CN219969981U - Multi-joint active deformation bionic fin - Google Patents

Abstract

The utility model discloses a multi-joint type active deformation bionic fish fin, which comprises a bionic connecting plate, a group of fin joints and a driving device, wherein the fin joints are arranged on a rotating shaft through the driving joints, the rotating shaft is arranged on the bionic connecting plate, each fin joint comprises at least three fin joints, the fin joints are connected through flexible connecting pieces, one fin joint is driven by the driving device to reciprocate, and the fin joints are split into a plurality of independent joints and connected through the connecting pieces.

Description

Multi-joint active deformation bionic fin

Technical Field

The utility model relates to the technical field of underwater bionic robots.

Background

The swimming mode of fish has the characteristics of high speed, high efficiency, flexibility, noise reduction and the like, and the swimming and gesture control capacity of the swimming and gesture control device is incomparable with any submersible adopting a traditional control and propulsion system at present. The research of the bionic fish underwater robot is one of important research directions. The fin is an indispensable part of the swimming organ of the fish, and not only helps the fish to swim rapidly, but also plays a certain role in alleviation, so that the swimming speed, balance, steering and other functions of the fish are ensured.

Research on bionic fins in the field of underwater intelligent bionics finds that the current underwater bionic fins mostly adopt single-joint thick fin surface rotary motion or steering engine traction curled fins, the former structure causes lower propulsion efficiency and worse bionics, and the latter common steering engine has small torque, complex structure and high performance requirement on materials.

Disclosure of Invention

The utility model solves the technical problem of providing the multi-joint active deformation bionic fish fin which has higher bionic degree and gets rid of dependence on high-performance materials.

The technical scheme adopted by the utility model is that the multi-joint active deformation bionic fish fin comprises a bionic connecting plate, a group of fin joints and a driving device, wherein the fin joints are arranged on a rotating shaft through the driving joints, the rotating shaft is arranged on the bionic connecting plate, each fin joint comprises at least three fin joints, each fin joint is connected through a flexible connecting piece, and one fin joint is driven by the driving device to rotate reciprocally.

The flexible connecting piece structure is as follows, and the spout has been seted up at the edge to one of two adjacent fin joints, is equipped with a slider in the spout, and the slider freely slides along the spout, is equipped with a round pin axle on another fin joint, is located on two adjacent fin joints and slider and the round pin axle that the position corresponds link to each other through a connecting rod, and the slider articulates with the connecting rod mutually. The sliding block is cylindrical, a groove is arranged in the center of the cylinder, and the groove is clamped at the sliding groove.

Three connecting rods are arranged between the two connected fin joints.

The flexible connecting piece can also adopt springs, and at least two springs are connected with the adjacent two fin joint brackets.

The driving joint is annular and sleeved on the rotating shaft, and the fin joint is fixed on the driving joint through screws.

The rotating shaft is a driving shaft driven by the driving device to reciprocate, one of the fin joints is a driving fin joint, the driving joint of the driving fin joint is fixedly connected with the driving shaft and synchronously rotates, and the other fin joints are sleeved on the driving shaft through the driving joint and can freely rotate along the driving shaft.

The active fin joint is not the most marginal fin joint, typically located centrally, or is offset to the lateral but not the most marginal one.

The utility model has the beneficial effects that the fin structure is divided into a plurality of joints, phase difference movement is formed among the joints, the requirements of the fin swing, torsion and stretching compression deformation on the high performance of the material are reduced, the material selection range is wider, and the bionic requirement of the bionic fin can be better met. The driving joints are split, and each driving joint is directly driven to move by the driving shaft, so that manufacturability of the split driving joints is obviously improved. The motor which is designed autonomously is adopted as a power source, the torque is far greater than that of a common steering engine, and the fin movement requirement of large fishes is met.

Drawings

FIG. 1 is a schematic diagram of the structure of the present utility model.

Fig. 2 is a schematic view of the flexible connector of fig. 1.

Marked in the figure as: the device comprises a 1-profiling connecting plate, a 2-driving component, a first 3-fin joint, a second 4-fin joint, a third 5-fin joint, a fourth 6-fin joint, a fifth 7-fin joint, a 81-sliding groove, a 82-sliding block, a 91-pin shaft, a first 10-connecting piece, a second 11-connecting piece, a third 12-connecting piece and a fourth 14-connecting piece.

Detailed Description

The utility model is further described below with reference to the accompanying drawings.

The multi-joint type active deformation bionic fish fin disclosed by the utility model is shown in fig. 1, and comprises a bionic connecting plate, a group of fin joints and a driving device, wherein the fin joints are arranged on a driving shaft through the driving joints, the driving shaft is arranged on the bionic connecting plate, and the profiling connecting plate is connected with a fish body.

The driving assembly comprises a driving shaft and driving joints, and has the main functions of providing power transmission for the driving deformation of the pectoral fin, driving the driving shaft in the driving assembly to rotate positively and negatively by the driving motor to drive the driving joints in the driving assembly to rotate positively and negatively, driving the corresponding pectoral joints to realize positive and negative swinging within a certain range by the driving joints,

at least three fin joints are connected through flexible connecting pieces, power can be continuously transmitted between the fin joints, and power transmission keeps a certain time delay, so that when the fin joints are connected into a unified whole, the fish fins can swing positively and negatively, elastically bend and actively twist and elastically deform when the fin joints swing positively and negatively.

In order to more approximate to the space action state of a real fish fin, the flexible connecting piece structure of the utility model is shown in fig. 2, one of two adjacent fin joints is provided with a sliding groove 81 at the edge, a sliding block 82 is arranged in the sliding groove 81, the sliding block 82 is clamped in the sliding groove 81 and can freely slide along the sliding groove 81, the other fin joint is provided with a pin shaft 91, the corresponding sliding block 82 is connected with the pin shaft 91 through a connecting rod, and the sliding block 82 is hinged on the connecting rod and can rotate along the axis of the connecting rod. The sliding block 82 is cylindrical, a groove is arranged in the center of the cylinder, and the groove is clamped at the sliding groove 81. Both the sliding groove 81 and the pin 91 are located at positions close to the lateral sides of the fin joints, and can cause the fin joints to twist to a certain extent under the condition of power transmission. Three connecting rods are arranged between two connected fin joints, so that adjacent side edge areas of the fin joints are connected, the side edges are stressed, the torsion amplitude of the stressed balanced fin joints is controllable, and the action is stable.

The flexible connecting piece can also adopt the spring, and two adjacent fin joint support are connected with two springs at least, and the rigidity of spring needs to select suitably, guarantees power transmission's validity, also keeps certain time delay simultaneously.

The rotating shaft is a driving shaft driven by the driving device to reciprocate, the driving joint is annular and sleeved on the rotating shaft, and the fin joint is fixed on the driving joint through a screw. One of the fin joints is a driving fin joint, a driving joint of the driving fin joint is fixedly connected with the driving shaft and synchronously rotates, and the other fin joints are sleeved on the driving shaft through the driving joint and can freely rotate along the driving shaft.

The active fin joint is not the most marginal fin joint, typically located centrally, or is offset to the lateral but not the most marginal one. In fig. 1, a fin joint four 6 is a driving fin joint, a profiling connecting plate 1 is fixedly connected with a driving assembly 2, a fin joint one 3, a fin joint two 4, a fin joint three 5, a fin joint four 6 and a fin joint five 7 are respectively fixedly connected with corresponding driving joints, the driving joints are sequentially connected in series and are connected with a driving shaft in series, the fin joint one 3, the fin joint two 4, the fin joint three 5, the fin joint four 6 and the fin joint five 7 are flexibly connected through corresponding connecting pieces one 10, connecting pieces two 11, connecting pieces three 12 and connecting pieces four 13, one end of each connecting piece is fixed, the other end of each connecting piece slides and can rotate around the fin joint, a driving motor 8 is connected with the driving shaft in the driving assembly 2 through a coupler 9, the driving motor 8 and the profiling connecting plate 1 are fixed on a fish body, and the fish body is not shown in fig. 1.

The utility model has simple overall structure, and the motor directly drives the driving shaft to drive each fin joint to swing back and forth, so that the motion transmission mechanism is omitted, the volume of the fin driving part is small, the occupied space is small, and the requirements of compact fin structure are better met.

Claims (8)

1. The utility model provides a bionic fish fin of many joints formula initiative deformation, includes bionic connecting plate, a set of fin joint and drive arrangement, and the fin joint passes through the drive joint to be installed in a pivot, and pivot installs in bionic connecting plate, its characterized in that: the fin joints comprise at least three, each fin joint is connected through a flexible connecting piece, and one fin joint is driven by the driving device to rotate in a reciprocating mode.

2. The multi-joint actively deformed bionic fish fin according to claim 1, wherein: the flexible connecting piece is characterized in that one of two adjacent fin joints is provided with a sliding groove at the edge, a sliding block is arranged in the sliding groove and freely slides along the sliding groove, the other fin joint is provided with a pin shaft, the sliding block and the pin shaft which are positioned on the two adjacent fin joints and correspond to each other in position are connected through a connecting rod, and the sliding block is hinged with the connecting rod.

3. The multi-joint actively deformed bionic fish fin according to claim 2, wherein: the sliding block is cylindrical, a groove is formed in the center of the cylinder, and the groove is clamped at the sliding groove.

4. The multi-joint actively deformed bionic fish fin according to claim 3, wherein: three connecting rods are arranged between the two connected fin joints.

5. The multi-joint actively deformed bionic fish fin according to claim 1, wherein: the flexible connecting piece is a spring, and at least two springs are connected with two adjacent fin joint brackets.

6. The multi-joint actively deformed bionic fish fin according to claim 1, wherein: the driving joint is annular and sleeved on the rotating shaft, and the fin joint is fixed on the driving joint through a screw.

7. The multi-joint actively deformed bionic fish fin according to claim 2, wherein: the rotating shaft is a driving shaft driven by the driving device to reciprocate, one of the fin joints is a driving fin joint, the driving joint of the driving fin joint is fixedly connected with the driving shaft and synchronously rotates, and the other fin joints are sleeved on the driving shaft through the driving joint and can freely rotate along the driving shaft.

8. The multi-joint actively deformed bionic fish fin according to claim 7, wherein: the active fin joint is not the most marginal fin joint.