate, the gravity center adjusting mechanism is arranged on the upper surface of the bottom plate, and the fish tail swinging mechanism is arranged at the right end of the bottom plate;
the pectoral fin swinging mechanism is used for driving pectoral fins to swing so as to enable the robot fish device body to move;
the gravity center adjusting mechanism enables the robot fish device body to tilt up and down by changing a gravity center method, so that the robot fish device body can move up and down;
the fish tail swing mechanism is used for driving the swing of the tail fin to increase power for the advancing of the robot fish device body.
2. The mechanical robot fish of the fancy carp imitating mechanism according to claim 1, wherein,
the pectoral fin swinging mechanism comprises a first pectoral fin swinging mechanism and a second pectoral fin swinging mechanism, the first pectoral fin swinging mechanism comprises a first support, a first motor, a first eccentric wheel, a first crank, a first sliding block, a first rotating shaft, a first rack, a first gear and a first transmission shaft, the first support is arranged on one side of a bottom plate, the first motor is arranged on the first support, the first motor is connected with the first eccentric wheel, the first eccentric wheel is connected with the first crank, the first crank is connected with the first sliding block, the first rotating shaft penetrates through the front side wall and the rear side wall of the first support, the first sliding block is arranged on the first rotating shaft in a sliding mode, the first transmission shaft is arranged on the first support in a rotating mode, the first gear is arranged on the first transmission shaft, the first gear is meshed with the first rack, the first motor is controlled to rotate, and the first eccentric wheel is connected with the first sliding block, and the first sliding block is driven by the first gear to rotate on the first sliding block, namely, and the first sliding block is driven by the first sliding block to rotate on the first side of the first sliding block.
3. A mechanical robot fish imitating a fancy carp according to claim 2, wherein,
the second pectoral fin swing mechanism comprises a second support, a second motor, a second eccentric wheel, a second crank, a second sliding block, a second rotating shaft, a second rack, a second gear and a second transmission shaft, wherein the second support is arranged on the other side of the bottom plate, the second motor is arranged on the second support, the second motor is connected with the second eccentric wheel, the second eccentric wheel is connected with the second crank, the second crank is connected with the second sliding block, the second rotating shaft penetrates through the front side wall and the rear side wall of the second support, the second sliding block is arranged on the second rotating shaft in a sliding mode, the second rack is arranged on the second sliding block in a rotating mode, the second gear is arranged on the second transmission shaft in a meshing mode, the second motor is used for controlling the rotation of the second eccentric wheel, the second sliding block is driven by the second crank, namely the second rack is driven by the second crank to rotate on the second rotating shaft, and the second rack is driven by the second rack to rotate on the other side of the second sliding block, and the second sliding block is driven by the second rack to rotate back and forth.
4. The mechanical robot fish of the fancy carp imitating mechanism according to claim 1, wherein,
the fish tail swing mechanism comprises a fixing frame, a swing motor, an incomplete gear, a straight gear, a gear shaft, a rotating shaft, a connecting rod, a connecting block and a rotating shaft, wherein the fixing frame is arranged on the right side of the bottom plate, the swing motor is arranged on the fixing frame, an output shaft of the swing motor is connected with the incomplete gear, the incomplete gear meshing is provided with the straight gear, the straight gear meshing is provided with the gear shaft, one end of the rotating shaft is provided with a bevel gear, the rotating shaft is meshed with the gear shaft through the bevel gear, the other end of the rotating shaft is connected with the connecting rod, the connecting rod is connected with the connecting block, the rotating shaft is rotationally arranged on the fixing frame, the connecting block is connected with the rotating shaft, and the tail fin is arranged on the rotating shaft.
5. The mechanical robot fish of the fancy carp imitating mechanism according to claim 1, wherein,
the gravity center adjusting mechanism comprises an adjusting motor, an adjusting screw and a gravity center block, wherein the adjusting motor is arranged on the bottom plate, an output shaft of the adjusting motor is connected with the adjusting screw, the adjusting screw is provided with the gravity center block, the output shaft of the adjusting motor drives the adjusting screw to rotate, so that the gravity center block is driven to slide left and right along the side wall of the adjusting screw, and the gravity center of the robot fish device body is changed by adjusting the movement of the gravity center block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221994295.5U CN219096954U (en) | 2022-07-29 | 2022-07-29 | Mechanical fish imitating mechanism of fancy carp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221994295.5U CN219096954U (en) | 2022-07-29 | 2022-07-29 | Mechanical fish imitating mechanism of fancy carp |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219096954U true CN219096954U (en) | 2023-05-30 |
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ID=86464103
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221994295.5U Active CN219096954U (en) | 2022-07-29 | 2022-07-29 | Mechanical fish imitating mechanism of fancy carp |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219096954U (en) |
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2022
- 2022-07-29 CN CN202221994295.5U patent/CN219096954U/en active Active
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